According to one embodiment, a sensor includes a sensor element, and a controller. The sensor element includes a first sensor part. The first sensor part includes a first movable part which can vibrate. Vibration of the first movable part includes a first component and a second component. The controller is configured to perform to third mode operations. In the first mode operation, the controller is configured to derive a first rotation angle of the first movable part based on a first amplitude of the first component and a second amplitude of the second component. In the second mode operation, the controller is configured to derive a first angular velocity of the first movable part based on a change of a control signal. In the third mode operation, the controller is configured to supply a third mode signal to the first sensor part.

A MEMS device may output a signal during operation that may include an in-phase component and a quadrature component. An external signal having a phase that corresponds to the quadrature component may be applied to the MEMS device, such that the MEMS device outputs a signal having a modified in-phase component and a modified quadrature component. A phase error for the MEMS device may be determined based on the modified in-phase component and the modified quadrature component.

Systems, devices, articles, and methods, described in greater detail herein, including robotic systems which include at least one rangefinder, at least one manipulator, and at least one processor in communication with the at least one rangefinder, and methods of operation of the same. The at least one processor obtains rangefinder pose information which represents, at least, the at least one manipulator in a plurality of poses. The at least one processor obtains manipulator pose information, optimizes a model of mismatch between the rangefinder pose information and the manipulator pose information, wherein the model of mismatch includes a plurality of parameters, and updates at least one processor readable storage device with the plurality of parameters based at least in part on the optimization.

A strict reverse navigation method for optimal estimation of fine alignment is provided. The strict reverse navigation method including: establishing an adaptive control function; performing a forward navigation calculation process; performing a reverse navigation calculation process; and performing the adaptive control for a number of forward and reverse calculations. The strict reverse navigation method shortens an alignment time for the optimal estimation of fine alignment while ensuring an alignment accuracy. The strict reverse navigation method provided effectively solves a problem that an error of an initial value of filtering in an initial stage of the optimal estimation of fine alignment affects convergence speeds of subsequent stages. In the initial stage, a larger number of the forward and reverse navigation calculations are adopted to reduce an error of the initial value as much as possible and increase a convergence speed of the filtering.

A method for calibrating a laser level. includes arranging the laser level and a detector on a same horizontal plane to cause the laser level to be at a detected position, setting the laser level to be in a dot-sweep mode or a fan-sweep mode, when the detector detects the first laser beam for calibration emitted by the laser level, generating first position information by the detector, when the laser level rotates to a first rotation angle, rotating a laser projection direction of the laser level relative to the laser level along the opposite direction by a first rotation angle to cause the detector to detect the second laser beam for calibration emitted by the laser level to generate second position information, and determining whether the laser level needs to be calibrated based on the first position information and the second position information.

A method for calibrating a laser level. includes arranging the laser level and a detector on a same horizontal plane to cause the laser level to be at a detected position, setting the laser level to be in a dot-sweep mode or a fan-sweep mode, when the detector detects the first laser beam for calibration emitted by the laser level, generating first position information by the detector, when the laser level rotates to a first rotation angle, rotating a laser projection direction of the laser level relative to the laser level along the opposite direction by a first rotation angle to cause the detector to detect the second laser beam for calibration emitted by the laser level to generate second position information, and determining whether the laser level needs to be calibrated based on the first position information and the second position information.

Disclosed is an electronic device comprising: a gyro sensor; an acceleration sensor for outputting acceleration data about motion of the electronic device; a geomagnetic sensor for outputting geomagnetic data about a magnetic field around the electronic device; and a low-power processor electrically connected to the gyro sensor, the acceleration sensor and the geomagnetic sensor. The low-power processor: operates the acceleration sensor while the gyro sensor is deactivated to determine a motion pattern of the electronic device; drives the geomagnetic sensor to acquire geomagnetic data such that, if the motion of the electronic device corresponds to a predetermined first motion pattern, the geomagnetic data is acquired at a first sample rate, and, if the motion corresponds to a predetermined second motion pattern, the geomagnetic data is acquired at a second sample rate higher than the first sample rate; and calibrates the geomagnetic sensor on the basis of the geomagnetic data.

Disclosed is an electronic device comprising: a gyro sensor; an acceleration sensor for outputting acceleration data about motion of the electronic device; a geomagnetic sensor for outputting geomagnetic data about a magnetic field around the electronic device; and a low-power processor electrically connected to the gyro sensor, the acceleration sensor and the geomagnetic sensor. The low-power processor: operates the acceleration sensor while the gyro sensor is deactivated to determine a motion pattern of the electronic device; drives the geomagnetic sensor to acquire geomagnetic data such that, if the motion of the electronic device corresponds to a predetermined first motion pattern, the geomagnetic data is acquired at a first sample rate, and, if the motion corresponds to a predetermined second motion pattern, the geomagnetic data is acquired at a second sample rate higher than the first sample rate; and calibrates the geomagnetic sensor on the basis of the geomagnetic data.

A gyrocompass device is provided for determining a heading relative to a surface of a rotating planetary body. The gyrocompass device includes one or more MEMS gyroscopes that are each fixed in an orientation on a substrate that is parallel to a first plane and that each provide three or more sense axes that lie within the first plane and are each offset from one another by an offset angle. Moreover, a heading determiner receives rotation rates from the three sense axes and determines the heading of the gyrocompass device relative to the surface of the rotating planetary body by fitting a sine or cosine function to the received rotation rates from the one or more MEMS gyroscopes.

A gyrocompass device is provided for determining a heading relative to a surface of a rotating planetary body. The gyrocompass device includes one or more MEMS gyroscopes that are each fixed in an orientation on a substrate that is parallel to a first plane and that each provide three or more sense axes that lie within the first plane and are each offset from one another by an offset angle. Moreover, a heading determiner receives rotation rates from the three sense axes and determines the heading of the gyrocompass device relative to the surface of the rotating planetary body by fitting a sine or cosine function to the received rotation rates from the one or more MEMS gyroscopes.