PEDESTRIAN SENSOR ACCURACY WITH MINIMAL DEPENDENCE ON MAGNETOMETER

Aspects presented herein may enable an electronic device to determine gyroscope biases and calibrate a gyroscope without a magnetometer or without relying on data generated from a magnetometer. In one aspect, an apparatus estimates a set of gyroscopic biases for a plurality of temperatures or temperature ranges to create a mapping that maps the plurality of temperatures or temperature ranges to the set of gyroscopic biases. The apparatus monitors temperatures of a gyroscope via a gyroscope temperature sensor. The apparatus calibrates the gyroscope in response to the gyroscope changing from a first temperature to a second temperature based on the mapping or based on a predicted value derived from the mapping. In some aspects, the apparatus calculates a DR trajectory of the apparatus based at least in part on the calibrated gyroscope and the accelerometer without using a magnetometer or without using data generated from the magnetometer.