Inertial sensor fusion orientation correction
US9068843B1 · kind B1 · utility
Assignee
Inventors
Key dates
| Filing date | Sep 26, 2014 |
| Grant date | Jun 30, 2015 |
| Priority date | — |
| Expiry date | Sep 26, 2034 |
Classification
- Technology area (CPC H)Electricity
- CPC primaryH04W4/027
- WIPO fieldComputer technology
- WIPO sectorElectrical engineering
Abstract
A system for determining and correcting a calculated orientation of a computing device based on data from an accelerometer and a gyroscope. The system compares a predicted direction of gravity in a predicted frame of the device with a measured direction of gravity in a sensor frame of the device, and determines an angle of the difference between the directions. A correction is calculated to rotate the predicted frame around an axis by the angle relative to a sensor frame, the axis being perpendicular to both the predicted and measured directions of gravity. A predicted orientation of a reference “Earth” frame relative to the predicted frame is calculated based on the gyroscope data. A corrected orientation is determined by applying the correction to the predicted orientation, providing an orientation of the Earth reference frame relative to the sensor frame.
Source: USPTO / EPO open patent data. Objective bibliographic and citation counts.