Gyroscope apparatus
First Claim
1. A gyroscope apparatus for a device including an accelerometer and a magnetic component, the apparatus comprising:
- a gravity vector generator connected to the accelerometer and receptive to acceleration readings therefrom at a first time instance and at a second time instance, gravity vector values being extracted from the acceleration readings;
a magnetic component output generator connected to the magnetic component and receptive to magnetic component readings therefrom at the first time instance and at the second time instance, magnetic field vector values being extracted from the magnetic component readings, the magnetic component being a polyfill engine generating the magnetic component readings based upon predetermined assumptions; and
a sensor fusion engine connected to the gravity vector generator and to the magnetic component output generator, the gravity vector value and the magnetic field vector value at the first time instance being combined to represent a first orientation value, and the gravity vector value and the magnetic field vector value at the second time instance being combined to represent a second orientation value, an orientation rate of change being derived from a difference between the first orientation value and the second orientation value.
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Accused Products
Abstract
A gyroscope apparatus for a device including an accelerometer and a magnetic component has a gravity vector generator connected to the accelerometer and receptive to acceleration readings therefrom. A magnetic component output generator is connected to the magnetic component and receptive to magnetic component readings. A sensor fusion engine is connected to the gravity vector generator and to the magnetic component output generator, with a gravity vector value and a magnetic field vector value at a first time instance being combined to represent a first orientation value. The gravity vector value and the magnetic field vector value at a second time instance are combined to represent a second orientation value. An orientation rate of change is derived from a difference between the first orientation value and the second orientation value.
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Citations
35 Claims
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1. A gyroscope apparatus for a device including an accelerometer and a magnetic component, the apparatus comprising:
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a gravity vector generator connected to the accelerometer and receptive to acceleration readings therefrom at a first time instance and at a second time instance, gravity vector values being extracted from the acceleration readings; a magnetic component output generator connected to the magnetic component and receptive to magnetic component readings therefrom at the first time instance and at the second time instance, magnetic field vector values being extracted from the magnetic component readings, the magnetic component being a polyfill engine generating the magnetic component readings based upon predetermined assumptions; and a sensor fusion engine connected to the gravity vector generator and to the magnetic component output generator, the gravity vector value and the magnetic field vector value at the first time instance being combined to represent a first orientation value, and the gravity vector value and the magnetic field vector value at the second time instance being combined to represent a second orientation value, an orientation rate of change being derived from a difference between the first orientation value and the second orientation value. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10, 11)
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12. A gyroscope apparatus for a device including an accelerometer and a magnetic component, the apparatus comprising:
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a gravity vector generator connected to the accelerometer and receptive to acceleration readings therefrom at a first time instance and at a second time instance, gravity vector values being extracted from the acceleration readings; a magnetic component output generator connected to the magnetic component and receptive to magnetic component readings therefrom at the first time instance and at the second time instance, magnetic field vector values being extracted from the magnetic component readings; a magnetic field projector connected to the magnetic component, the magnetic field vector values being projected onto a horizontal plane, with a remaining angle corresponding to a heading relative to magnetic north, a sensor fusion engine connected to the gravity vector generator and to the magnetic component output generator, the gravity vector value and the magnetic field vector value at the first time instance being combined to represent a first orientation value, and the gravity vector value and the magnetic field vector value at the second time instance being combined to represent a second orientation value, an orientation rate of change being derived from a difference between the first orientation value and the second orientation value. - View Dependent Claims (13, 14, 15, 16, 17, 18, 19, 20, 21, 22, 23)
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24. A gyroscope apparatus for a device including an accelerometer and a magnetic component, the apparatus comprising:
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a gravity vector generator connected to the accelerometer and receptive to acceleration readings therefrom at a first time instance and at a second time instance, gravity vector values being extracted from the acceleration readings; a magnetic component output generator connected to the magnetic component and receptive to magnetic component readings therefrom at the first time instance and at the second time instance, magnetic field vector values being extracted from the magnetic component readings; a sensor fusion engine connected to the gravity vector generator and to the magnetic component output generator, the gravity vector value and the magnetic field vector value at the first time instance being combined to represent a first orientation value, and the gravity vector value and the magnetic field vector value at the second time instance being combined to represent a second orientation value, an orientation rate of change being derived from a difference between the first orientation value and the second orientation value; and a frame converter included in the sensor fusion engine; wherein the orientation rate of change is converted to be defined relative to either one of a device frame or a world frame. - View Dependent Claims (25, 26, 27, 28, 29, 30, 31, 32, 33, 34, 35)
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Specification