Mapped variable smoothing evolution method and device
First Claim
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1. A method for smoothing evolution of a variable based on an orientation of a device, the method comprising:
- determining an adjusted estimate of the current orientation of the device using an adjusted angular velocity, wherein the adjusted angular velocity is based on a measured angular velocity and an estimated angular velocity;
on condition that the adjusted estimate of the current orientation falls outside a boundary circumscribing a previous stabilized orientation of the device, setting a current value of the variable according to a current stabilized orientation of the device, wherein the current stabilized orientation of the device is equal to the adjusted estimate of the current orientation of the device and offset from the previous stabilized orientation of the device by an amount sufficient to shift the adjusted estimate of the current orientation to be within the boundary circumscribing a previous stabilized orientation of the device; and
outputting the current value of the variable.
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Abstract
A variable mapped on an orientation of a device is smoothed to have a gradual evolution by adjusting the estimated orientation of the device obtained via sensor fusion or other sensor processing to take into consideration a current measured angular velocity.
8 Citations
20 Claims
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1. A method for smoothing evolution of a variable based on an orientation of a device, the method comprising:
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determining an adjusted estimate of the current orientation of the device using an adjusted angular velocity, wherein the adjusted angular velocity is based on a measured angular velocity and an estimated angular velocity; on condition that the adjusted estimate of the current orientation falls outside a boundary circumscribing a previous stabilized orientation of the device, setting a current value of the variable according to a current stabilized orientation of the device, wherein the current stabilized orientation of the device is equal to the adjusted estimate of the current orientation of the device and offset from the previous stabilized orientation of the device by an amount sufficient to shift the adjusted estimate of the current orientation to be within the boundary circumscribing a previous stabilized orientation of the device; and outputting the current value of the variable. - View Dependent Claims (2, 3, 4, 5, 6, 7)
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8. A method for smoothing evolution of a variable depending on an orientation of a device, the method comprising:
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determining an adjusted estimate of the current orientation of the device using an adjusted angular velocity, wherein the adjusted angular velocity is based on a measured angular velocity and an estimated angular velocity; on condition that the adjusted estimate of the current orientation falls outside a boundary circumscribing a previous previous orientation, outputting a current stabilized orientation of the device, wherein the current stabilized orientation of the device is equal to the adjusted estimate of the current orientation and offset from the previous stabilized orientation of the device by an amount sufficient to shift the adjusted estimate of the current orientation to be within the boundary circumscribing the previous stabilized orientation. - View Dependent Claims (9, 10, 11, 12, 13, 14)
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15. An apparatus supporting smoothing evolution of a variable based on an orientation of a device, wherein the apparatus comprises comprising circuitry, including a processor and memory, configured to:
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determine an adjusted estimate of the current orientation of the device using an adjusted angular velocity, wherein the adjusted angular velocity is based on a measured angular velocity and an estimated angular velocity; output a current stabilized orientation of the device on condition that the adjusted estimate of the current orientation falls outside a boundary circumscribing a stabilized previous orientation, wherein the current stabilized orientation of the device is equal to the adjusted estimate of the current orientation offset from the previous stabilized orientation of the device by an amount sufficient to shift the adjusted estimate of the current orientation to be within the boundary circumscribing the stabilized previous orientation. - View Dependent Claims (16, 17, 18, 19, 20)
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Specification