System and Method for Determining an Attitude of a Device Undergoing Dynamic Acceleration Using a Kalman Filter
First Claim
1. A method for determining an attitude of a device undergoing dynamic acceleration, comprising:
- calculating a difference between a first accelerometer measurement received from a first multi-dimensional accelerometer of the device and a second accelerometer measurement received from a second multi-dimensional accelerometer of the device;
adjusting a Kalman gain based on the difference, wherein the Kalman gain is used in a Kalman filter that determines the attitude of the device; and
determining an attitude of the device using the Kalman filter based at least in part on the Kalman gain, the first accelerometer measurement, the second accelerometer measurement, and a magnetic field measurement received from a multi-dimensional magnetometer of the device.
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Abstract
A system, a computer readable storage medium including instructions, and a method for determining an attitude of a device undergoing dynamic acceleration. A difference between a first accelerometer measurement received from a first multi-dimensional accelerometer of the device and a second accelerometer measurement received from a second multi-dimensional accelerometer of the device is calculated. A Kalman gain is adjusted based on the difference, wherein the Kalman gain is used in a Kalman filter that determines the attitude of the device. An attitude of the device is determined using the Kalman filter based at least in part on the Kalman gain, the first accelerometer measurement, the second accelerometer measurement, and a magnetic field measurement received from a multi-dimensional magnetometer of the device.
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Citations
18 Claims
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1. A method for determining an attitude of a device undergoing dynamic acceleration, comprising:
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calculating a difference between a first accelerometer measurement received from a first multi-dimensional accelerometer of the device and a second accelerometer measurement received from a second multi-dimensional accelerometer of the device; adjusting a Kalman gain based on the difference, wherein the Kalman gain is used in a Kalman filter that determines the attitude of the device; and determining an attitude of the device using the Kalman filter based at least in part on the Kalman gain, the first accelerometer measurement, the second accelerometer measurement, and a magnetic field measurement received from a multi-dimensional magnetometer of the device. - View Dependent Claims (2, 3, 4, 5, 6)
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7. A system for determining an attitude of a device undergoing dynamic acceleration, comprising:
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one or more processors; memory; and one or more programs stored in the memory, the one or more programs comprising instructions to; calculate a difference between a first accelerometer measurement received from a first multi-dimensional accelerometer of the device and a second accelerometer measurement received from a second multi-dimensional accelerometer of the device; adjust a Kalman gain based on the difference, wherein the Kalman gain is used in a Kalman filter that determines the attitude of the device; and determine an attitude of the device using the Kalman filter based at least in part on the Kalman gain, the first accelerometer measurement, the second accelerometer measurement, and a magnetic field measurement received from a multi-dimensional magnetometer of the device. - View Dependent Claims (8, 9, 10, 11, 12)
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13. A computer readable storage medium storing one or more programs configured for execution by a processor, the one or more programs comprising instructions to:
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calculate a difference between a first accelerometer measurement received from a first multi-dimensional accelerometer of a device and a second accelerometer measurement received from a second multi-dimensional accelerometer of the device; adjust a Kalman gain based on the difference, wherein the Kalman gain is used in a Kalman filter that determines the attitude of the device; and determine an attitude of the device using the Kalman filter based at least in part on the Kalman gain, the first accelerometer measurement, the second accelerometer measurement, and a magnetic field measurement received from a multi-dimensional magnetometer of the device. - View Dependent Claims (14, 15, 16, 17, 18)
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Specification