SYSTEM AND METHOD OF SENSING ATTITUDE AND ANGULAR RATE USING A MAGNETIC FIELD SENSOR AND ACCELEROMETER FOR PORTABLE ELECTRONIC DEVICES
First Claim
1. A method for determining motion information including attitude and angular rate of a dynamic object, the attitude including dynamic roll, dynamic pitch, and dynamic yaw measurements of the dynamic object, the method comprising:
- providing a sensing device having a three-axis acceleration sensor and a three-axis magnetic field sensor;
measuring in a body coordinate frame of reference at least one of an intensity and a direction of a magnetic field in three orthogonal or substantially orthogonal directions using the magnetic field sensor;
measuring a total acceleration of the object in the body coordinate frame of reference using the acceleration sensor; and
combining in a filter the at least one of an intensity and a direction of a magnetic field in three orthogonal or substantially orthogonal directions and the total acceleration with a kinematic model of attitude and angular rate of the object, to calculate attitude and angular rate.
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Abstract
A system for determining motion information including attitude and angular rate of a dynamic object. The system includes a magnetic-field sensing device to measure in the body coordinate frame of reference an intensity and/or direction of a magnetic field in three substantially orthogonal directions; an acceleration-sensing device adapted to measure total acceleration of the object in the body coordinate frame of reference; and a processor adapted to calculate attitude and angular rate by combining total acceleration measurement data and magnetic field measurement data with the kinematic model in a filter.
66 Citations
29 Claims
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1. A method for determining motion information including attitude and angular rate of a dynamic object, the attitude including dynamic roll, dynamic pitch, and dynamic yaw measurements of the dynamic object, the method comprising:
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providing a sensing device having a three-axis acceleration sensor and a three-axis magnetic field sensor; measuring in a body coordinate frame of reference at least one of an intensity and a direction of a magnetic field in three orthogonal or substantially orthogonal directions using the magnetic field sensor; measuring a total acceleration of the object in the body coordinate frame of reference using the acceleration sensor; and combining in a filter the at least one of an intensity and a direction of a magnetic field in three orthogonal or substantially orthogonal directions and the total acceleration with a kinematic model of attitude and angular rate of the object, to calculate attitude and angular rate. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16, 17)
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18. A system for determining motion information including attitude and angular rate of a dynamic object comprising:
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a magnetic field sensor that is adapted to measure in a body coordinate frame of reference at least one of an intensity and a direction of a magnetic field in three orthogonal or substantially orthogonal directions; an acceleration sensor that is adapted to measure total acceleration of the object in the body coordinate frame of reference; and a processor that is adapted to calculate attitude and angular rate by combining in a filter total acceleration measurement data and magnetic field measurement data with a kinematic model of attitude and angular rate of the object. - View Dependent Claims (19, 20, 21, 22, 23, 24, 25, 26, 27, 28, 29)
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Specification