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PORTABLE ELECTRONIC DEVICE ADAPTED TO COMPENSATE FOR GYROSCOPE BIAS

  • US 20120217958A1
  • Filed: 02/28/2011
  • Published: 08/30/2012
  • Est. Priority Date: 02/28/2011
  • Status: Active Grant
First Claim
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1. A method for compensating for gyroscope bias on a portable electronic device having a gyroscope and at least one of an accelerometer and a magnetometer, the method comprising:

  • determining a first attitude matrix and a second attitude matrix using data from the accelerometer and the magnetometer;

    determining a difference between the first attitude matrix and the second attitude matrix;

    estimating a rotational velocity based on the difference between the first attitude matrix and the second attitude matrix; and

    compensating for an output from the gyroscope to generate a compensated output that compensates for the gyroscope bias using the estimated rotational velocity.

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