PORTABLE ELECTRONIC DEVICE ADAPTED TO COMPENSATE FOR GYROSCOPE BIAS
First Claim
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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Accused Products
Abstract
According to one aspect, there is provided 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 includes 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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Citations
20 Claims
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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:
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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. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9)
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10. A portable electronic device, comprising:
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a gyroscope for detecting the rotational velocity of the device; at least one of an accelerometer for detecting the acceleration experienced by the device and a magnetometer for determining the position and orientation of the device with respect to a magnetic field; and at least one processor coupled with the gyroscope, the accelerometer and the magnetometer, the at least one processor adapted to; determine a first attitude matrix and a second attitude matrix using data from the accelerometer and the magnetometer; determine a difference between the first attitude matrix and the second attitude matrix; estimate a rotational velocity based on the difference between the first attitude matrix and the second attitude matrix; and compensate for an output from the gyroscope to generate a compensated output that compensates for the gyroscope bias using the estimated rotational velocity. - View Dependent Claims (11, 12, 13, 14, 18)
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15. The device of claim 15, wherein the compensation value is adjusted using a feedback loop to compensate for errors in the compensated output.
- 16. The device of claim 16, wherein the feedback loop comprises a first-order infinite impulse response loop filter with a control parameter.
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19. A method for compensating for gyroscope bias on a portable electronic device having a gyroscope, an accelerometer and an electronic compass, the method comprising:
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determining a first attitude matrix and a second attitude matrix using data from the accelerometer and the electronic compass; estimating a rotational velocity based on a 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. - View Dependent Claims (20)
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Specification