PORTABLE ELECTRONIC DEVICE ADAPTED TO PROVIDE AN IMPROVED ATTITUDE MATRIX
First Claim
Patent Images
1. A method of determining an attitude matrix on a portable electronic device, comprising:
- determining a first attitude matrix gradient using data from at least one of an accelerometer and a magnetometer;
determining a second attitude matrix gradient using data from a gyroscope;
fusing the first attitude matrix gradient and the second attitude matrix gradient based on a mixing coefficient to generate a fused gradient; and
based on the fused gradient, updating a fine attitude matrix for the portable electronic device.
4 Assignments
0 Petitions
Accused Products
Abstract
According to one aspect, a method of determining an attitude matrix on a portable electronic device. The method includes determining a first attitude matrix gradient using data from at least one of an accelerometer and a magnetometer, determining a second attitude matrix gradient using data from a gyroscope, fusing the first attitude matrix gradient and the second attitude matrix gradient based on a mixing coefficient to generate a fused gradient, and based on the fused gradient, updating a fine attitude matrix for the portable electronic device.
-
Citations
20 Claims
-
1. A method of determining an attitude matrix on a portable electronic device, comprising:
-
determining a first attitude matrix gradient using data from at least one of an accelerometer and a magnetometer; determining a second attitude matrix gradient using data from a gyroscope; fusing the first attitude matrix gradient and the second attitude matrix gradient based on a mixing coefficient to generate a fused gradient; and based on the fused gradient, updating a fine attitude matrix for the portable electronic device. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10)
-
-
11. A portable electronic device, comprising:
-
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 gradient using data from at least one of the accelerometer and a magnetometer; determine a second attitude matrix gradient using data from the gyroscope; fuse the first attitude matrix gradient and second attitude matrix gradient based on a mixing coefficient to generate a fused gradient; and based on the fused gradient, update a fine attitude matrix for the portable electronic device. - View Dependent Claims (12, 13, 14, 15, 16, 17, 18, 19)
-
-
20. A method of determining an attitude matrix on a portable electronic device, comprising:
-
determining a first attitude matrix gradient using data from at least one of an accelerometer and an electronic compass; determining a second attitude matrix gradient using data from a gyroscope; fusing the first attitude matrix gradient and the second attitude matrix gradient based on a mixing coefficient to generate a fused gradient; and based on the fused gradient, updating a fine attitude matrix for the portable electronic device.
-
Specification