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SENSOR FUSION OF MOTION DATA OBTAINED FROM PORTABLE ELECTRONIC DEVICES

  • US 20130158928A1
  • Filed: 12/16/2011
  • Published: 06/20/2013
  • Est. Priority Date: 12/16/2011
  • Status: Active Grant
First Claim
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1. A method for determining an orientation of a portable electronic device, comprising:

  • sensing a rotational rate of the device using a first rotational sensor;

    sensing a total acceleration including a gravitational component and linear acceleration component of the device using a second inertial sensor;

    filtering data obtained by the second inertial sensor using a variable low pass filter which filters the data by an amount that depends at least in part on the sensed rotational rate of the device;

    deriving an orientation of the device at successive periods of time based in part on the rotational rate sensed at each time; and

    applying a correction factor to the derived orientation of the device based at least in part on the sensed gravitational component and the linear acceleration component of the filtered data obtained by the second inertial sensor when the second inertial sensor senses a total acceleration that is equal to the gravitational component within a predefined threshold to thereby obtain a corrected orientation of the device at a subset of the successive periods of time.

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