Apparatuses and Methods for Estimating the Yaw Angle of a Device in a Gravitational Reference System Using Measurements of Motion Sensors and a Magnetometer Attached to the Device
First Claim
1. A method for estimating a yaw angle of a body reference system of a device relative to a gravitational reference system, using motion sensors and a magnetometer attached to the device, the method comprising:
- receiving measurements from the motion sensors and from the magnetometer;
determining a measured 3-D magnetic field, a roll angle, a pitch angle and a raw estimate of yaw angle of the device in the body reference system based on the received measurements;
extracting a local 3-D magnetic field from the measured 3-D magnetic field; and
calculating a tilt-compensated yaw angle of the body reference system of the device in the gravitational reference system based on the extracted local 3-D magnetic, the roll angle, the pitch angle and the raw estimate of yaw angle using at least two different methods, wherein an error of the roll angle estimate, an error of the pitch angle estimate, and an error of the extracted local 3-D magnetic field affect the error of the tilt-compensated yaw angle differently for the at least two different methods.
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Abstract
Methods for estimating a yaw angle of a body reference system of a device relative to a gravitational reference system using motion sensors and a magnetometer attached to the device are provided. A method includes (A) receiving measurements from the motion sensors and the magnetometer, (B) determining a measured 3-D magnetic field, a roll, a pitch and a raw estimate of yaw in the body reference system based on the received measurements, (C) extracting a local 3-D magnetic field from the measured 3-D magnetic field, and (D) calculating yaw angle of the body reference system in the gravitational reference system based on the extracted local 3-D magnetic, the roll, the pitch and the raw estimate of yaw using at least two different methods, wherein estimated errors of the roll, the pitch, and the extracted local 3-D magnetic field affect an error of the yaw differently for the different methods.
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Citations
34 Claims
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1. A method for estimating a yaw angle of a body reference system of a device relative to a gravitational reference system, using motion sensors and a magnetometer attached to the device, the method comprising:
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receiving measurements from the motion sensors and from the magnetometer; determining a measured 3-D magnetic field, a roll angle, a pitch angle and a raw estimate of yaw angle of the device in the body reference system based on the received measurements; extracting a local 3-D magnetic field from the measured 3-D magnetic field; and calculating a tilt-compensated yaw angle of the body reference system of the device in the gravitational reference system based on the extracted local 3-D magnetic, the roll angle, the pitch angle and the raw estimate of yaw angle using at least two different methods, wherein an error of the roll angle estimate, an error of the pitch angle estimate, and an error of the extracted local 3-D magnetic field affect the error of the tilt-compensated yaw angle differently for the at least two different methods. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16, 17, 18, 19, 20, 21, 22, 23, 24, 25, 26, 27, 28, 29, 30)
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31. An apparatus, comprising:
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a device having a rigid body; a 3-D magnetometer mounted on the device and configured to generate measurements corresponding to a local magnetic field; motion sensors mounted on the device and configured to generate measurements corresponding to orientation of the rigid body; and at least one processing unit configured (1) to receive measurements from the motion sensors and from the magnetometer; (2) to determine a measured 3-D magnetic field, a roll angle, a pitch angle and a raw estimate of yaw angle of the device in the body reference system based on the received measurements; (3) to extract a local 3-D magnetic field from the measured 3-D magnetic field; and (4) to calculate a tilt-compensated yaw angle of the body reference system of the device in the gravitational reference system based on the extracted local 3-D magnetic, the roll angle, the pitch angle and the raw estimate of yaw angle using at least two different methods, wherein an error of the roll angle estimate, an error of the pitch angle estimate, and an error of the extracted local 3-D magnetic field affect the error of the tilt-compensated yaw angle differently for the at least two different methods. - View Dependent Claims (32, 33)
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34. A computer readable storage medium configured to store executable codes which when executed on a computer make the computer to perform a method for estimating a yaw angle of a body reference system of a device relative to a gravitational reference system, using motion sensors and a magnetometer attached to the device, the method comprising:
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receiving measurements from the motion sensors and from the magnetometer; determining a measured 3-D magnetic field, a roll angle, a pitch angle and a raw estimate of yaw angle of the device in the body reference system based on the received measurements; extracting a local 3-D magnetic field from the measured 3-D magnetic field; and calculating a tilt-compensated yaw angle of the body reference system of the device in the gravitational reference system based on the extracted local 3-D magnetic, the roll angle, the pitch angle and the raw estimate of yaw angle using at least two different methods, wherein an error of the roll angle estimate, an error of the pitch angle estimate, and an error of the extracted local 3-D magnetic field affect the error of the tilt-compensated yaw angle differently for the at least two different methods.
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Specification