PORTABLE ELECTRONIC DEVICE ADAPTED TO PROVIDE AN IMPROVED ATTITUDE MATRIX
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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.
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Citations
40 Claims
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1-20. -20. (canceled)
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21. A method of determining an attitude matrix on a portable electronic device, comprising:
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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; determining, on a processor, in real time or substantially real time, a mixing coefficient having a value based on an acceleration currently experienced by the portable electronic device and a magnetic field currently experienced by the portable electronic device; 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 (22, 23, 24, 25, 26, 27, 28, 29, 30)
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31. 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 to 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 the magnetometer; determine a second attitude matrix gradient using data from the gyroscope; determine, in real time or substantially real time, a mixing coefficient having a value based on an acceleration currently experienced by the portable electronic device and a magnetic field currently experienced by the portable electronic device; 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 (32, 33, 34, 35, 36, 37, 38, 39)
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40. A non-transitory computer-readable medium storing instructions which, when executed by a processor configure the processor to:
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determine a first attitude matrix gradient using data from at least one of an accelerometer and an electronic compass; determine a second attitude matrix gradient using data from a gyroscope; determine, on a processor in real time or substantially real time, a mixing coefficient having a value based on an acceleration currently experienced by the portable electronic device and a magnetic field currently experienced by the portable electronic device; 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.
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Specification