ORIENTATION MODEL FOR INERTIAL DEVICES
First Claim
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1. A computer-implemented method for estimating an orientation of a moving object in three-dimensional space, the method comprising:
- obtaining filtered and calibrated angular velocity readings of the object;
computing a first correction vector by directing a quaternion orientation estimate at time t−
1 towards the angular velocity readings found at time t to generate a quaternion orientation estimate of the angular velocity readings at time t;
obtaining filtered and calibrated proper acceleration readings of the object;
computing a second correction vector by directing the quaternion orientation estimate of the angular velocity readings at time t towards the proper acceleration readings found at time t; and
using the second correction vector as a measurement error for estimating the orientation of the moving object at time t.
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Abstract
There is described a computationally efficient quaternion-based orientation estimation model for a moving object using a specialized gradient descent correction step.
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Citations
20 Claims
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1. A computer-implemented method for estimating an orientation of a moving object in three-dimensional space, the method comprising:
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obtaining filtered and calibrated angular velocity readings of the object; computing a first correction vector by directing a quaternion orientation estimate at time t−
1 towards the angular velocity readings found at time t to generate a quaternion orientation estimate of the angular velocity readings at time t;obtaining filtered and calibrated proper acceleration readings of the object; computing a second correction vector by directing the quaternion orientation estimate of the angular velocity readings at time t towards the proper acceleration readings found at time t; and using the second correction vector as a measurement error for estimating the orientation of the moving object at time t. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10)
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11. A system for estimating an orientation of a moving object in three-dimensional space, the system comprising:
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a processing unit; and a non-transitory memory communicatively coupled to the processing unit and comprising computer-readable program instructions executable by the processing unit for; obtaining filtered and calibrated angular velocity readings of the object; computing a first correction vector by directing a quaternion orientation estimate at time t−
1 towards the angular velocity readings found at time t to generate a quaternion orientation estimate of the angular velocity readings at time t;obtaining filtered and calibrated proper acceleration readings of the object; computing a second correction vector by directing the quaternion orientation estimate of the angular velocity readings at time t towards the proper acceleration readings found at time t; and using the second correction vector as a measurement error for estimating the orientation of the moving object at time t. - View Dependent Claims (12, 13, 14, 15, 16, 17, 18, 19, 20)
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Specification