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Sensor Fusion Method for Determining Orientation of an Object

  • US 20170074689A1
  • Filed: 09/09/2016
  • Published: 03/16/2017
  • Est. Priority Date: 09/11/2015
  • Status: Active Application
First Claim
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1. A method of calculating an orientation of an object comprising:

  • receiving an input orientation;

    receiving a reading from a first orientation sensor;

    receiving a reading from a second orientation sensor;

    where said first and second orientation sensors are of different types; and

    determining an updated orientation by calculating a rotation based on the orientation sensor readings and applying the calculated rotation to the input orientation;

    wherein calculating a rotation comprises;

    calculating a first rotation which rotates the reading from one of the orientation sensors to be aligned with a first reference direction;

    applying the first rotation to the reading from the other of the orientation sensors to obtain an intermediate orientation;

    calculating a second rotation that rotates the intermediate orientation to be aligned with a reference plane which is spanned by axes including an axis aligned with the first reference direction; and

    combining the first and second rotations.

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