Sensor Fusion Method for Determining Orientation of an Object
First Claim
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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Abstract
A sensor fusion method of calculating an orientation of an object by combining readings from different types of orientation sensors to estimate the orientation of an object. An analytical solution is provided which is computationally efficient and can be implemented in fixed or floating point architecture. The method comprises 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.
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Citations
36 Claims
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1. A method of calculating an orientation of an object comprising:
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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; anddetermining 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. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16, 17, 18)
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19. An apparatus for determining the orientation of an object comprising one or more sensors associated with the object, and a processor arranged to receive an input orientation;
- receive a reading from a first orientation sensor;
receive a reading from a second orientation sensor, where said first and second orientation sensors are of different types; and
to determine an updated orientation by calculating a rotation based on the orientation sensor readings and apply 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. - View Dependent Claims (20, 21, 22, 23, 24, 25, 26, 27, 28, 29, 30, 31, 32, 33, 34, 35, 36)
- receive a reading from a first orientation sensor;
Specification