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Method and device for detecting a substantially invariant rotation axis

  • US 7,890,291 B2
  • Filed: 04/24/2008
  • Issued: 02/15/2011
  • Est. Priority Date: 04/25/2007
  • Status: Active Grant
First Claim
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1. A method for detecting a substantially invariant rotation axis of a motion of a mobile body equipped with one of an inertial or magnetic sensor with three sensitive axes, the method comprising the following steps:

  • acquiring physical measurements with respect to the three sensitive axes by the inertial or magnetic sensor, the physical measurements comprising at least three samples at different times during motion of the mobile body;

    estimating from the at least three samples a substantially invariant rotation axis in the physical measurements space; and

    identifying the estimated substantially invariant rotation axis as the substantially invariant rotation axis of the motion.

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