System and method for determining an attitude of a device undergoing dynamic acceleration using a Kalman filter
First Claim
1. A method for determining an attitude of a device undergoing dynamic acceleration, comprising:
- at one or more systems having one or more processors and memory storing one or more programs that, when executed by the one or more processors, cause the one or more systems to perform the method;
calculating a difference between a first accelerometer measurement received from a first multi-dimensional accelerometer of the device and a second accelerometer measurement received from a second multi-dimensional accelerometer of the device;
adjusting a Kalman gain based on the difference, wherein;
the Kalman gain is used in a Kalman filter that determines the attitude of the device; and
when the difference is less than a specified threshold, adjusting the Kalman gain based on the difference includes decreasing covariance values associated with the first accelerometer measurement and the second accelerometer measurement in a measurement covariance matrix of the Kalman filter so that the first accelerometer measurement and the second accelerometer measurement are given more weight in the Kalman filter relative to a magnetic field measurement received from a multi-dimensional magnetometer of the device than when the difference is greater than the specified threshold; and
determining an attitude of the device using the Kalman filter based at least in part on the Kalman gain, the first accelerometer measurement, the second accelerometer measurement, and the magnetic field measurement.
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Abstract
A system, a computer readable storage medium including instructions, and a method for determining an attitude of a device undergoing dynamic acceleration. A difference between a first accelerometer measurement received from a first multi-dimensional accelerometer of the device and a second accelerometer measurement received from a second multi-dimensional accelerometer of the device is calculated. A Kalman gain is adjusted based on the difference, wherein the Kalman gain is used in a Kalman filter that determines the attitude of the device. An attitude of the device is determined using the Kalman filter based at least in part on the Kalman gain, the first accelerometer measurement, the second accelerometer measurement, and a magnetic field measurement received from a multi-dimensional magnetometer of the device.
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Citations
20 Claims
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1. A method for determining an attitude of a device undergoing dynamic acceleration, comprising:
at one or more systems having one or more processors and memory storing one or more programs that, when executed by the one or more processors, cause the one or more systems to perform the method; calculating a difference between a first accelerometer measurement received from a first multi-dimensional accelerometer of the device and a second accelerometer measurement received from a second multi-dimensional accelerometer of the device; adjusting a Kalman gain based on the difference, wherein; the Kalman gain is used in a Kalman filter that determines the attitude of the device; and when the difference is less than a specified threshold, adjusting the Kalman gain based on the difference includes decreasing covariance values associated with the first accelerometer measurement and the second accelerometer measurement in a measurement covariance matrix of the Kalman filter so that the first accelerometer measurement and the second accelerometer measurement are given more weight in the Kalman filter relative to a magnetic field measurement received from a multi-dimensional magnetometer of the device than when the difference is greater than the specified threshold; and determining an attitude of the device using the Kalman filter based at least in part on the Kalman gain, the first accelerometer measurement, the second accelerometer measurement, and the magnetic field measurement. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8)
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9. A system for determining an attitude of a device undergoing dynamic acceleration, comprising:
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one or more processors; memory; and one or more programs stored in the memory, the one or more programs comprising instructions to; calculate a difference between a first accelerometer measurement received from a first multi-dimensional accelerometer of the device and a second accelerometer measurement received from a second multi-dimensional accelerometer of the device; adjust a Kalman gain based on the difference, wherein; the Kalman gain is used in a Kalman filter that determines the attitude of the device; and when the difference is less than a specified threshold, the instructions to adjust the Kalman gain based on the difference include instructions to decrease covariance values associated with the first accelerometer measurement and the second accelerometer measurement of the Kalman filter so that the first accelerometer measurement and the second accelerometer measurement are given more weight in the Kalman filter relative to a magnetic field measurement received from a multi-dimensional magnetometer of the device than when the difference is greater than the specified threshold; and determine an attitude of the device using the Kalman filter based at least in part on the Kalman gain, the first accelerometer measurement, the second accelerometer measurement, and the magnetic field measurement. - View Dependent Claims (10, 11, 12, 13, 14)
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15. A non-transitory computer readable storage medium storing one or more programs configured for execution by a processor, the one or more programs comprising instructions to:
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calculate a difference between a first accelerometer measurement received from a first multi-dimensional accelerometer of a device and a second accelerometer measurement received from a second multi-dimensional accelerometer of the device; adjust a Kalman gain based on the difference, wherein; the Kalman gain is used in a Kalman filter that determines the attitude of the device; and when the difference is less than a specified threshold, the instructions to adjust the Kalman gain based on the difference include instructions to decrease covariance values associated with the first accelerometer measurement and the second accelerometer measurement so that the first accelerometer measurement and the second accelerometer measurement are given more weight in the Kalman filter relative to a magnetic field measurement received from a multi-dimensional magnetometer of the device than when the difference is greater than the specified threshold; and determine an attitude of the device using the Kalman filter based at least in part on the Kalman gain, the first accelerometer measurement, the second accelerometer measurement, and the magnetic field measurement. - View Dependent Claims (16, 17, 18, 19, 20)
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Specification