Portable electronic device adapted to compensate for gyroscope bias
First Claim
1. A method for compensating for gyroscope bias on a portable electronic device having a gyroscope, an accelerometer and a magnetometer, the method comprising:
- determining a first attitude matrix and a second attitude matrix using data from the accelerometer and the magnetometer, each attitude matrix being a 3×
3 matrix that describes the orientation of the portable electronic device with respect to a global coordinate system;
determining a difference between the first attitude matrix and the second attitude matrix;
estimating a rotational velocity based on the difference between the first attitude matrix and the second attitude matrix; and
compensating for an output from the gyroscope to generate a compensated output that compensates for the gyroscope bias using the estimated rotational velocity.
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Abstract
According to one aspect, there is provided a method for compensating for gyroscope bias on a portable electronic device having a gyroscope, and at least one of an accelerometer and a magnetometer. The method includes determining a first attitude matrix and a second attitude matrix using data from the accelerometer and the magnetometer, determining a difference between the first attitude matrix and the second attitude matrix, estimating a rotational velocity based on the difference between the first attitude matrix and the second attitude matrix, and compensating for an output from the gyroscope to generate a compensated output that compensates for the gyroscope bias using the estimated rotational velocity.
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Citations
20 Claims
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1. A method for compensating for gyroscope bias on a portable electronic device having a gyroscope, an accelerometer and a magnetometer, the method comprising:
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determining a first attitude matrix and a second attitude matrix using data from the accelerometer and the magnetometer, each attitude matrix being a 3×
3 matrix that describes the orientation of the portable electronic device with respect to a global coordinate system;determining a difference between the first attitude matrix and the second attitude matrix; estimating a rotational velocity based on the difference between the first attitude matrix and the second attitude matrix; and compensating for an output from the gyroscope to generate a compensated output that compensates for the gyroscope bias using the estimated rotational velocity. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9)
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10. A portable electronic device, comprising:
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a gyroscope for detecting the rotational velocity of the device; an accelerometer for detecting the acceleration experienced by the device; a magnetometer for determining the position and orientation of the device with respect to a magnetic field; and at least one processor coupled with the gyroscope, the accelerometer and the magnetometer, the at least one processor adapted to; determine a first attitude matrix and a second attitude matrix using data from the accelerometer and the magnetometer, each attitude matrix being a 3×
3 matrix that describes the orientation of the portable electronic device with respect to a global coordinate system;determine a difference between the first attitude matrix and the second attitude matrix; estimate a rotational velocity based on the difference between the first attitude matrix and the second attitude matrix; and compensate for an output from the gyroscope to generate a compensated output that compensates for the gyroscope bias using the estimated rotational velocity. - View Dependent Claims (11, 12, 13, 14, 15, 16, 17, 18)
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19. A method for compensating for gyroscope bias on a portable electronic device having a gyroscope, an accelerometer and an electronic compass, the method comprising:
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determining a first attitude matrix and a second attitude matrix using data from the accelerometer and the electronic compass, each attitude matrix being a 3×
3 matrix that describes the orientation of the portable electronic device with respect to a global coordinate system;estimating a rotational velocity based on a difference between the first attitude matrix and the second attitude matrix; and compensating for an output from the gyroscope to generate a compensated output that compensates for the gyroscope bias using the estimated rotational velocity. - View Dependent Claims (20)
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Specification