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Portable electronic device adapted to compensate for gyroscope bias

  • US 8,896,301 B2
  • Filed: 02/28/2011
  • Issued: 11/25/2014
  • Est. Priority Date: 02/28/2011
  • Status: Active Grant
First Claim
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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:

  • 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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