Portable electronic device adapted to provide an improved attitude matrix

• US 9,157,736 B2
• Filed: 03/31/2014
• Issued: 10/13/2015
• Est. Priority Date: 02/28/2011
• Status: Active Grant

• Current Assignee: Malikie Innovations Limited (Key Patent Innovations Limited)
• Original Assignee: Blackberry Limited
• Inventors: Oka, Anand Ravindra, Almalki, Nazih, Snow, Christopher Harris
• Primary Examiner(s): Suglo, Janet
• Assistant Examiner(s): BLOSS, STEPHANIE E
• Application Number:
  US14/230,677
• Publication Number:
  US 20140214357A1
• Time in Patent Office: 561 Days
• Field of Search: 702/150, 702/153, 702/141, 702/93
• US Class Current: 1/1
• CPC Class Codes: G01B 21/16 for measuring distance of clearance between spaced objects
• CPC Class Codes: G01C 19/00 Gyroscopes; Turn-sensitive devices using vibrating masses; Turn-sensitive devices without moving masses; Measuring angular rate using gyroscopic effects
• CPC Class Codes: G06F 15/00 Digital computers in general details G06F1/00 – G06F13/00; Data processing equipment in general
• CPC Class Codes: G06F 3/017 Gesture based interaction, e.g. based on a set of recognized hand gestures interaction based on gestures traced on a digitiser G06F3/04883
• CPC Class Codes: G06F 3/0346 with detection of the device orientation or free movement in a 3D space, e.g. 3D mice, 6-DOF [six degrees of freedom] pointers using gyroscopes, accelerometers or tilt-sensors

Abstract

According to one aspect, a method of determining an attitude matrix on a portable electronic device. The method includes determining a first attitude matrix gradient using data from at least one of an accelerometer and a magnetometer, determining a second attitude matrix gradient using data from a gyroscope, fusing the first attitude matrix gradient and the second attitude matrix gradient based on a mixing coefficient to generate a fused gradient, and based on the fused gradient, updating a fine attitude matrix for the portable electronic device.

Claims

1. A method of determining an orientation of a portable electronic device, comprising:

determining, at a processor of the portable electronic device, a first attitude matrix gradient using data obtained from at least one of an accelerometer of the portable electronic device and a magnetometer of the portable electronic device;

determining, at the processor, a second attitude matrix gradient using data obtained from a gyroscope of the portable electronic device;

determining, at the processor, in real time or substantially real time, a mixing coefficient having a value based on the data obtained from the accelerometer representative of an acceleration currently experienced by the portable electronic device and the data obtained from the magnetometer representative of a magnetic field currently experienced by the portable electronic device;

fusing, at the processor, the first attitude matrix gradient and the second attitude matrix gradient based on a mixing coefficient to generate a fused gradient; and

based on the fused gradient, updating, at the processor, a fine attitude matrix for the portable electronic device to determine the orientation of the portable electronic device with respect to a global coordinate system.

2. The method of claim 1, wherein the fused gradient is determined according to:

D=β

(1+α

)C+Δ

α

B

where D is the fuse gradient, C is the first attitude matrix, B is the second attitude matrix, β and

Δ

are first and second weighting parameters, and α

is the mixing coefficient.

3. The method of claim 1, wherein the value of the mixing coefficient is between 0 and 1.

4. The method of claim 1, further comprising adjusting the mixing coefficient based on one or more of the data obtained from the accelerometer, the data obtained from the magnetometer, and the data received from the gyroscope.

5. The method of claim 1, wherein the mixing coefficient is selected to reduce a relative importance of the first attitude matrix gradient when the acceleration currently experienced by the portable electronic device is substantially different from Earth'"'"'s gravity.

6. The method of claim 1, wherein the mixing coefficient is selected to reduce a e relative importance of the first attitude matrix gradient when the magnetic field currently experienced by the portable electronic device is substantially different from the generally known local magnetic field.

7. The method of claim 1, wherein the mixing coefficient is selected to reduce relative importance of the second attitude matrix gradient when the acceleration currently experienced by the portable electronic device is substantially similar to Earth'"'"'s gravity.

8. The method of claim 1, wherein the fused gradient is determined based on at least one weighting parameter selected to adjust a speed with which at least one of the first and second matrix gradients impact the fused gradient.

9. The method of claim 1, wherein the first attitude matrix gradient is determined based on using at least three local frame vectors to determine a coarse attitude matrix.

10. The method of claim 1, wherein the first attitude matrix gradient comprises an accelerometer/magnetometer attitude matrix gradient, and the second attitude matrix gradient comprises a gyroscope attitude matrix gradient.

11. A portable electronic device, comprising:

a gyroscope configured to detect rotational velocity of the portable electronic device;

at least one of an accelerometer configured to detect acceleration experienced by the device, and a magnetometer configured to detect a position and an 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 configured to;

determine a first attitude matrix gradient using data obtained from at least one of the accelerometer and a magnetometer;

determine a second attitude matrix gradient using data obtained from the gyroscope;

determine in real time or substantially real time, a mixing coefficient having a value based on the data obtained from the accelerometer representative of an acceleration currently experienced by the portable electronic device and the data obtained from the magnetometer representative of a magnetic field currently experienced by the portable electronic device;

fuse the first attitude matrix gradient and second attitude matrix gradient based on a mixing coefficient to generate a fused gradient; and

based on the fused gradient, update a fine attitude matrix for the portable electronic device to determine the orientation of the portable electronic device with respect to a global coordinate system.

12. The device of claim 11, wherein the fused gradient is determined according to:

D=β

(1+α

)C+Δ

α

B

where D is the fuse gradient, C is the first attitude matrix, B is the second attitude matrix, β and

Δ

are first and second weighting parameters, and α

is the mixing coefficient.

13. The method of claim 11, wherein the value of the mixing coefficient is between 0 and 1.

14. The device of claim 11, wherein the at least one processor is configured to select the mixing coefficient to reduce a relative importance of the first attitude matrix gradient when the accelerometer determines that the device is experiencing an acceleration substantially different from Earth'"'"'s gravity.

15. The device of claim 11, wherein the at least one processor is configured to reduce the relative importance of the first attitude matrix gradient when the magnetometer determines that the device is experiencing a magnetic field substantially different from the known local magnetic field.

16. The device of claim 11, wherein the at least one processor is configured to reduce the relative importance of the second attitude matrix gradient when the accelerometer determines that the device is experiencing an acceleration substantially similar to Earth'"'"'s gravity.

17. The device of claim 11, wherein the fused gradient is based on at least one weighting parameter selected to adjust a speed with which at least one of the first and second matrix gradients impacts the fused gradient.

18. The device of claim 11, wherein the at least one processor is configured to determine the first attitude matrix gradient based on using at least three local frame vectors to determine a coarse attitude matrix.

19. The device of claim 11, wherein at least one processor is configured to determine the second attitude matrix gradient by converting an output of the gyroscope in a local frame of reference to global gyroscope data in a global frame of reference by pre-multiplication of raw output by a transpose of the current coarse attitude matrix, and subsequently determine the second attitude matrix gradient by taking a cross product of the global gyroscope data with a transpose of a previous estimate of the fine attitude matrix.

20. A non-transitory computer-readable medium storing instructions which, when executed by a processor of portable electronic device configure the processor to:

determine, at a processor of the portable electronic device, a first attitude matrix gradient using data obtained from at least one of an accelerometer of the portable electronic device and a magnetometer of the portable electronic device;

determine, at the processor, a second attitude matrix gradient using data obtained from a gyroscope of the portable electronic device;

determine, at the processor, in real time or substantially real time, a mixing coefficient having a value based on the data obtained from the accelerometer representative of an acceleration currently experienced by the portable electronic device and the data obtained from the magnetometer representative of a magnetic field currently experienced by the portable electronic device;

fuse, at the processor, the first attitude matrix gradient and the second attitude matrix gradient based on a mixing coefficient to generate a fused gradient; and

based on the fused gradient, update, at the processor, a fine attitude matrix for the portable electronic device to determine an orientation of the portable electronic device with respect to a global coordinate system.