Gyroscope stabilizer filter
First Claim
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1. A method for filtering a measurement acquired in a sensor reference system, the method comprising:
- determining a transformation from a sensor reference system to a gyroscope reference system;
rotating at least one measurement from the sensor reference system to the gyroscope reference system using the transformation;
filtering the rotated at least one measurement to remove at least a high-frequency time-dependent portion thereof; and
rotating the filtered at least one measurement back into the sensor reference system.
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Abstract
A method, a filtering module, and a computer-readable medium are configured to filter measurements acquired in a sensor reference system. Filtered measurements of motion sensors and a magnetometer attached to the device may then be used to determine orientation of a device in a non-inertial reference system. The measurements are filtered in a reference system, whose position relative to the sensor system can be calculated, and in which gravity and Earth'"'"'s magnetic field have substantially constant direction and magnitude during the filtering window.
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Citations
18 Claims
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1. A method for filtering a measurement acquired in a sensor reference system, the method comprising:
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determining a transformation from a sensor reference system to a gyroscope reference system; rotating at least one measurement from the sensor reference system to the gyroscope reference system using the transformation; filtering the rotated at least one measurement to remove at least a high-frequency time-dependent portion thereof; and rotating the filtered at least one measurement back into the sensor reference system. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15)
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16. A computer readable medium storing executable codes which when performed by a computer make the computer perform a method for filtering a measurement acquired in a sensor reference system, the method comprising:
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determining a transformation from a sensor reference system to a gyroscope reference system using a previous angular position of the gyroscope reference system in the sensor reference system, and an angular velocity measured in the sensor reference system; rotating at least one measurement from the sensor reference system to the gyroscope reference system using the transformation; filtering the rotated at least one measurement to remove at least a high-frequency time-dependent portion thereof; and rotating the filtered at least one measurement back into the sensor reference system.
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17. A filtering module, comprising:
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a first input configured to receive a current value of an angular velocity of a device; a second input configured to receive a measurement of an acceleration or a magnetic field from sensors mounted on the device; an integration unit configured to receive the angular velocity and to determine a transformation to be applied to the received measurement; a first rotation unit configured to receive the transformation and to apply the transformation to the received measurement; a filter configured to modify the transformed measurement, so that the modified measurement to correspond to a substantially time-independent portion; and a second rotation unit configured to receive the transformation, to apply an inverse of the transformation to the modified measurement and to output a result thereof.
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18. A method for filtering a measurement acquired in a sensor reference system, the method comprising:
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determining a transformation from a sensor reference system to an estimated Earth-type reference system using a fusion quaternion determined by applying a fusion method to a set of measurements previously acquired in the sensor reference system and integrating an angular velocity measured in the sensor reference system; rotating at least one measurement from the sensor reference system to the estimated Earth-type reference system using the transformation; filtering the rotated at least one measurement to remove a high-frequency time-dependent portion thereof; and rotating the filtered at least one measurement back into the sensor reference system.
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Specification