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Orientation estimation based on backward-forward bayesian filtering

  • US 9,581,467 B1
  • Filed: 05/13/2016
  • Issued: 02/28/2017
  • Est. Priority Date: 05/13/2016
  • Status: Active Grant
First Claim
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1. A method comprising:

  • receiving a set of sensor data, wherein the set of sensor data comprises data from at least two movement sensors and wherein the sensor data corresponds to a movement of a device having the at least two movement sensors, wherein data from a first sensor of the two movement sensors is a control input data, and wherein the movement sensors include at least one of a gyroscope, a magnetometer, and an accelerometer;

    determining a sensor bias for a first sensor of the at least two movement sensors by iteratively;

    filtering the control input data a first time to determine the sensor bias based on data from a second sensor of the at least two movement sensors, and wherein the filtering of control input data the first time filters the data in one of a forward-in-time direction or a backward-in-time direction;

    adjusting the set of sensor data based on the determined bias;

    filtering the control input data a second time to revise the determined sensor bias,wherein the filtering is performed based on the data from the second sensor of the at least two movement sensors, and wherein the filtering of the control input data the second time filters the data in the other one of the forward-in-time direction or the backward-in-time direction;

    adjusting the set of sensor data based on the revised determined bias; and

    wherein the determining a sensor bias is performed iteratively until the sensor bias converges within a convergence threshold; and

    storing the adjusted sensor data in response to the sensor bias converging.

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