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Orientation estimation based on backward-forward bayesian filtering

  • US 9,769,620 B1
  • Filed: 01/19/2017
  • Issued: 09/19/2017
  • 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 of a device and wherein the sensor data corresponds to a movement of the device, and wherein the movement sensors include at least one of a gyroscope, a magnetometer, and an accelerometer;

    communicating at least a subset of the set of sensor data to a remote server;

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

    filtering data from a first sensor of the two movement sensors 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 the 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 data from the first sensor 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 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

    storing the adjusted sensor data; and

    supplementing the adjusted sensor data based on calculations performed by the server.

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