Method to reduce data rates and power consumption using device based attitude generation
First Claim
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1. A method of generating orientation of a device comprising;
- receiving a gyroscope output generated by a gyroscope located on a motion processing unit (MPU), the gyroscope sensing an angular velocity of the device at a first rate to generate the gyroscope output, the gyroscope and the MPU formed on a first package;
integrating, by a processor, the gyroscope output at the first rate to generate an integrated gyroscope output, the integrated gyroscope output representing a change in the orientation of the device, the processor formed on the first package;
receiving an accelerometer output generated by an accelerometer, the accelerometer sensing the orientation of the device to generate the accelerometer output, the accelerometer formed on the first package;
transmitting the integrated gyroscope output to a second processor at a rate lower than the first rate thereby reducing processing requirements of the MPU, traffic from the MPU, and power consumption;
transmitting the received accelerometer output to the second processor; and
performing sensor fusion, by the second processor using the transmitted integrated gyroscope output and the transmitted accelerometer output to generate the orientation of the device, the second processor formed on a second package;
receiving a requested data rate and based on the received requested data rate utilizing an output of the second processor to determine the data rate being requested,wherein the first and second packages are distinct package and the lower rate of the transmitted integrated gyroscope output allows use of the MPU with various sensor fusion algorithms performed by the second package and reducing power consumption.
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Abstract
A method includes generating motion data by receiving a gyroscope data from a gyroscope sensor, performing integration using the gyroscope data and generating an integrated gyroscope data using a first processor. The method further includes receiving a data from one or more sensors, other than the gyroscope sensor, and performing sensor fusion using the integrated gyroscope data and the data to generate motion data using a second processor.
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Citations
23 Claims
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1. A method of generating orientation of a device comprising;
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receiving a gyroscope output generated by a gyroscope located on a motion processing unit (MPU), the gyroscope sensing an angular velocity of the device at a first rate to generate the gyroscope output, the gyroscope and the MPU formed on a first package; integrating, by a processor, the gyroscope output at the first rate to generate an integrated gyroscope output, the integrated gyroscope output representing a change in the orientation of the device, the processor formed on the first package; receiving an accelerometer output generated by an accelerometer, the accelerometer sensing the orientation of the device to generate the accelerometer output, the accelerometer formed on the first package; transmitting the integrated gyroscope output to a second processor at a rate lower than the first rate thereby reducing processing requirements of the MPU, traffic from the MPU, and power consumption; transmitting the received accelerometer output to the second processor; and performing sensor fusion, by the second processor using the transmitted integrated gyroscope output and the transmitted accelerometer output to generate the orientation of the device, the second processor formed on a second package; receiving a requested data rate and based on the received requested data rate utilizing an output of the second processor to determine the data rate being requested, wherein the first and second packages are distinct package and the lower rate of the transmitted integrated gyroscope output allows use of the MPU with various sensor fusion algorithms performed by the second package and reducing power consumption. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16, 17)
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18. A method of generating orientation of a device, comprising:
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receiving at least two consecutive measurement outputs, at a first rate, from a gyroscope formed on a motion processing unit (MPU), each of the at least two consecutive measure outputs generated by the gyroscope sensing an angular velocity of the device, the MPU formed on a first package; averaging the at least two consecutive measurement outputs to generate an average data; calculating a cross product of the at least two consecutive measurement outputs to generate a cross product data; and integrating to generate a gyroscope quaternion, at the first rate using a processor, the average data, the cross product data, and the gyroscope quaternion being transmitted to a sensor fusion at a rate lower than the first rate thereby causing a reduction in a processing requirement of the MPU and reducing power consumption, the sensor fusion generating at least one output; receiving a requested data rate and based on the received requested data rate utilizing the at least one of the sensor fusion outputs to determine the data rate being requested, wherein because the sensor fusion uses data transmitted by the first package at the lower rate and the sensor fusion is externally located relative to the first package, the MPU is operational with various sensor fusion algorithms and traffic from the MPU is reduced. - View Dependent Claims (19, 20)
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21. An apparatus for generating orientation of a device comprising;
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a gyroscope configured to sense an angular velocity of the device, at a first rate, to generate a measurement output on a motion processing unit (MPU); an accelerometer configured to generate sensor data representing an orientation of the device, the MPU, gyroscope, and accelerometer formed on a first package; a processor configured to integrate the measurement output from the gyroscope at the first rate to generate an integrated gyroscope output, wherein the integrated gyroscope output represents a change in the orientation of the device and wherein transmission of the integrated gyroscope output and the sensor data by the first package is performed at a rate lower than the first rate, transmission of the integrated gyroscope output being at a rate lower than the first rate thereby reducing processing requirements of the MPU and reducing power consumption; a sensor fusion formed on a second package located externally to the MPU and responsive to the transmitted integrated gyroscope data and sensor data from the first package and configured to generate sensor fusion outputs including the orientation of the device; and a data rate block responsive to a requested data rate and based on the requested data rate, the data rate block configured to utilize one of the sensor fusion outputs to determine the data rate being requested; wherein the lower rate allows the MPU to operate with various sensor fusion algorithms and the sensor fusion to be located externally to the MPU. - View Dependent Claims (22, 23)
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Specification