Gravitaatioestimaatin muodostus

摘要

The invention relates to a method for generating an estimation of earth's gravity. The method comprises: obtaining (210) one or more acceleration data values and one or more orientation data values over a period of time; generating (220) magnitude of orientation change from the orientation data values; determining (230) a stability value based on the acceleration data values and the magnitude of orientation change; comparing (240) the determined stability value to a threshold value; and generating (250) an estimation of earth's gravity over the period of time on the basis of the acceleration data values if the comparison indicates that the determined stability value is below the threshold value. The invention also relates to an apparatus implementing the method.