Gyroscope sensor estimated from accelerometer and magnetometer

摘要

Estimation of gyroscopic data on a mobile device is determined based on receiving a plurality of magnetometer-angle vectors from a magnetometer and receiving a plurality of accelerometer-angle vectors from an accelerometer. A plurality of matrices transform a coordinate system of the mobile device to an Earth coordinate system based on the magnetometer-angle vectors and the accelerometer-angle vectors. A plurality of estimated gyroscope vectors are then determined based on the plurality of matrices. A computer-implemented method), a program-code, and program-product, and devices for producing same are further disclosed herein.

主权项

1. A method for estimation of gyroscopic data of a mobile device, said mobile devices comprising a processor, a clock, a magnetometer, and an accelerometer, comprising the steps of:
a) receiving a plurality of magnetometer-angle vectors (e(n)) based on output of the magnetometer; b) receiving a plurality of accelerometer-angle vectors (a(n)) based on outputs produced by the accelerometer; c) determining a plurality of matrices which transforms a coordinate system of said mobile device to an Earth coordinate system based on said plurality of said magnetometer-angle vectors and said accelerometer-angle vectors; d) calculating a plurality of estimated gyroscope vectors (G(n)) based on said plurality of matrices.