Gyroscope stabilizer filter

摘要

A method, a filtering module, and a computer-readable medium are configured to filter measurements acquired in a sensor reference system. Filtered measurements of motion sensors and a magnetometer attached to the device may then be used to determine orientation of a device in a non-inertial reference system. The measurements are filtered in a reference system, whose position relative to the sensor system can be calculated, and in which gravity and Earth's magnetic field have substantially constant direction and magnitude during the filtering window.

主权项

1. A method for filtering a measurement acquired in a sensor reference system, the method comprising:
determining a transformation from a sensor reference system to a gyroscope reference system; rotating at least one measurement from the sensor reference system to the gyroscope reference system using the transformation; filtering the rotated at least one measurement to remove at least a high-frequency time-dependent portion thereof; and rotating the filtered at least one measurement back into the sensor reference system.