HYBRID ANGULAR MOTION SENSORS

摘要

A hybrid angular rate system is provided. In one aspect, the hybrid angular rate system at least includes two different types of angular rate sensors. The hybrid angular rate system may determine when to use the first angular rate sensor and when to use the second angular rate sensor to obtain angular rate measurements indicative of angular motion of the portable sensor device. Further, the hybrid angular rate system may determine one or more angular motion parameters describing angular motion of the portable sensor device using data from the first angular rate sensor, the second angular rate sensor, or the first angular rate sensor and the second angular rate sensor based on the determination.

主权项

1. A portable sensor device comprising:
a first angular rate sensor including two or more accelerometers, wherein two of the two or more accelerometers are positioned at spaced-apart locations along a common axis; a second angular rate sensor comprising an accelerometer and a magnetometer; and a set of one or more processors; and a non-transitory computer readable medium storing instructions, which when executed, cause the set of processors to:
(a) determine when to use the first angular rate sensor and when to use the second angular rate sensor to obtain angular rate measurements indicative of angular motion of the portable sensor device; and(b) determine one or more angular motion parameters describing angular motion of the portable sensor device using angular rate measurements from the first angular rate sensor, the second angular rate sensor, or the first angular rate sensor and the second angular rate sensor as determined in (a).