MAPPED VARIABLE SMOOTHING EVOLUTION METHOD AND DEVICE

摘要

The present inventions generally relate to methods and dedicated apparatuses outputting a variable mapped on a device orientation in a non-inertial reference system, with the device orientation being estimated using measurements of motion sensors (such as 3D accelerometers and gyroscopes) and a magnetometer or other similar sensors including cameras. A variable mapped on an orientation of a device is smoothed to have a gradual evolution by adjusting the estimated orientation of the device obtained via sensor fusion or other sensor processing to take into consideration a current measured angular velocity.

主权项

1. A method for smoothing evolution of a variable depending on an orientation of a device, the method comprising:
determining an adjusted angular velocity (Ωs,n) based on a measured angular velocity (ωn) and an estimated angular velocity (Ωf,n), such that to satisfy one or more predefined constraints; and determining a current value (x) of the variable according to an adjusted estimate of the current orientation (qs,n) of the device obtained using the adjusted angular velocity (Ωs,n).