Methods and devices for determining orientation

摘要

Methods and electronic devices for determining orientation are described. In one aspect, a processor-implemented method of determining a corrected orientation of a gyroscope on an electronic device includes: generating a gyroscope reading using the gyroscope; determining, by the processor, a first orientation estimate based on the gyroscope reading and a past corrected orientation; determining, by the processor, whether the gyroscope was saturated when the gyroscope reading was generated; adjusting, by the processor, a saturation correction learning rate for the gyroscope based on the result of the determination of whether the gyroscope was saturated; and calculating, by the processor, the corrected orientation based on the first orientation estimate, a second orientation estimate and the saturation correction learning rate.

主权项

1. A processor-implemented method for providing a corrected orientation of a gyroscope on an electronic device, the method comprising:
generating a gyroscope reading output using the gyroscope based on a first rotational movement of the electronic device; determining, by the processor, a first orientation estimate based on the gyroscope reading and a past corrected orientation and determining a second orientation estimate based on sensor readings generated using one or more sensors other than the gyroscope; determining, by the processor, whether the gyroscope was saturated when the gyroscope reading was generated; adjusting, by the processor, a saturation correction learning rate for the gyroscope based on the result of the determination of whether the gyroscope was saturated, the saturation correction learning rate controlling an amount of correction to apply to the first orientation estimate; and outputting the corrected orientation calculated based on the first orientation estimate, the second orientation estimate and the saturation correction learning rate, wherein adjusting the saturation correction learning rate for the gyroscope comprises increasing the saturation correction learning rate for the gyroscope if the gyroscope was saturated and wherein the saturation correction learning rate is iteratively increased over time if the gyroscope remains saturated for an extended period of time.