Determination of a spatial orientation

A non-transitory computer readable medium having a computer program, which is executable by a processor, comprising:

• a program code arrangement having program code for determining a spatial orientation of an object, by performing the following:
• detecting a rotational speed of the object with a first sensor;
• determining an estimated value for the spatial orientation of the object based on the detected rotational speed and a starting value for the spatial orientation;
• detecting an acceleration acting on the object with a second sensor;
• determining an acceleration component of the detected acceleration resulting from a rotational movement of the object, based on the detected rotational speed and a given distance of the second sensor from a rotational axis of the rotational movement;
• determining an acceleration component of the detected acceleration resulting from gravity;
• and correcting the estimated value for the spatial orientation, taking into account the acceleration component resulting from gravity;
• and determining the distance of the second sensor from the rotational axis, based on an adjustment state of a fastening device, wherein the fastening device is adjustable, and wherein the fastening device is for fastening to a head of a user.

A device for determining a spatial orientation of an object, comprising:

• a first sensor for detecting a rotational speed of the object;
• a second sensor for detecting an acceleration acting on the object;
• and a processing device that is configured to perform the following:
• determining an estimated value for the spatial orientation of the object based on the detected rotational speed and a starting value for the spatial orientation;
• determining an acceleration component of the detect acceleration resulting from a rotational movement of the object, based on the detected rotational speed and a given distance of the second sensor from a rotational axis of the rotational movement;
• determining an acceleration component of the detected acceleration resulting from gravity;
• correcting the estimated value for the spatial orientation, taking into account the acceleration component resulting from gravity;
• and determining the distance of the second sensor from the rotational axis, based on an adjustment state of a fastening device, wherein the fastening device is adjustable, and wherein the fastening device is for fastening to a head of a user.

A VR device, comprising:

• a fastening device for fastening to a head of a user;
• one of a visual output device and an acoustic output device;
• a device for determining a spatial orientation of an object, including:
• a first sensor for detecting a rotational speed of the object;
• a second sensor for detecting an acceleration acting on the object;
• and
• a processing device that is configured to perform the following:
• determining an estimated value for the spatial orientation of the object based on the detected rotational speed and a starting value for the spatial orientation;
• determining an acceleration component of the detected acceleration resulting from a rotational movement of the object, based on the detected rotational speed and a given distance of the second sensor from a rotational axis of the rotational movement;
• determining an acceleration component of the detected acceleration resulting from gravity;
• and
• correcting the estimated value for the spatial orientation, taking into account the acceleration component resulting from gravity;
• and
• a sampling device for determining the distance of the second sensor from the rotational axis, based on an adjustment state of the fastening device, wherein the fastening device is adjustable.