Electronic device for use in motion detection and method for obtaining resultant deviation thereof

An electronic device subject to movements and rotations in a spatial reference frame, comprising:

• a motion sensor module having sensor circuitry configured to generate measured angular velocities and measured axial accelerations;
• and
• a computing processor having processor circuitry configured to calculate a resulting deviation associated with the movements and the rotations of the electronic device in the spatial reference frame by performing the following in sequence:
• providing a previous quaternion corresponding to time T−1 based on the measured axial accelerations corresponding to time T−1 and the measured angular velocities corresponding to time T−1, without using the measured angular velocities corresponding to time T;
• converting measured angular velocities corresponding to time T, based on the previous quaternion, into a current quaternion corresponding to time T, without using measured axial accelerations corresponding to time T;
• converting variables of the current quaternion into predicted axial accelerations corresponding to time T, which is associated with the pitch and roll angles of the electronic device and without being associated with the yaw angle of the electronic device;
• comparing the predicted axial accelerations with the measured axial accelerations corresponding to time T to obtain a first comparison result;
• obtaining an updated quaternion associated with time T based on the current quaternion and the first comparison result;
• using the updated quaternion as a next occurrence of the previous quaternion;
• and
• providing the resulting deviation based on the updated quaternion;
• wherein the processor circuitry is further configured to provide content based on the resulting deviation in the spatial reference frame.