Systems and methods for measuring the rate of angular displacement using magnetic field sensing

A system for measuring the rate of angular displacement of a traveling object about one or more axes orthogonal to one another using magnetic field sensing, the system comprising:

• a magnetic field sensor configured to measure magnetic field intensity and/or changes in the magnetic field intensity, projected onto the magnetic field sensor, to generate scalar measurements over a time duration of the magnetic field intensity and/or changes in the magnetic field intensity, wherein each of the scalar measurements corresponds to one of the orthogonal axes;
• a comparator configured to provide noise-immunity in the measurements;
• at least one processor coupled with a non-transitory computer readable storage medium storing instructions that, when executed by the processor, cause the processor to:
• determine a number of peaks in the measurements for the time duration, wherein the number of peaks is determined from determining regions where the measurements have a zero slope for the time duration and compute the rate of angular displacement for the traveling object, as a function of the determined number of peaks and the time duration.

A system for measuring the rate of angular displacement of an object traveling along a trajectory using magnetic field sensing, the system comprising:

• a magnetic field sensor in the travelling object, wherein the sensor is configured to output magnetic field sensor signals of magnetic field intensity and/or changes in the magnetic field intensity, projected onto the magnetic field sensor;
• a transmitter configured to transmit the signals;
• a receiver configured to receive the data transmitted from the transmitter;
• and a processor coupled with a non-transitory computer readable storage medium storing instructions that, when executed by the processor, causes the processor to:
• compute a composite average rate of angular displacement by, reducing noise from the data to achieve relatively higher fidelity data, segmenting the trajectory from the relatively higher fidelity data;
• counting a number of peaks in the relatively higher fidelity data for a time duration using a threshold parameter optimized for corresponding segmented trajectories, wherein the number of peaks is determined from determining regions where the relatively higher fidelity data have a zero slope;
• and compute an orientation of the traveling object by integrating the composite average rate of angular displacement.