Sensor Fusion Algorithm

A host computing device comprising:

• one or more microcontroller devices;
• an interface to physically and communicatively connect an accessory device to the host computing device;
• a sensor fusion module implemented at least partially via the microcontroller devices and configured to perform operations including:
• computing an orientation of the accessory device relative to the host computing device when the accessory device is connected to the host computing device via the interface based upon:
• a combined spatial position for the host computing device obtained by interpolation of at least two independent raw spatial positions for the host computing device calculated using multiple sensors of the host computing device;
• and
• a spatial position for the accessory device ascertained using one or more sensors of the accessory device;
• and
• controlling one or more behaviors of the host computing device and the accessory device based upon the orientation that is computed.

A method implemented by a microcontroller of a host computing device comprising:

• ascertaining a spatial position of an accessory device physically and communicatively coupled to the host computing device via an interface that enables removable attachment of the accessory device to the host computing device using position information from one or more sensors of the accessory device obtained via the interface;
• computing an orientation of the accessory device relative to the host computing device to which the accessory device is attached based on at least two independent computations of a spatial position for the host computing device that are calculated using an array of sensors for the host computing device and the ascertained spatial position for the accessory device ascertained using the position information from the one or more sensors of the accessory device;
• exposing an application programming interface (API) operable by one or more applications to obtain the computed orientation;
• and
• supplying the computed orientation to an application in response to receiving a request from the application via the API.