US 2018/0356227 A1 · METHOD AND APPARATUS FOR CALCULATION OF ANGULAR VELOCITY USING ACCELERATION SENSOR AND GEOMAGNETIC SENSOR

Abstract

A processor-implemented method based on an acceleration sensor and a geomagnetic sensor for determining an angular velocity of an object includes: deriving a state variable and a variance of the state variable based on an error quaternion and converting a quaternion-based rotation matrix into an error quaternion-based rotation matrix; calculating an observation matrix and an output matrix of the Kalman filter based on the error quaternion-based rotation matrix; calculating a gain of the Kalman filter based on the transferred variance of the state variable and the observation matrix of the Kalman filter after transferring the state variable and the variance of the state variable through a discretized transfer matrix; calculating a quaternion-based on a calibrated state variable and an estimated quaternion after calibrating the state variable and the variance of the state variable through the gain of the Kalman filter; and calculating angular velocity based on the quaternion.

Claims27

Dependent claims

A processor-implemented method based on an acceleration sensor and a geomagnetic sensor for determining an angular velocity of an object, comprising:

deriving a state variable and a variance of the state variable based on an error quaternion and converting a quaternion-based rotation matrix into an error quaternion-based rotation matrix;
calculating an observation matrix and an output matrix of a Kalman filter after redefining an output of the acceleration sensor and an output of the geomagnetic sensor using the error quaternion-based rotation matrix;
calculating a gain of the Kalman filter based on the transferred variance of the state variable and the observation matrix of the Kalman filter after transferring the state variable and the variance of the state variable through a discretized transfer matrix;
calculating a quaternion based on a calibrated state variable and an estimated quaternion after calibrating the state variable and the variance of the state variable through the gain of the Kalman filter;
and
calculating the angular velocity based on the quaternion.

3 more elements

An angular velocity calculating apparatus based on an acceleration sensor and a geomagnetic sensor for determining an angular velocity of an object, comprising:

an error quaternion setting device configured to set an error quaternion;
an estimating device configured to derive a state variable and a variance of the state variable based on the error quaternion, and convert a quaternion-based rotation matrix into an error quaternion-based rotation matrix;
a filter configuring device configured to redefine an acceleration sensor output and an output of the geomagnetic sensor using the error quaternion-based rotation matrix to calculate an observation matrix and an output matrix of a Kalman filter, and transfer the state variable and the variance of the state variable through a discretized transfer matrix to calculate a gain of the Kalman filter;
a calibrating device configured to calibrate the state variable and the variance of the state variable through the gain of the Kalman filter;
a quaternion calculating device configured to calculate a quaternion based on the calibrated state variable and the estimated quaternion;
and
an angular velocity calculator configured to calculate the angular velocity based on the quaternion.

4 more elements

Dependencies are inferred from the claim text.

Method and apparatus for calculation of angular velocity using acceleration sensor and geomagnetic sensor

Life of this patent

Method and apparatus for calculation of angular velocity using acceleration sensor and geomagnetic sensor

Life of this patent

Abstract

Claims27