System and method for determining an attitude of a device undergoing dynamic acceleration

A multi-dimensional pointing device comprising:

• one or more processors;
• memory;
• and
• one or more programs, wherein the one or more programs are stored in the memory and configured to be executed by the one or more processors, the one or more programs comprising instructions to:
• calculate a first attitude measurement based on a magnetic field measurement received from a magnetometer of the device and a first acceleration measurement received from a first accelerometer of the device;
• calculate a second attitude measurement based on the magnetic field measurement received from the magnetometer of the device and a second acceleration measurement received from a second accelerometer of the device, wherein the first attitude measurement and the second attitude measurement comprise substantially simultaneous attitude measurements;
• after calculating the first attitude measurement and the second attitude measurement, calculate a difference between the first attitude measurement and the second attitude measurement;
• calculate a correction factor based at least in part on the calculated difference between the first attitude measurement and the second attitude measurement;
• and
• apply the correction factor to the first attitude measurement to produce a corrected attitude measurement for the device.

A non-transitory computer readable storage medium storing one or more programs configured for execution by one or more processors of a device, the one or more programs comprising instructions to:

• calculate a first attitude measurement based on a magnetic field measurement received from a magnetometer of the device and a first acceleration measurement received from a first accelerometer of the device;
• calculate a second attitude measurement based on the magnetic field measurement received from the magnetometer of the device and a second acceleration measurement received from a second accelerometer of the device, wherein the first attitude measurement and the second attitude measurement comprise substantially simultaneous attitude measurements;
• after calculating the first attitude measurement and the second attitude measurement, calculate a difference between the first attitude measurement and the second attitude measurement;
• calculate a correction factor based at least in part on the calculated difference between the first attitude measurement and the second attitude measurement;
• and
• apply the correction factor to the first attitude measurement to produce a corrected attitude measurement for the device.