Systems and Methods for Compensating for a Misalignment Angle Between an Accelerometer and a Magnetometer
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United States of America Patent
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Issued Date -
Oct 2, 2014
app pub date -
Apr 2, 2013
filing date -
Apr 2, 2013
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Abstract
A method for compensating for a misalignment angle between an accelerometer and a magnetometer includes applying a corrective rotation to collected accelerometer data or magnetometer data based on an estimated misalignment angle between an axis of the accelerometer and an axis of the magnetometer. The method further includes estimating a gravity vector using the corrected accelerometer data and estimating a magnetic field vector using the corrected magnetometer data. Additionally, the method includes calculating a characteristic that is a function of a calculated angle between the estimated gravity vector and the estimated magnetic field. The method also includes calculating a figure of merit over the plurality of times that is a function of the characteristic, and dynamically adjusting the estimated misalignment angle during ordinary use of the electronic device such that the figure of merit converges to a value as the electronic device rotates.
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