Orientation estimation utilizing a plurality of adaptive filters
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United States of America Patent
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Jan 9, 2018
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Feb 11, 2015
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Feb 23, 2014
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Abstract
Apparatuses, methods and systems apparatus for sensing an orientation are disclosed. One apparatus includes an accelerometer, wherein the accelerometer generates a sensed acceleration of the accelerometer and a gyroscope, wherein the gyroscope generates a sensed orientation of the gyroscope. The apparatus further includes a first adaptive filter, the first adaptive filter operative to receive at least the sensed acceleration and the sensed orientation of the gyroscope, and generate a first orientation (Q) of the apparatus, a second adaptive filter, the second adaptive filter operative to receive at least the sensed acceleration and the sensed orientation of the gyroscope, and generate a second orientation (Q′) of the apparatus, wherein a tuning for the first adaptive filter is different than a tuning for the second adaptive filter.
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