Sensor Fusion Method for Determining Orientation of an Object
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United States of America Patent
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Sep 9, 2016
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Sep 11, 2015
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Abstract
A sensor fusion method of calculating an orientation of an object by combining readings from different types of orientation sensors to estimate the orientation of an object. An analytical solution is provided which is computationally efficient and can be implemented in fixed or floating point architecture. The method comprises receiving an input orientation; receiving a reading from a first orientation sensor; receiving a reading from a second orientation sensor; where said first and second orientation sensors are of different types; and determining an updated orientation by calculating a rotation based on the orientation sensor readings and applying the calculated rotation to the input orientation.
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