Angular velocity estimation using a magnetometer and accelerometer
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United States of America Patent
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Oct 11, 2016
Grant Date -
Jul 10, 2014
app pub date -
Jan 7, 2013
filing date -
Jan 7, 2013
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Abstract
A system and method for estimating angular velocity are provided. The system and method use an accelerometer and magnetometer to estimate an angular velocity in place of a gyroscope in 9-axis sensor fusion to estimate angular orientation. The final angular velocity estimate is constructed from two partially independent angular velocity estimates, one using only magnetometer measurements and the other using only accelerometer measurements. The unobservable portion of each partial angular velocity estimate is provided by a projection from a third complete estimate that uses both accelerometer and magnetometer data.
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