Methods for estimating a yaw angle of a body reference system of a device relative to a gravitational reference system using motion sensors and a magnetometer attached to the device are provided. A method includes (A) receiving measurements from the motion sensors and the magnetometer, (B) determining a measured 3-D magnetic field, a roll, a pitch and a raw estimate of yaw in the body reference system based on the received measurements, (C) extracting a local 3-D magnetic field from the measured 3-D magnetic field, and (D) calculating yaw angle of the body reference system in the gravitational reference system based on the extracted local 3-D magnetic, the roll, the pitch and the raw estimate of yaw using at least two different methods, wherein estimated errors of the roll, the pitch, and the extracted local 3-D magnetic field affect an error of the yaw differently for the different methods.
APPARATUSES AND METHODS FOR ESTIMATING THE YAW ANGLE OF A DEVICE IN A GRAVITATIONAL REFERENCE SYSTEM USING MEASUREMENTS OF MOTION SENSORS AND A MAGNETOMETER ATTACHED TO THE DEVICE
VORRICHTUNGEN UND VERFAHREN ZUR BESTIMMUNG DES GIERWINKELS EINER VORRICHTUNG IN EINEM GRAVITATIONS-REFERENZSYSTEM DURCH MESSUNG VON BEWEGUNGSSENSOREN UND MITHILFE EINES AN DER VORRICHTUNG BEFESTIGTEN MAGNETOMETERS
APPAREILS ET PROCÉDÉS DESTINÉS À ESTIMER L'ANGLE DE LACET D'UN DISPOSITIF DANS UN SYSTÈME DE RÉFÉRENCE GRAVITATIONNEL EN UTILISANT DES MESURES DE CAPTEURS DE MOUVEMENT ET UN MAGNÉTOMÈTRE ATTACHÉ AU DISPOSITIF
2017-12-06
Patent
Elektronische Ressource
Englisch
IPC: | B64D Ausrüstung für Flugzeuge , EQUIPMENT FOR FITTING IN OR TO AIRCRAFT / G01B MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS , Messen der Länge, der Dicke oder ähnlicher linearer Abmessungen / G05D SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES , Systeme zum Steuern oder Regeln nichtelektrischer veränderlicher Größen |
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