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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
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
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机译:使用运动传感器和连接到设备的磁力计测量重力引力系统中设备偏航角的装置和方法
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摘要
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.
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