公开(公告)号：US20190018499A1

公开(公告)日：2019-01-17

申请号：US16125515

申请日：2018-09-07

Applicant: STMICROELECTRONICS S.R.L.

Inventor： Antonio MICALI ,  Alberto ZANCANATO ,  Federico RIZZARDINI

IPC: G06F3/01 ,  G01C21/16 ,  G01C21/10 ,  G01C17/38 ,  G01P15/00 ,  G01C19/00 ,  G01B7/30 ,  G01V3/08

CPC classification number: G06F3/017 ,  G01B7/30 ,  G01C17/38 ,  G01C19/00 ,  G01C21/10 ,  G01C21/165 ,  G01P15/00 ,  G01V3/081

Abstract: An electronic device determines an estimate of angular position based on an accelerometric signal supplied by an accelerometric sensor and as a function of at least one of a gyroscopic signal from a gyroscopic sensor and a magnetic signal from a magnetic-field sensor. A processing module implements a complementary filter, which is provided with a first processing block, a second processing block, and a combination block. The first processing block receives the acceleration signal and an input signal indicative of the magnetic signal and generates a geomagnetic quaternion. The second processing block receives a signal indicative of the gyroscopic signal (gyro) and generates a gyroscopic quaternion. The combination block determines the estimate ({circumflex over (q)}) of angular position by complementarily combining the geomagnetic quaternion and the gyroscopic quaternion based on a combination factor that has a dynamic value and an adaptive value and that varies as a function of the operating conditions.