公开(公告)号：US10114464B2

公开(公告)日：2018-10-30

申请号：US14974630

申请日：2015-12-18

Applicant: STMICROELECTRONICS S.R.L.

Inventor： Antonio Micali ,  Alberto Zancanato ,  Federico Rizzardini

IPC: G09G5/00 ,  G01P15/00 ,  G01C17/00 ,  G01C19/00 ,  G06F3/01 ,  G01B7/30 ,  G01V3/08 ,  G01C17/38 ,  G01C21/10 ,  G01C21/16 ,  G01C9/00

Abstract: An electronic device determines an estimate ({circumflex over (q)}) of angular position as a function of an accelerometric signal (acc) supplied by an accelerometric sensor and as a function of at least one between a gyroscopic signal (gyro) supplied by a gyroscopic sensor and a magnetic signal (mag) supplied by 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 (acc) and an input signal (mag′) indicative of the magnetic signal (mag) and generates a geomagnetic quaternion (qAccMag). The second processing block receives a signal indicative of the gyroscopic signal (gyro) and generates a gyroscopic quaternion (qGyro). The combination block determines the estimate ({circumflex over (q)}) of angular position by complementarily combining the geomagnetic quaternion (qAccMag) and the gyroscopic quaternion (qGyro) based on a combination factor (K) that has a dynamic value and an adaptive value and that varies as a function of the operating conditions.

公开(公告)号：US20170003751A1

公开(公告)日：2017-01-05

申请号：US14974630

申请日：2015-12-18

Applicant: STMICROELECTRONICS S.R.L.

Inventor： Antonio Micali ,  Alberto Zancanato ,  Federico Rizzardini

IPC: G06F3/01 ,  G01V3/08 ,  G01P15/00 ,  G01B7/30 ,  G01C19/00

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 ({circumflex over (q)}) of angular position as a function of an accelerometric signal (acc) supplied by an accelerometric sensor and as a function of at least one between a gyroscopic signal (gyro) supplied by a gyroscopic sensor and a magnetic signal (mag) supplied by 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 (acc) and an input signal (mag′) indicative of the magnetic signal (mag) and generates a geomagnetic quaternion (qAccMag). The second processing block receives a signal indicative of the gyroscopic signal (gyro) and generates a gyroscopic quaternion (qGyro). The combination block determines the estimate ({circumflex over (q)}) of angular position by complementarily combining the geomagnetic quaternion (qAccMag) and the gyroscopic quaternion (qGyro) based on a combination factor (K) that has a dynamic value and an adaptive value and that varies as a function of the operating conditions.

Abstract translation: 电子设备确定作为由加速度传感器提供的加速度信号（acc）的函数的角位置的估计（{回旋（q）}），并且作为由陀螺仪信号（gyro）提供的陀螺仪信号 陀螺传感器和由磁场传感器提供的磁信号（mag）。 处理模块实现了具有第一处理块，第二处理块和组合块的互补滤波器。 第一处理块接收加速度信号（acc）和指示磁信号（mag）的输入信号（mag'），并产生地磁四元数（qAccMag）。 第二处理块接收指示陀螺仪信号（gyro）的信号，并产生陀螺四分数（qGyro）。 基于具有动态值和自适应的组合因子（K），组合块通过将​​地磁四元数（qAccMag）和陀螺四分数（qGyro）互补地组合来确定角位置的估计（{circumflex over（q）}） 值，并且根据操作条件而变化。

公开(公告)号：US10747330B2

公开(公告)日：2020-08-18

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 ,  G01B7/30 ,  G01C19/00 ,  G01P15/00 ,  G01V3/08 ,  G01C17/38 ,  G01C21/16 ,  G01C21/10 ,  G01C21/00

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.