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.