US 12,436,624 B2
Dynamic gravity vector estimation for memory constrained devices
Federico Rizzardini, Settimo Milanese (IT); and Lorenzo Bracco, Chivasso (IT)
Assigned to STMICROELECTRONICS S.rl., Agrate Brianza (IT)
Filed by STMICROELECTRONICS S.r.l., Agrate Brianza (IT)
Filed on Oct. 15, 2024, as Appl. No. 18/916,262.
Application 18/916,262 is a continuation of application No. 18/059,214, filed on Nov. 28, 2022, granted, now 12,164,705.
Prior Publication US 2025/0036213 A1, Jan. 30, 2025
Int. Cl. G01B 7/30 (2006.01); G06F 3/0346 (2013.01)
CPC G06F 3/0346 (2013.01) 16 Claims
OG exemplary drawing
 
1. A non-transitory computer-readable medium having contents which configure a processing device to perform a method, the method comprising:
estimating an angular rate of change based on rotational data;
determining a rotational versor based on the rotational data;
estimating a gravity vector based on the angular rate of change and the rotational versor;
estimating a linear acceleration based on acceleration data;
determining an acceleration versor based on the acceleration data;
determining a correction factor based on the linear acceleration;
estimating an error in the estimated gravity vector based on the acceleration versor;
generating a dynamic gravity vector based on the estimated gravity vector, the correction factor and the estimated error in the estimated gravity vector; and
using the dynamic gravity vector to perform an operation of a software application, wherein the gravity vector is estimated according to:

OG Complex Work Unit Math
where gprop is the estimated gravity vector, θ is the estimated angular rate of change, and gt-1 is a previous dynamic gravity vector.