Idhl Holdings, Inc.

Hillcrest Laboratories, Inc.

Sennheiser Electronic Gmbh & Co Kg

Sennheiser Electronic Corporation

Bryan Austin Cook

Matthew G Liberty

Yun Li

Axel Grell

Markus Kuhr

Hua Sheng

Juha Merimaa

Heiko Zeuner

Gregor Zielinsky

Veronique Larcher

David Romblom

Jurgen Peissig

Mark A Turner

Zhanlue Zhao

Pouyan Amirshahi

Methods, apparatus, and systems for calibrating the Zero Rate Offset (ZRO) of a gyroscope are disclosed.

Methods and apparatus for determining the zero rate output of a sensor using a learning algorithm

Methods, apparatus, and systems for estimating and calibrating a gyroscope's scale using a magnetometer mounted on the same device by rotating the device about an axis multiple times; and, during the first rotation, storing the magnetometer magnetic field reading and a heading (from integration of the gyroscope readings) at each of a plurality of angular reference points; then, during each subsequent rotation, determining magnetometer/gyroscope-heading output pairs for which the magnetometer output matches the magnetometer reading corresponding to one of the reference points, thereby indicating that the device has reached the same heading as the matching reference point; then, for each matching output sample pair, using that magnetometer/gyroscope-heading output sample pair to update the gyroscope scale factor for the corresponding angular reference point; and averaging those scale estimates to generate a final gyroscope scale factor estimate.

Methods, apparatus and systems for gyroscope scale calibration

A bias value associated with a sensor, e.g., a time-varying, non-zero value which is output from a sensor when it is motionless, is estimated using a ZRO-tracking filter which is a combination of a moving-average filter and a Kalman filter having at least one constraint enforced against at least one operating parameter of the Kalman filter. It achieves faster convergence on an estimated bias value and produces less estimate error after convergence. A resultant bias estimate may then be used to compensate the biased output of the sensor in, e.g., a 3D pointing device.

Methods, devices and systems for determining the zero rate output of a sensor

Methods, architectures, apparatuses, systems, devices, and computer program products directed to dead reckoning for pedestrian navigation ('pedestrian dead reckoning') and robust heading estimation in pedestrian dead reckoning. Pursuant to the methodologies and technologies provided herein, a walking direction may be derived or otherwise determined using a robust heading estimation mechanism in connection with, for example, step detection and step length determination. The robust heading estimation mechanism may be based on device orientation (e.g., on changes in device orientation). The device orientation may be obtained based on (e.g., by way of) fusion of accelerometer and gyroscope measurements.

Methods, architectures, apparatuses, systems directed to improved dead reckoning for pedestrian navigation

Systems, devices, methods and software are described for mapping movement or motion of a 3D pointing device into cursor position; e.g., for use in rendering the cursor on a display. Absolute and relative type mapping algorithms are described. Mapping algorithms can be combined to obtain beneficial characteristics from different types of mapping.

3D pointer mapping

A variable mapped on an orientation of a device is smoothed to have a gradual evolution by adjusting the estimated orientation of the device obtained via sensor fusion or other sensor processing to take into consideration a current measured angular velocity.

Mapped variable smoothing evolution method and device

A forward pointing direction associated with a handheld device is estimated or determined by, for example, calculating a center of rotation of the device. A resultant combined or selected bias estimate may then be used to compensate the biased output of the sensor in, e.g., a 3D pointing device.

Determining forward pointing direction of a handheld device

The present inventions generally relate to methods and dedicated apparatuses outputting a variable mapped on a device orientation in a non-inertial reference system, with the device orientation being estimated using measurements of motion sensors (such as 3D accelerometers and gyroscopes) and a magnetometer or other similar sensors including cameras. A variable mapped on an orientation of a device is smoothed to have a gradual evolution by adjusting the estimated orientation of the device obtained via sensor fusion or other sensor processing to take into consideration a current measured angular velocity.

Method and devices for providing surround audio signals are provided. Surround audio signals are received and are binaurally filtered by at least one filter unit. In some embodiments, the input surround audio signals are also processed by at least one equalizing unit. In those embodiments, the binaurally filtered signals and the equalized signals are combined to form output signals.

Methods and devices for reproducing surround audio signals

A method, a filtering module, and a computer-readable medium are configured to filter measurements acquired in a sensor reference system. Filtered measurements of motion sensors and a magnetometer attached to the device may then be used to determine orientation of a device in a non-inertial reference system. The measurements are filtered in a reference system, whose position relative to the sensor system can be calculated, and in which gravity and Earth's magnetic field have substantially constant direction and magnitude during the filtering window.

Gyroscope stabilizer filter

Methods for processing information transmitted from a pointing device with at least one button towards a graphical interface operating according to received display motion coordinates and notifications are provided. A method includes intercepting sensed motion coordinates and the button status transmitted from the pointing device. The method further includes determining the display motion coordinates and the notifications based on an evolution of the sensed coordinates and an evolution of the button status, to remove an unintentional motion included in the sensed motion coordinates. The method then includes outputting the display motion coordinates and the notifications towards the graphical interface.

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Silver Spring, MD, United States of America

Bryan Austin Cook