Helsingin Yliopisto

Samuli Hemminki

Sasu Tarkoma

Petteri Nurmi

Disclosed is a method for generating an estimation of earth's gravity. The method includes: obtaining one or more acceleration data values and one or more orientation data values over a period of time; generating magnitude of orientation change from the orientation data values; determining a stability value based on the acceleration data values and the magnitude of orientation change; comparing the determined stability value to a threshold value; and generating an estimation of earth's gravity over the period of time on the basis of the acceleration data values if the comparison indicates that the determined stability value is below the threshold value. Also disclosed is an apparatus implementing the method.

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Helsingin Yliopisto, Finland

Samuli Hemminki