Device and method for determination of angular position in three-dimensional space, and corresponding electronic apparatus

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.