The patent badge is an abbreviated version of the USPTO patent document. The patent badge does contain a link to the full patent document.
The patent badge is an abbreviated version of the USPTO patent document. The patent badge covers the following: Patent number, Date patent was issued, Date patent was filed, Title of the patent, Applicant, Inventor, Assignee, Attorney firm, Primary examiner, Assistant examiner, CPCs, and Abstract. The patent badge does contain a link to the full patent document (in Adobe Acrobat format, aka pdf). To download or print any patent click here.
Patent No.:
Date of Patent:
Sep. 29, 2020
Filed:
May. 21, 2018
Haechitech Corporation, Cheongju-si, KR;
Dong Yoon Kim, Ithaca, NY (US);
Seong Min Choe, Seongnam-si, KR;
Haechitech Corporation, Cheongju-si, KR;
Abstract
A processor-implemented method based on an acceleration sensor and a geomagnetic sensor for determining an angular velocity of an object includes: deriving a state variable and a variance of the state variable based on an error quaternion and converting a quaternion-based rotation matrix into an error quaternion-based rotation matrix; calculating an observation matrix and an output matrix of the Kalman filter based on the error quaternion-based rotation matrix; calculating a gain of the Kalman filter based on the transferred variance of the state variable and the observation matrix of the Kalman filter after transferring the state variable and the variance of the state variable through a discretized transfer matrix; calculating a quaternion-based on a calibrated state variable and an estimated quaternion after calibrating the state variable and the variance of the state variable through the gain of the Kalman filter; and calculating angular velocity based on the quaternion.