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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.:

US 12631472 B1

PDFFull Text
Date of Patent:
May. 19, 2026

Filed:

Feb. 14, 2023

Gyroscope drift estimation and compensation with angle of arrival of electromagnetic waves

Applicant:

Sword Health, S.a., Oporto, PT;

Inventors:

Pedro Henrique Oliveira Santos, Oporto, PT;

José Carlos Coelho Alves, Oporto, PT;

Pedro Miguel Simões Bastos Martins, Oporto, PT;

Pedro Miguel Moreira De Sousa, Oporto, PT;

Pedro Filipe Xavier Rodrigues, Oporto, PT;

Márcio Filipe Moutinho Colunas, Oporto, PT;

Virgílio António Ferro Bento, Oporto, PT;

Assignee:

SWORD HEALTH, S.A., Oporto, PT;

Attorney:

SCHWEGMAN LUNDBERG & WOESSNER, P.A

Primary Examiner:

Paul D Lee

Int. Cl.
CPC ...
G01C 25/00 (2006.01); G01C 21/16 (2006.01); G01S 3/46 (2006.01); G01S 5/00 (2006.01); G01S 5/02 (2010.01); H04W 4/02 (2018.01);
U.S. Cl.
CPC ...
G01C 25/00 (2013.01); G01C 25/005 (2013.01); G01C 21/165 (2013.01); G01C 21/183 (2020.08); G01S 3/46 (2013.01); G01S 5/0036 (2013.01); G01S 5/0284 (2013.01); H04W 4/023 (2013.01);
Abstract

A method including: wirelessly transmitting and receiving data packets between first and second apparatuses; determining first and second angles of arrival at each apparatus for electromagnetic waves of the received data packets; providing first and second directions of arrival corresponding to the angles of arrival; converting the first and second directions into a global frame; projecting the first and second converted directions onto a horizontal plane; and computing a first drift estimate for a gyroscope or IMU of the first apparatus relative to the second apparatus, and/or computing a second drift estimate for a gyroscope or IMU of the second apparatus relative to the first apparatus, the first drift estimate being based on a difference between the projected second direction and a mirrored projected first direction, and the second drift estimate being based on a difference between the projected first direction and a mirrored projected second direction.

Find Patent Forward Citations

Oliveira Santos, Pedro. (2026). Gyroscope drift estimation and compensation with angle of arrival of electromagnetic waves (U.S. Patent No. 12631472). U.S. Patent and Trademark Office. https://idiyas.com/patent/badge/12631472

Data source: USPTO (United States Patent and Trademark Office) public patent records. Weekly synchronization. How IDiyas builds this profile

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