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:
Nov. 25, 2014
Filed:
Feb. 28, 2011
Anand Ravindra Oka, Waterloo, CA;
Nazih Almalki, Waterloo, CA;
Christopher Harris Snow, Kitchener, CA;
Anand Ravindra Oka, Waterloo, CA;
Nazih Almalki, Waterloo, CA;
Christopher Harris Snow, Kitchener, CA;
BlackBerry Limited, Waterloo, Ontario, CA;
Abstract
According to one aspect, there is provided a method for compensating for gyroscope bias on a portable electronic device having a gyroscope, and at least one of an accelerometer and a magnetometer. The method includes determining a first attitude matrix and a second attitude matrix using data from the accelerometer and the magnetometer, determining a difference between the first attitude matrix and the second attitude matrix, estimating a rotational velocity based on the difference between the first attitude matrix and the second attitude matrix, and compensating for an output from the gyroscope to generate a compensated output that compensates for the gyroscope bias using the estimated rotational velocity.