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

Patent metadata

Field	Value
Publication number	US-2017003751-A1
Application number	US-201514974630-A
Country	US
Kind code	A1
Filing date	Dec 18, 2015
Priority date	Jun 30, 2015
Publication date	Jan 5, 2017
Grant date	—

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.

First claim

1 . An electronic complementary filter device, comprising:
a first processing block configured to receive an acceleration signal from an accelerometric sensor, configured to receive an input signal indicative of a magnetic signal from a magnetic-field sensor, and configured to generate a geomagnetic quaternion; a second processing block configured to receive a signal indicative of a gyroscopic signal from a gyroscopic sensor and configured to generate a gyroscopic quaternion; and a combination block configured to produce an estimate of angular position by complementarily combining said geomagnetic quaternion and said gyroscopic quaternion based on a combination factor, the combination factor varying as a function of operating conditions, and the combination factor having a dynamic value and an adaptive value.

2 . The electronic complementary filter device according to claim 1 , wherein said combination block is configured to implement a combination expression of the type:
{circumflex over (q)}=K·q Gyro+(1− K )· q AccMag

wherein {circumflex over (q)} is said estimate of angular position, qGyro is said gyroscopic quaternion, qAccMag is said geomagnetic quaternion, and K is said combination factor, wherein said combination factor has a value close to unity.

3 . The electronic complementary filter device according to claim 1 , wherein said combination factor has an initial value , wherein said combination factor is a function of a first variation parameter that is dependent on a linear acceleration acting on the electronic complementary filter device, and wherein said combination factor is a function of a second variation parameter that is dependent on a desired rate of convergence of said estimate of angular position to a real angular position value.

4 . The electronic complementary filter device according to claim 3 , wherein said first variation parameter varies as a function of said linear acceleration between a minimum value and a maximum value to cause an increase of said combination factor with respect to said initial value, and wherein said second variation parameter varies between a zero value and a maximum negative value as a function of a movement index to cause a decrease of said combination factor with respect to said initial value, said movement index indicative of a state of movement of said electronic complementary filter device.

5 . The electronic complementary filter device according to claim 3 , wherein said combination factor is given by an expression in the following form:
K=f ( AL, VC )= K 0 +AL+VC
wherein K is said combination factor, K 0 is said initial value, AL is said first variation parameter, and VC is said second variation parameter.

6 . The electronic complementary filter device according to claim 1 , further comprising:
a magnetic-anomalies handling module configured to supply to said first processing block said input signal indicative of said magnetic signal, said magnetic-anomalies handling module further configured to reduce effects of magnetic interference on said estimate of angular position, said magnetic-anomalies handling module including: a generation stage configured to receive said magnetic signal and configured to generate said input signal by combining said magnetic signal with a reference magnetic signal coming from a virtual magnetometer, said generation stage configured to generate said input signal as a function of a magnetic combination factor, the value of said magnetic combination factor determined dynamically as a function of an error parameter, said error parameter indicative of magnetic anomalies acting on the electronic complementary filter device.

7 . The electronic complementary filter device according to claim 6 , wherein said magnetic-anomalies handling module further comprises:
an error-determination stage configured to generate said error parameter, said error-determination stage including:
a processing block configured to receive the magnetic signal and a gravity-acceleration signal, said processing block further configured to generate a geomagnetic gravity quaternion; and
an error-computing block configured to determine said error parameter as a function of a difference between said geomagnetic gravity quaternion and said gyroscopic quaternion.

8 . The electronic complementary filter device according to claim 6 , wherein said magnetic combination factor is set at a unit value, in a case where said estimate of angular position represents a game rotation vector.

9 . The electronic complementary filter device according to claim 1 , wherein said signal indicative of said gyroscopic signal is set at a zero value in a case where said estimate of angular position represents a geomagnetic vector.

10 . The electronic complementary filter device according to claim 1 , wherein said electronic complementary filter device is configured to operate recursively, wherein said second processing block is configured at each current instant (t) to receive said estimate of angular position determined at a previous instant (t−1), and wherein said second processing block is configured to generate said gyroscopic quaternion as a function also of said estimate of angular position at the previous instant (t−1).

11 . A portable electronic apparatus, comprising:
an accelerometric sensor configured to produce an acceleration signal; a magnetic-field sensor configured to produce a magnetic signal; a gyroscopic sensor configured to produce a gyroscopic signal; an electronic complementary filter device having:
a first processing block configured to:
receive the acceleration signal;
receive an input signal indicative of the magnetic signal; and
generate a geomagnetic quaternion;

a second processing block configured to:
receive the signal indicative of a gyroscopic signal; and
generate a gyroscopic quaternion; and

a combination block configured to:
receive a combination factor having a dynamic value and an adaptive value, wherein the combination factor varies as a function of operating conditions; and
produce an estimate of angular position by complementarily combining said geomagnetic quaternion and said gyroscopic quaternion based on the combination factor; and

a management unit coupled to the portable electronic device for receiving said estimate of angular position.

12 . The portable electronic device according to claim 11 , wherein said portable electronic device is a wearable electronic device.

13 . The portable electronic device according to claim 11 , wherein said accelerometric sensor, said magnetic-field sensor, and said gyroscopic sensor each provide signals along three axes.

14 . The portable electronic device according to claim 13 , wherein said accelerometric sensor, said magnetic-field sensor, and said gyroscopic sensor each follow a North East Down orientation.

15 . The portable electronic device according to claim 11 , wherein said estimate of angular position is produced using only said acceleration signal and one of said input signal indicative of the magnetic signal and said signal indicative of a gyroscopic signal.

16 . A method to determine an estimate of angular position, comprising:
receiving a combination factor having a dynamic value and an adaptive value, the combination factor varying as a function of operating conditions of an electronic device; when an input signal indicative of a magnetic signal is received, generating a geomagnetic quaternion from a received acceleration signal and from said input signal indicative of said magnetic signal; when said input sig

Assignees

• St Microelectronics Srl

Inventors

• Micali Antonio
• Zancanato Alberto
• Rizzardini Federico

Classifications

• G01C21/1654

  with electromagnetic compass · CPC title

• G06F3/017 Primary

  Gesture based interaction, e.g. based on a set of recognized hand gestures (interaction based on gestures traced on a digitiser G06F3/04883) · CPC title

• G01V3/081

  the magnetic field is produced by the objects or geological structures (characterised by the method of magnetic field measurement G01R33/00) · CPC title

• G01C19/00

  Gyroscopes; Turn-sensitive devices using vibrating masses; Turn-sensitive devices without moving masses; Measuring angular rate using gyroscopic effects · CPC title

• G01B7/30

  for measuring angles or tapers; for testing the alignment of axes · CPC title