Patent ID: 11971429
Assignee: SEIKO EPSON CORPORATION
Field: Measurement (Instruments)
Classification: CPC G  B | IPC B  G

Claim 0:
1. A posture estimation method comprising:
calculating a posture change amount of an electronic device with a processor based on an output from an angular velocity sensor and an output from an acceleration sensor of an inertial measurement unit included in the electronic device;
predicting posture quaternion of the electronic device with the processor by using the posture change amount;
adjusting an error covariance matrix of the posture quaternion with the processor by increasing a motion velocity error component in the error covariance matrix and by reducing a covariance component between the motion velocity error component and an error component other than the motion velocity error component when the output of the angular velocity sensor or the output of the acceleration sensor is off-scale; and
correcting the predicted posture quaternion of the electronic device with the processor based on the error covariance matrix of the posture quaternion.