Patent ID: 11968449
Assignee: ARASHI VISION INC.
Field: Audio-visual technology (Electrical engineering)
Classification: CPC G  H | IPC G  H

Claim 9:
10. The computer readable storage medium according to claim 8, wherein after conducting the first smoothing on the first rotation matrix to obtain the second rotation matrix, second smoothing may further be conducted on the second rotation matrix by employing an iterative amplitude-limiting smoothing filtering method to obtain an updated second rotation matrix, specifically:
letting an initialization matrix equal to the second rotation matrix {tilde over (q)}t0={tilde over (q)}tk; and
calculating the updated second rotation matrix by employing a spherical (Slerp) difference method as for the K-th iteration, wherein a calculation formula is: {tilde over (q)}tk=slerp({tilde over (q)}t−δtk-1,{tilde over (q)}t+δtk-1,0.5), where δt is a sampling time interval of a gyroscope.