Patent ID: 7860676

Claim:
A device comprising: at least one sensor for sensing rotation of said device about a first axis and generating at least one first output associated therewith and for sensing rotation of said device about a second axis and generating at least one second output associated therewith; an accelerometer for sensing an acceleration of said device and outputting at least one third output associated therewith; a temperature sensor for sensing a temperature of said device and outputting at least one temperature output associated therewith; and a processing unit for determining a bias estimate associated with said at least one sensor using: (a) a first bias estimate technique for generating first bias estimate data based upon determining whether said device is stationary using said at least one first, second and third outputs; (b) a second bias estimate technique for generating second bias estimate data based upon detection of a pitch of said device using said at least one first, second and third outputs; (c) a third bias estimate technique for generating third bias estimate data based upon slew-rate filtering using said at least one first and second outputs; and (d) a fourth bias estimate technique for generating fourth bias estimate data based upon said temperature output and said at least one first and second outputs.