Patent ID: 8768621

Claim:
A signal processing module comprising a difference signal generating module for generating at least one difference signal from a first and a second acceleration measurement vector signal wherein the first and the second acceleration measurement vector signal respectively comprise a first and a second sequence of vector signal samples, the vector signal samples comprising at least a first and a second linearly independent acceleration measurement signal component, wherein samples in the first sequence have a corresponding sample in the second sequence, wherein the vector signal samples of at least one of the first and the second acceleration measurement vector signal represents a measurement result of a single acceleration sensor having a variable orientation as a function of time or of a respective one of first and a second acceleration sensor of which at least one has a variable orientation as a function of time, an orientation signal generation unit for providing at least one angle of rotation signal that is indicative for a difference in orientation at which a sample of the first sequence and a corresponding sample of the second sequence were obtained, and an inverse calculation module comprising a matrix inversion facility for providing inverted matrix data by inverting a matrix derived from the at least one angle of rotation signal, and a matrix multiplication facility for estimating from the at least one difference signal and the inverted matrix data a bias signal and/or an object state signal corrected for bias, wherein the difference signal generating module comprises integration facilities and subtraction facilities, the difference signal generating module being arranged for determining at least a difference between an n th order integrand of the first and the second acceleration measurement vector signal and a difference between an m th order integrand of the first and the second acceleration measurement vector signal wherein m and n are mutually different integers greater or equal than 0, and wherein the inverse calculation module comprises matrix integration facilities that derive the matrix from the angle of rotation signal.