Patent Document ID: 9279680
Application ID: 13420753
Patent Flag: 1

Claim One:
1. A processor-implemented method for providing a corrected orientation of a gyroscope on an electronic device, the method comprising: generating a gyroscope reading output using the gyroscope based on a first rotational movement of the electronic device; determining, by the processor, a first orientation estimate based on the gyroscope reading and a past corrected orientation and determining a second orientation estimate based on sensor readings generated using one or more sensors other than the gyroscope; determining, by the processor, whether the gyroscope was saturated when the gyroscope reading was generated; adjusting, by the processor, a saturation correction learning rate for the gyroscope based on the result of the determination of whether the gyroscope was saturated, the saturation correction learning rate controlling an amount of correction to apply to the first orientation estimate; and outputting the corrected orientation calculated based on the first orientation estimate, the second orientation estimate and the saturation correction learning rate, wherein adjusting the saturation correction learning rate for the gyroscope comprises increasing the saturation correction learning rate for the gyroscope if the gyroscope was saturated and wherein the saturation correction learning rate is iteratively increased over time if the gyroscope remains saturated for an extended period of time.