{
  "$type": "site.standard.document",
  "description": "According to one aspect, there is provided a method for compensating for gyroscope bias on a portable electronic device having a gyroscope, an accelerometer and a magnetometer. The method includes determining a first attitude matrix and a second attitude matrix using data from at least one of the…",
  "path": "/patents/996239",
  "publishedAt": "2012-11-07T00:00:00.000Z",
  "site": "at://did:plc:oql6ds5vnff4ugar6rruliwd/site.standard.publication/3mn3ohu7oxx5w",
  "tags": [
    "G01C19/5776",
    "RESEARCH IN MOTION LTD [CA]"
  ],
  "textContent": "According to one aspect, there is provided a method for compensating for gyroscope bias on a portable electronic device having a gyroscope, an accelerometer and a magnetometer. The method includes determining a first attitude matrix and a second attitude matrix using data from at least one of the accelerometer and the magnetometer, determining a difference between the first attitude matrix and the second attitude matrix, estimating a rotational velocity based on the difference between the first attitude matrix and the second attitude matrix, and compensating for an output from the gyroscope to generate a compensated output that compensates for the gyroscope bias using the estimated rotational velocity.",
  "title": "Portable electronic device adapted to compensate for gyroscope bias"
}