CPC G01R 33/0035 (2013.01) [G01C 25/005 (2013.01)] | 16 Claims |
1. A method, comprising:
generating gyroscope sensor signals with a gyroscope of an electronic device;
generating magnetometer sensor signals with a magnetometer of the electronic device;
estimating a first magnetometer calibration parameter by performing a Kalman filter process with the gyroscope sensor signals and the magnetometer sensor signals;
estimating a second magnetometer calibration parameter by performing a least squares process with the gyroscope sensor signals and the magnetometer sensor signals;
validating the first and second magnetometer calibration parameters by analyzing a convergence between the first magnetometer calibration parameter and the second magnetometer calibration parameter; and
simultaneously operating multiple instances of the Kalman filter and the least squares process, wherein the multiple instances of the Kalman filter and the least squares process are offset from each other in time, wherein simultaneously operating multiple instances of the Kalman filter and least squares process includes continuously calibrating the magnetometer.
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