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Abstract

Techniques for accounting for rotational bias of an inertial measurement unit in a setting where momentum is conserved are presented. The techniques include: obtaining, from an inertial measurement unit, an initial magnitude of momentum and initial directional rotational rates; iteratively updating an estimate of bias of magnitude of momentum and estimates of bias of directional rotational rates based at least on the obtaining and based at least on readings from the inertial measurement unit; adjusting directional rotational rates obtained from the inertial measurement unit to account for the estimates of bias of directional rotational rates, where bias adjusted directional rotational rates are determined; and providing the bias adjusted directional rotation rates.

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First Claim