US Patent 9383202 Barometric pressure sensor based orientation measurement

Disclosed here are methods and systems that relate to determining an orientation of an object. The orientation of the object may be represented by an Euler angle which identifies a rotation of the object from a reference frame. The methods and systems may rely on readings collected from two or more barometric pressure sensors to estimate an altitude difference between the pressure sensors. The methods and systems may calculate the Euler angle based on the altitude difference.