Algorithm for real-time estimation of absolute angular position

This paper presents a new algorithm for the absolute angular position estimation in rotary applications, with real-time correction included. The algorithm is intended to be used in combination with sensors whose output is a sine/cosine function of an angle of rotation, which is the case with majority of sensors in rotary applications: Hall-effect sensors, resolver-type sensors, rotary capacitive/inductive sensors etc. Demanded hardware resources are minimized. On the other hand, the algorithm successfully utilizes increase in available hardware resources: additional memory locations, hardware multipliers, parallelism. Thus, it can be purposefully implemented on a wide range of the platforms, from the simplest ASIC calculation blocks, through all commercial microcontrollers and microprocessors, up to the FPGA chips and DSPs.