Orientation detection device, orientation detection method and program storage medium
First Claim
1. An orientation detection device control method executed by a processor provided in an orientation detection device that can be held by a user, the orientation detection device comprising a housing member to be held by the user, an angular velocity sensor housed in the housing member, and an acceleration sensor housed in the housing member, the method comprising:
- initializing an orientation parameter of the device in a stationary state of the device and storing the initialized orientation parameter in a memory, where the orientation parameter is indicated by pitch, yaw, and roll in a coordinate system based on a direction of gravity, and where the initializing includes initializing the direction of gravity in the coordinate system;
successively detecting vectors of angular velocity successively obtained by the angular velocity sensor provided in the orientation detection device;
successively obtaining a direction of gravity by accumulating a plurality of vectors of acceleration successively obtained by the acceleration sensor provided in the orientation detection device;
successively updating the orientation parameter according to the vectors of angular velocity successively obtained by the angular velocity sensor and rewriting the orientation parameter stored in the memory to the updated orientation parameter, where the updating is performed a plurality of times without correcting the direction of gravity;
successively correcting the updated orientation parameter by correcting the direction of gravity in the coordinate system based on the direction of gravity obtained by the acceleration sensor and rewriting the updated orientation parameter stored in the memory to the corrected orientation parameter, where the correcting is performed by successively correcting a shift of the direction of gravity that is successively accumulated by the updating;
determining a position of the orientation detection device in the coordinate system, based on the orientation parameters that are successively corrected; and
controlling, based on the determined position of the orientation detection device in the coordinate system, at least one of (i) a timing at which information that is perceivable by the user holding the orientation detection device is output, and (ii) selection of a type of the information which is output and is perceivable by the user, wherein selection of the type of the information which is output is performed by comparing the determined position of the orientation detection device in the coordinate system with a plurality of predetermined positions in the coordinate system which are stored in advance in the memory, and selecting the type of the information which is output based on a result of the comparison.
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Abstract
In the preset invention, in an initial stationary state of a drumstick section, a CPU stores acceleration that occurs due to gravity and is obtained by an acceleration sensor in a RAM, obtains, at every predetermined timing, acceleration that occurs due to a motion provided to the drumstick section and is obtained by the acceleration sensor at a predetermined timing, accumulates the accelerations each obtained at the predetermined timing for each predetermined interval, and conforms the accelerations obtained by accumulation to the acceleration stored in the RAM.
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Citations
13 Claims
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1. An orientation detection device control method executed by a processor provided in an orientation detection device that can be held by a user, the orientation detection device comprising a housing member to be held by the user, an angular velocity sensor housed in the housing member, and an acceleration sensor housed in the housing member, the method comprising:
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initializing an orientation parameter of the device in a stationary state of the device and storing the initialized orientation parameter in a memory, where the orientation parameter is indicated by pitch, yaw, and roll in a coordinate system based on a direction of gravity, and where the initializing includes initializing the direction of gravity in the coordinate system; successively detecting vectors of angular velocity successively obtained by the angular velocity sensor provided in the orientation detection device; successively obtaining a direction of gravity by accumulating a plurality of vectors of acceleration successively obtained by the acceleration sensor provided in the orientation detection device; successively updating the orientation parameter according to the vectors of angular velocity successively obtained by the angular velocity sensor and rewriting the orientation parameter stored in the memory to the updated orientation parameter, where the updating is performed a plurality of times without correcting the direction of gravity; successively correcting the updated orientation parameter by correcting the direction of gravity in the coordinate system based on the direction of gravity obtained by the acceleration sensor and rewriting the updated orientation parameter stored in the memory to the corrected orientation parameter, where the correcting is performed by successively correcting a shift of the direction of gravity that is successively accumulated by the updating; determining a position of the orientation detection device in the coordinate system, based on the orientation parameters that are successively corrected; and controlling, based on the determined position of the orientation detection device in the coordinate system, at least one of (i) a timing at which information that is perceivable by the user holding the orientation detection device is output, and (ii) selection of a type of the information which is output and is perceivable by the user, wherein selection of the type of the information which is output is performed by comparing the determined position of the orientation detection device in the coordinate system with a plurality of predetermined positions in the coordinate system which are stored in advance in the memory, and selecting the type of the information which is output based on a result of the comparison. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13)
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Specification