Orientation detection device, orientation detection method and program storage medium
First Claim
1. An orientation detection device control method performed by 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, a triaxial magnetic sensor housed in the housing member, and an angular velocity sensor housed in the housing member, the method comprising:
- storing, in a memory, an orientation parameter of the orientation detection device, wherein the orientation parameter is indicated by pitch, yaw, and roll in a coordinate system based on a direction of geomagnetism;
successively detecting vectors of angular velocity by the angular velocity sensor provided in the orientation detection device;
successively updating the orientation parameter stored in the memory according to the vectors of angular velocity successively detected by the angular velocity sensor, wherein the updating is performed a plurality of times without correcting the direction of geomagnetism;
successively detecting a vector of magnetism occurring in each direction of three axes of the orientation detection device which are orthogonal to each other by the triaxial magnetic sensor provided in the orientation detection device;
obtaining the direction of geomagnetism by accumulating a plurality of vectors of magnetism successively detected by the triaxial magnetic sensor;
successively correcting the updated orientation parameter stored in the memory by correcting the direction of geomagnetism of the coordinate system according to the direction of geomagnetism obtained, wherein the correcting is performed by correcting a shift of the direction of geomagnetism 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 each axis component of geomagnetism obtained by a magnetic sensor in a RAM, and obtains each axis component of geomagnetism obtained by the magnetic sensor which is changed by a motion provided to the drumstick section at every predetermined timing. Then, the CPU accumulates each axis component of geomagnetism obtained at every predetermined timing, for each predetermined interval, and conforms each axis component of geomagnetism accumulated thereby to each axis component of geomagnetism stored in the RAM.
22 Citations
14 Claims
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1. An orientation detection device control method performed by 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, a triaxial magnetic sensor housed in the housing member, and an angular velocity sensor housed in the housing member, the method comprising:
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storing, in a memory, an orientation parameter of the orientation detection device, wherein the orientation parameter is indicated by pitch, yaw, and roll in a coordinate system based on a direction of geomagnetism; successively detecting vectors of angular velocity by the angular velocity sensor provided in the orientation detection device; successively updating the orientation parameter stored in the memory according to the vectors of angular velocity successively detected by the angular velocity sensor, wherein the updating is performed a plurality of times without correcting the direction of geomagnetism; successively detecting a vector of magnetism occurring in each direction of three axes of the orientation detection device which are orthogonal to each other by the triaxial magnetic sensor provided in the orientation detection device; obtaining the direction of geomagnetism by accumulating a plurality of vectors of magnetism successively detected by the triaxial magnetic sensor; successively correcting the updated orientation parameter stored in the memory by correcting the direction of geomagnetism of the coordinate system according to the direction of geomagnetism obtained, wherein the correcting is performed by correcting a shift of the direction of geomagnetism 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, 14)
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Specification