Attitude detecting device
First Claim
1. A device configured to be operated in a 3-dimensional movement, orientation of the device being translated into a mathematical 3-dimensional representation and then further into a mathematical 2-dimensional presentation to remove movement effects of an unused degree of freedom, the device comprising:
- attitude, or orientation, detecting sensors; and
a processor operatively connected to the attitude, or orientation, detecting sensors;
wherein the processor is configured to iteratively estimate the present orientation of the device through changes in orientation as registered by the attitude, or orientation, detecting sensors, the processor estimating a mathematical transition operator between two orientations, where the mathematical transition operator is estimated on the basis of measured sensor data registered by the attitude, or orientation, detecting sensors, the mathematical transition operator being a quaternion q, and where iteration calculations of the new quaternion qi+1 representing the latest change in position of the device as measured by the attitude, or orientation, detecting sensors are calculated according to an equation
qi+1=qi+(dqω
,i−
η
×
dqa,i−
ζ
×
dqm,i)×
dTwhere qi is the quaternion before the latest change in position of the device as measured by the attitude, or orientation, detecting sensors, η and
ζ
are gain values, or weights, dT is the time elapsed since last measurement and dqω
i dqa,i and dqm,i are the gradient, or correction, of the respective quaternions solution during the iteration; and
wherein the processor dynamically calculates the two gain values η and
ζ
based on the measured sensor data registered by the attitude, or orientation, detecting sensors according to the equations;
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Abstract
The present invention relates to an attitude detecting device requiring no optical nor visual sensors but instead using an advanced processing method, which can be used in applications such as data-login, measurements, motion control, cursor pointing on graphic user interfaces, gaming, etc. The device includes inertial measurement units (IMU) such as accelerometers, gyroscopes and may also include magnetometers. The method utilizes the IMU'"'"'s sensor data and uses a revised method to transfer 3-dimensional rotations into a representation, such as quaternions, Euler angles, yaw, pitch, and roll. The method also provides better performance when the device recovers from interrupts. The method further utilizes the above mentioned representation and turns it into 2-dimensional values in a precise way while intentionally remove the effects caused by rotation in the other unused degree of freedom.
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Citations
19 Claims
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1. A device configured to be operated in a 3-dimensional movement, orientation of the device being translated into a mathematical 3-dimensional representation and then further into a mathematical 2-dimensional presentation to remove movement effects of an unused degree of freedom, the device comprising:
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attitude, or orientation, detecting sensors; and a processor operatively connected to the attitude, or orientation, detecting sensors; wherein the processor is configured to iteratively estimate the present orientation of the device through changes in orientation as registered by the attitude, or orientation, detecting sensors, the processor estimating a mathematical transition operator between two orientations, where the mathematical transition operator is estimated on the basis of measured sensor data registered by the attitude, or orientation, detecting sensors, the mathematical transition operator being a quaternion q, and where iteration calculations of the new quaternion qi+1 representing the latest change in position of the device as measured by the attitude, or orientation, detecting sensors are calculated according to an equation
qi+1=qi+(dqω
,i−
η
×
dqa,i−
ζ
×
dqm,i)×
dTwhere qi is the quaternion before the latest change in position of the device as measured by the attitude, or orientation, detecting sensors, η and
ζ
are gain values, or weights, dT is the time elapsed since last measurement and dqω
i dqa,i and dqm,i are the gradient, or correction, of the respective quaternions solution during the iteration; andwherein the processor dynamically calculates the two gain values η and
ζ
based on the measured sensor data registered by the attitude, or orientation, detecting sensors according to the equations; - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 16, 17, 18)
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14. A method of operating a device in a 3-dimensional movement, the device includes attitude, or orientation, detecting sensors, orientation of the device being translated into a mathematical 3-dimensional representation and then further into a mathematical 2-dimensional presentation, to remove movement effects of an unused degree of freedom, the method comprising:
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estimating the present orientation of the device iteratively through changes in orientation as registered by the attitude, or orientation, detecting sensors, the estimating including the steps of estimating a mathematical transition operator between two orientations, where the mathematical transition operator is estimated on the basis of measured sensor data registered by the attitude, or orientation, detecting sensors, the mathematical transition operator being a quaternion q, and where iteration calculations of the new quaternion qi+1 representing the latest change in position of the device as measured by the attitude, or orientation, detecting sensors are calculated according to an equation
qi+1=qi+(dqω
,i−
η
×
dqa,i−
ζ
×
dqm,i)×
dTwhere qi is the quaternion before the latest change in position of the device as measured by the attitude, or orientation, detecting sensors, η and
ζ
are gain values, or weights, dT is the time elapsed since last measurement and dqω
,i dqa,i and dqm,i are the gradient, or correction, of the respective quaternions solution during the iteration; anddynamically calculating the two gain values η and
ζ
based on the measured sensor data registered by the attitude, or orientation detecting sensors;wherein the gain values η and
ζ
are calculated according to the equations - View Dependent Claims (15, 19)
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Specification