Method and apparatus for calibration of a motion sensing device in a portable apparatus

• US 20060169021A1
• Filed: 01/28/2005
• Published: 08/03/2006
• Est. Priority Date: 01/28/2005
• Status: Abandoned Application

• Current Assignee: Hewlett-Packard Development Company, L.P. (HP Inc.)
• Original Assignee: Hewlett-Packard Development Company, L.P. (HP Inc.)
• Inventors: Silverstein, D. Amnon
• Application Number:
  US11/046,060
• Publication Number:
  US 20060169021A1
• Time in Patent Office: Days
• US Class Current: 73/1.370
• CPC Class Codes: G01C 21/16 by integrating acceleration or speed, i.e. inertial navigation
• CPC Class Codes: G01C 25/005 initial alignment, calibration or starting-up of inertial devices
• CPC Class Codes: G01P 13/00 Indicating or recording presence, absence, or direction, of movement electric switches H01H; counting moving objects G06M7/00
• CPC Class Codes: G06F 3/0346 with detection of the device orientation or free movement in a 3D space, e.g. 3D mice, 6-DOF [six degrees of freedom] pointers using gyroscopes, accelerometers or tilt-sensors
• CPC Class Codes: G06F 3/038 Control and interface arrangements therefor, e.g. drivers or device-embedded control circuitry

Abstract

A method and apparatus for calibrating a motion sensing device in a portable apparatus includes sampling an output of a secondary motion sensing device and determining if the output of the secondary motion sensing device is indicative of a stationary portable apparatus. If the output of the secondary motion sensing device is indicative of a stationary portable apparatus, a bias offset of a primary motion sensing device is determined from an output of the primary motion sensing device. The output of the primary motion sensing device is adjusted to remove the effects of the bias offset.

Claims

1. A method for calibrating a primary motion sensing device in a portable apparatus, wherein the portable apparatus includes a secondary motion sensing device, the method comprising:

sampling an output of the secondary motion sensing device;

determining if the output of the secondary motion sensing device is indicative of a stationary portable apparatus; and

in response to the output of the secondary motion sensing device being indicative of a stationary portable apparatus, determining a bias offset of the primary motion sensing device from an output of the primary motion sensing device; and

adjusting the output of the primary motion sensing device to remove the effects of the bias offset.

2. The method of claim 1, wherein determining if the output of the secondary motion sensing device is indicative of a stationary pointing apparatus comprises comparing the output of the secondary motion sensing device to a threshold value indicative of a stationary portable apparatus.

3. The method of claim 1, wherein determining a bias offset of the primary motion sensing device comprises averaging the output of the primary motion sensing device over a period of time for which the output of the secondary motion sensing device is indicative of a stationary portable apparatus.

4. The method of claim 1, wherein sampling an output of the secondary motion sensing device comprises sampling an output of an accelerometer.

5. The method of claim 1, wherein sampling an output of the secondary motion sensing device comprises sampling an output of an image tracking sensor.

6. A method for calibrating a motion detection unit in a portable apparatus, the motion detection unit supplying a primary output signal and a secondary output signal, the method comprising:

sampling the primary output signal and the secondary output signal;

determining if at least a portion of the secondary output signal is indicative of a stationary portable apparatus;

in response to at least a portion of the secondary output signal being indicative of a stationary portable apparatus, determining a bias offset of the primary output signal from an average of the primary output signal that corresponds to the portion of the secondary output signal that is indicative of a stationary portable apparatus; and

adjusting the primary output signal to remove the effects of the bias offset.

7. The method of claim 6, wherein determining if at least a portion of the secondary output signal is indicative of a stationary portable apparatus comprises comparing the secondary output signal to a threshold value.

8. The method of claim 6, wherein sampling a secondary output signal comprises sampling a derivative of the primary output signal.

9. The method of claim 8, wherein determining if at least a portion of the secondary output signal is indicative of a stationary portable apparatus comprises comparing the derivative of the primary output signal to a threshold value.

10. The method of claim 6, wherein determining a bias offset of the primary output signal from an average of the primary output signal that corresponds to the portion of the secondary output signal that is indicative of a stationary portable apparatus comprises omitting from the average of the primary output signal any primary output signal occurring within a predetermined time period from secondary output signal indicative of a non-stationary portable apparatus.

11. The method of claim 6, wherein sampling the primary output signal comprises sampling an output of a primary motion sensing device, and wherein sampling the secondary output signal comprises sampling an output of a secondary motion sensing device.

12. A method for a portable apparatus having a display, the process comprising:

displaying a cursor and a scene in the display;

moving the portable apparatus;

sensing motion of the portable apparatus using a motion sensing device;

determining if an output of the motion sensing device is indicative of a stationary portable apparatus or a non-stationary portable apparatus;

in response to an output indicative of a stationary portable apparatus, determining a bias offset of the motion sensing device; and

adjusting the output of the motion sensing device to remove the effects of the bias offset.

13. The method of claim 12, wherein determining if the output signal is indicative of a stationary camera or a non-stationary portable apparatus includes sampling a primary output of the motion sensing device and a secondary output of the motion sensing device.

14. The method of claim 13, wherein determining if the output signal is indicative of a stationary portable apparatus or a non-stationary portable apparatus comprises comparing the secondary output to a threshold value.

15. The method of claim 12, further comprising, in response to an output indicative of a non-stationary portable apparatus, repositioning the scene in the display based on sensed motion of the portable apparatus;

16. The method of claim 14, wherein determining a bias offset of the motion sensing device comprising averaging a portion of the primary output that corresponds to the secondary output indicative of a stationary portable apparatus.

17. The method of claim 13, wherein secondary output is a derivative of the primary output.

18. The method of claim 13, wherein the primary output is provided by a primary sensing device and the secondary output is provided by a secondary sensing device.

19. An apparatus having a display, the apparatus comprising:

a primary motion sensor providing an output indicative of apparatus motion;

display circuitry to display a cursor and a scene on the display, wherein the display circuitry repositions the scene in the display based on the primary motion sensor output; and

calibration circuitry to determine a bias offset of the primary motion sensor and adjust the primary motion sensor output to remove the effects of the bias offset.

20. The apparatus of claim 19, wherein the calibration circuitry determines the bias offset of the primary motion sensor only if the apparatus is substantially stationary.

21. The apparatus of claim 20, further comprising:

a secondary motion sensor providing an output indicative of apparatus motion; and

wherein the calibration circuitry includes a comparison means for comparing the output of the secondary motion sensor to a predetermined threshold.

22. The apparatus of claim 21, wherein the calibration circuitry includes means for averaging the output of the primary motion sensor over a period of time for which the output of the secondary motion sensor falls below the predetermined threshold.

23. The apparatus of claim 21, wherein at least one of the primary motion sensor and the secondary motion sensor comprise an inertial sensor.

24. The apparatus of claim 23, wherein the inertial sensor is selected from the group comprising a gyroscopic device and an accelerometer.

25. The apparatus of claim 21, wherein at least one of the primary motion sensor and the secondary motion sensor comprise an optical motion sensor.

26. The apparatus of claim 19, wherein the apparatus is selected from the group consisting essentially of cameras, personal digital assistants (PDAs), and cellular telephones.

27. A portable apparatus comprising:

means for providing a primary output signal and secondary output signal indicative of apparatus movement;

means for determining if a portion of the secondary output signal is indicative of a stationary portable apparatus;

means for determining a bias offset of the primary output signal from an average of the primary output signal that corresponds to a portion of the secondary output signal that is indicative of a stationary portable apparatus;

means for adjusting the primary output signal to remove the effects of the bias offset.

28. A computer-readable storage medium containing a set of instructions for calibrating a motion detection unit in a portable apparatus, the motion detection unit supplying a primary output signal and a secondary output signal, the instructions comprising:

a sampling routine operatively associated with motion detection unit for sampling the primary output signal and the secondary output signal;

a comparison routine for comparing the secondary output signal to a threshold value indicative of a stationary portable apparatus;

an averaging routine for determining a bias offset of the primary output signal from an average of the primary output signal that corresponds to a portion of the secondary output signal that is indicative of a stationary portable apparatus; and

a calibration routine operative coupled with the motion detection unit for adjusting the primary output signal to remove the effects of the bias offset.