ORIENTATION CALCULATION APPARATUS, STORAGE MEDIUM HAVING ORIENTATION CALCULATION PROGRAM STORED THEREIN, GAME APPARATUS, AND STORAGE MEDIUM HAVING GAME PROGRAM STORED THEREIN
First Claim
1. An orientation calculation apparatus for obtaining data from an input device including at least an angular rate sensor and an acceleration sensor, and calculating an orientation of the input device in a three-dimensional space, the apparatus comprising:
- orientation calculation means for calculating the orientation of the input device in accordance with an angular rate detected by the angular rate sensor;
acceleration vector calculation means for calculating an acceleration vector representing an acceleration of the input device in accordance with acceleration data from the acceleration sensor; and
first correction means for correcting the orientation of the input device such that a direction of the acceleration vector in the space approaches a vertically downward direction in the space, wherein,the first correction means corrects the orientation of the input device such that a directional change before and after the correction is minimized regarding a predetermined axis representing the orientation of the input device.
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Accused Products
Abstract
An orientation calculation apparatus obtains data from an input device including at least a gyroscope and an acceleration sensor, and calculates an orientation of the input device in a three-dimensional space. Orientation calculation means calculates the orientation of the input device in accordance with an angular rate detected by the gyroscope. Acceleration vector calculation means calculates an acceleration vector representing an acceleration of the input device in accordance with acceleration data from the acceleration sensor. Correction means corrects the orientation of the input device such that a direction of the acceleration vector in the space approaches a vertically downward direction in the space. Also, the correction means corrects the orientation of the input device such that a directional change before and after the correction is minimized regarding a predetermined axis representing the orientation of the input device.
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Citations
16 Claims
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1. An orientation calculation apparatus for obtaining data from an input device including at least an angular rate sensor and an acceleration sensor, and calculating an orientation of the input device in a three-dimensional space, the apparatus comprising:
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orientation calculation means for calculating the orientation of the input device in accordance with an angular rate detected by the angular rate sensor; acceleration vector calculation means for calculating an acceleration vector representing an acceleration of the input device in accordance with acceleration data from the acceleration sensor; and first correction means for correcting the orientation of the input device such that a direction of the acceleration vector in the space approaches a vertically downward direction in the space, wherein, the first correction means corrects the orientation of the input device such that a directional change before and after the correction is minimized regarding a predetermined axis representing the orientation of the input device. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8)
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9. A computer-readable storage medium having stored therein an orientation calculation program to be executed by a computer of an orientation calculation apparatus for obtaining data from an input device including at least an angular rate sensor and an acceleration sensor, and calculating an orientation of the input device in a three-dimensional space, the program causing the computer to function as:
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orientation calculation means for calculating the orientation of the input device in accordance with an angular rate detected by the angular rate sensor; acceleration vector calculation means for calculating an acceleration vector representing an acceleration of the input device in accordance with acceleration data from the acceleration sensor; and first correction means for correcting the orientation of the input device such that a direction of the acceleration vector in the space approaches a vertically downward direction in the space, wherein, the first correction means corrects the orientation of the input device such that a directional change before and after the correction is minimized regarding a predetermined axis representing the orientation of the input device. - View Dependent Claims (10, 11, 12, 13, 14, 15, 16)
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Specification