HAND HELD POINTING DEVICE WITH ROLL COMPENSATION
First Claim
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1. A pointing device for controlling movement of a cursor on an electronic display comprising:
- a first rotational sensor providing a first rotational velocity signal RX for rotational movement about a first axis;
a second rotational sensor providing a second rotational velocity signal RZ for rotational movement about a second axis;
a first accelerometer providing a first acceleration signal AX in response to a gravitational acceleration in a first direction along the first axis;
a second accelerometer providing a second acceleration signal AZ in response to a gravitational acceleration in a second direction along the second axis;
a processing unit that (a) receives RX, RZ, AX and AZ from the respective rotational sensors and accelerometers, (b) calculates a vector sum AXZ of AX and AZ, (c) calculates roll-compensated cursor movement signals by solving;
Xcomp=[AX*RX+AZ*RZ]/AXZ
Ycomp=[AX*RZ−
AZ*RX]/AXZ, and(d) transmits the roll-compensated cursor movement signals to a receiver associated with movement of the cursor on the electronic display.
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Abstract
A pointing device includes accelerometers and rotational sensors that are coupled to a processor. The processor samples the accelerometers and rotational sensors to detect gravity and pointing device motion and uses algebraic algorithms to calculate roll compensated cursor control signals. The processor transmits the cursor control signals to a receiver that is coupled to an electronic device that moves the cursor on the visual display.
43 Citations
23 Claims
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1. A pointing device for controlling movement of a cursor on an electronic display comprising:
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a first rotational sensor providing a first rotational velocity signal RX for rotational movement about a first axis; a second rotational sensor providing a second rotational velocity signal RZ for rotational movement about a second axis; a first accelerometer providing a first acceleration signal AX in response to a gravitational acceleration in a first direction along the first axis; a second accelerometer providing a second acceleration signal AZ in response to a gravitational acceleration in a second direction along the second axis; a processing unit that (a) receives RX, RZ, AX and AZ from the respective rotational sensors and accelerometers, (b) calculates a vector sum AXZ of AX and AZ, (c) calculates roll-compensated cursor movement signals by solving;
Xcomp=[AX*RX+AZ*RZ]/AXZ
Ycomp=[AX*RZ−
AZ*RX]/AXZ, and(d) transmits the roll-compensated cursor movement signals to a receiver associated with movement of the cursor on the electronic display. - View Dependent Claims (2, 3, 4)
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5. The pointing device of claim 5 wherein the processing unit provides the roll compensated cursor movement signals more than once every 10 milliseconds.
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6. A pointing device for controlling movement of a cursor on an electronic display comprising:
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a first rotational sensor providing a first rotational velocity signal RX for rotational movement about a first axis; a second rotational sensor providing a second rotational velocity signal RZ for rotational movement about a second axis; a first accelerometer providing a first acceleration signal AX in response to a gravitational acceleration in a first direction along the first axis; a second accelerometer providing a second acceleration signal AZ in response to a gravitational acceleration in a second direction along the second axis; a third accelerometer providing a third acceleration signal AY in response to a gravitational acceleration in a third direction along a third axis; a processing unit that (a) receives RX, RZ, AX AY and AZ from the respective rotational sensors and accelerometers, (b) calculates a vector sum AXZ of AX and AZ, (c) (c) calculates a vector sum AXYZ of AX, AY and AZ, (d) calculates pitch-and-roll-compensated cursor movement signals by solving;
Xcomp=[AX*RX+AZ*RZ]/AXZ*AXYZ/AXZ
Ycomp=[AX*RZ−
AZ*RX]/AXZ, and(d) transmits the pitch-and-roll-compensated cursor movement signals to a receiver associated with movement of the cursor on the electronic display. - View Dependent Claims (7, 8, 9, 10)
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11. A method for providing roll compensation signals for controlling movement of a cursor on an electronic display comprising:
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detecting a first rotational velocity RX for rotational movement about a first axis; detecting a second rotational velocity RZ for rotational movement about a second axis; detecting a first acceleration signal AX in response to a gravitational acceleration in a first direction along the first axis; detecting a second acceleration signal AZ in response to a gravitational acceleration in a second direction along the second axis; calculating a vector sum, AXZ of AX and AZ; calculating a first roll-compensated cursor movement signal Xcomp=[AX*RX+AZ* RZ]/AXZ; calculating a second roll-compensated cursor movement signal Ycomp=[AX*RZ−
AZ* RX]/AXZ; andtransmitting the roll-compensated cursor movement signals to a receiver associated with movement of the cursor on the electronic display. - View Dependent Claims (12, 13, 14, 15)
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16. A method for providing roll-compensation signals for controlling movement of a cursor on an electronic display comprising:
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detecting a first rotational velocity RX for rotational movement about a first axis; detecting a second rotational velocity RZ for rotational movement about a second axis; detecting a first acceleration signal AX in response to a gravitational acceleration in a first direction along the first axis; detecting a second acceleration signal AZ in response to a gravitational acceleration in a second direction along the second axis; detecting a third acceleration signal AY in response to a gravitational acceleration in a third direction along a third axis; calculating a vector sum, AXZ of AX and AZ; calculating a vector sum AXYZ of AX, AY and AZ; calculating a first roll-compensated cursor movement signal Xcomp=[AX*RX+AZ* RZ]/AXZ*AXYZ/AXZ; calculating a second roll compensated cursor movement signal Ycomp=[AX*RZ−
AZ* RX]/AXZ; andtransmitting the roll-compensated cursor movement signals to a receiver associated with movement of the cursor on the electronic display. - View Dependent Claims (17)
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18. A pointing device comprising:
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a first rotational sensor providing a first rotational velocity signal RX for rotational movement about a first axis; a second rotational sensor providing a second rotational velocity signal RZ for rotational movement about a second axis; a first accelerometer providing a first acceleration signal AX in response to a gravitational acceleration in a first direction along the first axis; a second accelerometer providing a second acceleration signal AZ in response to a gravitational acceleration in a second direction along the second axis; and a processing unit that (a) receives RX, RZ, AX and AZ from the respective rotational sensors and accelerometers, (b) calculates a vector sum AXZ of AX and AZ, (c) calculates algebraic algorithms to provide roll-compensation cursor movement signals Xcomp and Ycomp; and
(d) transmits the roll-compensated cursor movement signals to a receiver associated with movement of the cursor on the electronic display. - View Dependent Claims (19, 20)
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21. A pointing device comprising:
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a first rotational sensor providing a first rotational velocity signal RX for rotational movement about a first axis; a second rotational sensor providing a second rotational velocity signal RZ for rotational movement about a second axis; a first accelerometer providing a first acceleration signal AX in response to a gravitational acceleration in a first direction along the first axis; a second accelerometer providing a second acceleration signal AZ in response to a gravitational acceleration in a second direction along the second axis; a third accelerometer providing a third acceleration signal AY providing a third acceleration signal AY in response to a gravitational acceleration in a third direction along a third axis, and a processing unit that (a) receives RX, RZ, AX, AY and AZ from the respective rotational sensors and accelerometers, (b) calculates a vector sum AXZ of AX and AZ, (c) calculates a vector sum AXYZ of AX, AY and AZ, (d) calculates algebraic algorithms to solve pitch-and-roll-compensated cursor movement signals Xcomp and Ycomp; and
(e) transmits the pitch-and-roll-compensated cursor movement signals to a receiver associated with movement of the cursor on the electronic display. - View Dependent Claims (22, 23)
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Specification