Host System and Method for Determining an Attitude of a Device Undergoing Dynamic Acceleration
First Claim
1. A method for determining an attitude of a device undergoing dynamic acceleration, comprising:
- at a host system;
receiving a first multi-dimensional acceleration measurement from a first accelerometer of the device;
receiving a second multi-dimensional acceleration measurement from a second accelerometer of the device, wherein the device includes two or more multi-dimensional accelerometers including at least the first accelerometer and the second accelerometer;
receiving a first magnetic field measurement from a first magnetometer, wherein the device includes one or more magnetometers including at least the first magnetometer; and
calculating the attitude of the device based on the first and the second accelerometer measurements and the first magnetometer measurement.
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Abstract
A system and a method for determining an attitude of a device undergoing dynamic acceleration is presented. A first attitude measurement is calculated based on a magnetic field measurement received from a magnetometer of the device and a first acceleration measurement received from a first accelerometer of the device. A second attitude measurement is calculated based on the magnetic field measurement received from the magnetometer of the device and a second acceleration measurement received from a second accelerometer of the device. A correction factor is calculated based at least in part on a difference of the first attitude measurement and the second attitude measurement. The correction factor is then applied to the first attitude measurement to produce a corrected attitude measurement for the device.
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Citations
19 Claims
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1. A method for determining an attitude of a device undergoing dynamic acceleration, comprising:
at a host system; receiving a first multi-dimensional acceleration measurement from a first accelerometer of the device; receiving a second multi-dimensional acceleration measurement from a second accelerometer of the device, wherein the device includes two or more multi-dimensional accelerometers including at least the first accelerometer and the second accelerometer; receiving a first magnetic field measurement from a first magnetometer, wherein the device includes one or more magnetometers including at least the first magnetometer; and calculating the attitude of the device based on the first and the second accelerometer measurements and the first magnetometer measurement. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16, 17)
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18. A system, comprising:
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a receiver for receiving measurements from a multi-dimensional pointing device; one or more processors; memory; and one or more programs stored in the memory for execution by the one or more processors, the one or more programs comprising instructions to; receive a first multi-dimensional acceleration measurement from a first accelerometer of the device; receive a second multi-dimensional acceleration measurement from a second accelerometer of the device, wherein the device includes two or more multi-dimensional accelerometers including at least the first accelerometer and the second accelerometer; receive a first magnetic field measurement from a first magnetometer, wherein the device includes one or more magnetometers including at least the first magnetometer; and calculate an attitude of the device based on the first and the second accelerometer measurements and the first magnetometer measurement.
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19. A computer readable storage medium storing one or more programs configured for execution by a computer, the one or more programs comprising instructions to:
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receive a first multi-dimensional acceleration measurement from a first accelerometer of the device; receive a second multi-dimensional acceleration measurement from a second accelerometer of the device, wherein the device includes two or more multi-dimensional accelerometers including at least the first accelerometer and the second accelerometer; receive a first magnetic field measurement from a first magnetometer, wherein the device includes one or more magnetometers including at least the first magnetometer; and calculate an attitude of the device based on the first and the second accelerometer measurements and the first magnetometer measurement.
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Specification