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:
- calculating a first attitude measurement 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;
calculating a second attitude measurement 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;
calculating a correction factor based at least in part on a difference of the first attitude measurement and the second attitude measurement; and
applying the correction factor to the first attitude measurement to produce a dynamic-acceleration-corrected attitude measurement for the device.
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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.
91 Citations
23 Claims
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1. A method for determining an attitude of a device undergoing dynamic acceleration, comprising:
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calculating a first attitude measurement 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; calculating a second attitude measurement 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; calculating a correction factor based at least in part on a difference of the first attitude measurement and the second attitude measurement; and applying the correction factor to the first attitude measurement to produce a dynamic-acceleration-corrected attitude measurement for the device. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16, 17, 18)
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19. A multi-dimensional pointing device, comprising
a first accelerometer configured to produce a first multi-dimensional acceleration measurement of the device; -
a second accelerometer configured to produce a second multi-dimensional acceleration measurement of the device; a magnetometer configured to produce a magnetic field measurement; and one or more processors configured to calculate a dynamic-acceleration-corrected attitude of the device based on the first and the second multi-dimensional accelerometer measurements and the first magnetometer measurement. - View Dependent Claims (20)
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21. A computer readable storage medium storing one or more programs configured for execution by one or more processors of a device, the one or more programs comprising instructions to:
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calculate a first attitude measurement 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; calculate a second attitude measurement 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; calculate a correction factor based at least in part on a difference of the first attitude measurement and the second attitude measurement; and apply the correction factor to the first attitude measurement to produce a corrected attitude measurement for the device.
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22. A multi-dimensional pointing device, comprising
a first accelerometer configured to produce a first multi-dimensional acceleration measurement of the device; -
a second accelerometer configured to produce a second multi-dimensional acceleration measurement of the device; a magnetometer configured to produce a magnetic field measurement; and a transmitter configured to transmit the first multi-dimensional acceleration measurement, the second multi-dimensional acceleration measurement, and the magnetic field measurement to a host system that calculates a dynamic-acceleration-corrected attitude of the device based on the first and the second multi-dimensional accelerometer measurements and the first magnetometer measurement.
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23. A system, comprising:
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a multi-dimensional pointing device, and a host system coupled by to the multi-dimensional pointing device by a communication channel; the multi-dimensional pointing device including; a first accelerometer configured to produce a first multi-dimensional acceleration measurement of the device; a second accelerometer configured to produce a second multi-dimensional acceleration measurement of the device; a magnetometer configured to produce a magnetic field measurement; a transmitter configured to transmit the first multi-dimensional acceleration measurement, the second multi-dimensional acceleration measurement, and the magnetic field measurement to the host system; the host system, including; a receiver for receiving the first multi-dimensional acceleration measurement, the second multi-dimensional acceleration measurement, and the magnetic field measurement transmitted by the multi-dimensional pointing device; and one or more processors that calculate a dynamic-acceleration-corrected attitude of the device based on the first and the second multi-dimensional accelerometer measurements and the first magnetometer measurement.
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Specification