ELECTRONIC DEVICE FOR USE IN MOTION DETECTION AND METHOD FOR OBTAINING RESULTANT DEVIATION THEREOF
First Claim
1. An electronic device for use in computers, motion detection or navigation and subject to movements and rotations in dynamic environments including undesirable external interferences, comprising:
- a housing associated with said movements and rotations of the electronic device in a spatial reference frame;
a printed circuit board (PCB) enclosed by the housing;
a nine-axis motion sensor module attached to the PCB, comprising a rotation sensor for detecting and generating a first signal set comprising angular velocities ω
x, ω
y, ω
z associated with said movements and rotations of the electronic device in the spatial reference frame, an accelerometer for detecting and generating a second signal set comprising axial accelerations Ax, Ay, Az associated with said movements and rotations of the electronic device in the spatial reference frame and a magnetometer for detecting and generating a third signal set comprising magnetism Mx, My, Mz; and
a processing and transmitting module, comprising a data transmitting unit electrically connected to the nine-axis motion sensor module for transmitting said first, second and third signal sets and a computing processor for receiving and calculating said first, second and third signal sets from the data transmitting unit, communicating with the nine-axis motion sensor module to calculate a resultant deviation comprising deviation angles in said spatial reference frame by utilizing a comparison utility to compare said first, second and third signal sets whereby said deviation angles of the resultant deviation of the nine-axis motion sensor module of the electronic device are obtained excluding said undesirable external interferences in the dynamic environments.
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Accused Products
Abstract
An electronic device utilizing a nine-axis motion sensor module, capable of accurately outputting a resultant deviation including deviation angles in a 3D reference frame is provided. The present invention provides a novel comparison and compensation to accurately obtain a resultant deviation including deviation angles of the electronic device under the presence of external and/or internal interferences including the ones caused by undesirable electromagnetic fields and the ones associated with undesirable external forces and axial accelerations. The output of the nine-axis motion sensor module of the present invention including a rotation sensor, an accelerometer and a magnetometer can be advantageously obtained and compensated with a comparison comparing different states of the motion sensor module such that an updated state associated with the output and the resultant deviation angles of the nine-axis motion sensor module are preferably obtained in an absolute manner with the undesirable external interferences being effectively excluded.
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Citations
30 Claims
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1. An electronic device for use in computers, motion detection or navigation and subject to movements and rotations in dynamic environments including undesirable external interferences, comprising:
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a housing associated with said movements and rotations of the electronic device in a spatial reference frame; a printed circuit board (PCB) enclosed by the housing; a nine-axis motion sensor module attached to the PCB, comprising a rotation sensor for detecting and generating a first signal set comprising angular velocities ω
x, ω
y, ω
z associated with said movements and rotations of the electronic device in the spatial reference frame, an accelerometer for detecting and generating a second signal set comprising axial accelerations Ax, Ay, Az associated with said movements and rotations of the electronic device in the spatial reference frame and a magnetometer for detecting and generating a third signal set comprising magnetism Mx, My, Mz; anda processing and transmitting module, comprising a data transmitting unit electrically connected to the nine-axis motion sensor module for transmitting said first, second and third signal sets and a computing processor for receiving and calculating said first, second and third signal sets from the data transmitting unit, communicating with the nine-axis motion sensor module to calculate a resultant deviation comprising deviation angles in said spatial reference frame by utilizing a comparison utility to compare said first, second and third signal sets whereby said deviation angles of the resultant deviation of the nine-axis motion sensor module of the electronic device are obtained excluding said undesirable external interferences in the dynamic environments. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14)
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15. A method for obtaining a resultant deviation comprising deviation angles in a spatial preference frame of an electronic device utilizing a nine-axis motion sensor module therein and subject to movements and rotations in dynamic environments including undesirable external interferences in said spatial reference frame, comprising the steps of:
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obtaining a previous state of the nine-axis motion sensor module at a previous time T−
1;obtaining a current state of the nine-axis motion sensor module at a current time T; obtaining a measured state of the nine-axis motion sensor module at the current time T; calculating and obtaining a predicted measurement of the nine-axis motion sensor module based on said current state; and obtaining an updated state of the nine-axis motion sensor module based on a comparison between said measured state and the predicted measurement calculated and obtained from said current state of the nine-axis motion sensor module and whereby the resultant deviation comprising deviation angles associated with the updated state of the nine-axis motion module is obtained excluding said undesirable external interferences in the dynamic environments. - View Dependent Claims (16, 17, 18, 19, 20, 21, 22, 23, 24)
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25. A method for obtaining a resultant deviation including deviation angles in a spatial reference frame of an electronic device utilizing a nine-axis motion sensor module therein and subject to movements and rotations in dynamic environments including undesirable external interferences in said spatial reference frame, comprising the steps of:
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obtaining a previous state of the nine-axis motion sensor module;
wherein said previous state is associated with at least previous angular velocities gained from the motion sensor signals of the nine-axis motion sensor module at a previous time T−
1;obtaining a current state of the nine-axis motion sensor module by obtaining measured angular velocities ω
x, ω
y, ω
z gained from the motion sensor signals of the nine-axis motion sensor module at a current time T;obtaining a first measured state of the nine-axis motion sensor module by obtaining measured axial accelerations Ax, Ay, Az gained from the motion sensor signals of the nine-axis motion sensor module at the current time T; calculating and obtaining a first predicted measurement of the nine-axis motion sensor module based on said current state; obtaining a first updated state of the nine-axis motion sensor module based on a first comparison between said first predicted measurement and said first measured state of the nine-axis motion sensor module and whereby undesirable axial accelerations associated with said undesirable external interferences in the dynamic environments are excluded; obtaining a second measured state of the nine-axis motion sensor module by obtaining a measured yaw angle based on measured magnetism Mx, My, Mz gained from the motion sensor signals of the nine-axis motion sensor module at the current time T; calculating a second predicted measurement of the nine-axis motion sensor module and obtaining a predicted yaw angle; and obtaining a second updated state of the nine-axis motion sensor module by updating said first updated state based on a second comparison between said second predicted measurement and said second measured state of the nine-axis motion sensor module and whereby undesirable magnetism associated with said undesirable external interferences in the dynamic environments are excluded. - View Dependent Claims (26, 27, 28, 29, 30)
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Specification