Inertial sensing method and system
First Claim
1. A three-dimensional inertial sensing method for cursor control, comprising the steps of:
- using a micro inertial sensing module to detect an acceleration of gravity for generating a raw inclination signal accordingly;
low-filtering the raw inclination signal for obtaining a stabilized inclination signal;
registering an initial signal of the micro inertial sensing module;
calculating a signal variation amount basing on the raw inclination signal, the stabilized inclination signal so as to compensate the raw inclination signal using the signal variation amount;
calculating the difference between the compensated inclination signal and the initial signal; and
mapping the differences as a coordinate signal for controlling the movement of a cursor displayed on a display.
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Abstract
An inertial sensing method is disclosed, which is capable of detecting tilting of an inertial sensing apparatus with respect to a specific level surface while using the detection for defining/controlling movements of a cursor displayed on a display, In a preferred aspect, as it is capable of acting as an hand-held input device, a swing of a hand holding the inertial sensing apparatus can be detected thereby and is used for controlling a page change of a display. Operationally, a micro inertial sensing module of the aforesaid inertial sensing apparatus detects changes of gravity caused by tilts of the inertial sensing apparatus and then generates inclination signals accordingly while enabling a wireless transmitter to send the same to a micro processing unit where the inclination signals are filtered and then compared with predefined datum signals so as to enable a cursor control circuit to define/control movements of a cursor displayed on a display according to the comparison. In addition, an effect of vibration measured along an axis of a Cartesian coordinate system of X-, Y-, and Z-axes defining the inertial sensing apparatus can be eliminated by the use of variations of signals measured along other axes of the Cartesian coordinate system. Preferably, by using two Y-axis accelerometers of the micro inertial sensing module to measure a difference of centrifugal forces detected respectively thereby, the adverse affection of centrifugal forces exerting upon the Y-axis can be eliminated.
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Citations
30 Claims
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1. A three-dimensional inertial sensing method for cursor control, comprising the steps of:
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using a micro inertial sensing module to detect an acceleration of gravity for generating a raw inclination signal accordingly; low-filtering the raw inclination signal for obtaining a stabilized inclination signal; registering an initial signal of the micro inertial sensing module; calculating a signal variation amount basing on the raw inclination signal, the stabilized inclination signal so as to compensate the raw inclination signal using the signal variation amount; calculating the difference between the compensated inclination signal and the initial signal; and mapping the differences as a coordinate signal for controlling the movement of a cursor displayed on a display. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8)
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9. A three-dimensional inertial sensing method for directing page-changing, comprising the steps of:
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using a micro inertial sensing module to detect an acceleration of gravity for generating a raw inclination signal accordingly; low-filtering the raw inclination signal for obtaining a stabilized inclination signal; detecting whether the raw inclination signal of the micro inertial sensing module with respect to the X-axis and Y-axis is falling within a range of balance;
if so, continue the detecting;
otherwise, steps posterior to the detection is perform; andevaluating whether an instant variation of the raw X-axis inclination signal exceeds a threshold range, enabling a page-changing if the raw X-axis inclination signal exceeds the threshold range, otherwise, continuing detecting whether the raw inclination signal of the micro inertial sensing module with respect to the X-axis and Y-axis is falling within the range of balance. - View Dependent Claims (10, 11, 12, 13, 14, 15)
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16. A three-dimensional inertial sensing method, comprising the steps of:
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using a micro inertial sensing module to detect an acceleration of gravity for generating a raw inclination signal accordingly; low-filtering the raw inclination signal for obtaining a stabilized inclination signal; detecting whether the micro inertial sensing module is situated in a cursor-control mode or a page-changing mode so as to correspondingly select a process to be perform from the group consisting a cursor-control process and a page-change process; detecting whether the inclination of the micro inertial sensing module with respect to the X-axis and Y-axis is falling within a range of balance;
if so, continue the detecting;
otherwise, steps posterior to the detection is perform; andevaluating whether an instant variation of the raw X-axis inclination signal is exceeding a threshold range;
if so, a page-changing is enabled;
otherwise, the process flow back to the foregoing mode detecting step. - View Dependent Claims (17, 18, 19, 20, 21, 22, 23, 24, 25, 26, 27, 28)
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29. A three-dimensional inertial sensing apparatus, comprising:
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a micro inertial sensing module, for detecting an acceleration of gravity for generating a raw inclination signal accordingly, further comprising; an X-axis accelerometer, for measuring acceleration variations of gravity caused by a rolling movement of the micro inertial sensing module with respect to an X axis of a Cartesian coordinate system of X-, Y-, and Z-axes defining the micro inertial sensing module; a first Y-axis accelerometer, for measuring a first acceleration variation of gravity caused by a pitch movement of the micro inertial sensing module with respect to a Y axis of the Cartesian coordinate system; and a second Y-axis accelerometer, for measuring a second acceleration variation of gravity caused by a pitch movement of the micro inertial sensing module with respect to a Y axis of the Cartesian coordinate system, wherein the influence of centrifugal force working on the inertial sensing apparatus can be eliminated by the use of the difference between two centrifugal forces detected respectively by the two Y-axis accelerometers; and a receiving end, for receiving the raw inclination signal of the micro inertial sensing module; wherein the micro inertial sensing module is coupled to a central processing unit, capable of receiving the measurements of acceleration variations and thus generating raw inclination signals accordingly; and
the central processing unit is connected to a wireless transmitter for transmitting the raw inclination signals; and
the wireless transmitter is enabled to function corresponding to a wireless receiver in a manner that the wireless receiver is able to receive the raw inclination signals transmitted by the wireless transmitter and thus send the received raw inclination signals to a micro processing unit to be low-pass filtered and processed by other posterior procedures; and
the micro processing unit is connected to a display by way of a cursor control circuit, capable of controlling the movement of a cursor displayed on the display as well as controlling a page-changing or continuous page-changing on the display. - View Dependent Claims (30)
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Specification