Apparatus and method sensing motion
First Claim
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1. An apparatus of sensing a motion, the apparatus comprising:
- a first angle estimation unit to measure a first angle of an object with respect to a reference frame using at least one first rotational angle sensor;
a second angle estimation unit to estimate a second angle of the object with respect to the reference frame using at least one second rotational angle sensor, a rotational angle corresponding to the first angle of the object with respect to the reference frame, and at least one 2-axis angular velocity sensor that is different from the at least one first rotational angle sensor; and
a third angle estimation unit to estimate a third angle of the object with respect to the reference frame using at least one third rotational angle sensor and the at least one 2-axis angular velocity sensor.
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Abstract
Provided is a motion sensing apparatus that measures a first angle using at least one first rotational angle sensor, estimates a second angle using at least one second rotational angle sensor and at least one 2-axis angular velocity sensor that is different from the at least one first rotational angle sensor, and estimates a third angle using at least one third rotational angle sensor and the at least one 2-axis angular velocity sensor.
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Citations
50 Claims
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1. An apparatus of sensing a motion, the apparatus comprising:
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a first angle estimation unit to measure a first angle of an object with respect to a reference frame using at least one first rotational angle sensor; a second angle estimation unit to estimate a second angle of the object with respect to the reference frame using at least one second rotational angle sensor, a rotational angle corresponding to the first angle of the object with respect to the reference frame, and at least one 2-axis angular velocity sensor that is different from the at least one first rotational angle sensor; and a third angle estimation unit to estimate a third angle of the object with respect to the reference frame using at least one third rotational angle sensor and the at least one 2-axis angular velocity sensor. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14)
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15. An apparatus of sensing a motion, the apparatus comprising:
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a first angle estimation unit to measure a first angle of an object with respect to a reference frame using at least one first rotational angle sensor; a second angle estimation unit to estimate a second angle of the object with respect to the reference frame using at least one second rotational angle sensor and at least one 2-axis angular velocity sensor that is different from the at least one first rotational angle sensor; and a third angle estimation unit to estimate a third angle of the object with respect to the reference frame using at least one third rotational angle sensor and the at least one 2-axis angular velocity sensor, wherein, the second angle estimation unit estimates plural second angles, and when a number of the estimated second angles is greater than or equal to two, the second angle estimation unit estimates one of the estimated second angles based on an angle estimation algorithm.
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16. A method of sensing a motion, the method comprising:
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measuring a first angle of an object with respect to a reference frame using at least one first rotational angle sensor; estimating a second angle of the object with respect to the reference frame using at least one second rotational angle sensor, a rotational angle corresponding to the first angle of the object with respect to the reference frame, and at least one 2-axis angular velocity sensor that is different from the at least one first rotational angle sensor; and estimating a third angle of the object with respect to the reference frame using at least one third rotational angle sensor and the at least one 2-axis angular velocity sensor. - View Dependent Claims (17, 18, 19, 20, 21, 22, 23, 24, 25, 26, 27, 28, 29, 30)
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31. A method of sensing a motion, the method comprising:
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measuring a first angle of an object with respect to a reference frame using at least one first rotational angle sensor; estimate plural second angles of the object with respect to the reference frame based on the measured first angle, at least one second rotational angle sensor, a rotational angle corresponding to the first angle of the object with respect to the reference frame, and at least one 2-axis angular velocity sensor that is included in a separate physical sensor device from the at least one first rotational angle sensor; estimating plural third angles of the object with respect to the reference frame using at least one third rotational angle sensor and the at least one 2-axis angular velocity sensor; and controlling an operation of a mobile device based on motion information represented by the measured first angle, estimated plural second angles, and estimated plural third angles. - View Dependent Claims (32, 33, 34, 35, 36, 37, 38, 39, 40, 41)
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42. A mobile device sensing motion, the apparatus comprising:
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a display; a rotational angle sensor including a first rotational sensor, a second rotational sensor, and a third rotational sensor; a 2-axis angular velocity sensor, with the 2-axis angular velocity sensor being included in a separate physical sensor device from one or more sensor devices including the rotational angle sensor; and a controller controlling an operation of the mobile device based on sensed motion information defined by a measured first angle, estimated plural second angles, and estimated plural third angles, with the measured first angle of the mobile device being measured with respect to a reference frame using the first rotational angle sensor, the estimated plural second angles of the mobile device being estimated with respect to the reference frame using the second rotational angle sensor, a rotational angle corresponding to the first angle of the object with respect to the reference frame, and the 2-axis angular velocity sensor, and the estimated plural third angles of the mobile device being estimated with respect to the reference frame using the third rotational angle sensor and the 2-axis angular velocity sensor. - View Dependent Claims (43, 44, 45, 46, 47, 48, 49, 50)
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Specification