Gyro mouse de-drift and hand jitter reduction
First Claim
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1. A gyroscope-based device comprising:
- an input for receiving angle velocity data obtained from digitized gyroscope sensor data;
a first summation node for reducing said angle velocity data by a drift error compensation offset;
a first multiplication node for multiplying the result of said first summation node by a variable hand jitter compensation factor to produce a new angle velocity; and
an output node for outputting said new angle velocity;
wherein;
the value of said variable hand jitter compensation factor is dependent upon a computation of involuntary movement currently experienced by said gyroscope-based device as determined from a currently received angle velocity datum;
said computation of involuntary movement is a computation of probability of said gyroscope-based device being in a static state;
each current sample n of said digitized gyroscope sensor data defines a current cycle;
said currently received angle velocity datum is identified as G_Corr(n) and is obtained from current sample n of said digitized gyroscope sensor data;
the new angle velocity obtained from the current sample n of said digitized gyroscope sensor data is denoted as G_New(n); and
said gyroscope-based device further comprising;
a) a probability processing unit receiving said intermediate angle velocity and determining a probability p(n) value for the current sample n, said probability p(n) being said computation of probability of said gyroscope-based device being in a static state within the current cycle defined by current sample n; and
wherein the value of said variable hand jitter compensation factor for the current sample n is denoted as k(n) and is defined as k(n)=1·
p(n).
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Abstract
A gyroscope-based device uses a probability model to assign probability of the device being in an intended static state to each received sample of gyroscope data. A new drift error compensation offset and new hand jitter factor are computed for each sample of gyroscope data based on the assigned probability. In this manner, the magnitude of the hand jitter factor varies with the probability of the device being in an intended static state.
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Citations
18 Claims
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1. A gyroscope-based device comprising:
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an input for receiving angle velocity data obtained from digitized gyroscope sensor data; a first summation node for reducing said angle velocity data by a drift error compensation offset; a first multiplication node for multiplying the result of said first summation node by a variable hand jitter compensation factor to produce a new angle velocity; and an output node for outputting said new angle velocity; wherein; the value of said variable hand jitter compensation factor is dependent upon a computation of involuntary movement currently experienced by said gyroscope-based device as determined from a currently received angle velocity datum; said computation of involuntary movement is a computation of probability of said gyroscope-based device being in a static state; each current sample n of said digitized gyroscope sensor data defines a current cycle; said currently received angle velocity datum is identified as G_Corr(n) and is obtained from current sample n of said digitized gyroscope sensor data; the new angle velocity obtained from the current sample n of said digitized gyroscope sensor data is denoted as G_New(n); and said gyroscope-based device further comprising; a) a probability processing unit receiving said intermediate angle velocity and determining a probability p(n) value for the current sample n, said probability p(n) being said computation of probability of said gyroscope-based device being in a static state within the current cycle defined by current sample n; and wherein the value of said variable hand jitter compensation factor for the current sample n is denoted as k(n) and is defined as k(n)=1·
p(n). - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16, 17, 18)
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Specification