Velocity stabilization for accelerometer based input devices

• US 8,933,875 B2
• Filed: 07/30/2008
• Issued: 01/13/2015
• Est. Priority Date: 07/30/2008
• Status: Active Grant

• Current Assignee: Apple Inc.
• Original Assignee: Apple Inc.
• Inventors: Moussavi, Farshid
• Primary Examiner(s): PATEL, PREMAL R
• Application Number:
  US12/182,799
• Publication Number:
  US 20100026623A1
• Time in Patent Office: 2,358 Days
• Field of Search: 345/156, 345/158, 345163-166, 702/94, 702150-152
• US Class Current: 345/156
• CPC Class Codes: G06F 3/03543 Mice or pucks G06F3/03541 takes precedence
• CPC Class Codes: G06F 3/0383 Signal control means within the pointing device

Abstract

A method and apparatus for reducing or eliminating tracking errors associated with accelerometer-based input devices. The method and apparatus calculates a velocity of the input device; determines if the calculated velocity indicates a motion tracking error; and ignores the calculated velocity if the motion tracking error is indicated.

Claims

1. A computer-implemented method performed by one or more processors for compensating for motion tracking errors associated with an electronic input device, the method comprising the following operations:

determining a velocity of the electronic input device is decelerating;

in response to the decelerating velocity, determining an initial time when a magnitude of a velocity of the electronic input device decreases below a velocity threshold;

in response to satisfying the velocity threshold, determining, at a subsequent time, if a magnitude of a calculated velocity of the electronic input device remains within a predefined range defined by the velocity threshold; and

ignoring the calculated velocity as a motion tracking error if the magnitude of the calculated velocity is within the predefined range.

2. The method of claim 1 wherein the motion tracking error comprises a drift error.

3. The method of claim 2 wherein the act of determining comprises:

calculating an average magnitude of the velocity of the input device for a given time period;

determining if the average velocity decreases below the velocity threshold; and

determining if the average magnitude of the calculated velocity at the end of the given time period exceeds a second threshold, wherein if the magnitude does not exceed the second threshold, the drift error is indicated.

4. The method of claim 1 wherein the motion tracking error comprises a kickback error.

5. The method of claim 4 wherein the act of determining comprises:

determining if the input device has changed direction; and

if it is determined that the input device is decelerating and has changed direction, determining if a magnitude of the calculated velocity of the input device is greater than a predetermined threshold, wherein if the magnitude is not greater than the threshold, the kickback error is indicated.

6. The method of claim 1 wherein the calculated velocity is calculated from acceleration measurements.

7. An electronic input device, comprising:

a motion sensor for generating a signal indicative of a velocity of the electronic input device; and

a processor, coupled to the motion sensor, operable to receive the signal, determine a velocity of the electronic input device is decelerating, in response to the decelerating velocity, determine, based on the received signal, an initial time when a magnitude of a velocity of the electronic input device decreases below a velocity threshold, and determine, at a subsequent time, if a magnitude of a calculated velocity of the electronic input device remains within a predefined range in response to satisfying the velocity threshold, wherein if the magnitude of the calculated velocity is within the predefined range the processor is further operable to set the velocity of the input device to zero as a motion tracking error.

8. The electronic input device of claim 7 wherein the motion tracking error comprises a drift error.

9. The device of claim 8 wherein the processor is further operable to:

calculate an average magnitude of the velocity of the input device for a given time period;

determine if the average velocity decreases below the velocity threshold; and

determine if the average magnitude of the calculated velocity at the end of the given time period exceeds a second threshold, wherein if the magnitude does not exceed the second threshold, the drift error is indicated.

10. The device of claim 7 wherein the motion tracking error comprises a kickback error.

11. The device of claim 10 wherein the processing element is further operable to:

determine if the velocity of the input device has changed direction; and

if it is determined that the input device is decelerating and has changed direction, determine if a magnitude of a calculated velocity of the input device is greater than a predetermined threshold, wherein if the magnitude is not greater than the threshold, the kickback error is indicated.

12. The device of claim 7 wherein the motion sensor comprises a MEMS accelerometer.

13. A system for tracking the motion of an electronic input device, comprising:

a motion sensor contained within a housing of the electronic input device for generating a signal indicative of a velocity of the electronic input device;

a processor, coupled to the motion sensor, operable to receive the signal, determine a velocity of the electronic input device is decelerating, in response to the decelerating velocity, determine, based on the received signal, an initial time when a magnitude of a velocity of the electronic input device decreases below a velocity threshold, and determine, at a subsequent time, if a magnitude of a calculated velocity of the electronic input device remains within a predefined range in response to satisfying the velocity threshold, and to ignore the velocity as a motion tracking error if the magnitude of the calculated velocity is within the predefined range;

a computing device having a display screen for displaying an object controlled by the input device; and

a peripheral interface for coupling the electronic input device to the computing device.

14. The system of claim 13 wherein the processor is contained within the housing of the electronic input device.

15. The system of claim 13 wherein the processor is contained within a housing of the computing device.

16. The system of claim 13 wherein the motion tracking error comprises a drift error.

17. The system of claim 16 wherein the processor is further operable to:

calculate an average magnitude of the velocity of the input device for a given time period;

determine if the average velocity decreases below the velocity threshold; and

if the average magnitude of the velocity is below the velocity threshold, determine if the average magnitude of the calculated velocity at the end of the given time period exceeds a second threshold, wherein if the magnitude does not exceed the second threshold, the drift error is indicated.

18. The system of claim 13 wherein the motion tracking error comprises a kickback error.

19. The system of claim 18 wherein the processor is further operable to:

determine if the input device has changed direction; and

if it is determined that the input device is decelerating and has changed direction, determine if a magnitude of a calculated velocity of the input device is greater than a predetermined threshold, wherein if the magnitude is not greater than the threshold, the kickback error is indicated.

20. The system of claim 13 wherein the motion sensor comprises a MEMS accelerometer.

21. A computer readable product encoded on a tangible, non-transitory storage medium, the product comprising executable instructions for causing one or more processors to perform operations comprising:

receiving a signal indicative of a velocity of the electronic input device;

determining a velocity of the electronic input device is decelerating;

in response to the decelerating velocity, determining an initial time when a magnitude of the velocity of the electronic input device decreases below a velocity threshold;

in response to satisfying the velocity threshold, determining, at a subsequent time, if the magnitude of the velocity of the electronic input device remains within a predefined range defined by the velocity threshold; and

ignoring the velocity as a motion tracking error if magnitude of the velocity is within the predefined range.

22. The computer readable product of claim 21 wherein the motion tracking error comprises a drift error.

23. The computer readable product of claim 22 wherein the act of determining comprises:

calculate an average magnitude of the velocity of the input device for a given time period;

determine if the average velocity decreases below the velocity threshold; and

if the average magnitude of the velocity is below the velocity threshold, determine if the average magnitude of the calculated velocity at the end of the given time period exceeds a second threshold, wherein if the magnitude does not exceed the second threshold, the drift error is indicated.

24. The computer readable product of claim 21 wherein the motion tracking error comprises a kickback error.

25. The computer readable product of claim 24 wherein the act of determining comprises:

determining if the input device has changed direction; and

if it is determined that the input device is decelerating and has changed direction, determining if a magnitude of a calculated velocity of the input device is greater than a predetermined threshold, wherein if the magnitude is not greater than the threshold, the kickback error is indicated.