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Motion capture pointer with data fusion

  • US 9,261,980 B2
  • Filed: 06/26/2009
  • Issued: 02/16/2016
  • Est. Priority Date: 06/27/2008
  • Status: Active Grant
First Claim
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1. A pointing device for pointing by a user at a mobile element in a plane surface comprising a reference frame, said pointing device comprising:

  • at least one first sensor for measuring angular velocities (ω

    Y, ω

    Z) of said pointing device about at least two orthogonal axes (Y, Z) of the pointing device;

    at least one second sensor for measuring linear accelerations (aX, aY, aZ) of said pointing device in relation to said two axes (Y, Z) and a third orthogonal axis (X); and

    a module for computing displacements (dy, dz) to be imparted to the mobile element in the plane surface as a function of rotations of the pointing device in space, said computation module comprising a sub-module for compensating for torsion imparted to the pointing device by implementing a data fusion algorithm, wherein said data fusion algorithm is configured for;

    i) receiving as input at least measurements by the first sensor of angular velocities (ω

    Y, ω

    Z) and by the second sensor of linear accelerations (aX, aY, aZ); and

    ii) estimating from said measurements a state vector comprising variables representative of a torsion imparted to the pointing device relative to a horizontal plane of a reference frame of the user and further providing at least angular velocities (ω

    v, ω

    w) of the pointing device in the reference frame of the user which provide torsion-compensated displacements (dy, dz) of the mobile element in the reference frame of the plane surface of the mobile element.

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