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Self-contained inertial navigation system for interactive control using movable controllers

  • US 9,405,372 B2
  • Filed: 01/25/2008
  • Issued: 08/02/2016
  • Est. Priority Date: 07/14/2006
  • Status: Active Grant
First Claim
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1. A method for determining motion of a controlling device interacting with a 3D virtual environment being displayed on a screen, the method comprising:

  • determining in a computing device a set of estimated errors associated with a time series of data sampled from sensor signals generated from a plurality of inertial sensors disposed in configuration relations known to each other and enclosed in the controlling device, the sensor signals being sufficient to determine motion of the controlling device in six degrees of freedom, wherein the controlling device is being operated by a user, and is at least one of;

    handheld, wearable or attachable to the user;

    extracting, using the sensor signals, three orthogonal readings of angular motion of the controlling device;

    determining an estimated orientation of the controlling device by using the three orthogonal readings of angular motion and a previous estimated orientation of the controlling device;

    extracting, using the sensor signals, readings of linear motion of the controlling device;

    calculating an estimated linear motion of the controlling device using readings of linear motion and the estimated orientation;

    calculating a trajectory of the controlling device by updating the previous estimate of orientation and a relative location using the estimated orientation, wherein the trajectory demonstrates the motion of the controlling device in six degrees of freedom; and

    causing at least a corresponding object in the 3D virtual environment to move according to the trajectory.

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