Self-contained inertial navigation system for interactive control using movable controllers
First Claim
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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Accused Products
Abstract
A movable game controller for controlling aspects of a computer controlled game display with apparatus for determining the linear and angular motion of that movable controller. The apparatus includes a plurality of self-contained inertial sensors for sensing the tri-axial linear and tri-axial angular motion of the moving controller. Each sensor is mounted at a fixed linear position and orientation with respect to the others. The linear and angular motion of the controller is computed from the correlated motion sensor readings of each of the plurality of self-contained inertial sensors.
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Citations
37 Claims
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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:
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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. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16, 17, 18, 19, 20, 21, 22, 23, 24, 25, 26, 27, 28, 29, 30, 31, 32)
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33. A method for determining motion of a controlling device in a computing device, the method comprising:
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determining in the computing device a set of estimates of time-varying changes in one or more of components of position and orientation of the controlling device in response to a time series of data generated from a plurality of self-contained inertial sensors disposed in configuration relations known to each other and used to determine the motion of the controlling device in at least six degrees of freedom in a multi-dimensional space, the controlling device being located in a terrestrial frame of reference, substantially movable by a human motive force, and being at least one of;
handheld, wearable, attachable to a living creature, wherein said determining of the set of estimates of time-varying changes in one or more of components of position and orientation of the controlling device comprises;extracting from the time series of data three orthogonal readings of angular motion of the controlling device; determining an estimated orientation of the controlling device using the three orthogonal readings of angular motion and a previous estimated orientation of the controlling device; extracting from the time series of data 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; providing a model of a multi-dimensional virtual environment in response to the estimated linear motion and orientation; calculating a point and direction of interest in the model; and generating in the computing device a trajectory of the controlling device from the time series of data according to the estimated linear motion and orientation and a set of estimated errors associated with the time series of data, wherein the trajectory demonstrates the motion of the controlling device in six degrees of freedom. - View Dependent Claims (34, 35, 36, 37)
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Specification