3D pointing devices with orientation compensation and improved usability
First Claim
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1. A handheld device comprising:
- a three-axis accelerometer configured to determine an acceleration of the handheld device and output an acceleration output associated therewith, wherein the determined acceleration comprises an acceleration of the handheld device due to gravity;
a plurality of rotational sensors configured to determine rotation of the handheld device about a respective plurality of axes and output a respective plurality of rotational outputs associated therewith, wherein the plurality of rotational outputs comprises angular velocities of the handheld device in a first frame of reference; and
a processing unit configured to;
determine an angular position of the handheld device between the first frame of reference and a second frame of reference using a combination of the angular velocities of the handheld device in the first frame of reference and the acceleration output corresponding to the acceleration of the handheld device due to gravity in the first frame of reference, wherein;
the determined angular position has an axis of rotation in a plane perpendicular to gravity and comprises first, second and third values for first, second and third axes of rotation, respectively;
the first value is an estimate of roll of the handheld device;
the third axis of rotation corresponds to the handheld device'"'"'s heading; and
the third value corresponds to an estimate of a current heading relative to any of an arbitrary reference point and an arbitrary and drifting reference point; and
report the angular position for a current sample.
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Abstract
Systems and methods according to the present invention describe 3D pointing devices which enhance usability by transforming sensed motion data from a first frame of reference (e.g., the body of the 3D pointing device) into a second frame of reference (e.g., a user'"'"'s frame of reference). One exemplary embodiment of the present invention removes effects associated with a tilt orientation in which the 3D pointing device is held by a user.
330 Citations
20 Claims
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1. A handheld device comprising:
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a three-axis accelerometer configured to determine an acceleration of the handheld device and output an acceleration output associated therewith, wherein the determined acceleration comprises an acceleration of the handheld device due to gravity; a plurality of rotational sensors configured to determine rotation of the handheld device about a respective plurality of axes and output a respective plurality of rotational outputs associated therewith, wherein the plurality of rotational outputs comprises angular velocities of the handheld device in a first frame of reference; and a processing unit configured to; determine an angular position of the handheld device between the first frame of reference and a second frame of reference using a combination of the angular velocities of the handheld device in the first frame of reference and the acceleration output corresponding to the acceleration of the handheld device due to gravity in the first frame of reference, wherein; the determined angular position has an axis of rotation in a plane perpendicular to gravity and comprises first, second and third values for first, second and third axes of rotation, respectively; the first value is an estimate of roll of the handheld device; the third axis of rotation corresponds to the handheld device'"'"'s heading; and the third value corresponds to an estimate of a current heading relative to any of an arbitrary reference point and an arbitrary and drifting reference point; and report the angular position for a current sample. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9)
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10. A method implemented in a handheld device comprising a processing unit, a three-axis accelerometer and a plurality of rotational sensors, the method comprising:
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obtaining, at the processing unit, a plurality of rotational outputs from the plurality of rotational sensors and an acceleration output from the three-axis accelerometer, wherein the plurality of rotational outputs is associated with rotation of the handheld device about a respective plurality of axes as determined by the plurality of rotational sensors, wherein the plurality of rotational outputs comprises angular velocities of the handheld device in a first frame of reference, wherein the acceleration output is associated with an acceleration of the handheld device as determined by the three-axis accelerometer, and wherein the acceleration comprises an acceleration of the handheld device due to gravity; determining, at the processing unit, an angular position of the handheld device between the first frame of reference and a second frame of reference using a combination of the angular velocities of the handheld device in the first frame of reference and the acceleration output corresponding to the acceleration of the handheld device due to gravity in the first frame of reference, wherein; the determined angular position has an axis of rotation in a plane perpendicular to gravity and comprises first, second and third values for first, second and third axes of rotation, respectively; the first value is an estimate of roll of the handheld device; the third axis of rotation corresponds to the handheld device'"'"'s heading; and the third value corresponds to an estimate of a current heading relative to any of an arbitrary reference point and an arbitrary and drifting reference point; and reporting the angular position for a current sample. - View Dependent Claims (11, 12, 13, 14, 15, 16, 17, 18)
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19. A method implemented in a handheld device, the method comprising:
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generating, by a plurality of rotational sensors, a rotational output associated with rotation of the handheld device about a plurality of axes, wherein the rotational output comprises angular velocities of the handheld device in a first frame of reference; generating, by a three-axis accelerometer, an acceleration output associated with an acceleration of the handheld device, wherein the acceleration comprises an acceleration of the handheld device due to gravity; determining, at the processing unit, an angular position of the handheld device between the first frame of reference and a second frame of reference using a combination of the angular velocities of the handheld device in the first frame of reference and the acceleration output corresponding to the acceleration of the handheld device due to gravity in the first frame of reference, wherein; the determined angular position has an axis of rotation in a plane perpendicular to gravity and comprises first, second and third values for first, second and third axes of rotation, respectively; the first value is an estimate of roll of the handheld device; the third axis of rotation corresponds to the handheld device'"'"'s heading; and the third value corresponds to an estimate of a current heading relative to any of an arbitrary reference point and an arbitrary and drifting reference point; and reporting the angular position for a current sample. - View Dependent Claims (20)
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Specification