×

3D pointing devices with orientation compensation and improved usability

  • US 10,782,792 B2
  • Filed: 03/30/2018
  • Issued: 09/22/2020
  • Est. Priority Date: 04/30/2004
  • Status: Active Grant
First Claim
Patent Images

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.

View all claims
  • 1 Assignment
Timeline View
Assignment View
    ×
    ×