Electronic device for use in motion detection and method for obtaining resultant deviation thereof
First Claim
1. An electronic device subject to movements and rotations in dynamic environments, comprising:
- a display device associated with a display reference frame;
a motion sensor module comprising a rotation sensor and an accelerometer, the rotation sensor having sensor circuitry configured to generate measured angular velocities and the accelerometer having circuitry configured to generate measured axial accelerations, with both the rotation sensor and the accelerometer being associated with the movements and the rotations of the electronic device in a spatial reference frame; and
a computing processor having processor circuitry configured to calculate a resulting deviation comprising resultant angles associated with the movements and the rotations of the electronic device in the spatial reference frame by;
providing a previous quaternion corresponding to time T−
1 based on the measured axial accelerations corresponding to time T−
1 and the measured angular velocities corresponding to time T−
1;
converting the measured angular velocities corresponding to time T based on the previous quaternion into a current quaternion and predicted axial accelerations without using the measured axial accelerations corresponding to time T;
comparing the predicted axial accelerations, which are based on the measured axial accelerations corresponding to time T−
1 and the measured angular velocities corresponding to time T, with the measured axial accelerations corresponding to time T to obtain a first comparison result;
obtaining an updated quaternion associated with time T based on the current quaternion and the first comparison result, which is based on the measured axial accelerations corresponding to time T−
1, measured axial accelerations corresponding to time T, and angular velocities corresponding to time T, and using the updated quaternion as a next occurrence of the previous quaternion; and
providing the resulting deviation based on the updated quaternion;
wherein the current quaternion and the predicted axial accelerations are converted from the measured angular velocities corresponding to time T so that the first comparison result and the updated quaternion correspond to time T; and
wherein the processor circuitry is further configured to translate the resultant angles of the resulting deviation in the spatial reference frame into a real-time movement pattern in the display reference frame.
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Abstract
An electronic device utilizing a nine-axis motion sensor module, capable of accurately outputting a resultant deviation including deviation angles in a 3D reference frame is provided. The present invention provides a novel comparison and compensation to accurately obtain a resultant deviation including deviation angles of the electronic device under the presence of external and/or internal interferences including the ones caused by undesirable electromagnetic fields and the ones associated with undesirable external forces and axial accelerations. The output of the nine-axis motion sensor module of the present invention including a rotation sensor, an accelerometer and a magnetometer can be advantageously obtained and compensated with a comparison comparing different states of the motion sensor module such that an updated state associated with the output and the resultant deviation angles of the nine-axis motion sensor module are preferably obtained in an absolute manner with the undesirable external interferences being effectively excluded.
33 Citations
12 Claims
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1. An electronic device subject to movements and rotations in dynamic environments, comprising:
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a display device associated with a display reference frame; a motion sensor module comprising a rotation sensor and an accelerometer, the rotation sensor having sensor circuitry configured to generate measured angular velocities and the accelerometer having circuitry configured to generate measured axial accelerations, with both the rotation sensor and the accelerometer being associated with the movements and the rotations of the electronic device in a spatial reference frame; and a computing processor having processor circuitry configured to calculate a resulting deviation comprising resultant angles associated with the movements and the rotations of the electronic device in the spatial reference frame by; providing a previous quaternion corresponding to time T−
1 based on the measured axial accelerations corresponding to time T−
1 and the measured angular velocities corresponding to time T−
1;converting the measured angular velocities corresponding to time T based on the previous quaternion into a current quaternion and predicted axial accelerations without using the measured axial accelerations corresponding to time T; comparing the predicted axial accelerations, which are based on the measured axial accelerations corresponding to time T−
1 and the measured angular velocities corresponding to time T, with the measured axial accelerations corresponding to time T to obtain a first comparison result;obtaining an updated quaternion associated with time T based on the current quaternion and the first comparison result, which is based on the measured axial accelerations corresponding to time T−
1, measured axial accelerations corresponding to time T, and angular velocities corresponding to time T, and using the updated quaternion as a next occurrence of the previous quaternion; andproviding the resulting deviation based on the updated quaternion; wherein the current quaternion and the predicted axial accelerations are converted from the measured angular velocities corresponding to time T so that the first comparison result and the updated quaternion correspond to time T; and wherein the processor circuitry is further configured to translate the resultant angles of the resulting deviation in the spatial reference frame into a real-time movement pattern in the display reference frame. - View Dependent Claims (2, 3, 4, 5, 6)
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7. A method for determining movements and rotations in dynamic environments, comprising:
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generating, with a rotation sensor having sensor circuitry measured angular velocities; generating, with an accelerometer having accelerometer circuitry measured axial accelerations; calculating, with a computing processor having processor circuitry, a resulting deviation comprising resultant angles associated with the movements and the rotations in a spatial reference frame by; providing a previous quaternion corresponding to time T−
1 based on the measured axial accelerations corresponding to time T−
1 and the measured angular velocities corresponding to time T−
1;converting the measured angular velocities corresponding to time T based on the previous quaternion into a current quaternion and predicted axial accelerations without using the measured axial accelerations corresponding to time T; comparing the predicted axial accelerations, which are based on the measured axial accelerations corresponding to time T−
1 and the measured angular velocities corresponding to time T, with the measured axial accelerations corresponding to time T to obtain a first comparison result;obtaining an updated quaternion associated with time T based on the current quaternion and the comparison result, which is based on the measured axial accelerations corresponding to time T−
1, measured axial accelerations corresponding to time T, and angular velocities corresponding to time T, and using the updated quaternion as a next occurrence of the previous quaternion; andproviding the resulting deviation based on the updated quaternion, wherein the current quaternion and the predicted axial accelerations are converted from the measured angular velocities corresponding to time T so that the comparison result and the updated quaternion correspond to time T; and translating the resultant angles of the resulting deviation in the spatial reference frame into a real-time movement pattern in a display reference frame associated with a display device. - View Dependent Claims (8, 9, 10, 11, 12)
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Specification