Method and apparatus for determining position and orientation of a moveable object using accelerometers

• US 5,819,206 A
• Filed: 03/20/1997
• Issued: 10/06/1998
• Est. Priority Date: 01/21/1994
• Status: Expired due to Term

• Current Assignee: Movement Software Solutions LLC (Intellectual Ventures LLC)
• Original Assignee: Crossbow Technology Incorporated (Moog Incorporated)
• Inventors: Newton, A. Richard, Horton, Mike A.
• Primary Examiner(s): Shah, Kamir
• Assistant Examiner(s): SHAH, KAMINI S
• Application Number:
  US08/820,837
• Time in Patent Office: 565 Days
• Field of Search: 364/559, 364/410, 364/449, 364/516, 364/517, 364/453, 364/578, 340/988, 340/989, 340/990, 351/210, 351/209, 395/502, 395/500, 434/29, 434/43, 434/49
• US Class Current: 702/150
• CPC Class Codes: G06F 3/011 Arrangements for interaction with the human body, e.g. for user immersion in virtual reality blind teaching G09B21/00
• CPC Class Codes: G06F 3/0346 with detection of the device orientation or free movement in a 3D space, e.g. 3D mice, 6-DOF [six degrees of freedom] pointers using gyroscopes, accelerometers or tilt-sensors

Abstract

A three-dimensional position and orientation tracking system uses accelerometers to measure acceleration of a moveable object (e.g., a head-mounted display unit or a data glove). A tracking processor generates both position and orientation information on the object relative to a simulation environment as a function of the acceleration data. In one embodiment, a simplified radar-based tracking system is disposed relative to the object and periodically provides additional tracking data on the object to the tracking processor. The tracking processor uses the additional data to correct the position and orientation information using a feedback filter process. The position and orientation information signals generated can be used, for example, in a simulation or virtual reality application. Position and orientation information is received by a simulation processor relative to the object. The simulation processor modifies a simulation environment as a function of the position and orientation information received. Modified simulation environment information (e.g., video and/or audio information) is then presented to a user.

Claims

1. A method for generating computer simulation signals in response to orientation of a moveable object from a plurality of electronic linear accelerometers mounted on the moveable object, the method comprising the steps of:

processing linear acceleration signals generated from a plurality of electronic linear accelerometers mounted on the moveable object; and

generating orientation signals associated with movement of the object in three degrees of freedom as a function of the linear acceleration signals; and

generating computer simulation signals in response to the orientation signals.

2. The method of claim 1 wherein the orientation signals include an estimated future orientation signal, and the step of generating orientation signals further comprises the step of:

determining an estimated future orientation signal as a function of the orientation signals and a delay time.

3. The method of claim 1, for operation with another moveable object having a plurality of electronic linear accelerometers mounted thereon, and further comprising the steps of:

processing linear acceleration signals from the plurality of electronic linear accelerometers mounted on said another moveable object;

generating orientation signals associated with movement of said another moveable object in three degrees of freedom as a function of the acceleration signals associated with said another moveable object; and

generating computer simulation signals in response to the orientation signals associated with said another moveable object.

4. The method of claim 1 wherein in the step of:

generating computer simulation signals, the computer simulation signals are generated as a function of the orientation signals.

5. The method of claim 4 wherein the simulation signals comprise video information.

6. The method of claim 4 wherein the simulation signals comprise audio information.

7. The method of claim 4 wherein the simulation signals comprise tactile information.

8. The method of claim 4 wherein the simulation signals comprise sensory information.

9. The method of claim 1 wherein the steps of processing linear acceleration signals, generating orientation signals, and generating computer simulation signals are repeated.

10. The method of claim 1 for operation with a computer simulation system, further comprising the steps of:

transmitting the orientation signals to the simulation system; and

generating the computer simulation signals in the simulation system as a function of the orientation signals received thereby.

11. The method of claim 1 further comprising the steps of:

receiving tracking data signals associated with the object from a source disposed from the object; and

modifying the orientation signals as a function of the tracking data signals received.

12. A processor-implemented method for operation with a simulation system to generate position signals and orientation signals for tracking object movement, the method comprising the steps of:

receiving acceleration signals from a plurality of accelerometers mounted on a moveable object;

generating position signals and orientation signals associated with movement of the object, wherein a processor determines the position signals and the orientation signals according to the received acceleration signals;

receiving tracking data signals associated with the object from a source disposed on the object;

modifying the position signals and the orientation signals as a function of the tracking data signals received; and

the simulation system generates simulation signals as a function of the modified position signals and the modified orientation signals.

14. The method of claim 12 further comprising:

generating simulation signals as a function of the position signals and the orientation signals.

13. A processor-implemented method for generating a tracking signal associated with movement of an object having a plurality of accelerometers mounted thereon, the method comprising the steps of:

receiving a selected acceleration signal from the plurality of accelerometers mounted on a moveable object; and

generating a tracking signal associated with movement of the object as a function of the received acceleration signal.

15. A system for generating computer simulation signals in response to the orientation of a moveable object from a plurality of electronic linear accelerometers mounted on the moveable object, the system comprising:

a plurality of electronic linear accelerometers mounted on the moveable object for producing linear acceleration signals;

a processor coupled to the accelerometers for generating orientation signals associated with the moveable object in three degrees of freedom as a function of the linear acceleration signals; and

a simulation system communicatively coupled to the processor for generating computer simulation signals as a function of the orientation signals.

16. The system of claim 15 where the system further comprises:

a transmitting for transmitting the orientation signals from the object to the simulation system; and

another transmitting for transmitting the simulation signals from the simulation system to the object.