Interactive controller device

• US 8,032,324 B1
• Filed: 08/19/2008
• Issued: 10/04/2011
• Est. Priority Date: 08/20/2007
• Status: Expired due to Fees

• Current Assignee: PNI Corporation (PNI Digital Media)
• Original Assignee: PNI Corporation (PNI Digital Media)
• Inventors: Taylor, Andrew T., Bryant, Tyler M, Figaro, Davy J.
• Primary Examiner(s): WACHSMAN, HAL D
• Application Number:
  US12/194,427
• Time in Patent Office: 1,141 Days
• Field of Search: 702/141, 702/147, 702/150, 702/151, 702/196
• US Class Current: 702/141
• CPC Class Codes: G01C 17/02 Magnetic compasses
• CPC Class Codes: G01C 25/005 initial alignment, calibration or starting-up of inertial devices

Abstract

A method and system for an interactive controller device comprising a two axis sensor in combination with one or more other sensors for hand-held devices operated in mid-air. A time sequence of measurements in three linearly independent directions is used to extract the angles of rotation around one or more distinct axes. A method is disclosed to approximately determine a transformation matrix, T, of a device orientation from a sequence of single vector measurements as a combination of rotations about specified axes. Calculated rotation angles can then be used to calculate changes in a controller or pointer position and a rate change thereof.

Claims

1. A method for a device to estimate orientation comprising the steps;

moving the device through a changing orientation in a sequence of time from an initial orientation to a final orientation;

measuring a magnetic field in at least two axes of the device in timed sequence; and

computing a transformation matrix, T, at each timed sequence as a product of rotations about the at least two axes of the device such that T=Π

_i (Rp_i(ap_i)) wherein T is approximately determined as a combination of rotations about the at least two axes of the device such that the final orientation is estimated as the initial orientation of the device times the product of rotations, T, from the initial orientation to the final orientation and Rp_i(ap_i) is a rotation matrix for a rotation around axis Ui by angle ai wherein the device is operable to do the estimating, measuring and computing based upon the changing orientation of the device in timed sequence in the magnetic field.

2. The method of claim 1, further comprising the step of:

computing a state variable, attitude, of said device with an algorithm comprising a Kalman Filter and a timed sequence of T wherein the matrix T propagates the state variable attitude.

3. The method of claim 2, further comprising the steps of:

estimating the device orientation at a first time and a second time.

4. The method of claim 1, further comprising the step of:

measuring acceleration of said device in at least two axes of the device in timed sequence.

5. The method of claim 4, further comprising the step of:

computing a state variable, attitude, of said device with an algorithm comprising a Kalman Filter and a timed sequence of T wherein the matrix T propagates the state variable attitude.

6. The method of claim 5, further comprising the step of:

computing said device orientation and acceleration in time.

7. The method of claim 1, further comprising the steps of:

measuring angular rates of rotation of the device; and

computing Tg=T*Tomega, wherein Tomega is the transformation that is obtained by combining at least two of the angular rates of rotations.

8. The method of claim 7, further comprising the step of:

computing a state variable, attitude, of said device with an algorithm comprising a Kalman Filter and a timed sequence of T wherein the matrix T propagates the state variable attitude.

9. The method of claim 8, further comprising the steps of:

estimating the device orientation at a first time and a second time.

10. The method of claim 7, further comprising the step of:

measuring acceleration of said device in at least two axes of the device in timed sequence.

11. The method of claim 10, further comprising the step of:

computing a state variable, attitude, of said device with an algorithm comprising a Kalman Filter and a timed sequence of T wherein the matrix T propagates the state variable attitude.

12. The method of claim 11, further comprising the step of:

computing said device orientation and acceleration in time.

13. A method for converting a time sequence of 3D orientation data of a controller device in a magnetic field into data for moving an object on a display screen in a first and second dimension comprising the steps;

estimating the orientation of the controller device such that the orientation is estimated as the initial orientation of the controller device times the product of rotations, T, from the initial orientation to the final orientation;

calculating a derivative in time of the controller device orientation in Earth frame, Tip_ef, as dTip_ef, over at least one time increment;

calculating controller device displacement vectors A1, in a first dimension, and A2, in a second dimension;

calculating a controller device translation in a first dimension as;

dx_unscaled=dot(dTip_ef, A1); and

calculating a controller device translation in a second dimension as;

dy_unscaled=dot(dTip_ef, A2);

such that dx_unscaled and dy_unscaled are proportional to translation of the object in the first dimension and the second dimension on a display screen wherein the controller device is operable to do the estimating and calculating based upon the initial and final orientations of the controller device in timed sequence in the magnetic field.

14. A method as in claim 13 further comprising the steps;

scaling said controller device translation in said first dimension by;

dx_final=Point_gain*dx_unscaled; and

scaling said controller device translation in said second dimension by;

dy_final=Point_gain*dy_unscaled.

15. A controller device for controlling the motion of an object on a display screen in a first and second dimension from a first position to a second position comprising:

a means to measure a magnetic field in at least two axes of the controller device in timed sequence by moving the controller device through a changing orientation in a sequence of time from an initial orientation to a final orientation; and

means for computing and processing magnetic field data such that a transformation matrix, T, at each timed sequence is computed as a product of rotations such that T=Π

_i (Rp_i(ap_i)) wherein T is approximately determined as a combination of rotations about the at least two axes of the device such that the final orientation is estimated as the initial orientation of the device times the product of rotations, T, from the initial orientation to the final orientation and Rp_i(ap_i) is a rotation matrix for a rotation around axis Ui by angle ai wherein the object on a display screen moves from the first position to the second position as determined by the controller device.

16. A controller device as in claim 15 wherein said means to measure a magnetic field is one or more sensors chosen from a group comprising magnetoinductive and magnetoresistive sensors.

17. A controller device as in claim 15 further comprising;

a button such that engagement of the button enables preselected orientation data to be communicated to another device.

18. A controller device as in claim 15 further comprising at least one sensor chosen from a group comprising accelerometer, inclinometer, gyroscope, angular rate sensor, GPS, optical sensors and tactile sensors.

19. A controller device as in claim 18 wherein said means for computing and processing further comprises an algorithm wherein a state variable, attitude, is calculated with a Kalman Filter and said transformation matrix, T, at each timed sequence wherein the matrix T propagates the state variable attitude.

20. A device for sensing orientation comprising;

an angular rate sensor for measuring angular rate of rotation of the device;

a magnetic sensor sensing in at least two axes of the device; and

a means for computing transformation matrices Tomega and T in timed sequence wherein T is approximately determined as a combination of rotation matrices about the axes of the device such that the final orientation is estimated as the initial orientation of the device times the product of rotations, T, from the initial orientation to the final orientation as sensed by the magnetic sensor and Tomega is the transformation matrix that is obtained by combining at least two of the angular rate sensor rotations.

21. A device as in claim 20 wherein said device is attached to a second, larger apparatus such that the orientation and acceleration of the apparatus is measured over a period of time wherein said device begins measuring when the apparatus'"'"' acceleration exceeds a first predetermined magnitude and stops measuring when the apparatus'"'"' acceleration is below a second predetermined magnitude.

22. A system for sensing the orientation of a first device sequenced in time comprising;

a first device comprising one angular rate sensor oriented along a first axis, a magnetic sensor oriented along a second axis and a second magnetic sensor oriented along a third axis, wherein the orientation of the first axis is not parallel to the orientation of the second or third axis and the orientation of the second axis is not parallel to the orientation of the third axis; and

a means for computing transformation matrices Tomega and T;

such that Tomega, T, and a state variable, attitude, are computed in timed sequence wherein T is approximately determined as a combination of rotations about the axes of the first device such that the final orientation is estimated as the initial orientation of the first device times the product of rotations, T, from the initial orientation to the final orientation and Tomega is the transformation that is obtained by combining at least two of the angular rate sensor rotations; and

wherein angular rate of rotation of the first device is continuously sensed and a magnetic field is continuously sensed by moving the first device through a changing orientation in a sequence of time from an initial orientation to a final orientation.

23. The system of claim 22 comprising a second device wherein said means for computing resides.

24. A system for sensing the orientation of a first device sequenced in time comprising:

a first device comprising at least one angular inertial sensor oriented to measure rotational information about a first axis and at least first and second magnetic sensors oriented along a second and third axis, wherein the second and third axes are non-co-linear to each other such that the second and third axes form the base of a plane orthogonal to the first axis and wherein rotational position of the first device is continuously sensed and a magnetic field is continuously sensed by moving the first device through a changing orientation in a sequence of time from an initial orientation to a final orientation; and

a means for computing transformation matrices Tomega and T;

such that Tomega, T, and a state variable, attitude, are computed in timed sequence wherein T is approximately determined as a combination of rotations about the axes of the first device such that the final orientation is estimated as the initial orientation of the first device times the product of rotations, T, from the initial orientation to the final orientation and Tomega is the transformation that is obtained by combining at least two of the at least one angular inertial sensor measurements.

25. The system of claim 24 further comprising a second device wherein said means for computing resides.