3D pointing device and method for compensating movement thereof

CAFC
  • US 8,441,438 B2
  • Filed: 11/11/2010
  • Issued: 05/14/2013
  • Est. Priority Date: 01/06/2010
  • Status: Active Grant
First Claim
Patent Images

1. A three-dimensional (3D) pointing device subject to movements and rotations in dynamic environments, comprising:

  • a housing associated with said movements and rotations of the 3D pointing device in a spatial pointer reference frame;

    a printed circuit board (PCB) enclosed by the housing;

    a six-axis motion sensor module attached to the PCB, comprising a rotation sensor for detecting and generating a first signal set comprising angular velocities ω

    x, ω

    y, ω

    z associated with said movements and rotations of the 3D pointing device in the spatial pointer reference frame, an accelerometer for detecting and generating a second signal set comprising axial accelerations Ax, Ay, Az associated with said movements and rotations of the 3D pointing device in the spatial pointer reference frame; and

    a processing and transmitting module, comprising a data transmitting unit electrically connected to the six-axis motion sensor module for transmitting said first and second signal sets thereof and a computing processor for receiving and calculating said first and second signal sets from the data transmitting unit, communicating with the six-axis motion sensor module to calculate a resulting deviation comprising resultant angles in said spatial pointer reference frame by utilizing a comparison to compare the first signal set with the second signal set whereby said resultant angles in the spatial pointer reference frame of the resulting deviation of the six-axis motion sensor module of the 3D pointing device are obtained under said dynamic environments, wherein the comparison utilized by the processing and transmitting module further comprises an update program to obtain an updated state based on a previous state associated with said first signal set and a measured state associated with said second signal set;

    wherein the measured state includes a measurement of said second signal set and a predicted measurement obtained based on the first signal set without using any derivatives of the first signal set.

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