Method and apparatus for determining a relative orientation of points on a rigid body
First Claim
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1. An apparatus comprising:
- a first sensor that measures a first angular velocity;
a communications unit that receives a measurement signal, the measurement signal including a second angular velocity transmitted from another apparatus including a second sensor; and
a controller that calculates a rotation vector that aligns the first angular velocity with the second angular velocity on an inertial frame, whereinthe first angular velocity and the second angular velocity are generated in response to a movement of a golf club when the apparatus and the another apparatus are affixed to the golf club, andthe controller determines a classification of the golf club based on the calculated rotation vector, the classification being determined by matching the calculated vector to one or more clubs included in a list of reference club information stored in a memory.
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Abstract
An inertial measurement unit is affixed to a rigid body. The inertial measurement includes a gyroscope that measures a first angular velocity and an angular acceleration; a first accelerometer that measures a first acceleration; a communications unit that receives a measurement signal, the measurement signal including a second acceleration transmitted from a second accelerometer, the second accelerometer being affixed to the rigid body; and a controller that calculates a relative orientation of the inertial measurement unit and the second accelerometer, and a distance separating the inertial measurement unit and the second accelerometer.
55 Citations
30 Claims
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1. An apparatus comprising:
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a first sensor that measures a first angular velocity; a communications unit that receives a measurement signal, the measurement signal including a second angular velocity transmitted from another apparatus including a second sensor; and a controller that calculates a rotation vector that aligns the first angular velocity with the second angular velocity on an inertial frame, wherein the first angular velocity and the second angular velocity are generated in response to a movement of a golf club when the apparatus and the another apparatus are affixed to the golf club, and the controller determines a classification of the golf club based on the calculated rotation vector, the classification being determined by matching the calculated vector to one or more clubs included in a list of reference club information stored in a memory. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16)
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17. An apparatus comprising:
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a first sensor that measures an angular velocity and an angular acceleration; a second sensor that measures a first acceleration; a communications unit that receives a measurement signal, the measurement signal including a second acceleration transmitted from another apparatus including a third sensor; and a controller that calculates a rotation vector that aligns the first acceleration with the second acceleration on an inertial frame, wherein the first acceleration, the second acceleration, and the angular acceleration are generated in response to a movement of a golf club when the first sensor, the second sensor, and the third sensor are affixed to the golf club, and the controller determines a classification of the golf club based on the calculated rotation vector, the classification being determined by matching the calculated rotation vector to one or more clubs included in a list of club information stored in a memory. - View Dependent Claims (18, 19, 20, 21, 22, 23, 24, 25, 26, 27)
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28. A method comprising:
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measuring, by a first sensor, a first angular velocity of a golf club; receiving, by a communications unit, a measurement signal, the measurement signal including a second angular velocity transmitted from a device including a second sensor; and calculating, by a controller, a rotation vector that aligns the first angular velocity with the second angular velocity on an inertial frame, wherein the controller determines a classification of the golf club based on the calculated rotation vector, the classification being determined by matching the calculated rotation vector to one or more clubs included in a list of club information stored in a memory.
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29. A method comprising:
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measuring, by a first sensor, an angular velocity and an angular acceleration of a golf club; measuring, by a second sensor, a first acceleration of the golf club; receiving, by a communications unit, a measurement signal, the measurement signal including a second acceleration transmitted from a device including a third sensor; and calculating, by a controller, a rotation vector that aligns the first acceleration with the second acceleration on an inertial frame, wherein the controller determines a classification of the golf club based on the calculated rotation vector, the classification being determined by matching the calculated rotation vector to one or more clubs included in a list of club information stored in a memory.
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30. An inertial measurement unit affixed at a first point on a golf club, the inertial measurement comprising:
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a gyroscope that measures an angular velocity and an angular acceleration of the golf club; a first accelerometer that measures a first acceleration of the golf club; a communications unit that receives a measurement signal, the measurement signal including a second acceleration transmitted from a second accelerometer, the second accelerometer being affixed at a second point of the golf club; and a controller that calculates, based on the angular velocity, the angular acceleration, the first acceleration, and the second acceleration, a relative orientation of the inertial measurement unit and the second accelerometer, and a distance separating the inertial measurement unit and the second accelerometer, wherein the controller determines a classification of the golf club based on a calculated rotation vector, the classification being determined by matching the calculated rotation vector to one or more clubs included in a list of club information stored in a memory.
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Specification