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 interface that receives a measurement signal, the measurement signal including a second angular velocity transmitted from another apparatus including a second sensor; and
a controller including circuitry, the circuitry configured to calculate 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 in contact with the golf club, andwherein the circuitry is further configured to determine a classification of the golf club based on the calculated rotation vector.
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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.
18 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 interface that receives a measurement signal, the measurement signal including a second angular velocity transmitted from another apparatus including a second sensor; and a controller including circuitry, the circuitry configured to calculate 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 in contact with the golf club, and wherein the circuitry is further configured to determine a classification of the golf club based on the calculated rotation vector. - 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 interface that receives a measurement signal, the measurement signal including a second acceleration transmitted from another apparatus including a third sensor; and a controller including circuitry, the circuitry configured to calculate 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 in contact with the golf club, and wherein the circuitry determines a classification of the golf club based on the calculated rotation vector. - 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 interface, a measurement signal, the measurement signal including a second angular velocity transmitted from a device including a second sensor; and calculating, by a controller that includes circuitry, a rotation vector that aligns the first angular velocity with the second angular velocity on an inertial frame, wherein the circuitry is configured to determine a classification of the golf club based on the calculated rotation vector.
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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 interface, a measurement signal, the measurement signal including a second acceleration transmitted from a device including a third sensor; and calculating, by a controller that includes circuitry, a rotation vector that aligns the first acceleration with the second acceleration on an inertial frame, wherein the circuitry is configured to determine a classification of the golf club based on the calculated rotation vector.
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30. An inertial measurement unit in contact with a first point on a golf club, the inertial measurement unit 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 interface that receives a measurement signal, the measurement signal including a second acceleration transmitted from a second accelerometer, the second accelerometer being in contact with a second point of the golf club; and a controller that includes circuitry, the circuitry configured to calculate, 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 circuitry is configured to determine a classification of the golf club based on a calculated rotation vector.
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Specification