3D pointing device and method for compensating movement thereof
DC CAFC
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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Abstract
A three-dimensional (3D) pointing device capable of accurately outputting a deviation including yaw, pitch and roll angles in a 3D reference frame and preferably in an absolute manner is provided. Said 3D pointing device comprises a six-axis motion sensor module including a rotation sensor and an accelerometer, and a processing and transmitting module. The six-axis motion sensor module generates a first signal set comprising angular velocities and a second signal set comprising axial accelerations associated with said movements and rotations of the 3D pointing device in the 3D reference frame. The processing and transmitting module utilizes a comparison method to compare the first signal set with the second signal set to obtain an updated state of the six-axis motion sensor module based on a current state and a measured state thereof in order to output the resulting deviation in the 3D reference frame and preferably in an absolute manner.
21 Citations
19 Claims
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1. A three-dimensional (3D) pointing device subject to movements and rotations in dynamic environments, comprising:
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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; anda 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. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9)
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10. A three-dimensional (3D) pointing device subject to movements and rotations in dynamic environments in a 3D-pointer reference frame and associated with a movement pattern in a two-dimensional (2D)-display reference frame, comprising:
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a housing associated with said movements and rotations of the 3D pointing device in the 3D-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 3D-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 3D-pointer reference frame; anda 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 3D-pointer reference frame by utilizing a comparison to compare the first signal set with the second signal set; and
wherein the computing processor further comprises a mapping program for translating said resultant angles of the resulting deviation of the six-axis motion sensor module of the 3D pointing device in the 3D-pointer reference frame to said movement pattern in the 2D-display reference frame based on a sensitivity input correlated to said 2D-display reference frame, 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; and
wherein said resultant angles of the resulting deviation includes yaw, pitch and roll angles about each of three orthogonal coordinate axes of the spatial pointer reference frame. - View Dependent Claims (11, 12, 13)
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14. A method for obtaining a resulting deviation including resultant angles in a spatial pointer reference frame of a three-dimensional (3D) pointing device utilizing a six-axis motion sensor module therein and subject to movements and rotations in dynamic environments in said spatial pointer reference frame, comprising the steps of:
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obtaining a previous state of the six-axis motion sensor module;
wherein the previous state includes an initial-value set associated with previous angular velocities gained from the motion sensor signals of the six-axis motion sensor module at a previous time T−
1;obtaining a current state of the six-axis motion sensor module by obtaining measured angular velocities ω
x, ω
y, ω
z gained from the motion sensor signals of the six-axis motion sensor module at a current time T;obtaining a measured state of the six-axis motion sensor module by obtaining measured axial accelerations Ax, Ay, Az gained from the motion sensor signals of the six-axis motion sensor module at the current time T and calculating predicted axial accelerations Ax′
, Ay′
, Az′
based on the measured angular velocities ω
x, ω
y, ω
z of the current state of the six-axis motion sensor module without using any derivatives of the measured angular velocities ω
x, ω
y, ω
z;
said current state of the six-axis motion sensor module is a second quaternion with respect to said current time T;
comparing the second quaternion in relation to the measured angular velocities ω
x, ω
y, ω
z of the current state at current time T with the measured axial accelerations Ax, Ay, Az and the predicted axial accelerations Ax′
, Ay′
, Az′
also at current time T;obtaining an updated state of the six-axis motion sensor module by comparing the current state with the measured state of the six-axis motion sensor module; and calculating and converting the updated state of the six axis motion sensor module to said resulting deviation comprising said resultant angles in said spatial pointer reference frame of the 3D pointing device. - View Dependent Claims (15, 16, 17, 18)
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19. A method for obtaining a resulting deviation including resultant angles in a spatial pointer reference frame of a three-dimensional (3D) pointing device utilizing a six-axis motion sensor module therein and subject to movements and rotations in dynamic environments in said spatial pointer reference frame, comprising the steps of:
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obtaining a previous state of the six-axis motion sensor module;
wherein the previous state includes an initial-value set associated with previous angular velocities gained from the motion sensor signals of the six-axis motion sensor module at a previous time T−
1;obtaining a current state of the six-axis motion sensor module by obtaining measured angular velocities ω
x, ω
y, ω
z gained from the motion sensor signals of the six-axis motion sensor module at a current time T;obtaining a measured state of the six-axis motion sensor module by obtaining measured axial accelerations Ax, Ay, Az gained from the motion sensor signals of the six-axis motion sensor module at the current time T and calculating predicted axial accelerations Ax′
, Ay′
, Az′
based on the measured angular velocities ω
x, ω
y, ω
z of the current state of the six-axis motion sensor module without using any derivatives of the measured angular velocities ω
x, ω
y, ω
z;
said current state of the six-axis motion sensor module is a second quaternion with respect to said current time T;
comparing the second quaternion in relation to the measured angular velocities ω
x, ω
y, ω
z of the current state at current time T with the measured axial accelerations Ax, Ay, Az and the predicted axial accelerations Ax′
, Ay′
, Az′
also at current time T;obtaining an updated state of the six-axis motion sensor module by comparing the current state with the measured state of the six-axis motion sensor module; and calculating and converting the updated state of the six axis motion sensor module to said resulting deviation comprising said resultant angles in said spatial pointer reference frame of the 3D pointing device.
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Specification
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Litigation Data
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Current AssigneeCyWee Group Ltd.
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Original AssigneeCyWee Group Ltd.
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InventorsLi, Chin-Lung, Liou, Shun-Nan, Ye, Zhou
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Primary Examiner(s)Boddie, William
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Assistant Examiner(s)Earles, Bryan E
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Application NumberUS12/943,934Publication NumberTime in Patent Office915 DaysField of SearchNoneUS Class Current345/156CPC Class CodesG06F 3/0346 with detection of the devic...G06F 3/0383 Signal control means within...G09G 5/00 Control arrangements or cir...
