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US 10,478,690 B2Granted
Golf clubs and golf club heads having a plurality of sensors for detecting one or more swing parameters
AssigneeNIKE, Inc.
InventorsBradley C. Glenn, Douglas A. Thornton, Jeffrey A. Hadden
Life of this patent
Estimating the term…
Abstract
A golf club head having accelerometer and gyroscope sensors measuring swing motion acceleration and angular rate values. Inputs of force and torque to the golf club head during the swing motion may be unknown, such that a system of motion equations may be used to calculate functions for the unknown input force and torque, as well as roll angle and pitch angle for the golf club head, and compensate for gyroscope bias, without using static leveling processes.
Claims24
An inertial measurement unit, comprising:
- an output device;
- an accelerometer;
- a gyroscope;
- and
- an application-specific integrated circuit comprising discrete hardware components configured to perform at least:
- receive sensor data from the accelerometer and gyroscope coupled to an object in motion between a first time instant and a second time instant;
- extract an acceleration measurement and an angular rate measurement from the sensor data;
- identify, from the angular rate measurement, a gyroscope saturation event corresponding to an output of the gyroscope reaching a physical limitation of hardware of the gyroscope;
- calculate an estimated output error using the received sensor data, wherein the estimated output error includes a saturation function that takes account of the gyroscope saturation event;
- input the estimated output error into a system of motion equations for the object, wherein the system of motion equations includes an estimate of a gyroscope bias estimated without using static leveling;
- solve the system of motion equations;
- output functions for an input force, an input torque, a roll angle, and a pitch angle from the solved system of motion equations;
- and
- calculate and output to the output device, a position of the object in motion between the first time instant and the second time instant using the functions.
11 more elements
A golf club head comprising:
- an accelerometer sensor;
- a gyroscope sensor;
- and
- an application-specific integrated circuit comprising discrete hardware components configured to:
- receive sensor data from the accelerometer sensor and the gyroscope sensor responsive to a motion of the golf club head between a first time instant and a second time instant;
- extract an acceleration measurement and an angular rate measurement from the sensor data;
- identify, from the angular rate measurement, a gyroscope saturation event corresponding to an output of the gyroscope sensor reaching a physical limitation of hardware of the gyroscope;
- calculate an estimated output error using the received sensor data, wherein the estimated output error includes a saturation function that takes account of the gyroscope saturation event;
- input the estimated output error into a system of motion equations for the golf club, wherein the system of motion equations includes an estimate of a gyroscope bias estimated without using static leveling;
- solve the system of motion equations;
- and
- output functions describing a position of the golf club head between the first time instant and the second time instant.
9 more elements
A method comprising:
- receiving, by an application-specific integrated circuit comprising discrete hardware components, sensor data from an inertial measurement unit (IMU) coupled to an object in motion between a first time instant and a second time instant;
- identifying, by the application-specific integrated circuit, from the received sensor data, a gyroscope saturation event corresponding to an output of a gyroscope reaching a physical limitation of hardware of the gyroscope;
- calculating, by the application-specific integrated circuit, an estimated output error using the received sensor data, wherein the estimated output error includes a saturation function that takes account of the gyroscope saturation event;
- inputting, by the application-specific integrated circuit, the estimated output error into a system of motion equations for the object;
- solving, by the application-specific integrated circuit, the system of motion equations;
- and
- outputting, by the application-specific integrated circuit, functions describing a position of the object in motion between the first time instant and the second time instant.
4 more elements
Dependencies are inferred from the claim text.