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US 10,503,245 B2Granted
Relative intertial measurement system
AssigneeApple Inc.
InventorFletcher R. Rothkopf
Life of this patent
Estimating the term…
Abstract
Methods and systems for relative inertial measurement may include a user device configured to couple with a user's body and measure motion of the user's body or a part of the user's body while the user rides in a vehicle. A second inertial measurement device may be configured to move with the vehicle but to not move with movements of the user's body within the vehicle. One or more processors may receive inertial measurements from the first and second inertial measurement devices and determine movement of the user's body or the part of the user's body relative to the vehicle by comparing the received inertial measurements.
Claims18
A system, comprising:
- a controller device configured to be coupled with a user's head and move with the user's body head as the user indicates a desired control action in relation to a vehicle control of a vehicle in which the user is riding, wherein the controller device is included in a head-mounted device;
- a display coupled with the head-mounted device;
- an inertial measurement device mechanically coupled to or included in the controller device and configured to measure movement of the controller device as the controller device moves with the user's head and as the user's head moves with the vehicle in which the user is riding;
- an additional inertial measurement device configured to move with the vehicle in which the user is riding without moving with the user's head, wherein the additional inertial measurement device is configured to measure movement of the vehicle;
- and
- one or more processors configured to:
- receive inertial measurements from the inertial measurement device mechanically coupled to or included in the controller device;
- receive inertial measurements from the additional inertial measurement device configured to measure movement of the vehicle;
- determine a relative movement of the controller device relative to a reference frame of the movement of the vehicle, wherein the relative movement of the controller device is determined based on differences between the received inertial measurements from the inertial measurement device and the additional inertial measurement device;
- and
- determine one or more control actions to be taken by a control system of the vehicle, wherein at least one of the one or more control actions is determined solely based on the determined relative movement of the controller device.
8 more elements
A controller device, comprising:
- an inertial measurement device configured to measure movement of the controller device:
- as the controller device moves with a user's head to which the controller device is coupled as the user indicates a desired control action in relation to a vehicle control of a vehicle in which the user is riding;
- and
- as the user's head moves with the vehicle in which the user is riding,
- wherein the controller device is included in a head-mounted display, and wherein
- a display is coupled to the head-mounted device;
- and one or more processors configured to:
- receive inertial measurements from the inertial measurement device;
- receive inertial measurements from an additional inertial measurement device configured to measure movement of the vehicle in which the user is riding, wherein the additional inertial measurement device is configured to move with the vehicle in which the user is riding without moving with the user's head to which the controller device is coupled;
- determine relative movement information for the controller device relative to a reference frame of the movement of the vehicle, wherein the relative movement information for the controller device is determined based on differences between the inertial measurements received from the inertial measurement device and the inertial measurements received from the additional inertial measurement device;
- and
- provide the relative movement information to a control system of the vehicle for use in determining one or more control actions to be taken by the control system of the vehicle, wherein at least one of the one or more control actions is determined solely based on the relative movement information.
9 more elements
A method, comprising:
- receiving inertial measurements from an inertial measurement device coupled with a user's head as the user indicates a desired control action in relation to a vehicle control of a vehicle in which the user is riding, wherein the inertial measurement device is configured to measure movement of the user's head as the user's head moves with the vehicle in which the user is riding, wherein the inertial measurement device is included in a head-mounted device, and wherein a display is coupled to the head-mounted device;
- receiving inertial measurements from an additional inertial measurement device configured to measure movement of the vehicle in which the user is riding, wherein the additional inertial measurement device is configured to move with the vehicle in which the user is riding without moving with the user's head to which the inertial measurement device is coupled;
- determining a relative movement of the user's head relative to a reference frame of the movement of the vehicle, wherein the relative movement of the user's head is determined based on differences between the inertial measurements received from the inertial measurement device and the inertial measurements received from the additional inertial measurement device;
- and
- determining one or more control actions to be taken by a control system of the vehicle based on the determined relative movement of the user's head relative to a reference frame of the movement of the vehicle, wherein at least one of the one or more control actions is determined solely based on the determined relative movement of the user's head.
2 more elements
Dependencies are inferred from the claim text.