# US 10,503,245 B2 · Relative intertial measurement system > Agents: this data is available as JSON from the patentgrep API and MCP server — see https://patentgrep.com/llms.txt - Number: US 10,503,245 B2 - Document ID: US10503245B2 - Status: Granted - Kind: B2 - Application number: 15/271,563 - Filed: 2016-09-21 - Published: 2018-03-22 - Granted: 2019-12-10 - Earliest claimed: 2016-09-21 - Assignees: Apple Inc. - Applicants: Apple Inc. - Inventors: Fletcher R. Rothkopf - Web page: https://patentgrep.com/patent/US10503245B2 ## CPC - G06F 3/012: {Head tracking input arrangements} - G02B 27/017: {Head mounted} - G02B 27/0179: {Display position adjusting means not related to the information to be displayed} - G06F 3/011: {Arrangements for interaction with the human body, e.g. for user immersion in virtual reality (blind teaching G09B21/00)} - G06F 3/0346: with detection of the device orientation or free movement in a three-dimensional [3D] space, e.g. 3D mice, 6-DOF [six degrees of freedom] pointers using gyroscopes, accelerometers or tilt-sensors - G02B 2027/0183: {Adaptation to parameters characterising the motion of the vehicle} - G02B 2027/0187: {slaved to motion of at least a part of the body of the user, e.g. head, eye} - G06F: ELECTRIC DIGITAL DATA PROCESSING (computer systems based on specific computational models G06N) - G02B: OPTICAL ELEMENTS, SYSTEMS OR APPARATUS ## 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. ## Claims ### Claim 1 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. ### Claim 2 (depends on 1) The system of claim 1, wherein the control system of the vehicle comprises a comfort control system. ### Claim 3 (depends on 2) The system of claim 2, wherein the one or more processors are further configured to determine a view to be displayed in the display based on the determined relative movement of the head-mounted device. ### Claim 4 (depends on 1) The system of claim 1, wherein the additional inertial measurement device is included in a separate device separate from the controller device, wherein the separate device is configured to be coupled with the vehicle by the user. ### Claim 5 (depends on 1) The system of claim 1, wherein the additional inertial measurement device is included in a multi-purpose portable electronic device carried by the user. ### Claim 6 (depends on 1) The system of claim 1, wherein the additional inertial measurement device is a built-in component of the vehicle. ### Claim 7 (depends on 1) The system of claim 1, wherein the one or more processors are further configured to receive tracking data for determining a position of the controller device, wherein the relative movement of the controller device relative to a reference frame of the movement of the vehicle is further determined based on the tracking data. ### Claim 8 (depends on 7) The system of claim 7, wherein the tracking data comprises one or more distances between the controller device and a fixed reference point within the vehicle. ### Claim 9 (depends on 1) The system of claim 1, wherein the additional inertial measurement device is configured to measure movement of the vehicle at a frequency equal to or greater than a frequency at which the inertial measurement device measures movement of the controller device as the controller device moves with the user's head and with the vehicle in which the user is riding. ### Claim 10 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. ### Claim 11 (depends on 10) The controller device of claim 10, wherein: the controller device is a controller for a comfort control system of the vehicle, an entertainment system of the vehicle, or another control system of the vehicle. ### Claim 12 (depends on 10) The controller device of claim 10, wherein: the head-mounted device is configured to move with the user's head in a direction in which the user is looking; and the one or more processors are further configured to: determine a view to be displayed in the display based on the determined relative movement of the head-mounted device; and include, in a portion of the view to be displayed in the display, an image that corresponds with the movement of the vehicle, wherein the image that corresponds with the movement of the vehicle is determined based, at least in part, on the received inertial measurements from the additional measurement device. ### Claim 13 (depends on 12) The controller device of claim 12, wherein the image that corresponds with the movement of the vehicle comprises a view of an environment through which the vehicle is travelling. ### Claim 14 (depends on 12) The controller device of claim 12, wherein the image that corresponds with the movement of the vehicle appears to the user to move at a speed proportional to the speed of the vehicle. ### Claim 15 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. ### Claim 16 (depends on 15) The method of claim 15, further comprising: receiving tracking data for determining a position of the inertial measurement device within the vehicle; and determining, based on the tracking data, a position of the inertial measurement device within the vehicle, wherein said determining a relative movement of the user's head relative to a reference frame of the movement of the vehicle is determined further based on the position of the inertial measurement device within the vehicle. ### Claim 17 (depends on 15) The method of claim 15, further comprising: prior to said determining, synchronizing, based on respective times of measurement, the inertial measurements from the inertial measurement device and the inertial measurements from the additional inertial measurement device. ### Claim 18 (depends on 15) The method of claim 15, wherein said determining a relative movement of the user's head is determined based on: a most recently received inertial measurement from the inertial measurement device; and a most recently received inertial measurement from the additional inertial measurement device.