Electronic device for use in motion detection and method for obtaining resultant deviation thereof

An electronic device subject to movements and rotations in dynamic environments, comprising:

• a display device associated with a display reference frame;
• a motion sensor module comprising a rotation sensor and an accelerometer, the rotation sensor having sensor circuitry configured to generate measured angular velocities and the accelerometer having circuitry configured to generate measured axial accelerations, with both the rotation sensor and the accelerometer being associated with the movements and the rotations of the electronic device in a spatial reference frame;
• and
• a computing processor having processor circuitry configured to calculate a resulting deviation comprising resultant angles associated with the movements and the rotations of the electronic device in the spatial reference frame by:
• providing a previous quaternion corresponding to time T−1 based on the measured axial accelerations corresponding to time T−1 and the measured angular velocities corresponding to time T−1;
• converting the measured angular velocities corresponding to time T based on the previous quaternion into a current quaternion and predicted axial accelerations without using the measured axial accelerations corresponding to time T;
• comparing the predicted axial accelerations, which are based on the measured axial accelerations corresponding to time T−1 and the measured angular velocities corresponding to time T, with the measured axial accelerations corresponding to time T to obtain a first comparison result;
• obtaining an updated quaternion associated with time T based on the current quaternion and the first comparison result, which is based on the measured axial accelerations corresponding to time T−1, measured axial accelerations corresponding to time T, and angular velocities corresponding to time T, and using the updated quaternion as a next occurrence of the previous quaternion;
• and
• providing the resulting deviation based on the updated quaternion;
• wherein the current quaternion and the predicted axial accelerations are converted from the measured angular velocities corresponding to time T so that the first comparison result and the updated quaternion correspond to time T;
• and
• wherein the processor circuitry is further configured to translate the resultant angles of the resulting deviation in the spatial reference frame into a real-time movement pattern in the display reference frame.