Determining angular acceleration
AssigneeMagic Leap, Inc.
InventorsArnau Franci Rodon, Omid Ghasemalizadeh
Life of this patent
Estimating the term…
Abstract
Disclosed herein are systems and methods for calculating angular acceleration based on inertial data using two or more inertial measurement units (IMUs). The calculated angular acceleration may be used to estimate a position of a wearable head device comprising the IMUs. Virtual content may be presented based on the position of the wearable head device. In some embodiments, a first IMU and a second IMU share a coincident measurement axis.
Claims20
A system comprising:
- a first inertial measurement unit and a second inertial measurement unit, wherein the second internal measurement unit is disposed at a fixed position with respect to the first inertial measurement unit;
- and
- one or more processors configured to perform a method comprising:
- receiving first inertial data via the first inertial measurement unit;
- receiving second inertial data via the second inertial measurement unit;
- calculating an angular acceleration based on the first inertial data and based further on the second inertial data;
- estimating a position of a wearable head device based on the angular acceleration, wherein:
- the estimating the position of the wearable head device based on the angular acceleration comprises calculating a pre-integration term based on the angular acceleration, and
- the pre-integration term relates a first state of the wearable head device to a second state of the wearable head device, and wherein each of the first state and the second state comprises respective position data and respective velocity data;
- and
- presenting virtual content based on the position of the wearable head device.
A method comprising:
- receiving first inertial data via a first inertial measurement unit;
- receiving second inertial data via a second inertial measurement unit, wherein the second internal measurement unit is disposed at a fixed position with respect to the first inertial measurement unit;
- calculating an angular acceleration based on the first inertial data and based further on the second inertial data;
- estimating a position of a wearable head device based on the angular acceleration,
- wherein:
- the estimating the position of the wearable head device based on the angular acceleration comprises calculating a pre-integration term based on the angular acceleration, and
- the pre-integration term relates a first state of the wearable head device to a second state of the wearable head device, and wherein each of the first state and the second state comprises respective position data and respective velocity data;
- and presenting virtual content based on the position of the wearable head device.
A non-transitory computer-readable medium storing one or more instructions, which, when executed by one or more processors of an electronic device, cause the one or more processors to perform a method comprising:
- receiving first inertial data via a first inertial measurement unit;
- receiving second inertial data via a second inertial measurement unit, wherein the second internal measurement unit is disposed at a fixed position with respect to the first inertial measurement unit;
- calculating an angular acceleration based on the first inertial data and based further on the second inertial data;
- estimating a position of a wearable head device based on the angular acceleration, wherein:
- the estimating the position of the wearable head device based on the angular acceleration comprises calculating a pre-integration term based on the angular acceleration, and
- the pre-integration term relates a first state of the wearable head device to a second state of the wearable head device, and wherein each of the first state and the second state comprises respective position data and respective velocity data;
- and
- presenting virtual content based on the position of the wearable head device.
Dependencies are inferred from the claim text.