Mapped variable smoothing evolution method and device
AssigneeHillcrest Laboratories, Inc.
InventorsBryan A. COOK, Yun LI
Life of this patent
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Abstract
The present inventions generally relate to methods and dedicated apparatuses outputting a variable mapped on a device orientation in a non-inertial reference system, with the device orientation being estimated using measurements of motion sensors (such as 3D accelerometers and gyroscopes) and a magnetometer or other similar sensors including cameras. A variable mapped on an orientation of a device is smoothed to have a gradual evolution by adjusting the estimated orientation of the device obtained via sensor fusion or other sensor processing to take into consideration a current measured angular velocity.
Claims26
A method for smoothing evolution of a variable depending on an orientation of a device, the method comprising:
- determining an adjusted angular velocity (Ωs,n) based on a measured angular velocity (ωn) and an estimated angular velocity (Ωf,n), such that to satisfy one or more predefined constraints;
- and
- determining a current value (x) of the variable according to an adjusted estimate of the current orientation (qs,n) of the device obtained using the adjusted angular velocity (Ωs,n).
A method for smoothing evolution of a variable depending on an orientation of a device, the method comprising:
- determining an expected orientation (qω,n) using a previous orientation (qs,n-1) of the device and a measured angular velocity (ωn);
- and
- determining a current value (x) of the variable according to an adjusted estimate of the current orientation (qs,n) of the device, which is obtained such that to minimize the angle between the adjusted estimate of the current orientation (qs,n) and an estimate of a current orientation (qf,n) of the device, while an angle (φ) between the adjusted estimate of the current orientation (qs,n) and the expected orientation (qω,n) to be less than a maximum angle (φmax).
A gaming system configured to display an image to a user according to an orientation of a device, the system comprising:
- sensors mounted on the device and configured to acquire information leading to a measured angular velocity (ωn) and an estimate of a current orientation (qf,n) of the device;
- a data processing unit configured to determine
- an adjusted angular velocity (Ωs,n) based on the measured angular velocity (ωn) and the estimated angular velocity (Ωf,n), such that to satisfy one or more predefined constraints,
- an adjusted estimate of the current orientation (qs,n) of the device obtained using the adjusted angular velocity (Ωs,n), and
- the image to be displayed to the user according to the adjusted estimate of the current orientation.
An information system controlled by orientation of a device, the system comprising:
- sensors mounted on the device and configured to acquire information leading to a measured angular velocity (ωn) and an estimate of a current orientation (qf,n) of the device;
- a data processing unit configured to determine
- an adjusted angular velocity (Ωs,n) based on the measured angular velocity (ωn) and the estimated angular velocity (Ωf,n), such that to satisfy one or more predefined constraints,
- an adjusted estimate of the current orientation (qs,n) of the device obtained using the adjusted angular velocity (Ωs,n), and
- a position of a cursor on a screen based on the current orientation (qs,n) of the device.
Dependencies are inferred from the claim text.