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US 8,010,313 B2Granted
Hand held pointing device with roll compensation
AssigneeMovea
InventorsMichael Mathews, Walter M. Mason
Life of this patent
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Abstract
A pointing device includes accelerometers and rotational sensors that are coupled to a processor. The processor samples the accelerometers and rotational sensors to detect gravity and pointing device motion and uses algebraic algorithms to calculate roll compensated cursor control signals. The processor transmits the cursor control signals to a receiver that is coupled to an electronic device that moves the cursor on the visual display.
Claims21
A pointing device for controlling movement of a cursor on an electronic display comprising:
- a first rotational sensor providing a first rotational velocity signal RX for rotational movement about a first axis;
- a second rotational sensor providing a second rotational velocity signal RZ for rotational movement about a second axis;
- a first accelerometer providing a first acceleration signal AX in response to a gravitational acceleration in a first direction along the first axis;
- a second accelerometer providing a second acceleration signal AZ in response to a gravitational acceleration in a second direction along the second axis;
- a processing unit that (a) receives RX, RZ, AX and AZ from the respective rotational sensors and accelerometers, (b) calculates a vector sum AXZ of AX and AZ, (c) calculates roll-compensated cursor movement signals by solving:
- Xcomp=[AZ*RX+AX*RX]/AXZ
- Ycomp=[AX*RX−AZ*RZ]/AXZ, and
- (d) transmits the roll-compensated cursor movement signals to a receiver associated with movement of the cursor on the electronic display.
5 more elements
A pointing device for controlling movement of a cursor on an electronic display comprising:
- a first rotational sensor providing a first rotational velocity signal RX for rotational movement about a first axis;
- a second rotational sensor providing a second rotational velocity signal RZ for rotational movement about a second axis;
- a first accelerometer providing a first acceleration signal AX in response to a gravitational acceleration in a first direction along the first axis;
- a second accelerometer providing a second acceleration signal AZ in response to a gravitational acceleration in a second direction along the second axis;
- a third accelerometer providing a third acceleration signal AY in response to a gravitational acceleration in a third direction along a third axis;
- a processing unit that (a) receives RX, RZ, AX AY and AZ from the respective rotational sensors and accelerometers, (b) calculates a vector sum AXZ of AX and AZ, (c) (c) calculates a vector sum AXYZ of AX, AY and AZ, (d) calculates pitch-and-roll-compensated cursor movement signals by solving:
- Xcomp=[AZ*RX+AX*RZ]/AXZ*AXYZ/AXZ
- Ycomp=[AX*RX−AZ*RZ]/AXZ, and
- (d) transmits the pitch-and-roll-compensated cursor movement signals to a receiver associated with movement of the cursor on the electronic display.
6 more elements
A method for providing roll compensation signals for controlling movement of a cursor on an electronic display comprising:
- detecting by a first rotational sensor, a first rotational velocity RX for rotational movement about a first axis;
- detecting by a second rotational sensor, a second rotational velocity RZ for rotational movement about a second axis;
- detecting by a first accelerometer, a first acceleration signal AX in response to a gravitational acceleration in a first direction along the first axis;
- detecting by a second accelerometer, a second acceleration signal AZ in response to a gravitational acceleration in a second direction along the second axis;
- calculating by a processing unit, a vector sum, AXZ of AX and AZ;
- calculating by the processing unit, a first roll-compensated cursor movement signal Xcomp=[AZ*RX+AX*RZ]/AXZ;
- calculating by the processing unit, a second roll-compensated cursor movement signal Ycomp=[AX*RX−AZ*RZ]/AXZ;
- and
- transmitting by the processing unit, the roll-compensated cursor movement signals to a receiver associated with movement of the cursor on the electronic display.
6 more elements
A method for providing roll-compensation signals for controlling movement of a cursor on an electronic display comprising:
- detecting by a first rotational sensor, a first rotational velocity RX for rotational movement about a first axis;
- detecting by a second rotational sensor, a second rotational velocity RZ for rotational movement about a second axis;
- detecting by a first accelerometer, a first acceleration signal AX in response to a gravitational acceleration in a first direction along the first axis;
- detecting by a second accelerometer, a second acceleration signal AZ in response to a gravitational acceleration in a second direction along the second axis;
- detecting by a third accelerometer, a third acceleration signal AY in response to a gravitational acceleration in a third direction along a third axis;
- calculating by a processing unit, a vector sum, AXZ of AX and AZ;
- calculating by the processing unit, a vector sum AXYZ of AX, AY and AZ;
- calculating by the processing unit, a first roll-compensated cursor movement signal) Xcomp=[AZ*RX+AZ*RZ]/AXZ*AXYZ/AXZ;
- calculating by the processing unit, a second roll compensated cursor movement signal Ycomp=[AX*RX−AZ*RZ]/AXZ;
- and
- transmitting by the processing unit, the roll-compensated cursor movement signals to a receiver associated with movement of the cursor on the electronic display.
8 more elements
A pointing device comprising:
- a first rotational sensor providing a first rotational velocity signal RX for rotational movement about a first axis;
- a second rotational sensor providing a second rotational velocity signal RZ for rotational movement about a second axis;
- a first accelerometer providing a first acceleration signal AX in response to a gravitational acceleration in a first direction along the first axis;
- a second accelerometer providing a second acceleration signal AZ in response to a gravitational acceleration in a second direction along the second axis;
- and
- a processing unit that (a) receives RX, RZ, AX and AZ from the respective rotational sensors and accelerometers, (b) calculates a vector sum AXZ of AX and AZ, (c) calculates algebraic algorithms to provide roll-compensation cursor movement signals Xcomp and Ycomp;
- and (d) transmits the roll-compensated cursor movement signals to a receiver associated with movement of the cursor on the electronic display;
- wherein the first acceleration signal AX is adjusted for rotational acceleration of the first accelerometer about the second axis by the equation, AXcorrected=AX−ΔRZ/Δtime*lX,
- wherein the second acceleration signal AZ is adjusted for rotational acceleration of the second accelerometer about the first axis by the equation:
- AZcorrected=AZ−ΔRX/Δtime*lZ,
- wherein ΔRX/Δtime is a rotational acceleration about the first axis, ΔRZ/Δtime is a rotational acceleration about the second axis, lX is a perpendicular length between a line through the first accelerometer in the first direction and the second axis and lZ is a perpendicular length between a line through the second accelerometer in the second direction and the first axis.
8 more elements
A pointing device comprising:
- a first rotational sensor providing a first rotational velocity signal RX for rotational movement about a first axis;
- a second rotational sensor providing a second rotational velocity signal RZ for rotational movement about a second axis;
- a first accelerometer providing a first acceleration signal AX in response to a gravitational acceleration in a first direction along the first axis;
- a second accelerometer providing a second acceleration signal AZ in response to a gravitational acceleration in a second direction along the second axis;
- a third accelerometer providing a third acceleration signal AY providing a third acceleration signal AY in response to a gravitational acceleration in a third direction along a third axis;
- and
- a processing unit that (a) receives RX, RZ, AX, AY and AZ from the respective rotational sensors and accelerometers, (b) calculates a vector sum AXZ of AX and AZ, (c) calculates a vector sum AXYZ of AX, AY and AZ, (d) calculates algebraic algorithms to solve pitch-and-roll-compensated cursor movement signals Xcomp and Ycomp;
- and (e) transmits the pitch-and-roll-compensated cursor movement signals to a receiver associated with movement of the cursor on the electronic display;
- wherein the first acceleration signal AX is adjusted for rotational acceleration of the first accelerometer about the second axis by the equation, AXcorrected=AX−ΔRZ/Δtime*lX,
- wherein the second acceleration signal AZ is adjusted for rotational acceleration of the second accelerometer about the first axis by the equation:
- AZcorrected=AZ−ΔRX/Δtime*lZ,
- wherein ΔRX/Δtime is a rotational acceleration about the first axis, ΔRZ/Δtime is a rotational acceleration about the second axis, lX is a perpendicular length between a line through the first accelerometer in the first direction and the second axis and lZ is a perpendicular length between a line through the second accelerometer in the second direction and the first axis.
9 more elements
Dependencies are inferred from the claim text.