Motion capture pointer with data fusion

A pointing device for pointing by a user at a mobile element in a plane surface comprising a reference frame, said pointing device comprising:

• at least one first sensor for measuring angular velocities (ωY, ωZ) of said pointing device about at least two orthogonal axes (Y, Z) of the pointing device;
• at least one second sensor for measuring linear accelerations (aX, aY, aZ) of said pointing device in relation to said two axes (Y, Z) and a third orthogonal axis (X);
• and
• a module for computing displacements (dy, dz) to be imparted to the mobile element in the plane surface as a function of rotations of the pointing device in space, said computation module comprising a sub-module for compensating for torsion imparted to the pointing device by implementing a data fusion algorithm, wherein said data fusion algorithm is configured for:
• i) receiving as input at least measurements by the first sensor of angular velocities (ωY, ωZ) and by the second sensor of linear accelerations (aX, aY, aZ);
• and
• ii) estimating from said measurements a state vector comprising variables representative of a torsion imparted to the pointing device relative to a horizontal plane of a reference frame of the user and further providing at least angular velocities (ωv, ωw) of the pointing device in the reference frame of the user which provide torsion-compensated displacements (dy, dz) of the mobile element in the reference frame of the plane surface of the mobile element.