CN106959770A - 3D indicating device and method for compensating rotation of 3D indicating device - Google Patents

Abstract

A3D pointing device and a method of compensating for rotation of the 3D pointing device. The 3D pointing device uses a rotation sensor and can accurately convert the rotation and movement of the 3D pointing device into a movement pattern on the display plane of the display apparatus. The 3D indicating device comprises an orientation sensor, a rotation sensor and an operation sensor. The orientation sensor generates an orientation output associated with an orientation of the 3D pointing device, and the orientation of the 3D pointing device is associated with three axes of a global reference coordinate associated with the earth. The rotation sensor generates a rotation output associated with a rotation of the 3D pointing device, and the rotation of the 3D pointing device is associated with three axes of a spatial reference coordinate associated with the 3D pointing device. The processor uses the orientation output and the rotation output to generate a translation output associated with a fixed reference coordinate associated with a display device.

Description

3D pointing device and method for compensating rotation of 3D pointing device

This application is a divisional application of an invention patent application with an application date of March 27, 2012, an application number of 201210084834.6, and an invention title of "3D pointing device and method for compensating the rotation of a 3D pointing device".

technical field

The present invention relates to a 3D pointing device, in particular to a 3D pointing device using an orientation sensor for use in computers, motion detection, or navigation, and in particular to a 3D pointing device that is used when the 3D pointing device moves and rotates A method for compensating the signal of the orientation sensor.

Background technique

FIG. 1 illustrates that a user uses a portable electronic device 110, such as a 3D pointing device or a computer mouse, to detect the motion of the portable electronic device, and convert the detected motion into a display cursor (cursordisplay). , the display cursor is, for example, a cursor pointing on the screen 122 of a 2D display device 120 . That is, when the portable electronic device 110 emits a light, the corresponding point is where the light hits the screen 122 . For example, the portable electronic device 110 can be a computer mouse or a handle of a video game console, and the display device 120 can be a part of the computer or video game console. In the figure, there are two reference coordinates, such as a spatial indication reference coordinate and a display coordinate, which are respectively associated with the portable electronic device 110 and the display device 120 . The first reference coordinate or spatial indication reference coordinate associated with the pointing device 110 is defined by three coordinate axes as shown in FIG. 1 , namely: X _P , Y _P and Z _P . The second reference coordinates or display coordinates associated with the display device 120 are defined by three coordinate axes as shown in FIG. 1 , namely: X _D , Y _D and Z _D . The screen 122 of the display device 120 is a subset of the X _D Y _D plane in the reference coordinates X _D Y _{D Z D associated with} the display device 120 _. Therefore, the X _D Y _D plane can be regarded as the display plane of the display device 120 .

With the above-mentioned cursor on the screen 122 , the user can use the portable electronic device to perform manipulations to achieve specific purposes, such as playing video games on the display device 120 and other entertainment. In order to have a good interaction when using the portable electronic device, when the user moves the portable electronic device 110, the cursor on the screen 122 should move corresponding to the position, direction and distance of the portable electronic device 110, and the screen 122 It should also show that the cursor is mapped to the new position on the screen 122 of the display device 120 following the above-mentioned movement. The orientation of the portable electronic device 110 can be represented by three deflection angles of the portable electronic device 110 on the reference coordinates X _P Y _P Z _P , the three deflection angles are respectively a yaw angle (yaw angle) 111, a pitch angle (pitch angle) 112 and roll angle (roll angle) 113. Here, the yaw angle 111 , the pitch angle 112 and the roll angle 113 are defined by common standards related to commercial vehicles, such as ships and airplanes, on the spatial angle. Generally speaking, the yaw angle 111 refers to the rotation of the portable electronic device 110 relative to the axis Z _P , the pitch angle 112 refers to the rotation of the portable electronic device 110 relative to the axis Y _P , and the roll angle 113 refers to the rotation of the portable electronic device 110 relative to the axis Y P. The rotation of the electronic device 110 relative to the axis _XP .

In the conventional technology shown in FIG. 1 , when the yaw angle 111 of the portable electronic device 110 changes, the cursor on the screen 122 must relatively move horizontally along with the change of the yaw angle 111 . FIG. 2 shows the situation when the user rotates the portable electronic device 110 counterclockwise by 90° relative to the axis X _P . In another conventional technique shown in FIG. 2 , when the yaw angle 111 changes, the above-mentioned cursor on the screen 122 will move correspondingly in the vertical direction. Changes in the yaw angle 111 can be detected by a gyroscope that senses the angular velocity ω _x of the portable electronic device 110 relative to the axis X _P . FIG. 1 and FIG. 2 show that the same change in the yaw angle 111 may be mapped to a different movement of the cursor on the screen 122 . Therefore, an appropriate compensation mechanism is needed to compensate the orientation of the portable electronic device 110 so that it can correctly and satisfactorily correspond to the cursor mapped on the screen 122 of the display device 120 . In US Patent Nos. 7,158,118, 7,262,760, and 7,414,611 (all inventors are Liberty), "compensation" refers to correcting and compensating for signals affected by gravity or additional rotation relative to the axis of rotation. In addition, in the present invention, "comparison" refers to: use the signal generated by the sensing device and reduce or eliminate the noise associated with the sensing device to calculate and obtain the portable electronic device 110 The actual deflection angle at the first reference coordinate or spatial pointing coordinate X _P Y _P Z _P. In addition, "mapping" refers to: calculating and transforming the deflection angle on the space indication coordinate X _P Y _P Z _P to the display plane of the 2D display device 120 on the second reference coordinate or display coordinate X _D Y _D Z _D cursor on the .

Compensation for portable electronic devices using five-axis motion sensors (measuring Ax, Ay, Az, ω _Y , and ω _Z ) is common knowledge in the art, such as in U.S. Pat. Both for Liberty) proposed such a portable electronic device with a five-axis motion sensor, and also disclosed a compensation mechanism that uses two gravity sensing devices ω _Y and ω _Z to detect relative to Yp and Zp Two-axis rotation, and the compensation mechanism also uses three acceleration sensors Ax, Ay, and Az to detect the acceleration of the portable electronic device along the three coordinate axes of the reference coordinates X _P Y _P Z _P. The portable electronic device mentioned above by Liberty using the five-axis motion sensor may not be able to output the deflection angle of the portable electronic device on the 3D reference coordinate. In other words, due to the limitations of the acceleration sensor and the gravity sensing device in the five-axis motion sensor, the portable electronic device mentioned above by Liberty cannot immediately output the deflection angle on the 3D reference coordinate, but can only output it on the 2D reference coordinate , that is, the output of the above-mentioned portable electronic device using the five-axis motion sensor is only a plane mode on the 2D reference coordinates. Moreover, when the portable electronic device is subjected to external or internal adverse interference in a dynamic environment when obtaining the signal generated by the motion sensor, especially when experiencing unexpected drift or acceleration along the direction of gravity, the above-mentioned portable electronic device and The compensation mechanism cannot accurately or properly calculate or obtain the movement, angle, and orientation of the portable electronic device. In other words, when dynamic actions or additional accelerations are applied to the portable electronic device with a compensation mechanism provided by Liberty, especially along or substantially parallel to the direction of gravity, the above-mentioned Liberty The provided portable electronic device cannot properly and accurately output the actual yaw angle, pitch angle and roll angle on the spatial reference coordinate X _P Y _P Z _P , and therefore when mapping the solid angle to the 2D display reference coordinate, for example: With reference to coordinates X _D Y _D Z _D , the mapping program can be severely affected and generate errors. More specifically, since the five-axis compensation method provided by Liberty cannot directly and accurately detect or compensate the rotation relative to the axis X _P , the rotation relative to the axis X _P must be obtained from the gravitational acceleration detected by the acceleration sensor. Push it. Furthermore, due to the limitations of the existing accelerometers, the readings on the accelerometers are only accurate when the portable electronic device is static, because these accelerometers cannot separate the acceleration of gravity from other types of accelerometers. These other types of acceleration are, for example, the acceleration generated by the centripetal force or other types of additional acceleration imposed by the user.

Moreover, the conventional technology can only output a relative moving template on the 2D reference coordinates according to the result estimated from the signal generated by the motion sensor. For example, the above-mentioned prior proposal proposed by Liberty can only output the 2D moving template in a relative manner, and display a cursor on a screen to correspond to the above-mentioned 2D relative moving template. More specifically, the cursor can only move from a first position to a second position relative to the first position. A relative movement like this from one position to the next over time cannot accurately determine and output the next position, especially if the previous position was a wrong position, or if the previous position was wrong In the case where the ground is determined to be an incorrect reference point for the next position, the next position is derived from the incorrect reference point and its relative movement. Taking the example of intentionally moving the cursor beyond the border of the display screen resulting in erroneous output to clearly explain the defects of obtaining the moving template by relative moving relationship in the prior art. In the case where the cursor in the prior art reaches the border of a display, and then goes beyond the border or border for an additional distance, when the cursor comes to a new position, whether inside the display or still outside the border, the cursor will Unable to exhibit a correct or absolute pattern. In other words, when arriving at a new position, the cursor of the prior art does not take into account the above-mentioned extra distance beyond the border in an absolute manner, but discards the extra distance beyond the border, also because the cursor uses The relative movement relationship results in an erroneous next position being output. Since the correct position cannot be obtained at the border of the display, and the next position of the cursor is obtained by using the above-mentioned relative movement relationship, the actual movement template cannot be estimated.

Therefore, there is an urgent need in the field for a more advanced portable electronic device to be applied in motion sensing, computer or navigation. The portable electronic device is equipped with an improved calculation or comparison method to accurately calculate and obtain the actual deflection angle on the spatially indicated coordinates. For navigation or computer applications including portable communication devices with integrated displays, the portable electronic device may have to include the ability to map this actual angle to A cursor, a pointer or a position information on the display reference coordinates. In addition, with the advancement of 3D technology and its wider range of applications, the range of applications includes applications in displays, interactive systems and navigation, so for a 3D or spatial reference coordinate The demand for an electronic device that can output real-time and accurate deviations on the sensor is becoming more and more urgent. Such an electronic device includes, for example, a motion sensing device integrated with multiple motion sensors, an electronic device, a navigation device, or a communication device. Moreover, there is an increasingly urgent need for an improved comparison method or model that can process signals from a motion sensor to correct or remove signals or signals that are inconsistent with the motion sensor. Assemblies associated false signals or noise. Furthermore, depending on the field of application, the output deviations on the 3D reference coordinates can be further mapped or converted to a model that can be used on the 2D reference coordinates.

Contents of the invention

One of the objectives of the present invention is to provide an electronic device using a nine-axis motion sensing module. The electronic device is used in computers, motion sensing or navigation, for example. The electronic device includes an acceleration sensor, a magnetometer and a rotation sensor. The acceleration sensor is used to measure or detect the axial acceleration Ax, Az, Ay, and the magnetometer is used to measure or detect the magnetic force Mx, My, Mz, and the rotation sensor is used to measure or detect the angular velocity ω _x , ω _y , ω _z . Thereby, the resulting deviation including the yaw angle including the yaw angle and the pitch angle on a spatially indicated reference coordinate when the electronic device moves and rotates in a dynamic environment can be obtained. and roll angle. Moreover, the above-mentioned result deviation including the deflection angle can be obtained and output in an absolute manner, that is, it can reflect the actual movement and rotation of the electronic device of the present invention on the space indication reference coordinates, and it is better to exclude the deviation in the dynamic environment. Bad external interference.

Another object of the present invention is to provide an improved comparison method or model, which can improve the error signal and noise accumulated over time with the signals emitted by multiple motion sensors Associated. The signals generated by these motion sensors include the signals generated by the accelerometers Ax, Az, Ay in the dynamic environment, the signals generated by the magnetometers Mx, My, Mz, and the gyroscopes ω _x , ω _y , ω _z signal. In other words, the accumulated error signals can be eliminated or corrected, wherein these accumulated error signals are associated with the signal assembly sent by a motion sensing module, and the motion sensing module includes a plurality of motion sensors, the motions Sensors are used to detect movement and rotation relative to different axes on the reference coordinates.

Yet another object of the present invention is to provide an improved comparison method to correctly calculate and output a resulting deviation comprising a set of deflection angles comprising a yaw on a spatially indicated coordinate angle, a pitch angle and a roll angle, the yaw angle, pitch angle and roll angle are three mutually perpendicular coordinate axes corresponding to the spatial indication coordinates. By comparing the signals related to angular velocity sent by the rotation sensor, the signals related to axial acceleration sent by the acceleration sensor and the signals related to magnetic force sent by the magnetometer, the above-mentioned deviation can be accurately obtained and output angles, and these deflection angles can be further mapped to another reference coordinate different from the spatially indicated coordinates.

In another embodiment of the present invention, the present invention provides a unique update procedure in the presence of interference (introduced by the user of the electronic device or from the surrounding environment, such as external electromagnetic fields), the update The program includes a data association model to intelligently process signals received from a motion sensing module to output a result deviation in 3D reference coordinates and reduce or delete negative effects caused by interference.

Another object of the present invention is to provide a mapping method to map the above-mentioned deflection angles located on a spatial indication reference coordinate to a display coordinate. These deviation angles are preferably respectively corresponding to the three dimensions of the spatial indication reference coordinate coordinate axes perpendicular to each other, namely: yaw angle, pitch angle and roll angle, and the display coordinates can be located outside the electronic device or integrated with the electronic device. Through the above-mentioned mapping, a moving template can be obtained on the display coordinates different from the spatial indication reference coordinates, that is, the deflection angle belonging to the result deviation can be mapped or converted to the moving template.

In one embodiment of the present invention, an electronic device is provided. The electronic device can generate a 3D deflection angle and be used in computer, motion sensing or navigation, for example. The electronic device uses a nine-axis motion sensing module, and uses an improved comparison method to delete the accumulated error signals generated by the nine-axis motion sensing module, so as to obtain a spatial indication reference coordinate corresponding to the electronic device. The deflection angle of movement and rotation of the device. The comparison method or comparison model provided by the present invention can obtain and output the deflection angle of the result deviation of the electronic device in an absolute manner by comparing the signals generated by the above-mentioned nine-axis motion sensing module. The nine-axis motion sensing module can detect the rotation speed or angular velocity of the electronic device corresponding to the X _P axis, Y _P axis and Z _P axis, and can also detect the electronic device along the X _P axis, Y _P axis and Z _P axis. The axial acceleration of the axis, and the ambient magnetism of the electronic device along the X _P axis, the Y _P axis and the Z _P axis can be detected, such as the earth's magnetic field or the magnetic field from other planets. In other words, the present invention can eliminate or reduce the cumulative error signal and noise generated in a dynamic environment, so as to accurately output the deflection angle of the electronic device on a 3D space indicating reference coordinate, the deflection angle includes yaw angle, pitch and roll angles. Such dynamic environments include continuous movement, rotation, influence by external gravity, magnetic fields, and additional accelerations in multiple directions, or non-linear movements and rotations that vary over time. Moreover, the deflection angle that is located on the 3D space indication reference coordinate and is compensated and accurately output can be further mapped or transformed into another reference coordinate, such as the above-mentioned display coordinates, which is, for example, a 2D Reference coordinates.

In another embodiment of the present invention, an electronic device is provided, and the electronic device uses a nine-axis motion sensing module. Wherein, the nine-axis motion sensing module of the electronic device includes at least one gyroscope, at least one acceleration sensor and at least one magnetometer. In a preferred embodiment of the present invention, the nine-axis motion sensing module includes a rotation sensor, an acceleration sensor and a magnetometer. The rotation sensor can be used to detect angular velocities ω _x , ω _y , ω _z and generate corresponding For signals, the acceleration sensor can be used to detect axial acceleration Ax, Ay, Az and generate corresponding signals, while the magnetometer can be used to detect magnetic forces Mx, My, Mz and generate corresponding signals. Those skilled in the art should understand that, in another embodiment, the above-mentioned rotation sensor may include three gyroscopes, which respectively correspond to the angular velocities ω _x , ω _y , and ω _z of the electronic device on the 3D space reference coordinates; In addition, the above-mentioned acceleration sensor may include three acceleration sensors, which respectively correspond to the axial accelerations Ax, Ay, and Az of the electronic device on the 3D space reference coordinates; in addition, the above-mentioned magnetometer may include three magnetic sensors (magnetic sensors), They respectively correspond to the magnetic forces Mx, My, and Mz of the electronic device on the 3D space reference coordinates. The above-mentioned magnetic sensors are, for example, magneto-impedance sensors or magneto-resistive sensors. The rotation sensor detects the rotation of the electronic device on a reference coordinate associated with the electronic device, and provides an output signal with a rotation rate or an angular velocity information. The above-mentioned output signal with angular velocity information includes three parts, which respectively correspond to the first axis, the second axis and the third axis of the reference coordinates, that is, the Xp axis, the Yp axis and the Zp axis of the 3D space indicating coordinates. The acceleration sensor detects the axial acceleration of the electronic device on a spatial reference coordinate, such as a 3D indication reference coordinate, and provides an output signal with acceleration information. The above-mentioned output signal with acceleration information includes three parts, which respectively correspond to the first axis, the second axis and the third axis of the reference coordinates, that is, the Xp axis, the Yp axis and the Zp axis of the 3D space indicating coordinates. The magnetometer detects the magnetic force of the electronic device on a spatial reference coordinate, such as a 3D reference coordinate, and provides an output signal with magnetic force information. The above-mentioned output signal with magnetic force information includes three parts, which respectively correspond to the first axis, the second axis and the third axis of the reference coordinates, that is, the Xp axis, the Yp axis and the Zp axis of the 3D space indicating coordinates. The above-mentioned Xp axis, Yp axis and Zp axis of the 3D space indicating coordinates may also be referred to as X axis, Y axis and Z axis for short.

In another embodiment of the present invention, a compensation method is provided. The compensation method is used to compensate the cumulative error of the signal sent by the above-mentioned nine-axis motion sensing module. The nine-axis motion sensing module is located in a space with Indicates the dynamic environment relative to the reference coordinates. In one embodiment, the compensation method is executed or processed by a hardware processor. By performing a data comparison, that is, comparing the signal from the rotation sensor used to measure the angular velocity, the signal from the acceleration sensor used to measure the axial acceleration with the signal from the magnetometer used to measure the magnetic force , this hardware processor can be used to compensate the cumulative error related to the result deviation. The signal sent by the module. Therefore, in a dynamic environment, the resulting error corresponding to the movement and rotation of the 3D pointing device at the pointing coordinates in the 3D space can be accurately obtained.

In another embodiment of the present invention, a method for obtaining a result deviation, the result deviation includes the deflection angle of the 3D pointing device in a spatial reference coordinate, a nine-axis motion sense is installed in the 3D pointing device measurement module, and the 3D pointing device moves and rotates in a dynamic environment in the above-mentioned spatial reference coordinates. The above-mentioned method for obtaining result deviations includes the following steps: First, obtain a previous state (previous state), which is associated with previous angular velocities (previous angular velocities) ω _x , ω _y , ω _z , and the previous angular velocities ω _x , ω _y , ω _z are obtained from the motion sensor signals (motion sensor signals) sent by the nine-axis motion sensing module in the previous time period T-1; then, by obtaining the measured angular velocity ω _x , ω _y , ω _z , to obtain the current state of the nine-axis motion sensing module, the measured angular velocity ω _x , ω _y , ω _z is obtained from the motion sensing signal in a current time period T; after that, by obtaining the Measure the axial acceleration Ax, Ay, Az and measure the magnetic force M _x , M _y , M _z to obtain a measurement state of the nine-axis motion sensing module. The measured axial acceleration Ax, Ay, Az and the measurement The magnetic force M _x , M _y , M _z is obtained from the motion sensing signal in the current period T, and at the same time, the estimated axial acceleration Ax', Ay is calculated by the measured angular velocity ω _x , ω _y , ω _z in the current state ', Az' and the expected magnetic force M _x ', M _y ', M _z '; then, by comparing the current state of the nine-axis motion sensing module with the measurement state, an updated state of the nine-axis motion sensing module is obtained ; Then, calculate and convert the updated state of the nine-axis motion sensing module to the result deviation, the result deviation includes the deflection angle of the 3D pointing device in the spatial reference coordinates.

In another embodiment of the present invention, a mapping method is provided for converting the deflection angle to a display coordinate of a display having a predetermined screen size, and the above-mentioned deflection angle is the same as Movement and rotation of a 3D pointing device in a spatial reference coordinate are associated. In one embodiment, the yaw angle, including yaw angle, pitch angle and roll angle, on a spatial reference coordinate is mapped or converted to a display coordinate, preferably a 2D reference coordinate for movement The referent of , such as a pointer. The mapping method includes the following steps: obtaining boundary information of the display coordinates by calculating a predetermined sensitivity associated with the display coordinates, and performing an angle and distance calculation on the display coordinates by using the above-mentioned deflection angle and boundary information convert.

In another embodiment of the present invention, a method for obtaining a result deviation, the result deviation includes the deflection angle of the 3D pointing device in a spatial reference coordinate, a nine-axis motion sense is installed in the 3D pointing device measurement module, and the 3D pointing device moves and rotates in a dynamic environment in the above-mentioned spatial reference coordinates. The above-mentioned method for obtaining the result deviation includes the following steps: first, obtain a previous state of the nine-axis motion sensing module, the previous state includes an initial-value set, and the initial-value set is related to the previous angular velocity In conjunction, the previous angular velocity is obtained from the motion sensing signal sent by the nine-axis motion sensing module in the previous period T-1; then, by obtaining the measured angular velocity ω _x , ω _y , ω _z , to To obtain the current state of the nine-axis motion sensing module, the measured angular velocities ω _x , ω _y , and ω _z are obtained from motion sensing signals in a current time period T; after that, by obtaining the measured axial acceleration Ax, Ay, Az, to obtain a measurement state of the nine-axis motion sensing module, the measured axial acceleration Ax, Ay, Az is the motion sensing signal sent by the nine-axis motion sensing module in the current time period T At the same time, the estimated axial acceleration Ax', Ay', Az' is calculated by measuring the angular velocity ω _x , ω _y , ω _z in the current state; then, by comparing the current state of the nine-axis motion sensing module with The measurement state is to obtain a first update state of the nine-axis motion sensing module; after that, by obtaining and computing a measured yaw angle to obtain a measurement state of the nine-axis motion sensing module, the measured yaw angle The yaw angle is obtained from the motion sensing signal sent by the nine-axis motion sensing module in a current time period T, and an estimated yaw angle is calculated based on the first update state of the nine-axis motion sensing module; then, by comparing For the current state and measurement state of the nine-axis motion sensing module, to obtain a second update state of the nine-axis motion sensing module; then, calculate and convert the second update state of the nine-axis motion sensing module to the above-mentioned The result deviation, the result deviation includes the deflection angle of the 3D pointing device in the spatial reference coordinates.

In another embodiment of the present invention, a 3D pointing device is provided, which includes an orientation sensor, a rotation sensor, and an operation sensor. The orientation sensor generates an orientation output associated with an orientation of the 3D pointing device, and the orientation of the 3D pointing device is associated with three axes of a global reference coordinate associated with the earth. The rotation sensor generates a rotation output associated with a rotation of the 3D pointing device, and the rotation of the 3D pointing device is associated with three axes of a spatial reference coordinate associated with the 3D pointing device. The arithmetic processor uses the orientation output and the rotation output to generate a transformation output that is associated with a fixed reference coordinate associated with a display device.

In another embodiment of the present invention, a method for compensating the rotation of a 3D pointing device is provided, and the method may include the following steps. An orientation output is generated that is associated with an orientation of the 3D pointing device, and the orientation of the 3D pointing device is associated with three axes of a global reference coordinate associated with the earth. A rotational output associated with a rotation of the 3D pointing device is generated, and the orientation of the 3D pointing device is associated with three axes of a spatial reference coordinate associated with the 3D pointing device.

In order to make the above objects, features and advantages of the present invention more comprehensible, the following will be described in detail with examples and accompanying figures.

Description of drawings

FIG. 1 shows a conventional technique in 2D reference coordinates with a 5-axis motion sensor.

FIG. 2 shows the conventional technology of FIG. 1 with a five-axis motion sensor, which is rotated about the Xp axis and subjected to further dynamic interactions.

FIG. 3 is an exploded view of an electronic device according to an embodiment of the present invention. The electronic device is, for example, a pointing device and has a nine-axis motion sensing module.

FIG. 4 is a block diagram of an electronic device according to an embodiment of the present invention, which shows hardware components of the electronic device.

FIG. 5 shows an electronic device according to another embodiment of the present invention. The electronic device is, for example, a pointing device and has a nine-axis motion sensing module and an external processor.

FIG. 6 is an exploded view of an electronic device according to another embodiment of the present invention. The electronic device is, for example, a smart phone or a navigation device, and has a nine-axis motion sensing module.

FIG. 7 is a flowchart of a method for obtaining a result deviation of an electronic device according to an embodiment of the present invention. The electronic device can move and rotate in a spatial reference coordinate.

FIG. 8 is a flowchart of a method for obtaining a result deviation according to another embodiment of the present invention. The method includes mapping the result deviation to a display of an electronic device.

FIG. 9 shows an embodiment of mapping the deflection angle of the result deviation of the 3D pointing device of the present invention.

FIG. 10 is an illustrative flowchart illustrating a method for obtaining result deviations of an electronic device according to another embodiment of the present invention.

FIG. 11 is an illustrative flowchart illustrating a method for obtaining result deviations of an electronic device according to another embodiment of the present invention. The method includes mapping the result deviations to a display of an electronic device.

FIG. 12 is an illustrative flowchart illustrating a method for obtaining result deviations of an electronic device according to another embodiment of the present invention.

FIG. 13 is a flowchart illustrating a method for compensating the rotation of a 3D pointing device according to an embodiment of the present invention.

FIG. 14 , FIG. 15 , and FIG. 16 respectively show schematic diagrams of 3D pointing devices in three different embodiments of the present invention.

detailed description

FIG. 3 is an exploded view of an electronic device 300 (for example, a pointing device) according to an embodiment of the present invention. This electronic device 300 can operate in a space indicating reference coordinates (for example: 3D reference coordinates) and a dynamic environment. Move and turn. The spatial indication reference coordinates are similar to the reference coordinates X _P Y _P Z _P shown in FIGS. 1 and 2 . Relative to the time axis, the movement and rotation of the electronic device 300 in the above-mentioned space reference coordinates and dynamic environment may be continuous and non-linear. Here, "dynamic" refers to movement or motion in general.

The electronic device includes an upper cover 310, a printed circuit board (PCB) 340, a rotation sensor 342, an acceleration sensor 344, a magnetometer 345, a data transmission unit 346, an arithmetic processor 348, a lower cover 320 and a battery Group 322. The upper cover 310 includes a plurality of control buttons 312 for the user to issue predetermined commands during remote control. In one embodiment, the casing 330 includes an upper cover 310 and a lower cover 320 . In the above-mentioned dynamic environment, when the housing 330 is manipulated by the user or subjected to any external force, the housing 330 can move and rotate in the spatially indicated reference coordinates. As shown in FIG. 3 , in one embodiment, the rotation sensor 342 , the acceleration sensor 344 , the magnetometer 345 , the data transmission unit 346 and the arithmetic processor 348 can all be attached to the printed circuit board 340 . The printed circuit board 340 is covered by the casing 330 , and the printed circuit board 340 includes at least one substrate. The substrate has a long side, and the long side is substantially parallel to the long side of the casing 330 . In addition, the external battery pack 322 provides power to the entire electronic device 300 .

Moreover, in one embodiment, the aforementioned dynamic environment is the environment in which the electronic device 300 of the present invention is located, which includes adverse external disturbances to the electronic device 300 of the present invention. In one example, the undesired external disturbance includes undesired axial acceleration caused by an undesired external force other than gravity. In other examples, undesirable external disturbances include undesirable magnetic forces produced by undesirable electromagnetic fields.

FIG. 4 is a block diagram of an electronic device 300 according to an embodiment of the present invention, which shows hardware components of the electronic device 300 . The electronic device 300 includes a nine-axis motion sensing module 302 and a processing and transmission module 304, the nine-axis motion sensing module 302 includes a rotation sensor 342, an acceleration sensor 344 and a magnetometer 345, and the processing and transmission module 304 includes data The transmission unit 346 and the arithmetic processor 348 .

Here, "nine axes" refers to three accelerations ω _x , ω _y , ω _z , three axial accelerations Ax, Ay, Az, and three magnetic fields Mx, My, Mz. The motion sensor 342 in the nine-axis motion sensing module 302 is used to detect and generate a first signal group. The first signal group includes angular velocities ω _x , ω _y , ω _z . The angular velocities ω _x , ω _y , ω _z refer to The angular velocity of the three mutually perpendicular coordinate axes X _P , Y _P , and Z _P relative to the spatial reference coordinates when the electronic device 300 moves and rotates. The aforementioned angular velocities ω _x , ω _y , and ω _z are respectively corresponding to the three coordinate axes X _P , Y _P , and Z _P . The acceleration sensor 344 is used to detect and generate a second signal group. The second signal group includes axial acceleration Ax, Ay, Az. The axial acceleration of the three mutually perpendicular coordinate axes X _P , Y _P , Z _P of the spatial reference coordinates. The above-mentioned axial accelerations Ax, Ay, and Az are respectively corresponding to the three coordinate axes X _P , Y _P , and Z _P . The magnetometer 345 is used to detect and generate a third signal group, the third signal group includes the magnetic field Mx, My, Mz, the magnetic field Mx, My, Mz refers to the position of the electronic device 300 along the spatial reference coordinates when the electronic device 300 is moving and rotating. Three mutually perpendicular coordinate axes X _P , Y _P , and Z _P are subjected to magnetic fields. The above-mentioned magnetic fields Mx, My, and Mz represent the direction and strength of the ambient magnetic field (such as the earth's magnetic field) of the electronic device 300, and the above-mentioned magnetic fields Mx, My, and Mz respectively correspond to the three coordinate axes X _P , Y _P , Z _P . Those skilled in the art should understand that the above-mentioned "nine axes" do not necessarily have to be vertical in a specific orientation, and they can also be rotated in different orientations. The above-mentioned coordinate system disclosed in the present invention is only for illustration, and other coordinate axes located in different orientations and/or with different labels may also be applicable to the present invention.

Moreover, in an embodiment of the present invention, the motion sensing module or the nine-axis motion sensing module 302 of the electronic device 300 may be a micro-electro-mechanical (MEMS) sensor. In this embodiment, the rotation sensor 342 of the nine-axis motion sensing module 302 further includes at least one resonating mass, so that the rotation sensor can use the effect of Coriolis acceleration to detect and measure the resonating mass along the The first signal group including angular velocities ω _x , ω _y , ω _z at the spatial reference coordinates is generated by moving along a coordinate axis of the spatial reference coordinates. Those skilled in the art should understand that in a three-axis rotation sensor belonging to a micro-electromechanical sensor, three resonators are arranged along the X-axis, Y-axis and Z-axis of the spatial reference coordinates, To generate and obtain the movement of the three resonators. Those skilled in the art should understand that the nine-axis motion sensor 302 of the present invention includes a three-axis acceleration sensor, a three-axis rotation sensor, and a three-axis magnetometer of micro-electromechanical type.

The data transmission unit 346 is electrically connected to the nine-axis motion sensing module 302 to transmit the first signal group, the second signal group and the third signal group. In a preferred embodiment, through the electrical connection on the printed circuit board 340 , the data transmission unit 346 transmits the first, second and third signal groups sent by the nine-axis motion sensing module 302 to the arithmetic processor 348 . The arithmetic processor 348 receives and calculates the first, second and third signal groups from the data transmission unit 346 . By communicating with the nine-axis motion sensing module 302, the arithmetic processor 348 can calculate the result deviation of the electronic device 300. The result deviation includes three deflection angles, which are preferably respectively corresponding to the three coordinate axes of the spatial reference coordinates . The aforementioned deflection angles include yaw angle 111 , pitch angle 112 and roll angle 113 as shown in FIG. 1 and FIG. 2 . In order to calculate the deviation of the result, the operation processor 348 uses a comparison mechanism or algorithm to eliminate the cumulative error generated by the first, second and third signal groups sent by the nine-axis motion sensing module 302; thereby, In the above-mentioned dynamic environment, the result deviation of the nine-axis motion sensing module 302 of the electronic device 300 can be obtained under the condition of excluding the above-mentioned adverse external interference. The result deviation includes the deviation angle in the spatial reference coordinates, which is relatively It is best to correspond to three mutually perpendicular coordinate axes in the spatial reference coordinates. Therefore, it is preferable to obtain and output the actual movement and rotation of the electronic device 300 of the present invention reflected or corresponding in the spatial reference coordinates in an absolute manner. The electronic device 300 includes a pointing device, for example. In addition, the comparison mechanism used by the operation processor 348 further includes an update program. In this update procedure, an updated state of the nine-axis motion sensing module is obtained by using a previous state related to the first signal group and a measurement state related to the second and third signal groups. A signal group is related to angular velocity ω _x , ω _y , ω _z , a second signal group is related to axial acceleration Ax, Ay, Az, and a third signal group is related to magnetic field Mx, My, Mz. The above-mentioned measurement state includes the measurement of the second signal group or the measured axial acceleration Ax, Ay, Az, and the estimated measurement of the axial acceleration Ax', Ay', Az' (predicted measurement), the axial accelerations Ax′, Ay′, Az′ are based on or calculated from a current state of the motion sensing module 302 . In addition, the above measurement state includes the measurement of the third signal group or the magnetic field Mx, My, Mz obtained from the measurement, and the predicted measurement (predicted) of the magnetic field Mx', My', Mz'. measurement), the magnetic fields Mx′, My′, Mz′ are based on or calculated from the current state of the motion sensing module 302 . Various states of the nine-axis motion sensing module in the electronic device of the present invention will be described in detail later.

In this embodiment, the arithmetic processor 348 of the processing and transmission module 304 further includes a mapping program for converting the deviation angle of the resulting deviation in the spatial reference reference coordinate into a moving template in a display reference coordinate. The display reference coordinates are different from the spatial indication reference coordinates, but similar to the reference coordinates X _D Y _D Z _D in FIGS. 1 and 2 . The moving template mentioned above can be displayed on a screen of a 2D display device, which is similar to the display device 120 shown in FIGS. 1 and 2 . Based on a sensitivity input correlating to the display reference coordinates, the mapping program described above converts the deflection angles, preferably into three mutually perpendicular coordinate axes corresponding to the spatially indicated reference coordinates.

FIG. 5 shows an electronic device 500 according to another embodiment of the present invention. The electronic device 500 uses a nine-axis motion sensing module and is located in a 3D space indication reference coordinate. As shown in FIG. 5 , the electronic device 500 includes two parts, namely: 560 and 570 , which can communicate data with each other. In one embodiment, the first part 560 includes an upper cover (not shown), a printed circuit board 540, a nine-axis motion sensing module 502, a data transmission unit 546, a lower cover 520 and a battery pack 522, wherein The nine-axis motion sensing module 502 includes a rotation sensor 542 , an acceleration sensor 544 and a magnetometer 545 . Through wireless communication, such as wireless local area network based on IEEE 802.11 standard or wireless transmission of Bluetooth standard, the data transmission unit 546 transmits the first signal group (ω _x , ω) generated by the rotation sensor 542 of the nine-axis motion sensing module 502 _y , ω _z ), the second signal group (Ax, Ay, Az) generated by the acceleration sensor 544 and the third signal group (Mx, My, Mz) generated by the magnetometer 545, the data transmitted to the second part 570 receiving unit 552 . Those skilled in the art should understand that in other embodiments, the first part 560 and the second part 570 can communicate or connect via wires, such as cables or wires, for data transmission. In an embodiment of the present invention, the motion sensing module or the nine-axis motion sensing module 502 of the electronic device 500 may be a micro-electro-mechanical (MEMS) sensor. In this embodiment, the rotation sensor 542 of the nine-axis motion sensing module 502 further includes at least one resonant body, so that the rotation sensor 542 can use the effect of Coriolis acceleration to detect and measure the resonant body along the spatial reference. A movement performed on a coordinate axis of the coordinates, thereby generating a first signal group comprising angular velocities ω _x , ω _y , ω _z at the spatial reference coordinates. Those skilled in the art should be able to understand that in the three-axis rotation sensor belonging to the micro-electromechanical sensor, three resonators are arranged along the X-axis, Y-axis and Z-axis of the spatial reference coordinates to generate and obtain the three resonant bodies. amount of movement. Those skilled in the art should understand that the nine-axis motion sensor 502 of the present invention includes a three-axis acceleration sensor, a three-axis rotation sensor, and a three-axis magnetometer of micro-electromechanical type.

In one embodiment, the second part 570 is an external processing device plugged with other electronic computing devices or systems, such as an independent personal computer or server 580 . For example, the second part 570 is plugged or coupled to a notebook computer through a standard interface, such as the USB shown in FIG. 5 . The first part 560 and the second part 570 communicate with each other through the data transmission unit 546 and the data receiving unit 552 . As mentioned above, the data transmission unit 546 and the data receiving unit 552 can communicate with each other through a wireless connection or a wired connection. In other words, from the perspective of hardware configuration and data transmission, in one embodiment of the present invention, the nine-axis motion sensing module 502 including the rotation sensor 542, the acceleration sensor 544 and the magnetometer 545 is compatible with the processing The unit or the operation processor 554 are separated; and the signal sent from the nine-axis motion sensing module 502 can be transmitted to the operation processor 554 by wired or wireless communication through the data transmission unit 546, 552, wherein the wireless communication For example wireless communication based on the IEEE 802.11 standard or Bluetooth.

In an embodiment of the present invention, the second part 570 of the electronic device 500 includes a data transmission unit 552 and an arithmetic processor 554 . As mentioned above, the data transmission unit 552 of the second part 570 can perform data transmission with the separate data transmission unit 546 configured in the first part 560 . The data transmission unit 552 in the second part 570 can receive the first signal group, the second signal group and the third signal group transmitted from the data transmission unit 546 of the first part 560, and transmit them to the operation processor 554 . In this embodiment, the arithmetic processor 554 can perform the above-mentioned calculation and signal comparison. In one embodiment, the comparison mechanism executed by the arithmetic processor 554 further includes an update program, which uses a previous state associated with the first signal group and the second signal group, the third signal group Assembling an associated measurement state to obtain an updated state. The measurement state further includes measuring the second signal group and the third signal group and predicting measurement based on the first signal group. As shown in FIG. 5 , the computing processor 554 is located outside the housing of the electronic device. In one embodiment, the operation processor 554 converts the deflection angle in the result deviation of the electronic device to a moving template located in a display reference coordinate through a mapping mechanism, wherein the deflection angle is located in the spatial index reference coordinate, And preferably refers to the angles of three mutually perpendicular coordinate axes corresponding to the reference coordinates of the spatial indication, and the above-mentioned display reference coordinates are associated with the notebook computer 580 . The above mobile template is displayed on the screen 582 of the notebook computer 580 .

FIG. 6 is an exploded view of a portable electronic device 600 according to another embodiment of the present invention. The portable electronic device 600 has a nine-axis motion sensing module and is located in a 3D space indication reference coordinate. The portable electronic device 600 further includes a built-in display 682. The portable electronic device 600 is, for example, a smart phone, a tablet computer or a navigation device. In other words, from the perspective of hardware configuration, the above-mentioned display reference coordinates associated with the display need not be located outside the spatially indicated coordinates. In one embodiment, the electronic device 600 includes a lower cover 620, a printed circuit board 640, a battery pack 622, a rotation sensor 642, an acceleration sensor 644, a magnetometer 645, a data transmission unit 646, and an arithmetic processor 648 , a display 682 and a top cover 610 . Likewise, in one embodiment, the casing 630 includes an upper cover 610 and a lower cover 620 . The built-in display 682 is integrated in the housing 630 , and the nine-axis motion sensing module 602 includes a rotation sensor 642 , an acceleration sensor 644 and a magnetometer 645 . The data transmission unit 646 and the arithmetic processor 648 can also be integrated into the processing and transmission module 604 in the electronic device 600 . In an embodiment of the present invention, the motion sensing module or the nine-axis motion sensing module 602 in the electronic device 600 may be a micro-electromechanical (MEMS) sensor. In this embodiment, the rotation sensor 642 of the nine-axis motion sensing module 602 further includes at least one resonant body, so that the rotation sensor can use the effect of Coriolis acceleration to detect and measure the resonant body along the spatial reference coordinates. A movement performed on a coordinate axis of , thereby generating a first signal group comprising angular velocities ω _x , ω _y , ω _z at the spatial reference coordinates. Those skilled in the art should be able to understand that in the three-axis rotation sensor belonging to the micro-electromechanical sensor, three resonators are arranged along the X-axis, Y-axis and Z-axis of the spatial reference coordinates, so as to generate and obtain the three resonant bodies amount of movement. Those skilled in the art should understand that the nine-axis motion sensor 602 of the present invention includes a three-axis acceleration sensor, a three-axis rotation sensor and a three-axis magnetometer of micro-electromechanical type.

The arithmetic processor 648 of the processing and transmission module 604 can also implement a mapping mechanism, which is to convert the resulting deviation in the above-mentioned spatial indication coordinates or 3D reference coordinates to a display reference coordinate, such as a 2D reference coordinate. . In the above-mentioned mapping mechanism, the deflection angle in the result deviation of the electronic device 600 in the spatial indication coordinates is converted into a moving template located in a display reference coordinate, and the moving template is associated with the electronic device 600 itself, And the above-mentioned deflection angle preferably refers to the angles of three mutually perpendicular coordinate axes corresponding to the spatial indication coordinates. Display 682 shows the moving template as described above. The upper cover 610 includes a transparent area 614 to allow the user to see the display 682 .

FIG. 7 is an illustrative flow chart illustrating a method for obtaining and/or outputting a result deviation according to an embodiment of the present invention. The result deviation includes a deflection angle of the electronic device at a space indicating coordinate, where The electronic device, such as a pointing device, a navigation device or a smart phone, can move and rotate in a 3D space reference coordinate and dynamic environment. In various embodiments of the present invention, the method shown in FIG. 7 can be a comparison program or a comparison model, which is an arithmetic processing embedded in a processing unit or a processing and transmission module. In or executable by the processor 348, 554, 648.

Therefore, in an embodiment of the present invention, a method for obtaining result deviation in a dynamic environment, and preferably eliminating unwanted external disturbances, the result deviation includes the deflection angle of the electronic device indicating a reference coordinate in space, the method It utilizes the nine-axis motion sensing module in the electronic device. When the electronic device moves and rotates in the spatial indication reference coordinates, adverse external interference may cause errors in the measurement, calculation and output of the motion sensing module. In one embodiment, the above-mentioned method for obtaining result deviation includes the following steps. First, as shown in Figure 7, the various states of the nine-axis motion sensing module, such as previous state, current state, measurement state, and update state, refer to one of the above methods for obtaining the result deviation in the 3D reference coordinates A step or a group of steps, preferably absolute. In one embodiment, the above method includes, as described in step 705 and step 710 , the step of obtaining the previous state of the nine-axis motion sensing module. Wherein, the previous state includes an initial value group, and the initial value group is predetermined to initialize the previous state of the nine-axis motion sensing module at the beginning of the method. The initial value group is preferably used at the beginning of the method, or when the state cannot be obtained from the update state (described later). In other embodiments, the previous state may be retrieved or updated from the update state, which may be a first quaternion value, which includes values associated with previous angular velocities ω _x , ω _y , ω _z , these previous angular velocities ω _x , ω _y , ω _z are obtained from the motion sensing signal sent by the nine-axis motion sensing module in the previous period T-1. A current state of the nine-axis motion sensing module is obtained by obtaining the measured angular velocities ω _x , ω _y , ω _z , wherein these measured angular velocities ωx, ωy, ωz are obtained from the nine-axis motion sensing module in the current period T Obtained from the motion sensing signal sent out (such as step 715 and step 720). A measurement state of the nine-axis motion sensing module is obtained by obtaining the measured axial accelerations Ax, Ay, Az, wherein, these measured axial accelerations Ax, Ay, Az are obtained from the nine-axis motion sensing module at Obtained from the motion sensing signal sent in the current time period T (for example, step 725). Then, the estimated axial accelerations Ax', Ay', Az' are calculated by using the measured angular velocities ω _x , ω _y , ω _z of the nine-axis motion sensing module in the current state (eg step 730). Next, an updated state of the nine-axis motion sensing module is obtained by comparing the current state of the nine-axis motion sensing module with the measurement state (eg step 735 ). Afterwards, calculate the update state of the nine-axis motion sensing module and convert the update state into a result deviation, the result deviation includes the deflection angle of the electronic device indicating the reference coordinate in space (eg step 745 ). Thereby, the result deviation including the deflection angle associated with the updated state of the nine-axis motion sensing module can be obtained in a dynamic environment and exclude undesirable external disturbances. In order to establish a continuous loop, the obtained updated state of the nine-axis motion sensing module is preferably output to the previous state. In one embodiment, the update state can be a quaternion value, namely the third quaternion value shown in the figure; thereby, this quaternion value can be directly output to the previous state of another quaternion value, namely The previous state of the first quaternion value is shown in the figure (eg, step 740).

Moreover, those skilled in the art should understand that: the above comparison mechanism executed by the processing and transmission module and including the update program can refer to various states of the nine-axis motion sensing module as shown in FIG. 7 and FIG. 8 . As mentioned above, the update program executed by the processor can obtain the updated state of the nine-axis motion sensing module by using the previous state associated with the first signal group and the measurement state associated with the second signal group, wherein The above-mentioned first signal group is related to angular velocities ω _x , ω _y , ω _z , and the above-mentioned second signal group is related to axial accelerations Ax, Ay, Az. The above measurement state includes the measurement of the second signal group, that is, the measurement of the axial acceleration Ax, Ay, Az, and includes the estimated measurement value Ax', Ay calculated from the first signal group ', Az'. The above various states of the nine-axis motion sensing module and related steps of the method for obtaining the result deviation of the electronic device in the 3D reference coordinates will be described in detail below.

Please refer to FIG. 7 again. In an embodiment of the present invention, in the method for obtaining the result deviation, the result deviation includes the deflection angle of the electronic device indicating the reference coordinate in space and the method utilizes the nine-axis movement in the electronic device The sensing module first acquires a previous state of the nine-axis motion sensing module. In one embodiment, the previous state of the nine-axis motion sensing module is preferably in the form of a first quaternary value, and preferably the first quaternary value is initialized at the beginning of the process or method and the initialization is Part of the method is fetching the previous state (eg, step 705). In other words, in an embodiment of the present invention, the signal of the nine-axis motion sensing module is preferably initialized according to a predetermined set of values or a quaternary value, such as zero, especially for example Contains signals or values expressed as quaternion values relative to the yaw angle. The four elements of the first quaternion may be initialized to a set of predetermined initial values. Alternatively, the first quaternary value can also be initialized or replaced by another signal group, the above-mentioned another signal group is a signal group generated by the rotation sensor and the acceleration sensor in the next period, so that the method shown in FIG. 7 It is a loop between the previous time period T-1 and the current time period T. How the first quaternion value in the period T−1 is replaced by the output quaternion value in the period T later will be described in detail later. Those skilled in the art should understand that the quaternion value can be represented by "Eula angle". Similarly, those skilled in the art should understand that the above-mentioned previous time period T-1 and current time period T can be replaced by the current time period T and the next time period T+1 respectively, and fall within the spirit and scope of the present invention .

Moreover, the dynamic environment described above includes undesirable external disturbances as described above in the present invention. For example, undesired external disturbances include undesired axial acceleration caused by undesired external forces other than gravity. In other examples, undesirable external disturbances include undesirable magnetic forces produced by undesirable electromagnetic fields. In a preferred embodiment of the present invention, the technical effect of executing the method shown in FIG. 7 includes: under the condition of eliminating bad interference in a dynamic environment, obtain the update state of the nine-axis motion sensing module (such as step 745), the update The state is associated with the resultant deviation of the electronic device, which includes the deflection angle in the spatially indicated coordinates, such as separating undesired external forces from gravity, to exclude undesired axial acceleration, and to exclude undesired external magnetic fields, which Undesirable external magnetic fields are generated by undesired electromagnetic fields in a dynamic environment.

The method shown in Figure 7 can be performed in consecutive time periods. In an embodiment of the present invention, the steps 710-745 may be executed in a loop by the data processing unit of the electronic device. In other embodiments, multiple steps can be executed at the same time, for example, multiple signals sent by the nine-axis motion sensing module can be obtained at the same time, instead of only one signal at a time. Those skilled in the art should understand that the steps mentioned here are for illustration purposes only, and other possible sequence of steps, whether performed sequentially or simultaneously, should fall within the scope of the present invention. The acquisition of the first quaternion value related to the previous period T−1 is shown in step 710 in the figure. When step 710 is executed for the first time, the first quaternion value is the value initialized in step 705 . Otherwise, the first quaternion value in the current time period T is obtained in the previous time period T−1. In other words, step 710 usually refers to the previous state of the aforementioned nine-axis motion sensing module. According to another embodiment of the present invention, the previous state may refer to step 705 or step 710 .

Next, the first signal group generated by the rotation sensor is obtained. In an embodiment of the present invention, the first signal group includes the measured angular velocities ω _x , ω _y , and ω _z shown in step 715 . In step 720, the second quaternion value of the current period T can be calculated and obtained by using the angular velocities ω _x , ω _y , ω _z . Step 715 and step 720 generally refer to the present state of the above-mentioned nine-axis motion sensing module. In one embodiment, the arithmetic processor may use a data conversion program including an algorithm to convert the angular velocity ω _x , ω _y , ω _z and the first quaternary value into the second quaternary value. The data conversion program can be a program or an instruction, and the program or instruction can be represented by the following equation (1).

Equation (1) is a differential equation. The quaternion value on the left side of the equal sign is the first derivative with respect to time of the quaternion value (q ₀ , q ₁ , q ₂ , q ₃ ) on the right side of the equal sign. The data conversion program uses the first quaternion value as the initial value of the differential equation (1), and calculates the solution of the differential equation (1). The second quaternion value is the solution of the differential equation (1).

As shown in the figure, in this embodiment, the measurement state of the nine-axis motion sensing module can generally be represented by step 725 and step 730 . In step 725 , the second signal group generated by the acceleration sensor can be obtained, and the second signal group includes measured axial accelerations Ax, Ay, Az, that is, Ax, Ay, Az are measured values of axial accelerations. In order to obtain the measurement state of the nine-axis motion sensing module of the present invention, in one embodiment, based on the current state of the above-mentioned nine-axis motion sensing module or the second quaternion value shown in step 730, it can be calculated and obtained Estimated axial accelerations Ax', Ay', Az'. In other words, two sets of axial accelerations representing the measurement state of the nine-axis motion sensing module can be obtained, one of which is the measured axial accelerations Ax, Ay, and Az in step 725, and the other set is the measured state of the 9-axis motion sensing module in step 730 The estimated axial accelerations Ax', Ay', Az' in are obtained based on the above current state or the second quaternion value related to the measured angular velocity. Moreover, in one embodiment, the arithmetic processor can use a data conversion program to convert a quaternary value into predicted axial accelerations Ax', Ay', Az'. The data conversion program can be a software program, which can be represented by the following equations (2), (3), (4).

2(q ₁ q ₃ -q ₀ q ₂ )＝Ax'.......................... ........(2)

2(q ₂ q ₃ +q ₀ q ₁ )＝Ay'.......................... .........(3)

The above arithmetic processor can be used to calculate solutions (Ax', Ay', Az') of equations (2), (3), (4).

In an embodiment of obtaining the result error, it is preferable to use a comparison mechanism to compare the current state and measurement state of a nine-axis motion sensing module in the current time period T, wherein the above-mentioned result error includes an electronic device in a The deflection angle in the spatial indication coordinates. The electronic device is, for example, a 3D indicating device, a portable electronic device, a navigation device or a smart phone, which uses a nine-axis motion sensing module. In other words, in the embodiment shown in step 735, it is preferable to compare the second quaternion value with the measured axial acceleration Ax, Ay, Az and the expected axial acceleration Ax', Ay' located in the current time period T ,Az' for comparison, wherein the second quaternion value is associated with the measured angular velocity in the current time period T. Then, under the condition of excluding bad external interference in the dynamic environment, the obtained result can be used as an updated state of the nine-axis motion sensing module in the current time period T. In an embodiment, updating the status refers to updating the current status of the nine-axis motion sensing module in the current period T. In addition, commands including equations associated with the above-mentioned current state, measured state, and updated state will be described below.

According to an embodiment of the present invention, in the comparison mechanism shown in step 735 in the figure, the current state correlated with the second quaternion value and the angular velocity of the gyroscope can be obtained by the following equation.

x(t|t-1)＝f(x _t-1 ,u _t ).......................... ...(5)

In a preferred embodiment, a first probability (state transition probability) associated with the current state can be further obtained by the following equation.

P(x _t |x _t-1 ,u _t )＝F _x P(x _t-1 |x _t-1 )F _x ^T +F _u P(u _t-1 |u _t-1 )F _u ^T + _Q

Among them, Q _t is additional motion model noise (additional motion model noise).

Likewise, the measured state correlated with the above predicted axial acceleration, the axial acceleration measured by the acceleration sensor and the current state can be obtained by the following equation.

z _t (t|t-1)＝h(x(t|t-1))........................... ...(8)

In a preferred embodiment, a second probability (measurement probability) associated with the measurement state can be further obtained from the following equation:

P(z _t |x _t )＝H _x P(x _t |x _t-1 )H _x ^T +R _t .......... .........(9)

Wherein, R _t is the measurement model noise at time period t.

In one embodiment, based on the following equation (11) related to data, the above-mentioned first probability and second probability can be further used to obtain the update status of the nine-axis motion sensing module.

D _t ＝{[z _t -h(x(t|t-1))]P(z _t |x _t )[z _t -h(x(t|t-1))] ^-1 } ^1/2 ..........(11)

In one embodiment, the acquired update state of the nine-axis motion sensing module, which preferably includes a comparison mechanism or data correlation represented by an equation, may be a third quaternion value as shown in the figure. Moreover, in the following steps as shown in the figure, the obtained updated state of the nine-axis motion sensing module can be output as a result, and used to obtain a result deviation under the condition of excluding undesirable external disturbances in a dynamic environment , the resulting deviation includes a deviation angle in a spatially indicated reference coordinate. In a preferred embodiment of the present invention, the bad external disturbance refers to or includes bad axial acceleration, and the bad axial acceleration is caused by bad external force other than gravity. In other preferred embodiments, bad external disturbance refers to or includes bad magnetic force generated by bad electromagnetic fields. In other words, the method and algorithm provided by the present invention can generate or provide an output with a result deviation under the condition of eliminating the above-mentioned adverse interference. In one example, the external force of the nine-axis motion sensor of the electronic device of the present invention can be separated from the gravity. In other examples, bad magnetic force generated by bad electromagnetic fields outside or inside the electronic device may also be excluded. Those skilled in the art should understand that the current state, measurement state, update state, data correlation and probability in the comparison mechanism in the above embodiments are for illustration purposes only, and are not intended to limit the present invention.

As mentioned above, as shown in step 740 in the figure, it is preferable to input the obtained update state, preferably in the form of the third quaternion value, into the previous state of the nine-axis motion sensing module. In a preferred embodiment, the update status further includes a first data correlation model, wherein the above data correlation model can be used to compare the measurement status with the predicted measurement status, the measurement status is related to the second signal group associated, and the predicted measurement status is obtained from the predicted measurement. In other words, in one embodiment, the first quaternion value can be replaced by the above-mentioned third quaternion value, or the third quaternion value can directly replace the first quaternion value in the previous period T-1 value for the next cycle. In other words, the third quaternion value in the current time period T will become the first quaternion value in the next time period T+1. In other words, the third quaternion value output in the previous time period T−1 can be used as the first quaternion value in the current time period T.

In step 745, the updated state of the nine-axis motion sensing module of the present invention can be further calculated and converted into a result deviation, the result deviation includes the deviation angle in the spatial reference coordinates, wherein the deviation angle includes the deviation angle in the spatial reference coordinates The yaw angle, pitch angle, and roll angle of the electronic device, the above-mentioned yaw angle, pitch angle, and roll angle are preferably the angles corresponding to three mutually perpendicular coordinate axes of the spatial reference coordinates, so it is preferable to be able to dynamically The result deviation including the deflection angle is obtained when bad external interference is excluded in the environment, and the result deviation is related to the update status of the nine-axis motion sensing module. In one embodiment, the bad external disturbance refers to or further includes bad axial acceleration, and the bad axial acceleration is caused by bad external force other than gravity. In other embodiments, bad external disturbance refers to or further includes bad magnetic force generated by bad electromagnetic field. In one embodiment, the arithmetic processor uses a data conversion program to convert the third quaternion value representing the update state of the nine-axis motion sensing module into yaw angle, pitch angle and roll angle. The data conversion program can be a program or an instruction, and the program or instruction can be expressed by the following equations (12), (13), and (14).

pitch＝arcsin(2(q ₀ q ₂ -q ₃ q ₁ ))..........(13)

In equations (12), (13), and (14), the variables q ₀ , q ₁ , q ₂ , and q ₃ are the four elements in the third quaternion.

For a time-continuous and cyclical method, in an embodiment of the present invention, it will return to step 710 to execute the comparison program or method in the next period T+1, the above-mentioned method is performed with the nine-axis action The sensing module is connected to the computing processor for execution. In addition, the above-mentioned result deviation is preferably obtained and output in an absolute manner, so as to reflect the actual movement and rotation of the electronic device of the present invention on the spatial reference coordinates. The above-mentioned result deviation includes the deflection angle, and the deflection angle includes The yaw, pitch, and roll angles converted from the third quaternion and located in space-transformed coordinates. Those skilled in the art should understand that the actual movement and rotation of the above-mentioned electronic device on the spatial reference coordinates or 3D reference coordinates can be real-time movement and rotation in a dynamic environment, and the real-time movement and rotation can be represented by vectors , the vector has a certain magnitude and direction relative to mutually perpendicular coordinate axes on the spatial reference coordinates.

FIG. 8 is a flowchart illustrating a mapping method according to another embodiment of the present invention. This mapping method maps the resulting deflection angle of the electronic device to a reference coordinate of a display. The electronic device can be displayed on a 3D display. Spatial reference coordinates or moving and turning in a dynamic environment. FIG. 9 is a schematic diagram showing how to map the resulting deviation of the above-mentioned electronic device including the deflection angle in this embodiment. For purposes of illustration, the difference between FIG. 7 and FIG. 8 may be represented by an additional mapping step 750 as shown in FIG. 8 . Steps 705-745 in FIG. 8 are the same as the corresponding steps in FIG. 7, which execute a comparison program for electronic devices. Step 750 is to execute the imaging program for the electronic device. The arithmetic processor may include a mapping program for performing the mapping step 750 . In step 750, the processing and transmission module obtains display data, such as display data including screen size and boundary information. In step 750, the deflection angles in the spatially indicated reference coordinates, which are the resulting deviations, are converted to a moving template located in the imaged region in the display reference coordinates based on a sensitivity input associated with the display reference coordinates. Those skilled in the art should be able to understand that the above display data includes the form of the display, such as LED display, LCD display, touch screen or 3D display, and the frequency of the display, such as 120Hz or 240Hz. In one embodiment, the display reference coordinates related to the display may be a 2D display reference coordinates. In another embodiment, the display reference coordinates may be 3D display reference coordinates of a 3D display.

The display data above further includes a sensitivity input, which is a parameter, and the user can input and adjust this parameter through the control button arranged on the shell of the 3D display device. The sensitivity input can be used to indicate the sensitivity of the display device to the movement of the electronic device. Please refer to FIG. 9 for a further description of the mapping procedure. In one embodiment, the sensitivity input is a parameter, which represents the relationship between the display and the electronic device of the present invention, for example, the distance relationship. The output of the electronic device includes offsets including yaw, pitch and roll in the 3D reference coordinates, which can be mapped to a moving template in the 2D display reference coordinates of the display. In another embodiment, the sensitivity input may include a screen size of boundary information, and the boundary information is predetermined by the user, for example, obtained through user input or operation. In yet another embodiment, in order to increase or decrease the movement template, the sensitivity input can be defaulted in the mapping program, so that the parameter of the sensitivity input is a default value. The above-mentioned movement template includes the distance, the number of pixels to be moved or from The number of pixels from the motion image of the electronic device.

FIG. 9 is a bird's-eye view of an electronic device 930 and a screen 910 of a display device according to an embodiment of the present invention. The screen 910 has a center point 922 , a target point 924 and a boundary point 926 . The center point 922 is the geometric center of the screen 910 , the target point 924 is the position indicated by the electronic device 930 , and the boundary point 926 is a point on the right border of the screen 910 . The above-mentioned points 922, 924, 926 and the electronic device 930 are located on a shared plane, and the shared plane is parallel to the X _D axis and the Z _D axis of the display reference coordinates X _D Y _D Z _D. The virtual light beams 942 , 944 , and 946 are three imaginary light beams emitted from the electronic device 930 to the center point 922 , the target point 924 and the boundary point 926 respectively. The distance P is the distance between the center point 922 and the target point 924 , the distance P _max is the distance between the center point 922 and the boundary point 926 , and the distance d is the distance between the center point 922 and the electronic device 930 . The yaw angle in the above-mentioned result deviation of the electronic device 930 is the angle θ between the virtual beam 942 and the virtual beam 944 , and the angle θ _max is the angle between the virtual beam 942 and the virtual beam 946 . The aforementioned image area is a plane located at the reference coordinates of the display and including the display surface of the screen 910, and the display surface of the screen 910 is a subset of the image area.

In this embodiment, the aforementioned sensitivity input is provided by the user of the electronic device 930 . The sensitivity β can be defined by the following formula (15).

Wherein, the sensitivity β in equation (15) is provided by the user.

The following equation (16) can be deduced from equation (15) and the geometric relationship.

The following equation (17) can be deduced from equation (16).

In equation (17), the distance P _max can be deduced from the width of the screen, and the width of the screen is the display data obtained in step 750 . In addition, the angle θ is the yaw angle obtained in the step, and the sensitivity input β is provided by the user. Therefore, the computing processor of the electronic device 930 can calculate the distance P according to the equation (17). Then, the computing processor can easily obtain the position of the target point on the horizontal coordinate according to the distance P and the width of the screen 910 . In addition, according to a similar method, the computing processor can easily obtain the position of the target point 924 on the screen 910 on the longitudinal coordinate according to the pitch angle.

The mapping procedure in step 750 can be described above as an example, that is, converting the yaw angle and pitch angle in the yaw angle into the two-dimensional coordinates of the target point 924 on the screen 910 for illustration. In this way, the computing processor has obtained the coordinates of the target point 924 in the current time period. The arithmetic processor subtracts the coordinates of the target point 924 in the previous time period from the coordinates of the target point 924 in the current time period, and the result of the subtraction is the horizontal offset and vertical offset of the target point 924 in the current time period. The aforementioned horizontal and vertical offsets can be transmitted to the display device so that the display device can track the position of the target point 924 . The display device can display a cursor or some video effects on the screen 910 to emphasize the position of the target point 924 . When the user moves the electronic device 930 , the above-mentioned cursor or image effect can display a moving template on the screen 910 .

Similarly, in another embodiment of the present invention, the comparison method of the present invention can be a round-robin method. For a method that continuously loops in time, in an embodiment of the present invention, the method executed by the arithmetic processor connected with the nine-axis motion sensing module will return to step 710 to execute in the next time period T +1 for the program or method of comparison and mapping. Then, the procedure or method of comparing and mapping for the next time period T+1 can be executed.

FIG. 10 shows a comparison method according to another embodiment of the present invention. The method illustrated in this flow chart provides a method for obtaining result deviation in a dynamic environment. The result deviation includes the deflection angle of the electronic device at the spatial reference coordinates. The electronic device includes a nine-axis motion sensing module and can be positioned in a space The reference coordinates and a dynamic environment move and rotate, and the electronic device moves and rotates in the 3D spatial reference coordinates and the dynamic environment can map its resulting deviation to a display reference coordinate. Thereby, the deviation of the result including the deflection angle can preferably be obtained under the condition of excluding undesirable external disturbances in the dynamic environment. detailed description later) are associated. In one embodiment, the bad external disturbance refers to or further includes bad axial acceleration, and the bad axial acceleration is caused by bad external force other than gravity. In another example, bad external disturbance refers to or further includes bad magnetic force generated by bad electromagnetic field. Steps 1005-1030 shown in FIG. 10 may refer to the steps of another embodiment of the present invention shown in FIG. 7 .

For an electronic device using a nine-axis motion sensing module, such as a pointing device, a navigation device, a smart phone or a portable electronic device, the magnetometer of the motion sensing module generates The signal of is preferably available to facilitate obtaining, preferably in absolute terms, deviations of the results including the deflection angles at the 3D reference coordinates. The third signal group generated by the magnetometer can be obtained by step 1035 shown in FIG. 10 , the third signal group includes measured magnetism Mx, My, Mz. In this embodiment, measuring the magnetic forces Mx, My, Mz refers to measuring the obtained magnetic forces. In an embodiment of the present invention, in order to obtain the measurement state of the nine-axis motion sensing module, based on the current state of the above-mentioned nine-axis sensing module or the second quaternion value shown in step 1040, it can also be calculated and obtained Expected magnetic forces Mx', My', Mz'. In other words, two sets of magnetic force representing the measurement state of the nine-axis motion sensing module can be obtained, one set is the measured magnetic force Mx, My, Mz in step 1035, and the other set is the estimated magnetic force in step 1040 Mx', My', Mz', the estimated magnetic forces Mx', My', Mz' are obtained based on the above current state or the second quaternion value related to the measured angular velocity. Moreover, in one embodiment, the arithmetic processor can utilize a data conversion program to convert the current state or the second quaternion value into the predicted magnetic forces Mx', My', Mz', and vice versa. The data conversion program can be a software program, which can be represented by the following equations (18), (19), (20).

(q ₀ ² +q ₁ ² -q ₂ ² -q ₃ ² )cosλ+2(q ₁ q ₃ -q ₀ q ₂ )sinλ=Mx'... .........(18)

2(q ₁ q ₂ -q ₀ q ₃ )cosλ+2(q ₂ q ₃ +q ₀ q ₁ )sinλ＝My'................... ........(19)

In equations (18), (19), and (20), the variable λ is the dip angle between the direction of the surrounding magnetic field measured by the magnetometer and a horizontal plane located at the spatial reference coordinates. The tilt angle λ can be obtained by measurement or calculated by an initial calibration process of the electronic device of the present invention, and can be used as a parameter. The arithmetic processor described above can be used to calculate solutions (Mx', My', Mz') of equations (18), (19), (20).

In one embodiment of the present invention, a method for obtaining the above-mentioned result deviation is provided. The result deviation includes the deflection angle at the spatial reference coordinates, and the electronic device uses a nine-axis motion sensing module and the electronic device is, for example, a pointing device, A navigation device, a smart phone or a portable electronic device. The method preferably uses a comparison model to compare the current state and the measurement state of the nine-axis motion sensing module in the current time period T. In other words, in the embodiment shown in step 1045, it is preferable to combine the second quaternion value of the measured angular velocity of the current state in the current time period T with the measured axial acceleration Ax, Ay also in the current time period T , Az, predicted axial acceleration Ax', Ay', Az', measured magnetic force Mx, My, Mz and predicted magnetic force Mx', My', Mz' are compared. In this way, an update status of the nine-axis motion sensing module can be obtained. Generally speaking and in the embodiments of the present invention, updating the state generally refers to updating the previous state of the nine-axis motion sensing module in the previous period T−1 compared with the current state or the measurement state. The comparison model in step 1045 uses measured axial accelerations Ax, Ay, Az and measured magnetic forces Mx, My, Mz, and also uses estimated axial accelerations Ax', Ay', Az' and estimated magnetic forces Mx', My', Mz'.

In one embodiment, the obtained updated state of the nine-axis motion sensing module may be a third quaternion value as shown, preferably involving the alignment mechanism represented by the equation associated with the alignment model or data related. Moreover, as shown in steps 1050-1060, the result can be further output and utilized to obtain the result deviation including the deviation angle in the spatial reference coordinates as shown in the steps in the figure. Those skilled in the art should understand that the current state, measurement state, update state, data correlation and probability in the comparison mechanism in the above embodiments are for illustration purposes only, and are not intended to limit the present invention.

FIG. 11 shows another embodiment of the comparison method of the present invention. This flowchart illustrates a method for obtaining a result deviation including a deflection angle of an electronic device, such as a pointing device, a navigation device, a smart phone or other types, located in spatially indicated coordinates portable electronic devices. The electronic device includes a nine-axis motion sensing module and can move and rotate in a spatial reference coordinate and a dynamic environment, and the electronic device that moves and rotates in a 3D spatial reference coordinate and a dynamic environment can map its resulting deflection angle to a Display reference coordinates. Steps 1105-1130 may include obtaining a previous state and a current state of the motion sensing module, and obtaining a measurement state of the motion sensing module, where the measurement state is related to the axial acceleration. In addition, in step 1135, a comparison model is preferably used to compare the current state and measurement state of the nine-axis motion sensing module in the current time period T. In other words, as shown in step 1135, it is preferable to combine the second quaternion value of the current time period T with the measured axial accelerations Ax, Ay, Az and predicted axial accelerations Ax', Ay' of the current time period T ,Az for comparison, the second quaternion value is associated with the measured angular velocity in the current state. Next, a first updated state of the nine-axis motion sensing module can be obtained. In an embodiment, the first update state refers to the first update of the current state of the nine-axis motion sensing module in the current period T. Moreover, one of the technical effects of the present invention can be obtained or achieved. In step 1135, one of the benefits or effects that can be obtained by executing steps 1105-1135 is: obtain the first updated state or the third quaternion value as shown in Figure 11 and exclude bad axial acceleration, wherein the bad axial acceleration is Caused by undesired external forces, such as other external forces separated from gravity.

In one embodiment, the first update state of the nine-axis motion sensing module may be a third quaternion value as shown, the result preferably relates to the ratio expressed by the equation associated with the comparison model related to or data. Moreover, one of the technical effects of the present invention includes eliminating bad external disturbances in a dynamic environment as mentioned above, wherein bad external disturbances refer to or include bad axial acceleration, and this bad axial acceleration is caused by bad external forces, This undesirable external force is preferably to exclude gravity. Alternatively, the bad external disturbance also includes bad magnetic force generated by bad electromagnetic field, and the bad electromagnetic field is adjacent to the motion sensing module. As shown in step 1140 of FIG. 11 , based on the third quaternion value, the first update state of the nine-axis sensing module of the present invention can be further calculated and converted into an instantaneous pitch angle (temporary pitchangle) and an instantaneous pitch angle. Temporary roll angle. As shown in the figure, the first updated state can be effectively obtained, and bad axial acceleration belonging to bad external disturbances in a dynamic environment can be excluded. In one embodiment, the first updated state can be obtained when the aforementioned bad axial acceleration caused by the bad external force is excluded; the bad external force refers to the external force not including gravity. The third signal group is generated by the magnetometer, which includes the measured magnetic forces Mx, My, Mz. The measurement state of the nine-axis motion sensing module can be obtained by calculating a measured yaw angle, which is obtained from the nine-axis motion sensing module in the current time period according to the following equation (21). Obtained from the motion sensing signal sent by T.

In equation (21), Ty refers to the measured yaw angle, Tp refers to the instantaneous pitch angle, and Tr refers to the instantaneous roll angle.

In an embodiment of the present invention, as shown in step 1145, in order to obtain the measurement state of the nine-axis motion sensing module, based on the first update state of the nine-axis motion sensing module or the first update state in the current period Three quaternion values to obtain a predicted yaw angle. In other words, for the measurement state of the nine-axis motion sensing module, the measured yaw angle in step 1140 and the predicted yaw angle in step 1145 can be obtained.

Moreover, it is preferable to use a comparison model to compare the current state and measurement state of the nine-axis motion sensing module in the current time period T. In other words, as shown in step 1150, it is preferred to compare the second quaternion value with the measured axial acceleration Ax, Ay, Az, the expected axial acceleration Ax', Ay', Az', the amount The measured yaw angle is compared with the predicted yaw angle, and the second quaternion value is associated with the measured angular velocity of the current state. Next, a second updated state of the nine-axis motion sensing module can be obtained. In an embodiment, the second update status refers to performing a second update on the current status of the nine-axis motion sensing module in the current time period T. The comparison model in step 1150 is very similar to the above comparison model, so no detailed description will be given. In one embodiment, as shown in the figure, the obtained second update state of the nine-axis motion module may be a fourth quaternion value. Moreover, in the following steps as shown in the figure, the obtained second updated state of the nine-axis motion sensing module can be output as a result and used to obtain a result deviation, which is included in a spatial indication The deflection angle of the reference coordinates. In addition to the above-mentioned technical effects, that is: as shown in step 1135, the first updated state of the motion sensing module obtained by excluding the bad axial acceleration belonging to bad external disturbances in the dynamic environment can also reach step 1150 as shown in Figure 11 As shown in the technical effect, this technical effect is obtained along with the second update state of the motion sensing module. The advantages or effects that can be achieved by executing steps 1140-1150 are: as shown in FIG. 11 , the second update status is obtained and bad magnetic force is eliminated. For example, bad magnetic force is caused by bad magnetic force adjacent to the motion sensing module of the present invention in a dynamic environment. caused by external or internal electromagnetic fields.

As shown in step 1155 in the figure, the second updated state is output to the previous state of the nine-axis sensing module, and the second updated state is preferably in the form of a fourth quaternary value. In other words, in one embodiment, the first quaternion value can be replaced by the above-mentioned fourth quaternion value, or the fourth quaternion value can directly replace the first quaternion value in the previous period T-1 When the value for the next cycle. In other words, the fourth quaternion value in the current time period T will become the first quaternion value in the next time period T+1. In other words, the fourth quaternion value output in the previous time period T−1 can be used as the first quaternion value in the current time period T.

In step 1160, the second update state of the nine-axis motion sensing module of the present invention can be further calculated and converted into a result deviation, the result deviation includes the deviation angle in the spatial reference coordinates, wherein the deviation angle includes the position in the spatial reference coordinates The yaw angle, pitch angle, and roll angle of the electronic device, the above-mentioned yaw angle, pitch angle, and roll angle are preferably angles corresponding to three mutually perpendicular coordinate axes of the spatial reference coordinates. Moreover, as shown in the figure, the second updated state can be further obtained, preferably to exclude bad magnetic force belonging to bad external disturbance in a dynamic environment. In one embodiment, it is preferable to obtain the second update state and exclude the bad magnetic force caused by the above-mentioned bad electromagnetic field, or exclude the earth’s magnetic field and be close to the motion sensing module or have sufficient influence on the motion sensing module Bad magnetism. The deflection angle can be calculated according to equations (12), (13), and (14), where the variables q ₀ , q ₁ , q ₂ , and q ₃ in equations (12), (13), and (14) are then Four elements for the fourth quaternion value. Moreover, the deflection angle in step 1160 can be obtained under the condition of excluding bad external disturbances, such bad external disturbances include bad axial acceleration and bad magnetic force, wherein as described in step 1135, the bad axial acceleration is caused by bad external forces, This bad external force does not include gravity. In addition, as mentioned in step 1150, one of the bad magnetic forces is caused by bad electromagnetic field, for example. In addition, in step 1165 shown in FIG. 11 , the resulting deviation at the spatial reference coordinate including the deflection angle may be further mapped to a display reference coordinate, such as a 2D display reference coordinate of a display.

As shown in FIG. 12 , in a preferred embodiment, the first update state and the second update state further include a first data correlation model and a second data correlation model respectively. The first data correlation model is used to compare the first measurement state with a first predicted measurement, wherein the first measurement state is associated with the second signal group, and the first predicted measurement is obtained by said obtained in its present state. Moreover, the second data correlation model is used to compare the second measurement state with a second predicted measurement, wherein the second measurement state is associated with the third signal group, and the second predicted measurement is determined by the obtained from the first update state described above. In addition, in another preferred embodiment, the second update state further includes a first data correlation model and a second data correlation model, and the first data correlation model is used to compare the first measurement state with a The first predicted measurement, wherein the first measurement state is associated with the second signal group, and the first predicted measurement is obtained from the current state. The second data correlation model is used to compare the second measurement state and a second predicted measurement, wherein the second measurement state is associated with the third signal group, and the second predicted measurement is obtained by said obtained in its present state. Based on the comparison result, the second estimated measurement is obtained according to the first updated state of the nine-axis motion sensing module or the second estimated measurement is obtained according to the current state of the nine-axis motion sensing module The differences between are further described in Figure 12. The paths labeled "Yes" and "No" are shown in FIG. 12 .

FIG. 12 shows another embodiment of the result deviation of the present invention. The result deviation includes the deviation angle of an electronic device located in the spatial reference coordinates. The electronic device is, for example, a pointing device, a navigation device, a smart phone or Other portable electronic devices include a nine-axis motion sensing module. The electronic device can move and rotate in a space indicating reference coordinates and a dynamic environment, and the method for obtaining result deviation includes the following steps. As shown in the figure, in step 1210, a previous state of the nine-axis motion sensing module can be obtained, wherein the previous state is related to a previous angular velocity, which was determined by the nine-axis motion sensing module in a previous period T Obtained from the motion sensing signal sent by -1. In other embodiments, the previous state is related to a previous angular velocity, a previous axial acceleration and a previous magnetic force, and the previous angular velocity, previous axial acceleration and previous magnetic force are determined by the nine-axis motion sensing module in a previous period T Obtained from the motion sensing signal sent by -1. Next, in step 1220, by obtaining the measured angular velocity ω _x , ω _y , ω _z obtained from the motion sensing signal sent by the 9-axis motion sensing module in a current time period T, thereby obtaining the 9-axis motion sense The current state of the test module. In step 1225, by obtaining the measured axial accelerations Ax, Ay, and Az obtained from the motion sensing signal sent by the nine-axis motion sensing module in the current time period T, one of the nine-axis motion sensing modules is obtained. The first measurement state. Next, in step 1230, a first predicted measurement of the nine-axis motion sensing module can be calculated and obtained based on the current state of the nine-axis motion sensing module. In step 1235, a comparison is performed to determine whether the signal related to the measurement state is sufficient to be used to compensate the current state of the nine-axis motion sensing module, and to obtain an updated state of the nine-axis motion sensing module, wherein the measurement The state includes, for example, measuring axial acceleration and measuring magnetic force.

According to the above object of the present invention, it is preferable to provide a comparison mechanism and a compensation method, which can accurately output the result deviation of a motion sensing module in the case of external disturbance or internal disturbance, the external disturbance or Internal disturbances include, for example, electromagnetic fields generated by other electronic devices adjacent to the motion sensing module, or other electromagnetic fields that are strong enough to distort or interfere with the normal operation of the motion sensing module. In this case, a comparison mechanism using data correlation can be used to compare the measurement state of the motion sensing module with the expected measurement state to determine the compensation for updating the previous state. In the aforementioned step 1235, data correlation also includes a predetermined value, which is pre-selected, for example, according to the performance of the motion sensing module used, so that the comparison result of the measurement state and the expected measurement can refer to the data Correlating with the predetermined value to determine the required compensation, thereby updating the state of the motion sensing module, such as the previous state or the updated state.

Thereby, based on the result of the data correlation, the update status of the motion sensing module can be obtained. As shown in the figure, if the above-mentioned comparison result falls within the expected result range of data correlation, in an embodiment of the present invention, as shown in step 1240, based on the first pre-measurement of the nine-axis motion sensing module By comparing the measurement with the first measurement state, a first update state of the nine-axis motion sensing module can be obtained. In addition, if the comparison result does not fall within the expected result range of data correlation, it cannot be executed and the first update status can be obtained. The use of data correlation and comparison mechanisms works particularly well in the presence of external or internal disturbances, eg caused by adverse electromagnetic fields. When the comparison result falls outside the expected range, as indicated by "No" in Figure 12, the next step will be to obtain another measurement state or the second measurement state of the motion sensing module, so as to determine Another data related to whether can be used to obtain the second update status. However, providing a second updated state can be used as another step in the method of the present invention. Based on the measured state including the measured axial acceleration associated with the motion sensing module, only the above steps can be performed and the result of the first updated state obtained. In other words, as shown in the figure, no matter whether the steps for obtaining only the first update state or the steps for obtaining only the second update state or the steps for obtaining the first update state and the second update state are performed, All fall within the scope protected by the patent application scope of the present invention. Moreover, similarly, one of the technical effects of the present invention can be obtained or achieved. In step 1240, the advantages or effects that can be achieved by executing steps 1210-1240 are: as shown in FIG. 12 , the first updated state is obtained and the bad axial acceleration is eliminated. The bad axial acceleration is generated by bad external force, This bad external force is, for example, bad external force not including gravity.

In another embodiment of the present invention, or when the above-mentioned second update state is obtained, steps 1245-1260 as shown in FIG. 12 may be further executed. In step 1245, a second measurement state of the nine-axis motion sensing module can be obtained by obtaining a measurement yaw angle, wherein the measurement yaw angle is obtained based on the measured magnetic force Mx, My, Mz, and The measured magnetic forces Mx, My, and Mz are obtained from the motion sensing signals sent by the nine-axis motion sensing module in the current time period T. Moreover, as shown in step 1250, a second predicted measurement of the nine-axis motion sensing module is calculated and obtained. Then, through the comparison mechanism represented by the path marked “Yes” in FIG. 12 , an estimated yaw angle can be obtained based on the first update state of the nine-axis motion sensing module. In another embodiment, the estimated yaw angle can be obtained based on the current state of the nine-axis motion sensing module through the comparison mechanism represented by the path marked "No" in FIG. 12 . Once the measurement status and expected measurements are obtained, a second comparison can be performed to determine whether to perform compensation based on the results obtained by the comparison mechanism in relation to the second data. As shown in step 1255, the second data correlation includes: determining whether the comparison result falls within a predetermined value or a predetermined range. If the comparison result falls within the predetermined value or within the predetermined range, as shown in step 1260 marked "Yes", a second update state can be obtained and compensation can be performed. In addition, if the comparison result does not fall within the predetermined value or within the predetermined range, step 1265 should be executed, which is the procedure marked "No" in the figure. In other words, the compensation mechanism uses the second predicted measurement of the motion sensing module for updating instead of using the second measurement state of the motion sensing module. Similarly, in addition to the above-mentioned technical effects, as shown in step 1240, the first update state of the motion sensing module can be obtained by excluding the bad axial acceleration of bad external disturbance in the dynamic environment, which can further achieve the step 1260 shown in Figure 12 The technical effect shown is obtained along with the second update state of the motion sensing module. The advantages or effects that can be achieved by executing steps 1245-1260 are: as shown in FIG. 12 , the second updated state can be further obtained and bad magnetic force can be eliminated. For example, bad magnetic force is caused by motion sensing modules adjacent to the motion sensing module of the present invention in a dynamic environment. Caused by adverse external or internal electromagnetic fields.

Continuing the above steps, in an embodiment of the present invention, the comparison method can be a continuous loop or a circular form in time, and the update status obtained in the current period T can be used as the update status of the previous period T-1 The previous state, and become the start of another cycle to perform the above steps again. For those skilled in the art, it should be quite clear what the above period T, period T-1 or period T+1 refers to, and it falls within the scope of protection of the present invention. For example, in step 1260 shown in FIG. 12 , the second update state of the nine-axis motion sensing module can be obtained by updating the first update state of the nine-axis motion sensing module, wherein the first update state is updated It is a second comparison mechanism between the second pre-measurement and the second measurement state based on the nine-axis motion sensing module. In step 1265, the obtained second updated state of the nine-axis motion sensing module can be further output to the previous state to start another cycle.

After step 1265 is completed, in step 1270, the result deviation is obtained in a manner similar to step 745, step 1060, and step 1160. The result deviation includes the yaw angle in the spatial reference coordinates, namely: yaw angle, pitch angle and roll angle . Moreover, the result deviation can be obtained under the condition of excluding unfavorable external disturbances, including unfavorable axial acceleration as shown in step 1240, and the unfavorable axial acceleration is caused by unfavorable external forces, which do not include gravity. In addition, the bad external disturbance also includes bad magnetic force shown in step 1260 , such bad magnetic force is generated by bad electromagnetic field.

As mentioned above, in one embodiment of the present invention, a method for obtaining the result deviation of an electronic device is provided. This electronic device includes a nine-axis motion sensing module and data correlation, so that the nine-axis motion sensing module can be externally controlled. or internal interference to obtain more accurate results. Therefore, the step of obtaining the first update state of the nine-axis motion sensing module further includes: performing a first data correlation to determine the comparison between the first predicted measurement and the first measurement state of the nine-axis motion sensing module Whether the result falls within a first predetermined value of the nine-axis motion sensing module. Moreover, the step of obtaining the second updated state of the nine-axis motion sensing module further includes: performing a second data correlation to determine a comparison between the second predicted measurement of the nine-axis motion sensing module and the second measurement state Whether the result falls within a second predetermined value of the nine-axis motion sensing module.

Similarly, according to the continuous cycle described in the method of the present invention, in one embodiment, the method for obtaining a result deviation of the electronic device further includes outputting the second updated state of the nine-axis motion sensing module in the electronic device to the previous state. Moreover, the previous state of the nine-axis motion sensing module can be the first quaternion value in the previous period T-1, and the current state of the nine-axis motion sensing module can be the second quaternion value in the current period T, The first update state and the second update state of the nine-axis motion sensing module may also be the third quaternary value and the fourth quaternary value in the current time period T, respectively.

In a word, the present invention also provides a nine-axis comparison method, which compares the signal generated and detected by the electronic device with the signal generated and detected by the acceleration, wherein the electronic device uses a nine-axis Motion sensing module, and the rotation and acceleration are performed around and along the three axes respectively. In one embodiment, the nine-axis comparison method can output the result deviation, wherein the result deviation includes yaw angle, pitch angle and roll angle in the spatial reference coordinate, such as the 3D reference coordinate of the electronic device. In another embodiment, the nine-axis comparison method includes mapping the resulting deviations to a display coordinate. The resulting deviations include yaw, pitch, and roll in spatially referenced coordinates, where the display coordinates are, for example, the display device's Display reference coordinates on the screen. The nine-axis comparison method includes comparing various states of the motion sensing module, and using the data correlation of the present invention to output a result deviation, which includes, for example, the yaw angle, pitch angle and roll angle. This method is novel and non-obvious.

To sum up, those skilled in the art should understand that in the present invention, it is also novel to output the 3D angle including the reference coordinates located in a space in an absolute manner. Moreover, the electronic device with the motion sensing module has the novel comparison method and program proposed by the present invention, so the above-mentioned result deviation can be obtained and output in an absolute manner, which is not easily recognized by the technology in the technical field. Personnel are deduced from known technology, so also have progressiveness. The above-mentioned "absolute" associated with the result deviation refers to the actual movement and rotation of the electronic device of the present invention in the space indicating reference coordinates, wherein the result deviation is obtained and output from the improved electronic device, and the result deviation includes the deflection angle, The deflection angles are, for example, yaw angles, pitch angles, and roll angles located in the spatial indication reference coordinates. Moreover, since the noise generated and accumulated by the movement and rotation of the nine-axis motion sensing module in a dynamic environment can be effectively deleted or compensated, the nine-axis comparison method of the present invention can accurately output the deviation. The angle to include in the 3D reference coordinates. Moreover, in the description of the present invention, "a" or "an" may mean "at least one" or "a plurality". As noted above, those skilled in the art will appreciate that "dynamic" refers to movement or motion in general. Those skilled in the art should understand that "exclusion" here refers to the elimination of undesirable interference, which is not limited to a specific amount or degree of exclusion, any amount or degree should conform to the spirit of the present invention and should fall into the Within the scope of protection intended by the present invention.

FIG. 13 is a flowchart of an embodiment of the method for compensating the rotation of the 3D pointing device of the present invention. The purpose of this method is to convert the rotation and movement of the 3D pointing device into a movement pattern on a display plane of a display device (for example, the plane X _D Y _D of the display device 120 shown in FIGS. 1 and 2 ). The method can be implemented by the 3D pointing device shown in FIG. 14 , which is a schematic diagram of the 3D pointing device of the present invention. The 3D pointing device in FIG. 14 includes a rotation sensor 342 , an orientation sensor 1410 , and an arithmetic processor 1420 . The orientation sensor 1410 includes an acceleration sensor 344 and other computing processors 348 .

The program of Fig. 13 is as follows. In step 1320, the orientation sensor 1410 generates an orientation output associated with an orientation of the 3D pointing device, and the orientation of the 3D pointing device is associated with three axes of a global reference coordinate associated with the earth. The arithmetic processor 348 of the orientation sensor 1410 can generate the above orientation output by executing steps 710 to 745 as described in FIG. 7 and FIG. 8 . In short, in steps 710 to 745 described in FIG. 7 and FIG. 8 , the rotation sensor 342 generates a rotation output (ω _x , ω _y , ω _z ), which is associated with the rotation of the 3D pointing device , and the rotation of the 3D pointing device is associated with the three axes of a spatial reference coordinate associated with the 3D pointing device (the reference coordinate X _P Y _P Z _P shown in FIG. 1 or FIG. 2 ), the acceleration sensor 344 generates a A first signal group, the first signal group includes a plurality of axial accelerations Ax, Ay, Az, these axial accelerations Ax, Ay, Az are associated with the movement and rotation of the 3D pointing device located at the spatial reference coordinates. Then, the arithmetic processor 348 generates the orientation output based on the first signal group and the rotation output. For a more detailed description, please refer to the related discussion of FIG. 7 and FIG. 8 above.

The orientation output generated by the arithmetic processor 348 may be in the form of a rotation matrix, a quaternion value, a rotation vector, or other forms including three orientation angles (ie, yaw angle, pitch angle, and roll angle). The orientation output in the form of a quaternion may be the third quaternion generated in step 740 of FIGS. 7 and 8 . The azimuth angles mentioned above, namely: yaw angle, pitch angle, and roll angle, are generated in step 745 . The operation processor 348 can obtain the rotation matrix from the azimuth by the following equation (22):

[R] _3×3 is the orientation output in the form of rotation vector, θ represents the pitch angle, φ represents the roll angle, and ψ represents the yaw angle.

The arithmetic processor 348 can obtain the orientation output in the form of the rotation vector from the form of the quaternion value by the following equation (23), and the form of the quaternion value can be represented by <e0, e1, e2, e3>.

Suppose the orientation output in the form of a rotation vector can be expressed as <e ₁ , e ₂ , e ₃ >, and the orientation output in the form of a quaternion value can be expressed as <e ₀ , e ₁ , e ₂ , e ₃ >. The operation processor 348 can convert the form of the rotation vector into the form of the quaternion value according to the following equation (24).

One of the four forms of the orientation output can be easily converted into another of the four forms according to equations (22), (23) and (24).

In step 1340, the rotation sensor 342 generates a rotation output associated with a rotation of the 3D pointing device, and the rotation of the 3D pointing device is associated with three axes of a spatial reference coordinate associated with the 3D pointing device itself (eg, FIG. 1 and the reference coordinates X _P Y _P Z _P shown in Fig. 2). In step 1360, the arithmetic processor 1420 uses the orientation output and the rotation output to generate a transformation output <d _x , d _y > associated with the fixed reference coordinates associated with the display device. The transformation output <d _x , d _y > represents a two-dimensional movement on a plane of fixed reference coordinates, the two-dimensional movement is parallel to the screen of the display device, such as the display device 120 shown in FIGS. 1 and 2 Display plane X _D Y _D , where d _x represents movement along the X _D axis and d _y represents movement along the Y _D axis. Also, the transformation output <d _x , d _y > may represent a segment of movement on the display plane. The multi-segment movements drawn by the 3D pointing device can constitute a moving template on the display plane, and control a virtual object or cursor on the display device to move along the moving template.

Step 1360 includes four steps 1362, 1364, 1366, and 1368. In step 1362, the arithmetic processor 1420 obtains the orientation of the display device, which is associated with the global reference coordinates of the earth. For example, the 3D pointing device may include a reset button, and the reset button may send a reset signal to the operation processor 1420. After receiving the reset signal, the first operation processor 1420 uses a current orientation generated by the orientation sensor 1410 The output is recorded as the orientation of the display device in relation to the global reference coordinates, thus, the orientation of the display device in relation to the global reference coordinates of the earth may be recorded as a reset yaw angle.

In step 1364, the arithmetic processor 1420 obtains the orientation of the 3D pointing device associated with the fixed reference coordinate based on the orientation output and the orientation of the display device associated with the earth global reference coordinate. As mentioned above, the current orientation output recorded by the arithmetic processor 1420 may include a reset yaw angle associated with one of the three axes of the global reference coordinate (eg, the Z axis). The arithmetic processor 1420 can obtain the orientation of the 3D pointing device associated with the fixed reference coordinates associated with the display device by subtracting the reset yaw angle from the orientation output.

Step 705 shown in FIG. 7 and FIG. 8 is equivalent to step 1362 and step 1364 . In other embodiments of the present invention, in order to generate the orientation output in step 1320, the arithmetic processor 345 may execute steps 705 to 745 as shown in FIG. 7 and FIG. 8 . In this embodiment, the orientation output generated by the orientation sensor 1410 represents the 3D pointing device associated with a fixed reference coordinate associated with the display device. Therefore, in other embodiments, the operation processor 1420 may also omit the step 1362 and the step 1364 .

In step 1366, the arithmetic processor 1420 generates a translation rotation associated with the display device based on the orientation and rotation output of the 3D pointing device associated with the fixed reference coordinates associated with the display device. For example, the operation processor 1420 can generate the conversion rotation according to the following equation (25).

Among them, R ₁₁ -R ₁₃ , R ₂₁ -R ₂₃ , and R ₃₁ -R ₃₃ are elements in the 3x3 rotation matrix, and are obtained from the orientation of the 3D pointing device, and the orientation of the 3D pointing device is associated with the display device associated with a fixed reference coordinate. Also, [ω _x ω _y ω _z ] _D is the transformation rotation associated with the fixed reference coordinates associated with the display device. [ω _x ω _y ω _z ] _P is the rotation output generated by the rotation sensor 342 . In addition, the transformation rotation [ω _x ω _y ω _z ] _D includes three angular velocities ω _x , ω _y , ω _z , which are respectively related to the three axes X _D , Y _D , Z _D of the fixed reference coordinates associated with the display device couplet. Furthermore, the rotational output [ω _x ω _y ω _z ] _P includes three angular velocities ω _x , ω _y , ω _z , which are respectively associated with the three axes X _P , Y _P , Z _P of the spatial reference coordinates associated with the 3D pointing device. Associated.

In step 1368, the arithmetic processor 1420 generates a transformation output <d _x , d _y > based on the transformation rotation [ω _x ω _y ω _z ] _D , where d _x is the first motion component of the transformation output and d _y is Transform the second shifted component of the output. Wherein, the first movement component is associated with the _XD axis of the fixed reference coordinate, and the second movement component is associated with the _YD axis of the fixed reference coordinate, and the fixed reference coordinate is associated with the display device. For example, the operation processor 1420 multiplies the angular velocity ω _y in the conversion rotation by a predetermined scale factor to generate the second movement component d _y , and the operation processor 1420 multiplies the angular velocity ω _z in the conversion rotation by the above-mentioned A predetermined size factor is used to generate a first movement component _dx . Wherein, the value of the size factor can be set by the user.

The method for compensating the rotation of the 3D pointing device shown in FIG. 13 can be implemented by the 3D pointing device shown in FIG. 15 , and FIG. 15 shows a 3D pointing device according to another embodiment of the present invention. The 3D pointing device shown in FIG. 15 includes a rotation sensor 342 , an orientation sensor 1510 , and an arithmetic processor 1420 , wherein the orientation sensor 1510 includes an acceleration sensor 344 , a magnetometer 345 , and an arithmetic processor 348 .

In step 1320, the orientation sensor 1510 generates an orientation output that is associated with the orientation of the 3D pointing device, and the orientation of the 3D pointing device is associated with the three axes of the global reference coordinates of the earth. By executing steps 1010 to 1060 as shown in FIG. 10 , or steps 1110 to 1160 as shown in FIG. 11 , or steps 1210 to 1270 as shown in FIG. 12 , the arithmetic processor 348 of the orientation sensor 1510 can Produces the azimuth output described above. In short, in the steps shown in FIG. 10, FIG. 11, or FIG. 12, the rotation sensor 342 generates a rotation output (ω _x , ω _y , ω _z ) associated with the rotation of the 3D pointing device, and the 3D pointing device The rotation of the device is associated with the three axes of the spatial reference coordinates (the reference coordinates X _P Y _P Z _P shown in FIGS. 1 and 2 ). The acceleration sensor 344 generates a first signal group, the first signal group includes axial accelerations Ax, Ay, Az, the axial accelerations Ax, Ay, Az are associated with the movement and rotation of the 3D pointing device in the spatial reference coordinates . The magnetometer 345 generates a second set of signals (Mx, My, Mz) associated with the Earth's magnetic field. Furthermore, based on the first signal set, the second signal set, and the rotation output, the arithmetic processor 348 generates an azimuth output. Reference can be made to the above descriptions about FIG. 10 , FIG. 11 , and FIG. 12 , which have more detailed introductions.

The arithmetic processor 348 can generate the above-mentioned orientation output, which can be in the form of a rotation matrix, a quaternion value, a rotation vector, or three orientation angles including yaw angle, pitch angle, and roll angle. . The orientation output in the form of a quaternion value may be the third quaternion value generated in step 1050 as shown in FIG. 10, or may be the fourth quaternion value generated in step 1150 as shown in FIG. Obtained from the updated status in step 1265 as shown in FIG. 12 . Moreover, the three azimuth angles such as yaw angle, pitch angle and roll angle can be generated by step 1060 in FIG. 10 , step 1160 in FIG. 11 , or step 1270 in FIG. 12 . The rotation matrix and rotation vector can be obtained according to Equation (22), Equation (23), and Equation (24).

In this embodiment, the rotation sensor 342 shown in FIG. 15 can perform step 1340 like the rotation sensor 342 shown in FIG. 14 , and the arithmetic processor 1420 shown in FIG. Generally execute step 1360.

Step 1005 shown in FIG. 10 and step 1105 shown in FIG. 11 are equivalent to steps 1362 and 1364 . In another embodiment of the present invention, in order to generate the orientation output in step 1320, the arithmetic processor 348 in FIG. 15 may execute steps 1005 to 1060 shown in FIG. 10 or steps 1105 to 1160 shown in FIG. 8 . In this example, the orientation output generated by the orientation sensor represents the orientation of the 3D pointing device, and the orientation of the 3D pointing device is associated with a fixed reference coordinate associated with the display device. Therefore, in another embodiment, the operation processor 1420 in FIG. 15 omits the step 1362 and the step 1364 .

The method for compensating the rotation of the 3D pointing device shown in FIG. 13 can also be implemented by the 3D pointing device shown in FIG. 16 . FIG. 16 is a schematic diagram of a 3D pointing device according to another embodiment of the present invention. The 3D pointing device shown in FIG. 16 includes a rotation sensor 342 , an orientation sensor 1610 , and an arithmetic processor 1420 . The orientation sensor 1610 includes an accelerometer 344 , a magnetometer 345 , and an arithmetic processor 348 .

In step 1320, the orientation sensor 1610 generates an orientation output associated with the orientation of the 3D pointing device, which is associated with the global reference coordinates of the earth. To generate the orientation output, the magnetometer 345 generates a first set of signals comprising axial accelerations Ax, Ay, Az associated with movement and rotation of the 3D pointing device in the spatial reference coordinates . The magnetometer 345 generates a second set of signals (Mx, My, Mz) associated with the earth's magnetic field, and the arithmetic processor 348 of FIG. 16 generates an azimuth output based on the first set of signals and the second set of signals. A detailed description of the bearing output is described below.

The orientation output may be in the form of yaw angle ψ, pitch angle θ, and roll angle φ, which are respectively associated with the three axes of the global reference coordinate of the earth. The first signal group includes axial accelerations Ax, Ay, Az respectively associated with movement and rotation of the 3D pointing device along X _P , Y _P , Z _P axes of the spatial reference coordinates. The second signal group includes magnetic fields Mx, My, Mz, the magnetic fields Mx, My, Mz are respectively associated with the movement and rotation of the 3D pointing device along the X _P , Y _P , Z _P axes of the spatial reference coordinates, and the spatial reference coordinates is associated with the 3D pointing device.

The arithmetic processor 348 can calculate the pitch angle θ and the roll angle φ according to the following equations (26) and (27).

In equations (26) and (27), Ax, Ay, Az are the axial accelerations of the first signal group, and g is the gravitational acceleration. Moreover, the arithmetic processor 348 can calculate the pitch angle ψ according to equation (28).

In equation (28), Mx, My, Mz are the elements of the above-mentioned second signal group. According to equations (26), (27), and (28), the operational sensor 38 of FIG. 16 can generate azimuth outputs including yaw angle ψ, pitch angle θ, and roll angle φ.

In this embodiment, the rotation sensor 342 shown in FIG. 16 can perform step 1340 like the rotation sensor 342 shown in FIG. 14 , and the operation processor 1420 shown in FIG. Generally execute step 1360.

The method shown in FIG. 13 and the 3D pointing device shown in FIGS. 14 to 16 can convert the rotation and movement of the 3D pointing device in three-dimensional space into a two-dimensional moving template on the display plane of the display device. Conventional pointing devices do not take into account every angle of yaw, pitch, and roll when making conversions, and in some cases these conversions are wrong. For example, when a conventional pointing device is turned upside down, the pointing device may convert its rotation into movement in the exact opposite direction. On the other hand, no matter how the user positions or turns the 3D pointing device, since the embodiment of the present invention will take into account each yaw angle, pitch angle, and roll angle, the method shown in FIG. The 3D pointing device shown in 16 can correctly convert the rotation and movement of the 3D pointing device.

Those skilled in the art will appreciate that the present invention can be applied in various fields, including: games, computers, and navigation. Those skilled in the art should be able to understand that the protection scope of the present invention shall prevail as defined by the scope of the appended patent application, and shall include various possible applications of the present invention, including: indicating devices, navigation equipment or intelligent Electronic devices such as mobile phones.

The above-mentioned embodiments are only examples for the convenience of description, and even if they are arbitrarily modified by those skilled in the art, they will not depart from the scope of protection as claimed in the claims.

Claims (27)

1. a kind of 3D instruction devices, it is characterised in that the 3D instruction devices include：

One aspect sensor, the orientation output associated with an orientation of the 3D instruction devices to produce, and the 3D are indicated The orientation of device is that three axles of a universal reference coordinate associated with the earth are associated；

One rotation sensor, to produce a rotation with the 3D instruction devices it is associated one rotate output, and the 3D is indicated The rotation of device is that three axles of a georeferencing coordinate associated with the 3D instruction devices are associated；And

The aspect sensor includes：

One acceleration transducer, to produce one first signal group, the first signal group includes multiple axial accelerations, these axles It is that movement and rotation with the 3D instruction devices positioned at the georeferencing coordinate are associated to acceleration；

One magnetometer, the one second signal group associated with the magnetic field of the earth to produce；And

One second arithmetic processor, to produce a state quantity measurement based on the first signal group and the second signal group, the amount Survey state includes one and measures magnetic force Mx, My, Mz, and is exported based on the state quantity measurement and the rotation and produce a more new state, should More new state includes an estimated magnetic force Mx ', My ', Mz ', and orientation output is produced by calculating and changing the more new state, its Orientation output includes a result error, and the result error includes the one group deviation angle associated with the georeferencing coordinate.

2. 3D instruction devices as claimed in claim 1, are also included：

One first arithmetic processor, is exported, the conversion is defeated to be exported using orientation output with the rotation with producing a conversion Go out is that a fixed reference coordinate associated with a display device is associated；

Wherein first arithmetic processor is by the boundary information for calculating the fixed reference coordinate, and by the deviation angle and the side Boundary's information and change output and represent one section of movement in a plane of the fixed reference coordinate, this section of movement be parallel to this One screen of display device.

3. 3D instruction devices as claimed in claim 1 or 2, it is characterised in that second arithmetic processor is according to previous one An original state and the rotation acquired by period are exported, and calculate and obtain the today state of period now, and by comparing The today state produces the more new state with the state quantity measurement.

4. 3D instruction devices as claimed in claim 3, it is characterised in that the today state is the original state relative to the time First derivative.

5. 3D instruction devices as claimed in claim 3, it is characterised in that second arithmetic processor changes the today state Into estimated magnetic force Mx ', My ', Mz ', and by the today state and be similarly positioned in this now measurement magnetic force Mx, My, Mz of period and Estimated magnetic force Mx ', My ', the Mz ' are compared to pair, to produce the more new state.

6. 3D instruction devices as claimed in claim 3, it is characterised in that second arithmetic processor is obtained and the today state The first associated probability, and second probability associated with the state quantity measurement is obtained, and use first probability and second Probability, to produce the more new state.

7. 3D instruction devices as claimed in claim 2, wherein this group deviation angle includes a yaw angle, an angle of pitch, rolled with one Corner；The first signal group includes one first axial acceleration, one second axial acceleration and a three axial acceleration；Should Second arithmetic processor is based on the first axial acceleration calculation angle of pitch, and based on second axial acceleration and the pitching Angle calculates the roll angle based on the three axial acceleration and the angle of pitch, and based on the angle of pitch, the roll angle, with this Two signal groups calculate the yaw angle.

8. 3D instruction devices as claimed in claim 2, it is characterised in that the orientation that the aspect sensor is provided is output as One Rotation matrix, a quaternary value, a rotating vector or including three azimuths.

9. 3D instruction devices as claimed in claim 2, it is characterised in that first arithmetic processor is obtained and the universal reference One orientation of the associated display device of coordinate, and the orientation with the display device is exported based on the orientation and obtains the 3D and refers to The orientation of showing device, and the orientation based on the 3D instruction device associated with the fixed reference coordinate and rotation output, and Produce a conversion associated with the fixed reference coordinate to rotate, and rotated based on the conversion and produce conversion output.

10. 3D instruction devices as claimed in claim 9, it is characterised in that reset news when first arithmetic processor receives one Number, the orientation output now of one produced by the aspect sensor is recorded as and the fixed reference coordinate by first arithmetic processor The orientation of the associated display device.

11. 3D instruction devices as claimed in claim 10, it is characterised in that when the orientation output now includes joining with the whole world The associated yaw angle of one of three axles of coordinate axle is examined, first arithmetic processor is subtracted by by orientation output The yaw angle and the orientation for obtaining the 3D instruction device associated with the fixed reference coordinate.

12. 3D instruction devices as claimed in claim 9, it is characterised in that first arithmetic processor from the fixed reference The orientation of the associated 3D instruction devices of coordinate obtains a Rotation matrix, and the Rotation matrix is multiplied to rotation output Produce conversion rotation.

13. 3D instruction devices as claimed in claim 12, it is characterised in that the conversion, which is rotated, to be included and the fixed reference coordinate Associated one first angular speed of three axles, one second angular speed, with a third angle speed；Conversion output includes fixing with this One first mobile component and one second mobile component of wherein two axles correlation in three axles of reference coordinate, first calculation process Second angular speed is multiplied by a size factor and produces second mobile component by device, and first arithmetic processor is by the 3rd Angular speed is multiplied by a size factor and produces first mobile component.

14. a kind of method of the rotation of compensation 3D instruction devices, it is characterised in that the method for the rotation of compensation 3D instruction devices Including：

The orientation output associated with an orientation of the 3D instruction devices is produced, and the orientation of the 3D instruction devices is and the earth Three axles of an associated universal reference coordinate are associated；

Produce one associated with a rotation of the 3D instruction devices and rotate output, and the orientation of the 3D instruction devices is and the 3D Three axles of the associated georeferencing coordinate of instruction device are associated；And

Producing the step of orientation is exported includes：

Produce one first signal group, the first signal group include multiple axial accelerations, these axial accelerations be with positioned at this The movement and rotation of the 3D instruction devices of georeferencing coordinate are associated；

Produce the one second signal group associated with the magnetic field of the earth；

One state quantity measurement is produced based on the first signal group and the second signal group, the state quantity measurement includes one and measures magnetic force Mx, My, Mz；

Exported based on state quantity measurement the first signal group and the rotation and produce a more new state, it is estimated that the more new state includes one Magnetic force Mx ', My ', Mz '；

Calculate and change the more new state to go out and produce orientation output, the output of its orientation includes a result error, the result Deviation includes the one group deviation angle associated with the georeferencing coordinate.

15. method as claimed in claim 14, also includes：

Exported and exported with producing a conversion with the rotation using orientation output, conversion output is associated with a display device A fixed reference coordinate be associated；

Wherein one first arithmetic processor is by the boundary information for calculating the fixed reference coordinate, and by the deviation angle and the side Boundary's information and change output and represent one section of movement in a plane of the fixed reference coordinate, this section of movement be parallel to this One screen of display device.

16. the method as described in claims 14 or 15, it is characterised in that the previous shape according to acquired by a previous period State and the rotation are exported, and calculate and obtain the today state of period now, and by comparing the today state and the measurement shape State produces the more new state.

17. method as claimed in claim 16, it is characterised in that the today state is the original state relative to the one of the time Order derivative.

18. method as claimed in claim 16, it is characterised in that by the today state be converted into estimated magnetic force Mx ', My ', Mz ', and by the today state and be similarly positioned in this now measurement magnetic force Mx, My, Mz of the period and estimated magnetic force Mx ', My ', Mz ' is compared to pair, to produce the more new state.

19. method as claimed in claim 16, it is characterised in that obtain first probability associated with the today state, and Second probability associated with the state quantity measurement is obtained, and using first probability and the second probability, to produce the renewal shape State.

20. method as claimed in claim 15, wherein this group deviation angle includes a yaw angle, an angle of pitch and a roll angle； The first signal group includes one first axial acceleration, one second axial acceleration and a three axial acceleration；And be based on being somebody's turn to do First signal group is with the second signal group and producing the step of orientation is exported includes：

Based on the first axial acceleration calculation angle of pitch；

The rolling is calculated based on second axial acceleration and the angle of pitch or based on the three axial acceleration and the angle of pitch Angle；And

The yaw angle is calculated based on the angle of pitch, the roll angle, with the second signal group.

21. method as claimed in claim 15, it is characterised in that the orientation be output as a Rotation matrix, a quaternary value, one turn Moving vector or including three azimuths.

22. method as claimed in claim 15, it is characterised in that conversion output represents one positioned at the fixed reference coordinate One section of movement in plane, this section of movement is parallel to a screen of the display device.

23. method as claimed in claim 15, it is characterised in that the step of orientation is exported includes：

Obtain an orientation of the display device associated with the universal reference coordinate；

Based on the orientation export with the orientation of the display device and obtain the orientation of the 3D instruction devices；

Orientation based on the 3D instruction devices and produce associated with a fixed reference coordinate conversion and rotate；And

Rotated based on the conversion and produce conversion output.

24. method as claimed in claim 23, it is characterised in that obtain the display associated with the fixed reference coordinate and set The step of standby orientation, includes：

The orientation output now of one produced by one aspect sensor is recorded as the display associated with the fixed reference coordinate The orientation of equipment.

25. method as claimed in claim 24, it is characterised in that the orientation output now includes and the universal reference coordinate The associated yaw angle of one of three axles axle, and obtain the 3D instruction device associated with the fixed reference coordinate The step of orientation, includes：

The 3D instruction device associated with the fixed reference coordinate is obtained by orientation output is subtracted into the yaw angle Orientation.

26. method as claimed in claim 23, it is characterised in that producing the step of rotation is exported includes：

A Rotation matrix is obtained from the orientation of the 3D instruction device associated with the fixed reference coordinate；And

The Rotation matrix and rotation output are multiplied to produce into the conversion to rotate.

27. method as claimed in claim 26, it is characterised in that the conversion, which is rotated, includes three axles with the fixed reference coordinate Associated one first angular speed, one second angular speed and a third angle speed；Conversion output includes sitting with the fixed reference One first mobile component and one second mobile component of wherein two axles correlation in the axle of target three；And rotated and taken based on the conversion Obtaining the step of conversion is exported includes：

Second angular speed is multiplied by a size factor and second mobile component is produced；And

The third angle speed is multiplied by a size factor and first mobile component is produced.