US 11,947,739 B2
Methods, apparatus and systems using motion of various input devices for controlling consumer devices
Seth Sternberg, Mountain View, CA (US); Steven Francz, Mountain View, CA (US); Stephen Scheirey, Mountain View, CA (US); Chad Lucien, Mountain View, CA (US); Friedrich Geck, Mountain View, CA (US); Peter Christopher Wood, Mountain View, CA (US); Bryan A. Cook, Silver Spring, MD (US); and Mark Turner, Mountain View, CA (US)
Assigned to CEVA TECHNOLOGIES, INC., Mountain View, CA (US)
Appl. No. 17/618,991
Filed by CEVA TECHNOLOGIES, INC., Mountain View, CA (US)
PCT Filed Jun. 29, 2020, PCT No. PCT/US2020/040142
§ 371(c)(1), (2) Date Dec. 14, 2021,
PCT Pub. No. WO2020/264507, PCT Pub. Date Dec. 30, 2020.
Claims priority of provisional application 62/868,021, filed on Jun. 28, 2019.
Prior Publication US 2022/0308680 A1, Sep. 29, 2022
Int. Cl. G06F 3/0346 (2013.01); G06F 3/01 (2006.01)
CPC G06F 3/0346 (2013.01) [G06F 3/017 (2013.01)] 8 Claims
OG exemplary drawing
 
1. A method of roll angle estimation for an input/gesture device having a 3-axis gyroscope, as a first type of motion sensor, and a 3-axis accelerometer, as a second type of motion sensor, the input/gesture device being in communication with a mobile device having a surface, the method comprising:
measuring 3D linear motion or obtaining measurements of the 3D linear motion of the input/gesture device based on reading from the 3-axis accelerometer and the 3-axis gyroscope of the input/gesture device;
measuring 2D planar linear motion or obtaining measurements of the 2D planar linear motion of the input/gesture device based on reading from a third type of sensor;
correlating the 3D linear motion with the 2D planar linear motion; and
determining the roll angle of the input/gesture device relative to the surface of the mobile device by solving for frame alignment between an inertial frame and a mobile device frame using a result of the correlating step,
wherein the step of determining the roll angle further comprises:
applying a rigid body formula to estimate an acceleration of the tip of input/gesture device, rather than a location of the 3-axis accelerometer;
representing the 2D planar linear motion coordinates of the tip in 3D;
applying a DC-blocking filter on both a 3D pointer trajectory from the surface and double integrated 3-axis accelerometer data to generate two signals; and
determining a frame alignment that aligns the two signals.