US 12,333,066 B2
Determining angular acceleration
Arnau Franci Rodon, San Francisco, CA (US); and Omid Ghasemalizadeh, San Jose, CA (US)
Assigned to Magic Leap, Inc., Plantation, FL (US)
Filed by Magic Leap, Inc., Plantation, FL (US)
Filed on Jun. 17, 2024, as Appl. No. 18/745,940.
Application 18/745,940 is a continuation of application No. 18/068,392, filed on Dec. 19, 2022, granted, now 12,056,273.
Application 18/068,392 is a continuation of application No. 17/332,917, filed on May 27, 2021, granted, now 11,561,613, issued on Jan. 24, 2023.
Claims priority of provisional application 63/031,985, filed on May 29, 2020.
Prior Publication US 2024/0338072 A1, Oct. 10, 2024
This patent is subject to a terminal disclaimer.
Int. Cl. G06F 3/01 (2006.01); G01P 15/08 (2006.01); G01P 15/16 (2013.01)
CPC G06F 3/012 (2013.01) [G01P 15/08 (2013.01); G01P 15/165 (2013.01); G06F 3/011 (2013.01)] 20 Claims
OG exemplary drawing
 
1. A system comprising:
a first inertial measurement unit and a second inertial measurement unit, wherein the second inertial measurement unit is disposed at a fixed position with respect to the first inertial measurement unit; and
one or more processors configured to perform a method comprising:
receiving first inertial data via the first inertial measurement unit;
receiving second inertial data via the second inertial measurement unit;
calculating an angular acceleration based on the first inertial data and based further on the second inertial data;
estimating a position of a wearable head device based on the angular acceleration, wherein:
the estimating the position of the wearable head device based on the angular acceleration comprises calculating a pre-integration term based on the angular acceleration, and
the pre-integration term relates a first state of the wearable head device to a second state of the wearable head device; and
performing an operation based on the position of the wearable head device.