Case 2:17-cv-00140-RWS-RSP Document 66-1 Filed 02/23/18 Page 1 of 20 PageID #: 1555
`Case 2:17-cv—00140-RWS—RSP Document 66-1 Filed 02/23/18 Page 1 of 20 PageID #: 1555
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`EXHIBIT A
`EXHIBIT A
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`Case 2:17-cv-00140-RWS-RSP Document 66-1 Filed 02/23/18 Page 2 of 20 PageID #: 1556
`
`USOO8441438B2
`
`(12) United States Patent
`Ye et al.
`
`(10) Patent No.:
`(45) Date of Patent:
`
`US 8.441,438 B2
`May 14, 2013
`
`(54) 3D POINTING DEVICE AND METHOD FOR
`COMPENSATING MOVEMENT THEREOF
`
`(75) Inventors: Zhou Ye, Foster City, CA (US);
`Chin-Lung Li, Taoyuan County (TW);
`Shun-Nan Liou, Kaohsiung (TW)
`
`(73) Assignee: Cywee Group Limited, Tortola (VG)
`(*) Notice:
`Subject to any disclaimer, the term of this
`patent is extended or adjusted under 35
`U.S.C. 154(b) by 218 days.
`
`21) Appl. No.: 12/943.934
`pp
`9
`
`(22) Filed:
`
`Nov. 11, 2010
`
`Prior Publication Data
`US 2011 FO163950 A1
`Jul. 7, 2011
`s
`Related U.S. Application Data
`(60) by gnal application No. 61/292,558, filed on Jan.
`s
`(51) Int. Cl.
`G09G 5/00
`(52) U.S. Cl.
`USPC .......................................................... 34.5/156
`(58) Field of Classification Search ........................ None
`See application file for complete search history.
`References Cited
`
`(65)
`
`(56)
`
`(2006.01)
`
`U.S. PATENT DOCUMENTS
`5,138,154 A
`8/1992 Hotelling
`5,440,326 A
`8/1995 Quinn
`5,898.421 A
`4/1999 Quinn
`6,061,611 A * 5/2000 Whitmore ...
`6,993,451 B2 *
`1/2006 Chang et al. .................. 7O2/153
`7,158,118 B2
`1/2007 Liberty
`7.236,156 B2
`6/2007 Liberty et al.
`7,239,301 B2
`7/2007 Liberty et al.
`7,262,760 B2
`8/2007 Liberty
`
`---
`
`705-Initialize on initial-value
`set
`
`82008 Liberty
`7,414,611 B2
`2/2009 Liberty et al.
`7,489,298 B2
`5/2009 Liberty et al.
`7,535,456 B2
`7,774,155 B2 * 8/2010 Sato et al. ..................... 7O2/127
`7,817,134 B2 * 10/2010 Huang et al.
`... 345,158
`7.924,264 B2 * 4/2011 Ohta ..............
`... 345,157
`8,010,313 B2 * 8/2011 Mathews et al. ...
`... 702/141
`2008, 0096654 A1* 4/2008 Mondesir et al. ............... 463,31
`2009,0262074 A1* 10, 2009 Nasiri et al. .......
`... 345,158
`2011/0307173 A1* 12/2011 Riley ............................ TO1,220
`OTHER PUBLICATIONS
`AZuma, Ronald et al. Improving Static and Dynamic Registration in
`an Optical See-Through HMD. Proceedings of SIGGRAPH '94
`(Orlando, Fla., Jul. 24 29, 1994), Computer Graphics, Annual Con
`ference Series, 1994, 197 204.*
`
`* cited by examiner
`
`Primary Examiner — William Boddie
`Assistant Examiner — Bryan E Earles
`(74) Attorney, Agent, or Firm — Ding Yu Tan
`(57)
`ABSTRACT
`A three-dimensional (3D) pointing device capable of accu
`rately outputting a deviation including yaw, pitch and roll
`angles in a 3D reference frame and preferably in an absolute
`manner is provided. Said 3D pointing device comprises a
`six-axis motion sensor module including a rotation sensor
`and an accelerometer, and a processing and transmitting mod
`ule. The six-axis motion sensor module generates a first sig
`nal set comprising angular Velocities and a second signal set
`comprising axial accelerations associated with said move
`ments and rotations of the 3D pointing device in the 3D
`reference frame. The processing and transmitting module
`utilizes a comparison method to compare the first signal set
`with the second signal set to obtain an updated State of the
`six-axis motion sensor module based on a current state and a
`measured State thereof in order to output the resulting devia
`tion in the 3D reference frame and preferably in an absolute
`a.
`
`19 Claims, 7 Drawing Sheets
`
`70-9btain a previous state
`(1st quatérnion) at T-1
`
`---
`
`e-rra
`
`715
`
`-
`Obtain measured angular
`y velocities at T
`
`---
`720-0btain a current state
`(2nd quatemion) at
`
`Output 3rd quaternion
`to 1st quaternion
`
`40
`
`Obtain measured oxial
`725-accelerations of a
`measured state of T
`
`Obtain resultant
`deviation including yaw, L-745
`pitch and roll ongles
`- -
`730- collegest oxid
`Obtain display data and
`measured state at T
`translate the resultant
`angles to movement
`pattern in the display
`- W -
`reference frame
`Obtain an updated state
`735-(3rd quaterion) by
`comparing current state
`with measured state
`
`
`
`750
`
`

`

`Case 2:17-cv-00140-RWS-RSP Document 66-1 Filed 02/23/18 Page 3 of 20 PageID #: 1557
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`U.S. Patent
`
`May 14, 2013
`
`Sheet 1 of 7
`
`US 8.441.438 B2
`
`
`
`110
`
`112
`
`Xp
`
`111
`
`FIG. 2 (RELATED ART)
`
`

`

`Case 2:17-cv-00140-RWS-RSP Document 66-1 Filed 02/23/18 Page 4 of 20 PageID #: 1558
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`U.S. Patent
`
`May 14, 2013
`
`Sheet 2 of 7
`
`US 8.441.438 B2
`
`
`
`310
`
`320
`
`330
`
`322
`
`300
`
`FIG. 3
`
`

`

`Case 2:17-cv-00140-RWS-RSP Document 66-1 Filed 02/23/18 Page 5 of 20 PageID #: 1559
`
`U.S. Patent
`
`May 14, 2013
`
`Sheet 3 of 7
`
`US 8,441.438 B2
`
`342
`
`Rotation
`
`Doto
`Transmitting
`Unit
`
`Computing
`Processor
`
`344
`
`FIG
`
`0
`
`4
`
`502 c5,
`
`544
`
`560-N
`
`546
`
`540
`
`522 520
`
`
`
`
`
`
`
`
`
`
`
`
`
`
`
`

`

`Case 2:17-cv-00140-RWS-RSP Document 66-1 Filed 02/23/18 Page 6 of 20 PageID #: 1560
`
`U.S. Patent
`
`May 14, 2013
`
`Sheet 4 of 7
`
`US 8.441.438 B2
`
`
`
`620
`
`630
`
`

`

`Case 2:17-cv-00140-RWS-RSP Document 66-1 Filed 02/23/18 Page 7 of 20 PageID #: 1561
`
`U.S. Patent
`
`May 14, 2013
`
`Sheet 5 Of 7
`
`US 8.441.438 B2
`
`705
`
`
`
`Initialize on initial-value
`Set
`
`710
`
`
`
`715
`
`
`
`720
`
`725
`
`
`
`
`
`Obtain a previous state
`(1st quaternion) at T-1
`
`Obtain measured angular
`Velocities at T
`
`Obtain a Current state
`(2nd quaternion) at T
`
`
`
`Obtain "measured Oxial
`Occelerotions" of a
`measured state at T
`
`
`
`
`
`Output 3rd quoternion
`to 1st quoternion
`
`Obtain resultant
`deviation including yaw,
`pitch and roll angles
`
`740
`
`745
`
`
`
`730-U Calculate "predicted Oxial
`accelerations" of a
`measured state at T
`
`Obtain an updated state
`735- (3rd quoternion) by
`Comparing current state
`with measured stote
`
`FIG. 7
`
`

`

`Case 2:17-cv-00140-RWS-RSP Document 66-1 Filed 02/23/18 Page 8 of 20 PageID #: 1562
`
`U.S. Patent
`
`May 14, 2013
`
`Sheet 6 of 7
`
`US 8.441.438 B2
`
`705
`
`Initialize on initial-value
`Set
`
`710
`
`Obtain a previous state
`(1st quoternion) at T-1
`
`715
`
`Obtain measured angular
`Velocities at T
`
`
`
`
`
`Output 3rd quoternion
`to 1st quoternion
`
`740
`
`Obtain resultant
`as
`deviation including yaw, L-745
`pitch and roll angles
`
`Obtain display data and
`translate the resultant
`angles to movement
`pattern in the display
`reference frome
`
`750
`
`720
`
`Obtain a current state
`(2nd quoternion) at T
`
`
`
`Obtain "measured axial
`725- accelerations" of a
`measured state ot T
`
`
`
`750-literist oil
`measured state ot T
`
`
`
`Obtain an updated state
`735-U (3rd quoternion) by
`comparing current state
`with measured state
`
`
`
`FIG. 8
`
`

`

`Case 2:17-cv-00140-RWS-RSP Document 66-1 Filed 02/23/18 Page 9 of 20 PageID #: 1563
`
`U.S. Patent
`
`May 14, 2013
`
`Sheet 7 Of 7
`
`US 8.441.438 B2
`
`
`
`Pmax
`
`FIG. 9
`
`

`

`Case 2:17-cv-00140-RWS-RSP Document 66-1 Filed 02/23/18 Page 10 of 20 PageID #:
` 1564
`
`US 8,441,438 B2
`
`2
`device 110 about the Y-axis; the roll angle 113 may represent
`the rotation of the pointing device 110 about the X axis.
`In a known related art as shown in FIG. 1, when the yaw
`angle 111 of the pointing device 110 changes, the aforemen
`tioned pointer on the screen 122 must move horizontally or in
`a horizontal direction with reference to the ground in
`response to the change of the yaw angle 111. FIG. 2 shows
`what happens when the user rotates the pointing device 110
`counterclockwise by a degree such as a 90-degree about the
`X axis.
`In another known related art as shown in FIG. 2, when the
`yaw angle 111 changes, the aforementioned pointer on the
`screen 122 is expected to move vertically in response. The
`change of the yaw angle 111 can be detected by a gyro-sensor
`which detects the angular Velocity (), of the pointing device
`110 about the X axis. FIG. 1 and FIG. 2 show that the same
`change of the yaw angle 111 may be mapped to different
`movements of the point on the screen 122. Therefore, a proper
`compensation mechanism for the orientation of the pointing
`device 110 is required Such that corresponding mapping of
`the pointer on the screen 122 of the display 120 may be
`obtained correctly and desirably. The term compensation of
`the prior arts by Liberty (U.S. Pat. No. 7,158,118, U.S. Pat.
`No. 7,262,760 and U.S. Pat. No. 7,414,611) refers to the
`correction and compensation of signals Subject to gravity
`effects or extra rotations about the axis related to “roll'. The
`term of "comparison' of the present invention may generally
`refer to the calculating and obtaining of the actual deviation
`angles of the 3D pointing device 110 with respect to the first
`reference frame or spatial pointing frame X,Y,Z utilizing
`signals generated by motion sensors while reducing or elimi
`nating noises associated with said motion sensors; whereas
`the term mapping may refer to the calculating and translating
`of said deviation angles in the sptatial pointing frame
`XYZ onto the aforementioned pointer on the display
`plane associated with the 2D display device 120 of a second
`reference frame or display frame X,Y,Z.
`It is known that a pointing device utilizing 5-axis motion
`sensors, namely, AX, Ay, AZ, () and (0.2 may be compensated.
`For example, U.S. Pat. No. 7,158,118 by Liberty, U.S. Pat.
`No. 7.262,760 by Liberty and U.S. Pat. No. 7,414,611 by
`Liberty provide Such pointing device having a 5-axis motion
`sensor and discloses a compensation using two gyro-sensors
`() and (02 to detect rotation about the Yp and Zp axes, and
`accelerometers AX, Ay and AZ to detect the acceleration of the
`pointing device along the three axes of the reference frame
`XYZ. The pointing device by Liberty utilizing a 5-axis
`motion sensor may not output deviation angles of the pointing
`device in, for example, a 3D reference frame; in other words,
`due to due to the limitation of the 5-axis motion sensor of
`accelerometers and gyro-sensors utilized therein, the point
`ing device by Liberty cannot output deviation angles readily
`in 3D reference frame but rather a 2D reference frame only
`and the output of such device having 5-axis motion sensors is
`a planar pattern in 2D reference frame only. In addition, it has
`been found that the pointing device and compensation dis
`closed therein cannot accurately or properly calculate or
`obtain movements, angles and directions of the pointing
`device while being Subject to unexpected dynamic movement
`during the obtaining of the signals generated by the motion
`sensors, in particular, during unexpected drifting movements
`and/or accelerations along with the direction of gravity. In
`other words, it has been found that dynamic actions or extra
`accelerations including additional accelerations, in particular
`the one acted upon the direction substantially parallel to or
`along with the gravity imposed on the pointing device with
`the compensation methods provided by Liberty, said pointing
`
`1.
`3D PONTING DEVICE AND METHOD FOR
`COMPENSATING MOVEMENT THEREOF
`
`CROSS-REFERENCE TO RELATED
`APPLICATION
`
`This application claims priority benefits of U.S. Patent
`Provisional Application No. 61/292,558, filed on Jan. 6,
`2010. The entirety of the above-mentioned patent applica
`tions is hereby incorporated by reference herein and made a
`part of this specification.
`
`BACKGROUND OF THE INVENTION
`
`1. Field of the Invention
`The present invention generally relates to a three-dimen
`sional (3D) pointing device utilizing a motion sensor module
`and method of compensating and mapping signals of the
`motion sensor module Subject to movements and rotations of
`said 3D pointing device. More particularly, the present inven
`tion relates to a 3D pointing device utilizing a six-axis motion
`sensor module with an enhanced comparison to calculate and
`compensate accumulated errors associated with the motion
`sensor module and to obtain actual resulting deviation angles
`in spatial reference frame and under dynamic environments.
`2. Description of the Related Art
`FIG. 1 is a schematic diagram showing a user using a
`handheld 3D pointing device 110 to point at a point on the
`screen 122 of a 2D display device 120. If the pointing device
`110 emits a light beam, the point would be the location where
`the light beam hits the screen 122. For example, the pointing
`device 110 may be a mouse of a computer or a pad of a video
`game console. The display device 120 may be a part of the
`computer or the video game console. There are two reference
`frames, such as the spatial pointer reference frame and the
`display frame, associated with the pointing device 110 and
`the display device 120, respectively. The first reference frame
`or spatial pointer reference frame associated with the pointing
`device 110 is defined by the coordinate axes X,Y and Z, as
`shown in FIG.1. The second reference frame or display frame
`associated with the display device 120 is defined by the coor
`dinate axes X,Y, and Z, as shown in FIG.1. The screen 122
`of the display device 120 is a subset of the X,Y, plane of the
`reference frame X,Y,Z associated with the display device
`120. Therefore, the X,Y, plane is also known as the display
`plane associated with the display device 120.
`A user may perform control actions and movements utiliz
`ing the pointing device for certain purposes including enter
`tainment Such as playing a video game, on the display device
`120 through the aforementioned pointer on the screen 122.
`For proper interaction with the use of the pointing device,
`when the user moves the pointing device 110, the pointer on
`the screen 122 is expected to move along with the orientation,
`direction and distance travelled by the pointing device 110
`and the display 120 shall display such movement of the
`pointer to a new location on the screen 122 of the display 120.
`The orientation of the pointing device 110 may be represented
`by three deviation angles of the 3D pointing device 110 with
`respect to the reference frame XYZ, namely, the yaw
`angle 111, the pitchangle 112 and the roll angle 113. The yaw,
`pitch and roll angles 111, 112,113 may be best understood in
`relation to the universal standard definition of spatial angles
`related to commercial vehicles or transportation Such as ships
`and airplanes. Conventionally, the yaw angle 111 may repre
`sent the rotation of the pointing device 110 about the Z axis;
`the pitch angle 112 may represent the rotation of the pointing
`
`10
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`15
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`25
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`30
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`Case 2:17-cv-00140-RWS-RSP Document 66-1 Filed 02/23/18 Page 11 of 20 PageID #:
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`US 8,441,438 B2
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`3
`device by Liberty cannot properly or accurately output the
`actual yaw, pitch and roll angles in the spatial reference frame
`XYZ and following which, consequently, the mapping of
`the spatial angles onto any 2D display reference frame Such as
`X,Y,Z may be greatly affected and erred. To be more
`specific, as the 5-axis compensation by Liberty cannot detect
`or compensate rotation about the X axis directly or accu
`rately, the rotation about the X-axis has to be derived from the
`gravitational acceleration detected by the accelerometer. Fur
`thermore, the reading of the accelerometer may be accurate
`only when the pointing device is static since due to the limi
`tation on known accelerometers that these sensors may not
`distinguish the gravitational acceleration from the accelera
`tion of the forces including centrifugal forces or other types of
`additional accelerations imposed or exerted by the user.
`Furthermore, it has been found that known prior arts may
`only be able to output a “relative' movement pattern in a 2D
`reference frame based on the result calculated from the sig
`nals of motion sensors. For example, the abovementioned
`prior arts by Liberty may only output a 2D movement pattern
`in a relative manner and a pointer on a display Screen to show
`Such corresponding 2D relative movement pattern. To be
`more specific, the pointer moves from a first location to a
`second new location relative to said first location only. Such
`relative movement from the previous location to the next
`location with respect to time cannot accurately determine
`and/or output the next location, particularly in situations
`where the previous location may have been an erred location
`or have been faultily determined as an incorrect reference
`point for the next location that is to be calculated therefrom
`and obtained based on their relative relationship adapted. One
`illustration of such defect of known prior arts adapting a
`relative relationship in obtaining a movement pattern may be
`clearly illustrated by an example showing the faultily output
`ted movements of a pointer intended to move out of a bound
`ary or an edge of display Screen. It has been found that as the
`pointer of known prior arts reaches the edge of a display and
`continues to move out of the boundary or edge at a certain
`extra extent beyond said boundary, the pointer fails to dem
`onstrate a correct or “absolute” pattern as it moves to a new
`40
`location either within the display or remaining outside of the
`boundary; in other words, instead of returning to a new loca
`tion by taking into account said certain extra extend beyond
`the boundary made earlier in an “absolute' manner, the
`pointer of known arts discards such virtual distance of the
`extra extend beyond the boundary already made and an erred
`next position is faultily outputted due to the relative relation
`ship adapted and utilized by the pointer. may be never calcu
`lated or processed due to the faultily obtained location at the
`edge or boundary of the display as well as the relative rela
`tionship adapted to obtain its next location therefrom.
`Therefore, it is clear that an improved pointing device with
`enhanced calculating or comparison method capable of accu
`rately obtaining and calculating actual deviation angles in the
`spatial pointer frame as well as mapping of such angles onto
`a pointer on the display frame in dynamic environments and
`conditions is needed. In addition, as the trend of 3D technol
`ogy advances and is applicable to various fields including
`displays and interactive systems, there is a significant need for
`a 3D pointing device capable of accurately outputting a devia
`tion of such device readily useful in a 3D or spatial reference
`frame. Furthermore, there is a need to provide an enhanced
`comparison method applicable to the processing of signals of
`motion sensors such that errors and/or noises associated with
`Such signals or fusion of signals from the motions sensors
`may be corrected or eliminated. In addition, according to the
`field of application, such output of deviation in 3D reference
`
`4
`frame may too be further mapped or translated to a pattern
`useful in a 2D reference frame.
`
`SUMMARY OF THE INVENTION
`
`According to one aspect of an example embodiment of the
`present invention, a 3D pointing device utilizing a six-axis
`motion sensor module is provided. The 3D pointing device
`comprises an accelerometer to measure or detect axial accel
`erations AX, AZ, Ay and a rotation sensor to measure or detect
`angular velocities (), (),
`(). Such that resulting deviation
`including resultant angles comprising yaw, pitch and roll
`angles in a spatial pointer frame of the 3D pointing device
`Subject to movements and rotations in dynamic environments
`may be obtained and Such that said resulting deviation includ
`ing said resultant angles may be obtained and outputted in an
`absolute manner reflecting or associating with the actual
`movements and rotations of the 3D pointer device of the
`present invention in said spatial pointer reference frame.
`According to another aspect of the present invention, the
`present invention provides an enhanced comparison method
`to eliminate the accumulated errors as well as noises over
`time associated with signals generated by a combination of
`motion sensors, including the ones generated by accelerom
`eters A. A. A. and the ones generated by gyroscopes (), (),
`() in dynamic environments. In other words, accumulated
`errors associated with a fusion of signals from a motions
`sensor module comprising a plurality of motion sensors to
`detect movements on and rotations about different axes of a
`reference frame may be eliminated or corrected.
`According to still another aspect of the present invention,
`the present invention provides an enhanced comparison
`method to correctly calculating and outputting a resulting
`deviation comprising a set of resultant angles including yaw,
`pitch and roll angles in a spatial pointer frame, preferably
`about each of three orthogonal coordinate axes of the spatial
`pointer reference frame, by comparing signals of rotation
`sensor related to angular Velocities or rates with the ones of
`accelerometer related to axial accelerations such that these
`angles may be accurately outputted and obtained, which may
`too be further mapping to another reference frame different
`from said spatial pointer frame.
`According to still another aspect of the present invention,
`the present invention provides a mapping of the abovemen
`tioned resultant angles, preferably about each of three
`orthogonal coordinate axes of the spatial pointer reference
`frame, includingyaw, pitch and roll angles in a spatial pointer
`reference frame onto a display frame Such that a movement
`pattern in a display frame different from the spatial pointer
`reference frame may be obtained according to the mapping or
`translation of the resultant angles of the resultant deviation
`onto said movement pattern.
`According to another example embodiment of the present
`invention, a 3D pointing device utilizing a six-axis motion
`sensor module with an enhanced comparison method for
`eliminating accumulated errors of said six-axis motion sensor
`module to obtain deviation angles corresponding to move
`ments and rotations of said 3D pointing device in a spatial
`pointer reference frame is provided. The 3D pointing device
`and the comparison method provided by the present invention
`by comparing signals from the abovementioned six-axis
`motion sensor module capable of detecting rotation rates or
`angular velocities of the 3D pointing device about all of the
`X, Y, and Z axes as well as axial accelerations of the 3D
`pointing device along all of the X, Y, and Z axes. In other
`words, the present invention is capable of accurately output
`ting the abovementioned deviation angles including yaw,
`
`5
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`10
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`

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`Case 2:17-cv-00140-RWS-RSP Document 66-1 Filed 02/23/18 Page 12 of 20 PageID #:
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`US 8,441,438 B2
`
`6
`According to another embodiment of the present invention,
`a method for obtaining a resulting deviation including result
`ant angles in a spatial pointer reference frame of a three
`dimensional (3D) pointing device utilizing a six-axis motion
`sensor module therein and Subject to movements and rota
`tions in dynamic environments in said spatial pointer refer
`ence frame is provided. Said method comprises the steps of:
`obtaining a previous state associated with previous angular
`velocities (), (), (), gained from the motion sensor signals of
`the six-axis motion sensor module at a previous time T-1;
`obtaining a current state of the six-axis motion sensor module
`by obtaining measured angular velocities (), (), (), gained
`from the motion sensor signals at a current time T, obtaining
`a measured state of the six-axis motion sensor module by
`obtaining measured axial accelerations AX, Ay, AZ gained
`from the motion sensor signals at the current time T and
`calculating predicted axial accelerations AX, Ay", AZ based
`on the measured angular velocities (), (), (), of the current
`state; obtaining an updated State of the six-axis motion sensor
`module by comparing the current state with the measured
`state of the six-axis motion sensor module; and calculating
`and converting the updated State of the six axis motion sensor
`module to said resulting deviation comprising said resultant
`angles in said spatial pointer reference frame of the 3D point
`ing device.
`According to another aspect of the present invention, a
`method for mapping deviation angles associated with move
`ments and rotations of a 3D pointing device in a spatial
`pointer reference frame onto a display frame of a display
`having a predetermined screen size is provided. In one
`embodiment, the method for mapping or translating deviation
`angles includingyaw, pitch and roll angles in a spatial pointer
`reference frame to an pointing object, Such as a pointer, hav
`ing movements in a display frame, preferably a 2D reference
`frame, comprises the steps of obtaining boundary informa
`tion of the display frame by calculating a predefined sensitiv
`ity associated with the display frame and performing angle
`and distance translation in the display frame based on said
`deviation angles and boundary information.
`
`BRIEF DESCRIPTION OF THE DRAWINGS
`
`The accompanying drawings are included to provide a
`further understanding of the invention, and are incorporated
`in and constitute a part of this specification. The drawings
`illustrate embodiments of the invention and, together with the
`description, serve to explain the principles of the invention.
`FIG. 1 shows a known related art having a 5-axis motion
`sensor in 2D reference frame.
`FIG. 2 shows the known related art having a 5-axis motion
`sensor as shown in FIG. 1 being rotated or rolled about Xp
`axis and is Subject to further dynamic interactions or environ
`ment.
`FIG. 3 is an exploded diagram showing a 3D pointing
`device utilizing a six-axis motion sensor module according to
`one embodiment of the present invention in a 3D spatial
`pointer reference frame.
`FIG. 4 is a schematic block diagram illustrating hardware
`components of a 3D pointing device according to one
`embodiment of the present invention.
`FIG. 5 is a schematic diagram showing a 3D pointing
`device utilizing a six-axis motion sensor module according to
`anther embodiment of the present invention in a 3D spatial
`pointer reference frame.
`
`5
`pitch and roll angles in a 3D spatial pointer reference frame of
`the 3D pointing device to eliminate or reduce accumulated
`errors and noises generated over time in a dynamic environ
`ment including conditions such as being Subject to a combi
`nation of continuous movements, rotations, external gravity
`forces and additional extra accelerations in multiple direc
`tions or movement and rotations that are continuously non
`linear with respect to time; and furthermore, based on the
`deviation angles being compensated and accurately outputted
`in 3D spatial pointer reference frame may be further mapped
`onto or translated into another reference frame Such as the
`abovementioned display frame, for example a reference in
`two-dimension (2D).
`According to another example embodiment of the present
`invention, a 3D pointing device utilizing a six-axis motion
`sensor module is provided; wherein the six-axis motion sen
`Sor module of the 3D pointing device comprises at least one
`gyroscope and at least one accelerometer. In one preferred
`embodiment of the present invention, the six-axis motion
`sensor module comprises a rotation sensor capable of detect
`ing and generating angular velocities of (), (), (), and an
`accelerometer capable of detecting and generating axial
`accelerations of AX, Ay, AZ. It can be understood that in
`another preferred embodiment, the abovementioned rotation
`sensor may comprise three gyroscopes corresponding to each
`of the said angular velocities of co, co, Co. in a 3D spatial
`pointer reference frame of the 3D pointing device; whereas
`the abovementioned accelerometer may comprise three
`accelerometers corresponding to each of the said axial accel
`erations AX, Ay, AZ in a 3D spatial pointer reference frame of
`30
`the 3D pointing device. The rotation sensor detects the rota
`tion of the 3D pointing device with respect to a reference
`frame associated with the 3D pointing device and provides a
`rotation rate orangular Velocity output. The angular Velocity
`output includes three components corresponding to the rota
`tion rate or angular velocities (), (), (), of the 3D pointing
`device about the first axis, the second axis and the third axis of
`the reference frame, namely, Xp, Yip and Zp of the 3D spatial
`pointer frame. The accelerometer detects the axial accelera
`tions of the 3D pointing device with respect to the spatial
`pointer reference frame such as a 3D-pointer reference frame
`and provides an acceleration output. The acceleration output
`includes three components corresponding to the accelera
`tions, AX, AZ, Ay of the 3D pointing device along the first axis,
`the second axis and the third axis of the reference frame,
`namely, Xp.Yp and Zp of the 3D spatial pointerframe. It can,
`however, be understood that the axes of Xp, Yip and Zp of the
`3D spatial pointerframe may too be represented simply by the
`denotation of X, Y and Z.
`According to another example embodiment of the present
`invention, a method for compensating accumulated errors of
`signals of the abovementioned six-axis motion sensor module
`in dynamic environments associated in a spatial pointer ref
`erence frame is provided. In one embodiment, the method
`may be performed or handled by a hardware processor. The
`processor is capable of compensating the accumulated errors
`associated with the resultant deviation in relation to the sig
`nals of the above-mentioned six-axis motion sensor module
`of the 3D pointing device Subject to movements and rotations
`in a spatial pointer reference frame and in a dynamic envi
`ronment by performing a data comparison to compare signals
`of rotation sensor related to angular velocities with the ones of
`accelerometer related to axial accelerations such that the
`resultant deviation corresponding to the movements and rota
`tions of the 3D pointing device in the 3D spatial pointerframe
`may be obtained accurately over time in the dynamic envi
`rOnmentS.
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`Case 2:17-cv-00140-RWS-RSP Document 66-1 Filed 02/23/18 Page 13 of 20 PageID #:
` 1567
`
`US 8,441,438 B2
`
`7
`FIG. 6 is an exploded diagram showing a 3D pointing
`device utilizing a six-axis motion sensor module according to
`anther embodiment of the present invention in a 3D spatial
`pointer reference frame.
`FIG. 7 is a flow chart illustrating a method for compensat
`ing deviation angles of a 3D pointing device having move
`ments and rotations in a 3D spatial pointer reference frame
`and in a dynamic environment according to an embodiment of
`the present invention.
`FIG. 8 shows a flow chart illustrating a method of mapping
`deviation angles of a 3D pointing device having movements
`and rotations in a 3D spatial pointer reference frame and in a
`dynamic environment onto a display reference frame accord
`ing to another embodiment of the present invention.
`FIG. 9 is a schematic diagram showing the mapping of the
`resultant angles of the resultant deviation of a 3D pointing
`device according to an embodiment of the present invention.
`
`DESCRIPTION OF THE EMBODIMENTS
`
`8
`orthogonal coordinate axes X,Y,Z of the spatial pointer
`reference frame. The angular velocities co, co, and Co. are
`corresponding to the coordinate axes X, Y, and Z, respec
`tively. The accelerometer 344 detects and generates the sec
`ond signal set including axial accelerations AX, Ay, AZ, asso
`ciated with the movements and rotations of the 3D pointing
`device 300 along each of the three orthogonal coordinate axes
`XYZ of the spatial pointer reference frame. The axial
`accelerations AX, Ay and AZ are corresponding to the coordi
`nate axes X, Y, and Z respectively. The term “six-axis'
`means the three angular velocities (), (), (), and the three
`axial accelerations AX, Ay, AZ. It can therefore be understood
`that the abovementioned six axes of X,Y,Z may not need to
`be orthogonal in a specific orientation and they may be rotated
`in different orientations; the present invention discloses Such
`coordinate system for illustrative purposes only and any coor
`dinates in different orientation and/or denotations may too be
`possible.
`The data transmitting unit 346 is electrically connected to
`the six-axis motion sensor module 302 for transmitting the
`first and second signal sets. The data transmitting unit 346
`transmits the first and second signal sets of the six-axis
`motion sensor module 302 to