Rolling gesture detection using a multi-dimensional pointing device

A system and a method for performing a rolling gesture using a multi-dimensional pointing device. An initiation of a gesture by a user of the multi-dimensional pointing device is detected. A rolling gesture metric corresponding to performance of a rolling gesture comprising rotation of the multi-dimensional pointing device about a longitudinal axis of the multi-dimensional pointing device is determined. Information corresponding the rolling gesture metric is conveyed to a client computer system, wherein the client computer system is configured to manipulate an object in a user interface of the client computer system in accordance with the rolling gesture metric.

TECHNICAL FIELD

The disclosed embodiments relate generally to detecting performance of a rolling gesture using a multi-dimensional pointing device and conveying a corresponding rolling gesture metric to a host system.

BACKGROUND

A pointing device (e.g., a mouse, a trackball, etc.) may be used to interact with objects within a user interface of a computer system or other electronic devices (e.g., a set top box, etc.). Existing pointing devices offer a limited set of user interface operations. For example, a mouse is typically moved across a flat surface to produce translational movement (e.g., in the x and y directions) of objects in the user interface of a computer system. Another type of pointing device is a free space pointer. The free space pointer is typically moved in three dimensions. However, like the mouse, the free space pointer is limited to producing translational movement of objects in the user interface of the computer system, for example by pointing to an object and then moving the pointer to indicate a new position to which the object is to be moved.

SUMMARY

Some embodiments provide a system, a computer readable storage medium including instructions, and a computer-implemented method for detecting performance of a rolling gesture using a multi-dimensional pointing device. An initiation of a gesture by a user of the multi-dimensional pointing device is detected. A rolling gesture metric corresponding to performance of a rolling gesture comprising rotation of the multi-dimensional pointing device about a longitudinal axis of the multi-dimensional pointing device is determined. Information corresponding the rolling gesture metric is conveyed to a client computer system, wherein the client computer system is configured to manipulate an object in a user interface of the client computer system in accordance with the rolling gesture metric.

In some embodiments, the initiation of the gesture by the user of the multi-dimensional pointing device is detected by detecting the pressing of a button on the multi-dimensional pointing device.

In some embodiments, the button is selected from the group consisting of a volume button, a channel button, a video input button, an audio input button, and a gesture button.

In some embodiments, the rolling gesture metric corresponds to a change in attitude of the pointing device upon initiation of the rolling gesture.

In some embodiments, the rolling gesture metric is selected from the group consisting of a roll angle, a roll rate, a roll acceleration (i.e., a time derivative of the roll rate), and a predefined combination of two or more of the roll angle, roll rate and roll acceleration.

In some embodiments, the corresponding rolling gesture metric is determined as follows. A change in attitude of the multi-dimensional pointing device, corresponding to rotation about a longitudinal axis of the multi-dimensional pointing device, is calculated based on one or more accelerometer measurements from one or more multi-dimensional accelerometers of the multi-dimensional pointing device and one or more magnetic field measurements from one or more multi-dimensional magnetometers of the multi-dimensional pointing device. The rolling gesture metric is then calculated based on the change in attitude of the multi-dimensional pointing device.

In some embodiments, the corresponding rolling gesture metric is determined as follows. A change in attitude of the multi-dimensional pointing device is calculated based on one or more accelerometer measurements from one or more multi-dimensional accelerometers of the multi-dimensional pointing device and one or more magnetic field measurements from one or more multi-dimensional magnetometers of the multi-dimensional pointing device. It is then determined that the multi-dimensional pointing device is undergoing a rotation about a longitudinal axis of the multi-dimensional pointing device based on the change in attitude of the multi-dimensional pointing device. The rolling gesture metric is then calculated based on the change in attitude of the multi-dimensional pointing device.

In some embodiments, the rolling gesture is mapped to a scrolling operating that is performed on the object in the user interface of the client computer system. For example, the object on which the scrolling operation is performed may be selected from the group consisting of a web page, a document, and a list.

In some embodiments, the rolling gesture is mapped to a rotation operation that is performed on the object in the user interface of the client computer system. For example, the object on which the rotation operation is performed may be selected from the group consisting of a dial, a photograph, and a page of a document.

In some embodiments, the rolling gesture metric is mapped to a number of clicks of a mouse wheel over a time interval.

In some embodiments, detecting initiation of the gesture includes receiving a message from the client computer system that indicates that the user of the multi-dimensional pointing device selected a user interface element (e.g., a menu item, an icon, etc.) in the user interface of the client computer system that initiates the detection of gestures.

DESCRIPTION OF EMBODIMENTS

Digital Convergence

Before discussing embodiments that can be used to solve the aforementioned problems, it is instructive to discuss the possible uses of the embodiments described herein. The idea of “digital convergence” has been a prevalent pursuit for many years. One aspect of “digital convergence” is making content (e.g., digital content) available to a user on any type of display device. The struggle towards digital convergence is particularly acute among personal computer (PC) manufacturers, broadband media providers, and consumer electronics (CE) manufacturers.

CE manufacturers and broadband media providers have experienced the effects of the rise of Internet-distributed content (e.g., digital movie and music downloads, etc.), which have diverted consumers from their products and services. Accordingly, consumers spend more time in front of their personal computers (PCs). Digital convergence may allow CE manufacturers and broadband media providers to recapture consumer attention by routing content consumption through their domains (e.g., cable and satellite transmissions to a television set).

Unfortunately, one substantial hurdle to digital convergence is the lack of an advanced user interface for the television set (or other CE devices). Although high-definition television (HDTV) has increased the resolution of the television programs displayed, the remote control of a television set or a cable/satellite set-top box (STB) remains archaic: including a numeric keypad, up/down/left/right arrows, and a large number of predefined function keys. This lack of an advanced user interface makes the PC a logical venue for interactive content.

Digital convergence may redefine the role of the television set. Instead of just providing multimedia content for passive consumption, the television set may be a center of interactivity, providing access to photos, movies, music, games, phone calls, video conferences, etc. However, to facilitate the goal of digital convergence, an advanced user interface must be provided for the television set. Accordingly, the simple remote controller for existing television sets must be replaced with a device that can interact with the advanced user interface. Furthermore, the remote controller must remain cost-effective (e.g., less than $10), must have long battery life, and must be responsive to user input.

Multi-Dimensional Pointing Device

A multi-dimensional pointing device may be used to interact with advanced user interfaces that are needed to achieve digital convergence.FIG. 1illustrates an exemplary multi-dimensional pointing (MDP) device102coupled to an exemplary host system101through a wireless interface, according to some embodiments. In these embodiments, a user103can use the multi-dimensional pointing device102to issue commands to the host system101, control objects in the user interface of the host system101, and/or position objects in the user interface of the host system101. In some embodiments, the multi-dimensional pointing device102is sensitive to six degrees of freedom: x, y, z, yaw, pitch, and roll.

In some embodiments, the wireless interface is selected from the group consisting of: a Wi-Fi interface, a Bluetooth interface, an infrared interface, an audio interface, a visible light interface, a radio frequency (RF) interface, and any combination of the aforementioned wireless interfaces.

In some embodiments, data (e.g., raw measurements, calculated attitude, correction factors, position information, etc.) from the multi-dimensional pointing device102is received and processed by a host side device driver on the host system101. The host system101can then use this data to position cursors, objects, etc., in the user interface of the host system101.

In some embodiments, the wireless interface is a unidirectional wireless interface from the multi-dimensional pointing device to the host system101. In some embodiments, the wireless interface is a bidirectional wireless interface. In some embodiments, bidirectional communication is used to perform handshaking and pairing operations.

In some embodiments, a wired interface can be used instead of a wireless interface. As with the wireless interface, the wired interface may be a unidirectional or bidirectional wired interface.

As mentioned above, the act of moving a multi-dimensional pointing device around creates accelerations and decelerations that may cause conventional attitude-determination techniques to fail. Specifically, consider a device that includes a single multi-dimensional magnetometer (e.g., a tri-axial magnetometer) and a single multi-dimensional accelerometer (e.g., a tri-axial accelerometer), which is subject to dynamic acceleration. Note that the term “dynamic acceleration” refers to acceleration and/or deceleration (e.g., accelerations/decelerations during movement of the device). Applying the TRIAD technique to magnetic field measurements from a single multi-dimensional magnetometer and acceleration measurements from a single multi-dimensional accelerometer results in attitude measurements that include errors. The errors arise because the TRIAD technique depends on a constant relationship between the Earth's magnetic field and gravity. Consequently, the TRIAD technique only produces correct attitude measurements when the device is not undergoing dynamic acceleration (e.g., at rest or at constant velocity). If the device is being accelerated, the acceleration measurement includes a combination of gravity and the acceleration imparted by movements of the device. Using this acceleration measurement to represent the Earth's gravity produces substantial errors in the computed attitude. These problems are described in more detail with respect toFIGS. 5-7below.

One solution is to use a multi-dimensional pointing device that includes a gyroscope (e.g., a MEMS gyroscope). However, the physics of the gyroscopes can cause artifacts. For example, these types of multi-dimensional pointing devices can drift when the device is held in a stationary position. Furthermore, these multi-dimensional pointing devices can require substantial force before the device produces a reaction in the user interface.

Thus, to solve the aforementioned problems, some embodiments use magnetic field measurements from one or more multi-dimensional magnetometers and acceleration measurements from two or more multi-dimensional accelerometers that are included in a multi-dimensional pointing device to calculate the attitude of the device. In these embodiments, the calculated attitude of the multi-dimensional pointing device is compensated for errors that would otherwise be caused by dynamic acceleration. In some embodiments, the multi-dimensional accelerometers are placed a specified distance apart in a rigid frame (e.g., a printed circuit board on the device). When the multi-dimensional pointing is rotated, the multi-dimensional accelerometers experience different accelerations due to their different radiuses of rotation. Note that when the frame is moved in translation (e.g., without rotation), all the accelerometers experience the same acceleration. It is then possible to use the differences in the accelerometer readings to distinguish between user movement (e.g., dynamic acceleration) and the acceleration caused by Earth's gravity to correctly estimate the attitude of the device.

FIG. 2is a block diagram illustrating an exemplary multi-dimensional pointing device200, according to some embodiments. The multi-dimensional pointing (MDP) device200may be the multi-dimensional pointing device102inFIG. 1. The multi-dimensional pointing device200includes two or more multi-dimensional accelerometers201-202that produce composite acceleration measurements204-205(e.g., a composite/vector sum of translational acceleration vectors210, rotational acceleration vectors211-212, and acceleration due to Earth's gravity), one or more multi-dimensional magnetometers203that produce magnetic field measurements206(e.g., the Earth's magnetic field), buttons207, and a power supply and/or battery208. In some embodiments, the two or more multi-dimensional accelerometers201-202that produce acceleration measurements204-205, one or more multi-dimensional magnetometers203that produce the magnetic field measurements206, buttons207, and the power supply or battery208are all enclosed in a housing209of the multi-dimensional pointing device200.

In some embodiments, the two or more multi-dimensional accelerometers201-202are selected from the group consisting of: a 2-axis accelerometer that measures a magnitude and a direction of an acceleration force in two dimensions and a 3-axis accelerometer that measures a magnitude and a direction of an acceleration force in three dimensions.

In some embodiments, the one or more multi-dimensional magnetometers203are selected from the group consisting of: a 2-axis magnetometer that measures a magnitude and a direction of a magnetic field in two dimensions and a 3-axis magnetometer that measures a magnitude and a direction of a magnetic field in three dimensions.

In some embodiments, the multi-dimensional pointing device200also includes one or more of the following additional user interface components: a keypad, one or more thumb wheels, one or more light-emitting diodes (LEDs), a audio speaker, an audio microphone, a liquid crystal display (LCD), etc.

In some embodiments, the multi-dimensional pointing device200includes one or more processors (e.g.,1102,FIG. 11). In these embodiments, the one or more processors process the acceleration measurements received from the multi-dimensional accelerometers201-202and/or magnetic field measurements received from the multi-dimensional magnetometer203to determine displacements (e.g., lateral displacements and/or attitude changes) of the multi-dimensional pointing device200. These calculations are described in more detail with respect toFIGS. 8-12below.

In some embodiments, the one or more processors of the multi-dimensional pointing device200perform one or more of the following operations: sampling measurement values, at a respective sampling rate, produced by each of the multi-dimensional accelerometers201-202and the multi-dimensional magnetometers203; processing sampled data to determine displacement; transmitting displacement information to the host system101; monitoring the battery voltage and alerting the host system101when the charge of the battery is low; monitoring other user input devices (e.g., keypads, buttons, etc.), if any, on the multi-dimensional pointing device200; continuously or periodically run background processes to maintain or update calibration of the multi-dimensional accelerometers201-202and the multi-dimensional magnetometers203; provide feedback to the user as needed on the remote (e.g., via LEDs, etc.); and recognizing gestures performed by user movement of the multi-dimensional pointing device200.

Software Architecture

FIG. 3is a block diagram illustrating an exemplary software architecture300for the host system101. The software architecture300includes a monitor application301to receive either accelerometer and magnetometer measurements or attitude measurements from the multi-dimensional pointing device200, depending on whether the multi-dimensional pointing device200or the host system processes the measurements so as to produce attitude measurements. The software architecture also includes a program/file directory302(e.g., an electronic program guide, etc.) that includes information about programs and/or media files (e.g., titles, times, channels, etc.), a video-on-demand application303that provides access to one or more video-on-demand services, online applications304that provide access to applications provided by a service provider (e.g., cable/satellite television providers, Internet service providers, Internet websites, game providers, online multimedia providers, etc.), and terminal based applications305that are (or that provide access to) applications that are resident on the host system101(e.g., games that are played on the host system, Internet browsing applications, multimedia viewing and/or sharing applications, email applications, etc.). In some embodiments, the multi-dimensional pointing device200includes a subset of these applications. Furthermore, the multi-dimensional pointing device200may include additional applications, modules and data structures not described above.

The software architecture300also includes an operating system (e.g., OpenCable Application Platform (OCAP), Windows, Linux, etc.)310, which includes an execution engine (or virtual machine)311that executes applications, an optional API312for communicating with a multi-dimensional pointing device that does not conform to a human interface standard implemented in the operating system310, middleware313that provides management of the resources of the host system101(e.g., allocation of memory, access to access hardware, etc.) and services that connect software components and/or applications, respectively, and host device drivers314. In some embodiments, the host device drivers314adjust the gain of the multi-dimensional pointing device102based on the resolution and/or aspect ratio of the display of the host system101, translates physical movement of the multi-dimensional pointing device102to movement of a cursor (or an object) within the user interface of the host system101, allows host applications to adjust cursor movement sensitivity, and/or reports hardware errors (e.g., a battery low condition, etc.) to the middleware313.

In some embodiments, the multi-dimensional pointing device102periodically samples its sensors. The multi-dimensional pointing device102may also periodically provide the sampled sensor data to the host system101at a respective update rate. To reduce power consumption caused by transmitting data to the host system101, the update rate may be set at a substantially smaller rate than the sampling rate. Note that the minimum update rate may be governed by the frame rate of the display of the host system (e.g., 25 Hz in Europe and 30 Hz in the United States and Asia). Note that there may be no perceivable advantage in providing faster updates than the frame rate except when the transmission media is lossy.

In some embodiments, the multi-dimensional pointing device102uses digital signal processing techniques. Thus, the sampling rate must be set high enough to avoid aliasing errors. Movements typically occur at or below 10 Hz, but AC power can create ambient magnetic field fluctuations at 50-60 Hz that can be picked up by a magnetometer. For example, to make sure there is sufficient attenuation above 10 Hz, the multi-dimensional pointing device102may use a 100 Hz sampling rate and a 50 Hz update rate.

In some embodiments, the multi-dimensional pointing device102reports raw acceleration and magnetic field measurements to the host system101. In these embodiments, the host device drivers314calculate lateral and/or angular displacements based on the measurements. The lateral and/or angular displacements are then translated to cursor movements based on the size and/or the resolution of the display of the host system101. In some embodiments, the host device drivers314use a discrete representation of angular displacement to perform sampling rate conversion to smoothly convert from the physical resolution of the multi-dimensional pointing device102(e.g., the resolution of the accelerometers and/or the magnetometers) to the resolution of the display.

In some embodiments, the host device drivers314interpret a sequence of movements (e.g., changes in attitude, displacements, etc.) as a gesture. For example, the user103may use the multi-dimensional pointing device102to move a cursor in a user interface of the host system101so that the cursor points to a dial on the display of the host system101. The user103can then select the dial (e.g., by pressing a button on the multi-dimensional pointing device102) and turn the multi-dimensional pointing device102clockwise or counter-clockwise (e.g., roll) to activate a virtual knob that changes the brightness, contrast, volume, etc., of a television set. Thus, the user103may use a combination or sequence of keypad presses and pointing device movements to convey commands to the host system. Similarly, the user103may use a twist of a wrist to select the corner of a selected image (or video) for sizing purposes. Note that the corner of an image may be close to another active object. Thus, selecting the image may require careful manipulation of the multi-dimensional pointing device102and could be a tiresome exercise. In these cases, using a roll movement as a context sensitive select button may reduce the accuracy users need to maintain with the movement of the multi-dimensional pointing device102.

In some embodiments, the multi-dimensional pointing device102computes the physical displacement of the device and transmits the physical displacement of the device to the host system101. The host device drivers314interpret the displacement as cursor movements and/or gestures. Thus, the host device drivers314can be periodically updated with new gestures and/or commands to improve user experience without having to update the firmware in the multi-dimensional pointing device102.

In some other embodiments, the multi-dimensional pointing device102computes the physical displacement of the device and interprets the displacements as cursor movements and/or gestures. The determined cursor movements and/or gestures are then transmitted to the host system101.

In some embodiments, the multi-dimensional pointing device102reports its physical spatial (e.g., lateral and/or angular) displacements based on a fixed spatial resolution to the host system101. The host device drivers314interpret the distance and/or angle traversed into appropriate cursor movements based on the size of the display and/or the resolution of the display. These calculated displacements are then translated into cursor movements in the user interface of the host system101.

Although the multi-dimensional pointing device102may provide data (e.g., position/displacement information, raw measurements, etc.) to the host system101at a rate greater than the frame rate of a display of the host system101, the host device drivers314needs to be robust enough to accommodate situations where packet transmission fails. In some embodiments, each packet received from the multi-dimensional pointing device102is time stamped so that the host device drivers314can extrapolate or interpolate missing data. This time stamp information may also be used for gesture recognition to compensate for a lossy transmission media.

In some embodiments, the multi-dimensional pointing device102omits packets to conserve power and/or bandwidth. In some embodiments, the multi-dimensional pointing device102omits packets to conserve power and/or bandwidth only if it is determined that the host device drivers314can recreate the lost packets with minimal error. For example, the multi-dimensional pointing device102may determine that packets may be omitted if the same extrapolation algorithm is running on the host system101and on the multi-dimensional pointing device102. In these cases, the multi-dimensional pointing device102may compare the real coordinates against the extrapolated coordinates and omit the transmission of specified packets of data if the extrapolated coordinates and the real coordinates are substantially similar.

In some embodiments, the multi-dimensional pointing device102includes a plurality of buttons. The plurality of buttons allows users that prefer a conventional user interface (e.g., arrow keys, etc.) to continue using the conventional user interface. In these embodiments, the host device drivers314may need to interpret a combination of these buttons as a single event to be conveyed to the middleware313of the host system.

In some embodiments, the host device drivers314are configured so that the multi-dimensional pointing device102appears as a two-dimensional pointing device (e.g., mouse, trackpad, trackball, etc.).

FIG. 4is a block diagram illustrating inputs, outputs, and operations of an exemplary device-side firmware400for the multi-dimensional pointing device102, according to some embodiments. Sensors401generate measurements that may be sampled by one or more sampling circuits402.

In some embodiments, the sampled sensor measurements are packetized for transmission407and transmitted to the host system101by a transmitter408.

In some embodiments, the sensors401are calibrated and corrected403. For example, the sensors401may be calibrated and corrected so that a Kalman filter that is used to compute the attitude of a multi-dimensional pointing device (e.g., the multi-dimensional pointing device102inFIG. 1, etc.) is initialized with a zero assumed error. The Kalman filter states are then determined404. The determined Kalman filter states are then mapped to physical coordinates405, and data representing the physical coordinates are packetized for transmission407by the transmitter408. Keypad and other inputs406may also be packetized for transmission407and transmitted by the transmitter408. In some embodiments, the keypad and/or other inputs406are used in conjunction movements of the multi-dimensional pointing device102to produce gestures that convey commands to a host system. In some of these embodiments, the keypad and other inputs406are mapped to physical coordinates405(e.g., noting the physical coordinates at which the keypad and other inputs were activated) prior to being packetized for transmission407. Alternately, the time ordered sequence in which keypad presses (or other inputs) and changes in position of the multi-dimensional pointing device102are packetized and transmitted to the host system is used by the device to determine the context of the keypad presses (or other inputs) and to determine what gesture(s) were performed by the user.

The measurements from the sensors and the determined change in position and/or attitude may also be used to enter and/or exit sleep and wake-on-movement modes409.

In some embodiments, the multi-dimensional pointing device102measures rotations of the remote over a physical space that is independent of the size, distance and direction of the display of the host system101. In fact, the multi-dimensional pointing device102may report only displacements between two consecutive samples in time. Thus, the orientation of the multi-dimensional pointing device102does not matter. For example, yaw may be mapped to left/right cursor movement and pitch may be mapped to up/down cursor movements.

In some embodiments, to conserve system power, the multi-dimensional pointing device102detects a lack of movement of the multi-dimensional pointing device102and puts itself into a low power (e.g., sleep) mode. In some embodiments, a single accelerometer is used to sense whether the multi-dimensional pointing device102is being moved and to generate an interrupt to wake (e.g., wake-on-demand) the multi-dimensional pointing device102from the sleep mode.

In some embodiments, the multi-dimensional pointing device102determines that it should enter a sleep mode based on one or more of the following conditions: the magnitude of the acceleration measurement (e.g., Aobserved) is not greater or smaller than the magnitude of Earth's gravity (e.g., G) by a specified threshold, the standard deviation of Aobserveddoes not exceed a specified threshold, and/or there is an absence of change in the angular relationship between the measurement of the Earth's magnetic field (e.g., B) and Aobservedgreater than a specified threshold. Each of the aforementioned conditions may be used to indicate that the multi-dimensional pointing device102has entered a resting state (e.g., no substantial movement). After the multi-dimensional pointing device102has remained in a resting state for a specified number of consecutive samples, the multi-dimensional pointing device102enters a sleep mode.

In some embodiments, the device-side firmware400of the multi-dimensional pointing device102is updated by the host system101via a wireless interface.

Some embodiments provide one or more games and/or demo applications that demonstrate how to use the multi-dimensional pointing device (e.g., movement, controlling objects in the user interface, gestures, etc.).

Calculating Attitude During Dynamic Acceleration

FIG. 5is a diagram500illustrating exemplary gravity (G) and magnetic field (B) vectors that can be used to determine attitude, according to some embodiments. In some embodiments, G and B correspond to the Earth's gravity and the Earth's magnetic field, respectively. The Earth's magnetic field and gravity are assumed to form two stationary vectors. Using a magnetometer and an accelerometer, B and G may be measured. For example, the magnetic field vector B501and acceleration vector G502may be measured. When the multi-dimensional pointing device102is rotated, and then held stationary, B and G are measured again. In particular, the magnetic field vector B503and the acceleration vector G504may be measured. Given an unchanging relationship between B and G, the rotational operation that rotates B501and G502to B503and G504, respectively, can be calculated. This rotation operation is the relative attitude/heading change.

Before continuing with the discussion, it is instructive to define two terms: body frame and the Earth frame. The body frame is the coordinate system in which B and G are measured with respect to a fixed point on the multi-dimensional pointing device102. The diagram500inFIG. 5illustrates the effect of a rotation of the multi-dimensional pointing device102as observed from the body frame. As the multi-dimensional pointing device102is held with one end or point of the multi-dimensional pointing device102at a fixed position, rotation of the multi-dimensional pointing device102causes B and G to move with respect to the body frame.

The Earth frame is the coordinate system in which B and G are measured with respect to a fixed point on the surface of the Earth. The Earth frame is typically the frame of reference for the user103of the multi-dimensional pointing device102. When the user103moves the multi-dimensional pointing device102, the user103typically thinks about the motion relative to the Earth frame.

Thus, the solution to the attitude of the multi-dimensional pointing device102can be formulated as follows: given two measurements of two constant vectors taken with respect to a body frame (of the multi-dimensional pointing device102) that has undergone a rotation, solve for the rotation of the multi-dimensional pointing device102in the Earth frame.

There are a number of techniques can determine the attitude of the multi-dimensional pointing device102. As discussed above, TRIAD is one such technique. Note that the following calculations may be formulated using Quaternion-based arithmetic to avoid issues with singularity associated with the TRIAD technique. The TRIAD technique operates as follows.

Given w1and w2, which represent measurements (observations) of the B and G vectors in the body frame, the following are defined:

r1=w1w1(1)r2=r1×w2r1×w2(2)r3=r1×r2(3)
where, r1is the normalized column vector w1, r2is a normalized column vector orthogonal to r1and w2, and r3is a normalized column vector orthogonal to r1and r2.

Correspondingly, B and G are also known in the Earth frame. However these measurements are known a-priori; that is, they do not need to be measured and may be calculated from well-known theoretical models of the earth. For example, the magnitude and direction of the earth's magnetic and gravitational fields in San Jose, Calif. can be calculated without making new measurements. Thus the measurements in the body frame may be compared relative to these known vectors. If we call the vectors representing B and G in the Earth frame v1and v2, then we may define:

s1=v1v1(4)s2=s1×v2s1×v2(5)s3=s1×s2(6)
where s1is the normalized column vector v1, s2is a normalized column vector orthogonal to s1and v2, and s3is a normalized column vector orthogonal to s1and s2.

Using the normalized column vectors defined above, the attitude matrix (A) that gives the rotational transform (e.g., for generating an uncorrected attitude of the multi-dimensional pointing device200) in the Earth frame is:
A=R·ST(7)
where R=[r1|r2|r3] (e.g., a matrix comprised of the three column vectors r1, r2, and r3), S=[s1|s2|s3] (e.g., a matrix comprised of the three column vectors S1, s2, and s3), and the “T” superscript denotes the transpose of the matrix to which it is applied.

Applying to the problem at hand, if v1and v2are given as the B and G vectors in the Earth frame and w1and w2are inferred from measurements produced by the multi-dimensional accelerometers201-202and the multi-dimensional magnetometer203, the TRIAD technique may be used to compute the uncorrected attitude A of the multi-dimensional pointing device102.

As discussed above, the accuracy of the relative heading/attitude of the multi-dimensional pointing device102determined by the TRIAD technique is predicated on the assumption that the device is not subject to dynamic acceleration. This assumption does not hold true in multi-dimensional pointing applications, in which the user103makes continuous movements and/or gestures with the multi-dimensional pointing device102.FIG. 6is a diagram600illustrating an attitude determination error caused at least in part by dynamic acceleration. At t=0, an acceleration measurement AOBS602(i.e., Earth's gravity G) and a magnetic field measurement B601are measured. As the multi-dimensional pointing device102is rotated at t=1, an acceleration ADYN606is induced on the multi-dimensional pointing device102so that the vector combination of Earth's gravity G605and ADYN606produce an acceleration measurement AOBS604in the body frame. Thus, the acceleration measurement AOBS604does not measure G605. Instead, it includes the error induced by ADYN606. Note that a magnetic field measurement B603is also measured in the body frame at t=1. Accordingly, an attitude calculation using AOBS604and B603would include error due to the dynamic acceleration. Thus, the TRIAD technique introduces an error to the computed attitude proportionate to the size of ADYN606.

In order to solve the aforementioned problems, some embodiments include two or more accelerometers to measure the dynamic acceleration that the multi-dimensional pointing device102experiences.FIG. 7is a diagram700illustrating an exemplary technique for compensating for dynamic acceleration in attitude calculations of a multi-dimensional pointing device701, according to some embodiments. The multi-dimensional pointing device701may be any one of the multi-dimensional pointing devices102and200inFIGS. 1 and 2, respectively. The multi-dimensional pointing device701includes multi-dimensional accelerometers703(A) and704(B) separated by a distance D710. Furthermore, the distance from a pivot origin702to the multi-dimensional accelerometer703(A) is equal to rrot720. The pivot origin702may be offset from the axis formed by the multi-dimensional accelerometers703(A) and704(B) by a distance L722. For example, the distance L722may represent the offset between the axis of the multi-dimensional accelerometers703(A) and704(B) and a wrist of the user103as the multi-dimensional pointing device701is held in the hand of the user103.

Dynamic acceleration experienced the multi-dimensional pointing device701may include translational acceleration imparted by lateral movement of the multi-dimensional pointing device701and rotational acceleration. When the multi-dimensional pointing device701is affected by translational acceleration, both multi-dimensional accelerometers703-704experience the same dynamic acceleration. When the device is affected by angular acceleration, the multi-dimensional accelerometers703-704experience dynamic acceleration proportional to their distance from the pivot origin702.

For example, consider the case when the multi-dimensional pointing device701is pivoted about the pivot origin702, causing the multi-dimensional accelerometers703and704to produce composite acceleration measurements AOBS705and AOBS706. The composite acceleration measurement AOBS705is a vector sum of the acceleration caused by Earth's gravity (G707) and the dynamic acceleration a experienced by the first multi-dimensional accelerometer703(A). The composite acceleration measurement AOBS706is a vector sum of the acceleration caused by Earth's gravity (G707) and the dynamic acceleration b experienced by the second multi-dimensional accelerometer704(B). Note that since the multi-dimensional accelerometer704is farther from the pivot origin702than the multi-dimensional accelerometer703, the acceleration due to the rotation about the pivot origin702is greater at the second multi-dimensional accelerometer704(B) than at the first multi-dimensional accelerometer703(A). AOBS705and AOBS706include errors708and709, respectively.

The change in the attitude of the multi-dimensional pointing device102may be computed using measurements from both of the two multi-dimensional accelerometers703-704. When the dynamic acceleration is entirely translational, the difference between the two computed attitudes is zero. In some embodiments, only rotational movement is translated into cursor movements. Thus, translational displacements do not result in translational cursor movement because purely translational movements do not affect yaw, pitch or roll. However, when the dynamic acceleration includes rotational components, the difference between the two accelerometer measurements produced by the two multi-dimensional accelerometers703-704is used to substantially reduce the error in the calculated attitude of the multi-dimensional pointing device701that is caused by dynamic acceleration.

Determining Attitude Using a Kalman Filter

In some embodiments, the attitude of a multi-dimensional pointing device (e.g., the multi-dimensional pointing device102inFIG. 1, etc.) is determined by using a Kalman filter. Specifically, the Kalman filter may be an extended Kalman filter. Note that this specification uses the term “Kalman filter” to refer to an “extended Kalman filter”.

Attention is now directed toFIG. 8, which is a block diagram illustrating an exemplary method800for determining an attitude of a device undergoing dynamic acceleration, according to some embodiments. The Kalman filter generally includes two phases: a “predict” phase and an “update” phase. In the predict phase (802), an estimated state of the Kalman filter (which can also be considered to be a state of the device) from the previous timestep is used to produce a predicted estimate of the state (e.g., a “predicted state”) at a current timestep. Timesteps are sometimes called epochs, or update periods. In the update phase (806), measurements (e.g., the acceleration measurements204-205, the magnetic field measurement206, etc.) sampled (804) from the sensors of the multi-dimensional pointing device (e.g., the multi-dimensional accelerometers201-202, the multi-dimensional magnetometer203, etc.) are used to correct the predicted state at the current timestep to produce an “updated state” (e.g., the estimated state that is used in the next time step). A mapping (808) is applied to the body rotation rate w (e.g., obtained from the state vector of the Kalman filter) to convert (810) ω into the cursor motion. After determining the attitude of the multi-dimensional pointing device, the method then returns to the “predict phase” (802) at the next timestep. In some embodiments, the repeat rate of the method ranges from as slow as twenty times per second to as high as about 200 times per second, corresponding to timesteps ranging from as large as 50 milliseconds to as small as about 5 millisecond.

In some embodiments, during the predict phase, a predicted state {circumflex over (x)} and a predicted error covariance matrix P are determined as follows:

x^⁡(tk+1)=∫tktk+1⁢f⁡(x,u,t)⁢ⅆt(8)Pk⁡(tk+1)=Φ⁡[Pk⁡(tk)+Q⁡(tk)]⁢Φ-1(9)
where {circumflex over (x)}(tk+1) is the predicted state of the Kalman filter at timestep k+1, f(x, u, t) are the dynamics of the system (defined below), x is the state, u is a control input (e.g., accelerations due to the arm of the user103), t is time, Pk(tk) is the predicted error covariance matrix at timestep k, Pk(tk+1) is the predicted error covariance matrix at timestep k+1, Q(tk) is an approximation of the process noise matrix at timestep k, and Φ is a state transition matrix, which is obtained from the system dynamics.

The state transition matrix, Φ, is nominally an identity matrix (i.e., ones on the diagonal) for those states that do not have a dynamics model. A dynamics model is a model of the underlying dynamic system. For example, the dynamics model for a body in motion may include Newton's equations of motion. In some embodiments, the dynamics model for attitude determination is defined by Equations (15)-(21) below. In some embodiments, only the quaternion representing the attitude of the multi-dimensional pointing device and the vector including values representing the body rotation rate are associated with dynamic models. Thus, the only non-zero off-diagonal elements of the state transition matrix Φ are the portions of the state transition matrix that correspond to the covariances of the quaternion and body rotation rate states. Numerical values for this portion of the state transition matrix may be calculated for each timestep using a finite difference scheme instead of calculation of the dynamic system's Jacobian matrix. (Note that finding and integrating the Jacobian is the traditional technique of computing the state transition matrix.) In this finite difference scheme, a set of perturbed state vectors at time tk, as well as the unperturbed state, are propagated through the dynamics model (e.g., represented by equations (15)-(21) below). Each perturbed state vector is perturbed in a single state. The differences between the propagated perturbed state and the propagated unperturbed state are calculated. The difference vectors are divided by size of the initial perturbation. These difference vectors make up the dynamic portion of the state transition matrix.

In some embodiments, the process noise matrix, Q, only includes values on the diagonal elements of the matrix.

In some embodiments, the state of the Kalman filter includes a state vector defined as follows:

x^=[q→ω→rrotaYdaZd](10)
where {right arrow over (q)} is a vector including values of a quaternion representing the attitude of the multi-dimensional pointing device, {right arrow over (ω)} is a vector including values representing the body rotation rate (e.g., the rate at which the attitude of the multi-dimensional pointing device is rotating), rrotis a vector including a value that represents the radius of rotation between one of the multi-dimensional accelerometers (e.g., the multi-dimensional accelerometer703(A)) and the pivot origin (e.g., the pivot origin702), aYdand aZdare the bias values in the Y and Z directions of the difference between the two accelerometer measurements (e.g., the accelerometer measurements204-205). In some embodiments, the bias of the multi-dimensional magnetometer is estimated using a separate Kalman filter.

Before continuing with the discussion of the Kalman filter, it is instructive to discuss the quaternion {right arrow over (q)} representing the attitude of the multi-dimensional pointing device.FIG. 9is a graph illustrating an exemplary quaternion900, according to some embodiments. Any rotation (e.g., from one frame of reference to another, or from one attitude of a device to another) may be represented by a three-dimensional unit vector {circumflex over (n)} having components nx, ny, and nz, and an angle θ, which is the rotation about the unit vector {circumflex over (n)}. The rotation may be expressed as a normalized four-dimensional quaternion {right arrow over (q)} having the components q1, q2, q3, and q4as follows:

Returning to the discussion of the Kalman filter, in some embodiments, the function ƒ(x, u, t) represents the equations of motion. For example, the equations of motion may be:

Each multi-dimensional accelerometer measures a composite (e.g., vector sum) of the following accelerations/forces: tangential, centripetal, gravitational (as measured in the body frame of the accelerometer), and translational. These acceleration components may be represented as follows:
{right arrow over (a)}A=−{right arrow over ({dot over (ω)}×{right arrow over (r)}A−{right arrow over (ω)}×{right arrow over (ω)}×{right arrow over (r)}A+DCM({right arrow over (q)}){right arrow over (g)}+{right arrow over (a)}translational(18)
{right arrow over (a)}B=−{right arrow over ({dot over (ω)}×{right arrow over (r)}B−{right arrow over (ω)}×{right arrow over (ω)}×{right arrow over (r)}B+DCM({right arrow over (q)}){right arrow over (g)}+{right arrow over (a)}translational(19)
where {right arrow over (a)}Aand {right arrow over (a)}Bare the composite accelerations measurements (e.g., the acceleration measurements204-205) for each of the two accelerometers (e.g., the multi-dimensional accelerometers201-202) of the multi-dimensional pointing device, {right arrow over ({dot over (ω)} is the rate of change of the body rotation rate {right arrow over (ω)}, {right arrow over (r)}Aand {right arrow over (r)}Bare the radius of rotations of each of the two accelerometers relative to a pivot origin, DCM({right arrow over (q)}) is the direction cosine matrix (DCM) that is obtained from the quaternion {right arrow over (q)} representing the attitude of the multi-dimensional pointing device (e.g., the {right arrow over (q)} is converted to a DCM so that it can operate on the gravity vector {right arrow over (g)}), {right arrow over (g)} is the acceleration due to gravity as viewed from the body frame (e.g., the frame of the accelerometer), and {right arrow over (a)}translationalis the translational acceleration.

Note that the Kalman state described above only includes a state value representing the radius of rotation, rrot, to one of the accelerometers (e.g., the multi-dimensional accelerometer703(A)). If the offset (e.g., L722,FIG. 7) between the pivot origin (e.g., the pivot origin702) and the axis of the accelerometers (e.g., the multi-dimensional accelerometers703-704) are collinear (e.g., L722is zero), the magnitude of {right arrow over (r)}Bis rrot(e.g., rrot720) plus the distance between the accelerometers (e.g., D710, which is a known quantity). If the offset between the pivot origin and the axis of the accelerometers is non-zero, {right arrow over (r)}Bmay be calculated from the geometric relationship between, {right arrow over (r)}A, D710, rrot, and the offset (e.g., by using the Pythagorean Theorem, etc.), where rrotand the offset are states of the Kalman filter.

A vector difference {right arrow over (a)}diffbetween {right arrow over (a)}Aand {right arrow over (a)}Byields:
{right arrow over (a)}diff={right arrow over (a)}B−{right arrow over (a)}A=−{right arrow over ({dot over (ω)}×{right arrow over (r)}diff−{right arrow over (ω)}×{right arrow over (ω)}×{right arrow over (r)}diff(20)
where, {right arrow over (r)}diffis the vector difference between {right arrow over (r)}Aand {right arrow over (r)}B(e.g., {right arrow over (r)}diff={right arrow over (r)}B−{right arrow over (r)}A). Note that {right arrow over (a)}diffdoes not include the acceleration forces due to gravity and translation.

Equation (20) may be rearranged to solve for the angular acceleration {right arrow over ({dot over (ω)}:

ω→.⁢❘ω→.·r→diff=0=1r→diff2⁡[a→diff+ω→×ω→×r→diff⁢]×r→diff(21)
where {right arrow over ({dot over (ω)} is evaluated at {right arrow over ({dot over (ω)}·{right arrow over (r)}diff=0 (e.g., when the only non-zero components of the angular acceleration {right arrow over ({dot over (ω)}, are orthogonal to the vector {right arrow over (r)}diff). Equation (21) is then used in Equation (16). Note that adiffis a measurement (e.g., from the multi-dimensional accelerometers), ω is obtained from state vector, and {right arrow over (r)}diffis the vector difference between {right arrow over (r)}Aand {right arrow over (r)}B, as explained above.

In some embodiments, the number of states in the error covariance matrix P is reduced by expressing the variation of the quaternion state as orthogonal modified Rodrigues parameters (MRPs), which have three (3) parameters as compared to four (4) parameters in a quaternion. The MRP and the quaternion contain the same rotation information, but the redundant parameter in the quaternion avoids singularities. In these embodiments, the update of the quaternion state is estimated as an MRP rotation, and then converted to a quaternion. The update of the quaternion state is applied multiplicatively and preserves the unit norm property of the quaternion.

During the update phase, the predicted state matrix and predicted error covariance matrix are updated based on the sensor measurement as follows:
{circumflex over (x)}k+1(tk)={circumflex over (x)}(tk+1)+Kk({right arrow over (y)}m−ŷ)  (22)
Pk+1(tk)=(I−KkGk)Pk(tk)  (23)
where {circumflex over (x)}k+1(tk) is the updated state vector at timestep k+1, {circumflex over (x)}(tk+1) is the predicted state vector at timestep k that was calculated in the predict phase, Kkis the Kalman gain, {right arrow over (y)}mis the observed measurements (e.g., the sensor measurements), ŷ is the predicted sensor measurements (e.g., the predicted sensor measurements that are obtained from the predicted state vector and the sensor models described in equations (28) and (29) below), I is the identity matrix, and Gkis an observation transformation matrix that maps the deviations from the state vector to deviations from the observed measurements (e.g., the sensor measurements). Note that the term {right arrow over (y)}m−ŷ is referred to as a residual.

Generally, ŷ is a function of the state vector, the first time derivative of the state vector, and time (e.g., ŷ=g({right arrow over (x)}, {right arrow over ({dot over (x)}, t)), and may be determined using the sensor models described below. The Kalman gain Kkmay be determined using the following equations:

Kk=Pk⁢GkT⁢S-1(24)Sk=Gk⁢Pk⁢GkT+R(25)Gk=∂y^∂x→(26)
where R is the measurement covariance matrix.

In some embodiments, {right arrow over (y)}mincludes the following components:

y→m=[H→xya→Aa→B](27)
where {right arrow over (H)}xyis the directional residual of the magnetic field measurement (e.g., the magnetic field measurement206), {right arrow over (a)}Ais the accelerometer measurement (e.g., the accelerometer measurement205) from a first multi-dimensional accelerometer (e.g., the multi-dimensional accelerometer202), and {right arrow over (a)}Bis the accelerometer measurement (e.g., the accelerometer measurement204) from a second multi-dimensional accelerometer (e.g., the multi-dimensional accelerometer201). Note that the directional residual of the magnetic field measurement, {right arrow over (H)}xy, may be used because when determining the attitude of a multi-dimensional pointing device, only the directional information is required; the magnitude of the magnetic field is not used. In fact, in these embodiments, attempting to correct/update the magnitude of the magnetic field in the Kalman filter state causes the Kalman filter state to diverge. {right arrow over (H)}xymay be calculated from the magnetic field measurement using the technique described in “Spinning Spacecraft Attitude Estimation Using Markley Variables: Filter Implementation and Results” (Joseph E. Sedlak, 2005, available at http://www.ai-solutions.com/library/tech.asp), which is hereby incorporated by reference in its entirety.

In some embodiments, the sensor model for the multi-dimensional magnetometer and the multi-dimensional accelerometers are:
Ĥxy=[RBzenith][DCM({circumflex over (q)}(tk+1))]{right arrow over (H)}ref(28)
â=−{right arrow over ({dot over (ω)}×{right arrow over (r)}Acc−{circumflex over (ω)}(tk+1)×{circumflex over (ω)}(tk+1)×{right arrow over (r)}Acc+DCM({right arrow over (q)}(tk+1)){right arrow over (g)}(29)
where Ĥxyis the two-dimensional directional residual between the measured and estimated magnetometer values, RBzenithis a rotation matrix that rotates the magnetic field measurement to the Z-axis vector in the new frame of reference (e.g., the frame of reference described in “Spinning Spacecraft Attitude Estimation Using Markley Variables: Filter Implementation and Results,” whereby the directional variances of a three dimensional vector are expressed as two variables), DCM({circumflex over (q)}(tk+1)) is the DCM that is obtained from the quaternion {circumflex over (q)} representing the estimated attitude of the multi-dimensional pointing device (e.g., the {circumflex over (q)} is converted to a DCM so that it can operate on the gravity vector {right arrow over (g)} and/or {right arrow over (H)}ref), {right arrow over (H)}refis the assumed magnetic field measurement in the Earth frame, and {right arrow over (r)}Accis the radius of rotation for a respective accelerometer, relative to the pivot point. The angular acceleration {right arrow over ({dot over (ω)} may be obtained from the difference of the accelerometer measurements (e.g., Equation (21)) and acts as a “pass-through” variable for the sensor measurements

In some embodiments, the state vector {circumflex over (x)} is a 10×1 matrix, the error covariance matrix P is a 9×9 matrix, and the observation partial derivative matrix G is an 8×9 matrix. In these embodiments, {right arrow over (q)} is a 4×1 vector, {right arrow over (ω)} a 3×1 vector, rrotis a 1×1 vector, and aYdand aZdare each 1×1 vectors. These components of the state vector {circumflex over (x)} together form a 10×1 matrix.

Accelerometer quantization may cause the attitude determined by the Kalman filter to incorrectly indicate that the multi-dimensional pointing device is moving when it is not. If left uncorrected, accelerometer quantization may significantly degrade performance of the system in which the multi-dimensional pointing device is used (e.g., the cursor on the host system may drift across the user interface). Thus, in some embodiments, for small values of the accelerometer measurements (e.g., values below twenty times the quantization interval), the techniques described in “Covariance Profiling for an Adaptive Kalman Filter to Suppress Sensor Quantization Effects” by D. Luong-Van et al. (43rd IEEE Conference on Decision and Control, Volume 3, pp. 2680-2685, 14-17 Dec. 2004), which is hereby incorporated by reference in its entirety, are used to mitigate the effects of the quantized data measurements reported by the accelerometers.

Furthermore, accelerometer noise may cause jitter causing the attitude determined by the Kalman filter to indicate that the multi-dimensional pointing device is moving even when the multi-dimensional pointing device at rest. Thus, in some embodiments, a deadband is used for values of the accelerometer measurements that occur in a specified range of quantization levels of the accelerometer measurements. For example, the specified range may be between two and twenty times the quantization level of the accelerometers. Note that it is desirable to minimize the deadband, but this minimization must be balanced against the device performance at low angular rates and accelerations where quantization effects will dominate the behavior of the pointer.

Adaptive Kalman Gain

As discussed above, substantial error can arise in the calculation of the attitude of a multi-dimensional pointing device that is undergoing dynamic acceleration. These errors arise from the inability of a single multi-dimensional accelerometer to distinguish between the effects of dynamic acceleration and the actual gravity vector. To compensate for this, in some embodiments, the acceleration measurements from the accelerometers are given less weight when the multi-dimensional pointing device is undergoing dynamic acceleration than when the multi-dimensional pointing device is not undergoing dynamic acceleration.

The weight of the acceleration measurements in the Kalman filter may be controlled by the Kalman gain (Kk). Thus, in some embodiments, the Kalman gain is adjusted based on the amount of dynamic acceleration experienced by the multi-dimensional pointing device. For example, the Kalman gain may be adjusted through the measurement covariance matrix R (see equations 24 and 25, above).

Attention is now directed toFIG. 10, which is a flow diagram of a method1000for determining an attitude of a device undergoing dynamic acceleration, according to some embodiments. A difference between a first accelerometer measurement received from a first multi-dimensional accelerometer of the device and a second accelerometer measurement received from a second multi-dimensional accelerometer of the device is calculated (1002) (e.g., see Equation (20)).

A Kalman gain based on the difference is adjusted (1004), wherein the Kalman gain is used in a Kalman filter that determines the attitude of the device. When the difference is less than a specified threshold, values associated with the first accelerometer measurement and the second accelerometer measurement in a measurement covariance matrix of the Kalman filter (e.g., R) are decreased so that the first accelerometer measurement and the second accelerometer measurement are given more weight in the Kalman filter relative to the magnetic field measurement than when the difference is greater than the specified threshold. When the difference is greater than a specified threshold, covariance values associated with the first accelerometer measurement and the second accelerometer measurement in a measurement covariance matrix of the Kalman filter (e.g., R) are increased so that the first accelerometer measurement and the second accelerometer measurement are given less weight in the Kalman filter relative to the magnetic field measurement than when the difference is less than the specified threshold. For example, when the difference is greater than the specified threshold, the covariance values associated with the first accelerometer measurement and the second accelerometer measurement may be increased by a factor of 100 compared with their values when the difference is less than the specified threshold. This threshold may be defined as being the same differential acceleration threshold as defined for the deadband.

An attitude of the device is determined (1006) using the Kalman filter based at least in part on the Kalman gain, the first accelerometer measurement, the second accelerometer measurement, and a magnetic field measurement received from a multi-dimensional magnetometer of the device. For example, the Kalman filter described above with reference toFIG. 8and Equations (8)-(29) may be used to determine the attitude of the device.

FIG. 11is a block diagram of a multi-dimensional pointing device1100. The multi-dimensional pointing device1100may be any one of the multi-dimensional pointing devices102,200, and701. The multi-dimensional pointing device1100typically includes one or more processing units (CPU's)1102, one or more network or other communications interfaces1104(e.g., the transmitter408,FIG. 4, or other wireless communication interface, as described above with reference toFIGS. 1 and 4), memory1110, accelerometers1170, and one or more communication buses1109for interconnecting these components. In some embodiments, communications interfaces1104include a transmitter408(FIG. 4) for transmitting information, such as accelerometer and magnetometer measurements, and/or the computed attitude of the multi-dimensional pointing device1100, and/or other information to a host system (e.g., the host system101or1200). The communication buses1109may include circuitry (sometimes called a chipset) that interconnects and controls communications between system components. The multi-dimensional pointing device1100optionally may include a user interface1105comprising a display device1106(LCD display, LED display, etc.) and input devices1107(e.g., keypads, buttons, etc.). In some embodiments, the multi-dimensional pointing device1100includes one or more magnetometers1172. Memory1110includes high-speed random access memory, such as DRAM, SRAM, DDR RAM or other random access solid state memory devices; and may include non-volatile memory, such as one or more magnetic disk storage devices, optical disk storage devices, flash memory devices, or other non-volatile solid state storage devices. Memory1110may optionally include one or more storage devices remotely located from the CPU(s)1102. Memory1110, or alternately the non-volatile memory device(s) within memory1110, comprises a non-transitory computer readable storage medium. In some embodiments, memory1110stores the following programs, modules and data structures, or a subset thereof:an operating system1112that includes procedures for handling various basic system services and for performing hardware dependent tasks;a communication module1113that is used for connecting the multi-dimensional pointing device1100to a host system via the one or more communication network interfaces1104(wired or wireless); the communication module optionally may also be adapted for connecting the multi-dimensional pointing device1100to one or more communication networks, such as the Internet, other wide area networks, local area networks, metropolitan area networks, and so on;data representing accelerometer measurements1114;data representing magnetometer measurements1115;data representing button presses1116;a user interface module1118that receives commands from the user via the input devices1107and generates user interface objects in the display device1106;a gesture determination module1119that determines gestures based on a sequence of corrected attitude measurements, as described above; anda Kalman filter module1120that determines the attitude of the multi-dimensional pointing device1100, as described above with respect toFIGS. 8-10and Equations (8)-(29), wherein the Kalman filter module1120includes: a sensor model1121(e.g., the sensor model described in Equations (28)-(29)), a dynamics model1122(e.g., the dynamics model described in Equations (15)-(21)), a predict module1123that performs the predict phase operations of the Kalman filter (e.g., step802inFIG. 8), an update module1124that performs the update operations of the Kalman filter (e.g., step806inFIG. 8), a state vector1125of the Kalman filter (e.g., the state vector in Equation (10)), a mapping1126(e.g., the mapping808inFIG. 8), Kalman filter matrices1127(e.g., the Kalman filter matrices P, G, S, K, R, etc., as described above), and attitude estimates1128(e.g., the attitude estimates as obtained from the quaternion in the state vector {circumflex over (x)} in Equation (10)).

It is noted that in some of the embodiments described above, the multi-dimensional pointing device1100does not include a gesture determination module1119, because gesture determination is performed by a host system. In some embodiments described above, the multi-dimensional pointing device1100also does not include the Kalman filter module1120because the multi-dimensional pointing device1100transmits accelerometer and magnetometer measurements (and optionally button presses1116) to a host system at which the attitude of the pointing device is determined.

Each of the above identified elements may be stored in one or more of the previously mentioned memory devices, and each of the above identified programs or modules corresponds to a set of instructions for performing a function described above. The set of instructions can be executed by one or more processors (e.g., the CPUs1102). The above identified modules or programs (i.e., sets of instructions) need not be implemented as separate software programs, procedures or modules, and thus various subsets of these modules may be combined or otherwise re-arranged in various embodiments. In some embodiments, memory1110may store a subset of the modules and data structures identified above. Furthermore, memory1110may store additional modules and data structures not described above.

AlthoughFIG. 11shows a “multi-dimensional pointing device,”FIG. 11is intended more as functional description of the various features which may be present in a pointing device. In practice, and as recognized by those of ordinary skill in the art, items shown separately could be combined and some items could be separated.

FIG. 12is a block diagram of a host system1200. The host system1200may be any one of the host systems101,300described above. The host system1200typically includes one or more processing units (CPU's)1202, one or more network or other communications interfaces1204(e.g., any of the wireless interfaces described above with reference toFIG. 1), memory1210, and one or more communication buses1209for interconnecting these components. In some embodiments, communications interfaces1204include a receiver for receiving information, such as accelerometer and magnetometer measurements, and/or the computed attitude of a multi-dimensional pointing device (e.g., multi-dimensional pointing devices102,200,400or1100), and/or other information from the multi-dimensional pointing device. The communication buses1209may include circuitry (sometimes called a chipset) that interconnects and controls communications between system components. The host system1200optionally may include a user interface1205comprising a display device1206(LCD display, LED display, etc.) and input devices1207(e.g., a multi-dimensional pointing device, mouse, keyboard, trackpad, trackball, keypads, buttons, etc.). Memory1210includes high-speed random access memory, such as DRAM, SRAM, DDR RAM or other random access solid state memory devices; and may include non-volatile memory, such as one or more magnetic disk storage devices, optical disk storage devices, flash memory devices, or other non-volatile solid state storage devices. Memory1210may optionally include one or more storage devices remotely located from the CPU(s)1202. Memory1210, or alternately the non-volatile memory device(s) within memory1210, comprises a non-transitory computer readable storage medium. In some embodiments, memory1210stores the following programs, modules and data structures, or a subset thereof:an operating system1212that includes procedures for handling various basic system services and for performing hardware dependent tasks (e.g., the middleware313inFIG. 3);a communication module1213that is used for connecting the host system1200to a pointing device (e.g., the multi-dimensional pointing device1100), and/or other devices or systems via the one or more communication network interfaces1204(wired or wireless), and for connecting the host system1200to one or more communication networks, such as the Internet, other wide area networks, local area networks, metropolitan area networks, and so on;a user interface module1214that receives commands from the user via the input devices1207and generates user interface objects in the display device1206;a gesture determination module1215that determines gestures based on a sequence of corrected attitude measurements for a pointing device, as described above;data representing an attitude estimate1216that is received from a multi-dimensional pointing device;data representing accelerometer measurements1217received from a multi-dimensional positioning device and/or determined;data representing magnetometer measurements1218received from a multi-dimensional positioning device;data representing button presses1219received from a multi-dimensional positioning device; anda Kalman filter module1220that determines the attitude of the host system1200, as described above with respect toFIGS. 8-10and Equations (8)-(29), wherein the Kalman filter module1220includes: a sensor model1221(e.g., the sensor model described in Equations (28)-(29)), a dynamics model1222(e.g., the dynamics model described in Equations (15)-(21)), a predict module1223that performs the predict phase operations of the Kalman filter (e.g., step802inFIG. 8), an update module1224that performs the update operations of the Kalman filter (e.g., step806inFIG. 8), a state vector1225of the Kalman filter (e.g., the state vector {circumflex over (x)} in Equation (10)), a mapping1226(e.g., the mapping808inFIG. 8), Kalman filter matrices1227(e.g., the Kalman filter matrices P, G, S, K, R, etc., as described above), and attitude estimates1228(e.g., the attitude estimates as obtained from the quaternion in the state vector {circumflex over (x)} in Equation (10)).

It is noted that in some of the embodiments described above, the host system1200does not store data representing accelerometer measurements1217and data representing magnetometer measurements1218, and also does not include the Kalman filter module1220because the multi-dimensional pointing device's accelerometer and magnetometer measurements are processed at the multi-dimensional pointing device, which sends data representing the attitude estimate1228to the host system1200. In other embodiments, the multi-dimensional pointing device sends data representing measurements to the host system1200, in which case the modules for processing that data are present in the host system1200.

Each of the above identified elements may be stored in one or more of the previously mentioned memory devices, and each of the above identified programs or modules corresponds to a set of instructions for performing a function described above. The set of instructions can be executed by one or more processors (e.g., the CPUs1202). The above identified modules or programs (i.e., sets of instructions) need not be implemented as separate software programs, procedures or modules, and thus various subsets of these modules may be combined or otherwise re-arranged in various embodiments. The actual number of processors and software modules used to implement the host system1200and how features are allocated among them will vary from one implementation to another. In some embodiments, memory1210may store a subset of the modules and data structures identified above. Furthermore, memory1210may store additional modules and data structures not described above.

Rolling Gestures

As discussed above, existing pointing devices can be used to perform translational movements of objects (e.g., a cursor, etc.) in a user interface of a client computer system. One type of non-translational movement that can be performed in the real world (as opposed to the simulated environment displayed by a computer) is a rolling gesture (e.g., a rotation operation). For example, the rolling gesture may be performed when turning a key or turning a dial. However, existing pointing devices do not enable the performance of rolling gestures or rotation operations with respect to objects displayed in the user interface of a computer system. Accordingly, it would be highly desirable to provide a multidimensional pointing device (e.g., a free space pointer) that sends commands to a computer system so as to provide both translational and non-translational movements of objects in a user interface of the computer system.

FIG. 13presents a block diagram1300illustrating an exemplary multi-dimensional pointing device1302performing a rolling gesture so as to control an object or control parameter in an exemplary user interface1308of an exemplary host system1306, according to some embodiments. The multi-dimensional pointing device1302may be any of the multi-dimensional pointing devices102,200, and1100discussed above. The “host system” is any computer system or device that is configured to receive gesture data from the multi-dimensional pointing device1302. The term “host system” is used interchangeably with the term “client computer system” in this specification. The gesture data sent by the multi-dimensional pointing device1302to the host system typically includes translational movement data and rotational movement data, and optionally includes button press data, and possibly includes other data as well.

In the example shown inFIG. 13, the user interface1308includes a volume control object1310that may be rotated by a user of the multi-dimensional pointing device1302. The volume control object1310can be any object or object element (e.g., a dial within a control object) that can be rotated. When the user rotates the multi-dimensional pointing device1302about its longitudinal axis (i.e., a roll axis), the host system1306responds by rotating the volume control object1310in the user interface1308in the same direction (e.g., clockwise or counterclockwise) that the pointing device1302is being rotated.

In some other embodiments, the volume control object1310need not rotate, and instead a volume indicator within the volume control object1310may move, change size or rotate as the multi-dimensional pointing device1302is rotated. For example, the volume control object1310can include a bar or wedge-shaped object that increases or decrease in size as the multi-dimensional pointing device1302is rotated.

In some embodiments, if there is more than one object in the user interface1308that may be rotated or otherwise controlled by rotation of the multi-dimensional pointing device1302, the object to be rotated or controlled is selected using the multi-dimensional pointing device1302. There are several different ways that object selection can be accomplished. In some embodiments, an object is selected by manipulating the multi-dimensional pointing device1302so as to position a cursor on or within a predetermined distance of the object, and then performing a rotation gesture so as to control the object. Optionally, when the user manipulates the multi-dimensional pointing device to move the cursor within the predetermined distance of the volume control object1310, a “grab” operation is performed on the volume control object1310.

Alternatively, an object is selected by manipulating the multi-dimensional pointing device1302so as position a cursor on or within a predetermined distance of the object and then pressing a button on the multi-dimensional pointing device1302so as to select the object. In yet other embodiments, an object is selected by pressing a corresponding button on the multi-dimensional pointing device1302. For example, the multi-dimensional pointing device1302may have two or more buttons, each corresponding to a different respective user interface object.

In other embodiments, other combinations of button presses and gestures may be used to perform the operations discussed with respect toFIG. 13.

In embodiments in which there is only one object in the user interface1308that may be controlled by a rotation gesture performed using the multi-dimensional pointing device1302, the user may press (and optionally hold down) a gesture button while rotating the multi-dimensional pointing device1302about its longitudinal axis so as to control that object, without having to first select the object.

Once a user interface object has been selected, the selected object is rotated or otherwise manipulated by performing a rotation gesture using the multi-dimensional pointing device1302. Performance of the rotation gesture results in rotation information (e.g., a rolling gesture metric) being transmitted to the host system1306. More specifically, rolling gesture metric values may be conveyed periodically to the host system1306, each rolling gesture metric value representing either a change in rotational angle (of the multi-dimensional pointing device1302) between consecutive sample times, or a rate of rotational change (of the multi-dimensional pointing device1302) between consecutive sample times. The rolling gesture metric values conveyed to the host system1306are then used to manipulate (e.g., rotate or otherwise adjust) an object on the user interface or a setting of the host system.

In some embodiments, when the user rotates the multi-dimensional pointing device1302about its longitudinal axis, the host system1306responds by rotating the volume control object1310in a direction corresponding to the direction of rotation of the pointing device1302, or by otherwise updating the volume control object1310in a manner consistent with the direction and amount of the rotation. In some of these embodiments, the user first presses and releases a volume button or gesture button on the multi-dimensional pointing device1302prior to rotating the multi-dimensional pointing device1302about its longitudinal axis, and then begins the rotation gesture within a predefined amount of time (e.g., 1 second). Alternatively, to perform the rotation gesture, the user presses and holds down a volume button or gesture button on the multi-dimensional pointing device1302while rotating the multi-dimensional pointing device1302about its longitudinal axis.

The discussion above refers to a volume control object1310in the user interface1308. However, the volume of a host system may be adjusted without requiring a volume control object1310in a user interface. For example, the user may press a volume button on the multi-dimensional pointing device1302and then rotate the multi-dimensional pointing device1302to adjust the volume. In this example, the user receives feedback, in response to the rotation gesture, in the volume of the sounds output by the host system.

As noted above, a rolling gesture may be applied to objects in a user interface other than a volume control object. For example, a rolling gesture may be used to adjust a variety of settings in the host system1306(e.g., channels, brightness, contrast, hue, saturation, etc.). If buttons corresponding to these settings (e.g., a channel button, a brightness button, a contrast button, a hue button, a saturation button, etc.) are present on the multi-dimensional pointing device1302, these settings may be adjusted without having to use a cursor controlled by the multi-dimensional pointing device1302to select corresponding objects in the user interface1308of the host system1306. Furthermore, a rolling gesture may be used to rotate (or otherwise manipulate or adjust parameters of) objects such as pages of a document, photographs, and the like.

Note that although this specification is described with respect to a rolling gesture performed about a longitudinal axis (i.e., a roll axis) of the multi-dimensional pointing device1302and a corresponding rolling gesture metric, the embodiments described herein may be applied to a rotation about a pitch axis or a yaw axis and a corresponding pitch gesture metric or a yaw gesture metric, respectively. These axes are illustrated inFIG. 17, which is a block diagram1700illustrating axes of rotation for the multi-dimensional pointing device1302, according to some embodiments. As illustrated inFIG. 17, the multi-dimensional pointing device1302has a roll axis1702, a yaw axis1704, and a pitch axis1706.

FIG. 14presents a block diagram1400illustrating parameters that are transmitted between the multi-dimensional pointing device1302and the host system1306, according to some embodiments. As described above, the multi-dimensional pointing device1302includes one or more multi-dimensional accelerometers and one or more multi-dimensional magnetometers that are used to determine the attitude of the multi-dimensional pointing device1302(e.g., using the attitude-determination techniques discussed above). In some embodiments, firmware1402(executed by the one or more processors1202of the multi-dimensional pointing device1200,1302) processes the attitude and the button presses to produce corresponding values for dx (i.e., a change in the x position), dy (i.e., a change in they position), ω (i.e., the roll rate or the change in roll angle), and, optionally, α (i.e., the roll acceleration or the time derivative in the roll rate). The dx, dy, ω, and α values represent changes in the pointing device's1302attitude (also called displacements) between two consecutive samples in time.

The firmware1402then transmits (e.g., using a transmitter circuit in the multi-dimensional pointing device1302) values for dx, dy, ω, α, and any button presses to the host system1306. In some embodiments, a mouse driver1404in the host system1306receives the values for dx, dy, ω, and the button presses and produces a position, angle or other signal or value (e.g., a number of scroll wheel clicks and a scroll wheel direction (e.g., up or down)) that is used by an application1406to manipulate an object in the user interface. Typically, the firmware1402is configured to periodically transmit the dx, dy, ω, and button presses (if any), and optionally α, to the host system1306, at a rate sufficient to provide the illusion of continuous or smooth movement of the cursor and/or other object on the user interface. In some embodiments, the firmware1402is configured to periodically transmit the dx, dy, ω, α, and button presses (if any) to the host system1306N times per second, where N is a value in the range 2 to 20 (e.g., N=5).

FIG. 15is a flow diagram of a method1500for detecting performance of a rolling gesture using a multi-dimensional pointing device, according to some embodiments. The multi-dimensional pointing device detects (1502) initiation of a gesture by a user of the multi-dimensional pointing device. In some embodiments, initiation of the gesture by the user of the multi-dimensional pointing device is detected by detecting the pressing of a button on the multi-dimensional pointing device. In some embodiments, the button is selected from the group consisting of: a volume button, a channel button, a video input selection button (e.g., a button that selects between video sources such as HDMI video sources, component video sources, composite video sources, etc.), an audio input selection button (e.g., a button that selects between video sources), and a gesture button (e.g., a button that is used when initiating and/or while performing a gesture). In some embodiments, detecting initiation of the gesture includes receiving a message from a client computer system that indicates that the user of the multi-dimensional pointing device selected a user interface element (e.g., a menu item, an icon, etc.) in the user interface of the client computer system that initiates the detection of gestures. When the detection of gestures is performed on the client computer system, a module of the client computer system that determines gestures (e.g., the gesture determination module1215inFIG. 12) receives the message.

The multi-dimensional pointing device then detects (1504) performance of a rolling gesture comprising rotation of the multi-dimensional pointing device about a longitudinal axis of the multi-dimensional pointing device. In some embodiments, performance of a rolling gesture is detected when the amount of rotation (e.g., change in rotation angle or rotation rate) of the pointing device exceeds a predefined threshold, while in other embodiments performance of a rolling gesture is detected when the amount of rotation of the pointing device exceeds the threshold for at least M consecutive time periods, where M is predefined value equal to 2 or more (M≧2). Furthermore, in some embodiments detection of a rolling gesture is independent of the amount of lateral and vertical movement (dx, dy) of the pointing device, while in other embodiments a rolling gesture is detected only when the amount of lateral and vertical movement (dx, dy) of the pointing device is less than a threshold amount (e.g. only when dx2+dy2≦D, where D corresponds to the threshold).

Next, if performance of a rolling gesture has been detected (1505-Yes), the multi-dimensional pointing device determines (1506) a corresponding rolling gesture metric. The rolling gesture metric corresponds to a change in attitude of the pointing device upon initiation of the rolling gesture. In some embodiments, the rolling gesture metric is selected from the group consisting of a roll angle, a roll rate, and a roll acceleration. In some embodiments, the rolling gesture metric is a combination of two or more of the roll angle, roll rate, and roll acceleration (e.g., a predefined linear combination or predefined non-linear combination of two or more of the aforementioned values).

If performance of a rolling gesture has not been detected (1505-No), then there is no corresponding rolling gesture metric, and the process waits until a next sample time (1510) to resume at1504. As noted above, in some embodiments the multi-dimensional pointing device is configured to repeat process1500two to twenty times per second (corresponding to 2 to 20 sample times per second). In some embodiments, if sufficient time passes (e.g., more than a predetermined period of time, such as 1 or 2 seconds, or more than a predetermined number of sample periods) without performance of a rolling gesture being detected, performance of the process1500is suspended. Process1500resumes when the multi-dimensional pointing device detects (1502) initiation of a gesture by a user of the multi-dimensional pointing device.

The multi-dimensional pointing device then conveys (1508) information corresponding the rolling gesture metric to a client computer system, where the client computer system is configured to manipulate an object in a user interface of the client computer system in accordance with the rolling gesture metric. In some embodiments, the multi-dimensional pointing device includes a transmitter circuit configured to transmit data to the client computer system. After conveying the information to the client computer system, at least a portion of process1500(e.g., operations1506and1508, or operations1504-1508) are repeated at a next sampling time.

In some embodiments, operations1504and1505, detecting performance of a rolling gesture, are not performed. Instead, for every consecutive sampling period during which the point device is active, a rolling gesture metric is determined (1506) and conveyed (1508) by the pointing device to the host system. The rolling gesture metric is then evaluated at the host system to determine if any corresponding action is required at the host system. Furthermore, in some embodiments, if the rolling gesture metric indicates either no rotation of the pointing device, or an amount of rotation that is less than a threshold amount, the host system does not rotate or update any user interface objects based on the received rolling gesture metric. Thus, in these embodiments, the job of the multi-dimensional pointing device is to periodically report changes in its attitude to the host system, regardless of whether those changes in attitude correspond to a rolling gesture or any other gesture. Alternatively, in some other embodiments in which operations1504and1505are not performed, a rolling gesture metric is determined (1506) and conveyed (1508) by the pointing device to the host system only if initiation of a gesture by the user of the multi-dimensional pointing device has been detected (1502).

Attention is now directed toFIG. 16, which is a flow diagram of a method for calculating (1506) the corresponding rolling gesture metric, according to some embodiments. The multi-dimensional pointing device calculates (1602) a change in attitude of the multi-dimensional pointing device since a prior sampling time (i.e., since a prior measurement of the pointing device's attitude), based on one or more accelerometer measurements from one or more multi-dimensional accelerometers of the multi-dimensional pointing device and one or more magnetic field measurements from one or more multi-dimensional magnetometers of the multi-dimensional pointing device. Next, the multi-dimensional pointing device determines (1604-Yes) that the multi-dimensional pointing device is undergoing a rotation about a longitudinal axis of the multi-dimensional pointing device based on the change in attitude of the multi-dimensional pointing device. The multi-dimensional pointing device then calculates (1606) the rolling gesture metric based on the change in attitude of the multi-dimensional pointing device. If the multi-dimensional pointing device determines (1604-No) that the multi-dimensional pointing device is not undergoing a rotation about a longitudinal axis of the multi-dimensional pointing device, then the rolling gesture metric is either not calculated, or is set to a predefined null value (e.g., zero) (1608).

In some embodiments, operations1604and1608, determining whether the multi-dimensional pointing device is undergoing a rotation about a longitudinal axis of the multi-dimensional pointing device, are not performed. Instead, the rolling gesture metric is always computed (1606) based on the change in attitude (if any) of the multi-dimensional pointing device. In these embodiments, the rolling gesture metric is then evaluated at the client computer system (host system) to determine if any corresponding action is required at the host system.

In some embodiments, the rolling gesture is mapped by the client computer system to a rotation operation that is performed on the object in the user interface of the client computer system. In some embodiments, the object is selected from the group consisting of a dial, a photograph, and a page of a document. Note that the rolling gesture may be performed on other objects.

In some embodiments, the rolling gesture is mapped to a scrolling operation that is performed on the object in the user interface of the client computer system. In some embodiments, the object is selected from the group consisting of a web page, a document, and a list. Note that the scrolling operation may be performed on other objects.

In some embodiments, the rolling gesture metric is mapped by the client computer system (host system) to a number of clicks of a mouse wheel over a time interval.

Note that the discussion ofFIGS. 15 and 16refers to the multi-dimensional pointing device performing the operations illustrated inFIGS. 15 and 16. However, as discussed above, at least a portion of the operations may be performed by the host system. For example, the multi-dimensional pointing device may transmit raw acceleration measurements and magnetometer measurements and button presses to the host system so that the host system can calculate the attitude of the multi-dimensional pointing device and any gestures that are being performed by the user of the multi-dimensional pointing device. Similarly, the multi-dimensional pointing device may transmit an attitude of the multi-dimensional pointing device and button presses to the host system so that the host system can detect any gestures that are being performed by the user of the multi-dimensional pointing device.

Note that the methods800,1000,1500, and1506may be governed by instructions that are stored in a computer readable storage medium and that are executed by one or more processors of a pointing device or a host system. As noted above, in some embodiments these methods may be performed in part on a pointing device and in part on a host system. Each of the operations shown inFIGS. 8,10,15, and16may correspond to instructions stored in a computer memory or computer readable storage medium. The computer readable storage medium may include a magnetic or optical disk storage device, solid state storage devices such as Flash memory, or other non-volatile memory device or devices. The computer readable instructions stored on the computer readable storage medium are in source code, assembly language code, object code, or other instruction format that is interpreted by one or more processors.