Patent ID: 8006556

Claim:
A method for determining changes in orientation of an object in six degrees of freedom, comprising: providing first and second linear accelerometers disposed on an imaginary axis relative to the object; measuring, with the first linear accelerometer, a first linear movement of the object in relation to an x-y-z coordinate system; measuring, with the second linear accelerometer, a second linear movement of the object in relation to the x-y-z coordinate system; measuring with the first and second linear accelerometers an angular rotation of the object in relation to three axes of rotation; determining, with measurements from the first and second linear accelerometers, a change in position of the object; determining, with measurements from the first and second linear accelerometers, a change in orientation of the object; assigning initial coordinates (X 0 , Y 0 , Z 0 ), in the x-y-z coordinate system, to each of the accelerometers at a first time; and computing changes from the initial coordinates for each of the accelerometers between the first time and a second time.