Patent ID: 7535456

Claim:
A handheld device comprising: a first sensor for determining motion of said handheld device and generating a first output associated therewith; an accelerometer for determining an acceleration of said handheld device and outputting an acceleration output associated therewith; and a processing unit for receiving said first output and said acceleration output and for: (a) determining a velocity of said handheld device based upon at least one of said first output and said acceleration output; (b) if said velocity of said handheld device is below a predetermined velocity threshold, then discarding or attenuating data generated by said first sensor and said accelerometer until either said handheld device has moved more than a predetermined distance or a predetermined time has expired; and (c) otherwise, if said velocity of said handheld device is above said predetermined velocity threshold, then filtering said data generated by said first sensor, and said accelerometer to remove tremor by adaptive, model-based filtering using one of: linear filtering, Kalman filtering, Kalman smoothing, extended Kalman filtering, state-space estimation, Expectation-Maximization, or another model-based technique.