Drumstick Orientation Detection Using Sensor Fusion

The patent combines multiple sensors (acceleration sensor, angular velocity sensor, and magnetic sensor) into an integrated orientation detection system. The acceleration sensor detects gravity direction, the angular velocity sensor measures rotation, and the magnetic sensor provides geomagnetic reference. By merging these sensors and fusing their data through coordinate transformations and correction algorithms, the system achieves reliable orientation estimation even during high-speed movement when individual sensors would be unstable or inaccurate.

The system implements feedback correction by continuously comparing the orientation parameters derived from different sensors and adjusting the magnetic sensor readings based on acceleration and angular velocity data. The correction section uses the accumulated orientation information to correct the orientation parameter, creating a closed-loop system that compensates for geomagnetic sensor instability during dynamic movement.

The patent introduces intermediate calculation steps and coordinate transformation matrices as mediators between the raw sensor data and the final orientation output. The system first calculates orientation parameters in a local coordinate system, then transforms them to a world coordinate system using correction algorithms. These intermediate processing steps filter out high-speed movement disturbances and provide stable orientation information for dynamic playing scenarios.

The system performs preliminary orientation calibration and sensor fusion setup before dynamic movement begins. The initial stationary state orientation parameters are stored and used as reference for subsequent corrections during movement, preparing the system in advance to handle high-speed dynamics accurately.