Hybrid Sensor Attitude Correction Using Complementary Filtering
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Solution Overview
Problem
Existing input devices with acceleration sensors face errors in attitude detection due to inclusion of non-gravitational components in acceleration vectors, and angular velocity-based methods accumulate errors over time, leading to inaccurate attitude calculations.
Innovation Solution
An input device equipped with both angular velocity and acceleration sensors, featuring a first attitude detection section and an attitude correction section that uses acceleration data to correct detected attitudes, ensuring accurate reflection of attitude changes along the gravity direction.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Speed
If acceleration sensor is used for attitude detection, then the system is simple and response is fast, but measurement precision deteriorates when the device is vigorously moved due to non-gravitational components in acceleration vector
Solution Approach 1:
The patent combines acceleration sensor and angular velocity sensor into a hybrid attitude detection system. The acceleration sensor provides fast response and gravity reference, while the angular velocity sensor provides accurate dynamic attitude changes. Their outputs are integrated through complementary filtering to achieve both fast response and high precision attitude detection.
Solution Approach 2:
The patent introduces a complementary filter as an intermediary that processes and combines the outputs from both sensors. This filter mediates between the high-frequency angular velocity data and the low-frequency acceleration data, producing a unified attitude estimate that leverages the strengths of both sensors while mitigating their individual weaknesses.
2Measurement precision
If angular velocity sensor is used for attitude detection, then measurement precision is improved for dynamic movements, but reliability deteriorates due to error accumulation over time
Solution Approach 1:
The patent implements feedback by using the acceleration sensor's gravity-based attitude estimate to continuously correct and reset the accumulated errors in the angular velocity sensor's attitude calculation. The acceleration sensor provides a reliable long-term reference that feeds back into the system to prevent drift, ensuring sustained accuracy over time.
Solution Approach 2:
The complementary filter acts as an intermediary that selectively combines the high-precision short-term data from the angular velocity sensor with the reliable long-term data from the acceleration sensor. This mediation produces a unified output that maintains both high precision and long-term reliability.
3Device complexity
If acceleration sensor is used for attitude detection, then device complexity is low, but measurement precision deteriorates during vigorous movement
Solution Approach 1:
The patent merges the simple acceleration sensor system with the angular velocity sensor system, creating a hybrid configuration that maintains reasonable device complexity while significantly improving measurement precision during vigorous movement through sensor fusion.
4Measurement precision
If hybrid sensor system is implemented, then measurement precision is improved, but device complexity increases
Solution Approach 1:
The complementary filter serves as an intermediary that simplifies the integration of two sensor systems by providing a straightforward mathematical framework for combining their outputs. This approach improves measurement precision while keeping the system architecture and processing complexity manageable.
Applied Scientific Principles
This section explains which scientific principles are used to turn an abstract innovation direction into a practical engineering solution.
Function Achieved in This Case
The solution enables accurate and reliable detection of the input device's attitude, reducing errors and providing a stable basis for information processing, such as in gaming applications, by utilizing the gravity direction as an absolute reference.
Implementation Method 1
a first attitude detection section (411) detecting a first detected attitude of the input device, based on angular velocity data outputted from the angular velocity sensor (47)
Implementation Method 2
an attitude correction section (412) correcting the first detected attitude, based on acceleration data outputted from the acceleration sensor (39)
Data Source
AI summary
An exemplary input device detects a first detected attitude thereof based on angular velocity data outputted from an angular velocity sensor. Next, the input device corrects the first detected attitude based on acceleration data outputted from an acceleration sensor. Then, the input device performs predetermined information processing, without using components, in a horizontal direction and a depth direction, of the first detected attitude which has been corrected.