Electronic device for use in motion detection and method for obtaining resultant deviation thereof

1. An electronic device subject to movements and rotations in a spatial reference frame, comprising:

a motion sensor module having sensor circuitry configured to generate measured angular velocities and measured axial accelerations; and

a computing processor having processor circuitry configured to calculate a resulting deviation associated with the movements and the rotations of the electronic device in the spatial reference frame by performing the following in sequence:

providing a previous quaternion corresponding to time T−1 based on the measured axial accelerations corresponding to time T−1 and the measured angular velocities corresponding to time T−1, without using the measured angular velocities corresponding to time T;

converting measured angular velocities corresponding to time T, based on the previous quaternion, into a current quaternion corresponding to time T, without using measured axial accelerations corresponding to time T;

converting variables of the current quaternion into predicted axial accelerations corresponding to time T, which is associated with the pitch and roll angles of the electronic device and without being associated with the yaw angle of the electronic device;

comparing the predicted axial accelerations with the measured axial accelerations corresponding to time T to obtain a first comparison result;

obtaining an updated quaternion associated with time T based on the current quaternion and the first comparison result;

using the updated quaternion as a next occurrence of the previous quaternion; and

providing the resulting deviation based on the updated quaternion;

wherein the processor circuitry is further configured to provide content based on the resulting deviation in the spatial reference frame.

2. The electronic device of claim 1 , wherein:

the motion sensor module further comprises a rotation sensor and an accelerometer;

the rotation sensor has sensor circuitry configured to generate the measured angular velocities;

the accelerometer has circuitry configured to generate the measured axial accelerations; and

both the rotation sensor and the accelerometer are associated with the movements and the rotations of the electronic device in a spatial reference frame.

3. The electronic device of claim 1 , wherein the converting the measured angular velocities corresponding to time T based on the previous quaternion is performed without using the measured axial accelerations corresponding to time T.

4. The electronic device of claim 1 , wherein the predicted axial accelerations are based on the measured axial accelerations corresponding to time T−1 and the measured angular velocities corresponding to time T.

5. The electronic device of claim 1 , wherein the first comparison result is based on the measured axial accelerations corresponding to time T−1, measured axial accelerations corresponding to time T, and angular velocities corresponding to time T.

6. The electronic device of claim 1 , wherein the content is visual content.

7. The electronic device of claim 6 , wherein the processor circuitry is further configured to translate the resulting deviation in the spatial reference frame into a real-time movement pattern in a display reference frame.

8. The electronic device of claim 7 , further comprising a display device associated with the display reference frame and configured to display the real-time movement pattern.

9. The electronic device of claim 1 , wherein:

the motion sensor module further comprises a magnetometer having magnetometer circuitry configured to generate measured magnetisms; and

in calculating the resulting deviation, the computing processor is further configured to:

convert the measured magnetisms corresponding to time T to a measured yaw angle and convert the angular velocities corresponding to time T to a predicted yaw angle;

compare the predicted yaw angle with the measured yaw angle to obtain a second comparison result; and

obtain the updated quaternion based on the second comparison result.

10. The electronic device of claim 9 , wherein:

the measured yaw is based on the measured magnetisms, a temporary pitch value, and a temporary roll value; and

the temporary pitch value and the temporary roll value are calculated and converted from the updated quaternion.

11. The electronic device of claim 9 , wherein, in calculating the resulting deviation, the computing processor is further configured to:

obtain a first updated quaternion based on the current quaternion and the first comparison result; and

obtain a second updated quaternion based on the first updated quaternion and the second comparison result, wherein the resultant angles are based on the second updated quaternion.

12. The electronic device of claim 1 , wherein, in calculating the resulting deviation, the computing processor is further configured to:

utilize a first data association model to determine whether compensation is needed to obtain the updated quaternion based on the measured axial accelerations corresponding to time T; and

obtain the updated quaternion in response to determining that the compensation is needed.

13. The electronic device of claim 12 , wherein, in calculating the resulting deviation, the computing processor is further configured to utilize the first data association model to determine whether compensation is needed to obtain the updated quaternion based on whether the first comparison result is a first predetermined value or within a first predetermined range.

14. A method for determining movements and rotations in a spatial reference frame, comprising:

generating, with a motion sensor module having sensor circuitry, measured angular velocities and measured axial accelerations;

calculating, with a computing processor having processor circuitry, a resulting deviation associated with the movements and the rotations in the spatial reference frame by performing the following in sequence:

providing a previous quaternion corresponding to time T−1 based on the measured axial accelerations corresponding to time T−1 and the measured angular velocities corresponding to time T−1, without using the measured angular velocities corresponding to time T;

converting measured angular velocities corresponding to time T, based on the previous quaternion, into a current quaternion corresponding to time T, without using measured axial accelerations corresponding to time T;

converting variables of the current quaternion into predicted axial accelerations corresponding to time T, which is associated with the pitch and roll angles of the electronic device and without being associated with the yaw angle of the electronic device;

comparing the predicted axial accelerations with the measured axial accelerations corresponding to time T to obtain a first comparison result;

obtaining an updated quaternion associated with time T based on the current quaternion and the first comparison result;

using the updated quaternion as a next occurrence of the previous quaternion; and

providing the resulting deviation based on the updated quaternion; and

providing content based on the resulting deviation in the spatial reference frame.

15. The method of claim 14 , wherein:

the motion sensor module further comprises a rotation sensor and an accelerometer;

the rotation sensor has sensor circuitry configured to generate the measured angular velocities;

the accelerometer has circuitry configured to generate the measured axial accelerations; and

both the rotation sensor and the accelerometer are associated with the movements and the rotations of an electronic device in a spatial reference frame.

16. The method of claim 14 , wherein the converting the measured angular velocities corresponding to time T based on the previous quaternion is performed without using the measured axial accelerations corresponding to time T.

17. The method of claim 14 , wherein the predicted axial accelerations are based on the measured axial accelerations corresponding to time T−1 and the measured angular velocities corresponding to time T.

18. The method of claim 14 , wherein the first comparison result is based on the measured axial accelerations corresponding to time T−1, measured axial accelerations corresponding to time T, and angular velocities corresponding to time T.

19. The method of claim 14 , wherein the content is visual content.

20. The method of claim 19 , wherein the processor circuitry is further configured to translate the resulting deviation in the spatial reference frame into a real-time movement pattern in a display reference frame.

21. The method of claim 20 , further comprising a display device associated with the display reference frame and configured to display the real-time movement pattern.

22. The method of claim 14 , wherein:

the method further comprises generating, with a magnetometer having magnetometer circuitry, measured magnetism; and

calculating the resulting deviation further comprises:

converting the measured magnetisms corresponding to time T to a measured yaw angle and converting the angular velocities corresponding to time T to a predicted yaw angle;

comparing the predicted yaw angle with the measured yaw angle to obtain a second comparison result; and

obtaining the updated quaternion based on the second comparison result.

23. The method of claim 22 , wherein:

the measured yaw is calculated and obtained based on the measured magnetisms, a temporary pitch value, and a temporary roll value; and

the temporary pitch value and the temporary roll value are calculated and converted from the updated quaternion.

24. The method of claim 22 , wherein calculating the resulting deviation further comprises:

obtaining a first updated quaternion based on the current quaternion and the first comparison result; and

obtaining a second updated quaternion based on the first updated quaternion and the second comparison result, wherein the resultant angles are based on the second updated quaternion.

25. The method of claim 14 , wherein calculating the resulting deviation further comprises:

utilizing a first data association model to determine whether compensation is needed to obtain the updated quaternion based on the measured axial accelerations corresponding to time T; and

obtaining the updated quaternion in response to determining that the compensation is needed.

26. The method of claim 25 , wherein calculating the resulting deviation further comprises utilizing the first data association model to determine whether compensation is needed to obtain the updated quaternion based on whether the first comparison result is a first predetermined value or within a first predetermined range.

27. The electronic device of claim 1 , wherein:

the computing processor converts variables (q 0 , q 1 , q 2 and q 3 ) of the current quaternion into predicted axial accelerations (Ax′, Ay′, Az′) associated with the pitch and roll angles of the electronic device based on the equations of:

Ax′= 2( q 1 q 3 −q 0 q 2 );

Ay′= 2( q 2 q 3 +q 0 q 1 );

Az′=q 0 2 −q 1 2 −q 2 2 +q 3 2 ; and

the pitch and roll angles of the electronic device are represented by:

pitch=arcsin(2( q 0 q 2 −q 3 q 1 ));

roll=arctan(2( q 0 q 1 +q 2 q 3 )/( q 0 2 −q 1 2 −q 2 2 +q 3 2 )); and

yaw=arctan(2( q 0 q 3 +q 1 q 2 )/( q 0 2 +q 1 2 −q 2 2 −q 3 2 )).

28. The method of claim 14 , wherein:

the computing processor converts variables (q 0 , q 1 , q 2 and q 3 ) of the current quaternion into predicted axial accelerations (Ax′, Ay′, Az′) associated with the pitch and roll angles of the electronic device based on the equations of:

Ax′= 2( q 1 q 3 −q 0 q 2 );

Ay′= 2( q 2 q 3 +q 0 q 1 );

Az′=q 0 2 −q 1 2 −q 2 2 +q 3 2 ; and

wherein the pitch and roll angles of the electronic device are represented by:

pitch=arcsin(2( q 0 q 2 −q 3 q 1 ));

roll=arctan(2( q 0 q 1 +q 2 q 3 )/( q 0 2 −q 1 2 −q 2 2 +q 3 2 )); and

yaw=arctan(2( q 0 q 3 +q 1 q 2 )/( q 0 2 +q 1 2 −q 2 2 −q 3 2 )).