Method and system for determining hinge angle
View Patent ↗Described herein are methods and systems for determining a relative position of different portions of a hinged device. Motion sensor data from sensor assemblies of each portion is fused to relate the device portions to a world frame. An angular orientation between the device portions is determined with respect to the hinge axis and accumulating sensor measurement errors are compensated by constraining determined axes of the sensor assemblies using the motion sensor data and known relationships between physical axes of the sensor assemblies and the mechanical hinge, such that the determined axes of the sensor assemblies are aligned along the hinge axis.
1 . A method for determining a relative position of different device portions for a first portion of a device coupled to a second portion of the device by a mechanical hinge with one degree of rotational freedom along a hinge axis, comprising:
obtaining motion sensor data from a sensor assembly integrated with the first portion of the device, wherein the sensor assembly comprises a three-axis accelerometer and a three-axis gyroscope;
obtaining motion sensor data from a sensor assembly integrated with the second portion of the device, wherein the sensor assembly comprises a three-axis accelerometer and a three-axis gyroscope;
performing six-axis sensor fusion for each sensor assembly with the obtained motion sensor data to relate the first portion of the device and the second portion of the device to a world frame;
determining an angular orientation between the first portion of the device and the second portion of the device with respect to the hinge axis based at least in part to the relation of the first portion of the device and the second portion of the device; and
compensating for accumulating sensor measurement errors in the determination of angular orientation between the first portion of the device and the second portion of the device by constraining a determined axis of the sensor assembly of the first portion with a determined axis of the sensor assembly of the second portion based at least in part on the obtained motion sensor data and known relationships between physical axes of the sensor assemblies and the mechanical hinge, wherein the determined axis of the sensor assembly of the first portion and the determined axis of the sensor assembly of the second portion are aligned along the hinge axis and wherein the device can assume any orientation including an orientation that substantially aligns the mechanical hinge with a gravity vector.
2 . The method of claim 1 , further comprising tracking the determined angular orientation over time when compensating for the accumulating sensor measurement errors.
3 . The method of claim 2 , further comprising determining an absolute orientation for the first portion and an absolute orientation for the second portion during the tracking.
4 . The method of claim 1 , wherein compensating for the accumulating sensor measurement errors comprises applying a determined rotation angle about the gravity vector to an orientation of at least one of the portions of the device.
5 . The method of claim 1 , wherein compensating for the accumulating sensor measurement errors comprises determining a relative orientation for the first portion and a relative orientation for the second portion such that the determined axis for sensor assembly of the first portion is set to match the determined axis of the sensor assembly of the second portion.
6 . The method of claim 1 , further comprising employing a corrected orientation of at least one of the portions of the device to determine hinge angle based on motion of the device.
7 . The method of claim 6 , further comprising performing a previous calibration of the sensor assembly of the first portion and the sensor assembly of the second portion when the mechanical hinge is not aligned with a gravity vector.
8 . A system for determining a relative position of different device portions, comprising:
a first portion of a device having an integrated sensor assembly configured to output motion sensor data, wherein the sensor assembly comprises a three-axis accelerometer and a three-axis gyroscope;
a second portion of the device having an integrated sensor assembly configured to output motion sensor data, wherein the sensor assembly comprises a three-axis accelerometer and a three-axis gyroscope;
a mechanical hinge with one degree of rotational freedom along a hinge axis coupling the first portion of the device and the second portion of the device; and
at least one processor configured to:
perform six-axis sensor fusion for each sensor assembly with the motion sensor data to relate the first portion of the device and the second portion of the device to a world frame;
determine an angular orientation between the first portion of the device and the second portion of the device with respect to the hinge axis based at least in part to the relation of the first portion of the device and the second portion of the device; and
compensate for accumulating sensor measurement errors by constraining a determined axis of the sensor assembly of the first portion with a determined axis of the sensor assembly of the second portion based at least in part on the obtained motion sensor data and known relationships between physical axes of the sensor assemblies and the mechanical hinge, wherein the determined axis of the sensor assembly of the first portion and the determined axis of the sensor assembly of the second portion are aligned along the hinge axis and wherein the device can assume any orientation including an orientation that substantially aligns the mechanical hinge with a gravity vector.
9 . The system of claim 8 , wherein the at least one processor is further configured to track the determined angular orientation over time when compensating for the accumulating sensor measurement errors.
10 . The system of claim 9 , wherein the at least one processor is further configured to determine an absolute orientation for the first portion and an absolute orientation for the second portion during the tracking.
11 . The system of claim 8 , wherein the at least one processor is further configured to compensate for the accumulating sensor measurement errors by applying a determined rotation angle about the gravity vector to an orientation of at least one of the portions of the device.
12 . The system of claim 11 , wherein the at least one processor is further configured to compensate for the accumulating sensor measurement errors by determining a relative orientation for the first portion and a relative orientation for the second portion such that the hinge axis for the sensor assembly of the first portion is set to match the hinge axis of the sensor assembly of the second portion.
13 . The system of claim 8 , wherein the at least one processor is further configured to employ a corrected orientation of at least one of the portions of the device to determine hinge angle based on motion of the device.
14 . The system of claim 13 , wherein the at least one processor is further configured to perform a previous calibration of the sensor assembly of the first portion and the sensor assembly of the second portion when the mechanical hinge is not aligned with a gravity vector.