Inertial axis fusion device, system and method
A device includes one or more inertial sensors and fusion circuitry coupled to the one or more inertial sensors. The inertial sensors, in operation, generate inertial sensor data with respect to a plurality of axes of movement. The fusion circuitry, in a polar fusion mode of operation, applies a plurality of polar rotation operations to the generated inertial sensor data to rotate the generated inertial sensor data onto an axis of the plurality of axes of movement. A fused data signal is generated based on a result of the plurality of polar rotation operations. The plurality of inertial sensors may include bone-conduction sensors.
1 . A device, comprising:
one or more inertial sensors, which, in operation, generate inertial sensor data with respect to a plurality of sensor axes;
processing circuitry coupled to the one or more inertial sensors, wherein the processing circuitry, in a first mode of operation:
applies a plurality of polar rotation operations to the generated inertial sensor data to rotate the generated inertial sensor data onto a determined axis of the plurality of sensor axes; and
generates a fused data signal based on a result of the plurality of polar rotation operations, wherein, in operation, the plurality of polar rotation operations are performed using:
respective signal values associated with axes of the plurality of sensor axes; and
angles associated with an axis of interest and respective axes of the plurality of sensor axes, wherein,
the one or more inertial sensors comprise one or more bone-conduction sensors, which, in operation, sense vibrations conducted by bones,
the axis of interest is an axis of movement associated with a vibration of interest, and
the fused data signal is an audio data signal.
2 . The device of claim 1 , wherein the angles are default angles.
3 . The device of claim 1 , wherein the processing circuitry, in operation, estimates the angles based on the respective signal values associated with axes of the plurality of sensor axes.
4 . The device of claim 1 , wherein the processing circuitry comprises:
one or more high-pass filters, which, in operation, filter the respective signal values associated with axes of the plurality of sensor axes, wherein the processing circuitry, in the first mode of operation:
generates masks indicative of magnitudes of the respective signal values associated with axes of the plurality of sensor axes; and
estimates the angles based on the filtered signal values associated with axes of the plurality of sensor axes and the masks indicative of magnitudes of the respective signal values associated with axes of the plurality of sensor axes.
5 . The device of claim 4 , wherein,
the processing circuitry, in the first mode of operation:
estimates two-dimensional angles based on pairs of the filtered signal values associated with axes of the plurality of sensor axes; and
generates gated averages of the estimated two-dimensional angles using gating based on the masks indicative of magnitudes of the respective signal values associated with axes of the plurality of sensor axes; and
the processing circuitry comprises a plurality of multipliers, which, in operation, multiply the gated averages of the estimated two-dimensional angles by minus 1.
6 . The device of claim 1 , wherein the processing circuitry comprises one or more multipliers and one or more adders, and, in operation, the polar rotation operations are performed using the one or more multipliers and the one or more adders.
7 . The device of claim 1 , wherein the processing circuitry, in operation, selects the first mode of operation from a plurality of modes of operation.
8 . The device of claim 1 , wherein the one or more inertial sensors comprise micro-electromechanical sensors.
9 . A system, comprising:
a host processor; and
a device, which, in operation, is communicatively coupled to the host processor, the device including:
one or more inertial sensors, which, in operation, generate inertial sensor data with respect to a plurality of sensor axes;
processing circuitry coupled to the one or more inertial sensors, wherein the processing circuitry, in operation:
applies a plurality of polar rotation operations to the generated inertial sensor data to rotate the generated inertial sensor data onto a determined axis of the plurality of sensor axes; and
generates a fused data signal based on a result of the plurality of polar rotation operations, wherein, in operation, the plurality of polar rotation operations are performed using:
respective signal values associated with axes of the plurality of sensor axes; and
angles associated with an axis of interest and respective axes of the plurality of sensor axes, wherein
the one or more inertial sensors comprise one or more bone-conduction sensors, which, in operation, sense vibrations conducted by bones,
the axis of interest is an axis of movement associated with a vibration of interest, and
the host processor, in operation:
receives the fused data signal from the device; and
performs audio signal processing based on the fused data signal.
10 . The system of claim 9 , wherein the processing circuitry, in operation, estimates the angles based on the respective signal values associated with axes of the plurality of axes of movement.
11 . The system of claim 9 , wherein the processing circuitry comprises one or more multipliers and one or more adders, and, in operation, the polar rotation operations are performed using the one or more multipliers and the one or more adders.
12 . A method, comprising:
generating, using one or more inertial sensors of a sensing device, inertial sensor data with respect to a plurality of sensor axes;
applying, using processing circuitry of the sensing device, a plurality of polar rotation operations to the generated inertial sensor data to rotate the generated inertial sensor data onto a determined axis of the plurality of sensor axes; and
generating, using the processing circuitry, a fused data signal based on a result of the plurality of polar rotation operations, wherein, the plurality of polar rotation operations are applied using:
respective signal values associated with axes of the plurality of sensor axes; and
angles associated with an axis of interest and respective axes of the plurality of sensor axes, wherein
the inertial sensor data is generated using one or more bone-conduction sensors of the sensing device,
the axis of interest is an axis of movement associated with a vibration of interest, and
the fused data signal is an audio data signal.
13 . The method of claim 12 , comprising:
estimating, using the processing circuitry, the angles based on the respective signal values associated with axes of the plurality of sensor axes.
14 . A non-transitory computer-readable medium having contents which configure a sensing device to perform a method, the method comprising:
generating inertial sensor data with respect to a plurality of sensor axes;
applying a plurality of polar rotation operations to the generated inertial sensor data to rotate the generated inertial sensor data onto a determined axis of the plurality of sensor axes; and
generating a fused data signal based on a result of the plurality of polar rotation operations, wherein, the plurality of polar rotation operations are applied using:
respective signal values associated with axes of the plurality of sensor axes; and
angles associated with an axis of interest and respective axes of the plurality of sensor axes, wherein
the inertial sensor data is generated using one or more bone-conduction sensors of the sensing device,
the axis of interest is an axis of movement associated with a vibration of interest, and
the fused data signal is an audio data signal.