CN103576849B - Information processing system, information processor and attitude calculation method - Google Patents

Information processing system, information processor and attitude calculation method Download PDF

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Publication number
CN103576849B
CN103576849B CN201210483689.9A CN201210483689A CN103576849B CN 103576849 B CN103576849 B CN 103576849B CN 201210483689 A CN201210483689 A CN 201210483689A CN 103576849 B CN103576849 B CN 103576849B
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center
mentioned
vector
detection magnetic
posture
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CN103576849A (en
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太田敬三
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Nintendo Co Ltd
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Nintendo Co Ltd
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Abstract

A kind of information processing system, information processor and attitude calculation method are provided.Information processor calculates the posture for the input unit for possessing Magnetic Sensor.Information processor obtains the detection magnetic vector detected by Magnetic Sensor repeatedly.Information processor estimates the center of orbicule repeatedly, the curved surface that the orbicule has each final position based on multiple detection magnetic vectors and estimated.The posture of input unit is calculated based on the direction vector for representing direction from the central position to the final position of detection magnetic vector.When getting detection magnetic vector every time, information processor is updated to center so that at least a portion length in each length untill the terminal of each detection magnetic vector used from the central position into the estimation in the center is respectively close to the average value of each length.

Description

Information processing system, information processor and attitude calculation method
Technical field
The present invention relates to a kind of information processing system, information processor and posture for being used to calculate the posture of input unit Computational methods.
Background technology
In the past, there is the technology for the posture for carrying out computing device using Magnetic Sensor.For example, can be by using Magnetic Sensor The direction in magnetic field is detected to calculate posture of the device relative to the direction in magnetic field.
The content of the invention
Problems to be solved by the invention
In the case where calculating posture using Magnetic Sensor, expect with high accuracy to calculate posture.
Therefore, it is an object of the invention to provide a kind of information processing system for being capable of the with high accuracy posture of computing device System, information processor and attitude calculation method.
The solution used to solve the problem
The problem of in order to solve above-mentioned, present invention employs the structure of following (1) ~ (13).
(1)
One of the present invention is the information processing system for the posture for calculating the input unit for possessing Magnetic Sensor.Information processing system System possesses acquiring unit, center estimation unit and posture computing unit.
Acquiring unit obtains the detection magnetic vector detected by Magnetic Sensor repeatedly.Center estimation unit estimation orbicule Center, the curved surface that the orbicule has each final position based on multiple detection magnetic vectors and estimated.Posture calculates single Member calculates the appearance of input unit based on the direction vector for representing direction from the central position to the final position of detection magnetic vector Gesture.
When getting detection magnetic vector every time, center estimation unit is updated to center so that from centre bit At least a portion in each length untill putting the terminal of each detection magnetic vector used into the estimation in the center is long Degree is respectively close to the average value of each length.
According to the structure of above-mentioned (1), when getting detection magnetic vector every time, each length is updated so as to center Degree is close to equalization, therefore, it is possible to calculate more accurate center according to newest detection magnetic vector.Thereby, it is possible to more high-precision Calculate to exactness the posture of input unit.In addition, center is updated when getting detection magnetic vector every time, therefore energy The enough calculating for starting center before enough detection magnetic vectors are got, can do sth. in advance the calculating of starting position.
(2)
Center estimation unit meets the situation of defined condition according to multiple detection magnetic vectors, to be based on the plurality of detection Magnetic vector estimates center.
According to the structure of above-mentioned (2), center is estimated according to the situation of defined condition is met, therefore, it is possible to drop The low possibility for calculating the incorrect center to the degree that can not be used in the calculating of posture, being capable of more pinpoint accuracy Ground calculates posture.
(3)
Center estimation unit can also be used as defined condition using following situation：With including each of multiple detection magnetic vectors The region that the mode in final position determines is more than defined size.
According to the structure of above-mentioned (3), it is more than in the region in each final position based on multiple detection magnetic vectors defined big Center is calculated in the case of small.Thereby, it is possible to high accuracy calculate center, and then can more with high accuracy it count Calculate posture.
(4)
Center estimation unit can also be used as defined condition using following situation：It is multiple to detect each towards institute of magnetic vectors The scope of formation is more than defined scope.
According to the structure of above-mentioned (4), the scope formed in each direction of multiple detection magnetic vectors is more than defined scope In the case of calculate center.Thereby, it is possible to high accuracy calculate center, and then can more with high accuracy it calculate Posture.
(5)
Initial center can also be set in by center estimation unit according to the situation for meeting defined condition At the position of the concave side of the curved surface estimated based on multiple each final positions for detecting magnetic vectors.
According to the structure of above-mentioned (5), initial center is set at the position of the concave side of above-mentioned curved surface.Thus, By being updated after to center, center can be more reliably set to converge to correct position.
(6)
Initial center can also be set in include each terminal of multiple detection magnetic vectors by center estimation unit The inside in the region that the mode of position determines.
According to the structure of above-mentioned (6), initial center is set in include each terminal of multiple detection magnetic vectors The inside in the region that the mode of position determines.Thus, by being updated after to center, center can be made Move closer to the actual center of orbicule.According to above-mentioned, it can reduce to be set in center to be offset to and be difficult to lead to The possibility for the position for updating the degree close to the practical center of orbicule is crossed, center can be with high accuracy estimated.
(7)
Initial center can also be set in by center estimation unit includes each terminal position of multiple detection magnetic vectors Put and size for minimum cuboid inside.
According to the structure of above-mentioned (7), easily initial center can be set in swear including multiple detection magnetics The inside in the region that the mode in each final position of amount determines.
(8)
Initial center can also be set in each final position of multiple detection magnetic vectors by center estimation unit At position of centre of gravity.
According to the structure of above-mentioned (8), initial center can be reliably set in the position of the concave side of above-mentioned curved surface Put place.
(9)
Posture computing unit can also be carried out at least based on the defeated of direction vector using meeting defined condition as condition Enter the calculating of the posture in portion.
According to the structure of above-mentioned (9), can reduce using incorrect center calculate incorrect posture can Energy property, can more with high accuracy calculate posture.
(10)
Can also be, center before the update after variable quantity it is bigger, posture computing unit makes the detection newly got The influence of magnetic vector is relatively smaller to calculate posture.
According to the structure of above-mentioned (10), in the case where the variable quantity (amount of movement) of center is big, new detection magnetic arrow Measure and the influence that posture is calculated is diminished.Here, in the case where the variable quantity of center is big, it is believed that center is possible to not Correctly.Thus, according to the structure of above-mentioned (10), it can reduce due to being calculated not using incorrect center is possible to The possibility of correct posture, and then can with high accuracy calculate posture.
(11)
Can also be, from current center to the end of each detection magnetic vector used in the estimation of the center The deviation of each length untill point position is bigger, and posture computing unit makes the influence of the detection magnetic vector newly got relatively smaller To calculate posture.
According to the structure of above-mentioned (11), in the case where above-mentioned deviation is big, what new detection magnetic vector was calculated posture Influence diminishes.Here, in the case where above-mentioned deviation is big, it is believed that center is possible to incorrect.Thus, according to above-mentioned (11) structure, can be reduced due to calculating the possibility of incorrect posture using incorrect center is possible to Property, and then can with high accuracy calculate posture.
(12)
In addition, another example of the present invention is the information processing system for the posture for calculating the input unit for possessing Magnetic Sensor.Letter Breath processing system possesses acquiring unit, center estimation unit and posture computing unit.
Acquiring unit obtains the detection magnetic vector detected by Magnetic Sensor repeatedly.Center estimation unit is estimated spherical repeatedly The center of body, the curved surface that the orbicule has each final position based on multiple detection magnetic vectors and estimated.Posture meter Unit is calculated based on the direction vector for representing direction from the central position to the final position of detection magnetic vector to calculate input unit Posture.
The final position of the new detection magnetic vector got is away from each detection magnetic arrow used in the estimation of center The final position of amount is more remote, and posture computing unit makes the influence of new detection magnetic vector relatively smaller to calculate posture.
According to the structure of above-mentioned (12), in the final position of the detection magnetic vector newly got away from getting so far In the case that the final position of each detection magnetic vector is relatively remote, information processor makes the influence of new detection magnetic vector relatively small To calculate the posture of input unit.Thus, in the above cases, it can reduce and posture is calculated based on incorrect direction vector Possibility.Thereby, it is possible to high accuracy calculate the posture of input unit.
In addition, according to the structure of above-mentioned (12), in the final position of the detection magnetic vector newly got away from obtaining so far In the case of the final position for each detection magnetic vector got is relative proximity of, information processor makes the influence of new detection magnetic vector The relatively large posture to calculate input unit.Thus, actual centre bit is not converged to fully even in the center estimated In the case of putting nearby, it can also use and can be expected that to be correctly oriented vector in a way to calculate posture.That is, according to It is above-mentioned, can be not in the case of not converging to actual near center location fully even in the center estimated yet Use direction vector can be calculated in the range of incorrect posture to carry out posture calculating.Thus, according to the knot of above-mentioned (12) Structure, can calculate posture ahead of time.
(13)
In addition, another example of the present invention is the information processing system for the posture for calculating the input unit for possessing Magnetic Sensor.Letter Breath processing system possesses acquiring unit, storage control unit, center estimation unit and posture computing unit.
Acquiring unit obtains the detection magnetic vector detected by Magnetic Sensor.Storage control unit is according to from based on detection magnetic Detection magnetic vector is classified and stored to the direction in the final position of detection magnetic vector in the reference position that vector is determined In storage part.Center estimation unit estimates the center of orbicule, and the orbicule, which has, to be based on from sorted multiple inspections Survey the final position of each detection magnetic vector obtained from least extracting a detection magnetic vector for a classification in magnetic vector and The curved surface estimated.Posture computing unit is based on the direction for representing direction from the central position to the final position of detection magnetic vector Vector calculates the posture of input unit.
According to the structure of above-mentioned (13), according to the direction from reference position to the terminal of detection magnetic vector to detection magnetic vector Classified.Here, by using the direction vector towards various directions, it is easy to more correctly calculate the centre bit to be estimated Put.That is, by the structure of (13) as described above like that according to the direction from reference position to the terminal of detection magnetic vector to detection magnetic Vector is classified, and the detection magnetic vector towards various directions can be used to estimate center.Thereby, it is possible to more correctly Estimate center, can with high accuracy calculate the posture of input unit.
In addition, other one of the present invention both can be to possess each list in the information processing system with above-mentioned (1) ~ (13) The information processor of the equal unit of member or the attitude calculation method performed in above-mentioned (1) ~ (13).
The effect of invention
According to the present invention, center is updated when getting detection magnetic vector every time, thus, it is possible to higher Calculate to accuracy the posture of input unit.
Brief description of the drawings
Fig. 1 is the block diagram of one for representing the information processing system involved by present embodiment.
Fig. 2 is the figure of one for representing detection magnetic vector direction vector.
Fig. 3 is the figure of one for representing set initial center position.
Fig. 4 is the figure of one for representing to handle the center before and after being updated by renewal.
Fig. 5 is the figure obtained after the part in the region shown in Fig. 4 is amplified.
Fig. 6 is the figure of one of the method for the posture for representing use direction vector to correct input unit 2.
Fig. 7 is the figure of one of the establishing method for representing the first corrected rate.
Fig. 8 is the figure of one of the establishing method for representing the second corrected rate.
Fig. 9 be represent by reliability calculating obtain it is high in the case of center the figure of one.
Figure 10 is the figure of one of the structure for representing buffer.
Figure 11 is the figure of one for representing to detect the sorting technique of magnetic vector.
Figure 12 is the figure of one in the final position for representing to configure each classification vector in three dimensions.
Figure 13 is the figure of one of data area for representing to set in the storage part of information processing system.
Figure 14 is the flow chart of one of the flow for representing the information processing by the CPU execution of information processor.
Figure 15 is to represent that the posture based on detection magnetic vector calculates the flow chart of one of the detailed process of processing.
Figure 16 is the flow chart of one of the detailed process for representing correction process.
Description of reference numerals
1：Information processing system；2：Input unit；3：Information processor；4：Magnetic Sensor；5：Gyrosensor (gyro sensor)；6：Acceleration transducer；7：Operating portion；8：CPU；9：Memory；12：Message handling program；27：Buffer areas.
Embodiment
[structures of 1. information processing systems]
Below, information processing system involved by one of present embodiment, information processor, information processing journey are illustrated Sequence and attitude calculation method.Fig. 1 is the block diagram of one for representing the information processing system involved by present embodiment.In Fig. 1 In, information processing system 1 possesses input unit 2 and information processor 3.Information processing system 1 in present embodiment is used It is pair corresponding with the posture of input unit 2 to be worth the sensor (Magnetic Sensor etc.) that is detected to calculate the posture of input unit 2.
Information processing system 1 includes input unit 2.Input unit 2 is portable device, is in other words that user can The device of holding.Input unit 2 can be communicated with information processor 3.Input unit 2 will represent to enter input unit 2 The peration data of capable operation is sent to information processor 3.Communication between input unit 2 and information processor 3 both may be used Be wireless transmission can also be wire communication.
Input unit 2 has Magnetic Sensor 4.Magnetic Sensor 4 detects the size and Orientation in magnetic field.Here, will represent by magnetic The vector of the size and Orientation in the magnetic field that sensor 4 is detected is referred to as detecting magnetic vector.Input unit 2 will represent to detect magnetic vector Data be sent to information processor 3 as peration data.Magnetic Sensor 4 is detected with three-dimensional value in the present embodiment The size and Orientation in magnetic field, but the size and Orientation in magnetic field can also be detected with value more than two dimension.In this manual, Describe the method that posture is calculated based on the testing result of Magnetic Sensor 4 in detail.
Input unit 2 possesses gyrosensor 5.Gyrosensor 5 is detected with the regulation axial direction with input unit 2 (at this It is three axial directions in embodiment, but more than an axle) rotate relevant angular speed for axle.In addition, input unit 2 With acceleration transducer 6.Acceleration transducer 6 is detected and the regulation of input unit 2 (is in the present embodiment axially three Axially, but more than an axle) relevant acceleration.Input unit 2 will be by gyrosensor 5 and acceleration transducer 6 The data detected are sent to information processor 3 as peration data.Gyrosensor 5 and acceleration transducer 6 are based on Calculate the posture of input unit 2.I.e., in the present embodiment, information processing system 1 can be by except the side using Magnetic Sensor 4 Other methods beyond method calculate the posture of input unit 2.In addition, in other embodiments, information processing system 1 also may be used The means (gyrosensor 5 and acceleration transducer 6) of posture are calculated not possess by above-mentioned other methods.In addition, on It can be any method to state other methods, for example, information processing system 1 can also be based on by that can shoot the photograph of input unit 2 Image that camera or the camera being arranged in input unit 2 are photographed calculates the posture of input unit 2.
Input unit 2 has operating portion 7.Operating portion 7 is the arbitrarily operation such as button (button), rocking bar and touch panel Device.The data for the operation that input unit 2 carries out expression to operating portion 7 are sent to information processor 3 as peration data.
In addition, input unit 2 is that possess the arbitrary structure for exporting the sensor being worth corresponding with the posture of input unit 2 .For example in other embodiments, if being both configured to the stem structure for not possessing the structure shown in Fig. 1, can also have Standby other structures than that described above.
Information processing system 1 includes information processor 3.Information processor 3 receives the operation sent from input unit 2 Data (data of detection magnetic vector), the posture of input unit 2 is calculated based on the data.In addition, in the present embodiment, letter The posture calculated is performed defined information processing by breath processing unit 3 as input.The defined information processing can be Any processing, for example, can also be that game processing (controls the action of game object being configured in Virtual Space according to posture Processing).In addition, information processor 3 can also generate image by above- mentioned information processing, show generated image On the display apparatus.Display device both mutually can be provided independently from or believe with input unit 2 and information processor 3 The display part that breath processing unit 3 or input unit 2 have.
In the present embodiment, information processor 3 has CPU (control unit) 8 and memory 9, and storage is used by CPU8 Device 9 performs defined message handling program, is achieved in the various functions (letter shown in Figure 14 ~ Figure 16 of information processor 3 Breath processing).As long as in addition, the processing that information processor 3 is able to carry out calculating the posture of input unit 2 can be just any knot Structure.
In addition, in other embodiments, information processing system 1 can also be made up of a device.That is, can also will be defeated Enter the device that device (input unit) 2 is integrally constituted with information processor 3.For example, information processing system 1 can also be intelligence The portable terminal device of phone, portable type game device etc..
[method that 2. postures are calculated]
Below, the method for the posture for illustrating the testing result based on Magnetic Sensor 4 to calculate input unit 2.In this implementation In mode, information processing system 1 (information processor 3) calculates appearance based on the detection magnetic vector detected by Magnetic Sensor 4 Gesture.Here, the magnetic field detected by Magnetic Sensor 4 is divided into component of the direction in magnetic field independent of the posture of input unit 2 And component of the direction in magnetic field dependent on the posture of input unit 2.The direction in magnetic field is independent of the posture of input unit 2 Component refers to the magnetic field (magnetic that input unit 2 is carried) for example produced by input unit 2 itself.On the component, even if The posture of input unit 2 changes, and the direction detected by Magnetic Sensor 4 does not also change.
On the other hand, the direction in magnetic field dependent on input unit 2 posture component refer to be based on such as earth's magnetic field The component in the magnetic field that the space around input unit 2 is produced.On the component, changed with the posture of input unit 2 Correspondingly, the direction detected by Magnetic Sensor 4 changes situation.Thus, information processor 3 be based on detection magnetic vector come The component of (estimation) dependent on the posture of input unit 2 is calculated, the posture of input unit 2 is thus calculated.Below, will be based on detection The expression that magnetic vector is calculated is dependent on the vector of the component of the posture of input unit 2, i.e. expression direction corresponding with posture Vector is referred to as " direction vector ".
Fig. 2 is the figure of one for representing detection magnetic vector direction vector.In addition, in fig. 2, to detect magnetic vector Vd Starting point for origin xyz coordinate systems in each vector is shown.Above-mentioned detection magnetic vector Vd size and Orientation and input unit 2 The change of posture correspondingly changes.In the case where input unit 2 changes posture towards all directions, magnetic vector is detected Vd terminal (top) forms the face of orbicule as shown in Figure 2.The orbicule preferably spheroid, but strictly speaking There is a situation where that spheroid will not be turned into and slightly deform (be changed into oval spherical) (that is, the size of direction vector is according to input unit 2 Posture and occur slight variations).Below, above-mentioned orbicule is referred to as " magnetic spheroid ".
Here, detection magnetic vector Vd can be divided into vector Vo and vector Va.Vector Vo is with origin (detection magnetic vector Vd Starting point) it is starting point, using the center P of magnetic spheroid as the vector of terminal, represent point of the posture independent of input unit 2 Amount.On the other hand, vector Va is using center P as starting point, to detect magnetic vector Vd terminal as the vector of terminal.Vector Va It is vector, the i.e. direction vector for the component for representing the posture dependent on input unit 2.
, can be defeated to calculate by estimating the center P of magnetic spheroid and calculating direction vector Va according to it on according to this Enter the posture of device 2.That is, information processing system 1 (information processor 3) obtains the detection magnetic detected by Magnetic Sensor 4 and sweared Measure Vd.Then, the center P of estimation orbicule (magnetic spheroid), the orbicule has based on each of multiple detection magnetic vector Vd Final position and the curved surface estimated.It is based further on representing P from the central position to the side in detection magnetic vector Vd final position To direction vector Va calculate the posture of input unit 2.Below, illustrate in further detail for calculating input unit 2 The posture calculating processing of posture.
[3. posture calculating processing]
(3-1：Posture calculates the flow of processing)
In the present embodiment, in posture calculating processing, information processor 3 performs the first following processing ~ the three Processing.
First processing：Detection magnetic vector is obtained repeatedly and meets defined condition in the multiple detection magnetic vectors got In the case of estimate magnetic spheroid center (initial center position) processing
Second processing：Heart position is entered in after estimating initial center position based on the detection magnetic vector pair got The processing that row updates
3rd processing：After initial center position is calculated using the direction vector determined based on center come Calculate the processing of the posture of input unit 2
Posture calculating processing can start at any time, but in the present embodiment, be provided according to user Operation situation, come start the posture calculating processing.When starting position, which is calculated, to be handled, above-mentioned first processing is first carried out. In first is handled, information processor 3 obtains detection magnetic vector from input unit 2 repeatedly.In addition, information processor 3 exists In the case that the multiple detection magnetic vectors got meet defined condition, in being estimated initially based on the plurality of detection magnetic vector Heart position.In addition, initial center position refers to the center that initially estimation (calculating) goes out in posture calculating is handled.
When calculating center by the above-mentioned first processing, above-mentioned second processing and the 3rd processing are performed.Second In processing, information processor 3 when getting detection magnetic vector every time, it is considered to the detection magnetic vector Lai Dui centers newly got Position is updated.Thereby, it is possible to which center to be modified to more accurate position, so as to high accuracy calculate input The posture of device 2.
In addition, in the 3rd is handled, detection magnetic Vector operation direction vector can be based on by using center. In present embodiment, the detection magnetic that information processor 3 calculates with newly getting in the case where defined condition is satisfied is sweared Corresponding direction vector is measured, the posture of input unit 2 is calculated using the direction vector calculated.
In addition, above-mentioned second processing and the 3rd processing are performed parallel.That is, after center is calculated, repeatedly Perform second processing and the 3rd processing.Thus, after center is calculated, repeatedly at the acquisition of perform detection magnetic vector Reason, the renewal processing and the calculating of the posture based on direction vector processing of center.
Below, above-mentioned first processing ~ the three is specifically described to handle.In addition, in the accompanying drawing used in the following description, For the purpose of it should be readily appreciated that accompanying drawing, illustrated using two dimensional surface.But, in the present embodiment, actually use Three-dimensional vector position in three dimensions etc. is calculated.In addition, in other embodiments, or calculate Posture of the input unit 2 in two dimensional surface and perform the first processing using two-dimentional vector position in two dimensional surface etc. ~ the three processing.
(3-2：First processing)
In first is handled, information processor 3 obtains detection magnetic vector repeatedly.The detection magnetic vector got is stored In a buffer, the buffer is arranged in the storage part that can be conducted interviews by information processor 3.In present embodiment In, the maximum quantity of the detection magnetic vector of storage in a buffer is limited, will meet the detection magnetic vector of defined condition Stay in a buffer, deleted from buffer and be judged as unwanted detection magnetic vector, details are described below.Moreover, will The detection magnetic vector of storage in a buffer is used in the estimation (calculating) of center.In addition, below, in order to by information Reason device 3 estimates that the center that (calculating) goes out is distinguish between, and the correct center of magnetic spheroid is recited as " in actual Heart position ".
(about whether the judgement for calculating initial center position)
In first is handled, during information processor 3 judges whether to calculate initially when getting detection magnetic vector every time Heart position.That is, information processor 3 judges the detection magnetic arrow got so far when getting detection magnetic vector every time Whether amount meets defined condition.Then, in the case where meeting defined condition, the initial center of estimation (calculating) (initial center position).Condition as defined in above-mentioned is to be enough the detection magnetic for estimating center arrow for judging whether to have got The condition of amount.According to present embodiment, situation about being satisfied according to the condition of regulation estimates center, therefore, it is possible to drop The low possibility for calculating the incorrect center to the degree that can not be used in the calculating of posture, being capable of more pinpoint accuracy Ground calculates posture.
But, the posture calculating processing in present embodiment is not intended to estimation center and needs very many inspections Survey magnetic vector.In posture calculating processing in the present embodiment, as long as obtaining a part of phase with the sphere of above-mentioned magnetic spheroid When detection magnetic vector can just estimate center, details are described below.I.e., in the present embodiment, without in order to Estimation center and make input unit 2 towards all directions, even in input unit 2 almost facing one direction in the state of Also center can be estimated.Further, it is contemplated that following method：In order to estimate above-mentioned center, make user enter to be about to it is defeated Enter the operation that device 2 is for example moved along 8 words, so as to obtain the detection magnetic vector towards all directions.In the present embodiment, energy It is enough (this behaviour to be carried out for the purpose of more with high accuracy estimation center etc. without using this operation of family progress Make) and estimate center.
In the present embodiment, information processor 3 calculates initial center position by condition of following situation：To wrap The region that determines of mode for including each final positions of multiple detection magnetic vectors reaches defined size.Specifically, at information Reason device 3 sets recording interval based on detection magnetic vector, judges whether set recording interval reaches defined size.Under Whether face, reference picture 3 calculates the judgement of initial center position to describe in detail.
Fig. 3 is the figure of one for representing set initial center position.Information processor 3 is getting detection every time Recording interval (reference picture 3) is set during magnetic vector.Recording interval is configured to include storing each detection magnetic arrow in a buffer Each terminal of amount.In the present embodiment, recording interval be set to include above-mentioned each terminal, size be minimum rectangular Body.More specifically, for ease of calculating, recording interval is set to by with being sat including the three-dimensional for representing detection magnetic vector The length that the parallel face of plane (x/y plane, yz planes and xz planes) of any two axle in mark system (xyz coordinate systems) is constituted Cube.In addition, recording interval can also be based on the detection magnetic vector final position of magnetic vector (detection) determine it is arbitrary Region.For example, the shape of recording interval is not limited to any shape of cuboid or spheroid etc..
When setting recording interval, information processor 3 performs the judgement whether recording interval is more than defined size Processing.Specifically, information processor 3 judges whether compare specific length as any one side of the cuboid of recording interval It is long.In addition, the specific length is the length shorter than the diameter of the estimated minimum magnetic spheroid that can calculate posture, it can also be set It is set to the length of half on a polyhedral side for example shown in Figure 12 or so (degree short enough compared with diameter), details It is described below.So, in the present embodiment, even if without the posture for significantly changing input unit 2, can also start center The calculating of position.
In the case of being judged as that recording interval is more than defined size in above-mentioned judgement processing, initial center position is calculated Put.In addition it is also possible to carry out above-mentioned judgement processing using the arbitrary determination methods for the size for judging recording interval.For example, Information processor 3 can also judge whether the volume of recording interval is more than defined size.
As above, in the present embodiment, initial center position is calculated by condition of following situation：To be included in center The region (recording interval) that the mode in each final position of the multiple detection magnetic vectors used in the calculating of position determines is more than Defined size.In addition, in other embodiments, information processor 3 can also be by each of above-mentioned multiple detection magnetic vectors The situation that the scope that direction is formed is more than defined scope calculates initial center position as condition.For example, it is also possible to will Following situation calculates initial center position as condition：Determined in the way of all directions including above-mentioned multiple detection magnetic vectors The solid angle made is more than defined size.
(computational methods of initial center position)
Initial center position is calculated based on multiple detection magnetic vectors in a buffer are stored.In the present embodiment, Initial center position be set at by including it is above-mentioned it is multiple detection magnetic vectors each final positions in the way of determine region ( This be above-mentioned recording interval) inside.In other words, initial center position is set at the cuboid as above-mentioned recording interval It is internal.Thus, initial center position is set at around each terminal of above-mentioned multiple detection magnetic vectors, can be by described later The renewal processing (second processing) of center and move closer to the center of magnetic spheroid.That is, initial center position quilt can be reduced The possibility at the position significantly deviateed is set in and (is difficult to by updating processing close to the degree at the center of magnetic spheroid), can By initial center position setting in position.
As shown in figure 3, initial center position p1 be set at from storage in a buffer each detection magnetic vector (Vd1 ~ Vd3 direction from the terminal s1 of the benchmark magnetic vector in) to the center c of recording interval extend straight line L on, with terminal s1 phases At position p1 away from predetermined distance.Said reference magnetic vector can be determined by any mode, and in the present embodiment, if For the detection magnetic vector Vd1 being originally taken.In addition, in other embodiments, can also be by above-mentioned each detection magnetic vector , towards and the detection magnetic vector in the immediate direction in direction of the center c from from origin to recording interval be set to benchmark magnetic vector.
As described above, by the way that initial center position is set in from the position s1 of the terminal of benchmark magnetic vector to recording interval Center c direction extension straight line L on, initial center position p1 is set at relative to based on above-mentioned each detection magnetic vector Each terminal s1 ~ s3 and at the position of the concave side of curved surface (being in figure 3 arc s2s3) that estimates.If in addition, by initial center Position is set at the position of convex side of above-mentioned curved surface, then there is following possibility：At renewal by center described later Manage (second processing), center is further to convex side shifting, so that the actual center of magnetic spheroid will not correctly be converged to Position P.On the other hand, by the way that initial center position is set at the position of the concave side of above-mentioned curved surface, can by it is above-mentioned more New processing makes center more reliably restrain and (can reduce mistakenly to the convergent possibility in convex side).
In addition, above-mentioned predetermined distance can be determined by any mode, and in the present embodiment, it is set as recording model The length (reference picture 3) of the half of the longest edge enclosed.Thereby, it is possible to reliably make initial center position p1 be in recording interval Position.In addition, initial center position, can be set in by the length of the half by the way that above-mentioned predetermined distance to be set to longest edge At the position of the more concave side of the curved surface estimated relative to each terminal based on each detection magnetic vector.Thereby, it is possible to by just Beginning center p1 is set in closer at the actual center P of magnetic spheroid (possibility is high) position, therefore center Position is easy to converge to actual center P.In addition, in other embodiments, initial center position can also be set At other positions on above-mentioned straight line L, for example, it can also be set at the point of intersection in the face of above-mentioned straight line L and recording interval.
In addition, in other embodiments, initial center position can also be set in above-mentioned each inspection by information processor 3 At the position of centre of gravity for each terminal for surveying magnetic vector.In addition, in other embodiments, above-mentioned position of centre of gravity can also be used to carry out generation For the position at the center of above-mentioned recording interval.By these modes, initial center position can be also set in including each inspection The inside in the region (recording interval) that the mode in each final position of survey magnetic vector determines, can set initial center position At the position of the concave side of above-mentioned curved surface.
In addition, in other embodiments, information processor 3 can also use following method：Calculate (estimation) and Each terminal of above-mentioned each detection magnetic vector is separated by the position of same distance, i.e. actual center P.In addition, according to this implementation Mode, can be easier compared with above-mentioned method and promptly calculate initial center position.
(3-3：Second processing)
After initial center position is set as described above, information processor 3 gradually updates center. That is, when getting detection magnetic vector every time, new center is calculated based on the detection magnetic vector got.In this implementation In mode, information processor 3 is used and line segment (radius) from the central position untill the final position of detection magnetic vector The relevant condition of length calculates (after renewal) center.Specifically, information processor 3 gets detection magnetic newly In the case of vector, center is updated so that and arrives and (used in the estimation of the center) each from the central position Detect magnetic vector terminal untill each radius length respectively close to each radius length average value.Below, reference picture 4 For light staining center position renewal processing details.
Fig. 4 is the figure of one for representing to handle the center before and after being updated by renewal.In fig. 4 it is shown that New detection magnetic vector Vd4 situation is got after the initial center position p1 shown in setting Fig. 3.In this case, Information processor 3 calculates each line segment from current center p1 to the terminal of each detection magnetic vector (Vd1 ~ Vd4) respectively R1 ~ r4 length.In addition, the line segment for arriving the terminal of detection magnetic vector from the central position could also say that the radius of magnetic spheroid.Cause Above-mentioned line segment is recited as " radius " by this sometimes in this manual.It further be noted that there is a situation where following：Estimating Center and actual center it is inconsistent in the case of, from the center estimated to multiple detection magnetic vectors Each " radius " in each final position is not identical length.In addition, information processor 3 calculates the average of above-mentioned each line segment Average (mean radius).
Information processor 3 is updated to center p1 so that above-mentioned each radius r1 ~ r4 length is close to averagely partly Footpath.Specifically, information processor 3 carries out following processing for each detection magnetic vector：By the length change half of radius The regulation ratio (such as poor 20%) of the difference of footpath and mean radius.In other words the processing is the side for making center along the radius To mobile with the processing for the length for changing radius.Fig. 5 is the figure obtained after the part in the region shown in Fig. 4 is amplified.In Fig. 4 In the example shown in Fig. 5, the processing changed by pair radius r1, center p1 is moved to the direction parallel with radius r1 It is dynamic.In addition, mean radius is more than radius r1 in this embodiment, therefore center p1 (joins to the direction movement for making radius r1 changes big According to the arrow shown in Fig. 5).Similarly, the processing changed by pair radius r2, center p1 is to parallel with radius r2 Direction is moved, the processing changed by pair radius r3, and center p1 is moved to the direction parallel with radius r3, by right The processing that radius r4 is changed, center p1 moves (arrow shown in reference picture 5) to the direction parallel with radius r4.It is right It is processing as a result, center p1 is moved to center p2 that above-mentioned radius r1 ~ r4 length is changed.
As described above, being handled by the renewal of center, each radius is changed to close to mean radius, i.e., each radius quilt It is changed to close to equalization.That is, center is updated to the actual center P (reference picture 5) close to magnetic spheroid.Thus, Handled by renewal, can more with high accuracy calculate center, can more correctly calculate the posture of input unit 2.This Outside, in the present embodiment, initial center position is set in (above-mentioned recording interval around the terminal of each detection magnetic vector It is interior).Therefore, in the present embodiment, relative to actual center P and each terminal, initial center position (very possible) Be set at each terminal closer to side.Thus, above-mentioned renewal processing can be described as making center to remote each terminal The processing of direction movement.
In addition, in the present embodiment, information processor 3 only carries out the processing for moving center and detection magnetic The corresponding number of times of quantity of vector, is used as once renewal processing.The processing is not to move repeatedly center until half and half Footpath is changed into the processing untill mean radius, therefore information processor 3 can promptly carry out once renewal processing.
, can also be on storage in a buffer multiple in once renewal processing in addition, in other embodiments A part in detection magnetic vector performs the processing for moving center.That is, information processor 3 gets detection magnetic newly In the case of vector, some detection magnetic vectors in each detection magnetic vector used in the estimation of center can also be directed to Center is updated so that the length of the radius untill the terminal of some detection magnetic vectors is distinguished from the central position Close to the average value of the length of each radius (each radius corresponding with each detection magnetic vector used in the estimation of center). For example, in once renewal processing magnetic vector implementation center position can also be detected for the half of above-mentioned multiple detection magnetic vectors Mobile processing, the mobile processing of magnetic vector implementation center position is detected for remaining half in the processing of renewal next time, As a result, being handled by renewal twice, the whole for the plurality of detection magnetic vector has carried out the movement of center.By This, can mitigate the processing load of the information processor 3 in once renewal processing.
In the present embodiment, information processor 3 when newly getting detection magnetic vector every time, at least using new acquisition To detection magnetic vector center is updated.Thus, when getting detection magnetic vector every time, center is gradually Close to actual center P.As a result, when passing through the time to a certain degree, center is changed into actual centre bit Put the position near P.
In addition, in the present embodiment, even in estimating the feelings that center is had been located near actual center P Under condition (for example, being handled by renewal, in the case that center is hardly moved), information processor 3 is also newly being got every time Renewal processing is performed when detecting magnetic vector.Thus, the magnetic field around input unit 2 becomes for some reason Change in the case of being changed so as to magnetic spheroid, center can also be changed according to change, therefore, it is possible to more correctly count Calculate center.
(3-4：3rd processing)
, being capable of calculated direction vector after center is set by the above-mentioned first processing.Thus, information processing apparatus 3 are put in the 3rd is handled, based on center come calculated direction vector, the posture of input unit 2 is calculated based on direction vector.
In addition, as described above, information processor 3 is at least with the final position according to each detection magnetic vector got The situation that the region (recording interval) determined is more than defined benchmark is condition, used the posture meter of direction vector Calculate (the 3rd processing).Calculate incorrect center thereby, it is possible to reduce and calculated using incorrect center The possibility of incorrect posture, can more with high accuracy calculate posture.
In addition, as described above, information processor 3 when newly getting detection magnetic vector every time, at least using new acquisition To detection magnetic vector be updated (second processing) to center.Moreover, information processor 3 is newly being got every time The posture of input unit 2 is calculated based on the direction vector determined according to the center after renewal during detection magnetic vector.By This, by based on more accurate center, can more with high accuracy calculate the posture of input unit 2.In addition, as above institute State, can also be on a part of detection magnetic in the multiple detection magnetic vectors of storage in a buffer in once renewal processing The mobile processing of vector implementation center position.
(posture carried out by other methods is corrected)
In the present embodiment, the use direction vector of information processor 3 comes to by using different from Magnetic Sensor 4 The posture for the input unit 2 that the method for sensor (gyrosensor 5 and acceleration transducer 6) is obtained is corrected, and is thus counted Calculate the posture of input unit 2.That is, information processor 3 based on direction vector to pass through with using detect magnetic vector method The posture for the input unit 2 that different methods is calculated is corrected.Below, reference picture 6 illustrates to have used direction vector The bearing calibration of the posture of input unit 2.
Fig. 6 is the figure of one for representing the method that use direction vector is corrected to the posture of input unit 2.First, Information processor 3 sets direction vector (reference direction vector) Va ((a) shown in Fig. 6) during defined benchmark.Benchmark side It is, for example, direction vector corresponding with benchmark magnetic vector to vector Va.In addition, in not yet being calculated when detecting benchmark magnetic vector Heart position, but reference direction arrow can be calculated based on center and benchmark magnetic vector after center is calculated Amount.In addition, direction vector is calculated on the basis of input unit 2, therefore the calculated in advance of information processor 3 goes out with sky Between on the basis of coordinate system (be used for represent input unit 2 posture coordinate system) in reference direction vector Va value.That is, believe Breath processing unit 3 is converted to the coordinate system of reference direction vector from above-mentioned xyz coordinate systems the seat for the posture for representing input unit 2 Mark system.
Some time point after center is set, information processor 3 is calculated using above-mentioned other methods The posture of input unit 2.In addition, the posture of the input unit 2 shown in Fig. 6 (b) column is calculated using above-mentioned other methods Posture.In addition, information processor 3 calculates the direction vector Va1 at the time point.
Here, direction vector is fixed relative to space, therefore the direction vector Va1 at some above-mentioned time point direction Should be identical with reference direction vector Va direction.If (based on based on this premise of the correct set of detection magnetic vector) recognizes For the skew between direction vector Va1 and reference direction vector Va be from said reference time point untill some above-mentioned time point Produced, posture that is being calculated using above-mentioned other methods error.Therefore, information processor 3 carries out following correction： Make the posture rotation of input unit 2 calculated using other methods so that above-mentioned direction vector Va1 direction and reference direction Vector Va direction is identical (arrow of (b) shown in reference picture 6).In addition, the posture of the input unit 2 shown in Fig. 6 (c) column Represent utilization orientation vector be corrected after input unit 2 posture.
(calculating of degree of correction)
In addition, in figure 6, if being corrected so that direction vector Va1 is consistent with reference direction vector Va is said It is bright, but in the present embodiment, information processor 3 is corrected as follows：Make direction vector Va1 to reference direction The close ratio corresponding with degree of correction in vector Va direction.Degree of correction can be determined by any mode, and in this embodiment party In formula, a variety of correcteds rate (the first corrected rate and the second corrected rate) are calculated based on some key elements, based on these degree of correction come Set the degree of correction finally used.Below, the establishing method of degree of correction is illustrated.
(the first corrected rate)
According to the detection magnetic vector (terminal) newly got relative to the detection magnetic vector (end got so far Point) degree (be referred to as " from degree ") of separation sets the first corrected rate.In addition, " the detection magnetic vector got so far " Refer to the detection magnetic vector used in the estimation of center at the time point, in other words refer to store inspection in a buffer Survey magnetic vector.First corrected rate is set to above-mentioned smaller from more big then corrected rate is spent by information processor 3.For example with 0 with Upper and less than 100 values represent the first corrected rate, and the more big correcting value then based on detection magnetic vector of value is bigger (with Fig. 6 example For, direction vector Va1 is closer to reference direction vector Va).
Fig. 7 is the figure of one of the establishing method for representing the first corrected rate.In fig. 7 it is shown that getting including base Got in the state of multiple detection magnetic vectors including quasi- magnetic vector Vd1 vector Vd2 as new detection magnetic vector situation, And get situations of the vector Vd3 as new detection magnetic vector.In addition, the oblique line portion shown in Fig. 7 represents above-mentioned multiple Detect the scope of magnetic vector.That is, if the plurality of detection magnetic vector is acquired in the range of oblique line portion.In addition, will Center when getting new detection magnetic vector (Vd2 or Vd3) is set to position p.If center p is based on above-mentioned multiple Detect magnetic vector and set, the center P with reality is slightly different.
In the figure 7, it is considered to get detection magnetic vector Vd2 situation.Detection magnetic vector Vd2 is remote to be got so far It is above-mentioned it is multiple detection magnetic vectors scopes.Here, in the case where new detection magnetic vector Vd2 is away from above range, with this The new corresponding direction vector Va2 of detection magnetic vector direction is possible to and is correctly oriented (from actual center P to inspection Survey the vector Va2 ' of magnetic vector Vd2 terminal direction) between difference it is big (reference picture 7).That is, there is direction vector Va2 not Correct possibility.Thus, in these cases, the first corrected rate is set to relatively small.
On the other hand, in the figure 7, it is considered to get detection magnetic vector Vd3 situation.Detection magnetic vector Vd3 is contained in In the range of the above-mentioned multiple detection magnetic vectors got untill this (close with scope).In detection magnetic vector new like this Vd3 and above range are in the case of, direction vector Va3 corresponding with the new detection magnetic vector direction and correctly side It is small to the difference between (from actual center P to the vector Va3 ' for the terminal for detecting magnetic vector Vd3 direction).That is, energy It is correct to a certain extent enough to think direction vector Va3.Thus, in these cases, the first corrected rate is set phase To big.
As above, in the present embodiment, the final position of the detection magnetic vector newly got is away from the estimation in center The final position of the middle detection magnetic vector used is more remote, and degree of correction (the first corrected rate) is set to smaller by information processor 3. Thus, direction vector corresponding with new detection magnetic vector be possible to it is incorrect in the case of for example degree of correction is set to It is low, calculate the posture of input unit 2 while the influence of direction vector can be reduced.Thereby, it is possible to reduce calculate it is incorrect The possibility of posture.In addition, for example will for example in the case of thinking that direction vector corresponding with new detection magnetic vector is correct Degree of correction is set to height, calculates the posture of input unit 2 with can increasing the influence of direction vector.Thereby, it is possible to improve meter Calculate the possibility of correct posture.By from degree setting degree of correction according to above-mentioned like this, can with high accuracy it count Calculate the posture of input unit 2.
In addition, in the present embodiment, information processor 3 uses the terminal for arriving new detection magnetic vector from the central position Length (radius) untill position and the radius that is determined according to the detection magnetic vector used in the estimation of the center it Difference is above-mentioned from degree to judge.That is, in the case where above-mentioned difference is big, it can interpolate that to be big from degree, in the small situation of above-mentioned difference Under, it can interpolate that to be small from spending.Thus, in the present embodiment, information processor 3 sets degree of correction according to above-mentioned difference (the first corrected rate).By the difference of actionradius like this, it can correctly judge from degree.
In addition, above-mentioned " radius that the detection magnetic vector according to being used in the estimation of the center determines " refers to root According to the length (half untill each final position for detecting magnetic vector used from the central position into the estimation in the center Footpath) radius that determines.For example, the radius both may decide that as the radius (direction shown in Fig. 7 corresponding with benchmark magnetic vector Vector Va1 size), above-mentioned mean radius can also be determined as.
As described above, in the present embodiment, above-mentioned bigger from spending, information processor 3 makes new detection magnetic vector Influence the relatively smaller posture to calculate input unit 2.I.e., in the present embodiment, as the posture for input unit 2 The method for calculating the influence of the new detection magnetic vector of adjustment, uses degree of correction.Here, in other embodiments, the above method Can be any method, however it is not limited to use the method for degree of correction.For example in other embodiments, can also be big from degree It is being the regulation from degree without the correction (making degree of correction be " 0 ") of use direction vector in the case of defined benchmark Benchmark below in the case of, carry out use direction vector correction.
In addition, in the feelings without using the other attitude calculation methods different from the method using the calculating posture of Magnetic Sensor 4 Under condition, information processor 3 can also input dress according to above-mentioned calculated from degree to change the influence of new detection magnetic vector Put 2 posture.For example, information processor 3 can also be according to first calculated based on the detection magnetic vector meter got in the past Posture and current posture is calculated based on the second that the detection magnetic vector meter newly got is calculated.In other words, at information Managing device 3 can also be calculated the past based on the detection magnetic vector (direction vector corresponding with the detection magnetic vector) newly got The posture of the input unit gone out is corrected.Now, information processor 3 can also determine to make second according to from degree Reflect the ratio of current posture.
As above, in the present embodiment, the final position of the detection magnetic vector newly got is away from the estimation in center The final position of the middle each detection magnetic vector used is more remote, and information processor 3 makes the influence of new detection magnetic vector (to posture The influence of calculating) the relatively smaller posture to calculate input unit 2.Thus, arrive even in the center estimated is not converged In the case of actual near center location, the posture of input unit 2 can be also calculated.When being said for example by taking Fig. 7 as an example When bright, the center p estimated is in the state for departing slightly from actual center P.In this state, direction vector It is possible to incorrect, so it seems that seeming correctly calculate posture.Even if however, in this state, meeting is according to feelings Condition difference (that is, it is above-mentioned from spend it is small in the case of) and to be also considered as direction vector be correct to a certain extent so that Posture can be calculated.I.e., in the present embodiment, actual centre bit is not converged to fully even in the center estimated In the case of putting nearby, also use direction vector comes information processor 3 in the range of it will not calculate incorrect posture Carry out posture calculating.Thus, posture can be calculated before center is fully restrained, therefore, it is possible to calculate posture ahead of time. In addition, can also be counted in the case of enough detection magnetic vectors needed for can not getting the center for calculating reality Posture is calculated, therefore, it is possible to there are more chances to calculate posture.Thus, for example carried out without using family above-mentioned by input unit 2 move the operation of such preparation along 8 words, can be calculated in a period of common operation is carried out using input unit 2 defeated Enter the posture of device 2.
In addition, Magnetic Sensor 4 detects abnormal detection magnetic vector for some reason sometimes.Abnormal detection magnetic Vector is typically terminal and is located at and the arrow based on the entirely different position in other faces for detecting the magnetic spheroid that magnetic vectors are estimated Amount.When using this abnormal detection magnetic vector to estimate center, it is possible to can not correctly calculate center. Here, as described above, by the way that according to the influence of new detection magnetic vector is changed from degree, the abnormal detection magnetic can be reduced The influence of vector, can with high accuracy calculate the posture of input unit 2.
In addition, in the present embodiment, information processor 3 is judged above-mentioned from degree using the difference of above-mentioned radius. Here, in the present embodiment, when being handled by above-mentioned renewal and center comes right (close to actual center) When, the difference of radius diminishes.Thus, information processor 3, can be in addition to consideration be above-mentioned from degree by using the difference of radius The correctness of center is further contemplated, to adjust the influence that new detection magnetic vector is calculated posture.In addition, in present embodiment In, handled by above-mentioned renewal and the process of center over time gradually comes right, therefore, it is possible to make above-mentioned influence Process over time and increase.That is, according to present embodiment, even if initially carrying out what the posture based on detection magnetic vector was calculated Scope (or the posture calculate the big scope of influence) is defined, process that also can be over time and the scope is expanded Greatly.In addition, process that can be over time and correctly calculate posture.
In addition, above-mentioned can judge by any method from degree.For example, in other embodiments, can also base Calculated in the final position of each detection magnetic vector from degree.Specifically, can also be according to above-mentioned recording interval and new inspection The distance between magnetic vector is surveyed to calculate from degree.In addition, in other embodiments, can also be sweared according to new detection magnetic Measure direction and and the difference in the direction of the corresponding direction vector of detection magnetic vector that gets so far of corresponding direction vector To calculate from degree.
In addition, in the present embodiment, mutually independently (value with the first corrected rate is unrelated with the value of above-mentioned first corrected rate Ground) perform the renewal processing (second processing) of above-mentioned center.That is, information processor 3 is sweared independently of new detection magnetic Relation between the final position of amount and the final position of each detection magnetic vector used in the estimation of center, uses this New detection magnetic vector is updated to center.Thus, even in due to above-mentioned big from degree without posture Calculating (or, based on detection magnetic vector posture calculate influence it is small) in the case of, center can be also updated to just True position.Therefore, it is possible to high accuracy calculate center, and the calculating of posture is not carried out even in some time point In the case of also can after carry out posture calculating.
(the second corrected rate)
Defined behaviour has been carried out according to the direction of the corresponding direction vector of detection magnetic vector with newly getting and with user The difference in the direction of detection magnetic vector (magnetic vector on the basis of herein) corresponding direction vector when making sets the second corrected rate.Letter Second corrected rate is set to that the more big then corrected rate of the difference in above-mentioned direction is smaller by breath processing unit 3.It is same with the first corrected rate Ground, for example, represent the second corrected rate, the more big correcting value then based on detection magnetic vector of value is more with more than 0 and less than 100 value Greatly.
Fig. 8 is the figure of one of the establishing method for representing the second corrected rate.In fig. 8 it is shown that getting including base Got in the state of multiple detection magnetic vectors including quasi- magnetic vector Vd1 vector Vd4 as new detection magnetic vector situation, And get situations of the vector Vd5 as new detection magnetic vector.In addition, will get new detection magnetic vector (Vd4 or Center when Vd5) is set to position p.
In fig. 8, it is considered to get detection magnetic vector Vd4 situation.Direction vector corresponding with detection magnetic vector Vd4 Va4 direction and and the corresponding reference direction vector Va1 of benchmark magnetic vector Vd1 direction difference (angle, θ 1) than larger.Here, In the case where the difference in above-mentioned direction is big, it is believed that the posture of input unit 2 from benchmark when (when beginning to use input unit 2) Posture is significantly changed.In addition, when the posture when the posture of input unit 2 is from benchmark is significantly changed, having can Magnetic field around energy input unit 2 is changed.For example, the posture due to changing input unit 2, position also becomes Change, the result is that the magnetic field of surrounding is also possible to change.Specifically, it is considered to because input unit 2 is close to metal The situation that wall and the magnetic field of surrounding change.Posture when the posture of input unit 2 like this is from benchmark there occurs significantly During change, it is possible to can not correctly carry out the posture based on detection magnetic vector and calculate.Therefore, difference in above-mentioned direction is big In the case of, the second corrected rate is set to relatively small by information processor 3.
On the other hand, in fig. 8, it is considered to get detection magnetic vector Vd5 situation.It is corresponding with detection magnetic vector Vd5 Direction vector Va5 direction and compare with the corresponding reference direction vector Va1 of the benchmark magnetic vector Vd1 difference (angle, θ 2) in direction It is small.In the case where the difference in direction above-mentioned like this is small, the possibility that the magnetic field around input unit 2 changes is low, It is taken as that the possibility that can not correctly carry out posture calculating is also low.Therefore, in the case where the difference in above-mentioned direction is small, letter Second corrected rate is set to relatively large by breath processing unit 3.
As above, in the present embodiment, the inspection that information processor 3 will have been detected when user has carried out defined operation Survey magnetic vector on the basis of magnetic vector setting.Moreover, more being deviated from from the central position to the direction of new detection magnetic vector from this Heart position makes the relatively smaller appearance to calculate input unit 2 of influence of the new detection magnetic vector to the direction of benchmark magnetic vector Gesture.Thereby, it is possible to reduce due to the magnetic field around input unit 2 changes and cause to calculate incorrect posture can Energy property, and then can with high accuracy calculate posture.
(calculating of final degree of correction)
In the present embodiment, final degree of correction is calculated based on above-mentioned first corrected rate and the second corrected rate.For example, Information processor 3 is calculated after the first corrected rate of sening as an envoy to is multiplied with the second corrected rate multiplied by with correction obtained from defined coefficient Degree.In addition, in other embodiments, can also be calculated based on either one in above-mentioned first corrected rate and the second corrected rate Go out final degree of correction.For example, assuming that the situation of operating method as the posture to all direction changes of input unit 2 Under, degree of correction can also be calculated without using the second corrected rate.In addition, information processor 3 is also possible to prevent degree of correction drastically Increase is (with reference to aftermentioned step S36 and S37).This is to prevent the appearance of input unit 2 calculated by information processor 3 Gesture occurs drastically to change due to the correction that use direction vector is carried out.
In addition, in the present embodiment, if utilization orientation vector comes to (using the He of gyrosensor 5 by other methods The method of acceleration transducer 6) posture of input unit 2 that calculates is corrected.Here, in other embodiments, letter Breath processing unit 3 can also calculate the posture of input unit 2 without using other methods based on direction vector.
(about whether the judgement for calculating posture)
In the present embodiment, in the 3rd is handled, the situation of the defined condition relevant with center is being met Under, information processor 3 calculates the posture of the input unit 2 based on direction vector.That is, can be by the center estimated In the case of trusting the low degree to represent the practical center position of magnetic spheroid, information processor 3 is based on inspection by not calculating The posture of the input unit 2 of magnetic vector is surveyed, to reduce the possibility for calculating incorrect posture.
In the present embodiment, each detection magnetic arrow of the information processor 3 based on center and storage in a buffer Measure to calculate the reliability of center.Then, the appearance of input unit 2 is calculated in the case where reliability is higher than defined benchmark Gesture, does not calculate the posture of input unit 2 in the case where reliability is less than defined benchmark.
Specifically, the amount of movement before and after the renewal in the case of being updated to center is handled by above-mentioned renewal Bigger, information processor 3 must be lower by reliability calculating.In addition, by it is above-mentioned it is each detection magnetic vector terminal and center The deviation of the length of each radius of connection is bigger, and information processor 3 must be lower by reliability calculating.Because, updating In the case that the deviation of the big situation of front and rear amount of movement and the length of each radius is big, center is not restrained fully, not just True possibility is high.For example in the case shown in figure 4, the deviation of each radius r1 ~ r4 length is big, the movement of center Greatly.Therefore, must be low by reliability calculating, the result is that without the calculating of posture.On the other hand, Fig. 9 is represented reliability Calculate the figure of one of the center in the case of height.In the situation illustrated in figure 9, each radius r1 ~ r4 length is inclined Difference is small, and the movement of center is small.Therefore, reliability calculating is obtained high, the result is that carrying out the calculating of posture.
In addition, in the present embodiment, square being added up the difference of mean radius and radius for each radius is used The value obtained after addition, is used as the index of the deviation for the length for representing each radius.In addition, the index can be any index, For example can also be the difference, mean radius and maximum or the difference and half and half of the radius of minimum of maximum radius and minimum radius The standard deviation in footpath etc..
In addition, in the present embodiment, being more than the situation of defined benchmark to enter according to the change of the posture of input unit 2 The calculating of row reliability.That is, information processor 3 judges corresponding with detection magnetic vector when getting detection magnetic vector every time The change in direction of direction vector whether be more than defined benchmark.Then, the change in the direction of direction vector is more than regulation Benchmark in the case of, information processor 3 recalculates reliability.On the other hand, the direction of direction vector change not In the case of more than defined benchmark, reliability is not recalculated, therefore maintain former reliability.Because, in input In the case that the posture (detection magnetic vector) of device 2 does not change, it is believed that the degree that center can be trusted also is not sent out Changing.So, according to present embodiment, the processing load caused by the calculating of reliability can be mitigated.In addition, in other realities Apply in mode, the ratio (such as when getting detection magnetic vector every time) that can also be carried out with per specified time limit once is calculated can By degree.
As above, in the present embodiment, information processor is by the amount of movement before and after the renewal of center and half and half The deviation of the length in footpath is used as the index of the reliability of reflection center, decides whether to calculate input unit based on the index 2 posture.Here, in other embodiments, information processor 3 can also change the inspection got according to These parameters Survey magnetic vector and the influence produced is calculated to posture.For example, information processor 3 can also set above-mentioned based on These parameters Degree of correction.
As described above, center before the update after variable quantity it is bigger, information processor 3 makes new detection magnetic vector Influence the relatively smaller posture to calculate input unit 2.Thereby, it is possible to reduce the possibility for calculating incorrect posture, The accuracy of posture calculating can be improved.
In addition, from current center to the terminal of each detection magnetic vector used in the estimation of the center position The deviation for being set to each length (length of each radius) only is bigger, and information processor 3 makes the detection magnetic vector newly got Influence is relatively smaller to calculate posture.Thereby, it is possible to reduce the possibility for calculating incorrect posture, it is possible to increase posture meter The accuracy of calculation.
In addition, in other embodiments, information processor 3 can also be based on the movement before and after the renewal of center Amount calculates reliability with any one in the deviation of the length of each radius.That is, before and after can also be based on the renewal of center Amount of movement and each radius length deviation in any one adjust the influence that new detection magnetic vector is calculated posture.
(3-5：The method of storage detection magnetic vector)
In the present embodiment, information processor 3, which is used, will detect what magnetic vector was classified and stored according to condition Buffer.Then, (calculating) center is estimated using detection magnetic vector in a buffer is stored.That is, in this embodiment party In formula, without using the detection magnetic vector deleted from buffer in the estimation of center.Information processor 3 is in order to efficient And center is with high accuracy calculated, using above-mentioned buffer come to the detection magnetic to be used in the calculating of center Vector is selected.Below, illustrate that the detection magnetic vector that will be got is stored in the method in buffer.
In the present embodiment, information processor 3 by detection magnetic vector classification with from reference position to getting Detect that the direction corresponding classification in the final position of magnetic vector is stored in above-mentioned buffer.In addition, according to from reference position Direction to the final position of detection magnetic vector is of all categories to set.Said reference position is determined based on detection magnetic vector , it is center in the case where setting center in the present embodiment.I.e., in the present embodiment, with The detection magnetic vector that the direction of the corresponding direction vector of detection magnetic vector is same or like is classified into identical category.Below, join Illustrate details according to Figure 10 and Figure 11.
Figure 10 is the figure of one of the structure for representing the buffer in present embodiment.As shown in Figure 10, set in buffer It is equipped with by multiple (being in Fig. 10 16) classification vectors to preserve the region of detection magnetic vector.Classification vector be represent for Represent the vector (being herein unit vector) in the direction in the space (xyz spaces) of detection magnetic vector.Each classification vector Vc1 ~ Vc16 represents different directions respectively.In addition, each classification vector Vc1 ~ Vc16 is configured to its direction and is uniformly dispersed, details exist Describe below.In addition, each classification vector is set in advance.The quantity of classification vector can be any quantity.In this embodiment party In formula, the quantity of classification vector is fixed.
As long as in addition, the storage part that above-mentioned buffer can be conducted interviews by information processor 3.For example, In present embodiment, above-mentioned buffer is prepared in the memory 9 that information processor 3 possesses.
Figure 11 is the figure of one for representing to detect the sorting technique of magnetic vector.In fig. 11, if getting detection magnetic vector Vdx, center now is position p.Now, information processor 3 calculates direction vector corresponding with detection magnetic vector Vdx Vax.Then, direction is selected closest to direction vector Vax vector from above-mentioned multiple classification vector Vc1 ~ Vc16.Figure 11's In example, direction is have selected closest to direction vector Vax classification vector Vc11.Information processor 3 is by the detection magnetic got Vector is stored in region corresponding with selected classification vector.In Figure 11 example, due to have selected direction closest to side To vector Vax classification vector Vc11, therefore detection magnetic vector Vdx corresponding with direction vector Vax is stored in and classification is sweared Measure in the corresponding regions of Vc11 (reference picture 10).In addition, in the present embodiment, to preserve the region of new detection magnetic vector In saved detection magnetic vector in the case of, the region, the inspection before deletion are arrived into new detection magnetic vector covering storage Survey magnetic vector.
As above, in the present embodiment, according to the direction from reference position to the terminal of detection magnetic vector come to detection magnetic Vector is classified, and center is estimated using a detection magnetic vector of identical category is classified into.Thereby, it is possible to will be The quantity of the detection magnetic vector used in the estimation of center is limited to fixed qty, can mitigate at the estimation of center The processing load of reason.
In addition, in the present embodiment, according to the direction from reference position to the terminal of detection magnetic vector come to detection magnetic Vector is classified.Here, by using the direction vector towards various directions, it is easy to more correctly calculate in being estimated Heart position.Thus, by according to from reference position to detection magnetic vector terminal direction come to detection magnetic vector classify, The detection magnetic vector towards various directions can be used more correctly to estimate center.
In addition, in the present embodiment, said reference position is set to center.That is, information processor 3 is by base Level installs the inner side in the face or the face that are scheduled on magnetic spheroid.Thereby, it is possible to will be corresponding with the direction vector towards various directions Detection magnetic vector is stored in buffer, therefore, it is possible to more correctly estimate center.
In addition, in the present embodiment, before setting center, the final position of benchmark magnetic vector is set to base Level is put.In addition, setting center before, when getting new detection magnetic vector every time, by with center The same method of processing is updated to be updated reference position.Thus, before setting center, reference position It is set at the face of magnetic spheroid or the inner side in the face.
In addition, after center is set, information processor 3 will be newest when getting detection magnetic vector every time Center the detection magnetic vector got is classified as reference position.Thereby, it is possible to make to use in classification Direction vector it is more correct.Thereby, it is possible to more correctly carry out the classification for detecting magnetic vector.In addition, as described above, at information Reason device 3 is updated in new storage detection magnetic vector every time to center.Thus, getting detection magnetic vector every time When center and reference position are updated, therefore, it is possible to make the direction vector used in classification more correct.
In addition, in the present embodiment, being classified using classification vector to detection magnetic vector.That is, information processing apparatus Put 3 from multiple classification vectors towards mutually different direction selection towards with from reference position to detection magnetic vector terminal The immediate direction in direction classification vector, the detection magnetic vector classifications of different classification vectors will be selected to different classifications In.Thereby, it is possible to easily classify to detection magnetic vector.For example, can be by calculating classification vector with representing from benchmark Position to detection magnetic vector terminal direction vector inner product, come easily to detection magnetic vector classify.
In addition, in other embodiments, the scope relevant with direction can also be set to each region of buffer, with generation For classification vector.Now, information processor 3 is selected in the scope set to each region from reference position to detection magnetic vector Terminal direction belonging to scope, by detect magnetic vector be saved in it is selected go out the corresponding region of scope in.Thus, Easily detection magnetic vector can be classified.
In addition, in the present embodiment, information processor 3 collects the detection magnetic vector for being categorized into identical category for one It is individual to store in a buffer.That is, by the detection magnetic vector storage obtained based on the detection magnetic vector for belonging to same category In a buffer.Fixed qty is limited to thereby, it is possible to the quantity that will be stored in the detection magnetic vector in buffer, so as to Reduce the size of data of buffer.
In addition, in other embodiments, can also will be categorized into detection magnetic vector of all categories and be deposited for a classification Store up multiple (can also be all).Now, information processor 3 also can be with for a classification extraction specified quantity (such as one It is individual) detection magnetic vector mode from it is of all categories it is middle extract detection magnetic vector, in being estimated using the detection magnetic vector extracted Heart position.Thus the detection magnetic vector to be used in the estimation of center can be also selected in the same manner as present embodiment, Center can efficiently be calculated.
Also, the situation of detection magnetic vector in the present embodiment, has been saved in the same area in buffer Under, storage (preservation) is covered with new detection magnetic vector.That is, information processor 3 is getting new detection magnetic vector In the case of, if the detection magnetic vector classification that this is new to classification in stored detection magnetic vector, it is new with this Detection magnetic vector stored detection magnetic vector is covered to be stored.Thus, detection saved in same area Magnetic vector is deleted.
In addition, as described above, Magnetic Sensor 4 detects abnormal detection magnetic vector for some reason sometimes. In present embodiment, detection magnetic vector can be capped, even if therefore abnormal detection magnetic vector is stored in buffer, also lead to Cross and covered after with not abnormal detection magnetic vector, the influence of abnormal detection magnetic vector can be eliminated to calculate center Position.Thereby, it is possible to high accuracy calculate center.
In addition, storing side in a buffer as the detection magnetic vector for being categorized into identical category is collected for one , in addition to the method covered with new detection magnetic vector, also there is following method in method：Storage is identical based on being categorized into Multiple detection magnetic vectors of classification and the detection magnetic vector generated.For example, in other embodiments, can also be based on being categorized into Multiple detection magnetic vectors of identical category generate average vector, by average vector storage in a buffer.Thus, energy Enough reduce the influence of abnormal detection magnetic vector to calculate center.
In the present embodiment, above-mentioned each classification vector is configured to direction and is uniformly dispersed.That is, multiple classification vector quilts It is set to：In the case where the starting point of each classification vector is configured at into the center of spheroid, the terminal of each classification vector is in the spheroid Sphere on (as described later, in the case where the quantity for making classification vector is half or half in sphere face On) it is uniformly dispersed configuration.Figure 12 is the end for representing to be configured in the present embodiment each classification vector in three dimensions The figure of one of point position.In addition, in fig. 11, be shown as each classification vector and be configured in the plane, but in present embodiment In, it is actually that each classification vector is configured in three dimensions as shown in Figure 12.Each classification vector is for example configured to Using polyhedral center shown in Figure 12 as starting point, using polyhedral each summit as the vector of terminal.As shown in figure 12, it is multiple Classification vector is configured to direction and is uniformly dispersed.Thereby, it is possible to estimate center using the detection magnetic vector being uniformly dispersed Position, therefore, it is possible to more correctly estimate center.Strictly uniformly divide in addition, each classification vector need not be configured to direction Dissipate, as long as being configured to substantially evenly disperse, it becomes possible to correctly estimated the effect of center.
In addition, in the present embodiment, classification vector is configured to the presence of other classification vectors in opposite direction.That is, believe Processing unit 3 is ceased using two classification vectors in direction direction opposite each other as one group, to set manifold classification vector.Separately Outside, information processor 3 is by calculating the inner product of two vectors come selection sort vector.That is, information processor 3 calculates classification Vector with represent from direction vector from reference position to the direction of the terminal of detection magnetic vector inner product, selection inner product value is maximum Classification vector.
Here, in the present embodiment, classification vector is set in the presence of other classification vectors in opposite direction, therefore letter Above-mentioned inner product can be calculated by each group of execution on some classification vector in one group of classification vector by ceasing processing unit 3 Processing, carry out selection sort vector.Specifically, the classification vector of the maximum absolute value of inner product value is determined, in the inner product value Symbol is in the case of just, as long as the classification vector determined by selection, the inner product value symbol in the case of negative, As long as the classification vector of selection opposite direction of the classification vector determined by.Pass through the phase each other of use direction like this One group of anti-classification vector, can be changed into half by the number of times of the inner product calculating for selection sort vector.
In addition, in other embodiments, information processor 3 can also use the classification of the half of above-mentioned embodiment Vector come carry out detect magnetic vector classification.I.e., in other embodiments, can also only it set in above-mentioned each group classification vector One party.Now, information processor 3 is primarily based on the absolute value of inner product to carry out the selection of classification vector.Specifically, The processing for calculating inner product is performed to each classification vector in the same manner as present embodiment, the classification vector of maximum absolute value is selected. Also, information processor 3 is according to the positive and negative by detection magnetic vector classification to different classifications of inner product value.Thereby, it is possible in making The number of times that product is calculated is changed into half, and can reduce the quantity for the classification vector to be prepared.
[the 4. specific processing example performed by information processing system]
Below, 13 ~ Figure 16 of reference picture illustrates in the present embodiment by information processing system 1 (information processor 3) One of the specific processing performed.Figure 13 is to represent storage part (memory 9) in the present embodiment in information processing system 1 The figure of one of the data area of middle setting.As shown in figure 13, in the memory 9 of information processor 3, it is set with program guarantor Deposit region 11, peration data storage zone 13, processing data save area 15 and buffer areas 27.In addition, in storage In device 9, it can also set for preserving the image that be output to display device in addition to the data shown in Figure 13, for life The region of the data of image used into the image etc..
Be stored with message handling program 12 in program storage zone 11.Message handling program 12 is to be used to make information processing apparatus Put the program that 3 computer (CPU8) is performed.In addition, message handling program 12, which is stored in, is arranged at the interior of information processor 3 In portion or the outside program storage unit (storage device or storage medium etc.) that can be conducted interviews by information processor 3. Part or all of the message handling program 12 that is stored in program storage unit is read at the time of appropriate to be stored in memory 9 In, the program is performed by CPU8.Alternatively, it is also possible to which part or all of (such as being used as storehouse) of message handling program 12 is advance In the information processor for being stored in execution information processing routine 12.
Be stored with the peration data sended over from input unit 2 in peration data storage zone 13.In this embodiment party In formula, in peration data storage zone 13, it is stored with as peration data and represents the detection magnetic data of above-mentioned detection magnetic vector 14.In addition, the data for the testing result (angular speed) for representing gyrosensor 5 that is stored with peration data storage zone 13, Represent the data of the testing result (acceleration) of acceleration transducer 6 and represent the data of operation carried out to operating portion 7.
Information processing (Figure 14 institutes performed in processing with being stored with data save area 15 in information processor 3 The information processing shown) used in various data.Processing with the prime data 16 that are stored with data save area 15, Second data 17, benchmark magnetic data 18, mean radius data 19, Centre location data 20, recording interval data 21, direction Vector data 22, reliability data 23, the first corrected rate data 24, the second corrected rate data 25 and correction degrees of data 26.
Prime data 16 are to represent other sides by addition to using the method for Magnetic Sensor 4 (detection magnetic vector) The data of the posture for the input unit 2 that method is calculated.Second data 17 be represent based on detection magnetic vector meter calculate it is defeated Enter the data of the posture of device 2.In the present embodiment, second data 17 are to represent use direction vector to prime The data for the posture that posture represented by data 16 is obtained after being corrected.
Benchmark magnetic data 18 is the data for representing said reference magnetic vector.Mean radius data 19 are to represent above-mentioned average half The data of the length in footpath.Centre location data 20 is the data of above-mentioned center for representing to be estimated by information processor 3. Recording interval data 21 are the data in the region for representing above-mentioned recording interval.
Here, in the present embodiment, after center is set, center is set to reference position.Separately Outside, before setting center, to be updated with center identical method to reference position.Thus, reference position It is identical value with center, therefore reference position and center can not also be stored as phase point by information processor 3 The data opened, can be previously stored as a data.Therefore, in the processing example illustrated here, in the use of information processor 3 Heart position data 20 is used as the data for representing reference position and center.That is, Centre location data 20 is first in setting Stage before beginning center represents reference position.
Direction vector data 22 are the data for representing above-mentioned direction vector.Here, the side represented by direction vector data 22 It is the direction vector determined based on newest center to vector.In addition, the direction arrow represented by direction vector data 22 Amount is detection magnetic vector (newest detection magnetic vector) corresponding direction vector with newly getting.
Reliability data 23 is the data for representing above-mentioned reliability.First corrected rate data 24 are to represent above-mentioned first correction The data of rate.Second corrected rate data 25 are the data for representing above-mentioned second corrected rate.Correction degrees of data 26 be represent with based on The data of degree of correction when the posture of direction vector is corrected to the posture represented by prime data 16.Correct the number of degrees The degree of correction calculated according to 26 expressions based on above-mentioned first corrected rate and the second corrected rate.
Buffer areas 27 is the region for storing the above-mentioned buffer of detection magnetic vector.In buffer areas 27, Be stored with the data stored as above-mentioned detection magnetic data 14 by above-mentioned " (3-5：Detection magnetic vector is stored in slow The method rushed in device) " the middle sorted detection magnetic data of method progress described.
In addition to above-mentioned data, the threshold value used in the above-mentioned classification vector that is also stored with memory 9, judgement Deng the data used in the processing of information processor (Figure 14).
Then, the detailed process of the information processing in present embodiment is illustrated.Figure 14 be represent in the present embodiment by The flow chart of one of the flow for the information processing that the CPU8 of information processor 3 is performed.In the present embodiment, when startup letter When ceasing processing system 1, the CPU8 of information processor 3 initializes the grade of memory 9 storage part, by message handling program 12 from journey Sequence storage unit is read into memory 9.Then, the message handling program 12 is performed by CPU8.
In addition, the processing of each step in flow chart shown in Figure 14 ~ Figure 16 is only a simple example, as long as energy Same result is accessed, then can both exchange the processing sequence of each step, can also be gone back in addition to the processing of each step (or Instead of the processing of each step) perform other processing.In addition, in the present embodiment, if performing each of above-mentioned flow chart by CPU8 The processing of step is illustrated, but can also be performed by the processor beyond CPU8, special circuit in above-mentioned flow chart A part of step processing.
In the present embodiment, first in step sl, CPU8 obtains the peration data sended over from input unit 2. In the present embodiment, the ratio that input unit 2 is sent once with per specified time limit sends operation repeatedly to information processor 3 Data.Correspondingly, information processor 3 gradually receives peration data.Information processor 3 is by the peration data received It is stored in the peration data storage zone 13 of memory 9.Thus, the peration data for including detection magnetic data 14 is obtained.
In step s 2, CPU8 calculates input unit 2 by other methods in addition to using the method for Magnetic Sensor 4 Posture.In the present embodiment, CPU8 calculates the appearance of input unit 2 using gyrosensor 5 and acceleration transducer 6 Gesture.As specific processing, CPU8 from the read operation data of memory 9, based on peration data included by gyrosensor 5 The data that are detected with acceleration transducer 6 calculate posture.In addition, for based on the angle speed detected by gyrosensor 5 Degree and the acceleration that is detected by acceleration transducer 6 are come to calculate the specific method of the posture of input unit 2 can be any side Method.The data for the posture that CPU8 calculates expression are as prime data storage in memory 9.
In step s3, CPU8 performs the posture calculating processing based on detection magnetic vector.Posture based on detection magnetic vector Calculating processing is to calculate the processing of the posture of input unit 2 based on detection magnetic vector.In the present embodiment, based on detection In the posture calculating processing of magnetic vector, perform using detection magnetic vector to the place that is corrected by the step S2 postures calculated Reason.Below, reference picture 15 come illustrate based on detection magnetic vector posture calculate processing details.
Figure 15 is to represent that the posture based on detection magnetic vector calculates the flow chart of one of the detailed process of processing.Based on In the posture calculating processing for detecting magnetic vector, first in step s 11, CPU8 judges whether to perform the appearance based on detection magnetic vector Gesture calculating is handled.According to whether in the later progress step for being judged as starting position calculating processing in aftermentioned step S12 S11 judgement.In the case where step S11 judged result is affirmative, step S12 processing is performed.On the other hand, in step In the case that S11 judged result is negative, CPU8 terminates the posture calculating processing based on detection magnetic vector.
In step s 12, CPU8 judges whether that starting position calculating is handled.In the present embodiment, step S12 judgement Defined operation whether has been carried out based on user to judge.That is, CPU8 comes with reference to the peration data being stored in memory 9 Judge whether to have carried out defined operation to the operating portion 7 of input unit 2.In the situation that step S12 judged result is affirmative Under, perform step S13 processing.On the other hand, in the case where step S12 judged result is negative, step described later is performed Rapid S15 processing.In addition, be since the information processing shown in Figure 14 carry out for more than second it is above-mentioned as defined in operate In the case of, CPU8 can also ignore the defined operation and perform step S15 processing.Or, in these cases, CPU8 Step S12 processing (that is, posture can also be calculated into processing to reset) can also be performed.
In step s 13, CPU8 Memory References magnetic vector.That is, CPU8 stores the newest detection magnetic vector got On the basis of magnetic vector.As specific processing, CPU8 reads the detection being stored in the peration data storage zone 13 of memory 9 Magnetic data 14, is stored in memory as benchmark magnetic data 18.
In step S14, CPU8 performs initialization process.Initialization process is various by what is used in posture calculating processing The processing of information (data) initialization.In the present embodiment, CPU8 performs following processing.That is, CPU8 will store detection magnetic The buffer (buffer areas 27) of vector is emptied.In addition, reference position (center) is set based on benchmark magnetic vector 's.Here, the final position of benchmark magnetic vector is set to reference position.CPU8 will represent the data in the final position in Heart position data 20 is stored in memory 9.In addition, above-mentioned recording interval, mean radius and degree of correction are each set to 0.CPU8 stores the data for representing 0 as mean radius data 19, recording interval data 21 and the correction number of degrees in memory 9 According to 26.In addition, the processing stage in posture calculating processing is set to the first stage.Here, the place in posture calculating processing The reason stage is divided into the first stage untill setting initial center position and sets the second stage after initial center position.The One stage was can not to carry out the stage that the posture based on detection magnetic vector is calculated.Second stage can be carried out based on detection magnetic arrow The stage that the posture of amount is calculated.
In addition, in above-mentioned steps S14, the posture that CPU8 calculates the above-mentioned other methods of the use of current point in time (prime data 16) are stored in memory 9 as benchmark posture.The benchmark posture is used in the case of following：Rear In the correction process (step S25) stated, using detecting that magnetic vector is corrected to the posture calculated using above-mentioned other methods.
After step S14 more than, CPU8 terminates the posture calculating processing based on detection magnetic vector.Afterwards, in next time In the processing of step S3 in later step S1 ~ S5 processing cycle, the later processing of step S15 is performed.
In step S15, CPU8 obtains detection magnetic vector.That is, CPU8 reads the peration data preservation for being stored in memory 9 Detection magnetic data in region.In addition, in other embodiments, CPU8 can also be filled in step S15 time point from input Put 2 acquisition peration datas (detection magnetic data).
In step s 16, CPU8 calculated directions vector.Direction vector is based on reference position (center) and new acquisition To detection magnetic vector and calculate.For example, by being subtracted from the detection magnetic vector newly got from the detection magnetic vector Starting point (origin) calculates direction vector to the vector of reference position.As specific processing, CPU8 is from the reading of memory 9 Heart position data 20, is sweared based on the detection magnetic vector got by step S15 the Centre location data 20 come calculated direction Amount.The data for representing the direction vector calculated are stored in memory 9 by CPU8 as direction vector data 22.
In step S17, the detection magnetic vector newly got is stored in buffer by CPU8.That is, CPU8 is from memory 9 Readout direction vector data 22 and classification vector, direction is selected closest to direction vector based on direction vector and classification vector Classification vector.Then, above-mentioned detection magnetic vector (the detection magnetic data read in step S15) is stored in each area of buffer In region corresponding with selected classification vector in domain.In addition, for example by above-mentioned " (3-5：Magnetic vector will be detected Storage method in a buffer) " in the method for explanation carry out selecting for classification vector.
In step S18, CPU8 calculates mean radius based on multiple detection magnetic vectors in a buffer are stored.That is, CPU8 reads the detection magnetic data and Centre location data 20 being stored in buffer areas 27 from memory 9, based on each detection Magnetic vector and center (reference position) calculate mean radius.In addition, mean radius can be calculated as arriving from the central position The average value of each distance (each radius) untill the terminal of each detection magnetic vector.The number for the mean radius that CPU8 calculates expression It is stored according to as mean radius data 19 in memory 9.In addition, in the present embodiment, in aftermentioned step S32 processing It is middle to use each radius, therefore CPU8 will represent the data storage of each radius in memory 9 in advance.
In step S19, CPU8 is updated to center (reference position).Based in center (reference position) Calculating in use each detection magnetic vector, update before center (reference position) and mean radius carry out centre bit Put the renewal of (reference position).In addition, as the specific update method of center (reference position), example is as used in above-mentioned " (3-3：Second processing) " the middle method (reference picture 5) illustrated.As specific processing, CPU8 reads from memory 9 and stored Detection magnetic data, Centre location data 20 and mean radius data 19 in buffer areas 27, based on these data come Calculate the center after updating.CPU8 deposits the data for representing the center calculated as new Centre location data 20 Storage is in memory 9.In addition, in the present embodiment, the centre bit before updating is used in aftermentioned step S32 processing Put, therefore CPU8 will represent the data storage of the center before updating in memory 9 in advance.
In addition, information processor 3 can also concurrently hold above-mentioned step S18 processing and step S19 processing OK.For example, CPU8 first reads out Centre location data 20 and average radius data 19.Then, CPU8, which is performed, includes following processing A series of processing：A detection magnetic vector is read from buffer areas 27；Pair corresponding with detection magnetic vector radius is carried out It is accumulative to be added；And along the direction mobile center (reference picture 5) of radius corresponding with the detection magnetic vector.CPU8 is for depositing The each detection magnetic vector (in each reading detection magnetic vector) stored up in buffer areas 27 performs a series of above-mentioned processing. Finally, CPU8 calculates mean radius using the value of the accumulative radius for being added and obtaining.Now, the mean radius calculated is used in In processing cycle next time.In addition, in other embodiments, CPU8 can also calculate flat in each mobile center Equal radius.CPU8 can also handle to perform step S18 and S19 processing more than.
In step S20, CPU8 judges whether processing stage is the first stage.The processing stage in aftermentioned step S24 It is set to before second stage, it is the first stage to be judged as processing stage.In the situation that step S20 judged result is affirmative Under, perform step S21 processing.On the other hand, in the case where step S20 judged result is negative, step described later is performed Rapid S25 processing.
In the step s 21, CPU8 calculates recording interval.Recording interval can be calculated by any mode, for example In the case of the recording interval of setting cuboid, recording interval (recording interval data 21) that can be based on current point in time and The detection magnetic vector (the detection magnetic vector got by step S15) that newly gets calculates the recording interval.That is, obtained newly In the case of the outside for the recording interval that the terminal for the detection magnetic vector got is located at current point in time, CPU8 is to recording interval One face is updated with comprising the terminal.In addition, being located at the situation of the inner side of the recording interval of current point in time in the terminal Under, recording interval is not updated.As specific processing, CPU8 reads recording interval data 21 from memory 9, based on logical Detection magnetic data and recording interval data 21 that step S15 gets is crossed to calculate recording interval.Then, it will represent what is calculated The data of recording interval are stored in memory 9 as new recording interval data 21.
In step S22, CPU8 judges whether recording interval is more than defined benchmark.For example according to being used as recording interval Whether grow to carry out the judgement than defined threshold value (expression specific length) in some side of cuboid.As specific processing, CPU8 reads recording interval data 21 from memory 9 and represents the data of above-mentioned threshold value, to carry out above-mentioned judgement.In step In the case that S22 judged result is affirmative, step S23 processing is performed.On the other hand, it is in step S22 judged result In the case of negative, CPU8 terminates the posture calculating processing based on detection magnetic vector.In this case, in ensuing processing Step S11, S12 and S15 ~ S22 processing are performed in circulation.Then, step is performed in step S3 posture calculating processing S11, S12 and S15 ~ S22 processing, untill step S22 judged result is changed into affirmative.
In step S23, CPU8 calculates initial center position.For example calculated based on benchmark magnetic vector and recording interval just Beginning center.As the specific computational methods of initial center position, example is as used in above-mentioned " (3-2：First processing) " The method (reference picture 3) of middle explanation.As specific processing, CPU8 reads benchmark magnetic data 18 and recording interval from memory 9 Data 21, initial center position is calculated based on these data.Represent the data of the initial center position calculated as new Centre location data 20 is stored in memory 9.Thus, Centre location data 20 turn into represent center (and benchmark position Put) data.
In step s 24, CPU8 will be set as second stage processing stage.After step S24, CPU8 terminates based on inspection Survey the posture calculating processing of magnetic vector.Pass through step S24 processing, the processing of the step S3 in ensuing processing cycle In, then step S20 performs step S25 processing.
In step s 25, CPU8 performs correction process.Correction process is use direction vector to by above-mentioned other sides The processing that the posture for the input unit 2 that method is calculated is corrected.Below, reference picture 16 illustrates the details of correction process.
Figure 16 is the flow chart of one of the detailed process for representing correction process.In correction process, first in step S31 In, CPU8 judges whether the change of the posture of input unit 2 is more than defined benchmark.For example according to the posture of input unit 2 Whether variable quantity is more than ormal weight to carry out step S31 judgement.In the present embodiment, entered using above-mentioned buffer The above-mentioned judgement of row.That is, CPU8 judges whether the detection magnetic vector newly got is classified into the detection magnetic with getting before In the different classification of vector.In addition, above-mentioned judgement can be carried out by any mode.For example in other embodiments, The posture calculated by above-mentioned other methods can also be used to carry out above-mentioned judgement.It is in step S31 judged result Certainly in the case of, step S32 processing is performed.On the other hand, in the case where step S31 judged result is negative, jump Step S32 processing is crossed, step S33 processing is performed.
In step s 32, CPU8 calculates reliability.In the present embodiment, the shifting before and after the renewal based on center Momentum and and the deviation of length of each detection magnetic vector corresponding each radius calculate reliability.It is used as the specific meter of reliability Calculation method, method of the example as used in explanation in above-mentioned " (about whether the judgement for calculating posture) ".As specific processing, CPU8 reads the data of the center before and after the expression stored by above-mentioned steps S19 updates from memory 9 and by above-mentioned The data of each radius of expression of step S18 storages, reliability is calculated using these data.Represent the number of reliability calculated It is stored according to as reliability data 23 in memory 9.
In step S33, whether CPU8 judge reliabilities are more than defined benchmark.Whether rule are for example more than according to reliability Fixed threshold value carries out the judgement.As specific processing, CPU8 reads reliability data 23 from memory 9 and represents above-mentioned threshold The data of value, to carry out above-mentioned judgement.In the case where step S33 judged result is affirmative, step S34 place is performed Reason.On the other hand, in the case where step S33 judged result is negative, CPU8 terminates correction process.
In step S34, CPU8 calculates the first corrected rate.In the present embodiment, based on arriving new inspection from the central position Survey magnetic vector final position untill radius and radius corresponding with benchmark magnetic vector (can also be above-mentioned mean radius) it Difference calculates the first corrected rate.As the specific computational methods of the first corrected rate, example is as used in above-mentioned " (the first correction Rate) " the middle method illustrated.As specific processing, CPU8 reads benchmark magnetic data 18 and Centre location data 20, uses reading Data and the detection magnetic data 14 that is got by step S15 calculate the first corrected rate.CPU8 is by represent to calculate the The data of one corrected rate are stored in memory 9 as the first corrected rate data 24.
In step s 35, CPU8 calculates the second corrected rate.In the present embodiment, based on the detection magnetic with newly getting The direction of the corresponding direction vector of vector and and the difference in direction of benchmark magnetic vector corresponding direction vector set the second correction Rate.It is used as the specific computational methods of the second corrected rate, method of the example as used in explanation in above-mentioned " (the second corrected rate) ". As specific processing, CPU8 readout directions vector data 22, benchmark magnetic data 18 and Centre location data 20 use reading Data calculate the second corrected rate.CPU8 regard the data for representing the second corrected rate calculated as the second corrected rate data 25 It is stored in memory 9.
In step S36, CPU8 calculates the desired value of degree of correction.In the present embodiment, based on above-mentioned first corrected rate The desired value of degree of correction is calculated with the second corrected rate.Specifically, after being multiplied with the second corrected rate by making the first corrected rate Multiplied by the desired value that degree of correction is calculated with defined coefficient.As specific processing, CPU8 reads first from memory 9 and corrected Rate data 24, the second corrected rate data 25 and the data for representing above-mentioned defined coefficient, school is calculated using the data of reading The desired value just spent.CPU8 will represent the data storage of the desired value calculated in memory 9.
In step S37, CPU8 calculates degree of correction.In the present embodiment, counted based on the desired value of above-mentioned degree of correction Calculate degree of correction.Specifically, in the case where desired value is more than current degree of correction (in the case of increasing degree of correction), CPU8 leads to Crossing makes current degree of correction to above-mentioned desired value close to defined ratio to calculate new degree of correction.Thereby, it is possible to suppress correction That spends sharply increases, and the posture that can suppress calculated input unit 2 occurs drastically to become due to sharply increasing for degree of correction The situation of change.On the other hand, in the case where desired value is less than current degree of correction (in the case of correction for reduction degree), CPU8 will Above-mentioned desired value is used as new degree of correction.In addition, in the case where degree of correction diminishes, it is defeated even if degree of correction occurs drastically to change Entering the posture of device 2 will not also occur drastically to change, therefore can not also suppress the drastically change of degree of correction.It is used as specific place Reason, CPU8 reads correction degrees of data 26 from memory 9 and represents the data of above-mentioned desired value, calculates new using the data of reading Degree of correction.The data for representing the degree of correction calculated are stored in memory 9 by CPU8 as correction degrees of data 26.
In step S38, CPU8 use directions vectors is corrected to posture.Sweared namely based on newest detection magnetic Corresponding direction vector is measured to be corrected the posture calculated by other methods.As the bearing calibration in step S38, Method of the example as used in explanation in above-mentioned " (posture carried out by other methods is corrected) " and " (calculating of degree of correction) ". As specific processing, CPU8 reads prime data 16, direction vector data 22 and correction degrees of data from memory 9 26, the posture after correction is calculated using the data of reading.CPU8 regard the data for representing the posture calculated as second Data 17 are stored in memory 9.Thus, the posture of the input unit 2 based on detection magnetic vector is calculated.
After step S38, CPU8 terminates the correction process (step S25) shown in Figure 16.In addition, after step s25, The posture calculating based on detection magnetic vector that CPU8 terminates shown in Figure 15 handles (step S3).
In the step S4 shown in Figure 14, CPU8 performs the information processing of the posture based on input unit 2.Step will be passed through The posture that S3 is calculated performs the information processing as input.For example, CPU8 makes information processing corresponding with above-mentioned posture As a result resulting image is shown on the display apparatus.
In step s 5, CPU8 judges whether that ending message is handled.The judgement can be carried out by any mode, for example According to whether carrying out the judgement by user has carried out defined termination instruction.In the situation that step S5 judged result is negative Under, step S1 processing is performed again.On the other hand, in the case where step S5 judged result is affirmative, CPU8 terminates figure Information processing shown in 14.After, a series of step S1 ~ S5 processing are performed repeatedly, until being judged as terminating in step s 5 Untill information processing.More than, terminate the explanation of the information processing shown in Figure 14.
[5. other embodiment]
In the above-described embodiment, Magnetic Sensor is used as the value that detection changes according to the posture of input unit Sensor in case of illustrate.Here, in other embodiments, detection is sent out according to the posture of input unit The sensor of the value for changing can also be other sensors.Posture calculating processing in present embodiment has in a case where Effect：The detection vector that the sensor of the value changed from detection according to the posture of input unit is obtained is included independent of defeated Enter the component of the component of the posture of device and the posture dependent on input unit.That is, information processor 3 can also obtain above-mentioned Detect vector, the center of the orbicule for the curved surface that estimation is estimated with each final position based on detection vector, base The posture of input unit is calculated in the direction vector for representing direction from the central position to the final position of detection vector.
Industrial applicability
As above, for the purpose of posture with high accuracy to calculate input unit of the present invention etc., can as example in order to Game operation and utilized using the games system of input unit, games etc..

Claims (13)

1. a kind of information processing system, calculates the posture for the input unit for possessing Magnetic Sensor, the information processing system possesses：
Acquiring unit, it obtains the detection magnetic vector detected by above-mentioned Magnetic Sensor repeatedly；
Center estimation unit, it estimates the center of orbicule, and the orbicule has based on multiple above-mentioned detection magnetic vectors Each final position and the curved surface estimated；And
Posture computing unit, it is based on the direction arrow represented from above-mentioned center to the direction in the final position for detecting magnetic vector Measure to calculate the posture of above-mentioned input unit,
Wherein, when getting above-mentioned detection magnetic vector every time, above-mentioned center estimation unit is updated to center so that In each length untill the terminal of each detection magnetic vector used from the central position into the estimation in the center at least A part of length is respectively close to the average value of each length.
2. information processing system according to claim 1, it is characterised in that
Above-mentioned center estimation unit meets the situation of defined condition according to multiple above-mentioned detection magnetic vectors, to be based on multiple be somebody's turn to do Detect that magnetic vector estimates above-mentioned center.
3. information processing system according to claim 2, it is characterised in that
Above-mentioned center estimation unit is used as above-mentioned defined condition using following situation：With including multiple above-mentioned detection magnetic vectors The region that the mode in each final position determines is more than defined size.
4. information processing system according to claim 2, it is characterised in that
Above-mentioned center estimation unit is used as above-mentioned defined condition using following situation：Each direction of multiple above-mentioned detection magnetic vectors The scope formed is more than defined scope.
5. the information processing system according to any one of claim 2~4, it is characterised in that
Above-mentioned center estimation unit according to meet it is above-mentioned as defined in condition situation, initial center is set in base At the position of the concave side of the curved surface estimated in each final position of multiple above-mentioned detection magnetic vectors.
6. the information processing system according to any one of claim 2~4, it is characterised in that
Initial center is set in including each terminal of multiple above-mentioned detection magnetic vectors position by above-mentioned center estimation unit The inside in the region that the mode put determines.
7. the information processing system according to any one of claim 2~4, it is characterised in that
Initial center is set in by above-mentioned center estimation unit includes each final position of multiple above-mentioned detection magnetic vectors And size is the inside of minimum cuboid.
8. the information processing system according to any one of claim 2~4, it is characterised in that
Initial center is set in the weight in each final position of multiple above-mentioned detection magnetic vectors by above-mentioned center estimation unit At heart position.
9. the information processing system according to any one of claim 2~4, it is characterised in that
Above-mentioned posture computing unit is carried out based on above-mentioned direction vector at least to meet above-mentioned defined condition as condition The calculating of the posture of above-mentioned input unit.
10. the information processing system according to any one of Claims 1 to 4, it is characterised in that
Above-mentioned center before the update after variable quantity it is bigger, above-mentioned posture computing unit makes the detection magnetic vector newly got Influence relatively smaller calculate above-mentioned posture.
11. the information processing system according to any one of Claims 1 to 4, it is characterised in that
Untill the final position of each detection magnetic vector used from current center into the estimation in the center The deviation of each length is bigger, and above-mentioned posture computing unit makes the influence of the detection magnetic vector newly got relatively smaller come on calculating State posture.
12. a kind of information processor, calculates the posture for the input unit for possessing Magnetic Sensor, the information processor possesses：
Acquisition unit, it obtains the detection magnetic vector detected by above-mentioned Magnetic Sensor repeatedly；
Center estimator, it estimates the center of orbicule, and the orbicule has based on each of multiple above-mentioned detection magnetic vectors Final position and the curved surface estimated；And
Posture calculation portion, it is based on the direction vector represented from above-mentioned center to the direction in the final position for detecting magnetic vector To calculate the posture of above-mentioned input unit,
Wherein, when getting above-mentioned detection magnetic vector every time, above-mentioned center estimator is updated to center so that from At least one in each length untill the terminal for each detection magnetic vector that center is used into the estimation in the center Partial-length is respectively close to the average value of each length.
13. a kind of attitude calculation method, calculates the posture for the input unit for possessing Magnetic Sensor, the attitude calculation method includes following Step：
Obtaining step, obtains the detection magnetic vector detected by above-mentioned Magnetic Sensor repeatedly；
Center estimating step, estimates the center of orbicule, and the orbicule has based on each of multiple above-mentioned detection magnetic vectors Final position and the curved surface estimated；And
Posture calculation procedure, based on the direction vector represented from above-mentioned center to the direction in the final position for detecting magnetic vector To calculate the posture of above-mentioned input unit,
Wherein, in above-mentioned center estimating step, center is updated when getting above-mentioned detection magnetic vector every time, So that in each length untill the terminal of each detection magnetic vector used from the central position into the estimation in the center At least a portion length is respectively close to the average value of each length.
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