| 摘要 |
An inertial sensing input apparatus includes a motion sensing module, a state determination module, an attitude estimation module, a coordinate transformation module, a gravity elimination module, an integral operation module, a data storage module, a trajectory modification module and a trajectory removal module. When the inertial sensing input apparatus is in a moving time period, the coordinate transformation module transforms a relative acceleration measured by the motion sensing module to an absolute acceleration based on a rotational attitude estimated by the attitude estimation module. The integral operation module calculates a velocity and a displacement based on an absolute acceleration revised by the gravity elimination module and forwards them to the data storage module. When the Kth moving time period is detected by the state determination module, the trajectory modification module modifies a moving trajectory. The trajectory removal module removes an auxiliary trajectory to produce a primary trajectory.
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