| 摘要 |
A remote control including a sensing device incorporated into wristband and having sensors to provide signal inputs relating to the pitch, roil and yaw movements of a user's wrist. A continuous feedback loop with a drift detector receives the sensor signal inputs and a rotation matrix input and uses the sensor signal inputs to calculate a numerical error, A proportional-integral controller receives the calculated numerical error output from the drift detector and outputs a control output to a drift adjuster. A gyroscope provides an input to the drift adjuster to correct for instrument drift and to provide an output to conduct a kinematics and normalization calculation and output a rotation matrix. The feedback loop employs upper and Sower bounds for the rotational matrix to eliminate grossly anomalous feedback numerical errors in sensor device inputs due to sudden angle changes in pitch, roll, or yaw. |
