JP5438382B2 - Information processing program and information processing apparatus - Google Patents

Description

  The present invention relates to an information processing program and an information processing apparatus, and more specifically to an information processing apparatus that calculates the direction of gravity of an input device including an acceleration sensor and an information processing program executed by the information processing apparatus.

  2. Description of the Related Art Conventionally, an input device including an acceleration sensor that calculates the direction of gravity generated by the input device is known (see, for example, Patent Document 1). The input device disclosed in Patent Document 1 includes an acceleration sensor, and calculates the direction of gravity of the input device based on an acceleration signal output from the acceleration sensor. Specifically, the input device disclosed in Patent Document 1 calculates a combined vector in the acceleration indicated by the acceleration signal output from the acceleration sensor, and the magnitude of the combined vector is equal to the magnitude of the gravitational acceleration. If it is within the predetermined range, the input device is determined to be stationary. Then, the inclination angle of the input device is calculated assuming that the direction of the combined vector calculated in the state determined to be in the stationary state is the gravity direction of the input device.

JP-A-10-31553

  However, the input device disclosed in Patent Document 1 may make it difficult to recognize the gravitational direction or misrecognize the gravitational direction depending on the range for determining that the input device is stationary. . For example, in the gravitational direction calculation method described above, the gravitational direction is recognized when the magnitude of the composite vector is within a predetermined range with respect to the magnitude of gravitational acceleration. Setting a narrow range makes it difficult to recognize the direction of gravity. On the other hand, if the range is set to a relatively wide range, the direction of gravity may be recognized up to a direction that is not the direction of gravity, and the direction of gravity is erroneously recognized.

  Therefore, an object of the present invention is to provide an information processing program and an information processing apparatus capable of accurately calculating the direction of gravity of an input device including an acceleration sensor.

  In order to achieve the above object, the present invention employs the following configuration. Note that the reference numerals in parentheses, step numbers, and the like indicate correspondence with the embodiments described later in order to help understanding of the present invention, and do not limit the scope of the present invention.

  The present invention provides a computer (5) for an information processing device (5) that performs predetermined processing based on acceleration data (Db, Dm) output from an input device (6) that includes an acceleration sensor (701) that detects acceleration. This is an information processing program executed in 10). The information processing program includes data acquisition means (CPU 10 that executes steps 42 and 102; hereinafter, only the step number is described), change amount calculation means (S51, S121), and gravity direction calculation means (S43, S103, S104). ) To make the computer function. The data acquisition means repeatedly acquires acceleration data. The change amount calculating means calculates a change amount of acceleration generated in the input device using a history of acceleration (a, as) indicated by the acceleration data. The gravitational direction calculation means calculates the gravitational direction (g, gs) of the input device based on the acceleration change amount using the acceleration indicated by the acceleration data.

  Based on the above, it is possible to accurately calculate the direction of gravity of the input device including the acceleration sensor based on the amount of change in acceleration occurring in the input device (for example, the difference between before and after sampling acceleration).

  Further, the gravitational direction calculation means may calculate the gravitational direction in the current process by correcting the gravitational direction calculated in the previous process using the acceleration indicated by the acceleration data based on the change amount of the acceleration.

  According to the above, the gravity of the input device provided with the acceleration sensor is corrected by correcting the gravity direction calculated in the previous process using the acceleration indicated by the acceleration data based on the change amount of the acceleration generated in the input device. The direction can be calculated accurately.

  As an example, the gravitational direction calculation means may calculate the gravitational direction in the current process by correcting the gravitational direction calculated in the previous process to be larger as the amount of change in acceleration is smaller.

  According to the above, for example, when the input device is in a stationary state, the direction of gravity calculated in the previous process is largely corrected, so that the direction of gravity can be accurately calculated.

  As another example, the gravity direction calculation means calculates the gravity direction in the current process by increasing the degree (t, ts) of correcting the gravity direction calculated in the previous process as the amount of change in acceleration is smaller. Also good.

  According to the above, the smaller the amount of acceleration change that occurs in the input device, the greater the degree to which the gravity direction calculated in the previous process is corrected, and if the input device is in a stationary state, the previously set gravity direction is Since the degree used for calculation is low, the direction of gravity can be calculated accurately.

  As another example, the gravitational direction calculation means may correct only when the amount of change in acceleration is a predetermined value or less.

  According to the above, when the motion of the input device is intense, the acceleration caused by the motion becomes stronger in the acceleration occurring in the input device. By not using for calculating the direction, the direction of gravity can be calculated accurately.

  The gravity direction calculating means may include provisional credit calculating means (S51, S121) and credit setting means (S57, S58, S127, S128). The temporary credit calculation means calculates a temporary credit (d, ds) representing the degree to which the acceleration indicated by the acceleration data can be trusted as the gravitational acceleration based on the change in acceleration. The reliability setting means sets the reliability (t, ts) indicating the degree of correction of the direction of gravity calculated in the previous process based on the provisional reliability. In this case, the gravity direction calculation means calculates the gravity direction in the current process by correcting the gravity direction calculated in the previous process according to the reliability set by the reliability setting means.

  According to the above, it is possible to correct the gravity direction accurately using the temporary creditworthiness and the creditworthiness.

  Further, the provisional reliability calculation means may calculate the provisional reliability higher as the amount of change in acceleration is smaller. The credit level setting means may set the credit level higher as the temporary credit level is higher.

  According to the above, since the temporary reliability and the reliability become high when the change in acceleration generated in the input device is small, the direction of gravity can be corrected accurately.

  In addition, the credit setting means may set the credit in the current process to be less likely to be higher when it is higher than the credit set in the previous process, and to be easily lower when lower than the credit set in the previous process. .

  According to the above, since the increase in the creditworthiness is suppressed when the trustworthiness becomes higher than the previous time, it is possible to provide a waiting time until the gravitational acceleration generated in the input device is stably detected. In addition, when the creditworthiness is lower than the previous time, the creditworthiness immediately decreases, and therefore, the decrease in the creditworthiness can be immediately reflected in the calculation of the gravity direction.

  Further, the reliability setting means may include a height determination means (S56). The high / low determination means determines whether or not the temporary credit calculated by the temporary credit calculation means is higher than the credit (t0, ts0) set in the previous process. In this case, the creditworthiness setting means, when the high / low judgment means determines that the temporary creditworthiness calculated by the temporary creditworthiness calculation means is higher than the creditworthiness set in the previous process, the temporary creditworthiness calculated by the temporary creditworthiness calculation means and the previous creditworthiness A value between the reliability set in the process is set as the reliability in the current process.

  According to the above, since the increase in the creditworthiness is suppressed when the temporary creditworthiness becomes high, it is possible to provide a time for waiting until the gravitational acceleration generated in the input device is stably detected.

  In addition, the creditworthiness setting means, when the high / low judgment means determines that the temporary creditworthiness calculated by the temporary creditworthiness calculation means is the same or lower than the creditworthiness set in the previous process, the value of the temporary creditworthiness calculated by the temporary creditworthiness calculation means May be set as the reliability in the current process.

  According to the above, since the creditworthiness immediately decreases when the temporary creditworthiness becomes low, the decrease in the temporary creditworthiness can be immediately reflected in the calculation of the gravity direction.

  Further, the gravity direction calculating means may calculate the gravity direction in the current process by combining the gravity acceleration generated in the gravity direction calculated in the previous process and the acceleration indicated by the acceleration data at a ratio indicated by the reliability. .

  According to the above, the direction of gravity can be corrected naturally.

  Further, when the amount of change in acceleration is 0, the gravity direction calculation means may calculate the direction in which the acceleration indicated by the acceleration data is generated as it is as the gravity direction in the current process.

  According to the above, since the acceleration generated in the input device in a stationary state is estimated as the gravitational acceleration, the direction of gravity can be easily calculated.

  In the present invention, the computer may further function as acceleration vector calculation means. The acceleration vector calculation means calculates an acceleration vector based on the acceleration indicated by the acceleration data acquired by the data acquisition means. In this case, the change amount calculating means calculates the change amount of the magnitude of the acceleration vector using the history of the acceleration vector. The gravity direction calculation means calculates a gravity direction vector indicating the gravity direction of the input device based on the change amount of the magnitude of the acceleration vector, using the acceleration vector calculated by the acceleration vector calculation means.

  In addition, the gravity direction calculating unit combines the gravity direction vector calculated in the previous process and the acceleration vector calculated by the acceleration vector calculating unit at a predetermined ratio based on the change in the magnitude of the acceleration vector. The gravity direction vector in the above process may be calculated.

  According to the above, calculation processing is facilitated by handling acceleration with vector data.

  Further, the gravity direction calculating means may calculate the gravity direction vector in the current process by decreasing the ratio of combining the acceleration vectors calculated by the acceleration vector calculating means as the change amount of the acceleration vector is larger. .

  According to the above, when the input device is not in a stationary state, the degree of correction of the gravity direction vector calculated in the previous process becomes smaller as the movement of the input device becomes more intense. Since the degree to which the gravity direction vector that has been used for calculation is high, the gravity direction vector can be accurately calculated.

  Further, the gravity direction calculating means synthesizes the acceleration vector calculated by the acceleration vector calculating means at a ratio linearly corresponding to the amount of change in the magnitude of the acceleration vector, and calculates the gravity direction vector in this processing. Also good.

  According to the above, the current acceleration vector and the gravity direction vector calculated in the previous process can be naturally synthesized.

  In the present invention, a computer may further function as the processing means. The processing means performs a predetermined process using the acceleration indicated by the acceleration data acquired by the data acquisition means with reference to the gravity direction calculated by the gravity direction calculation means.

  According to the above, since the processing is based on the accurately calculated direction of gravity, processing based on the accurate posture and movement of the input device is possible.

  Further, the present invention may be implemented in the form of an information processing apparatus that includes the above-described units.

  According to the present invention, it is possible to accurately calculate the direction of gravity of the input device including the acceleration sensor based on the amount of change in acceleration generated in the input device (for example, the difference between before and after sampling of acceleration).

1 is an external view for explaining a game system 1 according to an embodiment of the present invention. Functional block diagram of the game apparatus body 5 of FIG. The perspective view seen from the upper surface back of the input device 6 of FIG. The perspective view which looked at the controller 7 of FIG. 3 from the lower surface front The perspective view which shows the state which removed the upper housing | casing of the controller 7 of FIG. The perspective view which shows the state which removed the lower housing | casing of the controller 7 of FIG. The block diagram which shows the structure of the input device 6 of FIG. The figure which shows an example of the game screen displayed on the monitor 2 when operating the input device 6 horizontally. The figure which shows an example of the game screen displayed on the monitor 2, when operating the input device 6 by moving it parallelly upwards The figure which shows an example of the game screen displayed on the monitor 2 when operating the input device 6 by tilting it to the left The figure which shows an example of main data and a program memorize | stored in the main memory of the game device main body 5 The flowchart which shows an example of the game process which concerns on 1st Embodiment performed in the game device main body 5 A subroutine showing an example of the gravitational acceleration update process in step 43 in FIG. A subroutine showing an example of the correction degree value calculation processing in step 44 in FIG. External view showing an example in which the player is operating the input device 6 used in the second embodiment The perspective view which shows an example of the subunit 76 of FIG. The perspective view which shows an example in the state which removed the upper housing | casing of the subunit 76 of FIG. The block diagram which shows an example of a structure of the input device 6 which concerns on 2nd Embodiment. The figure which shows an example of the game screen displayed on the monitor 2 when the input device 6 to which the subunit 76 is connected is tilted to the right and operated. The figure which shows an example of the game screen displayed on the monitor 2 when the input device 6 to which the subunit 76 is connected is translated and moved and operated. The figure which shows an example of main data and a program memorize | stored in the main memory of the game device main body 5 in 2nd Embodiment. The flowchart which shows an example of the game process performed in the game device main body 5 in 2nd Embodiment. The subroutine which shows an example of the sub gravity acceleration update process of step 104 in FIG.

(First embodiment)
An information processing apparatus that executes an information processing program according to the first embodiment of the present invention will be described with reference to FIG. Hereinafter, in order to make the description more specific, a game system including a stationary game apparatus main body 5 as an example of the information processing apparatus will be described. FIG. 1 is an external view of a game system 1 including a stationary game apparatus 3, and FIG. 2 is a block diagram of the game apparatus body 5. Hereinafter, the game system 1 will be described.

  In FIG. 1, a game system 1 includes a home television receiver (hereinafter referred to as a monitor) 2 as an example of display means, and a stationary game apparatus 3 connected to the monitor 2 via a connection cord. Composed. The monitor 2 includes a speaker 2a for outputting the audio signal output from the game apparatus 3 as audio. The game apparatus 3 includes an optical disc 4 on which a game program as an example of the information processing program of the present invention is recorded, and a computer for executing the game program on the optical disc 4 to display and output a game screen on the monitor 2. The game apparatus main body 5 and an input device 6 for providing the game apparatus main body 5 with operation information necessary for a game for operating a character or the like displayed on the game screen.

  In addition, the game apparatus body 5 incorporates a wireless controller module 19 (see FIG. 2). The wireless controller module 19 receives data wirelessly transmitted from the input device 6, transmits data from the game device body 5 to the input device 6, and connects the controller 7 and the game device body 5 by wireless communication. Further, an optical disk 4 as an example of an information storage medium that is used interchangeably with respect to the game apparatus body 5 is detached from the game apparatus body 5.

  Further, the game apparatus body 5 is equipped with a flash memory 17 (see FIG. 2) that functions as a backup memory for storing data such as save data in a fixed manner. The game apparatus main body 5 displays the result as a game image on the monitor 2 by executing a game program or the like stored on the optical disc 4. Further, the game program or the like is not limited to the optical disc 4 and may be executed in advance recorded in the flash memory 17. Furthermore, the game apparatus body 5 can reproduce the game state executed in the past by using the save data stored in the flash memory 17 and display the game image on the monitor 2. The player of the game apparatus 3 can enjoy the progress of the game by operating the input device 6 while viewing the game image displayed on the monitor 2.

  The input device 6 gives operation data indicating the content of the operation performed on the own device to the game apparatus body 5. In the present embodiment, the input device 6 includes a controller 7 and an angular velocity detection unit 9. Although details will be described later, the input device 6 has a configuration in which an angular velocity detection unit 9 is detachably connected to the controller 7.

  The controller 7 wirelessly transmits transmission data such as operation information to the game apparatus body 5 incorporating the wireless controller module 19 using, for example, Bluetooth (registered trademark) technology. The controller 7 is provided with a housing that is large enough to be held with one hand and a plurality of operation buttons (including a cross key and a stick) that are exposed on the surface of the housing. Further, as will be apparent from the description below, the controller 7 includes an imaging information calculation unit 74 that captures an image viewed from the controller 7. Then, as an example of the imaging target of the imaging information calculation unit 74, two LED modules (hereinafter referred to as markers) 8L and 8R are installed near the display screen of the monitor 2. These markers 8L and 8R each output, for example, infrared light toward the front of the monitor 2. In addition, the controller 7 can receive the transmission data wirelessly transmitted from the wireless controller module 19 of the game apparatus body 5 by the communication unit 75 and generate sound and vibration corresponding to the transmission data.

  Next, the internal configuration of the game apparatus body 5 will be described with reference to FIG. FIG. 2 is a block diagram showing a configuration of the game apparatus body 5. The game apparatus body 5 includes a CPU (Central Processing Unit) 10, a system LSI (Large Scale Integration) 11, an external main memory 12, a ROM / RTC (Read Only Memory / Real Time Clock) 13, a disk drive 14, and an AV-IC. (Audio Video-Integrated Circuit) 15 and the like.

  The CPU 10 executes a game process by executing a game program stored on the optical disc 4, and functions as a game processor. The CPU 10 is connected to the system LSI 11. In addition to the CPU 10, an external main memory 12, a ROM / RTC 13, a disk drive 14, and an AV-IC 15 are connected to the system LSI 11. The system LSI 11 performs processing such as control of data transfer between components connected thereto, generation of an image to be displayed, and acquisition of data from an external device. The internal configuration of the system LSI 11 will be described later. The volatile external main memory 12 stores a program such as a game program read from the optical disc 4 or a game program read from the flash memory 17, or stores various data. Used as a work area and buffer area. The ROM / RTC 13 includes a ROM (so-called boot ROM) in which a program for starting up the game apparatus body 5 is incorporated, and a clock circuit (RTC) that counts time. The disk drive 14 reads program data, texture data, and the like from the optical disk 4 and writes the read data to the internal main memory 35 or the external main memory 12 described later.

  Further, the system LSI 11 is provided with an input / output processor 31, a GPU (Graphics Processor Unit) 32, a DSP (Digital Signal Processor) 33, a VRAM (Video RAM) 34, and an internal main memory 35. Although not shown, these components 31 to 35 are connected to each other by an internal bus.

  The GPU 32 forms part of the drawing means and generates an image in accordance with a graphics command (drawing command) from the CPU 10. The VRAM 34 stores data (data such as polygon data and texture data) necessary for the GPU 32 to execute the graphics command. When an image is generated, the GPU 32 creates image data using data stored in the VRAM 34.

  The DSP 33 functions as an audio processor, and generates sound data using sound data and sound waveform (tone color) data stored in the internal main memory 35 and the external main memory 12.

  The image data and audio data generated as described above are read out by the AV-IC 15. The AV-IC 15 outputs the read image data to the monitor 2 via the AV connector 16 and outputs the read audio data to the speaker 2 a built in the monitor 2. As a result, an image is displayed on the monitor 2 and a sound is output from the speaker 2a.

  The input / output processor (I / O processor) 31 transmits / receives data to / from components connected thereto and downloads data from an external device. The input / output processor 31 is connected to the flash memory 17, the wireless communication module 18, the wireless controller module 19, the expansion connector 20, and the external memory card connector 21. An antenna 22 is connected to the wireless communication module 18, and an antenna 23 is connected to the wireless controller module 19.

  The input / output processor 31 is connected to a network via the wireless communication module 18 and the antenna 22 and can communicate with other game devices and various servers connected to the network. The input / output processor 31 periodically accesses the flash memory 17 to detect the presence / absence of data that needs to be transmitted to the network. To the network. The input / output processor 31 receives data transmitted from other game devices and data downloaded from the download server via the network, the antenna 22, and the wireless communication module 18, and receives the received data in the flash memory 17. To remember. By executing the game program, the CPU 10 reads out the data stored in the flash memory 17 and uses it in the game program. The flash memory 17 stores, in addition to data transmitted and received between the game apparatus body 5 and other game apparatuses and various servers, game save data (game result data or halfway) played using the game apparatus body 5. Data) may be stored.

  The input / output processor 31 receives operation data and the like transmitted from the controller 7 via the antenna 23 and the wireless controller module 19 and stores them in the buffer area of the internal main memory 35 or the external main memory 12 (temporary storage). To do. As in the case of the external main memory 12, the internal main memory 35 stores a program such as a game program read from the optical disc 4, a game program read from the flash memory 17, or various data. It may be used as a work area or buffer area of the CPU 10.

  Furthermore, the expansion connector 20 and the external memory card connector 21 are connected to the input / output processor 31. The expansion connector 20 is a connector for an interface such as USB or SCSI, and connects a medium such as an external storage medium, a peripheral device such as another controller, or a wired communication connector. By connecting, communication with the network can be performed instead of the wireless communication module 18. The external memory card connector 21 is a connector for connecting an external storage medium such as a memory card. For example, the input / output processor 31 can access an external storage medium via the expansion connector 20 or the external memory card connector 21 to store or read data.

  In addition, on the game apparatus main body 5 (for example, the front main surface), the power button 24 of the game apparatus main body 5, the game process reset button 25, the slot for attaching / detaching the optical disk 4, and the slot for the game apparatus body 5 Eject button 26 etc. which take out optical disk 4 from are provided. The power button 24 and the reset button 25 are connected to the system LSI 11. When the power button 24 is turned on, power is supplied to each component of the game apparatus body 5 via an AC adapter (not shown). When the reset button 25 is pressed, the system LSI 11 restarts the startup program of the game apparatus body 5. The eject button 26 is connected to the disk drive 14. When the eject button 26 is pressed, the optical disk 4 is ejected from the disk drive 14.

  The input device 6 will be described with reference to FIGS. 3 and 4. FIG. 3 is a perspective view showing an example of the input device 6 as viewed from the upper rear side. FIG. 4 is a perspective view showing an example of the controller 7 as seen from the lower front side.

  3 and 4, the controller 7 includes a housing 71 formed by plastic molding, for example, and the housing 71 is provided with a plurality of operation units 72. The housing 71 has a substantially rectangular parallelepiped shape whose longitudinal direction is the front-rear direction, and is a size that can be gripped with one hand of an adult or a child as a whole.

  A cross key 72 a is provided on the center front side of the upper surface of the housing 71. The cross key 72a is a cross-shaped four-way push switch, and operation portions corresponding to the four directions (front / rear and left / right) are arranged at 90 ° intervals on the protrusions of the cross. The player selects one of the front, rear, left and right directions by pressing one of the operation portions of the cross key 72a. For example, when the player operates the cross key 72a, it is possible to instruct the moving direction of a player character or the like appearing in the virtual game world, or to select and instruct from a plurality of options.

  Note that the cross key 72a is an operation unit that outputs an operation signal in response to the above-described direction input operation of the player, but may be an operation unit of another mode. For example, four push switches may be provided in the cross direction, and an operation unit that outputs an operation signal according to the push switch pressed by the player may be provided. Further, apart from the four push switches, a center switch may be provided at a position where the cross direction intersects, and an operation unit in which the four push switches and the center switch are combined may be provided. An operation unit that outputs an operation signal in accordance with the tilt direction by tilting a tiltable stick (so-called joystick) protruding from the upper surface of the housing 71 may be provided instead of the cross key 72a. Furthermore, an operation unit that outputs an operation signal corresponding to the sliding direction by sliding a horizontally movable disk-shaped member may be provided instead of the cross key 72a. A touch pad may be provided instead of the cross key 72a.

  A plurality of operation buttons 72 b to 72 g are provided on the rear surface side of the cross key 72 a on the upper surface of the housing 71. The operation buttons 72b to 72g are operation units that output operation signals assigned to the operation buttons 72b to 72g when the player presses the button head. For example, functions as a first button, a second button, and an A button are assigned to the operation buttons 72b to 72d. Further, functions as a minus button, a home button, a plus button, and the like are assigned to the operation buttons 72e to 72g. These operation buttons 72a to 72g are assigned respective operation functions in accordance with a game program executed by the game apparatus body 5. In the arrangement example shown in FIG. 3, the operation buttons 72 b to 72 d are arranged side by side along the center front-rear direction on the upper surface of the housing 71. Further, the operation buttons 72e to 72g are arranged in parallel between the operation buttons 72b and 72d along the left-right direction of the upper surface of the housing 71. The operation button 72f is a type of button whose upper surface is buried in the upper surface of the housing 71 and is not accidentally pressed by the player.

  An operation button 72h is provided on the front surface side of the cross key 72a on the upper surface of the housing 71. The operation button 72h is a power switch for turning on / off the game apparatus body 5 from a remote location. This operation button 72h is also a type of button whose upper surface is buried in the upper surface of the housing 71 and that the player does not accidentally press.

  A plurality of LEDs 702 are provided on the rear surface side of the operation button 72 c on the upper surface of the housing 71. Here, the controller 7 is provided with a controller type (number) to distinguish it from other controllers 7. For example, the LED 702 is used to notify the player of the controller type currently set in the controller 7. Specifically, a signal for turning on the LED corresponding to the controller type among the plurality of LEDs 702 is transmitted from the wireless controller module 19 to the controller 7.

  Further, on the upper surface of the housing 71, a sound release hole is formed between the operation button 72b and the operation buttons 72e to 72g to emit sound from a speaker (speaker 706 shown in FIG. 5) described later to the outside.

  On the other hand, a recess is formed on the lower surface of the housing 71. The recess on the lower surface of the housing 71 is formed at a position where the player's index finger or middle finger is positioned when the player holds the front surface of the controller 7 with one hand toward the markers 8L and 8R. An operation button 72i is provided on the inclined surface of the recess. The operation button 72i is an operation unit that functions as a B button, for example.

  An imaging element 743 that constitutes a part of the imaging information calculation unit 74 is provided on the front surface of the housing 71. Here, the imaging information calculation unit 74 is a system for analyzing the image data captured by the controller 7 to determine a location where the luminance is high and detecting the position of the center of gravity, the size, and the like of the location. Since the maximum sampling period is about 200 frames / second, even a relatively fast movement of the controller 7 can be tracked and analyzed. The detailed configuration of the imaging information calculation unit 74 will be described later. A connector 73 is provided on the rear surface of the housing 71. The connector 73 is an edge connector, for example, and is used for fitting and connecting with a connection cable, for example. In the example of the input device 6 shown in FIGS. 1 and 3, the angular velocity detection unit 9 is detachably mounted on the rear surface of the controller 7 via a connector 73.

  Here, in order to make the following description concrete, a coordinate system set for the input device 6 (controller 7) is defined. As shown in FIGS. 3 and 4, XYZ axes orthogonal to each other are defined for the input device 6 (controller 7). Specifically, the longitudinal direction of the housing 71, which is the front-rear direction of the controller 7, is the Z axis, and the front surface (the surface on which the imaging information calculation unit 74 is provided) of the controller 7 is the Z axis positive direction. The vertical direction of the controller 7 is the Y axis, and the upper surface (the surface on which the operation buttons 72a are provided) of the housing 71 is the Y axis positive direction. Furthermore, the left-right direction of the controller 7 is the X axis, and the right side surface (side surface shown in FIG. 3) direction of the housing 71 is the X axis positive direction.

  The angular velocity detection unit 9 includes gyro sensors (two-axis gyro sensor 95 and one-axis gyro sensor 96 shown in FIG. 7) that detect angular velocities around three axes. A plug (plug 93 shown in FIG. 7) that can be connected to the connector 73 is provided at the front end of the angular velocity detection unit 9 (end on the Z-axis positive direction side shown in FIG. 3). Further, hooks (not shown) are provided on both sides of the plug 93. In a state where the angular velocity detection unit 9 is attached to the controller 7, the plug 93 is connected to the connector 73 and the hook is locked in the locking hole 73 a of the controller 7. As a result, the controller 7 and the angular velocity detection unit 9 are firmly fixed. Further, the angular velocity detection unit 9 has a button 91 on a side surface (surface in the X-axis direction shown in FIG. 3). The button 91 is configured to release the locked state of the hook with respect to the locking hole 73a when pressed. Therefore, the angular velocity detection unit 9 can be detached from the controller 7 by removing the plug 93 from the connector 73 while pressing the button 91.

  A connector 97 (see FIG. 18) having the same shape as the connector 73 is provided at the rear end of the angular velocity detection unit 9. Therefore, other devices (for example, a subunit 76 described later) that can be attached to the controller 7 (connector 73 thereof) can also be attached to the rear end connector 97 of the angular velocity detection unit 9. In FIG. 3, a cover 92 is detachably attached to the rear end connector 97.

  Next, the internal structure of the controller 7 will be described with reference to FIGS. FIG. 5 is a perspective view of a state in which the upper casing (a part of the housing 71) of the controller 7 is removed as viewed from the rear side. FIG. 6 is a perspective view of a state in which the lower casing (a part of the housing 71) of the controller 7 is removed as seen from the front side. Here, the substrate 700 shown in FIG. 6 is a perspective view seen from the back surface of the substrate 700 shown in FIG.

  In FIG. 5, a substrate 700 is fixed inside the housing 71, and operation buttons 72a to 72h, an acceleration sensor 701, an LED 702, an antenna 754, and the like are provided on the upper main surface of the substrate 700. These are connected to the microcomputer 751 and the like (see FIGS. 6 and 7) by wiring (not shown) formed on the substrate 700 and the like. In addition, the controller 7 functions as a wireless controller by the wireless module 753 (see FIG. 7) and the antenna 754. A quartz oscillator (not shown) is provided inside the housing 71, and generates a basic clock for the microcomputer 751, which will be described later. A speaker 706 and an amplifier 708 are provided on the upper main surface of the substrate 700. Further, the acceleration sensor 701 is provided on the substrate 700 on the left side of the operation button 72d (that is, on the peripheral portion, not the central portion). Therefore, the acceleration sensor 701 can detect the acceleration including the component due to the centrifugal force in addition to the change in the direction of the gravitational acceleration in accordance with the rotation around the longitudinal direction of the controller 7. The game apparatus body 5 and the like can determine the movement of the controller 7 from the detected acceleration data with good sensitivity.

  On the other hand, in FIG. 6, an imaging information calculation unit 74 is provided at the front edge on the lower main surface of the substrate 700. The imaging information calculation unit 74 includes an infrared filter 741, a lens 742, an imaging element 743, and an image processing circuit 744 in order from the front of the controller 7, and each is attached to the lower main surface of the substrate 700. A connector 73 is attached to the rear edge on the lower main surface of the substrate 700. Further, a sound IC 707 and a microcomputer 751 are provided on the lower main surface of the substrate 700. The sound IC 707 is connected to the microcomputer 751 and the amplifier 708 through wiring formed on the substrate 700 or the like, and outputs an audio signal to the speaker 706 via the amplifier 708 according to the sound data transmitted from the game apparatus body 5.

  A vibrator 704 is attached on the lower main surface of the substrate 700. The vibrator 704 is, for example, a vibration motor or a solenoid. Vibrator 704 is connected to microcomputer 751 by wiring formed on substrate 700 and the like, and turns on / off its operation in accordance with vibration data transmitted from game apparatus body 5. Since the vibration is generated in the controller 7 by the operation of the vibrator 704, the vibration is transmitted to the hand of the player holding it, and a so-called vibration-compatible game can be realized. Here, since the vibrator 704 is disposed slightly forward of the housing 71, the housing 71 vibrates greatly when the player is gripping it, and it is easy to feel the vibration.

  Next, the internal configuration of the input device 6 (the controller 7 and the angular velocity detection unit 9) will be described with reference to FIG. FIG. 7 is a block diagram illustrating an example of the configuration of the input device 6.

  In FIG. 7, the controller 7 includes a communication unit 75 in addition to the above-described operation unit 72, imaging information calculation unit 74, acceleration sensor 701, vibrator 704, speaker 706, sound IC 707, and amplifier 708. .

  The imaging information calculation unit 74 includes an infrared filter 741, a lens 742, an imaging element 743, and an image processing circuit 744. The infrared filter 741 allows only infrared rays to pass from light incident from the front of the controller 7. The lens 742 condenses the infrared light that has passed through the infrared filter 741 and outputs the condensed infrared light to the image sensor 743. The imaging element 743 is a solid-state imaging element such as a CMOS sensor or a CCD, for example, and images the infrared rays collected by the lens 742. Therefore, the image sensor 743 captures only the infrared light that has passed through the infrared filter 741 and generates image data. Image data generated by the image sensor 743 is processed by an image processing circuit 744. Specifically, the image processing circuit 744 processes the image data obtained from the image sensor 743 to detect high-luminance portions, and transmits processing result data indicating the result of detecting their position coordinates and area to the communication unit 75. Output to. The imaging information calculation unit 74 is fixed to the housing 71 of the controller 7, and the imaging direction can be changed by changing the direction of the housing 71 itself.

  The controller 7 preferably includes a triaxial (X, Y, Z axis) acceleration sensor 701. The three-axis acceleration sensor 701 is linearly accelerated in three directions, that is, a vertical direction (Y axis shown in FIG. 3), a horizontal direction (X axis shown in FIG. 3), and a front-back direction (Z axis shown in FIG. 3). Is detected. Moreover, you may use the acceleration detection means which each detects the linear acceleration along at least 1 axial direction. For example, these acceleration sensors 701 may be of the type available from Analog Devices, Inc. or ST Microelectronics NV. The acceleration sensor 701 is preferably a capacitance type (capacitive coupling type) based on a micro-electromechanical system (MEMS) micromachined silicon technique. However, the acceleration sensor 701 may be provided by using existing acceleration detection technology (for example, a piezoelectric method or a piezoresistive method) or other appropriate technology developed in the future.

  The acceleration detecting means used in the acceleration sensor 701 can detect only the acceleration (linear acceleration) along a straight line corresponding to each axis of the acceleration sensor 701. That is, the direct output from the acceleration sensor 701 is a signal indicating linear acceleration (static or dynamic) along each of these three axes. For this reason, the acceleration sensor 701 cannot directly detect physical characteristics such as movement, rotation, rotational movement, angular displacement, inclination, position, or posture along a non-linear (for example, arc) path.

  However, based on the acceleration signal output from the acceleration sensor 701, a computer such as a processor of the game device (for example, the CPU 10) or a processor of the controller (for example, the microcomputer 751) performs processing to estimate further information regarding the controller 7. Those skilled in the art can easily understand from the description of the present specification that they can be calculated (determined).

  For example, when processing is performed on the computer side on the assumption that the controller 7 on which the acceleration sensor 701 is mounted is in a static state (that is, when processing is performed assuming that the acceleration detected by the acceleration sensor 701 is only gravitational acceleration), If the controller 7 is in a static state, it is possible to know whether or how much the attitude of the controller 7 is inclined with respect to the direction of gravity based on the detected acceleration. Specifically, when the state in which the detection axis of the acceleration sensor 701 is oriented vertically downward is used as a reference, the controller 7 is only vertically lowered depending on whether 1 G (gravitational acceleration) is acting in the detection axis direction. It is possible to know whether or not it is inclined with respect to the direction. Further, it is possible to know how much the controller 7 is inclined with respect to the vertically downward direction by the magnitude of the acceleration acting in the detection axis direction. Further, in the case of the acceleration sensor 701 capable of detecting the acceleration in the multi-axis direction, by further processing the acceleration signal detected for each axis, how much the controller 7 is in the gravitational direction. You can know in more detail whether it is tilted. In this case, the processor may perform processing for calculating the tilt angle data of the controller 7 based on the output from the acceleration sensor 701, but without performing the processing for calculating the tilt angle data, the acceleration sensor Based on the output from 701, it is good also as a process which estimates the inclination degree of the approximate controller 7. FIG. Thus, by using the acceleration sensor 701 in combination with the processor, the inclination, posture, or position of the controller 7 can be determined.

  On the other hand, when it is assumed that the acceleration sensor 701 is in a dynamic state, the acceleration sensor 701 detects acceleration according to the motion of the acceleration sensor 701 in addition to the gravitational acceleration component. If it is removed by a predetermined process, the movement direction of the controller 7 can be known. Specifically, when the controller 7 provided with the acceleration sensor 701 is dynamically accelerated and moved by a player's hand, various movements of the controller 7 and the controller 7 are processed by processing the acceleration signal generated by the acceleration sensor 701. / Or the position can be calculated. Even if it is assumed that the acceleration sensor 701 is in a dynamic state, the inclination of the controller 7 with respect to the direction of gravity can be known if the acceleration corresponding to the movement of the acceleration sensor 701 is removed by a predetermined process. It is possible.

  In another embodiment, the acceleration sensor 701 is a built-in signal processing device or the like for performing desired processing on the acceleration signal output from the built-in acceleration detection means before outputting the signal to the microcomputer 751. This type of processing device may be provided. For example, when the acceleration sensor 701 is for detecting a static acceleration (for example, gravitational acceleration), the built-in type or dedicated processing device uses the detected acceleration signal as an inclination angle (or other value). To a preferable parameter). Data indicating the acceleration detected by the acceleration sensor 701 is output to the communication unit 75.

  The communication unit 75 includes a microcomputer (microcomputer) 751, a memory 752, a wireless module 753, and an antenna 754. The microcomputer 751 controls the wireless module 753 that wirelessly transmits transmission data while using the memory 752 as a storage area during processing. The microcomputer 751 controls the operation of the sound IC 707 and the vibrator 704 in accordance with data from the game apparatus body 5 received by the wireless module 753 via the antenna 754. The sound IC 707 processes sound data transmitted from the game apparatus body 5 via the communication unit 75. Further, the microcomputer 751 activates the vibrator 704 in accordance with vibration data (for example, a signal for turning the vibrator 704 on or off) transmitted from the game apparatus body 5 via the communication unit 75. The microcomputer 751 is connected to the connector 73. Data transmitted from the angular velocity detection unit 9 is input to the microcomputer 751 via the connector 73. Hereinafter, the configuration of the angular velocity detection unit 9 will be described.

  The angular velocity detection unit 9 includes a plug 93, a microcomputer 94, a two-axis gyro sensor 95, and a one-axis gyro sensor 96. As described above, the angular velocity detection unit 9 detects angular velocities around three axes (XYZ axes in the present embodiment), and outputs data (angular velocity data) indicating the detected angular velocities to the controller 7.

  The biaxial gyro sensor 95 detects an angular velocity around the X axis and an angular velocity (per unit time) around the Y axis. Further, the uniaxial gyro sensor 96 detects an angular velocity (per unit time) around the Z axis. In this specification, as shown in FIG. 3, the rotation direction around the longitudinal direction of the housing 71 (around the Z axis), which is the front-rear direction of the controller 7, is the roll direction, and the up-down direction around the controller 7 (around the Y axis). The rotation direction is called the yaw direction, and the rotation direction around the left and right direction (around the X axis) of the controller 7 is called the pitch direction. That is, the biaxial gyro sensor 95 detects angular velocities in the pitch direction (rotation direction around the X axis) and the yaw direction (rotation direction around the Y axis), and the single axis gyro sensor 96 detects the roll direction (around the Z axis). Detect the angular velocity in the rotation direction.

  In this embodiment, the two-axis gyro sensor 95 and the one-axis gyro sensor 96 are used to detect the angular velocity around the three axes. However, in other embodiments, the angular velocity around the three axes is Any number and combination of gyro sensors may be used as long as they can be detected. The 2-axis gyro sensor 95 and the 1-axis gyro sensor 96 are examples of means for detecting an angular velocity in the present invention, and various types of angular velocity sensors can be used. For example, an angular velocity sensor such as a vibration type, a mechanical type, a fluid type, or an optical type can be used. Specifically, as a means for detecting the angular velocity, a vibrating gyroscope using Coriolis force acting on a vibrating object, an optical gyroscope using the Sagnac effect, or the like can be used. Note that when the two-axis gyro sensor 95 and the one-axis gyro sensor 96 are collectively described, they are referred to as gyro sensors 95 and 96.

  Data indicating the angular velocity detected by each gyro sensor 95 and 96 is output to the microcomputer 94. Accordingly, the microcomputer 94 receives data indicating angular velocities around the three axes of the XYZ axes. The microcomputer 94 outputs data indicating the angular velocity around the three axes to the controller 7 through the plug 93 as angular velocity data. Note that the output from the microcomputer 94 to the controller 7 is sequentially performed at predetermined intervals, but the game processing is generally performed in units of 1/60 seconds (as one frame time). It is preferable to output at a period of less than time. As an example, the operation in which each gyro sensor 95 and 96 detects the angular velocity and outputs it to the controller 7 is performed every 1/200 second.

  Returning to the description of the controller 7, an operation signal (key data) from the operation unit 72 provided in the controller 7, an acceleration signal (X, Y, and Z-axis direction acceleration data) from the acceleration sensor 701, and imaging The processing result data from the information calculation unit 74 and the data (angular velocity data around the X, Y, and Z axes) indicating the angular velocity around the three axes from the angular velocity detection unit 9 are output to the microcomputer 751. The microcomputer 751 temporarily transmits the input data (key data, X, Y, and Z axis direction acceleration data, processing result data, X, Y, and Z axis angular velocity data) as transmission data to be transmitted to the wireless controller module 19. The data is stored in the memory 752. Here, the wireless transmission from the communication unit 75 to the wireless controller module 19 is performed at predetermined intervals, but since the game processing is generally performed in units of 1/60 seconds, it is more than that. It is necessary to perform transmission in a short cycle. Specifically, the processing unit of the game is 16.7 ms (1/60 seconds), and the transmission interval of the communication unit 75 configured by Bluetooth (registered trademark) is 5 ms. When the transmission timing to the wireless controller module 19 comes, the microcomputer 751 outputs the transmission data stored in the memory 752 as a series of operation information and outputs it to the wireless module 753. The wireless module 753 radiates a radio signal indicating operation information from the antenna 754 using a carrier wave having a predetermined frequency, for example, using Bluetooth (registered trademark) technology. That is, key data from the operation unit 72 provided in the controller 7, X, Y and Z-axis direction acceleration data from the acceleration sensor 701, processing result data from the imaging information calculation unit 74, X from the angular velocity detection unit 9 , Y, and Z-axis angular velocity data are transmitted from the controller 7. Then, the radio controller module 19 of the game apparatus body 5 receives the radio signal, and the game apparatus body 5 demodulates and decodes the radio signal, so that a series of operation information (key data, X, Y, and Z axes) Direction acceleration data, processing result data, X, Y, and Z axis angular velocity data). Then, the CPU 10 of the game apparatus body 5 performs game processing based on the acquired operation information and the game program. When the communication unit 75 is configured using Bluetooth (registered trademark) technology, the communication unit 75 can also have a function of receiving transmission data wirelessly transmitted from other devices.

  By using the input device 6, the player performs an operation of tilting the controller 7 itself at an arbitrary inclination angle or moving it in an arbitrary direction in addition to the conventional general game operation of pressing each operation button. be able to. In addition, according to the input device 6, the player can also perform an operation of instructing an arbitrary position on the screen by pointing to the input device 6.

  Next, before describing specific processes performed by the game apparatus body 5, an outline of processes performed by the game apparatus body 5 will be described with reference to FIGS. FIG. 8 is a diagram showing an example of a game screen displayed on the monitor 2 when the input device 6 is operated while being kept horizontal. FIG. 9 is a diagram illustrating an example of a game screen displayed on the monitor 2 when the input device 6 is operated by being translated and moved upward. FIG. 10 is a diagram illustrating an example of a game screen displayed on the monitor 2 when the input device 6 is operated while being tilted to the left.

  8 to 10, the monitor 2 displays a player character PC that wakes up in the virtual game space. Here, the wakeboard is a competition in which the player slides on the surface of the water by being pulled by the boat in a state where both feet of the competitor are fixed on the board. In the wakeboard in the virtual game space shown in FIGS. 8 to 10, the player operating the input device 6 turns or jumps the player character PC by tilting or moving the input device 6 itself. can do.

  Specifically, as shown in FIG. 8, when the player operates the input device 6 while keeping it horizontal, the player character PC moves so as to slide straight toward the boat drawn in the virtual game space. . Also, as shown in FIG. 9, when the player operates the input device 6 by moving it in parallel upward, the player character PC operates to jump upward from the water surface in the virtual game space. Also, as shown in FIG. 10, when the player operates the input device 6 while tilting it to the left, the player character PC operates to turn left on the water surface and slide in the virtual game space.

  Next, the details of the game process performed in the game system 1 will be described. First, main data used in the game process will be described with reference to FIG. 11 shows main data and programs stored in the external main memory 12 and / or the internal main memory 35 of the game apparatus body 5 (hereinafter, the two main memories are collectively referred to as main memory). It is a figure which shows an example.

  As shown in FIG. 11, the data storage area of the main memory includes angular velocity data Da, acceleration data Db, previous acceleration data Dc, temporary credit data Dd, credit data De, previous credit data Df, gravitational acceleration data Dg, Previous gravitational acceleration data Dh, correction degree value data Di, previous correction degree value data Dj, parallel movement acceleration data Dk, image data Dl, and the like are stored. In addition to the data shown in FIG. 11, the main memory stores data necessary for game processing, such as image data of various objects appearing in the game and data indicating various parameters of the objects. Various program groups Pa constituting the game program are stored in the program storage area of the main memory. Various program groups Pa are partially or entirely read from the optical disc 4 and other recording media and stored in the main memory at an appropriate timing after the game apparatus body 5 is powered on.

  The angular velocity data Da is data indicating the angular velocity detected by the gyro sensors 95 and 96 of the angular velocity detection unit 9 and is stored corresponding to each input device 6 used. For example, the angular velocity data Da is data indicating an angular velocity generated in the input device 6 (gyro sensors 95 and 96), and stores angular velocity data included in a series of operation information transmitted as transmission data from the input device 6. The The angular velocity data Da includes the X-axis angular velocity data Da1 indicating the angular velocity ωx around the X axis detected by the gyro sensors 95 and 96, the Y-axis angular velocity data Da2 indicating the angular velocity ωy around the Y axis, and the angular velocity ωz around the Z axis. Z-axis angular velocity data Da3 indicating The wireless controller module 19 provided in the game apparatus body 5 receives angular velocity data included in the operation information transmitted from the controller 7 at a predetermined cycle (for example, every 1/200 second), and is provided in the wireless controller module 19. Not stored in the buffer. After that, for example, the angular velocity data stored in the buffer is read out for each frame (for example, every 1/60 seconds) that is the game processing cycle, and the data stored during the period is read out, and the angular velocity data in the main memory is read. Da is updated.

  The acceleration data Db is data indicating the acceleration generated in the controller 7 and stores acceleration data included in a series of operation information transmitted as transmission data from the controller 7. The acceleration data Db includes X-axis direction acceleration data Db1 indicating the acceleration ax detected by the acceleration sensor 701 with respect to the X-axis component, Y-axis direction acceleration data Db2 indicating the acceleration ay detected with respect to the Y-axis component, and Z-axis direction acceleration data Db3 indicating the acceleration az detected with respect to the Z-axis component is included. Similarly to the angular velocity data Da, the wireless controller module 19 provided in the game apparatus body 5 receives acceleration data included in the operation information transmitted from the controller 7 at a predetermined cycle (for example, every 1/200 second). Are stored in a buffer (not shown) provided in the wireless controller module 19. Thereafter, the acceleration data stored in the buffer is read every frame (for example, every 1/60 seconds) which is a game processing cycle, and the acceleration data Db of the main memory is updated.

  As described above, since the operation information reception period and the processing period are different, the operation information received at a plurality of points in time is described in the buffer. In the description of the processing to be described later, a mode is used in which, in each step to be described later, only the latest operation information among the operation information received at a plurality of points in time is always used for processing and the processing proceeds to the next step.

  Further, in the processing flow described later, the angular velocity data Da and the acceleration data Db will be described using an example in which each frame is updated for each game processing cycle. However, the angular velocity data Da and the acceleration data Db may be updated in other processing cycles. For example, the angular velocity data Da and the acceleration data Db may be updated every transmission cycle from the controller 7, and the updated angular velocity data Da and acceleration data Db may be used for each game processing cycle. In this case, the cycle for updating the angular velocity data Da1 to Da3 stored in the angular velocity data Da and the acceleration data Db1 to Db3 stored in the acceleration data Db are different from the game processing cycle.

  The previous acceleration data Dc stores acceleration data used in the previous process. Specifically, the previous acceleration data Dc includes X-axis direction acceleration data Dc1 indicating the acceleration a0x of the X-axis component used in the previous processing, and Y indicating the acceleration a0y of the Y-axis component used in the previous processing. Axial acceleration data Dc2 and Z-axis acceleration data Dc3 indicating the acceleration a0z of the Z-axis component used in the previous process are included.

  The temporary reliability data Dd temporarily indicates the reliability indicating whether or not the acceleration acting on the controller 7 can be trusted as the gravitational acceleration when estimating the gravitational acceleration acting on the controller 7 (temporarily. Credibility d) data is stored. Note that the temporary credit rating (temporary credit rating d) indicated by the data stored in the temporary credit rating data Dd corresponds to an example of the temporary credit rating in the present invention. The reliability data De stores data indicating the final reliability (credit t) indicating whether or not the acceleration acting on the controller 7 can be trusted as the gravitational acceleration. Note that the final credit rating (credit rating t) indicated by the data stored in the credit rating data De corresponds to an example of the credit rating in the present invention. The previous credit rating data Df stores data indicating the final credit rating (credit rating t0) used in the previous process.

  The gravitational acceleration data Dg stores data indicating gravitational acceleration estimated to be acting on the controller 7. Specifically, the gravitational acceleration data Dg stores data indicating a gravitational acceleration vector g indicating the magnitude and direction of the gravitational acceleration estimated to be acting on the controller 7. The previous gravitational acceleration data Dh stores data indicating the gravitational acceleration vector (gravitational acceleration vector g0) estimated to have acted on the controller 7 in the previous processing.

  In the correction degree value data Di, data indicating a correction degree value f indicating the degree of correction of the acceleration obtained from the controller 7 is stored. Specifically, the correction degree value data Di includes an X-axis direction correction degree value data Di1 indicating the correction degree value fx for the X-axis component, and a Y-axis direction correction degree value data Di2 indicating the correction degree value fy for the Y-axis component. , And Z-axis direction correction degree value data Di3 indicating the correction degree value fz for the Z-axis component. The previous correction degree value data Dj stores data indicating the correction degree value (correction degree value f0) calculated in the previous process. Specifically, the previous correction degree value data Dj includes X-axis direction correction degree value data Dj1 indicating the correction degree value f0x for the X-axis component used in the previous process, and the Y-axis component used in the previous process. Y-axis direction correction degree value data Dj2 indicating a correction degree value f0y with respect to, and Z-axis direction correction degree value data Dj3 indicating a correction degree value f0z for the Z-axis component used in the previous processing are included.

  The parallel movement acceleration data Dk stores data indicating the parallel movement acceleration representing the acceleration obtained by the parallel movement of the controller 7 among the accelerations obtained from the controller 7. Specifically, the translation acceleration data Dk stores data indicating a translation acceleration vector p representing the acceleration obtained by the translation of the controller 7.

  The image data Dl stores data for generating an image by arranging the player character PC (see FIGS. 8 to 10), other objects, and the background in the virtual game space.

  Next, with reference to FIG. 12 to FIG. 14, details of the game processing performed in the game apparatus body 5 will be described. FIG. 12 is a flowchart showing an example of the game process executed in the game apparatus body 5. FIG. 13 is a subroutine showing an example of the gravitational acceleration update process of step 43 in FIG. FIG. 14 is a subroutine showing an example of the correction degree value calculation processing in step 44 in FIG. Here, in the flowcharts shown in FIG. 12 to FIG. 14, the operation in which the acceleration obtained from the controller 7 is corrected according to the angular velocity data and the operation in which the gravitational acceleration is estimated in the game processing will be mainly described. Detailed description of other game processes not directly related to the invention will be omitted. 12 to 14, each step executed by the CPU 10 is abbreviated as “S”.

  When the power of the game apparatus body 5 is turned on, the CPU 10 of the game apparatus body 5 executes a startup program stored in the ROM / RTC 13, thereby initializing each unit such as the main memory. Then, the game program stored in the optical disc 4 is read into the main memory, and the CPU 10 starts executing the game program. The flowchart shown in FIGS. 12 to 14 is a flowchart showing a game process performed after the above process is completed.

  In FIG. 12, the CPU 10 performs an initial process of the game process (step 40), and proceeds to the next step. For example, in the initial processing in step 40, the CPU 10 performs initial setting of each parameter for performing subsequent game processing. Specifically, the CPU 10 determines the angular velocity data Da, acceleration data Db, previous acceleration data Dc, temporary reliability data Dd, reliability data De, previous reliability data Df, gravity acceleration data Dg, previous gravity acceleration data Dh, and correction degree. The values indicated by the data stored in the value data Di, the previous correction degree value data Dj, and the parallel movement acceleration data Dk are respectively set to initial values (for example, 0).

  Next, the CPU 10 acquires data indicating the angular velocity from the input device 6 (step 41), and proceeds to the next step. For example, the CPU 10 acquires the operation information received from the input device 6 (controller 7), and stores it in the angular velocity data Da using the angular velocity indicated by the latest angular velocity data included in the operation information. Specifically, the CPU 10 updates the angular velocity data Da1 around the X axis using the angular velocity ωx indicated by the angular velocity data around the X axis included in the latest operation information received from the controller 7. Further, the CPU 10 updates the angular velocity data Da2 around the Y axis using the angular velocity ωy indicated by the angular velocity data around the Y axis included in the latest operation information. Then, the CPU 10 updates the angular velocity data Da3 around the Z axis using the angular velocity ωz indicated by the angular velocity data around the Z axis included in the latest operation information.

  Next, the CPU 10 acquires data indicating acceleration from the controller 7 (step 42), and proceeds to the next step. For example, the CPU 10 acquires the operation information received from the controller 7 and stores it in the acceleration data Db using the acceleration indicated by the latest acceleration data included in the operation information. Specifically, the CPU 10 updates the X-axis direction acceleration data Db <b> 1 using the acceleration ax indicated by the X-axis direction acceleration data included in the latest operation information received from the controller 7. Further, the CPU 10 updates the Y-axis direction acceleration data Db2 by using the acceleration ay indicated by the Y-axis direction acceleration data included in the latest operation information. Then, the CPU 10 updates the Z-axis direction acceleration data Db3 using the acceleration az indicated by the Z-axis direction acceleration data included in the latest operation information.

  Next, the CPU 10 performs gravity acceleration update processing (step 43), and proceeds to the next step. Hereinafter, with reference to FIG. 13, the gravity acceleration update process performed in step 43 will be described.

  In FIG. 13, the CPU 10 calculates a temporary credit rating d, updates the temporary credit rating data Dd using the calculated temporary credit rating d (step 51), and proceeds to the next step. Here, in the gravitational acceleration update process, when the difference between the acceleration acting on the controller 7 at the present time and the acceleration obtained in the previous process is below a certain value, that is, when the acceleration change is below the threshold value, A method of estimating that the acceleration acting on the controller 7 at this time is the gravitational acceleration is used. The temporary reliability d indicates the degree to which the acceleration acting on the controller 7 at the present time can be trusted as the gravity acceleration when estimating the gravity acceleration acting on the input device 6 (controller 7). Is a parameter that temporarily indicates the calculation process. For example, when the temporary reliability d = 1, it indicates that the acceleration acting on the controller 7 at the present time can be completely trusted as the gravitational acceleration. On the other hand, if the temporary reliability d = 0, it indicates that the acceleration acting on the controller 7 at the present time cannot be trusted at all as the gravitational acceleration.

Specifically, the temporary credit rating d is
d = 1− (| a−a0 | −admin) / (admax−admin) (1)
Is calculated by Here, a indicates the magnitude of acceleration acting on the controller 7 at the present time, and is calculated with reference to the acceleration data Db. a0 indicates the magnitude of the acceleration used in the previous process, and is calculated with reference to the previous acceleration data Dc. admax is a predetermined constant. In the difference between the acceleration magnitude a and the acceleration magnitude a0, if the difference is equal to or greater than the constant admax, the acceleration currently acting on the controller 7 is the gravitational acceleration. It is a value that cannot be trusted at all. admin is a predetermined constant. In the difference between the acceleration magnitude a and the acceleration magnitude a0, the acceleration currently acting on the controller 7 when the difference is equal to or less than the constant admin is the gravitational acceleration. It is a value that should be fully trusted. Thus, by calculating the temporary reliability d by the above formula (1), the temporary reliability d approaches 1 if the acceleration change amount | a−a0 | is small. It can be shown by the value of temporary reliability d that the acceleration being performed can be trusted as the acceleration of gravity. On the other hand, if the acceleration change amount | a−a0 | is large, the temporary reliability d approaches 0. Therefore, the fact that the acceleration currently acting on the controller 7 cannot be trusted as the gravitational acceleration indicates that the temporary reliability d Can be indicated by value.

  Note that the amount of change in acceleration | a−a0 | in Equation (1) above is the amount of change using the game processing cycle as a unit time when using acceleration data Db updated for each frame that is the game processing cycle. However, it may be a change amount with other periods as unit time. As an example, the acceleration change amount | a−a0 | may be calculated using a period (for example, every 1/200 second) at which the operation information is transmitted from the controller 7 as a unit time. In this case, the acceleration change amount | a−a0 | is a change amount for each cycle (for example, 1/200 second) in which the operation information is transmitted from the controller 7, and is shorter than each frame that is a game processing cycle. The amount of change can be defined as a unit time. As another example, the acceleration change amount | a−a0 | may be calculated using the basic unit (for example, 1 second) of the international unit system as a unit time. In this case, the acceleration change amount | a−a0 | is a change amount for each basic unit (for example, 1 second) of the international unit system, and changes with a unit time that is longer than one frame, which is the game processing cycle. It can be an amount.

  Next, the CPU 10 determines whether or not the temporary reliability d calculated in step 51 is greater than 1 (step 52). If the temporary credit rating d is greater than 1, the CPU 10 proceeds to the next step 53. On the other hand, if the temporary reliability d is 1 or less, the CPU 10 advances the processing to the next step 54.

  In step 53, the CPU 10 sets the temporary reliability d to 1, updates the temporary reliability data Dd using the set temporary reliability d, and proceeds to the next step 56. That is, when the value of temporary credit rating d is larger than 1, the value is rounded to 1.

  On the other hand, when the temporary credit rating d is 1 or less, in step 54, the CPU 10 determines whether or not the temporary credit rating d calculated in step 51 is smaller than 0. Then, when the temporary reliability d is smaller than 0, the CPU 10 advances the processing to the next step 55. On the other hand, if the temporary reliability d is 0 or more, the CPU 10 proceeds to the next step 56.

  In step 55, the CPU 10 sets the temporary reliability d to 0, updates the temporary reliability data Dd using the set temporary reliability d, and proceeds to the next step 56. That is, when the value of temporary credit rating d is smaller than 0, the value is rounded to 0.

  In step 56, the CPU 10 refers to the previous credit level data Df and determines whether or not the temporary credit level d calculated in step 51 is greater than the previously calculated credit level t0. If the temporary credit rating d is greater than the previously calculated trust score t0 (that is, if t0 <d), the CPU 10 proceeds to the next step 57. On the other hand, when the temporary creditworthiness d is equal to or lower than the previously calculated trustworthiness t0 (that is, when d ≦ t0), the CPU 10 proceeds to the next step 58.

In step 57, the CPU 10 calculates the final credit rating t using the previous credit rating t0 indicated by the previous credit rating data Df and the temporary credit rating d calculated in the above step 51, and the process proceeds to the next step 59. Proceed. Specifically, the CPU 10 sets the final reliability t to t = t0 * T + (1-T) * d (2)
And the creditworthiness data De is updated using the calculated trustworthiness t. Here, T is a predetermined constant that satisfies 0 <T <1. As is clear from the above equation (2), the speed at which the credit level t is updated with respect to the previous credit level t0 can be adjusted according to the size of the constant T. The speed at which the reliability t changes is slow.

  On the other hand, in step 58, the CPU 10 updates the final credit rating t using the temporary credit rating d calculated in step 51, and updates the credit rating data De using the updated final credit rating t. Then, the process proceeds to the next step 59.

  As is clear from the processing in steps 56 to 58, when the temporary credit rating d is lower (smaller) than the previously calculated credit rating t0, the temporary credit rating d is immediately set to the final credit rating t. Reflected. On the other hand, when the temporary credit rating d is higher (larger) than the previously calculated credit rating t0, the temporary credit rating d is not immediately reflected in the final credit rating t, and the final credit rating t changes. Slows down. That is, when the temporary credit rating d is higher (larger) than the previously calculated credit rating t0, the final credit rating t is a value between the previous credit rating t0 and the temporary credit rating d, and the previous credit rating t0. An increase in value with respect to t0 is suppressed. That is, when the final reliability t calculated in the current process is higher than the final reliability t0 set in the previous process, it is difficult to increase, and lower than the final reliability t0 set in the previous process. Sometimes it tends to be low. Here, in the characteristics of the acceleration sensor mounted on the controller 7, when the movement of the controller 7 is stopped, the acceleration caused by the inertia changes in a direction gradually decreasing from the previously obtained acceleration. The difference in acceleration is not so large. Therefore, if the calculated temporary credit rating d is immediately reflected in the final credit rating t, the acceleration caused by the inertia may be treated as a stable acceleration (gravity acceleration). In order to avoid such misrecognition, when the temporary creditworthiness d changes higher than the previously calculated trustworthiness t0, it is updated so as to gradually change from the previous trustworthiness t0. Conversely, when the temporary credit rating d changes below the previously calculated credit rating t0, the calculated temporary credit rating d is immediately reacted to the credit rating t.

In step 59, the CPU 10 calculates the gravitational acceleration based on the final reliability t indicated by the reliability data De, and ends the processing by the subroutine. For example, the CPU 10 calculates the gravitational acceleration vector g using the reliability t stored in the reliability data De and the accelerations ax, ay, and az stored in the acceleration data Db, and the calculated gravitational acceleration vector The gravity acceleration data Dg is updated using g. Specifically, the gravitational acceleration vector g is
g = an * t + g0 * (1-t) (3)
Is calculated by normalizing the vector calculated in step 1 to the length of gravity (for example, 1). Here, an is a vector obtained by normalizing (for example, normalizing to length 1) the acceleration vector (ax, ay, az) generated in the controller 7 at the present time. Further, g0 is the gravitational acceleration vector calculated in the previous process, and is the gravitational acceleration vector g0 stored in the previous gravitational acceleration data Dh. By this mathematical formula (3), the gravitational acceleration vector g becomes a vector obtained by linearly interpolating the current acceleration vector a and the previously calculated gravitational acceleration vector g0 at the ratio of the reliability t.

  Here, as is clear from the above description, the reliability t becomes a relatively large value (specifically, approaches 1) when the acceleration change amount | a−a0 | is relatively small, and the acceleration change. If the quantity | a−a0 | is relatively large, the value becomes relatively small (specifically, it approaches 0). That is, according to the above equation (3), as the acceleration change amount | a−a0 | is relatively small, the gravitational direction calculated in the previous process (the previously calculated gravitational acceleration vector g0) is represented as the current acceleration vector. The ratio (degree) of correction using a is relatively large, and the gravitational direction (gravitational acceleration vector g) in the current process is calculated. In the above formula (3), the rate (degree) of correcting the gravity direction calculated in the previous process using the current acceleration vector a is adjusted according to the acceleration change amount | a−a0 |. However, it may be adjusted using other numerical values. For example, the absolute amount (correction amount) for correcting the gravity direction calculated in the previous processing using the current acceleration vector a may be adjusted according to the acceleration change amount | a−a0 |. In this case, the smaller the acceleration change amount | a−a0 | is, the smaller the absolute amount by which the gravity direction calculated in the previous process (the previously calculated gravity acceleration vector g0) is corrected using the current acceleration vector a. Is made relatively large to calculate the gravity direction (gravitational acceleration vector g) in the current process.

  Returning to FIG. 12, after the gravitational acceleration update process in step 43, the CPU 10 performs a correction degree value calculation process (step 44), and proceeds to the next step. Hereinafter, the correction degree value calculation process performed in step 44 will be described with reference to FIG.

In FIG. 14, the CPU 10 selects the target axis for calculating the correction degree value f from the XYZ axes set in the input device 6 (step 60). Then, the CPU 10 calculates the correction degree value f in the target axis with reference to the angular velocity data Da, updates the correction degree value data Di using the calculated correction degree value f (step 61), and the next step Proceed with the process. Specifically, when the target axis is the X axis, the correction degree value fx is
fx = (| ωx | −Fmin) / (Fmax−Fmin)
The X-axis direction correction degree value data Di1 is updated using the calculated correction degree value fx. Here, | ωx | is an absolute value of each angular velocity ωx around the X axis generated in the input device 6 at the present time, and is obtained by referring to the angular velocity ωx stored in the angular velocity data Da1. When the target axis is the Y axis, the correction degree value fy is
fy = (| ωy | −Fmin) / (Fmax−Fmin)
The Y-axis direction correction degree value data Di2 is updated using the calculated correction degree value fy. Here, | ωy | is an absolute value of each angular velocity ωy around the Y axis generated in the input device 6 at the present time, and is obtained by referring to the angular velocity ωy stored in the angular velocity data Da2. Further, when the target axis is the Z axis, the correction degree value fz is
fz = (| ωz | −Fmin) / (Fmax−Fmin)
The Z-axis direction correction degree value data Di3 is updated using the calculated correction degree value fz. Here, | ωz | is the absolute value of each angular velocity ωz around the Z axis generated in the input device 6 at the present time, and is obtained by referring to the angular velocity ωz stored in the angular velocity data Da3. Here, Fmax is a predetermined constant. When the angular velocities ωx, ωy, and ωz generated in the input device 6 are equal to or larger than the constant Fmax, the correction degree values fx, fy, and fz are each set to 1 respectively. This is the value as described above. Fmin is a predetermined constant, and when the angular velocities ωx, ωy, and ωz generated in the input device 6 are each equal to or less than the constant Fmin, the correction degree values fx, fy, and fz are set to 0 or less, respectively. Value.

  Next, the CPU 10 determines whether or not the correction degree value f calculated in step 61 is greater than 1 (step 62). Then, when the correction degree value f is larger than 1, the CPU 10 advances the processing to the next step 63. On the other hand, if the correction degree value f is 1 or less, the CPU 10 advances the process to the next step 64.

  In step 63, the CPU 10 sets the correction degree value f of the currently selected target axis to 1, updates the corresponding correction degree value data Di using the set correction degree value f, and performs the next step. The process proceeds to 66. That is, when the correction degree value f is larger than 1, the value is rounded to 1.

  On the other hand, when the correction degree value f is 1 or less, in step 64, the CPU 10 determines whether or not the correction degree value f calculated in step 61 is smaller than zero. If the correction degree value f is smaller than 0, the CPU 10 proceeds to the next step 65. On the other hand, when the correction degree value f is 0 or more, the CPU 10 advances the processing to the next step 66.

  In step 65, the CPU 10 sets the correction degree value f of the currently selected target axis to 0, updates the corresponding correction degree value data Di using the set correction degree value f, and performs the next step. The process proceeds to 66. That is, when the correction degree value f is smaller than 0, the value is rounded to 0.

  In this way, the correction degree value f is a value of the correction degree value f that approaches 1 if the magnitude of the angular velocity currently occurring in the input device 6 is large, and the value of the correction degree value f if the magnitude of the angular velocity is small. Approaches 0. Therefore, the correction degree value f can be used as a parameter indicating the degree of the magnitude of the angular velocity generated in the input device 6 as a value between 0 and 1.

  In step 66, the CPU 10 refers to the previous correction degree value data Dj, and the correction degree value f calculated in steps 61 to 65 is smaller than the correction degree value f0 previously calculated for the same target axis. Determine whether or not. When the correction degree value f is smaller than the previously calculated correction degree value f0 (that is, when f <f0), the CPU 10 proceeds to the next step 67. On the other hand, if the correction degree value f is greater than or equal to the previously calculated correction degree value f0 (that is, if f0 ≦ f), the CPU 10 proceeds to the next step 68.

In step 67, the CPU 10 updates the correction degree value f using the correction degree value f calculated in step 61 and the previous correction degree value f0 for the same target axis indicated by the previous correction degree value data Dj. The process proceeds to step 68. Specifically, when the target axis is the X axis, the CPU 10 sets the correction degree value fx as follows: fx ← fx * S + (1−S) * f0x
The X-axis direction correction degree value data Di1 is updated using the calculated correction degree value fx. Here, f0x is the correction degree value calculated last time for the X-axis component, and is obtained by referring to the X-axis direction correction degree value data Dj1. S is a predetermined constant that satisfies 0 <S <1. As is apparent from the above formula, the speed at which the correction degree value fx is updated with respect to the previous correction degree value f0x can be adjusted according to the magnitude of the constant S, and the magnitude of the constant S is small. As the correction degree value fx changes, the rate of change becomes slower. Further, when the target axis is the Y axis, the CPU 10 sets the correction degree value fy to fy ← fy * S + (1−S) * f0y.
The Y-axis direction correction degree value data Di2 is updated using the calculated correction degree value fy. Here, f0y is the correction degree value calculated last time for the Y-axis component, and is obtained by referring to the Y-axis direction correction degree value data Dj2. Further, when the target axis is the Z axis, the CPU 10 sets the correction degree value fz to fz ← fz * S + (1−S) * f0z.
The Z-axis direction correction degree value data Di3 is updated using the calculated correction degree value fz. Here, f0z is the correction degree value calculated last time for the Z-axis component, and is obtained by referring to the Z-axis direction correction degree value data Dj3.

  Here, in step 67, the final correction degree value is obtained by bringing the correction degree value f calculated in step 61 closer to the previous correction degree value f0 by a predetermined ratio (that is, the ratio of S to 1-S). f. Alternatively, the final correction degree value f0 is obtained by bringing the previous correction degree value f0 closer to the correction degree value f calculated in step 61 above by a predetermined ratio (that is, a ratio of 1-S to S). Note that the magnitude at which the correction degree value f is brought close to the previous correction degree value f0 in step 67 or the previous correction degree value f0 is made closer to the correction degree value f may not be calculated at the predetermined ratio. For example, the final correction degree value f may be obtained by bringing the correction degree value f calculated in step 61 closer to the previous correction degree value f0 by a predetermined amount (typically, a constant amount). Alternatively, the final correction degree value f0 may be obtained by bringing the previous correction degree value f0 closer to the correction degree value f calculated in step 61 above by a predetermined amount (typically, a constant amount).

  In step 68, the CPU 10 determines whether or not the calculation of the correction degree value f has been completed for all the XYZ axes set in the input device 6. Then, when the calculation of the correction degree value f has been completed for all the XYZ axes, the CPU 10 ends the processing by the subroutine. On the other hand, when there is an axis for which the calculation of the correction degree value f is not completed among the XYZ axes, the CPU 10 returns to step 60 and repeats the process.

  As is apparent from the processing in steps 61 to 67, when the correction degree value f is equal to or larger than the correction degree value f0 calculated last time, the correction degree value f calculated in steps 61 to 65 is used as it is. The On the other hand, when the correction degree value f is smaller than the previously calculated correction degree value f0, the correction degree value f calculated in steps 61 to 65 is not adopted as it is, and the correction degree value f changes. The speed is slow. In other words, the correction degree value f is suppressed at a speed at which the value becomes smaller than when the value becomes larger.

Returning to FIG. 12, after the correction degree value calculation processing in step 44, the CPU 10 converts the correction degree value f into a formal value e that has a format that acts on each of the XYZ axis components of the acceleration vector (step 45). Proceed to the next step. For example, the CPU 10 converts the correction degree values fx, fy, and fz into the format value e using the following mathematical formula.
e = (fy + fz, fx + fz, fx + fy)
And CPU10 rounds each component value of the format value e in the range of 0-1. Specifically, the CPU 10 sets the component value to 1 when any of the component values of the format value e is greater than 1. Further, when any of the component values of the format value e is smaller than 0, the CPU 10 sets the component value to 0.

  Here, each component value of the format value e will be described. For example, the acceleration acting in the Z-axis direction (see FIG. 3) in the input device 6 is caused by the rotation of the input device 6 itself around an axis perpendicular to the Z-axis, that is, around the X-axis and the Y-axis. Acceleration is also included. Therefore, when it is desired to obtain only the acceleration generated by the translation of the input device 6 itself out of the acceleration acting in the Z-axis direction, the input device 6 itself rotates around the X axis and the Y axis. Must be discounted from the acceleration in the Z-axis direction.

  The third component value of the format value e is a component value related to the Z axis, and is calculated by fx + fy. Here, the correction degree value fx is a parameter whose value increases if the magnitude of the angular velocity around the X axis currently occurring in the input device 6 is large. Further, the correction degree value fy is a parameter that increases as the angular velocity around the Y-axis currently occurring in the input device 6 increases. That is, the component value related to the Z axis of the formal value e increases as the angular velocity around the X axis and around the Y axis increases, that is, by the input device 6 itself rotating around the X axis and the Y axis. When the generated acceleration increases, the value becomes a parameter. Therefore, the component value related to the Z-axis of the formal value e is used as a parameter for discounting the acceleration generated by the rotation of the input device 6 itself from the acceleration acting in the Z-axis direction in the input device 6. it can.

  Similarly, the first component value of the formal value e is a component value related to the X axis calculated by fy + fz, and the acceleration generated by the input device 6 itself rotating around the Y axis and the Z axis is detected. As the value increases, the value increases. Therefore, the component value related to the X axis of the formal value e is used as a parameter when the acceleration generated by the rotation of the input device 6 itself is discounted from the acceleration acting in the X axis direction in the input device 6. it can. Further, the second component value of the formal value e is a component value related to the Y axis calculated by fx + fz, and the acceleration generated by the input device 6 itself rotating around the X axis and the Z axis is large. Then, it becomes a parameter whose value increases. Therefore, the component value related to the Y axis of the formal value e is used as a parameter for discounting the acceleration generated by the rotation of the input device 6 itself from the acceleration acting in the Y axis direction in the input device 6. it can.

Next, the CPU 10 calculates a parallel movement acceleration using the format value e converted in step 45 (step 46), and proceeds to the next step. For example, the CPU 10 calculates the translation acceleration vector p indicating the translation acceleration using the accelerations ax, ay, and az indicated by the acceleration data Db, the gravity acceleration vector g indicated by the gravity acceleration data Dg, and the formal value e, The translation acceleration data Dk is updated using the data indicating the translation acceleration vector p. Specifically, the translation acceleration vector p is
p = (ag) mul (1-e) (4)
Is calculated by Here, a indicates an acceleration vector currently acting on the input device 6. g indicates a gravitational acceleration vector estimated to be acting on the input device 6 at the present time. e indicates the format value calculated in step 45 above. And mul has shown integrating | accumulating for every XYZ-axis component. Therefore, the XYZ-axis component of the translation acceleration vector p is (px, py, pz), the XYZ-axis component of the gravitational acceleration vector g is (gx, gy, gz), and the XYZ-axis component of the formal value e is (ex, ey, ex), the above formula (4) is represented by the following formula for each XYZ axis component.
px = (ax−gx) * (1-ex)
py = (ay-gy) * (1-ey)
pz = (az-gz) * (1-ez)

  Thus, the translation acceleration vector p is calculated by subtracting the gravitational acceleration from the acceleration acting on the input device 6 at the present time, thereby calculating the acceleration excluding the gravitational acceleration. Obtained by integrating -e). Here, as described above, the XYZ axis component value of the formal value e is a parameter set in the range of 0 to 1 indicating the magnitude of the angular velocity that affects the acceleration acting in the respective axial directions. The larger the value is, the closer the parameter is to 1. Therefore, the accumulated (1-e) is a value in the range of 0 to 1 that approaches 0 as the magnitude of the angular velocity that affects the acceleration acting in the respective axial directions increases. That is, the translation acceleration vector p is obtained by adding (1-e) to the acceleration obtained by subtracting the gravitational acceleration, so that the gravitational acceleration and the input device 6 are rotated from the acceleration currently acting on the input device 6. Therefore, it can be used as a vector indicating the acceleration generated by the translation of the input device 6 itself.

  Next, the CPU 10 performs a game process using the translation acceleration vector p indicated by the translation acceleration data Dk and the angular velocities ωx, ωy, and ωz indicated by the angular velocity data Da (step 47), and the next step is processed. To proceed. For example, the CPU 10 controls the action of the player character PC using the parallel movement acceleration vector p and the angular velocities ωx, ωy, and ωz.

  Specifically, the CPU 10 causes the player character PC to jump according to the magnitude of the parallel movement acceleration vector p when the parallel movement acceleration vector p is larger than a predetermined value and indicates the upper side of the input device 6 ( (See FIG. 9). The direction of the translation acceleration vector p in the real space may be calculated by any method. As an example, the direction in which the gravitational acceleration is occurring at present (the direction of the gravitational acceleration vector g) is the vertical direction in the real space, and the direction in the real space of the translation acceleration vector p is calculated using the vertical direction as a reference. As another example, the direction of the translation acceleration vector p in the real space is calculated with reference to the attitude of the input device 6 described later.

  Further, the CPU 10 calculates the moving direction of the player character PC according to the attitude of the input device 6. For example, when the angular velocities ωx, ωy, and ωz indicate that the input device 6 is tilted to the left or right, the input device 6 is tilted according to the posture of the input device 6 (for example, the tilt angle). The player character PC is turned in the present direction (see FIG. 10). Further, when the angular velocities ωx, ωy, and ωz indicate that the input device 6 is maintained in a horizontal posture, the player character PC is moved straight (see FIG. 8). The posture (angle) of the input device 6 can be calculated using the angular velocities ωx, ωy, and ωz. Which method is used to calculate the posture (angle) of the input device 6 from the angular velocities ωx, ωy, and ωz? Such a method may be used. For example, there is a method of sequentially adding angular velocities ωx, ωy, and ωz (per unit time) to the initial posture of the input device 6. That is, the current input device is obtained by integrating the angular velocities ωx, ωy, and ωz sequentially output from the gyro sensors 95 and 96 and calculating the change amount of the posture from the initial state (the change amount of the angle) from the integration result. 6 postures can be calculated.

  Next, the CPU 10 updates the previous parameter using the parameters calculated by the processing of the above steps 41 to 47 (step 48), and proceeds to the next step. Specifically, the CPU 10 updates the accelerations a0x, a0y, and a0z using the accelerations ax, ay, and az indicated by the acceleration data Db, respectively, and the previous acceleration using the updated accelerations a0x, a0y, and a0z. Data Dc is updated. The CPU 10 updates the previous credit rating t0 using the credit rating t indicated by the credit rating data De, and updates the previous credit rating data Df using the updated credit rating t0. The CPU 10 updates the previous gravitational acceleration vector g0 using the gravitational acceleration vector g indicated by the gravitational acceleration data Dg, and updates the previous gravitational acceleration data Dh using the updated gravitational acceleration vector g0. Then, the CPU 10 updates the previous correction degree values f0x, f0y, and f0z using the correction degree values fx, fy, and fz indicated by the correction degree value data Di, respectively, and the updated correction degree values f0x, f0y, And f0z are used to update the previous correction degree value data Dj.

  Next, the CPU 10 determines whether or not to end the game (step 49). As a condition for ending the game, for example, a condition that the game being processed in step 47 becomes a game over condition is satisfied, or the player performs an operation to end the game. CPU10 returns to the said step 41, and repeats a process, when not complete | finishing a game. On the other hand, CPU10 complete | finishes the process by the said flowchart, when complete | finishing a game.

  As described above, according to the game processing according to the first embodiment, in order to determine the posture and movement of the input device 6 itself using the acceleration acting in each of the three axial directions, The rotation of the input device 6 is determined using the angular velocity, and the acceleration generated when the input device 6 is moving in parallel is acquired. Thereby, in the game process, the acceleration obtained by the parallel movement of the input device 6 can be determined instantaneously. Therefore, in the above game processing, it is possible to accurately recognize the parallel movement operation that pulls up the entire input device 6 or protrudes the entire input device 6 using the acceleration obtained from the input device 6.

(Second Embodiment)
Next, an information processing apparatus that executes an information processing program according to the second embodiment of the present invention will be described. Note that the game system including the stationary game apparatus main body 5 which is an example of the information processing apparatus according to the second embodiment has a different configuration of the input device 6 from the first embodiment, and other configurations are as follows. Since it is the same as that of the game system in 1st Embodiment, the same referential mark is attached | subjected about the same structure and detailed description is abbreviate | omitted.

  With reference to FIG. 15, the configuration of the input device 6 used in the second embodiment will be described. FIG. 15 is an external view showing an example in which the player is operating the input device 6 used in the second embodiment.

  In FIG. 15, the input device 6 further includes a subunit 76. The subunit 76 can be held with one hand, and is connected to the angular velocity detection unit 9 (controller 7) via a connection cable 731. A connector 732 is provided at the front end of the connection cable 731 extending from the rear end of the sub unit 76, and is connected to the connector 97 provided at the rear end of the angular velocity detection unit 9. By connecting the connector 732 to the connector 97, the subunit 76 is physically and electrically coupled to the angular velocity detection unit 9 (controller 7).

  Input data of the subunit 76 is given to the controller 7 via the connection cable 731 and the angular velocity detection unit 9. The controller 7 transmits operation data including input data of the controller 7 itself, angular velocity data from the angular velocity detection unit 9, and input data of the subunit 76 to the game apparatus body 5. At this time, the operation data may be transmitted at one time. However, when the amount of data to be transmitted at a time is limited, the angular velocity data from the angular velocity detection unit 9 and the input data from the subunit 76 are alternately changed. When the detection unit 9 outputs to the controller 7, both data can also be transmitted. Since this data transmission control is performed by the angular velocity detection unit 9, it is not necessary to change the design of the controller 7 or the subunit 76 by mounting the angular velocity detection unit 9.

  The subunit 76 will be described with reference to FIGS. 16 and 17. FIG. 16 is a perspective view showing an example of the subunit 76. FIG. 17 is a perspective view showing an example of a state in which the upper casing (a part of the housing 763) of the subunit 76 in FIG. 16 is removed.

  In FIG. 16, the subunit 76 has a housing 763 formed by plastic molding, for example. The housing 763 has a streamlined three-dimensional shape in which the front-rear direction is the longitudinal direction and the head that is the thickest part of the subunit 76 is formed in the front. The housing 763 is large enough to be grasped by one hand of an adult or a child as a whole. That's it.

  A stick 761a is provided in the vicinity of the thickest portion on the upper surface of the housing 763. The stick 761a is an operation unit that outputs an operation signal according to a tilt direction by tilting a tiltable stick protruding from the upper surface of the housing 763. For example, the player can specify an arbitrary direction and position by tilting the tip of the stick in an arbitrary direction of 360 °, and can instruct the moving direction of a player character or the like appearing in the virtual game world, or the moving direction of the cursor Can be instructed.

  A plurality of operation buttons 761b and 761c are provided on the front surface of the housing 763 of the subunit 76. The operation buttons 761b and 761c are operation units that output operation signals assigned to the operation buttons 761b and 761c when the player presses the button head. For example, functions such as an X button and a Y button are assigned to the operation buttons 761b and 761c. These operation buttons 761b and 761c are assigned respective functions according to the game program executed by the game apparatus body 5, but are not directly related to the description of the present invention, and thus detailed description thereof is omitted. In the arrangement example shown in FIG. 16, the operation buttons 761b and 761c are arranged in parallel along the vertical direction of the front surface of the housing 763. In the following description, the operation units (stick 761a, operation buttons 761b and 761c) provided in the subunit 76 will be collectively referred to as the operation unit 761.

  Here, in order to make the following description concrete, a coordinate system set for the subunit 76 is defined. As shown in FIG. 16, XYZ axes orthogonal to each other are defined for the subunit 76. Specifically, the longitudinal direction of the housing 763, which is the front-rear direction of the subunit 76, is taken as the Z axis, and the front surface (surface on which the operation buttons 761b and 761c are provided) of the subunit 76 is taken as the positive Z axis direction. The vertical direction of the subunit 76 is defined as the Y axis, and the upper surface direction of the housing 763 (the direction in which the stick 761a protrudes) is defined as the positive Y axis direction. Further, the left-right direction of the subunit 76 is taken as the X-axis, and the right side surface (side surface not shown in FIG. 16) direction of the housing 763 is taken as the positive X-axis direction.

  In FIG. 17, a substrate is fixed inside the housing 763, and a stick 761a, an acceleration sensor 762, and the like are provided on the upper main surface of the substrate. These are connected to the connection cable 731 via wiring (not shown) formed on the substrate or the like. Similarly to the controller 7, the subunit 76 preferably includes a triaxial acceleration sensor 762, and the acceleration sensor 762 detects accelerations in the XYZ axis directions generated in the subunit 76. Since the acceleration sensor 762 has the same function and configuration as the acceleration sensor 701, detailed description thereof is omitted.

  Next, an internal configuration of the input device 6 according to the second embodiment will be described with reference to FIG. FIG. 18 is a block diagram illustrating an example of the configuration of the input device 6 according to the second embodiment. In the following, the angular velocity detection unit 9 and the subunit 76 that are the main differences from the first embodiment described with reference to FIG. 7 will be mainly described.

  A connector 732 of a connection cable 731 extending from the subunit 76 is connected to the connector 97 of the angular velocity detection unit 9. The connector 732 is connected to the operation unit 761 of the subunit 76 and the acceleration sensor 762. When the operation unit 761 is operated, data indicating the operation content of the operation unit 761 is given to the microcomputer 94 of the angular velocity detection unit 9 via the connection cable 731, the connector 732, and the connector 97. The microcomputer 94 outputs data indicating the operation content of the operation unit 761 to the communication unit 75 via the plug 93 and the connector 73. The acceleration sensor 762 also has the same sampling cycle as that of the acceleration sensor 701, and data indicating the acceleration detected by the acceleration sensor 762 via the connection cable 731, connector 732, and connector 97 is also stored in the angular velocity detection unit 9. It is given to the microcomputer 94. Then, the microcomputer 94 outputs data indicating the acceleration detected by the acceleration sensor 762 to the communication unit 75 via the plug 93 and the connector 73.

  Next, before describing specific processing performed by the game apparatus body 5, an outline of processing performed by the game apparatus body 5 will be described with reference to FIGS. 19 and 20. FIG. 19 is a diagram illustrating an example of a game screen displayed on the monitor 2 when the input device 6 to which the subunit 76 is connected is operated while being tilted to the right. FIG. 20 is a diagram showing an example of a game screen displayed on the monitor 2 when the input device 6 to which the subunit 76 is connected is translated and moved upward.

  19 and 20, the monitor 2 displays a player character PC that controls a personal watercraft (water motorcycle) in a virtual game space. Here, the personal watercraft is a small boat that is operated by a pilot and travels while sliding on the surface of the water. In the personal watercraft in the virtual game space shown in FIGS. 19 and 20, the player operating the input device 6 tilts or moves the input device 6 itself (the controller 7 and the subunit 76) in the same direction. Thus, the personal watercraft operated by the player character PC can be turned or jumped. Typically, the player holds the controller 7 with the right hand and the subunit 76 with the left hand, and operates as if the handlebar of the personal watercraft is operated with both hands.

  Specifically, as shown in FIG. 19, when the player operates the controller 7 and the subunit 76 while tilting them to the right, the player character PC turns right on the water surface in the virtual game space and personal watercraft. Sail. As shown in FIG. 20, when the player operates the controller 7 and the subunit 76 by moving both the controller 7 and the subunit 76 in parallel upward, the player character PC jumps upward from the water surface in the virtual game space. Navigate the craft.

  Next, the details of the game process performed in the game system 1 will be described. First, main data used in the game process will be described with reference to FIG. FIG. 21 is a diagram showing an example of main data and programs stored in the main memory of the game apparatus body 5.

  As shown in FIG. 21, the data storage area of the main memory includes angular velocity data Da, acceleration data Db, previous acceleration data Dc, temporary reliability data Dd, reliability data De, previous reliability data Df, gravity acceleration data Dg, In addition to the previous gravitational acceleration data Dh, the correction degree value data Di, the previous correction degree value data Dj, the parallel movement acceleration data Dk, and the image data Dl, the sub acceleration data Dm, the previous sub acceleration data Dn, and the temporary sub reliability data Do, sub reliability data Dp, previous sub reliability data Dq, sub gravity acceleration data Dr, previous sub gravity acceleration data Ds, and the like are stored. In addition to the data shown in FIG. 21, the main memory stores data necessary for the game process, such as image data of various objects appearing in the game and data indicating various parameters of the object. Various program groups Pa constituting the game program are stored in the program storage area of the main memory. Various program groups Pa are partially or entirely read from the optical disc 4 and other recording media and stored in the main memory at an appropriate timing after the game apparatus body 5 is powered on.

  Angular velocity data Da, acceleration data Db, previous acceleration data Dc, temporary reliability data Dd, reliability data De, previous reliability data Df, gravity acceleration data Dg, previous gravity acceleration data Dh, stored in the data storage area of the main memory Since the correction degree value data Di, the previous correction degree value data Dj, the parallel movement acceleration data Dk, and the image data Dl are the same as the data described in the first embodiment, detailed description thereof is omitted. Hereinafter, the sub acceleration data Dm, the previous sub acceleration data Dn, the temporary sub reliability data Do, the sub reliability data Dp, the previous sub reliability data Dq, the sub gravity acceleration data Dr added in the second embodiment, and the previous The sub gravity acceleration data Ds will be described.

  The sub-acceleration data Dm is data indicating the acceleration generated in the subunit 76, and acceleration data (sub-acceleration data) included in a series of operation information transmitted as transmission data from the subunit 76 via the controller 7 is the sub-acceleration data Dm. Stored. The sub acceleration data Dm includes X-axis direction acceleration data Dm1 indicating the acceleration asx detected by the acceleration sensor 762 for the X-axis component, Y-axis direction acceleration data Dm2 indicating the acceleration asy detected for the Y-axis component, And Z-axis direction acceleration data Dm3 indicating the acceleration asz detected for the Z-axis component. Note that the cycle in which the sub acceleration data Dm is updated is the same as the acceleration data Db described above, and thus detailed description thereof is omitted.

  The previous sub acceleration data Dn stores the sub acceleration data used in the previous process. Specifically, the previous sub-acceleration data Dn includes X-axis direction acceleration data Dn1 indicating the acceleration as0x of the X-axis component of the subunit 76 used in the previous processing, and the subunit 76 used in the previous processing. Y-axis direction acceleration data Dn2 indicating the acceleration as0y of the Y-axis component and Z-axis direction acceleration data Dn3 indicating the acceleration as0z of the Z-axis component of the subunit 76 used in the previous processing are included.

  Temporary sub-credibility data Do temporarily indicates the reliability indicating whether or not the acceleration acting on the subunit 76 can be trusted as the gravitational acceleration when estimating the gravitational acceleration acting on the subunit 76. The indicated (temporary sub-credibility ds) data is stored. The temporary credit rating (temporary sub credit rating ds) indicated by the data stored in the temporary sub credit rating data Do corresponds to an example of the temporary credit rating in the present invention. The sub-credibility data Dp stores data indicating the final reliability (sub-credit ts) indicating whether or not the acceleration acting on the subunit 76 can be trusted as gravity acceleration. Note that the final credit rating (sub credit rating ts) indicated by the data stored in the sub credit rating data Dp corresponds to an example of the credit rating in the present invention. The previous sub-credibility data Dq stores data indicating the final credit quality (sub-credit ts0) used in the previous process.

  The sub gravitational acceleration data Dr stores data indicating gravitational acceleration estimated to be acting on the subunit 76. Specifically, the sub-gravity acceleration data Dr stores data indicating a sub-gravity acceleration vector gs indicating the magnitude and direction of the gravitational acceleration estimated to be acting on the subunit 76. The previous sub-gravity acceleration data Ds stores data indicating the gravitational acceleration vector (sub-gravity acceleration vector gs0) estimated to be acting on the subunit 76 in the previous process.

  Next, with reference to FIG. 22 and FIG. 23, the details of the game processing performed in the game apparatus body 5 in the second embodiment will be described. FIG. 22 is a flowchart showing an example of the game process executed in the game apparatus body 5 in the second embodiment. FIG. 23 is a subroutine showing an example of the sub-gravity acceleration update process in step 104 in FIG. 22 and 23, each step executed by the CPU 10 is abbreviated as “S”.

  In FIG. 21, the CPU 10 performs an initial process of the game process (step 100), and proceeds to the next step. For example, in the initial processing in step 100, the CPU 10 performs initial setting of each parameter for performing subsequent game processing. Specifically, the CPU 10 determines the angular velocity data Da, acceleration data Db, previous acceleration data Dc, temporary reliability data Dd, reliability data De, previous reliability data Df, gravity acceleration data Dg, previous gravity acceleration data Dh, and correction degree. Value data Di, previous correction degree value data Dj, parallel movement acceleration data Dk, sub acceleration data Dm, previous sub acceleration data Dn, temporary sub reliability data Do, sub reliability data Dp, previous sub reliability data Dq, sub gravity acceleration The values indicated by the data stored in the data Dr and the previous sub gravitational acceleration data Ds are respectively set to initial values (for example, 0).

  Next, the CPU 10 acquires data indicating the angular velocity from the input device 6 (step 101), and proceeds to the next step. Note that the processing performed in step 101 is the same as the processing in step 41 described above, and thus detailed description thereof is omitted.

  Next, the CPU 10 acquires data indicating acceleration from the controller 7 and the subunit 76 (step 102), and proceeds to the next step. For example, the CPU 10 acquires the operation information received from the input device 6 (controller 7), and stores it in the acceleration data Db using the acceleration indicated by the latest acceleration data obtained from the acceleration sensor 701, as in step 42 above. Further, the CPU 10 acquires the operation information received from the input device 6 (controller 7), and stores it in the sub acceleration data Dm using the acceleration indicated by the latest acceleration data obtained from the acceleration sensor 762. Specifically, the CPU 10 updates the X-axis direction acceleration data Dm1 using the acceleration asx indicated by the X-axis direction acceleration data of the subunit 76 included in the latest operation information received from the subunit 76. Further, the CPU 10 updates the Y-axis direction acceleration data Dm2 using the acceleration as indicated by the acceleration data in the Y-axis direction of the subunit 76 included in the latest operation information. Then, the CPU 10 updates the Z-axis direction acceleration data Dm3 using the acceleration asz indicated by the Z-axis direction acceleration data of the subunit 76 included in the latest operation information.

  Next, the CPU 10 performs a gravitational acceleration update process (step 103), and proceeds to the next step. The gravitational acceleration update process performed in step 103 is the same as the gravitational acceleration update process performed in step 43 described above, and thus detailed description thereof is omitted.

  Next, the CPU 10 performs a sub-gravity acceleration update process (step 104), and proceeds to the next step. Hereinafter, with reference to FIG. 23, the sub-gravity acceleration update process performed in step 104 will be described.

  In FIG. 23, the CPU 10 calculates a temporary sub-credibility ds, updates the temporary sub-credibility data Do using the calculated temporary sub-credibility ds (step 121), and processes to the next step. To proceed. Here, also in the sub-gravity acceleration update processing, when the difference between the acceleration acting on the subunit 76 at the present time and the acceleration of the subunit 76 obtained in the previous processing is equal to or smaller than a certain value, that is, the acceleration change Is equal to or less than the threshold, a method is used in which it is estimated that the acceleration acting on the subunit 76 at this time is a gravitational acceleration. The temporary sub-credibility ds is a degree indicating how much the acceleration acting on the subunit 76 at present is reliable as the gravitational acceleration when estimating the gravitational acceleration acting on the subunit 76. This parameter is temporarily indicated in the calculation process. For example, when the temporary sub-credibility ds = 1, it indicates that the acceleration acting on the subunit 76 at the present time can be completely trusted as the gravitational acceleration. On the other hand, if the temporary sub-credibility ds = 0, it indicates that the acceleration acting on the subunit 76 at the present time cannot be trusted at all as the gravitational acceleration.

Specifically, the temporary sub-credibility ds is the same as the temporary reliability d ds = 1− (| as−as0 | −asdmin) / (asdmax−asdmin) (5)
Is calculated by Here, as indicates the magnitude of the acceleration acting on the subunit 76 at the present time, and is calculated with reference to the sub acceleration data Dm. as0 indicates the magnitude of the acceleration of the subunit 76 used in the previous process, and is calculated with reference to the previous sub acceleration data Dn. asdmax is a predetermined constant, and in the difference between the acceleration magnitude as and the acceleration magnitude as0, if the difference is equal to or greater than the constant asdmax, the acceleration currently acting on the subunit 76 is the gravitational acceleration. Is a value that is totally untrustworthy. Asdmin is a predetermined constant, and when the difference between the acceleration magnitude as and the acceleration magnitude as0 is less than or equal to the constant asdmin, the acceleration currently acting on the subunit 76 is the gravitational acceleration. Is a value that should be fully credible. Thus, by calculating the temporary sub-credibility ds by the above equation (5), the temporary sub-credibility ds approaches 1 if the acceleration change amount | as-as0 | of the subunit 76 is small. It can be shown by the value of the temporary sub-credibility ds that the acceleration acting on the subunit 76 at present can be trusted as the gravitational acceleration. On the other hand, if the amount of change in acceleration | as−as0 | of the subunit 76 is large, the temporary sub-credibility ds approaches 0, so that the acceleration acting on the subunit 76 at this time cannot be trusted as the gravitational acceleration. It can be indicated by a temporary sub-credibility ds value.

  Note that the acceleration change amount | as−as0 | in the above equation (5) changes when the sub-acceleration data Dm updated for each frame, which is a game processing cycle, is used, with the game processing cycle as a unit time. Although it is a quantity, it may be a change quantity with another period as a unit time. As an example, the acceleration change amount | as-as0 | may be calculated using a period (for example, every 1/200 second) in which operation information is transmitted from the subunit 76 via the controller 7 as a unit time. In this case, the acceleration change amount | as-as0 | is a change amount for each cycle (for example, 1/200 second) in which operation information is transmitted from the subunit 76 via the controller 7, and is a game processing cycle 1 The amount of change can be a unit time that is shorter than each frame. As another example, the acceleration change amount | as-as0 | may be calculated using the basic unit (for example, 1 second) of the international unit system as a unit time. In this case, the acceleration change amount | as-as0 | is a change amount for each basic unit (for example, 1 second) of the international unit system, and is a change with a unit time that is longer than one frame, which is the game processing cycle. It can be an amount.

  Next, the CPU 10 determines whether or not the temporary sub-credibility ds calculated in step 121 is greater than 1 (step 122). If the temporary sub-credibility ds is greater than 1, the CPU 10 proceeds to the next step 123. On the other hand, if the temporary sub-credibility ds is 1 or less, the CPU 10 proceeds to the next step 124.

  In step 123, the CPU 10 sets the temporary sub-credibility ds to 1, updates the temporary sub-credibility data Do using the set temporary sub-credibility ds, and proceeds to the next step 126. Proceed. That is, when the value of temporary sub-credibility ds is larger than 1, the value is rounded to 1.

  On the other hand, if the temporary sub-credibility ds is 1 or less, in step 124, the CPU 10 determines whether or not the temporary sub-credibility ds calculated in step 121 is smaller than 0. If the temporary sub-credibility ds is smaller than 0, the CPU 10 advances the process to the next step 125. On the other hand, if the temporary sub-credibility ds is 0 or more, the CPU 10 proceeds to the next step 126.

  In step 125, the CPU 10 sets the temporary sub-credibility ds to 0, updates the temporary sub-credibility data Do using the set temporary sub-credibility ds, and proceeds to the next step 126. Proceed. That is, when the value of temporary sub-credibility ds is smaller than 0, the value is rounded to 0.

  In step 126, the CPU 10 refers to the previous sub-credibility data Dq and determines whether or not the temporary sub-credibility ds calculated in step 121 is greater than the previously calculated sub-credit ts0. If the temporary sub-credibility ds is greater than the previously calculated sub-credibility ts0 (that is, if ts0 <ds), the CPU 10 proceeds to the next step 127. On the other hand, when the temporary sub-credibility ds is equal to or lower than the previously calculated sub-credibility ts0 (that is, when ds ≦ ts0), the CPU 10 proceeds to the next step 128.

In step 127, the CPU 10 calculates the final sub-credibility ts using the previous sub-credit ts0 indicated by the previous sub-credibility data Dq and the temporary sub-credibility ds calculated in step 121, and the next step The process proceeds to 129. Specifically, the CPU 10 determines the final sub-credibility ts as follows: ts = ts0 * Ts + (1-Ts) * ds (6)
And the sub-credibility data Dp is updated using the calculated sub-credibility ts. Here, Ts is a predetermined constant that satisfies 0 <Ts <1. As is clear from the above formula (6), the speed at which the sub-credit ts is updated with respect to the previous sub-credit ts0 can be adjusted according to the magnitude of the constant Ts. The greater the value, the slower the sub-credibility ts changes.

  On the other hand, in step 128, the CPU 10 updates the final sub-credit ts using the temporary sub-credibility ds calculated in step 121, and uses the updated final sub-credit ts to generate sub-credit data. The DSp is updated, and the process proceeds to the next step 129.

  As is apparent from the processing in steps 126 to 128, when the temporary sub-credibility ds is lower (smaller) than the previously calculated sub-credit ts0, the temporary sub-credibility ds becomes the final sub-credibility. Immediately reflected in ts. On the other hand, if the temporary sub-credibility ds is higher (larger) than the previously calculated sub-credit ts0, the temporary sub-credibility ds is not immediately reflected in the final sub-credit ts, but the final The speed at which the sub-credibility ts changes becomes slow. That is, when the temporary sub-credibility ds is higher (larger) than the previously calculated sub-credit ts0, the final sub-credit ts is a value between the previous sub-credit ts0 and the temporary sub-credit ds0. Thus, an increase in value with respect to the previous sub-credibility ts0 is suppressed. That is, when the final sub-credibility ts calculated in the current process is higher than the final sub-credibility ts0 set in the previous process, the final sub-credit ts0 set in the previous process is less likely to increase. When it becomes lower, it tends to be lower. Here, in the characteristics of the acceleration sensor mounted on the subunit 76, when the movement of the subunit 76 is stopped, the acceleration caused by the inertia changes in a direction gradually decreasing from the previously obtained acceleration. The acceleration difference is not so large. Therefore, if the calculated temporary sub-credibility ds is immediately reflected in the sub-credibility ts, the acceleration caused by the inertia may be treated as a stable acceleration (gravity acceleration). In order to avoid such misrecognition, when the temporary sub-credibility ds changes higher than the previously calculated sub-credit ts0, it is updated so as to gradually change from the previous sub-credibility ts0. Conversely, when the temporary sub-credibility ds changes lower than the previously calculated sub-credit ts0, the calculated temporary sub-credit ds is immediately reacted to the credit ts.

In step 129, the CPU 10 calculates the gravitational acceleration based on the final sub-credibility ts indicated by the sub-credibility data Dp, and ends the processing by the subroutine. For example, the CPU 10 calculates the sub-gravity acceleration vector gs using the sub-credibility ts stored in the sub-credibility data Dp and the accelerations asx, asy, and asz stored in the sub-acceleration data Dm. The sub gravity acceleration data Dr is updated using the sub gravity acceleration vector gs. Specifically, the sub gravitational acceleration vector gs is
gs = asn * ts + gs0 * (1-ts) (7)
Is calculated by normalizing the vector calculated in step 1 to the length of gravity (for example, 1). Here, asn is a vector obtained by normalizing (for example, normalizing to length 1) the acceleration vector (asx, asy, asz) generated in the subunit 76 at the present time. Further, gs0 is the sub-gravity acceleration vector gs calculated in the previous process, and is the sub-gravity acceleration vector gs0 stored in the previous sub-gravity acceleration data Ds. According to Equation (7), the sub gravitational acceleration vector gs becomes a vector obtained by linearly interpolating the acceleration vector as in the subunit 76 and the sub gravitational acceleration vector gs0 calculated last time at a ratio of the sub reliability ts.

  Here, as is clear from the above description, the sub-credibility ts becomes a relatively large value (specifically, approaches 1) if the acceleration change amount | as-as0 | If the change amount | as-as0 | is relatively large, the value becomes relatively small (specifically, it approaches 0). That is, according to the above equation (7), the smaller the acceleration change amount | as−as0 |, the more the gravitational direction calculated in the previous process (the sub gravitational acceleration vector gs0 calculated in the previous process) the current acceleration. The gravitational direction (sub-gravity acceleration vector gs) in the current process is calculated by relatively increasing the correction ratio (degree) using the vector as. In the above formula (7), the rate (degree) of correcting the gravity direction calculated in the previous process using the current acceleration vector as is adjusted according to the acceleration change amount | as-as0 |. However, it may be adjusted using other numerical values. For example, the absolute amount (correction amount) for correcting the gravity direction calculated in the previous process using the current acceleration vector as may be adjusted according to the change amount of acceleration | as-as0 |. In this case, the smaller the acceleration change amount | as-as0 | is, the more the absolute gravity direction (sub-gravity acceleration vector gs0 calculated last time) calculated in the previous process is corrected using the current acceleration vector as. The amount of gravity is relatively increased, and the gravity direction (sub-gravity acceleration vector gs) in the current process is calculated.

  Returning to FIG. 22, after the sub-gravity acceleration update process of step 104, the CPU 10 performs the process of step 105 to step 107 and advances the process to the next step 108. Note that the processing performed in steps 105 to 107 is the same as the processing in steps 44 to 46 described above, and thus detailed description thereof is omitted.

  In step 108, the CPU 10 compares the parallel movement acceleration with the acceleration generated in the subunit 76, and proceeds to the next step. For example, the CPU 10 calculates the gravitational acceleration from the magnitude of the parallel movement acceleration calculated in step 107 (that is, the magnitude of the acceleration generated by the parallel movement of the controller 7) and the acceleration generated in the subunit 76. The magnitude of the reduced acceleration (that is, the magnitude of the acceleration generated in the subunit 76 other than gravity) is compared. Specifically, the CPU 10 calculates the magnitude of the translation acceleration vector p indicated by the translation acceleration data Dk as the magnitude of the translation acceleration. The CPU 10 subtracts the sub gravitational acceleration vector gs0 indicated by the sub gravitational acceleration data Dr from the acceleration vector (asx, asy, asz) currently generated in the subunit 76 indicated by the sub acceleration data Dm. Is calculated as the magnitude of acceleration occurring in the subunit 76 other than gravity.

  Next, the CPU 10 determines whether or not the magnitude of the acceleration generated in the subunit 76 other than gravity is larger than the magnitude of the parallel movement acceleration (step 109). If the magnitude of the acceleration generated in the subunit 76 other than gravity is larger than the magnitude of the parallel movement acceleration, the CPU 10 proceeds to the next step 110. On the other hand, when the magnitude of the acceleration generated in the subunit 76 other than gravity is equal to or smaller than the magnitude of the parallel movement acceleration, the CPU 10 proceeds to the next step 111.

  In step 110, the CPU 10 performs a game process using the translation acceleration vector p indicated by the translation acceleration data Dk and the angular velocities ωx, ωy, and ωz indicated by the angular velocity data Da, and proceeds to the next step 112. . For example, the CPU 10 controls the action of the player character PC using the parallel movement acceleration vector p and the angular velocities ωx, ωy, and ωz.

  Specifically, the CPU 10 calculates the moving direction of the player character PC according to the attitude of the input device 6 (controller 7). For example, when the angular velocities ωx, ωy, and ωz indicate that the input device 6 is tilted to the left or right, the input device 6 is tilted according to the posture of the input device 6 (for example, the tilt angle). The personal watercraft operated by the player character PC is turned in the direction in which the player character PC is operated (see FIG. 19). Further, when the angular velocities ωx, ωy, and ωz indicate that the input device 6 is maintained in a horizontal posture, the personal watercraft that the player character PC is maneuvering is made to go straight. The posture (angle) of the input device 6 can be calculated using the angular velocities ωx, ωy, and ωz. Which method is used to calculate the posture (angle) of the input device 6 from the angular velocities ωx, ωy, and ωz? Such a method may be used.

  Further, the CPU 10 jumps the personal watercraft operated by the player character PC according to the magnitude of the parallel movement acceleration vector p when the parallel movement acceleration vector p is larger than a predetermined value and indicates the upper side of the controller 7. (See FIG. 20). The direction of the translation acceleration vector p in the real space may be calculated by any method. As an example, the direction in which the gravitational acceleration is occurring at present (the direction of the gravitational acceleration vector g) is the vertical direction in the real space, and the direction in the real space of the translation acceleration vector p is calculated using the vertical direction as a reference. As another example, the direction of the translation acceleration vector p in the real space is calculated with reference to the attitude of the input device 6 described later.

  Here, the game process of step 110 is a process performed when the magnitude of the acceleration generated in the subunit 76 other than gravity is larger than the magnitude of the parallel movement acceleration. Further, in the game process of step 110, the acceleration generated in the subunit 76 is not used for the motion control of the player character PC. Therefore, even if the player swings only the subunit 76, the player character PC cannot be operated. That is, the player who operates the input device 6 is required to perform an operation that moves at least the controller 7 as well as the subunit 76 in order to operate the player character PC.

  On the other hand, in step 111, the CPU 10 performs a game process using acceleration generated in the subunit 76 other than gravity and the angular velocities ωx, ωy, and ωz indicated by the angular velocity data Da, and the process proceeds to the next step 112. Proceed. For example, the CPU 10 controls the action of the player character PC using acceleration generated in the subunit 76 other than gravity and angular velocities ωx, ωy, and ωz.

  Specifically, as in step 110 described above, the CPU 10 calculates the moving direction of the player character PC according to the posture (angular velocities ωx, ωy, and ωz) of the input device 6 (controller 7). Further, when the acceleration generated in the subunit 76 other than gravity indicates the upper portion of the subunit 76 with a magnitude greater than or equal to a predetermined value, the CPU 10 personally controls the player character PC according to the magnitude of the acceleration. Jump the watercraft (see FIG. 20). The direction in the real space of the acceleration generated in the subunit 76 other than gravity may be calculated by any method. As an example, the direction in which the gravitational acceleration is currently generated in the subunit 76 (the direction of the sub gravitational acceleration vector gs) is the vertical direction in the real space, and is generated in the subunit 76 other than gravity with reference to the vertical direction. Calculate the direction of acceleration in real space.

  Here, the game process in step 111 is a process performed when the magnitude of the acceleration generated in the subunit 76 other than gravity is equal to or less than the magnitude of the parallel movement acceleration. Further, in the game process of step 111, the acceleration generated in the controller 7 is not used for the motion control of the player character PC. Therefore, even if the player swings only the controller 7, the personal watercraft operated by the player character PC cannot be jumped. That is, the player who operates the input device 6 is required to perform an operation that moves at least the subunit 76 as well as the controller 7 in order to jump the personal watercraft. As is apparent from the game process at step 110 and the game process at step 110, in order for the player operating the input device 6 to operate the player character PC, it is only necessary to operate one of the controller 7 and the subunit 76. Since the player's desired operation cannot be performed, as a result, an operation for moving both the controller 7 and the subunit 76 is required.

  In the processing described above, the game processing is performed using the acceleration obtained by subtracting the gravitational acceleration component from the acceleration generated in the subunit 76. However, the acceleration component generated by tilting the subunit 76 to the acceleration used for the game processing. Is also included. On the other hand, the acceleration generated in the controller 7 is used in the game process in a state in which the acceleration component generated by tilting the controller 7 is reduced together with the gravitational acceleration component. Therefore, when the player performs the same operation while holding both the controller 7 and the subunit 76, the game process is always performed based on the acceleration obtained from the controller 7.

  In step 112, the CPU 10 updates the previous parameter using the parameters calculated by the processing in the above steps 101 to 108, and advances the processing to the next step. Specifically, the CPU 10 updates the previous acceleration data Dc, the previous reliability data Df, the previous gravitational acceleration data Dh, and the previous correction degree value data Dj in the same manner as in step 48 described above. In addition, the CPU 10 updates the accelerations as0x, as0y, and as0z using the accelerations asx, asy, and asz indicated by the sub-acceleration data Dm, and uses the updated accelerations as0x, as0y, and as0z for the previous sub-acceleration data. Update Dn. The CPU 10 updates the previous sub-credibility ts0 using the sub-credibility ts indicated by the sub-credibility data Dp, and updates the previous sub-credibility data Dq using the updated sub-credit ts0. Then, the CPU 10 updates the previous sub gravity acceleration vector gs0 using the sub gravity acceleration vector gs indicated by the sub gravity acceleration data Dr, and updates the previous sub gravity acceleration data Ds using the updated sub gravity acceleration vector gs0. To do.

  Next, the CPU 10 determines whether or not to end the game (step 113). As a condition for ending the game, for example, a condition that the game being processed in step 110 or 111 is game over is satisfied, or that the player has performed an operation to end the game. . CPU10 returns to the said step 101, and repeats a process, when not complete | finishing a game. On the other hand, CPU10 complete | finishes the process by the said flowchart, when complete | finishing a game.

  As described above, according to the game process according to the second embodiment, when the input device 6 in the form in which the controller 7 and the subunit 76 are connected is used, the controller 7 acts in each of the three axial directions. In order to determine the attitude and movement of the controller 7 using the acceleration that is present, the rotation of the entire input device 6 is determined using the angular velocity generated in the controller 7, and the entire input device 6 is moving in parallel. Acquiring the acceleration that is occurring. Thereby, in the game process, the acceleration obtained by the parallel movement of the input device 6 can be determined instantaneously. Therefore, in the above game processing, the acceleration obtained from the input device 6 is a parallel movement operation that pulls up the entire input device 6 in a form in which the controller 7 and the subunit 76 are connected or protrudes the entire input device 6. Can be accurately recognized.

  Further, according to the game processing according to the second embodiment, when the input device 6 in a form in which the controller 7 and the subunit 76 are connected is used, the data indicating the acceleration generated in the controller 7 and the subunit 76 are stored. Data indicating the acceleration that is occurring can be used. On the other hand, since the angular velocity detection unit 9 for detecting the angular velocity is attached only to the controller 7, the angular velocity generated in the subunit 76 cannot be directly detected. However, in the above game process, the acceleration generated in the controller 7 and the acceleration generated in the subunit 76 are compared and analyzed, and one of the accelerations is adopted in the game process, so that the entire input device 6 is parallel. It is possible to acquire acceleration generated while moving and use it for game processing. Further, by comparing and analyzing the acceleration generated in the controller 7 and the acceleration generated in the subunit 76, and adopting the acceleration having the smaller magnitude in the game processing, the controller 7 and the subunit 76 Since the player cannot perform a desired operation only by operating one of them, the player can be requested to move the controller 7 and the subunit 76 together.

Here, in the game processing shown in steps 61 to 67, when the correction degree value f is greater than or equal to the previously calculated correction degree value f0, the correction degree value f is smaller than the previously calculated correction degree value f0. Depending on the case, the correction degree value f is updated by different methods. Specifically, when the correction degree value f is smaller than the previously calculated correction degree value f0, the correction degree value f is
f ← f * S + (1-S) * f0
S is a predetermined constant satisfying 0 <S <1. As a result, when the correction degree value f becomes smaller than the previously calculated correction degree value f0, the speed at which the correction degree value f changes becomes slow. Here, the case where the correction degree value f is smaller than the previously calculated correction degree value f0 is a case where the rotation speed (angular speed) of the controller 7 as a whole becomes slow. When the correction degree value f is large, it is considered that the acceleration generated by the controller 7 is included in the acceleration generated in the controller 7 by the subsequent processing. On the other hand, when the player tries to stop the rotation of the entire controller 7, the player's operation for stopping the rotation of the controller 7 causes acceleration, so that the rotation of the controller 7 is stopped even when the rotation of the controller 7 stops. Acceleration may remain. Thus, by slowing down the speed at which the correction degree value f changes, the acceleration when stopping the rotation of the controller 7 is also suppressed, and the acceleration component due to the parallel movement of the controller 7 can be accurately recognized. .

  However, if the effect described above is not expected, the correction degree value f may be updated by the same method regardless of the comparison result between the correction degree value f and the correction degree value f0 calculated last time. For example, the value of the correction degree value f calculated in steps 61 to 65 may be always adopted as the correction degree value f as it is. In this case, the processing of step 66 and step 67 is not necessary, and it is not necessary to store the correction degree value f0 calculated last time in the main memory.

  Further, in the case of using the input device 6 in a form in which the controller 7 and the subunit 76 are connected, the example in which the angular velocity detection unit 9 is attached only to the controller 7 has been described, but the aspect in which the angular velocity detection unit 9 is attached. Even if they are different, the present invention can be applied. As a first example, the angular velocity detection unit 9 is attached only to the subunit 76. In this case, in the game process according to the second embodiment described above, the process using the data obtained from the controller 7 side is replaced with the process obtained from the subunit 76 side, and the data obtained from the subunit 76 side is used. If the process is replaced with a process obtained from the controller 7, the same game process can be performed. As a second example, two angular velocity detection units 9 are attached to the controller 7 and the subunit 76, respectively. In this case, in the game process according to the second embodiment described above, if the process using the data obtained from the controller 7 side is also applied to the process of the angular velocity data obtained from the subunit 76 side, it can be obtained from the controller 7. Processing for correcting the acceleration and the acceleration obtained from the subunit 76 can be performed independently.

  Data output from the subunit 76 (data indicating the operation content of the operation unit 761 and data indicating the acceleration detected by the acceleration sensor 762) is output to the controller 7 via the microcomputer 94 of the angular velocity detection unit 9. However, it may be output to the controller 7 without going through the microcomputer 94. In this case, the data output from the subunit 76 is output to the communication unit 75 via the connection cable 731, the connector 732, the connector 97, the plug 93, and the connector 73 (the broken line shown in FIG. 18). root).

  In the above-described processing, a plurality of axes (XYZ axes) for detecting acceleration by the acceleration sensor 701 and a plurality of rotation axes (XYZ axes) for detecting angular velocities by the angular velocity detection unit 9 are matched. However, these axes may be different. When the angle indicating the difference between each of the plurality of axes for detecting the acceleration by the acceleration sensor 701 and each of the plurality of rotation axes for detecting the angular velocity by the angular velocity detection unit 9 is known in advance, coordinates are obtained using the angles. Can be converted. As an example, the present invention is realized by performing coordinate conversion of accelerations based on a plurality of axial directions detected by the acceleration sensor 701 into accelerations based on the rotation axis, using angles indicating the differences. Can do. As another example, an angular velocity based on a plurality of rotation axes detected by the angular velocity detection unit 9 is converted into an angular velocity based on a plurality of axes on which the acceleration sensor 701 detects acceleration using the angle indicating the difference. The present invention can be realized by performing coordinate conversion. In the above description, the acceleration sensor 701 detects the acceleration (XYZ axis) and the angular velocity detection unit 9 detects the angular velocity (XYZ axis) as three axes, respectively. Each axis may be one axis or two axes.

  In the above-described processing, an example is used in which the corrected acceleration is used in the game processing in Step 47, Step 110, and Step 111. However, the present invention outputs the corrected acceleration to another device. It may be an information processing apparatus or an information processing program executed by the information processing apparatus. In this case, step 47, step 110, and step 111 are changed to a step of outputting acceleration data to another device, and the output acceleration data is used in the game processing of step 47, step 110, and step 111. The present invention can be realized as an information processing program and an information processing apparatus that do not execute game processing.

  In the above description, the processing of estimating the gravitational acceleration occurring in the controller 7 and / or the subunit 76 is performed in the above steps 43, 103, and 104, respectively. Specifically, in the process of estimating the gravitational acceleration, when the amount of change in acceleration occurring in the controller 7 and / or the subunit 76 (difference before and after acceleration sampling) is less than a certain value, that is, when the change in acceleration is small. In addition, the acceleration is estimated as a gravitational acceleration.

  Further, the angular velocity data appropriately stored in the angular velocity data Da may be subjected to predetermined correction before being stored. Hereinafter, an example of correction of angular velocity data will be described.

For example, the angular velocity v indicated by the angular velocity data output from the gyro sensors 95 and 96 is
v ← v + (sum / ct−v) × a
To make the primary correction. Here, ct goes back from a data buffer (not shown) in which the angular velocity v is stored, and the angular velocity continuously falls within the stable range set by the stable range (lower limit) s1 and the stable range (upper limit) s2. This is the number of data determined to be (continuous number ct). sum is a total value (total value sum) of values in the data buffer determined to be within the stable range. That is, the number (continuous number ct) when data included in the stable range is repeatedly acquired sequentially in order from the new data buffer to the old data buffer, starting from the position of the data buffer in which the angular velocity v is written. And a total value (total value sum) (however, a search upper limit number is set). Moreover, a shows a stationary condition value. The stationary state value a is a numerical value in the range of 0 to 1, and is a value that approaches 1 as the period during which the movement of the gyro sensors 95 and 96 is small (stable) is long. The static state value a is such that when the continuous number ct is equal to the search upper limit number, that is, all the values of the data buffer for the search upper limit number are continuously within the stable range retroactively from the data buffer storing the angular velocity v. Is normalized so that the maximum value is 1.

Then, the offset correction is performed by subtracting the zero point offset value (stationary output value) ofs from the angular velocity v after the primary correction. Here, the zero point offset value ofs is a data value that is assumed to be displayed when the gyro sensors 95 and 96 are stationary, and is set to a predetermined device specific value. However, the angular velocity v after the primary correction is described above. In accordance with the above, the correction is sequentially performed and reset. Specifically, the zero point offset value ofs is
ofs ← ofs + (v−ofs) × a × C
Are sequentially corrected and reset. Here, C is a constant, and is set to C = 0.01, for example. By setting the constant C to a small value, the angular velocity v is prevented from being corrected to be the angular velocity (zero point) in the stationary state of the input device 6 in a short period. When the change in the angular velocity is small as when the gyro sensors 95 and 96 are stationary, the zero point is corrected so that the zero point approaches the average value.

The angular velocity v after the primary correction is offset corrected using the zero point offset value ofs. For example, the angular velocity v after the primary correction is
v ← v-ofs
Thus, the offset is corrected. As a result, the angular velocity v indicated by the angular velocity data output from the gyro sensors 95 and 96 is corrected again in consideration of the zero point (static output value at rest). Then, the angular velocity data Da is appropriately updated using the angular velocity v after the offset correction. The angular velocity data appropriately stored in the angular velocity data Da may be angular velocity data obtained by performing only the offset correction without performing the primary correction. Alternatively, only the offset correction may be performed with the zero point offset value ofs set to a fixed value.

  In the above-described embodiment, the processing result data from the imaging information calculation unit 74 mounted on the controller 7 is not used. Therefore, when the present invention is realized, the imaging information calculation unit 74 may not be mounted on the controller 7. Further, in the above-described embodiment, the configuration in which the angular velocity detection unit 9 provided with the gyro sensors 95 and 96 is detachably connected to the controller 7 is used. It does not matter if it is provided inside.

  In the above description, the example in which the present invention is applied to a stationary game apparatus has been described. However, the information processing apparatus such as a general personal computer operated by an input device including a gyro sensor and an acceleration sensor is also described. Can be applied. For example, the angular velocity generated in the input device such as the information processing device calculates the posture or movement of the input device in accordance with the angular velocity data output from the gyro sensor of the input device and the acceleration data output from the acceleration sensor of the input device. And various information processing based on acceleration.

  In the above description, the controller 7 (input device 6) and the game apparatus main body 5 are connected by wireless communication. However, the controller 7 and the game apparatus main body 5 are electrically connected via a cable. It does not matter. In this case, the cable connected to the controller 7 is connected to the connection terminal of the game apparatus body 5.

  In the above description, the communication unit 75 is provided only in the controller 7 of the controller 7 and the subunit 76. However, when the input device 6 in which the controller 7 and the subunit 76 are connected is used, the subunit 76 is provided. A communication unit that wirelessly transmits transmission data to the game apparatus body 5 may be provided. Further, the communication unit may be provided in each of the controller 7 and the subunit 76. For example, the communication units provided in the controller 7 and the subunit 76 may wirelessly transmit transmission data to the game apparatus body 5 respectively, or the transmission data may be wirelessly transmitted from the communication unit of the subunit 76 to the controller 7. 7, the communication unit 75 of the controller 7 may wirelessly transmit the transmission data of the controller 7 together with the transmission data of the subunit 76 to the game apparatus body 5. In these cases, the connection cable 731 that electrically connects the controller 7 and the subunit 76 becomes unnecessary.

  In addition, the shape of the controller 7, the subunit 76, and the angular velocity detection unit 9 described above, the shape, the number, and the installation position of the operation units 72 and 761 are merely examples, and other shapes, numbers, and installation positions. However, it goes without saying that the present invention can be realized. Moreover, it is needless to say that the present invention can be realized even if the coefficients, determination values, mathematical formulas, processing order, and the like used in the above-described processing are merely examples, and other values, mathematical formulas, and processing orders are used.

  The game program of the present invention may be supplied not only to the game apparatus body 5 through an external storage medium such as the optical disc 4 but also to the game apparatus body 5 through a wired or wireless communication line. The game program may be recorded in advance in a nonvolatile storage device inside the game apparatus body 5. The information storage medium for storing the game program may be a non-volatile semiconductor memory in addition to a CD-ROM, DVD, or similar optical disk storage medium.

  Although the present invention has been described in detail above, the above description is merely illustrative of the present invention in all respects and is not intended to limit the scope thereof. It goes without saying that various improvements and modifications can be made without departing from the scope of the present invention.

  The information processing program and the information processing apparatus according to the present invention can accurately determine the movement of the input device using data obtained from the acceleration sensor provided in the input device, and show the movement of the input device and the like. It is useful as a device that executes predetermined processing using data or a program executed by the device, and is also useful as a device that outputs data indicating the movement of the input device or the like or a program executed by the device.

DESCRIPTION OF SYMBOLS 1 ... Game system 2 ... Monitor 2a, 706 ... Speaker 3 ... Game device 4 ... Optical disk 5 ... Game device main body 6 ... Input device 10 ... CPU
11 ... System LSI
12 ... External main memory 13 ... ROM / RTC
14 ... Disk drive 15 ... AV-IC
16 ... AV connector 17 ... Flash memory 18 ... Wireless communication module 19 ... Wireless controller module 20 ... Expansion connector 21 ... External memory card connector 22, 23 ... Antenna 24 ... Power button 25 ... Reset button 26 ... Eject button 31 ... Input / output Processor 32 ... GPU
33 ... DSP
34 ... VRAM
35 ... Internal main memory 7 ... Controllers 71, 763 ... Housing 72, 761 ... Operation units 73, 97, 732 ... Connector 731 ... Connection cable 74 ... Imaging information calculation unit 741 ... Infrared filter 742 ... Lens 743 ... Imaging element 744 ... Image Processing circuit 75 ... Communication unit 751, 94 ... Microcomputer 752 ... Memory 753 ... Wireless module 754 ... Antenna 76 ... Subunit 700 ... Substrate 701, 762 ... Acceleration sensor 702 ... LED
704 ... Vibrator 707 ... Sound IC
708 ... Amplifier 8 ... Marker 9 ... Angular velocity detection unit 91 ... Button 92 ... Cover 93 ... Plug 95 ... 2-axis gyro sensor 96 ... 1-axis gyro sensor

Claims (19)

An information processing program that is executed by a computer of an information processing device that performs predetermined processing based on acceleration data output from an input device including an acceleration sensor that detects acceleration,
The computer,
Data acquisition means for repeatedly acquiring the acceleration data;
A change amount calculation means for calculating a change amount of acceleration generated in the input device using an acceleration history indicated by the acceleration data;
An information processing program that functions as a gravity direction calculation unit that calculates the gravity direction of the input device using the acceleration indicated by the acceleration data based on a change amount of the acceleration.   The gravitational direction calculation means calculates the gravitational direction in the current process by correcting the gravitational direction calculated in the previous process using the acceleration indicated by the acceleration data based on the change amount of the acceleration. 1. An information processing program according to 1.   The information processing program according to claim 2, wherein the gravitational direction calculation means corrects the gravitational direction calculated in the previous process to a greater extent as the change amount of the acceleration is smaller, and calculates the gravitational direction in the current process.   The information processing according to claim 2, wherein the gravity direction calculating means calculates the gravity direction in the current process by increasing the degree of correction of the gravity direction calculated in the previous process as the change amount of the acceleration is smaller. program.   The information processing program according to claim 2, wherein the gravitational direction calculation unit corrects only when a change amount of the acceleration is equal to or less than a predetermined value. The gravity direction calculating means includes
Based on the amount of change in acceleration, provisional credit calculation means for calculating provisional reliability indicating the degree to which the acceleration indicated by the acceleration data can be trusted as gravitational acceleration;
Credit quality setting means for setting a credit rating indicating a degree of correcting the direction of gravity calculated in the previous process based on the temporary credit rating;
The information according to claim 2, wherein the gravity direction calculation unit calculates the gravity direction in the current process by correcting the gravity direction calculated in the previous process according to the reliability set by the reliability setting unit. Processing program. The temporary creditworthiness calculating means calculates the temporary creditworthiness higher as the change amount of the acceleration is smaller,
The information processing program according to claim 6, wherein the trustworthiness setting unit sets the trustworthiness higher as the provisional trustworthiness is higher.   The credit level setting means sets the credit level in the current process to be less likely to be higher when it is higher than the credit level set in the previous process, and to be lower when it is lower than the credit level set in the previous process. Information processing program described in 1. The credit quality setting means includes a high / low determination means for determining whether or not the temporary credit calculated by the temporary credit calculation means is higher than the credit set in the previous process,
If the high / low determination means determines that the temporary credit calculated by the temporary credit calculating means is higher than the credit set in the previous process, the credit setting means calculates the temporary credit calculated by the temporary credit calculating means and the previous credit The information processing program according to claim 7, wherein a value between the trustworthiness set in the process of step 1 is set as the trustworthiness in the current process.   If the high / low determination means determines that the temporary credit calculated by the temporary credit calculating means is the same or lower than the credit set in the previous process, the temporary credit calculated by the temporary credit calculating means The information processing program according to claim 9, wherein the value of is set to the reliability in the current process.   The gravitational direction calculation means calculates the gravitational direction in the current process by combining the gravitational acceleration generated in the gravitational direction calculated in the previous process and the acceleration indicated by the acceleration data at a ratio indicated by the reliability. Item 7. The information processing program according to item 6.   The information processing program according to claim 1, wherein the gravitational direction calculation means calculates the direction in which the acceleration indicated by the acceleration data is generated as it is as the gravitational direction in the current process when the acceleration change amount is zero. Based on the acceleration indicated by the acceleration data acquired by the data acquisition means, further causing the computer to function as an acceleration vector calculation means for calculating an acceleration vector,
The change amount calculating means calculates a change amount of the magnitude of the acceleration vector using a history of the acceleration vector,
The gravitational direction calculation means calculates a gravitational direction vector indicating a gravitational direction of the input device based on an amount of change in the magnitude of the acceleration vector, using the acceleration vector calculated by the acceleration vector calculation means. 1. An information processing program according to 1.   The gravitational direction calculation means synthesizes the gravity direction vector calculated in the previous process and the acceleration vector calculated by the acceleration vector calculation means at a predetermined ratio based on the amount of change in the magnitude of the acceleration vector. The information processing program according to claim 13, wherein a gravity direction vector in the current process is calculated.   The gravitational direction calculation means calculates a gravitational direction vector in the current process by decreasing the ratio of combining the acceleration vectors calculated by the acceleration vector calculation means as the amount of change in the magnitude of the acceleration vector increases. Item 15. An information processing program according to Item 14.   The gravitational direction calculation means calculates the gravitational direction vector in the current process by synthesizing the acceleration vectors calculated by the acceleration vector calculation means at a ratio linearly corresponding to the amount of change in the magnitude of the acceleration vector. The information processing program according to claim 15.   The computer is further caused to function as processing means for performing predetermined processing using acceleration indicated by the acceleration data acquired by the data acquisition means with reference to the gravity direction calculated by the gravity direction calculation means. The information processing program described. An information processing device that performs predetermined processing based on acceleration data output from an input device that includes an acceleration sensor that detects acceleration,
Data acquisition means for repeatedly acquiring the acceleration data;
A change amount calculation means for calculating a change amount of acceleration generated in the input device using an acceleration history indicated by the acceleration data;
An information processing apparatus comprising: a gravitational direction calculating unit that calculates the gravitational direction of the input device using an acceleration indicated by the acceleration data based on a change amount of the acceleration.   The gravitational direction calculation means calculates the gravitational direction in the current process by correcting the gravitational direction calculated in the previous process using the acceleration indicated by the acceleration data based on the change amount of the acceleration. The information processing apparatus according to 18.

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