EP1587588A2 - Procede et dispositif permettant de determiner l'orientation et la position d'un objet mobile - Google Patents

Procede et dispositif permettant de determiner l'orientation et la position d'un objet mobile

Info

Publication number
EP1587588A2
EP1587588A2 EP03813792A EP03813792A EP1587588A2 EP 1587588 A2 EP1587588 A2 EP 1587588A2 EP 03813792 A EP03813792 A EP 03813792A EP 03813792 A EP03813792 A EP 03813792A EP 1587588 A2 EP1587588 A2 EP 1587588A2
Authority
EP
European Patent Office
Prior art keywords
orientation
sensor
data
moveable object
microcontroller
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Withdrawn
Application number
EP03813792A
Other languages
German (de)
English (en)
Inventor
Satayan Mahajan
Vadim Gerasimov
Arun Mehta
Zachery Lavalley
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Motus Corp
Original Assignee
Fortescue Corp
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Fortescue Corp filed Critical Fortescue Corp
Publication of EP1587588A2 publication Critical patent/EP1587588A2/fr
Withdrawn legal-status Critical Current

Links

Classifications

    • A—HUMAN NECESSITIES
    • A63—SPORTS; GAMES; AMUSEMENTS
    • A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
    • A63B69/00—Training appliances or apparatus for special sports
    • A63B69/36—Training appliances or apparatus for special sports for golf
    • A63B69/3623—Training appliances or apparatus for special sports for golf for driving
    • A63B69/3632—Clubs or attachments on clubs, e.g. for measuring, aligning
    • A—HUMAN NECESSITIES
    • A63—SPORTS; GAMES; AMUSEMENTS
    • A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
    • A63B69/00—Training appliances or apparatus for special sports
    • A—HUMAN NECESSITIES
    • A63—SPORTS; GAMES; AMUSEMENTS
    • A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
    • A63B69/00—Training appliances or apparatus for special sports
    • A63B69/36—Training appliances or apparatus for special sports for golf
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01P—MEASURING LINEAR OR ANGULAR SPEED, ACCELERATION, DECELERATION, OR SHOCK; INDICATING PRESENCE, ABSENCE, OR DIRECTION, OF MOVEMENT
    • G01P15/00—Measuring acceleration; Measuring deceleration; Measuring shock, i.e. sudden change of acceleration
    • A—HUMAN NECESSITIES
    • A63—SPORTS; GAMES; AMUSEMENTS
    • A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
    • A63B69/00—Training appliances or apparatus for special sports
    • A63B69/0002—Training appliances or apparatus for special sports for baseball
    • A63B2069/0004—Training appliances or apparatus for special sports for baseball specially adapted for particular training aspects
    • A63B2069/0008—Training appliances or apparatus for special sports for baseball specially adapted for particular training aspects for batting
    • A—HUMAN NECESSITIES
    • A63—SPORTS; GAMES; AMUSEMENTS
    • A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
    • A63B2220/00—Measuring of physical parameters relating to sporting activity
    • A63B2220/10—Positions
    • A63B2220/12—Absolute positions, e.g. by using GPS
    • A—HUMAN NECESSITIES
    • A63—SPORTS; GAMES; AMUSEMENTS
    • A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
    • A63B2220/00—Measuring of physical parameters relating to sporting activity
    • A63B2220/10—Positions
    • A63B2220/16—Angular positions
    • A—HUMAN NECESSITIES
    • A63—SPORTS; GAMES; AMUSEMENTS
    • A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
    • A63B2220/00—Measuring of physical parameters relating to sporting activity
    • A63B2220/40—Acceleration
    • A—HUMAN NECESSITIES
    • A63—SPORTS; GAMES; AMUSEMENTS
    • A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
    • A63B2220/00—Measuring of physical parameters relating to sporting activity
    • A63B2220/80—Special sensors, transducers or devices therefor
    • A63B2220/803—Motion sensors
    • A—HUMAN NECESSITIES
    • A63—SPORTS; GAMES; AMUSEMENTS
    • A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
    • A63B2220/00—Measuring of physical parameters relating to sporting activity
    • A63B2220/80—Special sensors, transducers or devices therefor
    • A63B2220/83—Special sensors, transducers or devices therefor characterised by the position of the sensor
    • A63B2220/833—Sensors arranged on the exercise apparatus or sports implement
    • A—HUMAN NECESSITIES
    • A63—SPORTS; GAMES; AMUSEMENTS
    • A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
    • A63B2225/00—Miscellaneous features of sport apparatus, devices or equipment
    • A63B2225/50—Wireless data transmission, e.g. by radio transmitters or telemetry
    • A—HUMAN NECESSITIES
    • A63—SPORTS; GAMES; AMUSEMENTS
    • A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
    • A63B69/00—Training appliances or apparatus for special sports
    • A63B69/0024—Training appliances or apparatus for special sports for hockey
    • A—HUMAN NECESSITIES
    • A63—SPORTS; GAMES; AMUSEMENTS
    • A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
    • A63B69/00—Training appliances or apparatus for special sports
    • A63B69/36—Training appliances or apparatus for special sports for golf
    • A63B69/3676—Training appliances or apparatus for special sports for golf for putting
    • A63B69/3685—Putters or attachments on putters, e.g. for measuring, aligning
    • A—HUMAN NECESSITIES
    • A63—SPORTS; GAMES; AMUSEMENTS
    • A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
    • A63B69/00—Training appliances or apparatus for special sports
    • A63B69/38—Training appliances or apparatus for special sports for tennis

Definitions

  • the present invention relates to motion tracking systems and more particularly to a method and apparatus for determining position and orientation of one or more moveable object(s).
  • Object motion can be measured using sensors for determining motion parameters such as accelerometers and gyroscopes.
  • Gyroscopes and accelerometers are well-known in the automotive and aerospace industries for providing motion information, establishing an inertial space reference, and allowing measurement of pitch and roll relative to a gravitational vector.
  • the use of these sensors have been limited to large devices due to the weight and bulk of the sensors.
  • technology improvements have produced smaller gyroscopes and accelerometers that can be utilized in a wide variety of applications where limited sensor space is available. (See, for example, U.S. Patent Nos.: 5,898,421 to Quinn; and RE37,374 to oston, et al.; the teachings of which are incorporated herein by reference).
  • Acceleration sensors including accelerometers and strain gauges, have been utilized in sporting equipment, such as golf clubs, to provide analysis of golf swings. (See, for example, U.S. Patent Nos. 5,694,340 to Kim and 5,233,544 to Kobayashi, the teachings of which are incorporated herein by reference). Such acceleration sensors can provide rotational information about the golf club, but the accuracy of such rotational information can be problematic.
  • U.S. Patent No. 6,224,493 to Lee, et al. discloses an instrumented golf club system with sensors to measure characteristics of a golf swing, including the use of an angular rate sensor.
  • a distinctive feature of this instrumented golf club is the use of a data storage memory device located within the golf club that eliminates the need for radio transmission hardware. The data from a golf swing is captured internally and stored until the user is ready to download the data for further processing. Swing analysis can only be conducted after the internally stored swing information is downloaded to the external processing device.
  • an orientation and position tracking system installed on a moveable object, such as a golf club, which utilizes motion sensors and real-time wireless data transmission of orientation and position information for analysis and display.
  • An orientation and position tracking system in three-dimensional space and over time is disclosed utilizing inertial and other sensors for determining motion parameters to measure orientation and position of a moveable object.
  • the sensors for example vibrational and angular velocity sensors, generate signals characterizing the motion of the moveable object.
  • the information is received by a data acquisition system and processed by a microcontroller.
  • the data is then transmitted via wireless communication to an external data reception system (locally based or a global network).
  • the information can then be displayed and presented to the user through a variety of means including audio, visual, and tactile.
  • the present invention provides for an intelligent golf club that provides golfers with real-time, precise and dynamically presented data, including swing analysis.
  • a golfer takes a swing and a detailed analysis of club motion, launch conditions, club speed information, as well as contextual feedback is automatically downloaded into a computer system (including PDA, cellular phone, or over a network) for processing and display.
  • a computer system including PDA, cellular phone, or over a network
  • the present invention provides a method for determining orientation and position of a moveable object, comprising the steps of: generating orientation and position signals to measure orientation and position of the moveable object with at least one sensor for determining motion parameters; processing these signals with a microcontroller to generate orientation and position data; wirelessly transmitting said orientation and position data in real-time to a receiving device external to the moveable object; and analyzing and displaying orientation and position data.
  • FIG. 1 is a functional diagram of an orientation and position tracking system according to one embodiment of the invention
  • FIG. 2 is a schematic illustration of a device utilizing the orientation and position tracking system according to one embodiment of the invention
  • FIG. 3 is a schematic illustration of a device utilizing the orientation and position tracking system and including a pressure sensor according to one embodiment of the invention
  • FIG. 4 is a schematic illustration showing the utilization of multiple devices in an orientation and position tracking system according to one embodiment of the invention
  • FIG. 5 is a detailed data flow model for a device utilizing the orientation and position tracking system according to one embodiment of the invention.
  • FIG. 6 is a flow chart of the operational software for a motion and position sensing device installed on or in a moveable object according to one embodiment of the invention
  • FIG. 7 is a flow chart of the operational software installed on a computer system for analyzing and displaying transmitted orientation and position information according to one embodiment of the invention.
  • the present invention provides for an orientation and position tracking system in three-dimensional space installed on or in a moveable object that utilizes inertial and other sensors for determining real-time motion parameters and real-time wireless transmission of that motion information to an external computer system (including
  • the present invention provides for an intelligent golf club, the iClubTM (trademarked by Fortescue Corporation), that provides golfers with real-time, precise and dynamically presented data, including swing analysis.
  • iClubTM trademarked by Fortescue Corporation
  • a golfer takes a swing and a detailed analysis of club motion, launch conditions, club speed information, as well as contextual feedback is automatically downloaded into an computer system (such as a PDA, cellular phone, or network). Swing history is stored and tracked over time, allowing users to monitor their progress, make swing adjustments, maintain a practice regime, and develop desired swing characteristics.
  • FIG. 1 is a functional diagram of an orientation and position tracking system 10 according to one embodiment of the invention.
  • a sensing device fitted with inertial and other sensors for determining motion parameters is installed on a moveable object, such as a golf club.
  • the sensors include multiple angular rate sensors, such as 3-axis vibration and rotational gyroscopes 12.
  • a variety of additional sensors 14, 16 may also be added for determining position and orientation for additional applications.
  • a dual axis accelerometer may be added to the system to determine position and orientation relative to the earth's gravity
  • an electronic compass can be used to provide absolute position and orientation relative to a permanent magnetic field
  • a GPS system may be added for similar results
  • Signals from the sensors are sent to a data acquisition system 18 that processes the information
  • the data acquisition system 18 is installed internally on the moveable object; however, the system may also be an external component.
  • the data is delivered to a wireless data transmission system 20 which transmits the data to a data reception system 22 on a computer (PDA, cellular phone, or network).
  • the data is further processed and displayed to a user by means of an interface device 24, such as a PC, a PDA, cellular phone, or network.
  • the interface device 24 comprises software to process the data.
  • This software can be configured based on the characteristics of the moveable object. For example, a user may select the style of golf club that he or she is using that comprises information on the physical and material properties of the golf club. This information is utilized by the software to enhance the accuracy of the information displayed.
  • the type of material of the golf club allows for an accurate analysis of the flex characteristics of the golf club shaft and the length of the golf club can be utilized for an accurate determination of the club head speed.
  • FIG. 2 is a schematic illustration of one embodiment of a device 110 utilizing the orientation and position tracking system 10 according to one embodiment of the invention.
  • the device 110 is attached to a desired moveable object 100.
  • Such objects may include sporting equipment, such as the golf club as shown in FIG. 2.
  • the device 110 is attached to or otherwise integrated within the handle, grip, or shaft of the object 100.
  • FIG. 2 further illustrates the support body and schematic layout for the components of device 110 of the orientation and position tracking system 10 when disposed in a handle of object 100.
  • the system can be manually activated by a power switch 32 positioned on an orthogonal board 30 at the end of the handle that activates a power control circuit 34 to power up the system from an attached battery pack or other power source 36.
  • the system can be activated by a motion activation component that provides power upon movement of the object.
  • An indicator LED 38 can be used as a visual cue to assess whether the system is operating properly.
  • angular rate sensors 42, 44, 46 are positioned on the orthogonal board 30 and main board 40 to measure angular motion changes about three axes.
  • these motion changes comprise rotational motion within a swing plane of a golf stroke, motion perpendicular to the i swing plane of the golf stroke, and rotation about a axis along the handle of the club.
  • motion changes can also be determined using combinations of motion parameter determining sensors such as gyroscopes or other additional sensors 48 such as accelerometers, electronic compasses and GPS units.
  • motion parameter determining sensors such as gyroscopes or other additional sensors 48 such as accelerometers, electronic compasses and GPS units.
  • the data acquisition system 18 positioned on main board 40 comprises a microcontroller 50 having Analog to Digital inputs and pulse width modulating inputs.
  • the microcontroller 50 receives data from the sensors 42, 44, 46, and delivers data to the data transmission system.
  • the data transmission system 20 comprises a transmitter circuit 52 and an antenna 54 for wireless transmission of data to a data reception system such as a PC, PDA, cellular phone, or network.
  • the wireless transmission can be performed at any suitable frequency(s) and using any protocol(s) for transmitting the data, as known to one of ordinary skill in the art.
  • the microcontroller 50 of the data acquisition system 18 may receive analog signals from the angular rate sensors 42, 44, 46 containing the orientation and position information of the object 100 and then digitize the analog signals into digital data with an analog to digital converter component.
  • the microcontroller 50 delivers the digital data to the data transmission system 20 for wireless transmission to the data reception system 22.
  • the user interface device 24 analyzes and displays the received digital data.
  • the inertial sensors, data acquisition system and data transmission system are incorporated within the handle, grip, or shaft of the object for which orientation and position are desired.
  • these systems can be incorporated on or in the handle or grip portions of the shaft. This modular design provides for the present invention to be incorporated into pre-existing golf clubs.
  • FIG. 3 is a schematic illustration of a device utilizing the orientation and position tracking system and including a pressure sensor according to one embodiment of the invention.
  • One or more pressure sensors 26 installed on, within or behind an impact head of the moveable object 100, i.e. golf club. These sensors can measure data including, strike location of the ball on the head, the spin imparted to the ball, and the impact force of the head on the golf ball which can be utilized to provide launch conditions of the golf ball's flight. This information can be processed by a controller and transmitted along with the motion information to the data receiving unit for analysis and display to a user.
  • FIG. 4 is a schematic illustration showing the utilization of multiple devices in an orientation and position tracking system according to one embodiment of the invention.
  • the sensor, the microcontroller and the wireless transmitter are integrated into at least one modular component or node that is removable from said moveable object.
  • Multiple modular nodes may be integrated with both unconnected objects and interconnected objects.
  • modular nodes 112 and 114 are affixed to the shoulders and hips of a user in order to detect body motion during the golf swing.
  • the detection of the motion from nodes 112 and 114 may be integrated with the orientation and position data determined by the node (device 110) on the golf club, thereby providing more detailed information on the entire golf club swing system.
  • multiple nodes may be utilized with multiple golf clubs, as for example in a class or teaching environment, with each device transmitting orientation and position data to centralized receiving and display units.
  • FIG. 5 is a detailed data flow model of device 110 utilizing the orientation and position tracking system 10 according to one embodiment of the invention.
  • FIG. 6 is a flow chart 200 of the operational software for a motion and position sensing device installed on a moveable object according to the embodiment of the invention.
  • the system is initialized and the LED provides a visual cue that the system is operational.
  • the system software controls the identification of a user, the sampling of inputs and the encoding and sending of data concerning orientation and position information.
  • the hardware device need not have an on-board memory for storing the orientation and position information. Instead, the information is transmitted in real-time to a data reception system, for example a PC, PDA, cellular phone, or network.
  • the real time, wireless motion and position sensing system operates in three- dimensional space and over time based on four modules: the sensor module, the microcontroller, the wireless module, and the support system module.
  • the sensor module continually sends orientation and position signals to the microcontroller.
  • the microcontroller then packages the data received from the sensor module and sends it to the wireless module.
  • the wireless module transmits the packaged data to a device such as a PC, PDA, cellular phone, or network.
  • the support module surrounds the other three modules, providing power to the system, as well as designer access tools.
  • the underlying sensor nodes in the sensor module are gyroscopes (such as Murata ENC-03JA B).
  • Each gyroscope measures angular velocity about a single axis.
  • three gyroscopes are used, each positioned so that its sensing axis is orthogonal to every other gyroscope.
  • the gyros send their angular velocity data directly to the microcontroller.
  • Additional sensors including accelerometers, compasses, GPS systems may provide additional information based on particular motion and position sensing needs.
  • the microcontroller system relies on a single Microchip Technology PIC16F877 microcontroller, running off a 20Mhz Panasonic-ECG EFO-BM2005E5 resonator.
  • the main objective of the microcontroller is to receive data from the sensors, manipulate the data and send it to the wireless transmitter.
  • the microcontroller utilizes three of its on-board analog-to-digital converters and pulse width modulated inputs to process the data. Finally, the data is packaged sent to the wireless module.
  • the wireless module sends data wirelessly using a radio frequency transmitter (e.g. Radiometrix TX3-914-50) and an optimal antenna.
  • the sending system formats the data appropriately for the receiving system.
  • the support system module has two power supply functions. First, it uses a switch (E-switch EG1270) to allow power to flow from an onboard battery to the microcontroller. The microcontroller then switches on a P-channel MOSFET (Fairchild Semiconductor NDS352P), which provides power to all devices in the system. Its second power function is to allow for recharging of the onboard battery.
  • the support module contains a set of headers (Sullins Electronics Corp. PPPN401BFCN and PRPN401AEN) for internal and external connections; one of the headers allows a recharge to access the battery directly, bypassing all other components. Further, there are a number of designer access tools in the support system module. First, there is the programmer port which is used to initially program the microcontroller. The programmer port uses a header (same headers as above) in order to allow the external programmer access to the microcontroller.
  • the support module provides a communication port. This port is used to reprogram the microcontroller or access data directly, bypassing the wireless transmitter.
  • the final tool is a visual cue to the user/designer that the system has received power and is working properly.
  • the system provides this cue using a dual color LED (Lite-ON Inc. LTST-C155KGJRKT).
  • FIG. 7 is a flow chart 300 of the operational software installed on a computer system for processing and presenting orientation and position information according to one embodiment of the invention. The operational steps of the software will now be described in detail.
  • the software program ensures that the packet was not corrupted during wireless transmission.
  • Update Sensor Parameters This step corrects for variations in sensor hardware that could be caused by a number of environmental changes (e.g. temperature variance, electro-magnetic interference, etc.).
  • the system enters an iterative loop in which sensor data is used to update an internal 3D model of a golf club.
  • the software system processes both the sensor data and the 3D club model to match for a possible golf swing pattern. If a match occurs, the system creates an internal Swing Object representing that golf swing, storing both the sensor data and 3D model history inside this object.
  • This Swing Object can then be saved directly to an available storage medium, such as a local hard drive or a remotely server accessible through available networks. Saved Swing Objects can later be reinterpreted by the system individually or as part of a series of Swing Objects.
  • the software program uses the newly captured golf swing to generate swing statistics. These statistics include, but are not limited to, impact detection, launch angle, face angle (at impact and at various moments of the swing path), club head speed, initial face angle, tempo breakdown by swing stage (address-to-top, top-to- impact, impact-to-finish), impact location (toe, heel, center), power transfer index, derived distance, ball trajectory, wrist break, and swing plane alignment.
  • swing statistics include, but are not limited to, impact detection, launch angle, face angle (at impact and at various moments of the swing path), club head speed, initial face angle, tempo breakdown by swing stage (address-to-top, top-to- impact, impact-to-finish), impact location (toe, heel, center), power transfer index, derived distance, ball trajectory, wrist break, and swing plane alignment.
  • the software program uses the single swing 3D models and statistics to generate multi-swing statistics. These statistics include, but are not limited to, tempo consistency (at address-to-top, top-to-impact and, impact-to-finish), club fitting data, long-term trends, training regimes
  • the iClub does not even need to be manually activated and is smart enough to activate based on the motion of the swing. Waggle or warm-up the golf club as normal; the iClub is intelligent and can sense a real swing versus your warm up.
  • Step 3 If you happen to be connected to the Internet while at the golf course, you can gain valuable real-time analysis from our on-line swing engine which, among other things, is capable of correlating your long-term swing history with your handicap. Furthermore, the iClub System will let you know which equipment upgrades will improve your swing, which training methods to implement to eliminate a reoccurring problem, and even share information with your teaching professional.
  • the present invention is suitable for installation in a wide variety of objects and applications. Besides golf clubs, the present invention may be applied to tennis rackets, hockey sticks, fishing rods, baseball bats, swords, rifles, and other sporting equipment. Multiple sensors can be placed on the body to provide detailed body movement. Furthermore, the present invention can be utilized in joy sticks, 3D computer mice, and other computer user interface devices, i particular, the present invention can be utilized in virtual reality equipment for which position and orientation information is relied on extensively.
  • the present invention can be utilized as an instructional tool.
  • the transmitted information can be stored by the computer analysis and display system for multiple swings of an individual golfer or other sport participant.
  • the compilation of this data can be utilized to determine problems in a golfer's swing or to "fit" a golfer to an appropriate golf club.
  • the large statistical number of golf swings analyzed provided by the use of the present invention fosters the ability of these instructional techniques to provide accurate evaluations and a means for mass customization of golf and sporting equipment in general.

Abstract

L'invention concerne un système de suivi d'orientation et de suivi dans un espace tridimensionnel pendant un laps de temps, qui fait intervenir de multiples détecteurs inertiels et autres pour déterminer des paramètres de mouvement et mesurer ainsi l'orientation et la position d'un objet mobile. Les détecteurs, par exemple de vibrations et de vitesse angulaire, génèrent des signaux qui caractérisent le mouvement de l'objet mobile. Les informations sont reçues par un système acquisition et traitées par une micro-unité centrale. Les données sont ensuite transmises via une communication sans fil à un système de réception de données externes (réseau local ou global). L'information peut alors être affichée et présentée à l'utilisateur de diverses manières: sonore, visuelle, tactile, etc.
EP03813792A 2002-12-19 2003-12-19 Procede et dispositif permettant de determiner l'orientation et la position d'un objet mobile Withdrawn EP1587588A2 (fr)

Applications Claiming Priority (3)

Application Number Priority Date Filing Date Title
US43518302P 2002-12-19 2002-12-19
US435183P 2002-12-19
PCT/US2003/040603 WO2004056425A2 (fr) 2002-12-19 2003-12-19 Procede et dispositif permettant de determiner l'orientation et la position d'un objet mobile

Publications (1)

Publication Number Publication Date
EP1587588A2 true EP1587588A2 (fr) 2005-10-26

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Application Number Title Priority Date Filing Date
EP03813792A Withdrawn EP1587588A2 (fr) 2002-12-19 2003-12-19 Procede et dispositif permettant de determiner l'orientation et la position d'un objet mobile

Country Status (4)

Country Link
US (1) US20050032582A1 (fr)
EP (1) EP1587588A2 (fr)
AU (1) AU2003297389A1 (fr)
WO (1) WO2004056425A2 (fr)

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