Journal of the Korean Institute of Intelligent Systems (한국지능시스템학회논문지)

Korean Institute of Intelligent Systems (한국지능시스템학회)
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Design of a pen-shaped input device using the low-cost inertial measurement units

저가격 관성 센서를 이용한 펜 형 입력 장치의 개발

  • Chang, Wook (Ubiquitous computing LAB. Samsung Advanced Institute of Technology) ;
  • Kang, Kyoung-Ho (Ubiquitous computing LAB. Samsung Advanced Institute of Technology) ;
  • Choi, Eun-Seok (Ubiquitous computing LAB. Samsung Advanced Institute of Technology) ;
  • Bang, Won-Chul (Ubiquitous computing LAB. Samsung Advanced Institute of Technology) ;
  • Potanin, Alexy (Ubiquitous computing LAB. Samsung Advanced Institute of Technology) ;
  • Kim, Dong-Yoon (Ubiquitous computing LAB. Samsung Advanced Institute of Technology)
  • 장욱 (삼성종합기술원 Ubiquitous computing LAB.) ;
  • 강경호 (삼성종합기술원 Ubiquitous computing LAB.) ;
  • 최은석 (삼성종합기술원 Ubiquitous computing LAB.) ;
  • 방원철 (삼성종합기술원 Ubiquitous computing LAB.) ;
  • ;
  • 김동윤 (삼성종합기술원 Ubiquitous computing LAB.)
  • Published : 2003.04.01
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Abstract

In this paper, we present a pen-shaped input device equipped with accelerometers and gyroscopes that measure inertial movements when a user writes on 2 or 3 dimensional space with the pen. The measurements from gyroscope are integrated once to find the attitude of the system and are used to compensate gravitational effect in the accelerations. Further, the compensated accelerations are integrated twice to yield the position of the system, whose basic concept stems from the field of inertial navigation. However, the accuracy of the position measurement significantly deteriorates with time due to the integrations involved in recovering the handwriting trajectory This problem is common in the inertial navigation system and is usually solved by the periodic or aperiodic calibration of the system with external reference sources or other information in the filed of inertial navigation. In the presented paper, the calibration of the position or velocity is performed on-line and off-line. In the on-line calibration stage, the complementary filter technique is used, where a Kalman filter plays an important role. In the off-line calibration stage, the constant component of the resultant navigational error of the system is removed using the velocity information and motion detection algorithm. The effectiveness and feasibility of the presented system is shown through the experimental results.

본 논문에서는 사용자가 2차원 또는 3차원 상에서 필기를 하는 경우의 관성치를 측정할 수 있는 가속도계와 각속도계를 장착한 펜형 입력 장치를 소개한다. 각속도계의 측정치를 한 번 적분해 시스템의 자세를 구하며 이는 가속도에 포함되어 있는 중력 가속도 성분을 제거하는 데 사용된다. 시스템의 위치는 보정된 가속도를 두 번 적분해 구한다. 이러한 원리는 관성 항법 시스템에서 보편적으로 사용되는 것이다. 그러나 필기 궤적을 복원하기 위해 사용되는 이중 적분 과정으로 인해 위치 측정치의 정확도는 시간이 지남에 따라 심각하게 떨어진다. 이러한 문제는 관성 항법 시스템에 있어 일반적인 경우이며 통상 외부의 기준 신호나 기타 정보를 이용한 주기적 또는 비주기적인 시스템의 교정을 통해 해결된다. 본 논문에서는 위치 및 속도의 보정은 온라인과 오프라인 교정 과정을 통해 이루어진다. 온라인 교정 과정에서는 칼만 필터를 이용한 보상 필터 기법을 사용한다. 오프라인 교정 과정에서는 최종적인 시스템의 항법 오차의 상수 성분을 속도 정보와 움직임 검지 알고리듬을 통해 제거한다. 실제 실험을 통해 제안된 시스템의 유용성과 효용성을 보인다.

Keywords

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