CN102441277B - Multi-purpose game controller, system and method with posture sensing function - Google Patents

Abstract

The invention relates to a multi-purpose game controller, system and method with a posture sensing function. The controller comprises a housing, a positioning module, a sensing module, a processing module, a communication module and a power supply module, wherein the positioning module is used for sensing position data of the housing and an external display device; the sensing module is used for sensing motion posture data of the housing; the processing module is connected with the positioning module and the sensing module, and is used for figuring out a control command of the system for outputting according to the position data and the motion posture data; the communication module is connected with the processing module, and is used for connecting and communicating with an external host, transmitting the control command of the system to the external host and controlling the external host; and the power supply module is used for providing a working power supply. The position, posture and the like of the game controller are positioned through the positioning module, the sensing module and the like, so that the defects caused by placing a camera head or an infrared light spot and the like at the end of a television for assisting in positioning in the prior art are avoided, and the controller has the advantages of being convenient in positioning, being flexible to mount and use and being capable of outputting a corresponding control signal according to the posture of the game controller.

Description

A kind of Multipurpose game controller, system and method with posture sensing

Technical field

The present invention relates to control device, relate in particular to a kind of Multipurpose game controller, system and method with posture sensing.

Background technology

At present in the game relevant with attitude such as the shooting game of video game amusement, SPG, mostly adopt photodiodes to carry out CRT television scan line detection mode to position, can disturb picture.And along with scientific and technological development, take liquid crystal or plasma and be that main television set is universal gradually, this CRT TV that carries out is retouched the technology that line detects and is also eliminated gradually no longer applicable.

In addition, also have to adopt and on TV side, place infrared light spot, the CCD image sensor of installing on model gun, handle or controller detects and compute location.So just need to place camera or infrared light spot assistance location at TV end.And current Polarizations for Target Discrimination in Clutter is all with wall-hung type or ultrathin development, so the position of camera or infrared light spot is not almost installed near TV.In addition, infrared light spot or camera all also need additional power source more to increase thus the difficulty that installation is set.

Meanwhile, shooting game control device majority is directly to adopt the profile of rifle to occur, it is really convenient to use, but just can not use if not shooting game, and this just makes the utilization rate of device not be utilized effectively.And the most rocking bars that adopt of existing handle are controlled cursor, wayward during use.

Summary of the invention

The technical problem to be solved in the present invention is, provides a kind of and can conveniently locate, use flexibly, have Multipurpose game controller, the system and method for posture sensing.

The technical solution adopted for the present invention to solve the technical problems is: a kind of Multipurpose game controller with posture sensing, comprising: shell;

Locating module, for the position data of shell described in sensing and extraneous display unit;

Sensing module, for the athletic posture data of shell described in sensing;

Processing module, is connected with sensing module with described locating module, according to described position data and athletic posture data, calculates system control command output;

Communication module, is connected with described processing module, for external main frame connecting communication, described system control command is sent to described external main frame, control described external main frame; And

Power module, is used to described locating module, sensing module, processing module and communication module that working power is provided;

Described locating module, sensing module, processing module, communication module and power module are arranged in same described shell.

In Multipurpose game controller of the present invention, described Multipurpose game controller also comprises the Control Component being connected with described processing module and selects described Control Component and/or the selection change-over switch of sensing module work;

Described processing module changes into described system control command by the control data of described Control Component input, described position data and the combination of described athletic posture data.

In Multipurpose game controller of the present invention, described Control Component comprises the control rocking bar being arranged on described shell and/or controls button.

In Multipurpose game controller of the present invention, described Multipurpose game controller also comprises the handle interface that accesses external handle; Described processing module is connected with described handle interface, and the control data of described external handle, described position data and described athletic posture data are changed into described system control command.

In Multipurpose game controller of the present invention, described locating module is ultrasonic wave locating module, and described position data comprises range data between described shell and described extraneous display unit and the data boundary of described extraneous display unit.

In Multipurpose game controller of the present invention, described sensing module comprises one or more in one or more three dimension acceleration sensors, gyroscope and three-dimensional magnetometer.

In Multipurpose game controller of the present invention, also comprise the vibration module being connected with described processing module; Described vibration module is arranged on described shell or with described shell and divides and be arranged and be connected by wire.

In Multipurpose game controller of the present invention, also comprise the earphone socket that is connected, accesses external headset with described processing module.

The present invention also provides a kind of Multipurpose game control system with posture sensing, comprise sensor and with the receiver of external main frame connecting communication;

Described sensor comprises sensor shell,

Locating module, for the position data of sensor shell and extraneous display unit described in sensing;

Sensing module, for the athletic posture data of sensor shell described in sensing;

Sensing communication module, for described receiver connecting communication;

Processing module, is connected with sensing module with described locating module, processes described position data and athletic posture data and exports described receiver to by described sensing communication module; And

Power module, is used to described locating module, sensing module, processing module and communication module that working power is provided;

Described locating module, sensing module, processing module, communication module and power module are arranged in same described sensor shell;

Described receiver comprises the Control Component interface that accesses external Control Component, accesses the control data of described external Control Component;

Receive communication module, with described sensing communication module connecting communication;

External host communication interface, for described external main frame connecting communication;

Receiving processing module, be connected with described Control Component interface, reception communication module, external host communication interface, convert described control data, position data and athletic posture data processing to system control command, and export described external main frame to by described external host communication interface.

In Multipurpose game control system of the present invention, described locating module is ultrasonic wave locating module, and described position data comprises range data between described sensor shell and described extraneous display unit and the data boundary of described extraneous display unit.

In Multipurpose game control system of the present invention, described sensing module comprises one or more in one or more three dimension acceleration sensors, gyroscope and three-dimensional magnetometer.

In Multipurpose game control system of the present invention, described sensor also comprises the vibration module being connected with described processing module; Described vibration module is arranged on described sensor shell or with described sensor shell and divides and be arranged and be connected by wire.

The present invention also provides a kind of Multipurpose game control method with posture sensing, comprises the following steps:

S1: adopt the position data of locating module sensing shell and external connection display apparatus, and by the athletic posture data of sensing module sensing shell, by Control Component or external handle input control data;

S2: described control data, described position data and described athletic posture data are processed and changed into system control command, and described control command is sent to external main frame, described external main frame is controlled.

In the described step S2 of Multipurpose game control method of the present invention, the above-mentioned processing module of processing of described control data, described position data and described athletic posture data is processed; Or, by the receiving processing module of above-mentioned receiver, processed.

In the step S1 of Multipurpose game control method of the present invention, the constant reference coordinates that described locating module provides, for proofreading and correct the sensor drift of sensing module.

Employing the invention has the beneficial effects as follows: by locating module, sensing module etc., locate position, attitude of game console etc., the defect of having avoided prior art to adopt the assistance location such as TV end placement camera or infrared light spot to bring, has advantages of that location is convenient, installs and uses flexibly, can export corresponding control signal according to game console attitude.

Accompanying drawing explanation

Below in conjunction with drawings and Examples, the invention will be further described, in accompanying drawing:

Fig. 1 is the schematic block diagram of the first embodiment of the present invention's Multipurpose game controller with posture sensing;

Fig. 2 is the schematic flow diagram of the first embodiment of the present invention's Multipurpose game control method with posture sensing;

Fig. 3 is the schematic block diagram of the second embodiment of the present invention's Multipurpose game controller with posture sensing;

Fig. 4 is the schematic block diagram of the first embodiment of the present invention's Multipurpose game control system with posture sensing.

The specific embodiment

In order to make object of the present invention, technical scheme and advantage clearer, below in conjunction with drawings and Examples, the present invention is further elaborated.Should be appreciated that specific embodiment described herein, only in order to explain the present invention, is not intended to limit the present invention.

As shown in Figure 1, the first embodiment that the present invention has the Multipurpose game controller 100 of posture sensing, can be used as common game paddle uses, also can there is 3D mouse function, shoot, polytype game such as motion, body sense, and can complete the achieved function of AHRS system.This Multipurpose game controller 100 comprises shell, locating module 101, sensing module 102, processing module 103, communication module 104, power module 105 etc., and this locating module 101, sensing module 102, processing module 103, communication module 104 and power module 105 etc. are arranged in same shell.

In the present embodiment, this shell can adopt the various shapes that need such as handle profile, rocking bar profile, gun profile, remote controller profile as required, thereby is convenient to use in different occasions.

This locating module 101 is arranged on shell, for the position data of sensing shell and extraneous display unit (as display, display screen etc.).Wherein, this locating module 101 can be ultrasonic wave locating module 101, ultrasonic transmission device by ultrasonic wave locating module 101 sends ultrasonic wave, and the time difference while receiving ultrasonic wave according to the receiving system of ultrasonic wave locating module 101 is determined the distance of shell and extraneous display unit.Ultrasonic transmission device is launched ultrasonic wave to a direction, starts timing in x time, and ultrasonic wave is propagated in air, encounters barrier and just return immediately in way, and ultrasonic probe, ultrasonic receiver receives that back wave just stops timing immediately.And the aerial spread speed of ultrasonic wave is 340m/s, according to the time t of timer record, just can calculate launch point apart from the distance (s) of barrier, that is: s=340t/2, thus obtain range data.Certainly, can also use other distance measuring method, as laser, infrared etc., carry out the position data of sensing shell and external connection display apparatus.

In the present embodiment, ultrasonic transmission device and receiving system are installed on to the dead ahead of shell, distance for sensing shell distance screen, by measuring the range data at four angles of screen, computing obtains the data boundary of extraneous display unit, by calculating effective area and the relative position of extraneous display unit, so that the sensing point that can effectively sensing module 102 be sensed is converted in the effective range that coordinate is presented at extraneous display unit.

In addition, the effective area of extraneous display unit and relative position can also be brought as proofreading and correct and compensate sensing module 102 because of long-time use or because of the magnetic field of environment, the calculated data drift that temperature change produces.Concrete timing, the body of wall that can utilize display screen and install is not in one plane, produced thus ultrasonic ranging time the data that occur suddenly change to judge the border of screen, the coordinate figure that the data that now sensor sensed calculate is as standard correction data, by obtaining screen area to the detection on four borders, further obtain the four angular coordinate value of screen.Due to when muzzle sensing exceeds screen four limit, ultrasound data is easy to judgement, therefore can utilize the movement locus of this feature and combined sensor, be easy to obtain the actual sensing position of muzzle, the coordinate figure of storing while starting with game by the coordinate figure of contrast when ultrasonic ranging data suddenly changes again, and the drift that carrys out correcting sensor by the counter mode of sending storing value coordinate.Suppose that user is in over against screen center position, now ultrasound examination screen four angular distances should farthest, detect rifle body normal to screen nearest.If, the unexpected discontinuous change in the process increasing continuously of ultrasonic ranging data is large, illustrate that now muzzle sensing exceeds screen edge and pointed on body of wall, in conjunction with athletic posture data, be now to move to the left side, therefore can judge that muzzle should be now to point to just to display unit left hand edge, by more present sensing coordinate figure and the coordinate figure of storing before, can judge whether two coordinate differences go beyond the limit of, if exceed setting value, now can be by using the anti-arithmetic element of giving rifle body of the coordinate parameters of former timing as current coordinate figure, thereby guarantee that muzzle and cursor are consistent in moving left and right.Similarly upper and lower correction, also as left and right, can reach the object of correction thus.

This sensing module 102 is for the athletic posture data of sensing shell, and is sent to processing module 103, by processing module 103, processed.In the present embodiment, this sensing module 102 is AHRS sensing module 102, comprise a plurality of axial acceleration sensors, can provide direction of advance, front rolling and the information such as rollover for shell, in the present embodiment, the use of shell is mainly point centered by wrist, adjusts all around of shell, the deflection such as up and down, reaches and changes the object that shell points to.Athletic posture data by sensing module 102 these variations of sensing, offer processing module 103, and the position data in conjunction with locating module 101, calculates system control command, and output.For example, the in the situation that of model gun, by adjusting the attitude, muzzle direction etc. of rifle, reach change run-home, target site coordinate points is presented in extraneous display unit, the sensing location point that just can replace model gun, realizes the aiming instrument of the model gun in shooting game.

Certainly, this sensing module 102 can also be increased three-dimensional magnetometer and be formed by one or more three dimension acceleration sensors, two or three-dimensional gyroscope, attitude data that mainly can sensing shell.

This processing module 103 and sensing module 102, locating module 101, communication module 104 connections such as grade, can adopt single-chip microprocessor MCU, reception is from the athletic posture data of sensing module 102 with from the position data of locating module 101, calculate system control command, and export by communication module 104, control the cursor of game, movement locus and attitude etc., realization comprises shooting game, SPG is in interior multiple game, because sensing module 102 has three-dimensional sensing, therefore allow equally controller there is the function of 3D mouse, can also realize the achieved application of AHRS system.

This communication module 104 is connected with processing module 103, for setting up communication with external main frame, is connected, and the system control command that processing module 103 is obtained is sent to external main frame, controls external main frame and realizes corresponding control function.Understandable, this communication module 104 can adopt wireless communication module 104 or wire communication module 104, connects with external main frame.

Further, the Multipurpose game controller 100 of the present embodiment also comprises the Control Component 106 being connected with processing module 103 and selects Control Component 106 and/or the selection change-over switch of sensing module 102 work.This Control Component 106 comprises the rocking bar processed being arranged on shell and/or controls button etc.Can, by selecting change-over switch to select the work of one of Control Component 106 or sensing module 102, when selecting Control Component 106 work, directly by Control Component 106 input control data, after being processed by processing module 103, change into system control command; Also, in the time of can selecting sensing module 102 work by selection change-over switch, processing module 103 is processed athletic posture data and the position data of sensing module 102 sensings, changes into system control command; Or, select Control Component 106 and sensing module 102 work simultaneously, this processing module 103, by the control data of Control Component 106 inputs, position data and the combination of athletic posture data, changes into system control command output.

Further, for make result of use better, more true to nature, this Multipurpose game controller 100 also comprises the vibration module 107 being connected with processing module 103.When coordinating external host game, can send vibration, make game more true to nature.In the present embodiment, on shell mountain, vibration interface is set, vibration module 107 is connected on vibration interface by wire etc., thereby vibration module 107 is guided to the outside of shell, such as being with a vibration hand circle in wrist, so both can allow player experience vibration, be unlikely to again because the use of vibration or influence of magnetic field controller (as aimed at etc.), avoid affecting sensing module 102 output data, affected pointing accuracy and stability.Certainly, also vibration module 107 can be arranged on the shell of controller, make whole controller there is the impression of vibration.

Further, this Multipurpose game controller 100 is also provided with earphone socket 108, and this earphone socket 108 is connected with processing module 103, accesses external headset, realizes audio frequency output, phonetic entry etc.

Further, this Multipurpose game controller 100 is also provided with thewireline interface 109 being connected with processing module 103, bywireline interface 109 access upgrade datas etc., upgrades or the parameter of change control device.

Further, this Multipurpose game controller 100 is also provided with the display module 110 being connected with processing module 103, for display controller information.

As shown in Figure 2, when using this Multipurpose game controller 100, the position data by locating module 101 sensing shells and external connection display apparatus, comprises the range data between shell and extraneous display unit, the data boundary of extraneous display unit etc.In the present embodiment, by ultrasonic wave locating module 101, send and receive ultrasonic wave and obtain range data and data boundary.

Meanwhile, by sensing module 102, carry out the athletic posture data of sensing shell, as adopted AHRS sensing module 102, by its a plurality of axial acceleration sensors, the direction of advance of sensing shell, front rolling and the athletic posture data such as rollover, and output.In the present embodiment, the use of shell is mainly point centered by wrist, adjust all around of shell, the deflection such as up and down, reach and change the object that shell points to, and come the athletic posture data of these variations of sensing to export processing module 103 to by sensing module 102.

Meanwhile, by Control Component 106 input control data, realize corresponding game control, such as input, transmit, select the control data such as signal, control game host and carry out corresponding action.

Then, by processing module 103, receive and control data, position data, athletic posture data etc., and these data are integrated to processing, change into the system control command of external main frame, and by wired or wireless mode, being sent to external main frame by communication module 104, external main frame completes corresponding action according to this system control command.For example, external main frame, according to the system control command receiving, moves to cursor, target spot position etc. the correspondence position of extraneous display unit, and carries out corresponding control command (as transmitting, click, selection etc.).

Further, this locating module 101 can also provide constant reference coordinates, as the reference point of sensing module 102, proofreaies and correct the sensor drift of sensing module 102.

As shown in Figure 3, second embodiment with the Multipurpose game controller 200 of posture sensing of the present invention, the difference of itself and the first embodiment is: the processing module 203 of this Multipurpose game controller 200, sensing module 202, locating module 201, communication module 204, display module 210, Control Component 206, power module 205 etc., be arranged in same shell, and, on shell, be also provided with thehandle interface 209 being connected with processing module 203.External handles etc. are connected onhandle interface 209, and byhandle interface 209, export control data to processing module 203, processing module 203 is processed the control data that receive, the position data being monitored by locating module 201, the athletic posture data that monitored by sensing module 202, convert system control command to, and export external main frame to by communication module 204.Certainly, in the present embodiment, this Multipurpose game controller 200 can also comprise earphone socket 208 described in an as above embodiment, vibration module 207 etc.; Therefore the work that each functional module completes and the first embodiment is basic identical does not repeat.

As shown in Figure 4, be first embodiment with the Multipurpose game control system of posture sensing of the present invention, comprise sensor 300 and receiver 400.This receiver 400 and external main frame connecting communication, and the signal integration of self-inductance measurement device 300 and external handle is sent to the external main frame of connection in the future.

It is upper or use with external handle binding that this sensor 300 can append to external Control Component (as handle, remote controller etc.) by variety of way (as nested, clamping etc.), whole sensor 300 is synchronized with the movement with external Control Component, carrys out the athletic posture of the external Control Component of sensing.This sensor 300 comprises sensor 300 shells, locating module 301, sensing module 302, sensing communication module 304, processing module 303 is installed in these sensor 300 shells, power module 305 of working power etc. is provided for whole sensor 300.Certainly, this sensor 300 can also be provided with vibration module as described in the previous embodiment 307 and display module 310 etc.

This locating module 301 is for the position data of these sensor 300 shells of sensing and extraneous display unit, and sensing module 302 is for the athletic posture data of these sensor 300 shells of sensing (being external Control Component), and, position data and athletic posture data are sent to processing module 303, and export receiver 400 to by sensing communication module 304, the Multipurpose game controller of its course of work and principle and above-described embodiment is basic identical, therefore do not repeat.

This receiver 400 comprises Control Component interface 402, receives communication module 404, external host communication interface 403, receivingprocessing module 401 etc.Control Component interface 402 is connected with receivingprocessing module 401, accesses the control data of external Control Component (as handle, remote controller etc.), is sent to receivingprocessing module 401.

The sensing communication module 304 that receives communication module 404 and sensor 300 communication that connects, carries out the transmission of data, and its connecting communication mode can be wired or wireless mode.

403, external host communication interface and external main frame connecting communication, be sent to system control command external main frame or receive the signal from external main frame.

This receivingprocessing module 401 is connected with reception communication module 404, Control Component interface 402, external host communication interface 403, control data, position data and athletic posture data are processed, convert system control command to, and export external main frame to by external host communication interface 403, thereby realize the control to external main frame.

Should be understood that, for those of ordinary skills, can be improved according to the above description or convert, and all these improvement and conversion all should belong to the protection domain of claims of the present invention.

Claims (11)

1. a Multipurpose game controller with posture sensing, is characterized in that, comprising: shell;

Locating module, for the position data of shell described in sensing and extraneous display unit;

Sensing module, for the athletic posture data of shell described in sensing;

Processing module, is connected with sensing module with described locating module, according to described position data and athletic posture data, calculates system control command output;

Communication module, is connected with described processing module, for external main frame connecting communication, described system control command is sent to described external main frame, control described external main frame; And

Power module, is used to described locating module, sensing module, processing module and communication module that working power is provided;

Described locating module, sensing module, processing module, communication module and power module are arranged in same described shell;

Wherein

Described locating module is ultrasonic wave locating module, and its ultrasonic transmission device by ultrasonic wave locating module sends ultrasonic wave, and the time difference while receiving ultrasonic wave according to the receiving system of ultrasonic wave locating module is determined the distance of shell and extraneous display unit; Described position data comprises range data between described shell and described extraneous display unit and the data boundary of described extraneous display unit;

Described sensing module comprises one or more three dimension acceleration sensors and three-dimensional magnetometer, or described sensing module comprises one or more gyroscopes and three-dimensional magnetometer, or described sensing module comprises one or more three dimension acceleration sensors, gyroscope and three-dimensional magnetometer.

2. Multipurpose game controller according to claim 1, is characterized in that, described Multipurpose game controller also comprises the Control Component being connected with described processing module and selects described Control Component and/or the selection change-over switch of sensing module work;

Described processing module changes into described system control command by the control data of described Control Component input, described position data and the combination of described athletic posture data.

3. Multipurpose game controller according to claim 2, is characterized in that, described Control Component comprises the control rocking bar being arranged on described shell and/or controls button.

4. Multipurpose game controller according to claim 1, is characterized in that, described Multipurpose game controller also comprises the handle interface that accesses external handle; Described processing module is connected with described handle interface, and the control data of described external handle, described position data and described athletic posture data are changed into described system control command.

5. according to the Multipurpose game controller described in claim 1-4 any one, it is characterized in that, described Multipurpose game controller also comprises the vibration module being connected with described processing module; Described vibration module is arranged on described shell or with described shell and divides and be arranged and be connected by wire.

6. according to the Multipurpose game controller described in claim 1-4 any one, it is characterized in that, described Multipurpose game controller also comprises the earphone socket that is connected, accesses external headset with described processing module.

7. a Multipurpose game control system with posture sensing, is characterized in that, comprise sensor and with the receiver of external main frame connecting communication;

Described sensor comprises sensor shell,

Locating module, for the position data of sensor shell and extraneous display unit described in sensing;

Sensing module, for the athletic posture data of sensor shell described in sensing;

Sensing communication module, for described receiver connecting communication;

Processing module, is connected with sensing module with described locating module, processes described position data and athletic posture data and exports described receiver to by described sensing communication module; And

Power module, is used to described locating module, sensing module, processing module and communication module that working power is provided;

Described locating module, sensing module, processing module, communication module and power module are arranged in same described sensor shell;

Wherein

Described locating module is ultrasonic wave locating module, and its ultrasonic transmission device by ultrasonic wave locating module sends ultrasonic wave, and the time difference while receiving ultrasonic wave according to the receiving system of ultrasonic wave locating module is determined the distance of shell and extraneous display unit; Described position data comprises range data between described sensor shell and described extraneous display unit and the data boundary of described extraneous display unit;

Described sensing module comprises one or more three dimension acceleration sensors and three-dimensional magnetometer, or described sensing module comprises one or more gyroscopes and three-dimensional magnetometer, or described sensing module comprises one or more three dimension acceleration sensors, gyroscope and three-dimensional magnetometer;

Described receiver comprises the Control Component interface that accesses external Control Component, accesses the control data of described external Control Component;

Receive communication module, with described sensing communication module connecting communication;

External host communication interface, for described external main frame connecting communication;

Receiving processing module, be connected with described Control Component interface, reception communication module, external host communication interface, convert described control data, position data and athletic posture data processing to system control command, and export described external main frame to by described external host communication interface.

8. Multipurpose game controller according to claim 7, is characterized in that, described sensor also comprises the vibration module being connected with described processing module; Described vibration module is arranged on described sensor shell or with described sensor shell and divides and be arranged and be connected by wire.

9. a Multipurpose game control method with posture sensing, is characterized in that, comprises the following steps:

S1: adopt the position data of locating module sensing shell and external connection display apparatus, and by the athletic posture data of sensing module sensing shell, by Control Component or external handle input control data;

S2: described control data, described position data and described athletic posture data are processed and changed into system control command, and described control command is sent to external main frame, described external main frame is controlled;

Wherein

Described locating module is ultrasonic wave locating module, and its ultrasonic transmission device by ultrasonic wave locating module sends ultrasonic wave, and the time difference while receiving ultrasonic wave according to the receiving system of ultrasonic wave locating module is determined the distance of shell and extraneous display unit; Described position data comprises range data between described sensor shell and described extraneous display unit and the data boundary of described extraneous display unit;

Described sensing module comprises one or more three dimension acceleration sensors and three-dimensional magnetometer, or described sensing module comprises one or more gyroscopes and three-dimensional magnetometer, or described sensing module comprises one or more three dimension acceleration sensors, gyroscope and three-dimensional magnetometer.

10. Multipurpose game control method according to claim 9, is characterized in that, in described step S2, the processing of described control data, described position data and described athletic posture data is processed by processing module claimed in claim 1; Or, by the receiving processing module of receiver described in claim 7, processed.

11. Multipurpose game control methods according to claim 9, is characterized in that, in step S1, the constant reference coordinates that described locating module provides, for proofreading and correct the sensor drift of sensing module.

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