关键词: 便携式智能终端, 空中鼠标, 陀螺仪, 传感器融合, 启发式漂移消减互补滤波器（HDRCF）

Abstract: In order to solve the inconvenience when human interact with large screen in some cases, using the portable intelligent terminal with MEMS sensors to solve the problem and an interactive system based on portable intelligent terminal is come up. The system overcomes the shortcoming of traditional mouse which depends on two-dimensional table. In order to overcome the drift of low accuracy gyroscope, the angle calculated from gyroscope and the angle calculated from accelerometer and magnetometer are used to perform the complementary filtering. The heuristic drift subtraction is used to deal with the error of the gyroscope, dynamically the compensation parameters of the heuristic drift subtraction are adjusted at the same time. The experimental results show that the improved algorithm can effectively overcome the drift of the gyroscope and improve the precision and stability of the air mouse system.

Key words: portable intelligent terminal, air-mouse, gyroscope, sensor fusion, Heuristic Drift Reduction Complementary Filter（HDRCF）