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）

摘要： 针对某些情况下用户与远程大屏幕终端交互不便，利用具有多种MEMS传感器的便携式智能终端，设计了空中鼠标系统，克服了传统鼠标操作对二维桌面的依赖。针对系统使用的低精度陀螺仪传感器的漂移问题，使用陀螺仪解算的角度和加速度计与磁强计解算的角度进行互补滤波，同时使用启发式漂移消减法对陀螺仪误差进行处理，并动态地调整启发式漂移消减法的补偿参数。实验结果表明，改进后的算法有效地克服了陀螺仪漂移，提高了空中鼠标系统的精度和稳定性。

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）