System and method for object tracking anti-jitter filtering

• US 10,191,139 B2
• Filed: 06/27/2016
• Issued: 01/29/2019
• Est. Priority Date: 11/12/2012
• Status: Active Grant

• Current Assignee: IsoLynx LLC
• Original Assignee: IsoLynx LLC
• Inventors: DeAngelis, Douglas J., Reilly, Gerard M., Sigel, Kirk M., Evansen, Edward G.
• Primary Examiner(s): Huynh, Phuong
• Application Number:
  US15/194,042
• Publication Number:
  US 20160306026A1
• Time in Patent Office: 946 Days
• CPC Class Codes: A63B 2024/0025 Tracking the path or location of one or more users, e.g. players of a game
• CPC Class Codes: G01S 11/02 using radio waves G01S19/00 takes precedence
• CPC Class Codes: G01S 5/0018 Transmission from mobile station to base station
• CPC Class Codes: G01S 5/0036 of measured values, i.e. measurement on mobile and position calculation on base station
• CPC Class Codes: G01S 5/0294 Trajectory determination or predictive filtering, e.g. target tracking or Kalman filtering

Abstract

Object tracking anti-jitter filtering systems and methods. A plurality of raw location points for a tracking tag attached to a tracked object is received. The raw location points are stored within a raw location points buffer. Raw location points within an averaging window are averaged to generate an averaged location point. The averaged location point is stored within an averaged location points buffer for use within the object tracking system.

Claims

1. An object tracking anti-jitter filtering method, the method comprising:

periodically receiving, within an object tracking system, a raw location point for a tracking tag attached to a tracked object;

averaging raw location points corresponding to an averaging window to periodically generate an averaged location point; and

determining physical movement of the tracked object based upon three most recently determined average location points corresponding to the object; and

adjusting a most recent of the three average location points such that the determined physical movement of the tracked object does not exceed predefined physical limits of the tracked object.

2. The object tracking anti-jitter filtering method of claim 1, the step of determining physical movement comprising determining a current speed of the tracked object calculated from the two most recently determined average location points.

3. The object tracking anti-jitter filtering method of claim 2, when the current speed is greater than a maximum speed of the tracked object defined by the predefined physical limits, the step of adjusting further comprising adjusting the most recent of the average location points to have a distance from a next most recent of the three averaged location points corresponding to the maximum speed.

4. The object tracking anti-jitter filtering method of claim 1, the step of determining physical movement comprising determining a current acceleration of the tracked object based upon the three most recently determined average location points.

5. The object tracking anti-jitter filtering method of claim 4, when the current acceleration is greater than a maximum acceleration of the tracked object as defined by the predefined physical limits, the step of adjusting further comprising adjusting the most recent of the average location points to have a distance from a next most recent of the average location points corresponding to the maximum acceleration of the tracked object and a speed of the tracked object calculated from a first two of the three most recently determined average location points.

6. The object tracking anti-jitter filtering method of claim 4, when the current acceleration is negative and greater than a maximum deceleration defined by the predefined physical limits, the step of adjusting further comprising adjusting the most recent of the average location points to have a distance, from a next most recent of the average location points, corresponding to a maximum deceleration of the tracked object and a speed calculated from a first two of the three most recently determined average location points.

7. The object tracking anti-jitter filtering method of claim 1, wherein the predefined physical limits are based upon the intended use of the object tracking system.

8. The object tracking anti-jitter filtering method of claim 1, wherein the predefined physical limits are based upon a position of the tracked object within a sport.

9. An object tracking anti-jitter filtering system, the system comprising:

at least one processor;

memory coupled with the processor for storing raw location points of a tracked object;

an averaging filter, comprising machine readable instructions stored within the memory and executed by the processor, capable of averaging a plurality of the raw location points within an averaging window to generate an averaged location point having reduced jitter when compared to raw location points of the tracked object; and

a physical limit filter, comprising machine readable instructions stored within the memory and executed by the processor, capable of adjusting a most recent of the averaged location point when one or both of a latest speed of the tracked object and an acceleration of the tracked object exceeds maximum physical characteristics of the tracked object;

wherein the averaged location point is set to a location, relative to a previous averaged location point, that is within the maximum physical characteristics.