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Tightly Coupled UWB/IMU Pose Estimation System and Method

  • US 20110025562A1
  • Filed: 08/03/2009
  • Published: 02/03/2011
  • Est. Priority Date: 08/03/2009
  • Status: Active Grant
First Claim
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1. A method for providing six-degree-of-freedom (6DOF) tracking of an object comprising:

  • affixing a sensor unit to the object, wherein the sensor unit includes one or more pulse transmitters, each being adapted to transmit a pulse signal, and a plurality of inertial sensors;

    receiving, remotely from the object, at each of a plurality of time synchronized pulse receivers, a signal from each of the one or more pulse transmitters to derive a time of arrival for each such sensor;

    receiving at a processing location the time of arrival information as well as inertial data from each of the plurality of inertial measurement sensors; and

    processing the received time of arrival information and the inertial data via a tightly coupled sensor fusion algorithm to yield an estimate of a position and orientation of the object, wherein the tightly coupled sensor fusion algorithm requires processing of the time of arrival data and the inertial data without first performing a position estimate from the time of arrival data prior to integration with the inertial data, and wherein the inertial data is used to predict the time of arrival data and to eliminate erroneous outliers therein.

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