Mutual induction correction for radiator coils of an objects tracking system
First Claim
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1. Apparatus for tracking an object by generating magnetic fields, comprising:
- a plurality of radiator coils;
driver circuitry coupled thereto, which drives the coils so as to generate magnetic fields at a plurality of driving frequencies, wherein each of the plurality of radiator coils generates a field substantially only at a single, respective driving frequency; and
circuitry associated with at least one of said plurality of radiator coils for substantially eliminating magnetic fields generated by the at least one coil in response to fields generated by the other coils.
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Abstract
Apparatus for generating magnetic fields, including a plurality of radiator coils (22, 24, 26) and driver circuitry (30, 32, 33) coupled thereto, which drives the coils so as to generate magnetic fields at a plurality of driving frequencies, wherein each of the plurality of radiator coils (22, 24, 26) generates a field substantially only at a single, respective driving frequency. Preferably circuitry is associated with at least one of the plurality of radiator coils (22, 24, 26) for substantially eliminating magnetic fields generated by the other coils.
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Citations
15 Claims
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1. Apparatus for tracking an object by generating magnetic fields, comprising:
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a plurality of radiator coils;
driver circuitry coupled thereto, which drives the coils so as to generate magnetic fields at a plurality of driving frequencies, wherein each of the plurality of radiator coils generates a field substantially only at a single, respective driving frequency; and
circuitry associated with at least one of said plurality of radiator coils for substantially eliminating magnetic fields generated by the at least one coil in response to fields generated by the other coils. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9)
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10. A method for tracking an object by generating a magnetic field having a desired narrow frequency band, comprising:
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driving a radiator coil with electrical current at a frequency in the desired narrow frequency band;
analyzing the current flowing in the coil to measure induced current components at one or more undesired frequencies; and
adaptively driving the radiator coil with correction current components at the one or more undesired frequencies, wherein the correction current components are substantially equal in amplitude and opposite in phase to the induced current components measured at the respective one or more undesired frequencies. - View Dependent Claims (11)
generating a plurality of magnetic fields having a plurality of respective desired narrow frequency bands in a vicinity of an object being tracked;
placing one or more sensor coils at a locatable site on the object;
receiving signals generated by the sensor coils in response to the magnetic fields; and
analyzing the signals to determine position and orientation coordinates of the object.
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12. A method for tracking an object, comprising:
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driving a plurality of radiator coils with electrical currents at a plurality of respective frequencies, so as to generate magnetic fields in a vicinity of an object being tracked;
placing one or more sensor coils at a locatable site on the object;
receiving signals generated by the sensor coils in response to the magnetic fields;
analyzing the signals to determine uncorrected position and orientation coordinates of the object; and
correcting the position and orientation coordinates to account for errors due to mutual inductance among the plurality of radiator coils. - View Dependent Claims (13, 14, 15)
determining parasitic magnetic fields that would be generated at the uncorrected position of the object due to mutual inductance;
computing parasitic signal components that would be generated by the sensor coils in response to the parasitic magnetic fields;
calculating corrected signals by subtracting the parasitic signal components from the signals received from the sensor coils; and
analyzing the corrected signals to determine corrected position and orientation coordinates.
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14. A method in accordance with claim 13, wherein determining the parasitic magnetic fields comprises analyzing the current flowing in the plurality of radiator coils to measure induced current components at undesired frequencies.
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15. A method in accordance with claim 13, wherein determining the parasitic magnetic fields comprises calculating theoretically the mutual inductance among the plurality of radiator coils.
Specification