Motion tracking system
First Claim
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1. A method for tracking motion of a body in an environment comprising:
- disposing reference devices in the environment;
measuring a range between a first of the reference devices in the reference devices and each of one or more sensors mounted on the body, including receiving at said sensors a range measurement signal transmitted from the first of the reference devices;
predicting a range between the first of the reference devices and each of said sensors;
updating an orientation estimate of the body based on the measured and the predicted ranges; and
updating the orientation estimate based on an inertial measurement of the body, including obtaining an inertial measurement from an angular inertial sensor coupled to the body.
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Abstract
Tracking a motion of a body by obtaining two types of measurements associated with the motion of the body, one of the types including acoustic measurement. An estimate of either an orientation or a position of the body is updated based on one of the two types of measurement, for example based on inertial measurement. The estimate is then updated based on the other of the two types of measurements, for example based on acoustic ranging. The invention also features determining range measurement to selected reference devices that are fixed in the environment of the body.
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Citations
22 Claims
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1. A method for tracking motion of a body in an environment comprising:
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disposing reference devices in the environment;
measuring a range between a first of the reference devices in the reference devices and each of one or more sensors mounted on the body, including receiving at said sensors a range measurement signal transmitted from the first of the reference devices;
predicting a range between the first of the reference devices and each of said sensors;
updating an orientation estimate of the body based on the measured and the predicted ranges; and
updating the orientation estimate based on an inertial measurement of the body, including obtaining an inertial measurement from an angular inertial sensor coupled to the body. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15)
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16. A method for tracking motion of a body comprising:
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transmitting a control signal to a fixed reference device;
receiving a range measurement signal at the body from the reference device;
computing a quantity related to a distance between the body and the reference device using the received range measurement signal; and
updating and orientation estimate of the body using the computed quantity. - View Dependent Claims (17, 18, 19, 20, 21, 22)
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Specification