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Motion tracking system

  • US 6,409,687 B1
  • Filed: 07/05/2000
  • Issued: 06/25/2002
  • Est. Priority Date: 04/17/1998
  • Status: Expired due to Term
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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