Motion-tracking
First Claim
Patent Images
1. A system for tracking the motion of an object relative to a moving reference frame, comprising:
- a first inertial sensor mounted on the tracked object;
a second inertial sensor mounted on the moving reference frame;
a third inertial sensor mounted on the moving reference frame and spaced apart from the second inertial sensor; and
an element coupled to said first and second and third inertial sensors and configured to determine a position of the object relative to the moving reference frame based on signals from the first and second and third inertial sensors, wherein the determination of the position of the object includes determination of at least one component of an angular acceleration of the moving reference frame and wherein the determination of the annular acceleration is made by combining linear acceleration data from the second and third inertial sensors.
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Accused Products
Abstract
A system for tracking the motion of an object relative to a moving reference frame includes a first inertial sensor mounted on the tracked object; a second inertial sensor mounted on the moving reference frame; a third inertial sensor mounted on the moving reference frame and spaced apart from the second inertial sensor; and an element coupled to said first and second and third inertial sensors and configured to determine a position of the object relative to the moving reference frame based on the signals from the first and second and third inertial sensor.
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Citations
45 Claims
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1. A system for tracking the motion of an object relative to a moving reference frame, comprising:
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a first inertial sensor mounted on the tracked object;
a second inertial sensor mounted on the moving reference frame;
a third inertial sensor mounted on the moving reference frame and spaced apart from the second inertial sensor; and
an element coupled to said first and second and third inertial sensors and configured to determine a position of the object relative to the moving reference frame based on signals from the first and second and third inertial sensors, wherein the determination of the position of the object includes determination of at least one component of an angular acceleration of the moving reference frame and wherein the determination of the annular acceleration is made by combining linear acceleration data from the second and third inertial sensors. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10, 11)
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12. A system for tracking the motion of an object relative to a moving reference frame comprising:
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a first inertial sensor mounted on the tracked object;
a second inertial sensor mounted on the moving reference frame;
a third inertial sensor mounted on the moving reference frame and spaced apart from the second inertial sensor;
an element coupled to said first and second and third inertial sensors and configured to determine a position of the object relative to the moving reference frame based on signals from the first and second and third inertial sensors; and
a drift corrector for correcting inertial drift in the determined position of the object with respect to the moving reference frame, wherein the determination of the position of the object includes determination of at least one component of an angular acceleration of the moving reference frame and wherein the determination of the angular acceleration is made by combining linear acceleration data from the second and third inertial sensors. - View Dependent Claims (13, 16)
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14. A system for tracking the motion of an object relative to a moving reference frame comprising:
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a first inertial sensor mounted on the tracked object;
a second inertial sensor mounted on the moving reference frame;
means coupled to said first and second inertial sensors for determining an orientation of the object relative to the moving reference frame based on signals from the first and second inertial sensors; and
a drift corrector for correcting inertial drift in the determined orientation of the object with respect to the moving reference frame, where the drift corrector includes a Kalman filter.
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15. A method for tracking the motion of an object relative to a moving reference frame comprising:
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mounting a first inertial sensor on the tracked object;
mounting a second inertial sensor on the moving reference frame;
determining an orientation of the object relative to the moving reference frame based on signals from the first and second inertial sensors; and
correcting inertial drift in the determined orientation of the object with respect to the moving reference frame, using a Kalman filter.
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17. A system for tracking the motion of an object relative to a moving reference frame comprising:
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a tracking inertial measurement unit mounted on the tracked object;
three reference inertial measurement units mounted at three separated and non-collinear locations on the moving reference frame;
an element coupled to said tracking inertial measurement unit and to said reference inertial measurement units and configured to determine an orientation and a position of the object relative to the moving reference frame based on signals from the inertial measurement units; and
an element coupled to said reference inertial measurement units and configured to determine an angular acceleration of the moving reference frame based on the signals from the inertial measurement units. - View Dependent Claims (18)
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19. A system for tracking the motion of an object relative to a reference frame, comprising:
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an optical sensor for measuring a location of a target in an image plane;
at least three light-emitting targets which emit invisible ultraviolet radiation which can be detected by the optical sensor but which does not interfere with night vision equipment;
an element coupled to said optical sensor and configured to determine a position of the object relative to the reference frame based on locations of the ultraviolet targets in the image plane of the optical sensor.
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20. A system for tracking the motion of an object relative to a moving reference frame, comprising:
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a first inertial sensor mounted on the tracked object;
a second inertial sensor mounted on the moving reference frame;
a third inertial sensor mounted on the moving reference frame and spaced apart from the second inertial sensor;
an element coupled to said first and second and third inertial sensors and configured to determine a position of the object relative to the moving reference frame based on signals from the first and second and third inertial sensors, and an optical measuring subsystem for making independent measurements related to the position of the object relative to the moving reference frame by measuring the location of one or more targets in the image planes of one or more sensors. - View Dependent Claims (21, 22, 23)
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24. A method for tracking the motion of an object relative to a moving reference frame, comprising:
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mounting a first inertial sensor on the tracked object;
mounting a second inertial sensor on the moving reference frame;
mounting a third sensor mounted on the moving reference frame, spaced apart from the second inertial sensor; and
coupling an element to said first and second and third inertial sensors, said element being configured to determine a position of the object relative to the moving reference frame based on the signals from the first and second and third inertial sensors, wherein the determination of the position of the object includes determination of at least one component of an angular acceleration of the moving reference frame and wherein the determination of the angular acceleration is made by combining linear acceleration data from the second and third inertial sensors. - View Dependent Claims (25, 26, 27, 28, 29, 30, 31, 32, 33, 34)
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35. A method for tracking the motion of an object relative to a moving reference frame comprising:
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mounting a first inertial sensor on the tracked object;
mounting a second inertial sensor mounting on the moving reference frame;
mounting a third sensor on the moving reference frame and spacing it apart from the second inertial sensor;
coupling an element to said first and second and third inertial sensors, said element configured to determine a position of the object relative to the moving reference frame based on signals from the first and second and third inertial sensors; and
using a drift corrector to correct inertial drift in a determined orientation of the object with respect to the moving reference frame, wherein the determination of the position of the object includes determination of at least one component of an angular acceleration of the moving reference frame and wherein the determination of the angular acceleration is made by combining linear acceleration data from the second and third inertial sensors. - View Dependent Claims (36)
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37. A method for tracking the motion of an object relative to a moving reference frame comprising:
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mounting a first inertial sensor on the tracked object;
mounting a second inertial sensor on the moving reference frame;
coupling to said first and second inertial sensors a device for determining an orientation of the object relative to the moving reference frame based on signals from the first and second inertial sensors; and
using a drift corrector to correct inertial drift in the determined orientation of the object with respect to the moving reference frame, where the drift corrector includes a Kalman filter. - View Dependent Claims (38)
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39. A method for tracking the motion of an object relative to a moving reference frame comprising:
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mounting a tracking inertial measurement unit on the tracked object;
mounting three reference inertial measurement units mounted at three separated and non-collinear locations on the moving reference frame;
coupling an element to said tracking inertial measurement unit and to said reference inertial measurement units and, said element being configured to determine an orientation and a position of the object relative to the moving reference frame based on signals from the inertial measurement units; and
coupling and element to said reference inertial measurement units, said element configured to determine an angular acceleration of the moving reference frame on the signals from the inertial measurement units. - View Dependent Claims (40)
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41. A method for tracking the motion of an object relative to a reference frame, comprising:
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providing an optical sensor for measuring a location of a target in an image plane;
providing at least three light-emitting targets which emit invisible ultraviolet radiation which can be detected by the optical sensor but which does not interfere with night vision equipment;
coupling an element to said optical sensor, said element configured to determine a position of the object relative to the reference frame based on locations of the ultraviolet targets in the image plane of the optical sensor.
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42. A method for tracking the motion of an object relative to a moving reference frame, comprising:
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mounting a first inertial sensor on the tracked object;
mounting a second inertial sensor on the moving reference frame;
mounting a third inertial sensor on the moving reference frame and spacing it apart from the second inertial sensor;
coupling an element to said first and second and third inertial sensors, said element being configured to determine a position of the object relative to the moving reference frame based on signals from the first and second and third inertial sensors, and using an optical measuring subsystem to make independent measurements related to the position of the object relative to the moving reference frame by measuring the location of one or more targets in the image planes of one or more sensors. - View Dependent Claims (43, 44, 45)
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Specification