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Motion tracking system

  • US 7,395,181 B2
  • Filed: 12/23/2003
  • Issued: 07/01/2008
  • Est. Priority Date: 04/17/1998
  • Status: Expired due to Fees
First Claim
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1. A method for tracking the motion of a body including:

  • obtaining an inertial measurement;

    updating a state estimate of the body by integrating the inertial measurement;

    updating an estimate of an uncertainty of the state estimate, including using a rate estimate of the body to increase the estimate of the uncertainty of the state estimate such that the uncertainty of the state estimate increases at relatively greater rate during time periods with high rate estimates.

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