Hybrid tracker

• US 7,640,106 B1
• Filed: 04/27/2006
• Issued: 12/29/2009
• Est. Priority Date: 03/24/2005
• Status: Active Grant

• Current Assignee: Elbit Systems Limited
• Original Assignee: Elbit Systems Limited
• Inventors: Stokar, Saul, Neustadter, David
• Primary Examiner(s): Tran; Dalena
• Assistant Examiner(s): JEN, MINGJEN
• Application Number:
  US11/413,936
• Time in Patent Office: 1,342 Days
• Field of Search: 703/8, 703/2, 600/595, 701/13, 701/207, 701/214, 702/94, 702/151, 702/95, 702/141, 324/207.17
• US Class Current: 701/214
• CPC Class Codes: G01C 21/166 Mechanical, construction or arrangement details of inertial navigation systems
• CPC Class Codes: G01C 21/183 Compensation of inertial measurements, e.g. for temperature effects
• CPC Class Codes: G06F 3/017 Gesture based interaction, e.g. based on a set of recognized hand gestures interaction based on gestures traced on a digitiser G06F3/04883

Abstract

Apparatus for determining the position of a selected object relative to a moving reference frame, the apparatus including at least one reference frame transceiver assembly firmly attached to the moving reference frame, at least one object transceiver assembly firmly attached to the selected object, an inertial measurement unit firmly attached to the selected object, an inertial navigation system firmly attached to the moving reference frame, and a tracking processor coupled with the object transceiver assembly, with the inertial measurement unit and with the inertial navigation system, the object transceiver assembly communicating with the reference frame transceiver assembly using magnetic fields, the inertial measurement unit producing IMU inertial measurements of motion of the selected object with respect to an inertially fixed reference frame, the inertial navigation system producing INS inertial measurements of motion of the moving reference frame with respect to the inertially fixed reference frame, the tracking processor receiving electromagnetic measurements resulting from the magnetic communication between the reference frame transceiver assembly and the object transceiver assembly, the tracking processor determining the position of the selected object relative to the moving reference frame by using the IMU inertial measurements and the INS inertial measurements to optimize the electromagnetic measurements.

Claims

1. Apparatus for determining the position of a selected object relative to a moving reference frame, the apparatus comprising:

at least one reference frame transceiver assembly, firmly attached to said moving reference frame;

at least one object transceiver assembly, firmly attached to said selected object, said at least one object transceiver assembly communicating with said at least one reference frame transceiver assembly using magnetic fields;

an inertial measurement unit (IMU), firmly attached to said selected object, said IMU producing IMU inertial measurements of motion of said selected object with respect to an inertially fixed reference frame;

an inertial navigation system (INS), firmly attached to said moving reference frame, said INS producing INS inertial measurements of motion of said moving reference frame with respect to said inertially fixed reference frame; and

a tracking processor, coupled with said at least one object transceiver assembly, said IMU and said INS, said tracking processor receiving electromagnetic measurements resulting from the magnetic communication between said at least one reference frame transceiver assembly and said at least one object transceiver assembly, said tracking processor determining the position of said selected object relative to said moving reference frame by using said IMU inertial measurements and said INS inertial measurements to optimize said electromagnetic measurements;

wherein said tracking processor includes a position estimator, a relative angular velocity estimator, an electromagnetic angular velocity estimator coupled with said position estimator, an angular velocity optimizer coupled with said relative angular velocity estimator and with said electromagnetic angular velocity estimator, and a filter module coupled with said position estimator, with said angular velocity optimizer, and with said relative angular velocity estimator,

wherein said position estimator estimates the position of said at least one object transceiver assembly using electromagnetic tracking;

wherein said electromagnetic angular velocity estimator estimates at least the angular velocity of said at least one object transceiver assembly based on said received electromagnetic measurements;

wherein said relative angular velocity estimator estimates at least the relative angular velocity between said IMU and said INS;

wherein said angular velocity optimizer receives an electromagnetic based angular velocity from said electromagnetic angular velocity estimator, and receives an inertial based angular velocity from said relative angular velocity estimator, and further optimally combines said electromagnetic based angular velocity and said inertial based angular velocity to obtain a final relative angular velocity; and

wherein said filter module receives said final relative angular velocity from said angular velocity optimizer, and further determines at least the orientation of said selected object relative to a moving reference frame using said final relative angular velocity.

2. The apparatus according to claim 1, further including a sensor interface coupled with said at least one object transceiver assembly,

aid sensor interface receiving said electromagnetic measurements from said at least one object transceiver assembly and providing said electromagnetic measurements to said tracking processor.

3. The apparatus according to claim 1, wherein said IMU inertial measurements of motion includes three angular velocity components and three linear acceleration components of said selected object with respect to an inertially fixed reference frame;

and

herein said INS inertial measurements of motion includes three angular velocity components and three linear acceleration components of said moving reference frame with respect to said inertially fixed reference frame.

17. The apparatus according to claim 1, wherein said filter module comprises a Kalman filter.

4. Apparatus for determining the position of a selected object relative to a moving reference frame, the apparatus comprising:

at least one reference frame transceiver assembly, firmly attached to said moving reference frame;

at least one object transceiver assembly, firmly attached to said selected object, said at least one object transceiver assembly communicating with said at least one reference frame transceiver assembly using magnetic fields;

an inertial measurement unit (IMU), firmly attached to said selected object, said IMU producing IMU inertial measurements of motion of said selected object with respect to an inertially fixed reference frame;

an inertial navigation system (INS), firmly attached to said moving reference frame, said INS producing INS inertial measurements of motion of said moving reference frame with respect to said inertially fixed reference frame, and

a tracking processor, coupled with said at least one object transceiver assembly, said IMU and said INS, said tracking processor receiving electromagnetic measurements resulting from the magnetic communication between said at least one reference frame transceiver assembly and said at least one object transceiver assembly, said tracking processor determining the position of said selected object relative to said moving reference frame by using said IMU inertial measurements and said INS inertial measurements to optimize said electromagnetic measurements,

wherein said tracking processor includes a position estimator, a relative angular velocity estimator, and a filter module coupled with said position estimator and with said relative angular velocity estimator,

wherein said position estimator estimates the position of said at least one object transceiver assembly using electromagnetic tracking;

wherein said relative angular velocity estimator estimates at least the relative angular velocity between said IMU and said INS; and

wherein said filter module integrates said relative angular velocity to obtain an inertial based orientation estimate, further receives an electromagnetic based orientation estimate from said position estimator, and further determines at least the orientation of said selected object relative to a moving reference frame from said electromagnetic based orientation estimate and said inertial based orientation estimate.

5. The apparatus according to claim 4, wherein said tracking processor thereby determines at least the orientation of said selected object relative to a moving reference frame by combining said electromagnetic measurements with a relative angular velocity obtained from said IMU inertial measurements and said INS inertial measurements.

6. The apparatus according to claim 4, wherein said relative angular velocity estimator further estimates the relative linear acceleration between said IMU and said INS;

and

wherein said filter module further double integrates said relative linear acceleration to obtain an inertial based location estimate, further receives an electromagnetic based location estimate from said position estimator, and further determines the location of said selected object relative to a moving reference frame from said electromagnetic based location estimate and said inertial based location estimate.

7. The apparatus according to claim 4, wherein said filter module adjusts the weight given to either of said electromagnetic based orientation estimate and said inertial based orientation estimate, depending on the level of confidence thereof.

18. The apparatus according to claim 4, wherein said filter module comprises a Kalman filter.

8. Apparatus for determining the position of a selected object relative to a moving reference frame, the apparatus comprising:

at least one reference frame transceiver assembly, firmly attached to said moving reference frame;

at least one object transceiver assembly, firmly attached to said selected object, said at least one object transceiver assembly communicating with said at least one reference frame transceiver assembly using magnetic fields;

an inertial measurement unit (IMU), firmly attached to said selected object, said IMU producing IMU inertial measurements of motion of said selected object with respect to an inertially fixed reference frame;

an inertial navigation system (INS), firmly attached to said moving reference frame, said INS producing INS inertial measurements of motion of said moving reference frame with respect to said inertially fixed reference frame; and

a tracking processor, coupled with said at least one object transceiver assembly, said IMU and said INS, said tracking processor receiving electromagnetic measurements resulting from the magnetic communication between said at least one reference frame transceiver assembly and said at least one object transceiver assembly, said tracking processor determining the position of said selected object relative to said moving reference frame by using said IMU inertial measurements and said INS inertial measurements to optimize said electromagnetic measurements,

wherein said tracking processor includes a position optimizer unit,

wherein said position optimizer unit receives said electromagnetic measurements and said inertial measurements, and determines the position of said selected object relative to a moving reference frame by minimizing a general cost function, said general cost function combining said electromagnetic measurements, said IMU inertial measurements and said INS inertial measurements in a single step.

9. The apparatus according to claim 8, wherein said tracking processor thereby determines the position of said selected object relative to a moving reference frame by combining said electromagnetic measurements, said IMU inertial measurements and said INS inertial measurements in a single step.

10. Method for determining the position of a selected object relative to a moving reference frame, the method comprising the procedures of:

communicating using magnetic fields;

producing IMU inertial measurements of motion of said selected object with respect to an inertially fixed reference frame;

producing INS inertial measurements of motion of said moving reference frame with respect to said inertially fixed reference frame;

receiving electromagnetic measurements resulting from the magnetic communication;

determining the position of said selected object relative to said moving reference frame by using said IMU inertial measurements and said INS inertial measurements to optimize said electromagnetic measurements;

wherein said procedure of receiving electromagnetic measurements resulting from the magnetic communication involves estimating the position of said selected object using electromagnetic tracking; and

wherein said procedure of determining the position of said selected object involves;

estimating at least the relative angular velocity of said selected object with respect to said moving platform;

integrating the relative angular velocity estimate to obtain an inertial based orientation estimate of said selected object with respect to said moving platform;

receiving an electromagnetic based orientation estimate; and

determining at least an orientation of said selected object relative to a moving reference frame from said electromagnetic based orientation estimate and said inertial based orientation estimate.

11. The method to claim 10, wherein said IMU inertial measurements of motion includes three angular velocity components and three linear acceleration components of said selected object with respect to an inertially fixed reference frame;

and

wherein said INS inertial measurements of motion includes three angular velocity components and three linear acceleration components of said moving reference frame with respect to said inertially fixed reference frame.

12. The method according to claim 10, wherein said procedure of determining the position of said selected object involves combining electromagnetic measurements with a relative angular velocity obtained from inertial measurements.

13. The method according to claim 10, wherein said procedure of determining the position of said selected object involves:

further estimating the relative linear acceleration of said selected object with respect to said moving platform;

further double integrating the relative linear acceleration estimate to obtain an inertial based location estimate of said selected object with respect to said moving platform;

further receiving an electromagnetic based location estimate; and

further determining the location of said selected object relative to a moving reference frame from said electromagnetic based location estimate and said inertial based location estimate.

14. The method according to claim 10, wherein said procedure of determining the position of said selected object involves determining the position of said selected object relative to a moving reference frame by minimizing a general cost function, said general cost function combining said electromagnetic measurements and said inertial measurements in a single step.

15. The method according to claim 14, wherein said tracking processor thereby determines said procedure of determining the position of said selected object thereby involves determining the position of said selected object relative to a moving reference frame by combining said electromagnetic measurements, said IMU inertial measurements and said INS inertial measurements in a single step.

16. The method according to claim 10, further including the procedure of:

performing harmonization of electromagnetic components, said harmonization involving receiving said electromagnetic measurements, an at least one IMU linear acceleration component of said selected object, an at least one INS linear acceleration component of said selected object, and a magnetic field model, and determining the orientation of a magnetic field model coordinate system with respect to the coordinate system of said moving reference frame by minimizing a general cost function.