DISTORTION-IMMUNE POSITION TRACKING USING REDUNDANT MEASUREMENTS
First Claim
1. A method for tracking a position of an object in a working volume, comprising:
- using a field sensor associated with the object to measure field strengths of magnetic fields generated by two or more field generators, the magnetic fields generated by two or more field generators defining a working volume, wherein a measurement of at least one of the field strengths is subject to a distortion;
calculating location coordinates of the object responsively to the measured field strengths, the raw location coordinates of the object defining rotation invariant location coordinates of the object; and
determining corrected location coordinates of the object by applying to the rotation-invariant location coordinates a coordinate correcting function so as to adjust a relative contribution of each of the measured field strengths to the corrected location coordinates responsively to the distortion in the measured field strengths according to a plurality of sub-volumes of the working volume.
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Abstract
A method for tracking a position of an object includes using a field sensor associated with the object to measure field strengths of magnetic fields generated by two or more field generators, wherein a measurement of at least one of the field strengths is subject to a distortion. Rotation-invariant location coordinates of the object are calculated responsively to the measured field strengths. Corrected location coordinates of the object are determined by applying to the rotation-invariant location coordinates a coordinate correcting function so as to adjust a relative contribution of each of the measured field strengths to the corrected location coordinates responsively to the distortion in the measured field strengths.
4 Citations
35 Claims
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1. A method for tracking a position of an object in a working volume, comprising:
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using a field sensor associated with the object to measure field strengths of magnetic fields generated by two or more field generators, the magnetic fields generated by two or more field generators defining a working volume, wherein a measurement of at least one of the field strengths is subject to a distortion; calculating location coordinates of the object responsively to the measured field strengths, the raw location coordinates of the object defining rotation invariant location coordinates of the object; and determining corrected location coordinates of the object by applying to the rotation-invariant location coordinates a coordinate correcting function so as to adjust a relative contribution of each of the measured field strengths to the corrected location coordinates responsively to the distortion in the measured field strengths according to a plurality of sub-volumes of the working volume. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13)
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14-21. -21. (canceled)
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22. A system for tracking a position of an object in a working volume, comprising:
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two or more field generators, which are arranged to generate respective magnetic fields in a vicinity of the object, the respective magnetic fields generated by two or more field generators defining a working volume; a field sensor associated with the object, which is arranged to measure field strengths of the magnetic fields, wherein a measurement of at least one of the field strengths is subject to a distortion; and a processor, which is arranged to calculate raw location coordinates of the object responsively to the measured field strengths, the raw location coordinates of the object defining rotation invariant location coordinates of the object, and to determine corrected location coordinates of the object by applying to the rotation-invariant location coordinates a coordinate correcting function so as to adjust a relative contribution of each of the measured field strengths to the corrected location coordinates responsively to the distortion in the measured field strengths according to a plurality of sub-volumes of the working volume. - View Dependent Claims (23, 24, 25, 26, 27, 28, 29, 30, 31, 32, 33, 34)
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35-45. -45. (canceled)
Specification