Motion-tracking

• US 6,681,629 B2
• Filed: 08/21/2002
• Issued: 01/27/2004
• Est. Priority Date: 04/21/2000
• Status: Expired due to Term

• Current Assignee: Thales Visionix Incorporated (Thales SA)
• Original Assignee: Intersense Incorporated
• Inventors: Foxlin, Eric, Altshuler, Yury
• Primary Examiner(s): KWOK, HELEN C
• Application Number:
  US10/224,901
• Publication Number:
  US 20020194914A1
• Time in Patent Office: 524 Days
• Field of Search: 734/88, 735/033, 735/040.3, 735/70, 735/140.1, 600/587, 600/595, 128/897, 128/898, 128/774, 128/782, 367/117, 367/118, 333/33, 333/55.R
• US Class Current: 73/488
• CPC Class Codes: A61B 2503/22 Motor vehicles operators, e.g. drivers, pilots, captains
• CPC Class Codes: A61B 2562/046 in a matrix array
• CPC Class Codes: A61B 5/1114 Tracking parts of the body
• CPC Class Codes: G01C 21/12 executed aboard the object being navigated; Dead reckoning

Abstract

Inertial trackers have been successfully applied to a wide range of head mounted display (HMD) applications including virtual environment training, VR gaming and even fixed-base vehicle simulation, in which they have gained widespread acceptance due to their superior resolution and low latency. Until now, inertial trackers have not been used in applications which require tracking motion relative to a moving platform, such as motion-base simulators, virtual environment trainers deployed on board ships, and live vehicular applications including helmet-mounted cueing systems and enhanced vision or situational awareness displays, to the invention enables the use of inertial head-tracking systems on-board moving platforms by computing the motion of a “tracking” Inertial Measurement Unit (IMU) mounted on the HMD relative to a “reference” IMU rigidly attached to the moving platform.

Claims

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 and having a first output;

a second inertial sensor mounted on the moving reference frame and having a second output; and

an element coupled to said first and second inertial sensors and configured to determine a position of the object relative to the moving reference frame based on signals received from the first and second inertial sensor.

2. 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;

an element coupled to said first and second inertial sensors and configured to determine an orientation of the object relative to the moving reference frame based on signals received from the first and second inertial sensor; and

a drift corrector for correcting inertial drift in the determined orientation of the object with respect to the moving reference frame.

3. The system of claim 2, where the drift corrector includes a Kalman filter.

4. The system of claim 2, further comprising a non-inertial measuring subsystem for making independent measurements related to the position of the object with respect to an inertial reference frame, or the position of the moving reference frame with respect to an inertial reference frame.

5. The system of claim 4, in which the non-inertial measuring subsystem is selected from the set of optical, RF or electromagnetic technologies.

6. The system of claim 5, in which the non-inertial measuring subsystem includes a GPS receiver, or other radio-navigation device.

7. A system for tracking the motion of an object relative to moving reference frame comprising:

a first inertial sensor mounted on the tracked object and having a first output;

a second inertial sensor mounted on the moving reference frame and having a second output; and

an element coupled to said first and second inertial sensors and configured to determine an estimate of a relative velocity of the tracked object to the moving reference frame by determining at least an angular acceleration of the moving reference frame.

8. The system of claim 7, wherein the angular acceleration is determined by numerically differentiating an output of at least one gyroscope.

9. The system of claim 7, wherein the angular acceleration is determined using an angular accelerometer.