Tightly coupled UWB/IMU pose estimation system and method

• US 8,203,487 B2
• Filed: 08/03/2009
• Issued: 06/19/2012
• Est. Priority Date: 08/03/2009
• Status: Active Grant

• Current Assignee: Movella Technologies BV
• Original Assignee: Xsens Holding BV (ON Semiconductor Corporation)
• Inventors: Hol, Jeroen D., Dijkstra, Freerk, Luinge, Hendrik Johannes, Slycke, Per Johan
• Primary Examiner(s): Tarcza, Thomas
• Assistant Examiner(s): Nguyen, Nga X
• Application Number:
  US12/534,607
• Publication Number:
  US 20110025562A1
• Time in Patent Office: 1,051 Days
• Field of Search: 342362-364, 342/463
• US Class Current: 342/463
• CPC Class Codes: G01S 5/0247 Determining attitude
• CPC Class Codes: G01S 5/02585 at least one of the measurements being a non-radio measurement
• CPC Class Codes: G01S 5/0294 Trajectory determination or predictive filtering, e.g. target tracking or Kalman filtering

Abstract

A six-degree-of-freedom (6DOF) tracking system adapts aspects of Ultra-Wideband (UWB) measurement and microelectromechanical systems (MEMS) inertial measurements within a unique tightly coupled fusion algorithm to accurately and efficiently measure an object'"'"'s position as well as orientation. The principle of operation of the system protects against the negative effects of multipath phenomenon and non-line-of-sight (NLOS) conditions, allowing a more robust position and orientation tracking system.

Claims

1. A method for providing six-degree-of-freedom (6DOF) tracking of an object comprising:

affixing a sensor unit to the object, wherein the sensor unit includes one or more pulse transmitters, each being adapted to transmit a pulse signal, and a plurality of inertial sensors;

receiving, remotely from the object, at each of a plurality of time synchronized pulse receivers, a signal from each of the one or more pulse transmitters to derive a time of arrival for each such sensor, wherein the pulse transmitters are UWB transmitters and the pulse receivers are UWB receivers, and wherein the UWB transmitters and inertial sensors are time synchronized at the hardware level to provide a time error between the inertial sensors of less than 1 ms;

receiving at a processing location the time of arrival information as well as inertial data from each of the plurality of inertial measurement sensors; and

processing the received time of arrival information and the inertial data via a tightly coupled sensor fusion algorithm to yield an estimate of a position and orientation of the object, wherein the tightly coupled sensor fusion algorithm requires processing of the time of arrival data and the inertial data without first performing a position estimate from the time of arrival data prior to integration with the inertial data, and wherein the inertial data is used to predict the time of arrival data and to eliminate erroneous outliers therein.

2. The method for providing six-degree-of-freedom (6DOF) tracking of an object according to claim 1, wherein the plurality of inertial sensors are microelectromechanical systems.

3. The method for providing six-degree-of-freedom (6DOF) tracking of an object according to claim 1, wherein the plurality of inertial sensors comprise a 3D accelerometer.

4. The method for providing six-degree-of-freedom (6DOF) tracking of an object according to claim 1, wherein the step of receiving at a processing location the time of arrival information comprises receiving the time of arrival information from a network entity that is remote from the object being tracked and from the UWB receivers.

5. The method for providing six-degree-of-freedom (6DOF) tracking of an object according to claim 1, wherein the inertial data includes accelerometer measurements and gyroscope measurements.

6. The method for providing six-degree-of-freedom (6DOF) tracking of an object according to claim 1, wherein the sensor unit further includes a pressure sensor, the method further comprising tracking the object in a vertical dimension via the pressure sensor.

7. The method for providing six-degree-of-freedom (6DOF) tracking of an object according to claim 1, wherein one or more UWB receivers include a pressure sensor.

8. A method for providing six-degree-of-freedom (6DOF) tracking of an object comprising:

affixing a sensor unit to the object, wherein the sensor is associated with a processor local to the object, and the sensor unit includes one or more UWB transmitters, each being adapted to transmit a UWB signal, and a plurality of inertial sensors, the UWB transmitters and inertial sensors being synchronized at the hardware level to provide a time error between the inertial sensors of less than 1 ms;

receiving a UWB signal at each of a plurality of time synchronized UWB receivers remote from the object from each of the one or more UWB transmitters to derive a time of arrival for each receiver;

receiving at the processor inertial data from each of the plurality of inertial sensors;

receiving the time of arrival data at the processor; and

processing the time of arrival data and the received inertial data at the processor via a tightly coupled sensor fusion algorithm to yield an estimate of a position and orientation of the object, wherein the tightly coupled sensor fusion algorithm requires processing of the time of arrival data and the inertial data without first performing a position estimate from the time of arrival data prior to integration with the inertial data, and wherein the inertial data is used to predict the time of arrival data and to eliminate erroneous outliers therein.

9. The method for providing six-degree-of-freedom (6DOF) tracking of an object according to claim 8, wherein the object is associated with a console local to the object, and wherein the method further comprises transmitting the estimate of position and orientation to the console.

10. The method for providing six-degree-of-freedom (6DOF) tracking of an object according to claim 8, wherein the plurality of inertial sensors are microelectromechanical systems.

11. The method for providing six-degree-of-freedom (6DOF) tracking of an object according to claim 8, wherein the plurality of inertial sensors comprise at least one 3D accelerometer.

12. The method for providing six-degree-of-freedom (6DOF) tracking of an object according to claim 8, wherein the step of receiving the time of arrival data at the processor includes first receiving the time of arrival information from a network entity that is remote from the object being tracked and from the UWB receivers.

13. The method for providing six-degree-of-freedom (6DOF) tracking of an object according to claim 8, wherein the plurality of inertial sensors includes one or more accelerometers and one or more gyroscopes.

14. The method for providing six-degree-of-freedom (6DOF) tracking of an object according to claim 8, wherein at least one of the sensor unit and the UWB receivers further includes a pressure sensor, the method further comprising tracking the object in a vertical dimension via the pressure sensor.

15. A method for providing six-degree-of-freedom (6DOF) tracking of a multi-segment jointed object comprising:

affixing a sensor unit to one or more segments of the object, wherein each sensor unit includes one or more UWB transmitters, each being adapted to transmit a UWB signal, and a plurality of inertial sensors, the UWB transmitters and the inertial sensors being synchronized at the hardware level for each segment to yield a time error between the inertial sensors of less than 1 ms;

receiving, remotely from the object, at each of a plurality of time synchronized UWB receivers, a signal from each of the one or more UWB transmitters to derive time of arrival data associated with each UWB receiver;

receiving inertial data from the plurality of inertial sensors; and

processing the time of arrival data and the inertial data via a tightly coupled sensor fusion algorithm for each segment to yield an estimate of a position and orientation of each segment, wherein the tightly coupled sensor fusion algorithm requires processing of the time of arrival data and the inertial data without first performing a position estimate from the time of arrival data prior to integration with the inertial data, and wherein the inertial data is used to predict the time of arrival data and to eliminate erroneous outliers therein.

16. The method for providing six-degree-of-freedom (6DOF) tracking of an object according to claim 15, wherein the plurality of inertial sensors are microelectromechanical systems.

17. The method for providing six-degree-of-freedom (6DOF) tracking of an object according to claim 15, wherein the plurality of inertial sensors comprise at least one 3D accelerometer for each segment.

18. The method for providing six-degree-of-freedom (6DOF) tracking of an object according to claim 15, wherein at least one sensor unit or one UWB receiver further includes a pressure sensor, the method further comprising tracking at least one segment of the object in a vertical dimension via the pressure sensor.