Method and system for optical-inertial tracking of a moving object

A system for optical-inertial tracking a movable object, the system comprising:

• at least one plurality of markers fixedly mounted so as to be visible from the movable object in order to perform inside-out tracking, including IR light emitting markers;
• at least one tracker mounted on the movable object, and including an optical sensor, at least one inertial sensor, a first data processing device and a first communication device,
• wherein the tracker is configured to
• read, by the first data processing device, a picture from the optical sensor,
• detect, by the first data processing device, pixels satisfying predefined conditions in the read picture, detect, by the first data processing device, marker blobs based on the detected pixels, to determine, by the first data processing device, parameters of the marker blobs,
• read, by the first data processing device, data from the at least one inertial sensor,
• generate, by the first data processing device, a consolidated data flow including the parameters of the marker blobs and the data of the at least one inertial sensor, and
• transmit, by the first communication device, the consolidated data flow to a host;
• at least one host comprising a second communication device and a second data processing device,
• wherein the host is configured to
• receive, by the second communication device, the consolidated data flow,
• determine, by the second data processing device, a tracker positioning data in a coordinate system of a motion area of the movable object, based on the consolidated data flow,
• validate, by the second data processing device, a mathematical model of a tracker motion path, based on the tracker positioning data, and
• extrapolate, by the second data processing device, the tracker positioning data onto an extrapolation horizon, based on the validated mathematical model of the tracker motion path.