US 10,960,285 B2 · Sensor-derived object flight performance tracking

Abstract

Systems and techniques for sensor-derived object flight performance tracking are described herein. A set of magnetometer readings may be obtained from a magnetometer included with an object. A local rotation axis of the object may be determined at a time using the set of magnetometer readings. The local rotation axis may describe rotation of the object around a local magnetic target. A global rotation axis may be calculated based on an initial orientation of the object. The global rotation axis may describe a fixed rotation axis of the object during flight in a global coordinate frame, wherein an angle between the global rotation axis and magnetic north remains constant during the flight. An orientation of the object may be determined for the time using the global rotation axis and the local rotation axis of the object at the time.

Claims21

Dependent claims

A method for determining spin of a thrown object for a time along a flight path of the thrown object, the method comprising:

obtaining a set of magnetometer readings from a magnetometer included with the thrown object;
determining a local rotation axis of the thrown object at the time using the set of magnetometer readings, an approximated side force on the thrown object, and an approximated air drag force on the thrown object, the local rotation axis describing rotation of the thrown object around a local magnetic target included with the thrown object;
calculating a global rotation axis by translating the local rotation axis to a global coordinate frame based on an initial orientation of the thrown object, gravity, and magnetic north in the global coordinate frame;
and
determining an orientation of the thrown object for the time using the global rotation axis and the local rotation axis of the thrown object at the time.

2 more elements

A system for determining spin of a thrown object for a time along a flight path of the thrown object, the system comprising:

at least one processor;
and
memory including instructions that, when executed by the at least one processor, cause the at least one processor to perform operations to:
determine a local rotation axis of the thrown object at the time using a set of magnetometer readings from the thrown object, an approximated side force on the thrown object, and an approximated air drag force on the thrown object, the local rotation axis describing rotation of the thrown object around a local magnetic target of the thrown object;
calculate a global rotation axis by translating the local rotation axis to a global coordinate frame based on an initial orientation of the thrown object, gravity, and magnetic north in the global coordinate frame;
and
determine an orientation of the thrown object for the time using the global rotation axis and the local rotation axis of the thrown object at the time.

4 more elements

At least one non-transitory machine-readable medium including instructions for determining spin of a thrown object for a time along a flight path of the thrown object that, when executed by at least one processor, cause the at least one processor to perform operations to:

determine a local rotation axis of the thrown object at the time using a set of magnetometer readings from the thrown object, an approximated side force on the thrown object, and an approximated air drag force on the thrown object, the local rotation axis describing rotation of the thrown object around a local magnetic target of the thrown object;
calculate a global rotation axis by translating the local rotation axis to a global coordinate frame based on an initial orientation of the thrown object, gravity, and magnetic north in the global coordinate frame;
and
determine an orientation of the thrown object for the time using the global rotation axis and the local rotation axis of the thrown object at the time.

1 more element

Dependencies are inferred from the claim text.

Sensor-derived object flight performance tracking

Life of this patent

Sensor-derived object flight performance tracking

Life of this patent

Abstract

Claims21