Techniques for accurate pose estimation

A method of providing situation awareness information via a head-mounted display, comprising steps of:

• calculating a state-based estimation of an orientation of the head-mounted display,
• wherein the state-based estimation of the orientation of the head-mounted display is periodically updated based upon periodically obtained absolute and relative orientation sensor data at a regular processing interval;
• determining a plurality of positions associated with a plurality of points of interest;
• determining a plurality of relative bearings associated with the plurality of points of interest based on the plurality of positions and the orientation of the head-mounted display;
• identifying a plurality of displayable points of interest based of the plurality of points of interest and a field of view of the head-mounted display;
• displaying, on a display screen of the head-mounted display, a plurality of geo-registered icons corresponding to the plurality of displayable points of interest, wherein each of the plurality of geo-registered icons is overlaid on an associate displayable point of interest of the plurality of displayable points of interest;
• and
• dynamically updating positions of at least a portion of the plurality of geo-registered icons on the head-mounted display based on updated relative bearings to the plurality of displayable points of interest as the plurality of points of interest move relative to the orientation of the head-mounted display.

A heads-up display system for a user, comprising:

• a head-mounted display including a display screen positioned in line-of-sight of the user;
• a processor;
• at least one absolute orientation sensor;
• at least one relative orientation sensor;
• and
• one or more non-transitory computer-readable media storing computer-executable instructions that, when executed, cause the processor to perform a method comprising steps of:
• periodically receiving absolute orientation data from the at least one absolute orientation sensor;
• periodically receiving relative orientation data from the at least one relative orientation sensor;
• updating, at a regular processing interval, a state-based estimation of an orientation of the head-mounted display, based upon the absolute orientation data and relative orientation data;
• determining an updated pose azimuth of the head-mounted display based on the state-based estimation of the orientation of the head-mounted display, determining a plurality of positions associated with a plurality of points of interest;
• displaying, on the display screen, at least a portion of a 360-degree situational awareness display and a plurality of situational awareness icons representing the plurality of points of interest,
• wherein each situational awareness icon is positioned on the 360-degree situational awareness display in a position corresponding to a bearing of an associated point of interest of the plurality of points of interest relative to the updated pose azimuth of the head-mounted display;
• dynamically updating the position of at least a portion of the plurality of situational awareness icons on the 360-degree situational awareness display based on updated bearings to the plurality of points of interest as the plurality of points of interest move relative to the head-mounted display;
• determining a plurality of relative bearings associated with the plurality of points of interest based on the plurality of positions and the orientation of the head-mounted display;
• displaying, on a display screen of the head-mounted display, a plurality of geo-registered icons corresponding to at least a portion of the plurality of points of interest,
• wherein each of the plurality of geo-registered icons is overlaid on an associated point of interest of the plurality of points of interest;
• and
• dynamically updating positions of at least a portion of the plurality of geo-registered icons on the head-mounted display based on updated relative bearings to the plurality of points of interest as the plurality of points of interest move relative to the orientation of the head-mounted display.