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US 12,728,023 B2Granted
Motion tracking using magnetic-localization inertial measurement unit and orientation compensation
AssigneeGeorgia Tech Research Corporation
InventorsNordine Sebkhi, Arpan Bhavsar, Omer Inan
Life of this patent
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Abstract
An exemplary motion tracking and/or localization system is disclosed that can provide a non-line-of-sight motion tracking with millimetric accuracy for a tracer moving in close proximity to a magnetic source. In some embodiments, the tracking and/or localization system includes an inertial measurement unit (IMU) configured as a tracer that can move in a local magnetic field generated by multiple local magnetic sources.
Claims22
A method for tracking motion of a body part, the method comprising:
- receiving a set of one or more motion-associated signals from one or more wearable sensors disposed on the body part, wherein the one or more wearable sensors include a first wearable sensor that is one of an accelerometer, a motion sensor, a position sensor, or an inertial measurement sensor;
- receiving a set of one or more magnetic measurement associated signals from one or more magnetic sensors disposed on the body part, wherein the one or more magnetic sensors are fixed in relation to the first wearable sensor, and wherein the one or more magnetic sensors are placed in proximity to one or more local magnetic field sources disposed on the body;
- and
- determining, by a processor, a localization-associated measurement value using the magnetic measurement associated signals and the one or more motion-associated signals, wherein the localization-associated measurement value is determined from the magnetic measurement associated signals adjusted by the one or more motion-associated signals.
1 more element
A system comprising:
- a plurality of wearable sensors, including a first wearable sensor that is one of a motion sensor, a position sensor, or an inertial measurement sensor;
- one or more local magnetic field sources to operate with one or more magnetic sensors;
- the one or more magnetic sensors, wherein the one or more magnetic sensors are fixed in relation to the first wearable sensor, and wherein the one or more magnetic sensors is placed in proximity to the one or more local magnetic field source;
- and
- a processing unit coupled to the plurality of wearable sensors through one or more sensor interface circuitries configured to convert signals received from the plurality of wearable sensors to motion-associated measurement values, the processing unit comprising a processor and memory, the memory having instructions stored thereon, wherein the instructions when executed by the processor causes the processor to:
- receive a set of one or more motion-associated signals from the one or more wearable sensors;
- receive a set of one or more magnetic measurement associated signals from the one or more magnetic sensors;
- and
- determine a localization-associated measurement value using the magnetic measurement associated signals and the one or more motion-associated signals, wherein the localization-associated measurement value is determined from the magnetic measurement associated signals adjusted by the one or more motion-associated signals.
6 more elements
A non-transitory computer-readable medium having instructions stored thereon, wherein the instructions, when executed by a processor, cause the processor to:
- receive a set of one or more motion-associated signals from one or more wearable sensors disposed on a body part, wherein the one or more wearable sensors include a first wearable sensor that is one of an accelerometer, a motion sensor, a position sensor, or an inertial measurement sensor;
- receive a set of one or more magnetic measurement associated signals from one or more magnetic sensors disposed on the body part, wherein the one or more magnetic sensors are fixed in relation to the first wearable sensor, and wherein the one or more magnetic sensors are placed in proximity to one or more local magnetic field sources disposed on the body;
- and
- determine a localization-associated measurement value using the magnetic measurement associated signals and the one or more motion-associated signals, wherein the localization-associated measurement value is been determined from the magnetic measurement associated signals adjusted by the one or more motion-associated signals.
1 more element
Dependencies are inferred from the claim text.