Registration for vehicular augmented reality using auto-harmonization
AssigneeThales Visionix, Inc.
InventorEric FOXLIN
Life of this patent
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Abstract
A method, a system, and a computer program product for tracking an object moving relative to a moving platform, the moving platform moving relative to an external frame of reference. The system includes An inertial sensor for tracking the object relative to the external reference frame, a non-inertial sensor for tracking the object relative to the moving platform, and a processor to perform sensor fusion of the inertial and non-inertial measurements in order to accurately track the object and concurrently estimate the misalignment of the non-inertial sensor's reference frame relative to the moving platform.
Claims31
A method for tracking an object moving relative to a moving platform, the moving platform moving relative to an external frame of reference, the method comprising:
- updating an inertial orientation estimate of the object relative to the external frame of reference using at least one angular rate sensor comprised in a sensor unit fixed to the object;
- obtaining measurements from a platform-mounted inertial navigation system (INS) of the orientation of a platform coordinate frame with respect to said external frame of reference;
- and
- at certain measurement times, obtaining measurements from a non-inertial sensor of the orientation of the sensor unit relative to a measurement reference coordinate frame fixed with respect to the platform, combining said platform-referenced non-inertial orientation measurements with the INS measurement of platform orientation to form an indirect measurement of the orientation of said object with respect to said external frame of reference, and fusing said indirect measurement with said inertial orientation estimate of the object to form an improved estimate of object orientation relative to said external frame of reference.
A system for tracking an object moving relative to a moving platform, the moving platform moving relative to an external frame of reference, comprising:
- means for updating an inertial orientation estimate of the object relative to the external frame of reference using at least one angular rate sensor comprised in a sensor unit fixed to the object;
- means for obtaining measurements from a platform-mounted inertial navigation system (INS) of the orientation of a platform coordinate frame with respect to said external frame of reference;
- means for obtaining measurements from a non-inertial sensor of the orientation of the sensor unit relative to a measurement reference coordinate frame fixed with respect to the platform;
- and
- means for combining said platform-referenced non-inertial orientation measurements with the most recent INS measurement of platform orientation to form an indirect measurement of the orientation of said object with respect to said external frame of reference and fusing said indirect measurement with said inertial orientation estimate of the object to form an improved estimate of object orientation relative to said external frame of reference.
An apparatus for tracking an object moving relative to a moving platform, the moving platform moving relative to an external frame of reference, comprising:
- a memory;
- and
- at least one processor coupled to the memory and configured to:
- update an inertial orientation estimate of the object relative to the external frame of reference using at least one angular rate sensor comprised in a sensor unit fixed to the object;
- obtain measurements from a platform-mounted inertial navigation system (INS) of the orientation of a platform coordinate frame with respect to said external frame of reference;
- and
- obtain measurements from a non-inertial sensor of the orientation of the sensor unit relative to a measurement reference coordinate frame fixed with respect to the platform, combine said platform-referenced non-inertial orientation measurements with the most recent INS measurement of platform orientation to form an indirect measurement of the orientation of said object with respect to said external frame of reference, and fuse said indirect measurement with said inertial orientation estimate of the object to form an improved estimate of object orientation relative to said external frame of reference.
A computer program product for tracking an object moving relative to a moving platform, the moving platform moving relative to an external frame of reference, the computer program product comprising a computer usable medium having control logic stored therein for causing a computer to:
- update an inertial orientation estimate of the object relative to the external frame of reference using at least one angular rate sensor comprised in a sensor unit fixed to the object;
- obtain measurements from a platform-mounted inertial navigation system (INS) of the orientation of a platform coordinate frame with respect to said external frame of reference;
- and
- obtain measurements from a non-inertial sensor of the orientation of the sensor unit relative to a measurement reference coordinate frame fixed with respect to the platform, combine said platform-referenced non-inertial orientation measurements with the most recent INS measurement of platform orientation to form an indirect measurement of the orientation of said object with respect to said external frame of reference, and fuse said indirect measurement with said inertial orientation estimate of the object to form an improved estimate of object orientation relative to said external frame of reference.
Dependencies are inferred from the claim text.