Motion tracking system
AssigneeMassachusetts Institute of Technology
InventorEric M. Foxlin
Life of this patent
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Abstract
Tracking a motion of a body by obtaining two types of measurements associated with the motion of the body, one of the types including acoustic measurement. An estimate of either an orientation or a position of the body is updated based on one of the two types of measurement, for example based on inertial measurement. The estimate is then updated based on the other of the two types of measurements, for example based on acoustic ranging. The invention also features determining range measurement to selected reference devices that are fixed in the environment of the body.
Claims15
A method for tracking the motion of a body including:
- obtaining an inertial measurement;
- updating a state estimate of the body by integrating the inertial measurement;
- updating an estimate of an uncertainty of the state estimate, including using a rate estimate of the body to increase the estimate of the uncertainty of the state estimate such that the uncertainty of the state estimate increases at relatively greater rate during time periods with high rate estimates.
Dependencies are inferred from the claim text.