Method for dynamic autocalibration of a multi-sensor tracking system and apparatus incorporating it therein
US6577976B1 · kind B1 · utility
Assignee
Inventors
Key dates
| Filing date | Sep 17, 1999 |
| Grant date | Jun 10, 2003 |
| Priority date | — |
| Expiry date | Sep 17, 2019 |
Classification
- Technology area (CPC G)Physics
- CPC primaryG01C17/38
- WIPO fieldMeasurement
- WIPO sectorInstruments
Abstract
A method for dynamic auto-calibration of a multi-sensor tracking system and apparatus incorporating it therein are presented. The method and apparatus utilize information from complementary sensors, filtered by a simultaneously running filter that combines the sensor data into an estimate of the state of the monitored system to iteratively tune the bias estimate. To track a dynamic system, complimentary or redundant sensors may be combined with a model of the system so that the uncertainty in the estimated state of the dynamic system is less than the noise in the individual sensors. In addition to noise, the sensors may have bias, which has the same value whenever the system is in a particular state. While estimating the actual value of the state, the present invention allows the estimator to determine the bias. The present invention, in its most general embodiment requires complex computations. However, significant simplifications have also been developed, which reduce the necessary computational power to a manageable level. The present invention has been reduced to practice in the context of a head-tracking system employing a plurality of sensors to determine the orientation of a…
Source: USPTO / EPO open patent data. Objective bibliographic and citation counts.