A system and related method for hybrid headtracking receives head-referenced pose data from a head-mounted IMU and platform-referenced or georeferenced position and orientation (pose) data from a platform-mounted IMU, determines error models corresponding to uncertainties associated with both IMUs, and performs an initial estimate of head pose relative to the platform reference frame based on the head-referenced and platform-referenced pose data. A numerically stable UD factorization of the Kalman filter propagates the estimated head pose data forward in time and corrects the initial head pose estimate (and may correct the error models associated with the head-mounted and platform-mounted IMUs) based on secondary head pose estimates, and corresponding error models, received from an optical or magnetic aiding device. The corrected head pose data is forward to a head-worn display to ensure high accuracy of displayed imagery and symbology.
System And Method For Hybrid Optical/Inertial Headtracking Via Numerically Stable Kalman Filter
2019-02-07
Patent
Elektronische Ressource
Englisch
IPC: | G06F ELECTRIC DIGITAL DATA PROCESSING , Elektrische digitale Datenverarbeitung / B64D Ausrüstung für Flugzeuge , EQUIPMENT FOR FITTING IN OR TO AIRCRAFT / G01P MEASURING LINEAR OR ANGULAR SPEED, ACCELERATION, DECELERATION OR SHOCK , Messen der Linear- oder Winkelgeschwindigkeit, der Beschleunigung, der Verzögerung oder des Stoßes / G06T Bilddatenverarbeitung oder Bilddatenerzeugung allgemein , IMAGE DATA PROCESSING OR GENERATION, IN GENERAL |
System and method for hybrid optical/inertial headtracking via numerically stable Kalman filter
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