Method and Apparatus for Motion Tracking of an Articulated Rigid Body

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Author
Bachmann, Eric R.
McGhee, Robert B.
Yun, Xiaoping
Zyda, Michael J.
McKinney, Douglas L.
Date
2004-11-16Metadata
Show full item recordAbstract
One embodiment the invention comprises a method of
determining an orientation of a sensor. The method includes
measuring a local magnetic field vector and a local gravity
vector and using those measurements to determine the
orientation of the sensor. Embodiments can include measuring
the magnetic field vector and the local gravity vector
using quaternion coordinates.
Another embodiment comprises measuring a local magnetic
field vector, a local gravity vector, and the angular velocity
of the sensor. These three vectors are processed to determine
the orientation of the sensor. In one embodiment the three
vectors can all be measured in quaternion coordinates.
Another method embodiment comprises determining a local
gravity vector by providing a acceleration detector, moving
the detector from a start point to an end point over a time
period, and summing acceleration measurements over the
time period. The local gravity vector is calculated using the
summed acceleration measurements.
A system embodiment of the present invention includes a
body having mounted thereon at least one sensor. The at
least one sensor is configured to output orientation inform a -
tion to at least one processing unit that inputs the orientation
information into a synthetic environment. The system also
can include a display for displaying the orientation of the
body with respect to the synthetic environment.
Description
Patent
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This publication is a work of the U.S. Government as defined in Title 17, United States Code, Section 101. Copyright protection is not available for this work in the United States.Collections
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