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公开(公告)号：KR20180052713A
公开(公告)日：2018-05-18
申请号：KR20187010168
申请日：2016-09-09
Applicant: BAE SYSTEMS PLC
Inventor： TRYTHALL SIMON , WILLIAMS JOHN RICHARD , KNIGHT PETER MICHAEL
CPC classification number: G01C21/165
Abstract: 물체의이동또는가동플랫폼에대한배향을결정하기위한방법및 장치가제공된다. 물체는, 예를들어항공기의파일럿이착용하는헬멧일수 있는데, 이러한경우비행중인항공기에대한헬멧의배향은일반적으로, 특히연관된헬멧-마운트디지털디스플레이시스템에디스플레이되고있는공간-안정화된심볼의위치를결정할때에알려질수 있다. 이러한방법및 장치는상기물체와연관된관성센서장치에의해출력되는배향레이트데이터및 상기물체와연관된비-관성추적기시스템에의해출력되는배향데이터의조합에의존한다. 비-관성추적기출력을관성공간에대해참조하기위해서가동플랫폼의배향데이터도 역시사용된다. 관성센서장치에의해출력되는레이트데이터에대한정정은, 관성공간내의가동플랫폼의배향데이터를사용하여, 관성공간에대해참조되는비-관성추적기에의해출력되는데이터로부터유도되는레이트데이터를사용하여결정된다. 정정된레이트데이터는, 본발명의방법의출력에의존하여추적기프로세스및 임의의사용자프로세스, 예를들어공간-안정화된심볼을디스플레이하는디지털헬멧-마운트디스플레이시스템내의레이턴시를고려하도록, 미래의어떤시간에서의물체의예측된배향을결정하기위해사용된다.
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公开(公告)号：KR20180052712A
公开(公告)日：2018-05-18
申请号：KR20187010166
申请日：2016-09-12
Applicant: BAE SYSTEMS PLC
Inventor： TRYTHALL SIMON , WILLIAMS JOHN RICHARD , KNIGHT PETER MICHAEL
Abstract: 버페팅또는유사한효과에노출될수 있는물체의고정, 이동또는가동플랫폼에대한배향을결정하기위한방법및 장치가제공된다. 물체는, 예를들어항공기의파일럿이착용하는헬멧일수 있는데, 이러한경우비행중인항공기에대한헬멧의배향은일반적으로, 특히연관된헬멧-마운트디지털디스플레이시스템에디스플레이되고있는공간-안정화된심볼의위치를결정할때에알려질수 있다. 본발명의방법에따르면, 물체의배향이소스센서데이터의유효시점에앞서어떤시간에예측될수 있을뿐만아니라 - 디지털디스플레이시스템의유용한특징임 -, 하지만이러한예측을수행하는기능성이, 추적기시스템에의해출력되는데이터의품질에대한버페팅의영향을, 물체에대한그리고추적기시스템센서에대한버페팅의검출된심각도에따라서감소시키도록동적으로구성될수 있다. 이러한방법은, 물체의배향을결정하기위하여사용되는것과동일한소스데이터를사용하여, 임의의버페팅의심각도를측정하기위한기능성을포함한다.
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公开(公告)号：AU2016320555A1
公开(公告)日：2018-04-05
申请号：AU2016320555
申请日：2016-09-12
Applicant: BAE SYSTEMS PLC
Inventor： TRYTHALL SIMON , WILLIAMS JOHN RICHARD , KNIGHT PETER MICHAEL
Abstract: A method and apparatus are provided for determining the orientation of an object relative to fixed,moving or moveable platform likely to be exposed to buffeting or similar effects. The object may for example be a helmet worn by a pilot of an aircraft in which orientation of the helmet relative the aircraft while in flight may usefully be known, in particular when determining the position of space-stabilised symbols being displayed in an associated helmet-mounted digital display system. According to the method, not only may orientation of an object may be predicted at some time ahead of a time point of validity of source sensor data – a useful feature for digital display systems –but the functionality carrying out the prediction may be dynamically configured to according to a detected severity of buffeting upon the object and upon the tracker system sensors to reduce the effects of the buffeting upon the quality of data output by the tracker system. The method includes functionality to measure the severity of any buffeting using the same source data as used to determine orientation of the object.
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公开(公告)号：AU2016320543A1
公开(公告)日：2018-04-05
申请号：AU2016320543
申请日：2016-09-09
Applicant: BAE SYSTEMS PLC
Inventor： TRYTHALL SIMON , WILLIAMS JOHN RICHARD , KNIGHT PETER MICHAEL
Abstract: A method is provided for determining corrections to rate data output by inertial sensors of a type typically used in tracking changes in orientation of an object. The present invention also extends to a tracker system incorporating the correction functionality of the present invention. The method makes use of rate data output by inertial sensors associated with the object being tracked and rate data derived from measures of orientation supplied by a non-inertial tracker system also associated with the object being tracked and comprises determining from those rate data corrections for errors due to misalignment in rate data output by inertial sensors, by calculating a mapping between vectors linking points in inertial sensor rate space represented by a sample set of received rate data from the inertial sensors and vectors linking points in a derived object orientation rate space represented by a corresponding and synchronised sample set of derived rate data. Corrections for inertial sensor bias may be determined separately from corrections for misalignment-related errors, after correction of inertial sensor rate data for misalignment-related errors by determining the vector translation between a point represented by corrected inertial sensor rate data in the derived object orientation rate space and the point in the same rate space represented by derived rate data synchronised therewith.
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Patent Agency Ranking
公开(公告)号：AU2016320543B2
公开(公告)日：2021-09-23
申请号：AU2016320543
申请日：2016-09-09
Applicant: BAE SYSTEMS PLC
Inventor： TRYTHALL SIMON , WILLIAMS JOHN RICHARD , KNIGHT PETER MICHAEL
Abstract: A method is provided for determining corrections to rate data output by inertial sensors of a type typically used in tracking changes in orientation of an object. The present invention also extends to a tracker system incorporating the correction functionality of the present invention. The method makes use of rate data output by inertial sensors associated with the object being tracked and rate data derived from measures of orientation supplied by a non-inertial tracker system also associated with the object being tracked and comprises determining from those rate data corrections for errors due to misalignment in rate data output by inertial sensors, by calculating a mapping between vectors linking points in inertial sensor rate space represented by a sample set of received rate data from the inertial sensors and vectors linking points in a derived object orientation rate space represented by a corresponding and synchronised sample set of derived rate data. Corrections for inertial sensor bias may be determined separately from corrections for misalignment-related errors, after correction of inertial sensor rate data for misalignment-related errors by determining the vector translation between a point represented by corrected inertial sensor rate data in the derived object orientation rate space and the point in the same rate space represented by derived rate data synchronised therewith.
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公开(公告)号：ES2761612T3
公开(公告)日：2020-05-20
申请号：ES16766060
申请日：2016-09-09
Applicant: BAE SYSTEMS PLC
Inventor： TRYTHALL SIMON , WILLIAMS JOHN , KNIGHT PETER MICHAEL
Abstract: Un método para corregir errores en los datos de velocidad emitidos por sensores inerciales (5) indicativos de una velocidad de cambio en la orientación en el espacio inercial de un objeto (150) al que están unidos los sensores inerciales, teniendo el objeto también un sistema de seguimiento no inercial (10) dispuesto para determinar la orientación del objeto referenciado a un marco de referencia de una plataforma móvil con la que está asociado el objeto, comprendiendo el método los pasos: (i) recibir datos de velocidad emitidos por los sensores inerciales; (ii) recibir datos de orientación del sistema de seguimiento no inercial; (iii) recibir datos de orientación indicativos de la orientación de la plataforma móvil en el espacio inercial; (iv) derivar datos de velocidad de una combinación sincronizada de datos de orientación recibidos en los pasos (ii) y (iii) para proporcionar una medida de la velocidad de cambio en la orientación del objeto en el espacio inercial; (v) determinar, a partir de una combinación sincronizada de datos de velocidad recibidos en el paso (i) y datos de velocidad derivados en el paso (iv), una corrección de errores en los datos de velocidad emitidos por los sensores inerciales debido a una desalineación, incluida la no ortogonalidad de los ejes de los sensores inerciales o una diferencia en la alineación de uno o más ejes de los sensores inerciales y los ejes correspondientes en un marco de referencia del sistema de seguimiento no inercial; y (vi) aplicar la corrección determinada en el paso (v) para calificar la emisión de datos por los sensores inerciales, en el que, en el paso (v), la corrección se define mediante un mapeo entre vectores que unen puntos en un espacio de velocidad de sensor inercial representado por un conjunto de muestra de datos de velocidad recibidos en el paso (i) y vectores que unen puntos en un espacio de velocidad de orientación de objeto derivado representado por un conjunto de muestra sincronizada correspondiente de datos de velocidad derivados en el paso (iv).
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公开(公告)号：AU2016320555B2
公开(公告)日：2021-10-21
申请号：AU2016320555
申请日：2016-09-12
Applicant: BAE SYSTEMS PLC
Inventor： TRYTHALL SIMON , WILLIAMS JOHN RICHARD , KNIGHT PETER MICHAEL
Abstract: A method and apparatus are provided for determining the orientation of an object relative to fixed,moving or moveable platform likely to be exposed to buffeting or similar effects. The object may for example be a helmet worn by a pilot of an aircraft in which orientation of the helmet relative the aircraft while in flight may usefully be known, in particular when determining the position of space-stabilised symbols being displayed in an associated helmet-mounted digital display system. According to the method, not only may orientation of an object may be predicted at some time ahead of a time point of validity of source sensor data – a useful feature for digital display systems –but the functionality carrying out the prediction may be dynamically configured to according to a detected severity of buffeting upon the object and upon the tracker system sensors to reduce the effects of the buffeting upon the quality of data output by the tracker system. The method includes functionality to measure the severity of any buffeting using the same source data as used to determine orientation of the object.
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公开(公告)号：AU2016320545B2
公开(公告)日：2021-10-21
申请号：AU2016320545
申请日：2016-09-09
Applicant: BAE SYSTEMS PLC
Inventor： TRYTHALL SIMON , WILLIAMS JOHN RICHARD , KNIGHT PETER MICHAEL
IPC: G01C21/16
Abstract: A method and apparatus are provided for determining the orientation of an object relative to a moving or moveable platform. The object may for example be a helmet worn by a pilot of an aircraft in which orientation of the helmet relative the aircraft while in flight may usefully be known, in particular when determining the position of space-stabilised symbols being displayed in an associated helmet-mounted digital display system. The method and apparatus rely upon a combination or orientation rate data output by an inertial sensor arrangement associated with the object and orientation data output by a non-inertial tracker system associated with the object. Orientation data of the moveable platform is also used to reference the non-inertial tracker output to inertial space. A correction to the rate data output by the inertial sensor arrangement is determined using rate data derived from data output by the non-inertial tracker referenced to inertial space using orientation data of the moveable platform in inertial space. The corrected rate data are used to determine a predicted orientation for the object at some future time to take account of latency in the tracker process and in any user process relying upon the output of the method, for example a digital helmet-mounted display system displaying space-stabilised symbols.
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公开(公告)号：AU2016320545A1
公开(公告)日：2018-04-05
申请号：AU2016320545
申请日：2016-09-09
Applicant: BAE SYSTEMS PLC
Inventor： TRYTHALL SIMON , WILLIAMS JOHN RICHARD , KNIGHT PETER MICHAEL
IPC: G01C21/16
Abstract: A method and apparatus are provided for determining the orientation of an object relative to a moving or moveable platform. The object may for example be a helmet worn by a pilot of an aircraft in which orientation of the helmet relative the aircraft while in flight may usefully be known, in particular when determining the position of space-stabilised symbols being displayed in an associated helmet-mounted digital display system. The method and apparatus rely upon a combination or orientation rate data output by an inertial sensor arrangement associated with the object and orientation data output by a non-inertial tracker system associated with the object. Orientation data of the moveable platform is also used to reference the non-inertial tracker output to inertial space. A correction to the rate data output by the inertial sensor arrangement is determined using rate data derived from data output by the non-inertial tracker referenced to inertial space using orientation data of the moveable platform in inertial space. The corrected rate data are used to determine a predicted orientation for the object at some future time to take account of latency in the tracker process and in any user process relying upon the output of the method, for example a digital helmet-mounted display system displaying space-stabilised symbols.
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