公开(公告)号：WO2010058390A1

公开(公告)日：2010-05-27

申请号：PCT/IL2009/001043

申请日：2009-11-05

Applicant: ELBIT SYSTEMS LTD. ,  OPHIR, Yoav ,  EICHLER, Uzi ,  EFRAT, Ilan ,  MENCEL, Guy ,  GANDELSMAN, Mark ,  IZMIRLI, Alon

Inventor： OPHIR, Yoav ,  EICHLER, Uzi ,  EFRAT, Ilan ,  MENCEL, Guy ,  GANDELSMAN, Mark ,  IZMIRLI, Alon

IPC: G01R33/07 ,  G01S5/02 ,  G06F3/033

CPC classification number: G06F17/5022 ,  G01R33/072 ,  G06F3/0346

Abstract: A system for mapping a magnetic field in a volume of interest, the system includes a magnetic field transmitter, generating a magnetic field in the volume of interest, at least one freestanding magnetic field detector, operative to freely move within the volume of interest, the at least one freestanding magnetic field detector acquiring measurements of the flux of the magnetic field at a plurality of poses, and a processor, coupled with the magnetic field detector, the processor re estimating parameters characterizing the magnetic field model according to deviations between the measurements of the flux of the magnetic field and according to predictions of the flux, the predictions being determined according to a stored magnetic field model, thereby, the processor estimating a new magnetic field model.

Abstract translation: 一种用于将感兴趣体积中的磁场映射的系统，该系统包括磁场发射器，在感兴趣的体积中产生磁场，至少一个独立的磁场检测器，可操作以在感兴趣体积内自由移动， 至少一个独立的磁场检测器获取多个姿态的磁场通量的测量结果，以及与该磁场检测器耦合的处理器，处理器重新估计表征磁场模型的参数，该参数根据 磁场的磁通量，并且根据通量的预测，预测根据存储的磁场模型确定，由此，处理器估计新的磁场模型。

公开(公告)号：WO2016151575A1

公开(公告)日：2016-09-29

申请号：PCT/IL2016/050292

申请日：2016-03-17

Applicant: ELBIT SYSTEMS LTD.

Inventor： AVITAN, Lior ,  GANDELSMAN, Mark ,  GUROVICH, Eugene ,  OPHIR, Yoav

IPC: F41G3/32

CPC classification number: G01S5/163 ,  F41G3/323 ,  G01B11/272 ,  G01C25/005 ,  G01P21/00 ,  G01S5/0263

Abstract: A device for determining relative orientation between two locations including an imager, an inertial-orientation-sensor firmly attached to the imager for determining information relating to the orientation thereof and which exhibits drift and a processor coupled with the Imager and with the inertial-orientation-sensor. The processor determines a first orientation-measurement and first time-tag when the' device is oriented with a first-orientation-indicator located at a first location. The processor determines a second-orientation-measurement and second time-tag when the device is oriented with a second-orientation-indicator located at a second location. The processor determines a third-orientation-measurement and third time-tag when the device is oriented again with the flrst-orientation-indicator. The processor determines the drift associated the inertial-orientation-sensor according to difference between the first-orientatlon-measurernent and the third-orientation-rneasurement the respective time-tags associated therewith. The processor determines an angle-difference between the first-orientation-indicator and the second-orientation-indicator according to the first-orientation-measurenient and the second-orientation-measurernent, the first and second time-tags and the drift.

Abstract translation: 一种用于确定两个位置之间的相对定向的装置，包括成像器，与成像器牢固连接的惯性取向传感器，用于确定与其取向有关的信息，并且具有漂移的信息以及与成像器耦合的处理器以及与惯性取向 - 传感器。 当“设备被定向在位于第一位置的第一方向指示器时，处理器确定第一定向测量和第一时间标签。 当设备被定位在位于第二位置的第二方向指示器时，处理器确定第二方向测量和第二时间标签。 当设备再次使用flrst方向指示器时，处理器确定第三方向测量和第三时间标签。 处理器根据与其相关联的各个时间标签的第一定向测量和第三方向测量之间的差异来确定与惯性取向传感器相关联的漂移。 处理器根据第一方向测量点和第二方向测量器，第一和第二时间标签和漂移来确定第一方位指示器和第二方向指示器之间的角度差。

公开(公告)号：WO2015155775A1

公开(公告)日：2015-10-15

申请号：PCT/IL2015/050378

申请日：2015-04-08

Applicant: ELBIT SYSTEMS LTD.

Inventor： EFRAT, Ilan ,  GUROVICH, Evgeni ,  MENCEL, Guy ,  OPHIR, Yoav ,  GANDELSMAN, Mark

IPC: G01R33/02

CPC classification number: G01R33/072

Abstract: System for mapping a magnetic-field including a magnetic-field-transmitter, a freestanding magnetic-field-detector operative to freely move within a volume of interest and acquire measurements of the flux of the magnetic-field at a plurality of poses, a pose-information-acquisition-module for measuring information related to the pose of the magnetic-field-detector and a processor, coupled with the magnetic-field-detector and with said pose-information-acquisition-module and determines pose-related-information respective of each of at least a portion of the magnetic-flux-measurements, according to said information related to the pose of said magnetic-field-detector, the processor further estimating the entire set of parameters of a magnetic-field-model-template according to the magnetic-flux-measurements and the respective pose-related-information the magnetic flux measurements, the processor incorporates the entire set of parameters into said magnetic field model template, thereby determining said magnetic field model, the entire set of parameters includes the coefficients, the order, the number and location of the centers of expansion of the model.

Abstract translation: 用于映射包括磁场发射机的磁场的系统，独立的磁场检测器，其可操作以在感兴趣的体积内自由移动，并获取多个姿态的磁场通量的测量结果 信息采集模块，用于测量与磁场检测器和处理器相关的信息的信息，与磁场检测器和所述姿态信息获取模块耦合，并且相应地确定姿势信息获取模块 根据与所述磁场检测器的姿势相关的所述信息，所述处理器进一步估计磁场模型模板的整个参数组，根据所述磁场模型模板的全部参数集合， 对于磁通量测量和相应的姿势相关信息的磁通量测量，处理器将整个参数集合到所述磁场模型模板中，从而确定 说明磁场模型，整套参数包括模型扩展中心的系数，顺序，数量和位置。

公开(公告)号：WO2006054295A1

公开(公告)日：2006-05-26

申请号：PCT/IL2005/001214

申请日：2005-11-16

Applicant: ELBIT SYSTEMS LTD. ,  GANDELSMAN, Mark ,  KORNBLAU, Giora

Inventor： GANDELSMAN, Mark ,  KORNBLAU, Giora

IPC: G01S1/02

CPC classification number: G01S5/0252 ,  G06F3/0346

Abstract: Apparatus for adaptively tracking the position of an object in a volume of interest, the apparatus including at least one transmitter, at least one sensor assembly, and a tracking processor, the transmitter being coupled with the volume of interest, for transmitting a multiple axis, time variant, electromagnetic field through the volume of interest, the sensor assembly including at least three sensors, the sensor assembly being coupled with the object, each of the three sensors respectively measuring a respective component of the electromagnetic field, the tracking processor being coupled with the transmitter and the sensor assembly, wherein the tracking processor produces and adapts a mathematical field model describing the electromagnetic field, the tracking processor further produces and adapts a mathematical sensing model, for compensating the effect of the translational and rotational velocity of each of the sensors, wherein the tracking processor estimates the position of the object from the measured respective components of the electromagnetic field, the field model and from the sensing model.

Abstract translation: 用于自适应地跟踪感兴趣体积中的物体的位置的装置，所述装置包括至少一个发射器，至少一个传感器组件和跟踪处理器，所述发射器与感兴趣的体积耦合，用于传输多个轴线， 时间变化，通过感兴趣的体积的电磁场，传感器组件包括至少三个传感器，传感器组件与物体耦合，三个传感器中的每一个分别测量电磁场的相应分量，跟踪处理器与 发射器和传感器组件，其中跟踪处理器产生和适应描述电磁场的数学场模型，跟踪处理器进一步产生和适应数学感测模型，以补偿每个传感器的平移和旋转速度的影响 ，其中跟踪处理器估计对象的位置 从测量的电磁场的各个组件，场模型和感测模型。

公开(公告)号：EP1311942B1

公开(公告)日：2011-07-13

申请号：EP01961045.0

申请日：2001-07-25

Applicant: ELBIT SYSTEMS LTD.

Inventor： BAR TAL, Meir ,  PLADI, Eitan ,  GANDELSMAN, Mark ,  GUROVICH, Eugene

IPC: F41G3/22

CPC classification number: F41G3/225

Abstract: A method (30) for adapting electromagnetic field model parameters including the steps of minimizing (14) the difference between a model (22) for the measurements and one or more measurements. The minimizing may be done by estimating model parameters (15), and at least one position and/or orientation. The model may further include system model parameters, wherein the system may include one or more sensors and one or more radiators.

公开(公告)号：EP3274648A1

公开(公告)日：2018-01-31

申请号：EP16767867.1

申请日：2016-03-17

Applicant: Elbit Systems Ltd.

Inventor： AVITAN, Lior ,  GANDELSMAN, Mark ,  GUROVICH, Eugene ,  OPHIR, Yoav

IPC: F41G3/32

CPC classification number: G01S5/163 ,  F41G3/323 ,  G01B11/272 ,  G01C25/005 ,  G01P21/00 ,  G01S5/0263

Abstract: A device for determining relative orientation between two locations including an imager, an inertial-orientation-sensor firmly attached to the imager for determining information relating to the orientation thereof and which exhibits drift and a processor coupled with the imager and with the inertial-orientation-sensor. The processor determines a first orientation-measurement and first time-tag when the device is oriented with a first-orientation-indicator located at a first location. The processor determines a second-orientation-measurement and second time-tag when the device is oriented with a second-orientation-indicator located at a second location. The processor determines a third-orientation-measurement and third time-tag when the device is oriented again with the first-orientation-indicator. The processor determines the drift associated the inertial-orientation-sensor according to difference between the first-orientation-measurement and the third-orientation-measurement the respective time-tags associated therewith. The processor determines an angle-difference between the first-orientation-indicator and the second-orientation-indicator according to the first-orientation-measurement and the second-orientation-measurement, the first and second time-tags and the drift.

公开(公告)号：EP3129801B1

公开(公告)日：2019-06-05

申请号：EP15776306.1

申请日：2015-04-08

Applicant: Elbit Systems Ltd.

Inventor： EFRAT, Ilan ,  GUROVICH, Evgeni ,  MENCEL, Guy ,  OPHIR, Yoav ,  GANDELSMAN, Mark

IPC: G01R33/02

公开(公告)号：EP3129801A1

公开(公告)日：2017-02-15

申请号：EP15776306.1

申请日：2015-04-08

Applicant: Elbit Systems Ltd.

Inventor： EFRAT, Ilan ,  GUROVICH, Evgeni ,  MENCEL, Guy ,  OPHIR, Yoav ,  GANDELSMAN, Mark

IPC: G01R33/02

CPC classification number: G01R33/072

Abstract: System for mapping a magnetic-field including a magnetic-field-transmitter, a freestanding magnetic-field-detector operative to freely move within a volume of interest and acquire measurements of the flux of the magnetic-field at a plurality of poses, a pose-information-acquisition-module for measuring information related to the pose of the magnetic-field-detector and a processor, coupled with the magnetic-field-detector and with said pose-information-acquisition-module and determines pose-related-information respective of each of at least a portion of the magnetic-flux-measurements, according to said information related to the pose of said magnetic-field-detector, the processor further estimating the entire set of parameters of a magnetic-field-model-template according to the magnetic-flux-measurements and the respective pose-related-information the magnetic flux measurements, the processor incorporates the entire set of parameters into said magnetic field model template, thereby determining said magnetic field model, the entire set of parameters includes the coefficients, the order, the number and location of the centers of expansion of the model.

Abstract translation: 用于映射包括磁场发射器的磁场的系统，独立的磁场检测器，其可操作以在感兴趣的体积内自由移动并且获取多个姿态的磁场通量的测量结果 信息采集模块，用于测量与磁场检测器和处理器相关的信息的信息，与磁场检测器和所述姿势信息获取模块耦合，并且确定相应的姿势相关信息 根据与所述磁场检测器的姿态相关的所述信息，所述处理器进一步估计磁场模型模板的整个参数集，根据所述磁场模型模板的整个参数集合， 对于磁通量测量和相应的姿势相关信息的磁通量测量，处理器将整个参数集合到所述磁场模型模板中，从而确定 磁场模型的描述，整套参数包括模型扩展中心的系数，顺序，数量和位置。

公开(公告)号：EP1817606B1

公开(公告)日：2013-05-01

申请号：EP05804718.4

申请日：2005-11-16

Applicant: ELBIT SYSTEMS LTD.

Inventor： GANDELSMAN, Mark ,  KORNBLAU, Giora

IPC: G01S1/02

CPC classification number: G01S5/0252 ,  G06F3/0346

公开(公告)号：EP2353021A1

公开(公告)日：2011-08-10

申请号：EP09796822.6

申请日：2009-11-05

Applicant: ELBIT SYSTEMS LTD.

Inventor： OPHIR, Yoav ,  EICHLER, Uzi ,  EFRAT, Ilan ,  MENCEL, Guy ,  GANDELSMAN, Mark ,  IZMIRLI, Alon

IPC: G01R33/07 ,  G01S5/02 ,  G06F3/033

CPC classification number: G06F17/5022 ,  G01R33/072 ,  G06F3/0346

Abstract: A system for mapping a magnetic field in a volume of interest, the system includes a magnetic field transmitter, generating a magnetic field in the volume of interest, at least one freestanding magnetic field detector, operative to freely move within the volume of interest, the at least one freestanding magnetic field detector acquiring measurements of the flux of the magnetic field at a plurality of poses, and a processor, coupled with the magnetic field detector, the processor re estimating parameters characterizing the magnetic field model according to deviations between the measurements of the flux of the magnetic field and according to predictions of the flux, the predictions being determined according to a stored magnetic field model, thereby, the processor estimating a new magnetic field model.