SYSTEMS AND METHODS FOR DETERMINING SHAPE AND/OR POSITION

摘要

Systems and methods for determining the shape and/or position of an object are described. A fiber optic shape sensor (FOSS) may be used in combination with one or more inertial measurement units (IMUs) to mutually cross-correct for errors in the sensors' measurements of position and/or orientation. The IMU(s) may be attached to the FOSS's optical fiber, such that each IMU measures the orientation of a corresponding portion of the optical fiber. The position and shape of the optical fiber can then be determined based on the measurements obtained from the IMU(s) and the measurements obtained from the FOSS. For example, the FOSS measurements and the IMU measurements can be provided to a state estimation unit (e.g., a Kalman filter), which can estimate the position and/or shape of the optical fiber based on those measurements. In some embodiments, the estimates of position are used for navigation of tethered mobile devices.