REGISTRATION FOR VEHICULAR AUGMENTED REALITY USING AUTO-HARMONIZATION

摘要

A method, a system, and a computer program product for tracking an object moving relative to a moving platform, the moving platform moving relative to an external frame of reference. The system includes An inertial sensor for tracking the object relative to the external reference frame, a non-inertial sensor for tracking the object relative to the moving platform, and a processor to perform sensor fusion of the inertial and non-inertial measurements in order to accurately track the object and concurrently estimate the misalignment of the non-inertial sensor's reference frame relative to the moving platform.

主权项

1. A method for tracking an object moving relative to a moving platform, the moving platform moving relative to an external frame of reference, the method comprising:
updating an inertial orientation estimate of the object relative to the external frame of reference using at least one angular rate sensor comprised in a sensor unit fixed to the object; obtaining measurements from a platform-mounted inertial navigation system (INS) of the orientation of a platform coordinate frame with respect to said external frame of reference; and at certain measurement times, obtaining measurements from a non-inertial sensor of the orientation of the sensor unit relative to a measurement reference coordinate frame fixed with respect to the platform, combining said platform-referenced non-inertial orientation measurements with the INS measurement of platform orientation to form an indirect measurement of the orientation of said object with respect to said external frame of reference, and fusing said indirect measurement with said inertial orientation estimate of the object to form an improved estimate of object orientation relative to said external frame of reference.