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1. 发明授权

EP1311942B1 ESTIMATING POSITION AND ORIENTATION IN ELECTROMAGNETIC SYSTEMS 有权
标题翻译：评估电磁系统中的位置和方向
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
申请人： ELBIT SYSTEMS LTD.
发明人： BAR TAL, Meir , PLADI, Eitan , GANDELSMAN, Mark , GUROVICH, Eugene
IPC分类号： F41G3/22
CPC分类号： F41G3/225
摘要： 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.

2. 发明公开

EP3274648A1 DEVICE SYSTEM AND METHOD FOR DETERMINING THE RELATIVE ORIENTATION BETWEEN TWO DIFFERENT LOCATIONS 有权
标题翻译：用于确定两个不同位置之间的相对定向的装置系统和方法
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
申请人： Elbit Systems Ltd.
发明人： AVITAN, Lior , GANDELSMAN, Mark , GUROVICH, Eugene , OPHIR, Yoav
IPC分类号： F41G3/32
CPC分类号： G01S5/163 , F41G3/323 , G01B11/272 , G01C25/005 , G01P21/00 , G01S5/0263
摘要： 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.

3. 发明授权

EP2353021B1 A SYSTEM AND A METHOD FOR MAPPING A MAGNETIC FIELD 有权
标题翻译：系统和方法，用于记录磁场
公开(公告)号：EP2353021B1
公开(公告)日：2014-03-26
申请号：EP09796822.6
申请日：2009-11-05
申请人： ELBIT SYSTEMS LTD.
发明人： OPHIR, Yoav , EICHLER, Uzi , EFRAT, Ilan , MENCEL, Guy , GANDELSMAN, Mark , IZMIRLI, Alon
IPC分类号： G01R33/07 , G01S5/02 , G06F3/033
CPC分类号： G06F17/5022 , G01R33/072 , G06F3/0346
摘要： 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.

4. 发明公开

EP1817606A1 ELECTROMAGNETIC TRACKER 有权
标题翻译：电磁TRACKER
公开(公告)号：EP1817606A1
公开(公告)日：2007-08-15
申请号：EP05804718.4
申请日：2005-11-16
申请人： ELBIT SYSTEMS LTD.
发明人： GANDELSMAN, Mark , KORNBLAU, Giora
IPC分类号： G01S1/02
CPC分类号： G01S5/0252 , G06F3/0346
摘要： 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.

5. 发明公开

EP1311942A2 ESTIMATING POSITION AND ORIENTATION IN ELECTROMAGNETIC SYSTEMS 有权
标题翻译：评估电磁系统中的位置和方向
公开(公告)号：EP1311942A2
公开(公告)日：2003-05-21
申请号：EP01961045.0
申请日：2001-07-25
申请人： Elbit Systems Ltd.
发明人： BAR TAL, Meir , PLADI, Eitan , GANDELSMAN, Mark , GUROVICH, Eugene
IPC分类号： G06F7/60 , G06F17/10
CPC分类号： F41G3/225
摘要： 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.

6. 发明授权

EP3129801B1 A SYSTEM AND A METHOD FOR MAPPING A MAGNETIC FIELD 有权转让
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
申请人： Elbit Systems Ltd.
发明人： EFRAT, Ilan , GUROVICH, Evgeni , MENCEL, Guy , OPHIR, Yoav , GANDELSMAN, Mark
IPC分类号： G01R33/02

7. 发明公开

EP3129801A1 A SYSTEM AND A METHOD FOR MAPPING A MAGNETIC FIELD 有权转让
标题翻译：系统VERFAHREN ZUR KARTIERUNG EINES MAGNETFELDS
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
申请人： Elbit Systems Ltd.
发明人： EFRAT, Ilan , GUROVICH, Evgeni , MENCEL, Guy , OPHIR, Yoav , GANDELSMAN, Mark
IPC分类号： G01R33/02
CPC分类号： G01R33/072
摘要： 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.
摘要翻译：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。

8. 发明授权

EP1817606B1 ELECTROMAGNETIC TRACKER 有权
标题翻译：电磁TRACKER
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
申请人： ELBIT SYSTEMS LTD.
发明人： GANDELSMAN, Mark , KORNBLAU, Giora
IPC分类号： G01S1/02
CPC分类号： G01S5/0252 , G06F3/0346

9. 发明公开

EP2353021A1 A SYSTEM AND A METHOD FOR MAPPING A MAGNETIC FIELD 有权
标题翻译：系统和方法，用于记录磁场
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
申请人： ELBIT SYSTEMS LTD.
发明人： OPHIR, Yoav , EICHLER, Uzi , EFRAT, Ilan , MENCEL, Guy , GANDELSMAN, Mark , IZMIRLI, Alon
IPC分类号： G01R33/07 , G01S5/02 , G06F3/033
CPC分类号： G06F17/5022 , G01R33/072 , G06F3/0346
摘要： 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.

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