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1. 发明申请

US20090278791A1 MOTION TRACKING SYSTEM 审中-公开
标题翻译：运动跟踪系统
公开(公告)号：US20090278791A1
公开(公告)日：2009-11-12
申请号：US12093914
申请日：2006-11-15
申请人： Per Johan Slycke , Petrus Hermanus Veltink , Daniel Roetenberg
发明人： Per Johan Slycke , Petrus Hermanus Veltink , Daniel Roetenberg
IPC分类号： G09G5/00
CPC分类号： A61B5/6807 , A61B5/103 , A61B5/1114 , A61B5/1127 , A61B5/6804 , A61B2560/0223
摘要： A motion tracking system for tracking an object composed of object parts in a three-dimensional space. The system comprises a number of magnetic field transmitters; a number of field receivers for receiving the magnetic fields of the field transmitters; a number of inertial measurement units for recording a linear acceleration; a number of angular velocity transducers for recording angular velocities. The system further comprises a processor for controlling the transmitters and receiving signals coming from the field receivers and the inertial measurement unit; which processor contains a module for deriving orientation and/or position information of the constituent object parts of the object on the basis of the received signals. The processor is configured for intermittently controlling the transmitters transmit at a predetermined frequency, wherein the position and/or orientation information is derived by periodically calibrating the motion information coming from the inertial measurement unit with the motion information coming from the magnetic field receivers.
摘要翻译：一种用于跟踪由三维空间中的对象部分组成的对象的运动跟踪系统。该系统包括多个磁场发射机; 用于接收现场发射机的磁场的多个场接收机; 用于记录线性加速度的许多惯性测量单元; 用于记录角速度的多个角速度传感器。该系统还包括用于控制发射机和接收来自现场接收机和惯性测量单元的信号的处理器; 该处理器包含用于基于接收到的信号导出对象的构成对象部分的取向和/或位置信息的模块。处理器被配置为间歇地控制发射机以预定频率发射，其中通过利用来自磁场接收器的运动信息周期性地校准来自惯性测量单元的运动信息来导出位置和/或取向信息。

2. 发明申请

US20110028865A1 Inertial Sensor Kinematic Coupling 审中-公开
标题翻译：惯性传感器运动耦合
公开(公告)号：US20110028865A1
公开(公告)日：2011-02-03
申请号：US12534526
申请日：2009-08-03
申请人： Hendrik Johannes Luinge , Daniel Roetenberg , Per Johan Slycke
发明人： Hendrik Johannes Luinge , Daniel Roetenberg , Per Johan Slycke
IPC分类号： A61B5/11
CPC分类号： G01C21/16 , A61B5/1038 , A61B5/1114 , A61B5/1121 , A61B5/1126 , A61B5/4528 , A61B5/6828 , A61B5/6829 , A61B2562/0219 , A63F2300/105
摘要： A method is disclosed for measuring the motion of an object, composed of multiple segments connected by joints, via the estimation of the 3D orientation of the object segments relative to one another without dependence on a magnetic field as a reference for heading. The method includes first applying a plurality of inertial sensor units to the segments of the object, e.g., a user thigh, shank, foot, etc. Next an approximation of the distance between each inertial sensor unit and at least one adjacent joint is provided and the joint is subjected to an acceleration, e.g., as the user takes a step or two. The relative orientations of the segments are calculated and the orientations are used to form an estimation of the 3D orientation of the object segments relative to one another without using the local magnetic field as a reference for heading.
摘要翻译：公开了一种用于通过估计对象段相对于彼此的3D取向而不依赖于磁场作为航向的参考来测量由连接的多个段组成的物体的运动的方法。该方法包括首先将多个惯性传感器单元施加到物体的段，例如用户大腿，柄，脚等。接下来，提供每个惯性传感器单元与至少一个相邻接头之间的距离的近似值，并且接头受到加速，例如，当用户采取一两步时。计算段的相对取向，并且使用取向来形成对象段相对于彼此的3D取向的估计，而不使用局部磁场作为标题的参考。

3. 发明授权

US07725279B2 System and a method for motion tracking using a calibration unit 有权
标题翻译：使用校准单元进行运动跟踪的系统和方法
公开(公告)号：US07725279B2
公开(公告)日：2010-05-25
申请号：US12049019
申请日：2008-03-14
申请人： Hendrik Johannes Luinge , Daniel Roetenberg , Per Johan Slycke
发明人： Hendrik Johannes Luinge , Daniel Roetenberg , Per Johan Slycke
IPC分类号： G01C25/00
CPC分类号： A61B5/1114 , A61B5/1038 , A61B5/112 , A61B5/1121 , A61B5/1122 , A61B5/1126 , A61B5/4528 , A61B5/6804 , A61B5/7207 , A61B2560/0223 , A61B2562/0219 , A61B2562/046 , B25J9/1694 , G05B2219/37388 , G05B2219/42337 , G06F3/011
摘要： The invention relates to motion tracking system (10) for tracking a movement of an object (P) in a three-dimensional space, the said object being composed of object portions having individual dimensions and mutual proportions and being sequentially interconnected by joints the system comprising orientation measurement units (S1, S3, . . . SN) for measuring data related to at least orientation of the object portions, wherein the orientation measurement units are arranged in positional and orientational relationships with respective object portions and having at least orientational parameters; a processor (3, 5) for receiving data from the orientation measurement units, the said processor comprising a module for deriving orientation and/or position information of the object portions using the received data and a calibration unit (7) arranged to calculate calibration values based on received data and pre-determined constraints for determining at least the mutual proportions of the object portions and orientational parameters of the orientation measurement units based on received data, pre-determined constrains and additional input data. The invention further relates to a method for tracking a movement of an object, a medical rehabilitation system and an animation system.
摘要翻译：本发明涉及用于跟踪物体（P）在三维空间中的运动的运动跟踪系统（10），所述物体由具有各自尺寸和相互比例的物体部分组成，并且通过接头顺序地互连，系统包括定向测量单元（S1，S3 ... SN），用于测量与目标部分的至少取向有关的数据，其中定向测量单元被布置成与各个物体部分的位置和取向关系并且具有至少取向参数; 一个用于从定向测量单元接收数据的处理器（3,5），所述处理器包括用于使用接收到的数据导出对象部分的取向和/或位置信息的模块;以及校准单元（7），用于计算校准值基于接收到的数据和预定的约束，用于基于接收到的数据，预定的约束和附加的输入数据来至少确定对象部分的相互比例和取向测量单元的取向参数。本发明还涉及一种跟踪物体运动，医疗康复系统和动画系统的方法。

4. 发明申请

US20110046915A1 USE OF POSITIONING AIDING SYSTEM FOR INERTIAL MOTION CAPTURE 审中-公开
标题翻译：使用定位辅助系统进行动态捕获
公开(公告)号：US20110046915A1
公开(公告)日：2011-02-24
申请号：US12850370
申请日：2010-08-04
申请人： Jeroen D. Hol , Freerk Dijkstra , Hendrik Johannes Luinge , Daniel Roetenberg , Per Johan Slycke
发明人： Jeroen D. Hol , Freerk Dijkstra , Hendrik Johannes Luinge , Daniel Roetenberg , Per Johan Slycke
IPC分类号： G06F15/00
CPC分类号： G01C21/165 , G01S5/0221 , G01S5/0294 , G01S5/14
摘要： The invention provides robust real-time motion capture, using an inertial motion capture system, aided with a positioning system, of multiple closely interacting actors and to position the actor exactly in space with respect to a pre-defined reference frame. It is a further object of the invention to use such positioning systems to aid the inertial motion capture system that the known advantages of using inertial motion capture technology is not compromised to a great extent. Such positioning systems include pressure sensors, UWB positioning systems and GPS or other GNSS systems. It is a further object of the invention to avoid the use of the earth magnetic field as a reference direction as much as possible, due to the known problems of distortion thereof.
摘要翻译：本发明提供了鲁棒的实时运动捕捉，使用由定位系统辅助的多个紧密相互作用的演员的惯性运动捕捉系统，并且使演员相对于预定义的参考帧精确地定位在空间中。本发明的另一个目的是使用这种定位系统来帮助惯性运动捕捉系统，使用惯性运动捕捉技术的已知优点在很大程度上不受到损害。这种定位系统包括压力传感器，UWB定位系统和GPS或其他GNSS系统。由于已知的失真问题，本发明的另一个目的是尽可能地避免使用地磁场作为参考方向。

5. 发明申请

US20080262772A1 Sytem and a Method for Motion Tracking Using a Calibration Unit 有权
标题翻译：使用校准单元进行运动跟踪的方法和方法
公开(公告)号：US20080262772A1
公开(公告)日：2008-10-23
申请号：US12049019
申请日：2008-03-14
申请人： Hendrik Johannes Luinge , Daniel Roetenberg , Per Johan Slycke
发明人： Hendrik Johannes Luinge , Daniel Roetenberg , Per Johan Slycke
IPC分类号： G01C25/00
CPC分类号： A61B5/1114 , A61B5/1038 , A61B5/112 , A61B5/1121 , A61B5/1122 , A61B5/1126 , A61B5/4528 , A61B5/6804 , A61B5/7207 , A61B2560/0223 , A61B2562/0219 , A61B2562/046 , B25J9/1694 , G05B2219/37388 , G05B2219/42337 , G06F3/011
摘要： The invention relates to motion tracking system (10) for tracking a movement of an object (P) in a three-dimensional space, the said object being composed of object portions having individual dimensions and mutual proportions and being sequentially interconnected by joints the system comprising orientation measurement units (S1, S3, . . . SN) for measuring data related to at least orientation of the object portions, wherein the orientation measurement units are arranged in positional and orientational relationships with respective object portions and having at least orientational parameters; a processor (3, 5) for receiving data from the orientation measurement units, the said processor comprising a module for deriving orientation and/or position information of the object portions using the received data and a calibration unit (7) arranged to calculate calibration values based on received data and pre-determined constraints for determining at least the mutual proportions of the object portions and orientational parameters of the orientation measurement units based on received data, pre-determined constrains and additional input data. The invention further relates to a method for tracking a movement of an object, a medical rehabilitation system and an animation system.
摘要翻译：本发明涉及用于跟踪物体（P）在三维空间中的运动的运动跟踪系统（10），所述物体由具有各自尺寸和相互比例的物体部分组成，并且通过接头顺序地互连，系统包括定向测量单元（S 1，S 3，...，SN），用于测量至少与物体部分取向相关的数据，其中定向测量单元被布置成与各个物体部分的位置和取向关系，并具有至少取向参数 ; 一个用于从定向测量单元接收数据的处理器（3,5），所述处理器包括用于使用接收到的数据导出对象部分的取向和/或位置信息的模块;以及校准单元（7），用于计算校准值基于接收到的数据和预定的约束，用于基于接收到的数据，预定的约束和附加的输入数据来至少确定对象部分的相互比例和取向测量单元的取向参数。本发明还涉及一种跟踪物体运动，医疗康复系统和动画系统的方法。

6. 发明申请

US20120226468A1 REDUCTION OF IMU/AP LINK REQUIREMENTS FOR SDI 有权
标题翻译：减少SDI的IMU / AP链路要求
公开(公告)号：US20120226468A1
公开(公告)日：2012-09-06
申请号：US13431570
申请日：2012-03-27
申请人： Freerk Dijkstra , Hendrik Johannes Luinge , Giovanni Bellusci , Per Johan Slycke
发明人： Freerk Dijkstra , Hendrik Johannes Luinge , Giovanni Bellusci , Per Johan Slycke
IPC分类号： G06F15/00
CPC分类号： H04Q9/00 , H04Q2209/823 , H04Q2209/84 , H04Q2209/88
摘要： A method, controller and system in accordance with various aspects of the present disclosure facilitate reduced energy consumption in a motion sensing device having an inertial measurement unit (IMU), with a strap down integration unit, and an application processing unit (AP). The system and method include sensing acceleration values and rotational values at the IMU and converting the sensed acceleration and rotational values into velocity and orientation increments by strap down integration. The velocity and orientation increments are stored in a first buffer at the IMU between updates to the AP. When an update request is received at the IMU from the AP over an interrupt link, the buffer contents are transmitted over a serial link from the IMU to the AP.
摘要翻译：根据本公开的各个方面的方法，控制器和系统有助于减少具有惯性测量单元（IMU）的运动感测设备中的能量消耗，以及带式整合单元和应用处理单元（AP）。该系统和方法包括感测IMU处的加速度值和旋转值，并通过拉下积分将感测到的加速度和旋转值转换成速度和方向增量。速度和方向增量存储在AP的更新之间的IMU的第一缓冲区中。当通过中断链路从AP接收IMU的更新请求时，缓冲器内容通过串行链路从IMU发送到AP。

7. 发明申请

US20110234452A1 POSITIONING SYSTEM CALIBRATION 有权
标题翻译：定位系统校准
公开(公告)号：US20110234452A1
公开(公告)日：2011-09-29
申请号：US12749494
申请日：2010-03-29
申请人： Jeroen D. Hol , Hendrik Johannes Luinge , Per Johan Slycke
发明人： Jeroen D. Hol , Hendrik Johannes Luinge , Per Johan Slycke
IPC分类号： G01S7/40
CPC分类号： G01S5/021 , G01S5/0294 , G01S2013/466
摘要： The described principles provide a method and system for calibrating an UWB RF positioning system. Means for automated calibration of the UWB RF positioning system allow calibration based on simple user input that does not require accuracy. Thus, the disclosed calibration means enables nomadic deployment of UWB RF positioning systems by enabling fast and easy calibration and re-calibration of the system based on in-use data to correct for changes in the system during use. Furthermore, in an embodiment of the invention, means are provided for direct feedback of calibration accuracy to the user. In a further embodiment of the invention, the full use of a UWB positioning system is enabled by obtaining optimal accuracy even at the outskirts of the tracking volume and by providing optimal accuracy for a given number of receivers.
摘要翻译：所描述的原理提供了用于校准UWB RF定位系统的方法和系统。用于UWB RF定位系统的自动校准的手段允许基于不需要精度的简单用户输入进行校准。因此，所公开的校准装置使得能够通过基于使用数据快速且容易地校准和重新校准系统来校正在使用期间系统的变化来实现对UWB RF定位系统的游牧部署。此外，在本发明的实施例中，提供了用于将校准精度直接反馈给用户的装置。在本发明的另一实施例中，通过即使在跟踪量的郊区也能获得最佳精度，并且通过为给定数量的接收机提供最佳精度，能够充分利用UWB定位系统。

8. 发明授权

US08947206B2 Method and a system for enabling a wireless communication between a master unit and a sensor unit 有权
标题翻译：用于实现主单元和传感器单元之间的无线通信的方法和系统
公开(公告)号：US08947206B2
公开(公告)日：2015-02-03
申请号：US12940420
申请日：2010-11-05
申请人： Freerk Dijkstra , Per Johan Slycke
发明人： Freerk Dijkstra , Per Johan Slycke
IPC分类号： G08B5/22 , G06F13/00 , G08C19/16 , G08B26/00 , H04Q9/00
CPC分类号： H04Q9/00 , H04Q2209/40 , H04Q2209/82
摘要： A method of enabling a wireless communication between a master unit and at least one sensor unit is executed within a frame, the sensor unit having an internal data sampling frequency and being adapted to store samples with corresponding sample sequence numbers. The sensor unit transmits an integrated value to the master unit. The master unit transmits, during a master unit portion of the frame, a data update request message comprising an initial sample sequence number from which integration by the at least one sensor unit has to be carried out. The sensor unit integrates the sample values from the initial sample sequence number to a current sample sequence number and then transmits the integrated sample value and the current sample sequence number. The master unit receives the integrated sample value and current sample sequence number and stores at least the current sample sequence number.
摘要翻译：在一个帧内执行能够在主单元和至少一个传感器单元之间进行无线通信的方法，所述传感器单元具有内部数据采样频率，并适于存储具有相应采样序列号的采样。传感器单元向主单元发送积分值。主单元在帧的主单元部分期间发送数据更新请求消息，该数据更新请求消息包括必须由该至少一个传感器单元进行积分的初始采样序列号。传感器单元将来自初始采样序列号的采样值与当前采样序列号进行积分，然后发送积分采样值和当前采样序列号。主单元接收积分样本值和当前样本序列号，并至少存储当前采样序列号。

9. 发明授权

US08344948B2 Positioning system calibration 有权
标题翻译：定位系统校准
公开(公告)号：US08344948B2
公开(公告)日：2013-01-01
申请号：US12749494
申请日：2010-03-29
申请人： Jeroen D. Hol , Hendrik Johannes Luinge , Per Johan Slycke
发明人： Jeroen D. Hol , Hendrik Johannes Luinge , Per Johan Slycke
IPC分类号： G01S3/02
CPC分类号： G01S5/021 , G01S5/0294 , G01S2013/466
摘要： The described principles provide a method and system for calibrating an UWB RF positioning system. Means for automated calibration of the UWB RF positioning system allow calibration based on simple user input that does not require accuracy. Thus, the disclosed calibration means enables nomadic deployment of UWB RF positioning systems by enabling fast and easy calibration and re-calibration of the system based on in-use data to correct for changes in the system during use. Furthermore, in an embodiment of the invention, means are provided for direct feedback of calibration accuracy to the user. In a further embodiment of the invention, the full use of a UWB positioning system is enabled by obtaining optimal accuracy even at the outskirts of the tracking space and by providing optimal accuracy for a given number of receivers.
摘要翻译：所描述的原理提供了用于校准UWB RF定位系统的方法和系统。用于UWB RF定位系统的自动校准的手段允许基于不需要精度的简单用户输入进行校准。因此，所公开的校准装置使得能够通过基于使用数据快速且容易地校准和重新校准系统来校正在使用期间系统的变化来实现对UWB RF定位系统的游牧部署。此外，在本发明的实施例中，提供了用于将校准精度直接反馈给用户的装置。在本发明的另一实施例中，通过即使在跟踪空间的郊区获得最佳精度，并且通过为给定数量的接收机提供最佳精度，能够充分利用UWB定位系统。

10. 发明授权

US08952785B2 Reduction of IMU/AP link requirements for SDI 有权
标题翻译：降低SDI的IMU / AP链路要求
公开(公告)号：US08952785B2
公开(公告)日：2015-02-10
申请号：US13431570
申请日：2012-03-27
申请人： Freerk Dijkstra , Hendrik Johannes Luinge , Giovanni Bellusci , Per Johan Slycke
发明人： Freerk Dijkstra , Hendrik Johannes Luinge , Giovanni Bellusci , Per Johan Slycke
IPC分类号： G08B5/22 , H04Q9/00
CPC分类号： H04Q9/00 , H04Q2209/823 , H04Q2209/84 , H04Q2209/88
摘要： A method, controller and system in accordance with various aspects of the present disclosure facilitate reduced energy consumption in a motion sensing device having an inertial measurement unit (IMU), with a strap down integration unit, and an application processing unit (AP). The system and method include sensing acceleration values and rotational values at the IMU and converting the sensed acceleration and rotational values into velocity and orientation increments by strap down integration. The velocity and orientation increments are stored in a first buffer at the IMU between updates to the AP. When an update request is received at the IMU from the AP over an interrupt link, the buffer contents are transmitted over a serial link from the IMU to the AP.
摘要翻译：根据本公开的各个方面的方法，控制器和系统有助于减少具有惯性测量单元（IMU）的运动感测设备中的能量消耗，以及带式整合单元和应用处理单元（AP）。该系统和方法包括感测IMU处的加速度值和旋转值，并通过拉下积分将感测到的加速度和旋转值转换成速度和方向增量。速度和方向增量存储在AP的更新之间的IMU的第一缓冲区中。当通过中断链路从AP接收IMU的更新请求时，缓冲器内容通过串行链路从IMU发送到AP。

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