公开(公告)号：US11486958B2

公开(公告)日：2022-11-01

申请号：US16368543

申请日：2019-03-28

Applicant: PENUMBRA, INC.

Inventor： Oded Y. Zur ,  Alejandro Santiago Diaz ,  Michael D. Collins ,  Ran Bar-On ,  Ron Barak ,  Amir Rubin

IPC: G01S5/02 ,  G01S17/875 ,  G06N7/00 ,  G01S3/32

Abstract: A method and apparatus for reducing magnetic tracking error in the position and orientation determined in an electromagnetic tracking system is disclosed. In some embodiments, a corrected position and orientation is blended with an uncorrected position and orientation based upon the calculated probability of each. To determine a corrected position and orientation, data from an IMU in the receiver is used to obtain a constraint on the orientation. In other embodiments, the amount of detected error due to electromagnetic distortion is measured. Any error is first assumed to be from “floor distortion,” and a correction is applied. If the error is still deemed too great, a constraint is again obtained from IMU data. Using this constraint, another correction for the distortion is made. The solution from this correction may be blended with a standard solution and the solution from the floor distortion to arrive at a final solution.