公开(公告)号：WO2017030648A3

公开(公告)日：2017-06-29

申请号：PCT/US2016038187

申请日：2016-06-17

Applicant: CHARLES STARK DRAPER LABORATORY INC ,  LUNA INNOVATIONS INC

Inventor： LAINE JUHA-PEKKA J ,  DOW BRUCE ,  MCCONLEY MARC ,  BLASCHE GREGORY ,  BOHN PAUL ,  BOTTKOL MATTHEW S ,  RICARD MICHAEL ,  LALLY EVAN M ,  KLUTE SANDRA M ,  REAVES MATTHEW T ,  TEMPLETTON EMILY H ,  DONNA JAMES

IPC: G01B11/16 ,  A61B34/10 ,  G01C19/00 ,  G01D5/26 ,  G01L1/24

CPC classification number: G01B11/16 ,  G01C19/00 ,  G01D5/268

Abstract: 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.

Abstract translation: 描述了用于确定物体的形状和/或位置的系统和方法。 光纤形状传感器（FOSS）可以与一个或多个惯性测量单元（IMU）结合使用，以相互交叉校正传感器位置和/或方位测量中的误差。 IMU可以连接到FOSS的光纤，使得每个IMU测量光纤的相应部分的取向。 然后可以基于从IMU获得的测量结果和从FOSS获得的测量结果来确定光纤的位置和形状。 例如，可以将FOSS测量结果和IMU测量结果提供给状态估计单元（例如卡尔曼滤波器），其可以基于那些测量来估计光纤的位置和/或形状。 在一些实施例中，位置的估计被用于系留移动设备的导航。