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    • 专利摘要:
    Calibration device comprising: a plurality of magnetic sensors placed in the calibration device defining a space; a controller configured to be positioned in the space defined by the plurality of magnetic sensors, wherein the controller includes a magnetic transmitter; and one or more processors configured to: cause the magnetic transmitter to generate magnetic fields; receiving signals from the plurality of magnetic sensors that are based on the characteristics of the magnetic fields received in the plurality of magnetic sensors; calculating, finding in the signals of the plurality of magnetic sensors, positions and orientations of the plurality of magnetic sensors with respect to a position and orientation of the magnetic transmitter; and determining whether the calculated positions and orientations of the plurality of magnetic sensors are within one or more threshold limits of known positions and orientations of the plurality of magnetic sensors. (Machine-translation by Google Translate, not legally binding)
    公开号:ES2720373A2
    申请号:ES201930034
    申请日:2019-01-18
    公开日:2019-07-19
    发明作者:Mark Robert Schneider；Charles Robertson；Joseph Bruce Durfee
    申请人:Ascension Technology Corp；
    IPC主号:
    专利说明:

    [0001]
    [0002]
    [0003]
    [0004] Priority Claim
    [0005] This application claims priority under USC §119 (e) of United States patent application serial number 62 / 619,624, filed on January 19, 2018, the complete content of which is incorporated herein by reference.
    [0006] Technical field
    [0007] This description refers to the calibration of a magnetic transmitter.
    [0008] Background
    [0009] Augmented Reality (AR), Virtual Reality (VR) and other systems can use Electromagnetic Tracking (EMT) systems to help the location of devices in various contexts (e.g., medical devices, etc.). Such systems use a magnetic transmitter near a magnetic sensor so that the sensor and the transmitter can be spatially located with each other. Incorrect calibration of the transmitter with respect to the sensor (or vice versa) can cause the EMT system to report the incorrect positions of the sensor or transmitter.
    [0010] Summary
    [0011] The calibration of a magnetic transmitter can be performed by placing the transmitter in a calibration device that includes a plurality of magnetic sensors placed in various known locations and orientations in the calibration device. The transmitter can generate one or more magnetic fields, and the plurality of sensors spaced in known locations of the calibration device receives the generated magnetic fields and converts the magnetic fields into one or more electrical signals indicative of the position and orientation of the respective sensor to the transmitter. . In particular, a computer system receives the electrical signals from each sensor and converts the electrical signals into position and orientation (P&O) data indicating the position and orientation of the respective sensor in relation to the transmitter.
    [0012] Because the position and orientation of each sensor with respect to the transmitter is known, it can be determined whether the electrical signals generated by the plurality of sensors accurately represent the positions and orientations of the sensors with respect to the transmitter. If it is determined that the signals generated by the plurality of sensors do not provide an accurate representation of the positional relationship between the sensors and the transmitters, the computer system can determine one or more calibration correction factors using a calibration algorithm. The calibration correction factors are they can use to calibrate the particular transmitter so that the magnetic fields generated by the transmitter result in a precise determination of the positions and orientations of the sensor in relation to the transmitter (for example, and a precise determination of the positions and orientations of the sensors used in AR, VR, and / or EMT systems).
    [0013] In general, in one aspect, a calibration device includes a plurality of magnetic sensors positioned in the calibration device, the plurality of magnetic sensors that define a space, a controller configured to position itself in the space defined by the plurality of magnetic sensors, wherein the controller includes a magnetic transmitter and one or more processors configured to cause the magnetic transmitter to generate a plurality of magnetic fields, it receives signals from the plurality of magnetic sensors that are based on the characteristics of the plurality of magnetic fields received in the plurality of magnetic sensors, calculate based on the signals of the plurality of magnetic sensors, the positions and orientations of the plurality of magnetic sensors with respect to a position and orientation of the controller and the magnetic transmitter, and determine whether the positions and orientations calculated from plurality of magnetic sensors are within one or more threshold limits of known positions and orientations of the plurality of magnetic sensors.
    [0014] The implementations may include one or more of the following features.
    [0015] In some implementations, the one or more processors are configured to determine, based on a calibration algorithm, one or more calibration correction factors for the magnetic transmitter according to the differences between the positions and orientations measured of the plurality of magnetic sensors and the known positions and orientations of the plurality of magnetic sensors.
    [0016] In some implementations, the one or more processors are further configured to create a calibration file that includes the calibration correction factors and apply the calibration file to the magnetic transmitter.
    [0017] In some implementations, the one or more threshold limits are zero, such that the calibration correction factors are determined for the magnetic transmitter regardless of the differences between the positions and orientations measured of the plurality of magnetic sensors and the positions and known orientations of the plurality of magnetic sensors.
    [0018] In some implementations, the calibration device includes a mount that is configured to hold the controller and the magnetic transmitter in a fixed position and orientation with respect to the plurality of sensors.
    [0019] In some implementations, the controller is configured to communicate with the calibration device.
    [0020] In some implementations, the controller is configured for use in one of the two Augmented Reality (AR) systems or in a Virtual Reality (VR) system.
    [0021] In some implementations, at least part of the plurality of magnetic sensors are removably attached to the calibration device.
    [0022] In some implementations, at least some of the plurality of magnetic sensors are mobilely attached to the calibration device, so that one or both of the position or orientation of at least some of the plurality of magnetic sensors are adjustable
    [0023] In some implementations, the one or more processors are in communication with a multiplexing switch that allows one or more processors to receive the signals from each of the plurality of serial magnetic sensors.
    [0024] In some implementations, the calibration device includes a mount that is configured to accept a reference controller that includes a calibrated magnetic transmitter, and the one or more processors are also configured to cause the calibrated magnetic transmitter to generate a second plurality of magnetic fields. , receive second signals of the plurality of magnetic sensors that are based on the characteristics of the second plurality of magnetic fields received in the plurality of magnetic sensors, and calculate, based on the second signals received from the plurality of magnetic sensors, the positions and known orientations of the plurality of magnetic sensors in relation to a position and orientation of the reference controller and the calibrated magnetic transmitter.
    [0025] In some implementations, one or more calibration correction factors are determined for one or more of the plurality of magnetic sensors before use in the calibration device.
    [0026] In some implementations, the one or more processors are further configured to create one or more calibration files that include the calibration correction factors and apply the one or more calibration files to one or more of the plurality of magnetic sensors.
    [0027] In general, in one aspect, a system includes a controller that includes a magnetic transmitter, and a calibration device comprising a housing, a plurality of magnetic sensors placed in the housing, and a support placed inside the housing that is configured to accept the controller. The system also includes a computer system in communication with the calibration device. The computer system is configured to make the magnetic transmitter generate a plurality of fields magnetic, receive signals from the plurality of magnetic sensors that are based on the characteristics of the plurality of magnetic fields received in the plurality of magnetic sensors, calculate, based on the signals received from the plurality of magnetic sensors, positions and orientations of the plurality of magnetic sensors with respect to a position and orientation of the controller and the magnetic transmitter, and determine if the calculated positions and orientations of the plurality of magnetic sensors are within one or more threshold limits of known positions and orientations of the plurality of magnetic sensors
    [0028] The implementations may include one or more of the following features.
    [0029] In some implementations, the computer system is further configured to determine, depending on a calibration algorithm, one or more calibration correction factors for the magnetic transmitter depending on the differences between the positions and orientations measured of the plurality of magnetic sensors and known orientations and positions of the plurality of magnetic sensors.
    [0030] In some implementations, the computer system is further configured to create a calibration file that includes the calibration correction factors and apply the calibration file to the magnetic transmitter.
    [0031] In some implementations, the mount is configured to keep the controller and magnetic transmitter in a fixed position and orientation with respect to the plurality of sensors.
    [0032] In some implementations, the controller is configured to communicate with one or both of the computer system or the calibration device.
    [0033] In some implementations, the controller is configured for use in one of the two Augmented Reality (AR) systems or in a Virtual Reality (VR) system.
    [0034] In some implementations, at least part of the plurality of magnetic sensors are removably attached to the calibration device.
    [0035] In some implementations, at least some of the plurality of magnetic sensors are mobilely attached to the calibration device such that one or both of the position or orientation of at least some of the plurality of magnetic sensors are adjustable.
    [0036] In some implementations, the system includes a multiplexing switch in communication with the computer system that allows the computer system to receive the signals from each of the plurality of magnetic sensors in series.
    [0037] In some implementations, the mount is configured to accept a reference controller that includes a calibrated magnetic transmitter, and the computer system is also configured to cause the calibrated magnetic transmitter to generate a second plurality of magnetic fields, receive second signals from the plurality of magnetic sensors that are based on the characteristics of the second plurality of magnetic fields received on the plurality of magnetic sensors, and calculate, based on the second signals received from the plurality of magnetic sensors , the known positions and orientations of the plurality of magnetic sensors with respect to a position and orientation of the reference controller and the calibrated magnetic transmitter.
    [0038] In some implementations, one or more calibration correction factors are determined for one or more of the plurality of magnetic sensors before use in the calibration device.
    [0039] In some implementations, the computer system is further configured to create one or more calibration files that include calibration correction factors, and apply one or more calibration files to one or more of the plurality of magnetic sensors. The advantages of the systems and techniques described in this document include the use of a dedicated calibration device to calibrate multiple transmitters (for example, multiple devices under test (DUT)) quickly and accurately. For example, the positions and orientations of various sensors of the calibration device can be determined in relation to the transmitter DUT, and the position and orientation of each sensor is determined concurrently or quickly in series. The calibration device does not require moving parts (for example, moving a sensor to multiple different locations). Rather, a series of sensors are placed in predetermined known locations. Said calibration device simplifies the calibration procedure and accelerates calibration and testing. The need for a three-axis translation system and / or an orientation system (for example, one that includes a porch and / or cardam) is eliminated.
    [0040] The details of one or more embodiments are set forth in the accompanying drawings and the description below. Other features, objects and advantages will be apparent from the description and drawings, and from the claims.
    [0041] Description of the drawings
    [0042] FIG. 1 is a schematic diagram of an example of an electromagnetic tracking system (EMT).
    [0043] FIG. 2 shows an example of a calibration device for calibrating a transmitter for use in the EMT system of FIG. one.
    [0044] FIG. 3 shows the calibration device of fig. 2 running in autocalibration mode.
    [0045] FIG. 4 shows an example of a computing device and a mobile computing device that can be used to implement the techniques described in this document.
    [0046] Similar reference symbols in the various drawings indicate similar elements.
    [0047] Detailed description
    [0048] An Electromagnetic Tracking (EMT) system can be used in games and / or surgical configurations to track devices (for example, game controllers, head-mounted screens, medical equipment, robotic arms, etc.), thus allowing their respective positions and three-dimensional orientations to be known by a user of the system. The Augmented Reality (AR) and Virtual Reality (VR) systems also use the EMT systems to track the head, hands and body, for example, to synchronize the user's movement with the AR / VR content. Such EMT systems use a magnetic transmitter near a magnetic sensor to determine the position and / or orientation of the sensor with respect to the transmitter. The transmitters and sensors used in such systems can be calibrated to ensure that the transmitters and sensors can provide accurate position and orientation information to the user. If an EMT sensor or transmitter is not calibrated or is incorrectly calibrated, the accuracy may decrease considerably.
    [0049] The calibration of a magnetic transmitter can be performed by placing the transmitter in a calibration device that includes a plurality of magnetic sensors placed in various locations and physically known orientations and / or known locations and orientations of certain calibrations in the calibration device. For example, the calibration device may include a mount configured to receive a device (for example, a game controller) that includes the transmitter. A computer system in communication with the calibration device can cause the transmitter to generate one or more magnetic fields. The plurality of sensors spaced in known locations of the calibration device receives the generated magnetic fields and converts the magnetic fields into one or more electrical signals indicative of the position and orientation of the respective sensor in relation to the transmitter. In particular, the computer system converts the electrical signals received from each sensor into position and orientation (P&O) data indicating the position and orientation of the respective sensor in relation to the transmitter. In this way, the computer system determines the position and orientation of the sensors with respect to the transmitter.
    [0050] Because the position and orientation of each sensor is known in relation to the transmitter, the computer system can determine whether the electrical signals generated by the plurality of sensors precisely coincide with the known positions and orientations determined physically and / or by the sensor calibration in relation to the transmitter. If the computer system determines that the signals generated by the plurality of sensors do not provide an accurate representation of the positional relationship between the sensors and the transmitter, the computer system can determine one or more correction factors of calibration according to a calibration algorithm. Calibration correction factors can be used to calibrate the particular transmitter so that the magnetic fields generated by the transmitter result in accurate P&O data determined by an AR, VR and / or EMT system in which the transmitter is included.
    [0051] FIG. 1 shows an example of a 100 EMT system that can be used as part of a VR / AR or other system (for example, a medical system). The EMT system 100 includes at least one head-mounted display (HMD) 102 that includes a magnetic sensor 112 and a controller 104 that includes a magnetic transmitter 114. The HMD 102 and the controller 104 are configured to track the position (for example, in x, y, and z) and orientation (for example, in azimuth, altitude and displacement) in the three-dimensional space relative to each other. For example, the transmitter 114 of the controller 104 is configured to track the sensor 112 of the HMD 102 in relation to a reference frame defined by the position and orientation of the transmitter 114, or the sensor 112 of the HMD 102 is configured to track the transmitter 114 of the controller 104 in relation to a reference frame defined by the position and orientation of the sensor 112. The particular sensor 112 and the transmitter 114 employed by the EMT system 100 can be determined by the type of procedure, the measurement performance requirements, etc. .
    [0052] The position and orientation of the HMD 102 and the controller 104 can be traced to each other within a tracking volume 106. While the tracking volume 106 is illustrated as a defined space, it should be understood that the tracking volume 106 can be any three-dimensional space, including dimensionless three-dimensional spaces (eg, large interior and / or exterior areas, etc.).
    [0053] In some implementations, the transmitter 114 includes three orthogonally wound magnetic coils, referred to herein as the x, y, and z coils. The electric currents that travel through the three coils cause the coils to produce three orthogonal magnetic fields at three frequencies (for example, three different frequencies) for FDM applications (frequency division multiplexing) or three pulses (for example, three different time intervals) for TDM applications (time division multiplexing). The three frequencies can be three closely spaced frequencies, for example, 34 KHz, 34.25 KHz and 34.5 KHz, although other frequencies can also be used alternately. In some implementations, the coils can produce magnetic fields at the same frequency, but, for example, they are used in a TDM form. Sensor 112 also includes three orthogonally wound magnetic coils, referred to herein as the x, y, and z coils. Tensions are induced in the sensor coils 112 in response to the magnetic fields detected by means of magnetic induction. Each coil of sensor 112 generates an electrical signal for each of the magnetic fields generated by transmitter coils 114; for example, the coil x of the sensor 112 generates a first electrical signal in response to the magnetic field received from the coil x of the transmitter 114, a second electrical signal in response to the magnetic field received from the coil and the transmitter 114 and a third electrical signal in response to the magnetic field received from the coil z of the transmitter 114. The coils yyz of the sensor 112 similarly generate electrical signals for each of the magnetic fields received from each coil of the transmitter 114. The sensor may also include other sensor elements that they measure magnetic fields, for example, Hall effect elements, etc.
    [0054] The data of the sensor 112 can be represented as a data matrix (for example, a 3x3 matrix), which can be resolved at the position and orientation of the sensor 112 with respect to the transmitter 114, or vice versa. In this way, the position and orientation of the sensor 112 and the transmitter 114 are measured. In particular, the electronic components incorporated in the HMD 102 are configured to determine the position and orientation of the controller 104 in relation to the HMD 102 based on the characteristics of the magnetic fields generated by the transmitter 114 and the various electrical signals generated by the sensor 112. As described below, a separate computer system (for example, the computer system 212 of Figures 2 and 3) can also be configured to determine the position and orientation of a sensor and / or a transmitter.
    [0055] If the transmitter 114 and / or the sensor 112 are not accurately calibrated, the determined position and orientation (for example, calculated) of the transmitter 114 and / or the sensor 112 may not reflect the true position and orientation (for example, real) .
    [0056] Transmitter calibration
    [0057] FIG. 2 shows an example of a calibration device 200 for calibrating a transmitter (for example, transmitter 114 of FIG. 1). The calibration device 200 can be used to calibrate the transmitter 114 while the transmitter 114 is incorporated (for example, housed in) the controller 104. The calibration device 200 can be configured to calibrate a plurality of devices under test (for example, DUT) That is, the calibration device 200 can calibrate a first DUT in the form of a first transmitter incorporated in a first controller, a second DUT in the form of a second transmitter incorporated in a second controller, etc. Such multi-DUT calibration can ensure that all transmitters 114 and controllers 104 through various EMT 100 systems have common calibration characteristics.
    [0058] In the illustrated example, the calibration device 200 includes a housing 202 and a cover 204. The cover 204 can be pivotally connected to the housing 202, so that the cover 204 can be opened to provide access to a mount 206 that it is located inside the housing 202. In some implementations, the mount 206 resides towards a front surface of the housing 202. In some implementations, the mount 206 can be accessible through an opening in the housing 202. The mount 206 is configured to accept A device for calibration. For example, the controller 104 that includes the transmitter 114 of FIG. 1 can be placed in mount 206 for calibration. Mount 206 includes a strip 207 to help secure controller 104 to support 206 during calibration. In some implementations, mount 206 may alternatively or additionally include another fastener, such as a harness, to help hold controller 104 in place. While the calibration device 200 includes the mount 206 in the illustrated example, in some implementations, the mount 206 may be omitted. For example, the controller 104 may be placed in (for example, on, on, etc.) the calibration device 200 on a mounting surface (for example, a surface of the calibration device 200 that is configured to accept the controller 104 ). In other words, a dedicated mount is not required to keep the controller 104 in a particular position and orientation.
    [0059] The calibration device 200 includes a group of sensors 208 positioned on and / or in and / or throughout the entire calibration device 200. In some implementations, the calibration device includes twelve sensors 208, although fewer sensors 208 or more can be used. For example, one or more of the sensors 208 may be placed on an outer surface of the housing 202, on an inner surface of the housing 202, on an interior surface of the housing 202, on a lower inner surface of the housing 202, on a lower outer surface of the housing 202, on an outer surface of the cover 204, on an inner surface of the cover 204, suspended inside an housing 202 and / or cover 204, etc. Some of the sensors 208 are omitted or otherwise not shown in the illustration in FIG. 2. Sensor group 208 is sometimes referred to as a sensor tree or sensor tree. The calibration device 200 also includes a communication interface 210 that allows the calibration device 200 to interact with a computer device, such as a computer system 212. That is, the communication interface 210 facilitates communication between the calibration device 200 and the computer system 212. While the computer system 212 is illustrated as being connected to the calibration device 200 via a wired connection, in some implementations, the calibration device 200 may include wireless communication capabilities so that the calibration device 200 can communicate wirelessly with the computer system 212. The sensors 208 are connected to the communication interface 210 so that the computer system 212 can communicate with the sensors 208 (for example, receive signals from the sensors 208 and provide information to the sensors 208).
    [0060] In some implementations, the calibration device 200 may employ one or more additional / different techniques than those described with respect to FIG. 2 to allow sensors 208 to be positioned in (for example, on, in, throughout, etc.) the calibration device 200 in particular positions and / or orientations. For example, in some implementations, the calibration device 200 may not include a housing as illustrated in FIG. 2, but may include one or more mounting locations / surfaces to accept the sensors 208. The calibration device 200 may employ one or more of a variety of techniques to keep the sensors 208 in particular positions / orientations as described herein. document. The sensors 208 are positioned such that the sensors 208 define a three-dimensional space within which the controller 104 (and, for example, the mount 206) can be placed.
    [0061] Each of the sensors 208 has a known physical position and orientation with respect to the support 206. The known physical position and orientation of the sensors 208 can be determined by various means, including the use of a good EMT system to determine the position and orientation of the sensor 208 with respect to a transmitter in good condition placed in the assembly 206 (for example, the reference transmitter and the reference controller 304 described with respect to Figure 3 below). In some implementations, each of the sensors 208 can be pre-calibrated before being used to calibrate the transmitter 114. For example, each of the sensors 208 can be calibrated using a separate process (for example, using a Helmholtz calibration device) before the sensors 208 are incorporated in the calibration device 200. Said calibration may cause one or more calibration correction factors to be applied to the respective sensor 208. The mount 206 is configured to accept the controller 104 in a predetermined and fixed position and orientation. The transmitter 114 is placed in the controller 104 in a predetermined and fixed position and orientation. Therefore, the position and orientation of each of the sensors 208 with respect to the transmitter 114 is known.
    [0062] Before calibrating the transmitter 114, the calibration device 200 may undergo its own calibration to ensure that the sensors 208 are in known positions / orientations with respect to a reference transmitter having known calibrations. Said calibration of the calibration device 200 is described in more detail below.
    [0063] After confirming that the calibration device 200 is calibrated, a first DUT is placed in the mount 206. In particular, the controller 104 that includes the transmitter 114 is placed in the mount 206. In some implementations, the mount 206 may include contacts electricals that are configured to form electrical connections with the electrical contacts of the controller 104 so that the calibration device 200 and the controller 104 can interact and exchange information. In some implementations, the controller 104 could be electrically connected to the calibration device 200 and / or connected to the computer system 212 (for example, by a universal serial bus (USB) cable). In some implementations, the controller 104 may be configured to exchange information with the calibration device 200 and / or the computer system 212 via a wireless connection.
    [0064] With the controller 104 in place in the mount 206, the computer system 212 can cause the transmitter 114 to generate one or more magnetic fields with particular characteristics. In particular, the computer system 212 causes current to flow through the coils of the transmitter 114, which causes the transmitter 114 to produce three orthogonal magnetic fields at particular frequencies. The magnetic fields generated by the transmitter 114 are received in each of the sensors 208 and induce voltages in the sensor coils. The characteristics of the magnetic fields generated by the transmitter 114 in combination with the magnitudes of the induced voltages in the coils of the sensors 208 can be used to determine (for example, measure), for each sensor 208, the position and orientation of the sensor 208 in relation to the transmitter 114. In particular, for each sensor 208, the computer system 212 calculates from a 3x3 data matrix the position and orientation of the sensor 208 in relation to the transmitter 114 (for example, sometimes referred to as P&O data). P&O data is determined for each of the sensors 208 (for example, in series). In some implementations, each sensor signal is selected in series using the multiplexing switches incorporated in the computer system 212. In some implementations, the multiplexing switches can be incorporated as a separate component that resides between the calibration device 200 and the computer system 212.
    [0065] For each sensor 208, the computer system 212 compares the calculated P&O data (e.g., measured) with the ideal P&O data that represents the actual position and orientation (e.g., actual, physical, or calibration) determined of the sensor 208 in relationship with transmitter 114. In some implementations, ideal P&O data is stored in computer system 212. In some implementations, the ideal P&O data can be calculated based on the characteristics of the magnetic fields generated by a reference transmitter and the known characteristics of the sensor 208 (for example, positions and orientations determined by calibration). If the measured P&O data matches the ideal P&O data, or if the measured P&O data is within one or more threshold values of the ideal P&O data, it can be determined that the transmitter 114 does not need calibration, therefore a calibration Default ideal can be used. But nevertheless, If the calculated P&O data does not coincide sufficiently with the ideal P&O data, one or more calibration correction factors can be calculated and applied for use with the transmitter 114 to correct such inaccuracies and / or to minimize errors due to the DUT unit to unit variations (for example, between several transmitters). Said calibration correction factors are determined based on a calibration algorithm. In some implementations, the calibration correction factors may be stored in the transmitter 114, stored in the controller electronics 104, or stored elsewhere in the EMT 100 in which the transmitter 114 is finally incorporated. In some implementations, the factors Calibration correction can be stored in network storage (for example, on a server, such as a cloud server) for later use. In some implementations, calibration of transmitter 114 may take approximately one minute or less.
    [0066] In some implementations, the calibration device 200 may be configured so that the transmitter 114 is always or almost always calibrated. For example, one or more threshold values may be zero, so that the transmitter 114 is calibrated unless the measured P&O matches the ideal P&O data. In some implementations, the calibration device 200 may be configured to determine the calibration correction factors for the transmitter 114 regardless of the measured P&O data. In this way, the calibration device 200 may be forced to determine the calibration correction factors and calibrate the transmitter 114.
    [0067] In some implementations, a determination can be made that the transmitter 114 does not require calibration. As such, calibration correction factors can be determined as zero. In other words, the EMT system 100 may determine that the transmitter 114 does not require calibration because the determined position of the sensor 112 with respect to the transmitter 114 is accurate, and this may be indicated by one or more calibration correction factors with a value of Zero being determined. If calibration of transmitter 114 is not required, transmitter 114 may be left as is (for example, no calibration correction factors are applied to transmitter 114, or calibration correction factors that have a value of zero apply to the transmitter 114, so they result in no change in the way the transmitter 114 generates magnetic fields).
    [0068] In some implementations, the sensors 208 can be fixed to various portions of the calibration device 200 by one or more fasteners. For example, the sensors 208 can be held in place on a surface of the calibration device 200 by means of a screw, nut and bolt, etc. In some implementations, one or more of the sensors 208 can be removably attached to the calibration device 200. For example, in some implementations, the surfaces of the calibration device 200 may include openings configured to accept one of the sensors 208. In this way, the sensor 208 can be placed (for example, snap fit) into the opening such that the sensor 208 is held in place at a particular location and orientation. In this way, the user can provide the sensors 208 separately from the calibration device 200 and place them in / inside the calibration device 200 before the initial use of the calibration device 200. This removable nature of the sensors 208 may allow the sensors 208 to be easily replaced. For example, damaged and / or inaccurate sensors 208 may be replaced with new sensors 208 to improve the accuracy of the calibration device.
    [0069] In some implementations, one or more of the sensors 208 can be fixed to the calibration device 200 in a mobile manner. For example, one or more of the sensors 208 may be fixed to a portion of the calibration device 200 that includes a rail and / or sliding device that allows the sensor 208 to pass through different positions. In this way, different sensor locations can be used to calibrate the transmitter 114 (for example, and / or to calibrate the sensors 208, as described in more detail below). In some implementations, one or more of the sensors 208 can be attached to the calibration device 200 in a manner that allows the orientation of the sensor 208 to be adjusted. In this way, different orientations of the sensors can be used to calibrate the transmitter 114 (by example, and / or to calibrate the sensors 208, as described in more detail below). For implementations in which the position and / or orientation of the sensors 208 are adjustable, the calibration device 200 can be configured to provide the true position (eg, real) and / or orientation of the sensor 208 to the computer system 212 to allow precise calibration
    [0070] In some implementations, instead of and / or in addition to the computer system 212 being provided as a separate component of the calibration device 200, the calibration device 200 may include one or more computer components (e.g., one or more processors , memory, etc.) so that the calibration device 200 includes or acts as a computer system. For example, the calibration device 200 may include computer components that cause the calibration device 200 to perform various functionalities as described in this document with respect to the computer system 212 (for example, generating the magnetic fields, etc.).
    [0071] Calibrate the calibration device
    [0072] As described above, the calibration device 200 may undergo a calibration routine to measure the positions / orientations of the sensors 208 in relation to the DUT. You can use a controller / transmitter that is known to be calibrated (by example, which is known to produce accurate results) to perform such calibration of the calibration device 200.
    [0073] FIG. 3 shows an example of the calibration device 200 of FIG. 2 running in autocalibration mode. In this example, controller 104 has been replaced by a reference controller 304. The reference controller 304 includes a reference transmitter (for example, a calibrated transmitter) that is known to produce accurate results. In other words, the calibrated reference transmitter is calibrated by other means that will result in the sensors 208 providing accurate position / orientation data, provided that the sensors 208 are calibrated.
    [0074] The reference controller 304 is placed on / in the mount 206 such that the reference controller 304 assumes a fixed and known position and orientation with respect to the sensors 208. In some implementations, the reference controller 304 is electrically connected to the Calibration device 200 through one or more electrical contacts in mount 206 or through a separate wired electrical connection. In some implementations, the reference controller 304 is connected to the computer system 212 via a wireless or cable connection (for example, through a USB cable). In some implementations, the reference controller 304 may be configured to exchange information with the calibration device 200 and / or the computer system 212 via a wireless connection.
    [0075] With the reference controller 304 placed in the mount 206, the computer system 212 can cause the reference transmitter to generate one or more magnetic fields with particular characteristics. In particular, the computer system 212 causes current to flow through the coils (for example, three coils) of the reference transmitter, which causes the reference transmitter to produce three orthogonal magnetic fields at particular times or frequencies and in magnitudes appropriate. The magnetic fields generated by the reference transmitter are received in each of the sensors 208 and cause voltages to be induced in the sensor coils.
    [0076] The characteristics of the magnetic fields generated by the reference transmitter in combination with the magnitudes of the voltages induced in the coils of the sensors 208 can be used to determine, for each sensor 208, the position and orientation determined by the calibration of the sensor 208 with respect to the reference transmitter. In particular, for each sensor 208, the computer system 212 calculates from a 3x3 data matrix the position and orientation of the sensor 208 in relation to the reference transmitter and the reference controller 304 (for example, sometimes referred to as P&O data). P&O data is determined for each of the sensors 208 (for example, in series). In some implementations, each sensor signal is selected in series using the switches of multiplexing incorporated in the computer system 212. In some implementations, the multiplexing switches can be incorporated as a separate component that resides between the calibration device 200 and the computer system 212.
    [0077] In some implementations, the sensor calibration correction factors may be stored in the particular sensor 208 or stored in the electronics of the calibration device 200 to ensure that, given a calibrated reference transmitter and a reference controller 304, the positions and orientations Certain calibration of sensors 208 are accurate. In some implementations, calibration correction factors may be stored in network storage (for example, on a server, such as a cloud server) to calibrate one or more of the sensors 208. In some implementations, device calibration Calibration 200 (for example, the calibration of one or more of the sensors 208) and / or the determination of the positions and orientations determined by the calibration of the sensors 208 may take approximately one minute or less.
    [0078] Once the calibration device 200 (for example, the sensors 208 of the calibration device 200) has been calibrated or confirmed to be in a calibrated state, and the determined positions and orientations of the calibration of the sensors 208 are determined , the calibration device 200 can be used for the calibration of several 114 DUT transmitters. That is, the determined positions and orientations of the calibration of the sensors 208 can be used as the known (and true) positions and orientations of the sensors 208 when the various transmitters 114 of the DUT are calibrated. Operate the calibration device
    [0079] If the calibration device 200 is used to calibrate a DUT or calibrates itself, a user of the calibration device 200 and the computer system 212 can perform the calibration procedure by interacting with the computer system 212. In some implementations, the computer system 212 is configured to provide instructions for the user through a graphical user interface (GUI). For example, the computer system 212 may be a portable computer that is configured to execute a program used to calibrate a DUT or calibrate the calibration device 200. The program can cause a laptop screen to display instructions to help the user carry out the particular calibration procedure. For example, the instructions may include textual, visual and / or audible instructions that instruct the user to place controller 104 or reference controller 304 in mount 206, electrically connect controller 104 or reference controller 304 to the mount 206 or computer system 212 (for example, if required to form a cable connection), place strip 207 around controller 104 or reference controller 304, connect the computer system 212 to the calibration device 200 (for example, if necessary to form a cable connection), etc.
    [0080] In some implementations, the program operating in the computer system 212 may include one or more user selectable values and / or user input fields to allow the user to define one or more characteristics of the calibration procedure. For example, the program may allow the user to specify particular frequencies at which the coils of the transmitter 114 and / or the reference transmitter of the reference controller 304 will operate to generate respective magnetic fields. In some implementations, the program may allow the user to store, retrieve and / or apply calibration correction values to the transmitter 114 (for example, during the calibration of the transmitter 114) and / or to one or more of the sensors 208 (for example, during calibration of calibration device 200). In some implementations, the program is configured to provide an indication that transmitter 114 requires calibration, an indication that transmitter 114 does not require calibration, an indication that calibration device 200 requires calibration and / or an indication that the Calibration device 200 does not require calibration (for example, an approval / failure result). For examples where a calibration is required, the program may provide a user interface element that may allow the user to initiate a calibration procedure when interacting with the user interface element.
    [0081] In some implementations, the program may be configured to provide an indication of a degree of error present in the transmitter 114 and / or one or more of the sensors 208. For example, during the calibration procedure, if the transmitter 114 and / or one of the sensors 208 provides P&O data indicative of a relatively large amount of error, the program can provide an indication of the degree of error and / or provide an indication that calibration is required for transmitter 114 and / or sensor 208. In some examples, during the calibration procedure, if the transmitter 114 and / or one of the sensors 208 provides P&O data indicative of a relatively small degree of error (for example, the determined position and / or orientation of the transmitter 114 or the sensor 208 are close to the true position and / or orientation), the program can provide an indication that there is a small degree of error and / or can provide a indication that an optional calibration can be performed on transmitter 114 and / or sensor 208. In some implementations, the program may recommend an optional recalibration if the calculated position or orientation is within one or more position threshold values or true orientation of transmitter 114 or sensor 208.
    [0082] In some implementations, it is determined that the calibration device 200 is calibrated (for example, so that the calibration device 200 does not require calibration of its sensors 208) if the determined P&O of each of the sensors 208 is within a threshold distance of the actual position of the respective sensor 208. In some implementations, the threshold may be approximately 3 mm for a positional threshold. An angular value (for example, 0.2 degrees) can be used for an orientation threshold. Thus, for example, if it is determined that all sensors 208 are positioned within 3 mm of their actual position (for example, in all dimensions) and within 0.2 degrees of their actual orientation (for example, in all dimensions) with respect to the reference controller 304, then, the computer system 212 may determine that the calibration device 200 is sufficiently calibrated for later use with a 114 DUT transmitter. Similarly, in some implementations, it is determined that the transmitter 114 DUT to be calibrated (for example, so that the transmitter 114 does not require calibration) if the determined P&O of each of the sensors 208 is within a threshold distance (for example, 3 mm in all dimensions) of the actual position of the respective sensor 208. If one or more of the sensors 208 has a certain position that is outside the threshold distance, one or more of the transmitter 114 can be applied calibration correction factors, so that the transmitter 114 can generate magnetic fields that result in a correct identification of the position and orientation of the sensors 208. Other means can also be used to determine if the 114 DUT transmitter is calibrated and not specifically describe here.
    [0083] In some implementations, the calibration device 200 and the computer system 212 may be configured to perform calibrations on different types (eg, different models) of transmitters. In some implementations, the program may accept an input indicative of the transmitter model to be calibrated. The particular parameters stored in the computer system 212 may be implemented during calibration based on the model of the transmitter in use. For example, a first transmitter model may require that particular quantities of currents pass through the transmitter coils, and / or certain frequencies for the magnetic fields to be generated by the coils, and a second transmitter model may require different magnitudes of the currents that pass through the transmitter coils, and / or different frequencies so that the magnetic fields are generated by the coils.
    [0084] In some implementations, the calibration correction factors for a particular DUT transmitter 114 may be included as part of a calibration file created by the program operating in the computer system 212. For example, once one or more calibration correction factors are determined, a calibration file can be created that can be used to update a 114 DUT transmitter. In some implementations, the calibration file may be "projected" to the 114 DUT transmitter. In some implementations, a 114 DUT transmitter firmware can be updated based on the calibration file.
    [0085] In some implementations, the position and orientation of the particular sensors 208 (for example, the position and orientation determined physically or determined by the calibration of the sensors 208) may be included as part of a calibration file created by the program operating in the 212 computer system.
    [0086] As described above, the calibration device 200 of Figs. 2 and 3 can be operated using software executed by a computing device (for example, the computer system 212 of Figures 2 and 3). In some implementations, the software is included in a computer-readable medium for execution in the computer system 212. FIG. 4 shows an example of a computing device 400 and an example of a mobile computing device 450, which can be used to implement the techniques described in this document. For example, the calibration of the transmitter 114 and / or the calibration of the sensors 208 of the calibration device 200 can be executed and controlled by the computer device 400 and / or the mobile computer device 450. The computing device 400 is intended to represent various forms of digital computers, including, for example, laptops, desktops, workstations, digital personal assistants, servers, blade servers, central computer and other appropriate computers. The computing device 450 is intended to represent various forms of mobile devices, including, for example, personal digital assistants, cell phones, smartphones and other similar computing devices. The components shown here, their connections and relationships, and their functions, are intended as examples only, and are not intended to limit the implementations of the techniques described and / or claimed in this document.
    [0087] The computing device 400 includes the processor 402, the memory 404, the storage device 406, the high-speed interface 408 that connects to the memory 404 and the high-speed expansion ports 410, and the low-speed interface 412 which is connected to the low speed bus 414 and the storage device 406. Each of the components 402, 404, 406, 408, 410 and 412, are interconnected using several buses, and can be mounted on a common motherboard or in other ways, as appropriate. The processor 402 can process instructions for execution within the computing device 400, including the instructions stored in the memory 404 or the storage device 406, to display graphic data for a GUI on an external input / output device, including, by For example, the screen 416 coupled to the high speed interface 408. In some implementations, multiple processors and / or multiple buses may be used, as appropriate, along with multiple memories and types of memory. In addition, multiple computing devices 400 can be connected, and each device it provides portions of the necessary operations (for example, such as a server bank, a group of blade servers, a multiprocessor system, etc.).
    [0088] The 404 memory stores data within the computing device 400. In some implementations, the 404 memory is a unit or units of volatile memory. In some implementation, memory 604 is a unit or units of nonvolatile memory. The 404 may also be another form of computer-readable media, including, for example, a magnetic or optical disk.
    [0089] The storage device 406 is capable of providing mass storage for the computing device 400. In some implementations, the storage device 406 may be or contain a computer-readable medium, which includes, for example, a floppy disk device, a hard disk device, an optical disk device, a tape device, a flash memory or other similar solid-state memory device, or a series of devices, including devices in a storage area network or other configurations. A computer program product can be tangibly incorporated into a data carrier. The software product may also contain instructions that, when executed, perform one or more methods, including, for example, those described above. The data carrier is a computer or machine readable medium, which includes, for example, memory 404, storage device 406, memory in processor 402 and the like.
    [0090] The high speed controller 408 manages the intensive bandwidth operations for the computing device 400, while the low speed controller 412 manages the operations of lower intensive bandwidth. Such assignment of functions is only an example. In some implementations, the high-speed controller 408 is coupled to the memory 404, the display 416 (for example, through a graphics processor or accelerator), and the high-speed expansion ports 410, which can accept multiple cards expansion (not shown). In some implementations, the low speed controller 412 is coupled to the storage device 406 and the low speed expansion port 414. The low-speed expansion port, which can include several communication ports (for example, USB, Bluetooth®, Ethernet, wireless Ethernet), can be attached to one or more input / output devices, including, for example, a keyboard , a pointing device, a scanner or a network device that includes, for example, a switch or router (for example, through a network adapter). The computing device 400 can be implemented in several different ways, as shown in FIG. 4. For example, the computing device 400 may be implemented as a standard server 420, or several times in a group of such servers. The computing device 400 can also be implemented as part of the rack server system. 424. In addition, or as an alternative, the computing device 400 may be implemented in a personal computer (for example, a laptop 422). In some examples, the components of the computing device 400 may be combined with other components in a mobile device (for example, the mobile computing device 450). Each of these devices may contain one or more of the computing devices 400, 450, and a complete system may consist of multiple computing devices 400, 450 that communicate with each other.
    [0091] The computing device 450 includes the processor 452, the memory 464 and an input / output device that includes, for example, the screen 454, the communication interface 466 and the transceiver 468, among other components. The device 450 may also be provided with a storage device, which includes, for example, a microdrive or other device, to provide additional storage. Components 450, 452, 464, 454, 466 and 468 can be interconnected using several buses, and several of the components can be mounted on a common motherboard or in other ways, as appropriate.
    [0092] The processor 452 can execute instructions within the computing device 450, including the instructions stored in memory 464. The processor 452 can be implemented as a set of chip chips that include independent and multiple analog and digital processors. The processor 452 can provide, for example, the coordination of the other components of the device 450, including, for example, the control of the user interfaces, the applications executed by the device 450 and the wireless communication by the device 450.
    [0093] The processor 452 can communicate with a user through the control interface 458 and the screen interface 456 coupled to the screen 454. The screen 454 can be, for example, a TFT LCD screen (liquid crystal display with film transistor fine) or an OLED (organic light emitting diode), or other suitable display technology. The display interface 456 may comprise appropriate circuits to activate the display 454 to present graphic data and other data to a user. The control interface 458 can receive commands from a user and convert them to be sent to the processor 452. In addition, the external interface 462 can communicate with the processor 442, in order to allow communication of the device 450 with other devices in the nearby area. The external interface 462 may provide, for example, cable communication in some implementations or wireless communication in some implementations. Multiple interfaces can also be used.
    [0094] Memory 464 stores data within computer device 450. Memory 464 can be implemented as one or more computer-readable media or media, a volatile memory unit or units or a non-volatile memory unit or units. The memory Expansion 474 can also be provided and connected to the device 450 through the expansion interface 472, which may include, for example, a SIMM card interface (single line memory module). Said expansion memory 474 may provide additional storage space for the device 450, and / or may store applications or other data for the device 450. Specifically, the expansion memory 474 may also include instructions for carrying out or complementing the processes described. above and may include secure data. Thus, for example, expansion memory 474 can be provided as a security module for device 450 and can be programmed with instructions that allow the safe use of device 450. In addition, secure applications can be provided through SIMM cards , along with additional data. Including, for example, placing identification data on the SIMM card in a non-hackable manner.
    [0095] Memory 464 may include, for example, flash memory and / or NVRAM memory, as explained below. In some implementations, a computer program product is tangibly incorporated into a data carrier. The computer program product contains instructions that, when executed, perform one or more methods, including, for example, those described above with respect to the calibration of the transmitter 114 and / or the calibration of the sensors 208 of the calibration device 200. The data carrier is a computer or machine readable medium, which includes, for example, memory 464, expansion memory 474 and / or memory in processor 452, which can be received, for example, through transceiver 468 or the external 462 interface.
    [0096] The device 450 can communicate wirelessly through the communication interface 466, which may include digital signal processing circuits when necessary. Communication interface 466 can provide communications under various modes or protocols, including, for example, GSM, SMS, EMS or MMS, CDMA, TDMA, PDC, WCDMA, CDMA2000 or GPRS voice calls, among others. Such communication may occur, for example, through a radio frequency transceiver 468. In addition, short-range communication may occur, including, for example, the use of a Bluetooth®, WiFi or other type of transceiver (not shown). In addition, the GPS receiver module 470 (Global Positioning System) can provide additional wireless data related to navigation and location to the device 450, which can be used as appropriate by the applications running on the device 450.
    [0097] The device 450 can also communicate audibly using the audio codec 460, which can receive spoken data from a user and convert it into usable digital data. The audio codec 460 can also generate an audible sound for a user, including, for example, through a loudspeaker, for example, in a headset of the device 450. Said sound It can include sound from voice phone calls, recorded sound (for example, voice messages, music files, and the like) and also the sound generated by the applications operating on the device 450.
    [0098] The computing device 450 can be implemented in several different ways, as shown in FIG. 4. For example, the computing device 450 can be implemented as a cell phone 480. The computing device 450 can also be implemented as part of the smartphone 482, personal digital assistant or other similar mobile device. Several implementations of the systems and techniques described here can be performed on digital electronic circuits, integrated circuits, specially designed ASICs (application-specific integrated circuits), computer hardware, firmware, software and / or combinations thereof. These various implementations may include one or more executable and / or interpretable computer programs in a programmable system. This includes at least one programmable processor, which may be special or general purpose, coupled to receive data and instructions from, and to transmit data and instructions to, a storage system, at least one input device and at least one device. departure.
    [0099] These computer programs (also known as programs, software, software applications or code) include machine instructions for a programmable processor, and can be implemented in a programming language oriented to high-level procedures and / or object, and / or language assembler / machine. As used herein, the terms "machine readable medium" and "computer readable medium" refer to a product, apparatus and / or computer program device (e.g., magnetic disks, optical disks, memory, programmable logic devices (PLD) ) used to provide machine instructions and / or data to a programmable processor, including a machine-readable medium that receives instructions from the machine.
    [0100] To provide interaction with a user, the systems and techniques described in this document can be implemented on a computer that has a display device (for example, a CRT (cathode ray tube) or LCD (liquid crystal display) monitor for present data to the user, and a keyboard and a pointing device (for example, a mouse or a trackball) through which the user can provide input to the computer.You can also use other types of devices to provide interaction with a user. , the feedback provided to the user can be a form of sensory feedback (for example, visual feedback, auditory feedback or tactile feedback.) The user input can be received in a form, including acoustic, voice or touch input.
    [0101] The systems and techniques described here can be implemented in a computer system that includes a backend component (for example, such as a data server), or that includes a middleware component (for example, an application server), or that includes a frontend component (for example, a client computer that has a user interface or a web browser through which a user can interact with an implementation of the systems and techniques described here, or a combination of such backend, middleware components or frontend The system components can be interconnected by means of a form or means of communication of digital data (for example, a communication network) Examples of communication networks include a local area network (LAN), a wide area network (WAN) and Internet.
    [0102] The computer system may include clients and servers. A client and a server are generally far apart and generally interact through a communication network. The client and server relationship arises by virtue of the computer programs that run on the respective computers and that have a client-server relationship with each other.
    [0103] In some implementations, the components described in this document may be separated, combined or incorporated into a single or combined component. The components shown in the figures are not intended to limit the systems described in this document to the software architectures shown in the figures.
    [0104] Several embodiments have been described. However, it will be understood that several modifications can be made without departing from the spirit and scope of the disclosure. Accordingly, other embodiments are within the scope of the following claims.
    权利要求:
    Claims (25)
    [1]
    1. A calibration device comprising:
    a plurality of magnetic sensors placed in the calibration device, the plurality of magnetic sensors that define a space;
    a controller configured to position itself in the space defined by the plurality of magnetic sensors, in which the controller includes a magnetic transmitter; Y
    one or more processors configured to:
    make the magnetic transmitter generate a plurality of magnetic fields; receiving signals from the plurality of magnetic sensors that are based on the characteristics of the plurality of magnetic fields received in the plurality of magnetic sensors; calculate, based on the signals received from the plurality of magnetic sensors, the positions and orientations of the plurality of magnetic sensors with respect to a position and orientation of the controller and the magnetic transmitter; Y
    Determine whether the calculated positions and orientations of the plurality of magnetic sensors are within one or more threshold limits of known positions and orientations of the plurality of magnetic sensors.
    [2]
    2. The calibration device of claim 1, wherein the one or more processors are further configured to determine, based on a calibration algorithm, one or more calibration correction factors for the magnetic transmitter based on the differences between the measured positions and orientations of the plurality of magnetic sensors and known positions and orientations of the plurality of magnetic sensors.
    [3]
    3. The calibration device of claim 2, wherein the one or more processors are further configured to:
    create a calibration file that includes calibration correction factors; and apply the calibration file to the magnetic transmitter.
    [4]
    4. The calibration device of claim 2, wherein the one or more threshold limits are zero, so that the calibration correction factors are determined for the magnetic transmitter regardless of the differences between the measured positions and orientations of the plurality of magnetic sensors and the known positions and orientations of the plurality of magnetic sensors.
    [5]
    5. The calibration device of claim 1, comprising a mount that is configured to hold the controller and the magnetic transmitter in a fixed position and orientation with respect to the plurality of sensors.
    [6]
    6. The calibration device of claim 1, wherein the controller is configured to communicate with the calibration device.
    [7]
    7. The calibration device of claim 1, wherein the controller is configured for use in one of the two Augmented Reality (AR) systems or in a Virtual Reality (VR) system.
    [8]
    8. The calibration device of claim 1, wherein at least part of the plurality of magnetic sensors are removably attached to the calibration device.
    [9]
    9. The calibration device of claim 1, wherein at least some of the plurality of magnetic sensors are mobilely attached to the calibration device so that one or both of the position or orientation of at least some of the plurality Magnetic sensors are adjustable.
    [10]
    10. The calibration device of claim 1, wherein the one or more processors are in communication with a multiplexing switch that allows one or more processors to receive the signals from each of the plurality of serial magnetic sensors.
    [11]
    11. The calibration device of claim 1, comprising a mount that is configured to accept a reference controller that includes a calibrated magnetic transmitter, and the one or more processors are further configured to:
    cause the calibrated magnetic transmitter to generate a second plurality of magnetic fields;
    receiving second signals from the plurality of magnetic sensors that are based on the characteristics of the second plurality of magnetic fields received in the plurality of magnetic sensors; Y
    calculate, based on the second signals received from the plurality of magnetic sensors, the known positions and orientations of the plurality of magnetic sensors with respect to a position and orientation of the reference controller and the calibrated magnetic transmitter.
    [12]
    12. The calibration device of claim 11, wherein one or more calibration correction factors are determined for one or more of the plurality of magnetic sensors before use in the calibration device.
    [13]
    13. The calibration device of claim 12, wherein the one or more processors are further configured to:
    create one or more calibration files that include calibration correction factors; Y
    apply the one or more calibration files to the one or more of the plurality of magnetic sensors.
    [14]
    14. A system comprising:
    a controller that includes a magnetic transmitter;
    a calibration device comprising:
    accommodation;
    a plurality of magnetic sensors placed in the housing; Y
    a mount placed inside the housing, the support configured to accept the controller; Y
    a computer system in communication with the calibration device, the computer system configured to:
    make the magnetic transmitter generate a plurality of magnetic fields; receiving signals from the plurality of magnetic sensors that are based on the characteristics of the plurality of magnetic fields received in the plurality of magnetic sensors; calculate, based on the signals received from the plurality of magnetic sensors, the positions and orientations of the plurality of magnetic sensors with respect to a position and orientation of the controller and the magnetic transmitter; Y
    Determine whether the calculated positions and orientations of the plurality of magnetic sensors are within one or more threshold limits of known positions and orientations of the plurality of magnetic sensors.
    [15]
    15. The system of claim 14, wherein the computer system is further configured to determine, based on a calibration algorithm, one or more calibration correction factors for the magnetic transmitter based on the differences between the positions and orientations measured of the plurality of magnetic sensors and the known positions and orientations of the plurality of magnetic sensors.
    [16]
    16. The system of claim 15, wherein the computer system is further configured to:
    create a calibration file that includes calibration correction factors; and apply the calibration file to the magnetic transmitter.
    [17]
    17. The system of claim 14, wherein the support is configured to maintain the controller and the magnetic transmitter in a fixed position and orientation with respect to the plurality of sensors.
    [18]
    18. The system of claim 14, wherein the controller is configured to communicate with one or both of the computer system or the calibration device.
    [19]
    19. The system of claim 14, wherein the controller is configured for use in one of the two Augmented Reality (AR) systems or a Virtual Reality (VR) system.
    [20]
    20. The system of claim 14, wherein at least part of the plurality of magnetic sensors are removably attached to the calibration device.
    [21]
    21. The system of claim 14, wherein at least some of the plurality of magnetic sensors are movably attached to the calibration device such that one or both of the position or orientation of at least some of the plurality Magnetic sensors are adjustable.
    [22]
    22. The system of claim 14, which also comprises the multiplexing switch in communication with the computer system that allows the computer system to receive the signals of each of the plurality of magnetic sensors in series.
    [23]
    23. The system of claim 14, wherein the assembly is configured to accept a reference controller that includes a calibrated magnetic transmitter, and the computer system is also configured to:
    cause the calibrated magnetic transmitter to generate a second plurality of magnetic fields;
    receiving second signals from the plurality of magnetic sensors that are based on the characteristics of the second plurality of magnetic fields received in the plurality of magnetic sensors; Y
    calculate, based on the second signals received from the plurality of the magnetic sensors, the known positions and orientations of the plurality of the magnetic sensors with respect to a position and orientation of the reference controller and the calibrated magnetic transmitter.
    [24]
    24. The system of claim 23, wherein one or more calibration correction factors are determined for one or more of the plurality of magnetic sensors before use in the calibration device.
    [25]
    25. The system of claim 24, wherein the computer system is further configured to:
    create one or more calibration files that include calibration correction factors; Y
    apply one or more calibration files to one or more of the plurality of magnetic sensors.
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    法律状态:
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    US201862619624P| true| 2018-01-19|2018-01-19|
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