Dynamic Extrinsic Calibration for Tracking Moving Target Devices
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Solution Overview
Problem
Existing tracking systems fail to accurately track movable objects or devices due to relative motion between the tracking system and the target device, necessitating a solution that can perform accurate tracking operations even when the system and target are not fixed in a rigid body.
Innovation Solution
A tracking system and method utilizing micro electro mechanical system sensors on both the target device and a movable element, generating sensing signals to calculate variable extrinsic calibration parameters based on a fixed motion relationship, enabling accurate tracking during motion processes.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If the tracking system and target device are fixed in a rigid body with known extrinsic calibration parameters, then tracking accuracy is improved, but the system loses adaptability to movable objects and scenarios
Solution Approach 1:
The patent applies dynamics by transitioning from static extrinsic calibration parameters to dynamic, time-varying calibration parameters. The system continuously updates calibration parameters based on real-time relative position and pose information between the tracking device and target device, enabling accurate tracking of movable objects while maintaining adaptability to changing spatial relationships.
Solution Approach 2:
The patent changes the calibration parameters from fixed values known at manufacturing time to variable parameters that are continuously updated during operation. The system calculates new calibration parameters based on current relative positioning data, allowing the tracking system to adapt to different motion states and maintain measurement precision across various scenarios.
2Ease of operation
If the tracking system is not fixed to the target device, then ease of operation is improved, but relative motion causes tracking accuracy to deteriorate
Solution Approach 1:
The patent implements feedback by continuously monitoring the relative position and pose between the tracking device and target device through sensors, and using this information to dynamically update calibration parameters. This closed-loop feedback mechanism allows the system to maintain tracking accuracy despite the tracking system not being fixed to the target device, resolving the contradiction between ease of operation and measurement precision.
Solution Approach 2:
The system performs preliminary calibration at the start of operation to establish initial extrinsic parameters, then continuously refines these parameters during operation based on real-time relative positioning data. This preliminary action combined with continuous updates enables the system to achieve both ease of operation and tracking accuracy.
3Device complexity
If fixed extrinsic calibration parameters are used, then device complexity is reduced, but the system cannot handle movable parts with varying motion relationships
Solution Approach 1:
The patent applies universality by creating a calibration system that serves multiple functions: it performs initial calibration, continuously updates calibration parameters during motion, and adapts to different types of movement (translation, rotation, complex motion). This multi-functional approach allows a single system to handle various movable parts and motion relationships without requiring separate specialized systems for each scenario.
Applied Scientific Principles
This section explains which scientific principles are used to turn an abstract innovation direction into a practical engineering solution.
Function Achieved in This Case
Enables accurate tracking of movable objects by generating variable extrinsic calibration parameters based on sensing signal changes, improving tracking accuracy and addressing the limitations of fixed-position tracking systems.
Implementation Method 1
The target device comprises a first micro electro mechanical system sensor, and the first micro electro mechanical system sensor is configured to generate a plurality of first sensing signals. The movable element comprises a tracking device and a second micro electro mechanical system sensor, and the second micro electro mechanical system sensor is configured to generate a plurality of second sensing signals.
Data Source
AI summary
A tracking system and method are provided. A movable element of the tracking system performs a motion process on a movable path. A tracking device of the tracking system calculates a signal change at each of time points corresponding to the motion process based on first sensing signals and second sensing signals. The tracking device generates a variable extrinsic calibration parameter of a target device and the movable element corresponding to each of the time points based on the signal changes and the fixed motion relationship. The tracking device performs a tracking operation corresponding to the target device based on the variable extrinsic calibration parameters.