Headset Pose Recovery From Lost Wireless IMU Tracking Data
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Solution Overview
Problem
Wireless transmission of IMU data from a tracking device to a headset in extended reality systems is unstable due to signal strength, bandwidth, distance, and interference, leading to inaccurate pose determination by the headset.
Innovation Solution
The tracking device integrates IMU data and uploads posture data to the headset, which recovers the correct posture data through integration processing, even when wireless transmission is lost, using different integration algorithms and light spot images for repositioning.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Adaptability or versatility
If wireless transmission is used to send IMU data from tracking device to headset, then transmission flexibility and mobility are improved, but transmission stability and data reliability deteriorate due to signal strength, bandwidth, distance, and interference
Solution Approach 1:
The tracking device performs preliminary integration processing on IMU data to obtain posture data before transmission. This preliminary action ensures that even if transmission is lost, the posture data is already computed and can be recovered by the headset through the same integration process, maintaining system reliability while preserving wireless transmission flexibility
Solution Approach 2:
The patent creates a copy of the posture determination process by having both the tracking device and headset perform integration processing independently. The headset replicates the integration algorithm to recover posture data locally, ensuring that wireless transmission failures do not compromise system reliability
2Device complexity
If the headset determines pose solely based on received IMU data, then processing simplicity is maintained, but measurement precision deteriorates when transmission is lost
Solution Approach 1:
The system implements feedback by having the tracking device periodically send posture data to the headset, allowing the headset to compare its own integration results with the tracking device's results. This feedback mechanism enables the headset to detect and correct pose determination errors, maintaining measurement precision while keeping processing relatively simple
3Loss of information
If the tracking device continuously performs integration processing, then posture data availability is improved, but energy consumption increases
Solution Approach 1:
Instead of continuous transmission, the tracking device sends posture data periodically at predetermined intervals. This periodic action maintains posture data availability for the headset while significantly reducing energy consumption compared to continuous transmission, as the device can enter low-power states between transmission cycles
Data Source
AI summary
The present disclosure relates to a method of posture determining for a tracking device, a headset and a tracking device. The method of posture determining includes: receiving, by the headset, IMU data sent by the tracking device, performing integration processing on the IMU data, to obtain real-time posture data of the tracking device; receiving first posture data sent by the tracking device, where the first posture data is posture data of the tracking device at the current moment, obtained by the tracking device by performing integration processing according to the IMU data obtained through measurement, and after the IMU data is lost, the tracking device continuously performs integration processing according to the IMU data obtained through measurement; and determining real-time posture data of the tracking device at the current moment according to the first posture data.