Patent ID: 11880503
Assignee: ROCKWELL COLLINS, INC.
Field: Computer technology (Electrical engineering)
Classification: CPC G  A | IPC A  G

Claim 7:
8. A computer-assisted method for projecting a position and orientation (pose) of a head worn display (HWD), the method comprising:
for each of one or more rotational axes of a HWD worn on a head of a user of a mobile platform, and via a headtracker of the HWD:
selecting a relative angular rate of motion of a head reference frame relative to a body reference frame;
determining a relative angular acceleration of the head reference frame relative to the body reference frame by sampling the relative angular rate, the relative angular acceleration associated with a current time;
adjusting a projection time relative to the current time, the projection time associated with at least one of a projected position or a projected orientation of the HWD relative to the body reference frame;
determining a first angular increment vector based on the relative angular rate and the projection time;
determining a second angular increment vector based on the relative angular acceleration and the projection time; and
determining a total angular increment vector by combining the first and second angular increment vectors;

receiving, from a Kalman filter of the HWD, an estimated position and orientation (pose) of the HWD relative to the body reference frame, the estimated pose associated with the current time; and
determining a projected pose of the HWD relative to the body reference frame, the projected pose associated with the projection time, by adjusting the estimated pose based on the total angular increment vector associated with each of the one or more rotational axes.