Patent ID: 11902499
Assignee: AIRBUS DEFENCE AND SPACE SAS
Field: Audio-visual technology (Electrical engineering)
Classification: CPC H  G | IPC G  H

Claim 6:
7. The simulation sighting binoculars as claimed in claim 5, wherein, when the Simultaneous Localization and Mapping algorithm has stalled, the electronic circuitry corrects the updated orientation information from the sensor of inertial measurement unit type in the following way:

Qabs(t)=Qabs(t0)*Qimu−1(t0)*Qimu(t)

where:
Qabs(t) represents corrected orientation information;
Qabs(t0) represents absolute orientation information originating from the Simultaneous Localization and Mapping algorithm, before stalling;
Qimu(t) represents updated orientation information from the sensor of inertial measurement unit type; and
Qimu(t0) represents orientation information from the sensor of inertial measurement unit type before stalling of the Simultaneous Localization and Mapping algorithm.