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

Claim 0:
1. A system for predicting at least one of a position or an orientation of a head worn display (HWD), the system comprising:
at least one processor operatively coupled to an HWD worn on a head of a user of a mobile platform, the at least one processor configurable by processor-executable instructions to:
for each of one or more rotational axes of the HWD:
determine, based on one or more of 1) a head-frame angular rate of motion of a head reference frame relative to an inertial frame and 2) a body-frame angular rate of motion of a body reference frame relative to the inertial frame, a relative angular rate of motion of the head reference frame relative to the body reference frame;
determine, by sampling the relative angular rate, a relative angular acceleration of the head reference frame relative to the body reference frame, the relative angular acceleration associated with a current time;
adjust a projection time relative to the current time, the projected time associated with at least one of a projected position or a projected orientation of the HWD relative to the body reference frame;
determine a first angular increment vector based on the relative angular rate and the projection time;
determine a second angular increment vector based on the relative angular acceleration and the projection time; and
determine a total angular increment vector by combining the first and second angular increment vectors;
receive, from a Kalman filter of the HWD, an estimated pose of the HWD relative to the body reference frame, the estimated pose associated with the current time; and
determine 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.