Various examples are directed to systems and methods for determining a pose of a vehicle. A first localizer may generate a first pose estimate for the vehicle based at least in part on a comparison of first remote sensor data to a first reference data. A second localizer may generate a second pose estimate for the vehicle based at least in part on a comparison of second remote sensor data to a second reference data. A pose state estimator may generate a vehicle pose for the vehicle based at least in part on a first previous pose of the vehicle, the first pose estimate, and the second pose estimate.

A detector device (111) for determining an orientation of at least one object (112) is disclosed. The detector device comprises: at least two beacon devices (204), the beacon devices (204) being adapted to be at least one of attached to the object (112), held by the object (112) and integrated into the object (112), the beacon devices (204) each being adapted to direct light beams (138) towards a detector (110), the beacon devices (204) having predetermined coordinates in a coordinate system of the object (112); at least one detector (110) adapted to detect the light beams (138) traveling from the beacon devices (204) towards the detector (110); at least one evaluation device (142), the evaluation device (142) being adapted to determine longitudinal coordinates of each of the beacon devices (204) in a coordinate system of the detector (110), the evaluation device (142) being further adapted to determine an orientation of the object (112) in the coordinate system of the detector (110) by using the longitudinal coordinates of the beacon devices (204).

An instrument (20) determines the attitude of a spacecraft (3) on which it is mounted, by interacting incident light (11) from the Sun with one or more light conditioning elements (12) and thereby forming a diffraction pattern at a photo-sensitive detector (13). The intensity distribution of light on the detector (13) is dependent on the angle of incidence of the light (11). An on-board computer (16) determines a direction vector to the Sun based on the light diffraction pattern detected by the detector (13).

Disclosed embodiments provide systems and methods for simulation of firearm discharge and training of armed forces and/or law enforcement personnel. A motion tracking system tracks motion of one or more users. In embodiments, the users wear one or more sensors on their bodies to allow tracking by the motion tracking system. A scenario management system utilizes position, orientation, and motion information provided by the motion tracking system to evaluate user performance during a scenario. A weapon simulator includes sensors that indicate position of the weapon and/or orientation of the weapon. The weapon simulator may further provide trigger activation indications to the scenario management system. In embodiments, the scenario management system generates, plays, reviews, and/or evaluates simulations. The evaluation can include scoring based on reaction times, posture, body position, body orientation, and/or other attributes.

An optical navigation system comprising a camera oriented to face towards a plurality of markers located at spaced apart locations from the camera, calculating means adapted to calculate an angle subtended between pairs of markers, the subtended angles being calculated by monitoring the pixel locations of the markers in a series of images captured by the camera, the optical navigation system additionally comprising means for creating a three-dimensional model whereby the location of the camera relative to the markers is determined by triangulating the subtended angles in the three-dimensional model.

Methods and system are disclosed for guiding an autonomous drone aircraft during descent to a landing target. The method features the steps of: (a) acquiring an image using a camera on the drone aircraft of an active fiducial system at the landing target; (b) verifying the active fiducial system in the image by comparing the image to a stored model or representation of the active fiducial system; (c) determining a relative position and/or orientation of the drone aircraft to the landing target using data from the image; (d) using the relative position and/or orientation determined in step (c) to guide the drone aircraft toward the landing target; and (e) repeating steps (a) through (d) a plurality of times.

Embodiments of the present disclosure support a head-mounted display (HMD) wirelessly coupled to a console. The HMD includes a positional tracking system, a beam controller and a transceiver. The positional tracking system tracks position of the HMD and generates positional information describing the tracked position of the HMD. The transceiver communicates with a console via a wireless channel, in accordance with communication instructions, the communication instructions causing the transceiver to communicate over one directional beam of a plurality of directional beams. The beam controller determines a change in the positional information. Based on the change to the positional information, the beam controller determines a directional beam of the plurality of directional beams. The beam controller further generates the communication instructions identifying the determined directional beam, and provides the communication instructions to the transceiver.

Simplify, downsize and reduce power of devices which comprise the satellite navigation system used in approach and docking in space. The navigation system 1 which estimates an attitude of a target object T in space comprises: an optical marker 10 that is attached to the target T and reflects light; a lighting device 20 that irradiates the target object T with light of a predetermined wavelength band; an image acquisition device 30 that acquires an image of the optical marker 10 which has reflected the light of the predetermined wavelength band; and an image processing device 40 that processes the image acquired by the image acquisition device 30 and thereby estimates the attitude of the target object T. The lighting device 20 and the image processing device 30 are loaded on an aerospace vehicle 2.

Systems, methods, and computer readable media to track and estimate the accuracy of a visual inertial odometry (VIO) system. Various embodiments are able to receive one or more VIO feature measurements associated with a set of image frames from a VIO system and generate a plurality of feature models to estimate health values for the VIO system. The various embodiments determine a plurality of feature health values with the feature models based on the VIO feature measurements and compare the feature health values with ground truth health scores associated with the set of image frames to determine one or more errors. The feature model parameters are updated based on the comparison with the feature health values with ground truth health scores.

The present invention is a standalone motion tracking device using Linear Optical Sensor Arrays (LOSA). The invention constitutes a tracker module and an active marker, which communicate with each other wirelessly. The motion tracking device uses optical tracking along with inertial sensing to estimate the position and attitude of the active marker relative to the tracker module. The system determines the position of the active marker using stereovision triangulation through multiple views emanating from different LOSA modules. The present invention also features novel use of a multi-slit aperture for LOSA sensors in order to increase the field of view and resolution of the position estimates. The system uniquely leverages the structural geometry of the active marker, along with inertial sensing, to estimate the attitude of the active marker relative to the tracker module without relying on magnetic sensing that may often be unreliable.