A system for tracking and positioning a moving object, the system including a
plurality
of transmitters operative to transmit alternating electromagnetic fields within
a three-dimensional space and at least one sensor arranged to be fixed to at least
one corresponding portion of a moving object whose position it is sought to monitor.
Each of said at least one sensors includes an electromagnetic field receiver having
at least one active axis and operative to receive at least one component, lying
along the at least one active axis respectively, of the alternating electromagnetic
fields, an accelerometer to independently measure at least one component of the
acceleration of the moving object; and a digital signal processor. The digital
signal processor is adapted to store at least one characteristic of the electromagnetic
fields as received by the electromagnetic field receiver, and at least one characteristic
of the acceleration as measured by the accelerometer, and to transmit the stored
characteristics to a Kalman filter, and to compute therefrom an estimate of at
least one component of the position and orientation of the moving object.
