US 12,121,771 B2
Trajectory extrapolation and origin determination for objects tracked in flight
Joakim John Magnus Hugmark, Stockholm (SE); Daniel Forsgren, Enebyberg (SE); and Anton Mikael Jansson, Stockholm (SE)
Assigned to Topgolf Sweden AB, Danderyd (SE)
Filed by Topgolf Sweden AB, Danderyd (SE)
Filed on Jul. 20, 2021, as Appl. No. 17/381,155.
Application 17/381,155 is a continuation in part of application No. 17/418,191, granted, now 11,644,562, previously published as PCT/EP2021/051381, filed on Jan. 21, 2021.
Claims priority of provisional application 62/964,095, filed on Jan. 21, 2020.
Prior Publication US 2023/0085842 A1, Mar. 23, 2023
This patent is subject to a terminal disclaimer.
Int. Cl. A63B 24/00 (2006.01); A63B 67/02 (2006.01)
CPC A63B 24/0021 (2013.01) [A63B 67/02 (2013.01); A63B 2024/0025 (2013.01); A63B 2024/0034 (2013.01); A63B 2024/0056 (2013.01); A63B 2220/806 (2013.01)] 24 Claims
OG exemplary drawing
 
1. A system comprising:
two or more defined physical locations from which golf balls are hit into a three dimensional physical space;
one or more golf ball sensors arranged with respect to the three dimensional physical space to detect the golf balls in flight after the golf balls are hit into the three dimensional physical space from the two or more defined physical locations; and
one or more computers communicatively coupled with the one or more golf ball sensors, the one or more computers comprising at least one hardware processor and at least one memory device coupled with the at least one hardware processor, the at least one memory device encoding instructions configured to cause the at least one hardware processor to perform operations comprising:
determining a three dimensional trajectory for a golf ball in the three dimensional physical space based on initial observations of the golf ball by the one or more golf ball sensors,
extrapolating the three dimensional trajectory of the golf ball backward in time to generate an extrapolated trajectory,
calculating one or more distance measures between the extrapolated trajectory and the two or more defined physical locations,
determining one of the two or more defined physical locations to be an origin of the golf ball based on the one or more distance measures and two types of separately estimated errors, wherein a first of the two types of separately estimated errors affects ball positional error for the initial observations, and a second of the two types of separately estimated errors affects an angle of the extrapolated trajectory, and
presenting golf ball data on a display device associated with the origin of the golf ball.