SYSTEM AND METHOD FOR POSE PREDICTION IN HEAD WORN DISPLAY HEADTRACKERS

A system and method for predicting an estimated head pose solution of a head worn display (104), HWD, at a future time selects or determines, for each HWD rotational axis, a relative angular rate of a head reference frame relative to a body reference frame. By sampling the relative angular rate, a relative angular acceleration is determined. Based on a projection time associated with estimated display latency, angular increment vectors for each rotational axis are determined for relative angular rate and relative angular acceleration. The current head pose solution is adjusted with respect to one or more axes based on the angular increment vectors to project the head pose estimate ahead based on the projection time, the resulting projected head pose solution corresponding to a predicted orientation of the head frame relative to the body frame at the future time.