Abstract: Methods and systems associated with aligning reference frames used for tracking an object are disclosed. One embodiment disclosed herein is a method for generating a transform between a first and second frame of reference (FOR) using a sequence of heading values of the object in the first and second FOR. The method comprises providing instructions to orient the object towards one or more external positioning devices in an orienting sequence. The method also comprises obtaining the sequence of heading values of the object in the second FOR using an onboard sensor and obtaining a sequence of position values of the object in the first FOR in accordance with the orienting sequence and using the one or more external positioning devices. The method also comprises deriving the sequence of heading values of the object in the first FOR using the sequence of position values.

Abstract: A recursive real time positioning system setup method for immediate convergence of functional system setup is disclosed. In one disclosed embodiment, a method for onboarding a set of positioning devices to a positioning system includes issuing a human-perceptible unconnected indicator from a first positioning device in the set of positioning devices. The method also includes detecting a connection using a wireless receiver on the first positioning device. The connection is between the first positioning device and a second positioning device in the set of positioning devices. The method also includes issuing, in direct and automatic response to the detecting of the connection, a human-perceptible connected indicator from the first positioning device.

Abstract: A method for following a musical score in real time. At least one sound emitted by a performer is recorded. At least one chromatic vector is estimated. The chromatic vector is compared with theoretical chromatic vectors of the musical score. A transition between the chromatic vector and a previous chromatic vector with theoretical transitions of the musical score is compared. A work position of the performer depending on a previous work position is estimated from the comparison of the chromatic vector and the comparison of the transition. The recording is carried out for a suitable period depending on the ratio between a period of the transition and a reference period.

Abstract: A method for following a musical score in real time. At least one sound emitted by a performer is recorded. At least one chromatic vector is estimated. The chromatic vector is compared with theoretical chromatic vectors of the musical score. A transition between the chromatic vector and a previous chromatic vector with theoretical transitions of the musical score is compared. A work position of the performer depending on a previous work position is estimated from the comparison of the chromatic vector and the comparison of the transition. The recording is carried out for a suitable period depending on the ratio between a period of the transition and a reference period.