Field of Invention

[001] The present invention relates to a modular add-on augmented reality (AR) head-up display system, associated user interfaces and controls. The user interfaces are intuitive and they add on augmented reality functionalities to a host eyewear (including protective spectacles used by law enforcement, military or rescue personnel, prescription and nonprescription spectacles) and helmet mounted AR spectacles.

Background

[002] A wearable head-up display typically includes a near-eye display or projection member, which is often mounted on a temple piece of an eyewear and displays an image that is visible to the user at an oblique angle whilst the user sees real objects straight through the eye-pieces. These heads-up display systems are useful for mission-critical or time-critical situations in which personnel are provided with or interact with intuitive augmented information about the surrounding so as to allow the personnel to make quick and accurate decisions. Such augmented information is transmitted via intuitive user interfaces (UIs), which minimise cognitive loads when making decisions, sending/receiving information and communicating amongst the personnel in the field, between the personnel and their equipment and/or between the personnel and a remote command centre.

[003] These heads-up display systems are useful for mission-critical or time-critical tasks because the personnel are constantly on the look out and stay vigilant whilst augmented information is made available at an angle to the line of sight, and their hands are always ready on their equipment for action (in so-called heads-up, eyes-out and hands-on trigger concepts). These systems are useful if the systems can be adapted for use with prescription glasses, non-prescription glasses, protective eyewear used by enforcement or rescue personnel, helmet mounted eyewear or safety goggle (ie. host eyewear). Often, the near-eye display or projection member is fixed onto the eyewear and this may obstruct the vision of the user. Also, this eyewear is often not foldable. [004] It can thus be seen that there exists a need to provide a modular add-on head-up augmented reality functionalities to an eyewear of a host. Preferably, this modular add-on is foldable and the near-eye display or projection member is movable to an unobstructed view position during mission-critical, time-critical or safety-critical situations; these heads- up AR display systems are designed for ease of use and to augment productivity and efficiency during training or work.

Summary

[005] The following presents a simplified summary to provide a basic understanding of the present invention. This summary is not an extensive overview of the invention, and is not intended to identify key features of the invention. Rather, it is to present some of the inventive concepts of this invention in a generalised form as a prelude to the detailed description that is to follow.

[006] The present invention seeks to provide a modular head-up augmented reality (AR) display system to add-on to a host spectacle or an AR spectacle for mounting onto a helmet. Modules of the AR display system are for removeable attachment onto the host spectacle/helmet, and for extending functionalities of the host spectacle, which include multi-modal controls of forward equipment deployed ahead of the user.

[007] In one embodiment, the present invention provides a modular augmented reality head-up display system as defined in claims 1-17.

[008] In another embodiment, the present invention provides a modular augmented reality head-up display kit as defined in claims 18 and 19.

[009] In yet another embodiment, the present invention provides a realtime control system for an unmanned vehicle as defined in claim 18, and an alternative autonomous control system as defined in claims 21-23. Brief Description of the Drawings

[0010] This invention will be described by way of non-limiting embodiments of the present invention, with reference to the accompanying drawings, in which:

[0011] FIG. 1A illustrates a perspective view of a right-handed modular augmented reality (AR) head-up display system according to an embodiment of the present invention, whilst FIG. IB shows a plan view; FIG. 1C illustrates the modular AR head-up display system in which the display or projection member is pivoted to an unobstructed view position, and FIG. ID illustrates the system being folded up; FIG. IE illustrates a left-handed configuration of the modular AR head-up display system; and FIG. IF illustrates a drop-in slot connector for pivoted connection of a display or projection module on a processor module.

[0012] FIGs. 2A-2D illustrate a head-up display system mounted on a helmet;

[0013] FIG. 3 illustrates various functionalities of the modular AR head-up display system; and

[0014] FIG. 4 A illustrates an AR view seen through the above modular AR head-up display system, whilst FIGs. 4B-4E illustrate other user interfaces of the AR view.

Detailed Description

[0015] One or more specific and alternative embodiments of the present invention will now be described with reference to the attached drawings. It shall be apparent to one skilled in the art, however, that this invention may be practised without such specific details. Some of the details may not be described at length so as not to obscure the present invention.

[0016] FIG. 1A shows a perspective view of a modular head-up display system 100 for removeable attachment onto an eyewear or spectacle 10 of a host. Preferably, the host spectacle 10 is a type of ballistic protection spectacle, safety goggle, non-prescription spectacle and/or a prescription spectacle. The modular head-up display system 100 includes a processor module 110, a batteiy module 170 and a trunldng module 180. The processor and battery modules are attachable onto separate temple pieces 11a, lib of the host spectacle 10 whilst the trunldng module 180 is attachable onto a front frame member 12 of the spectacle. When assembled onto the spectacle, the trunldng member is located between the processor and battery modules, thereby protecting wires 190 between the battery and processor modules. The battery and processor modules are configured for a right-hand or left-hand user depending on the user and an inside face of each module has a hook 111, 171 for removeable snapping-on onto the respective temple piece 11a, lib; FIG. IE shows a plan view of the left-handed configuration 100a of the modular AR head-up display system. Weights of the batteiy and processor modules are distributed and balanced to maintain comfortable wearing of the host spectacle.

[0017] The processor module 110 includes an electronic processing unit 115, a wireless communication unit 120, a barometer 125, a pedometer 130, a nine-axis inertia measuring unit (IMU) 135, a GPS unit 140, a touch pad 145 and some select buttons 150. At a forward distal end of the processor module 110 is a drop-in slot connector 160, which allows pivotable connection with a display or projection module 200. The projection module 200 includes a body member 210 and a transparent prism member 260. The body member 210 houses a micro-display unit 215, a camera/video unit 220, a light sensor 225 and a thermal camera 230. In low light conditions, the camera unit 220 and the thermal camera 230 are both activated, and an image fusion algorithm 232 corrects the outputs of both the camera unit and thermal camera, and provides thermal images with defined outlines to assist the user with night vision; with these thermal images, the user 30 can better identify targets or objects of interest (Ool) 310; this night vision function can be activated by toggling on a night vision button 332, as seen in FIG. 4A. In addition, some buttons 240, 240a (such as on/off or select buttons) are provided on an upper face of the body member 210. The transparent prism member 260 has an internal reflection surface on which an image projected from the micro-display unit 215 is formed and is visible to the user 30 by side glancing. FIG. IB shows a plan view of the head-up display system shown in FIG. 1A, whilst FIG. 1C shows the projection module 200 is moved to an unobstructed position, and FIG. ID shows the head-up display system with the temple pieces 11a, lib of the spectacle being folded-up. In use, the modular head-up display system 100 may wireless connect to a third party support devices, such as, a laser finder 101, an acoustic targeting system (ATS) 102 and forward equipment 103 (such as, an unmanned ground vehicle (UGV) 103a, an unmanned aerial vehicle (UAV) or drone 103b, and an unmanned underwater vehicle (UUV) 103c. In another embodiment, such as that for helmet mounting, the barometer, pedometer, IMU, and so on, may be housed in a separate unit, which is wearable on the user's clothing. In other embodiments, the touch pad 145 can be configured as a tactile track point.

[0018] The modular heads-up display system 100 also includes user interfaces that allow augmented reality information to be provided to the user intuitively (ie. a head-up concept). In other words, during mission-critical, time-critical, or safety-critical moments, augmented information about the surrounding is provided to the user 30 and/or users/peers 32 to allow them to make critical decisions quickly and accurately whilst the user(s) is/are in the frontline (ie. with eyes-out and hands-on trigger concepts). The electronic components in the processor module 110 respond equally quickly and automatically to support these mission-critical, time-critical or safety-critical moments. When the user is in a less pressing moment that the user is able to use the touch pad/track point 145 and select buttons 150 to input data, such as, using 1101 the laser finder 101, using the forward equipment 103, taking 1220 photos/videos with the camera/video unit 220, tagging 1312 objects of interest (Ool) 310 on the photos, navigating the GPS map, sending 1380 information to other users/peers 32 and command centre 20, and so on. These intuitive user interfaces help to minimize cognitive load on the users 30 so that they can concentrate on mission-critical, time-critical or safety-critical decision making. Thus, with this heads-up display system 100, the user 30 decision making and task effectiveness and efficiency is enhanced.

[0019] FIG. IF shows the drop-in slot connector 160 which allows the projection module 200 to click or detent lock in the extended position (in the AR view) or in the retracted position (in the full reality view) until the projection module 200 is moved by the user. The click or detent lock mechanism is provided by two grooves 161 on the processor module 110 and two cooperating projections 162a, 162b on the drop-in slot connector 160. The drop-in slot connector is hollow and allows electrical connection between the processor and display/projection modules. The drop-in slot connector 160 is held in the processor module 110 by two pins 165 as can be visualized in FIG. IF. [0020] FIGs. 2A-2D show various views of a modular head-up AR display system 100b that is mountable on a helmet 15. As shown in FIGs. 2A-2D, the modular head-up display system 100b is made up of a battery module 170a mounted on a Picatinny rail 17. A trunking module 180a connects the battery module 170a to a processor module 110a, which distal end supports a body 210a of a projection module 200a, such that a see- through prism 260a is proximate to the eye of the user 30. The Picatinny rail 17 allows the AR display system 100b to be mounted or dismounted with ease. In FIGs. 2A-2D, the AR display system 100b is shown for left-hand mounting on the helmet 15; this AR display system can also be configured for mounting on the right hand side of a helmet. The functions and components of the processor module 110a, trunking module 180a and battery module 170a are similar to those described above; for eg., on the processor module, there are: a tactile track point 145a, an on/off button 240, a select button 240a, and so on. On the projection body 210a, there are: a camera/video unit 220a, a light sensor 225a and a thermal sensor 230a.

[0021] FIG. 3 shows various functionalities of the above modular heads-up display system 100, 100a,100b whilst FIGs. 4A-4E show various view modes 300, 301, 302, 303, 304 of the user interfaces. A default AR view mode 300 allows the user to see-through the spectacle 10 for identifying Ool 310 (ie. reality view 300a) and be provided with AR information. As seen in FIG. 4A, with the camera 220 set in video taking as the default mode, video is presented near the centre of the AR view where a man-identification algorithm 116 in the electronic processing unit 115 is provided to identify and to mark/highlight 1310 a human face 310 in the video. Automatic marking of a human face in the frontline vision helps to locate a target or to warn the user of a potential threat. The human feature identified in the video can also be tagged, for eg, with an icon 312 and may be additionally distinguished as a friend/peer 32 or foe 34. The tagging functionality may be supported by a tagging algorithm 118 disposed inside the processor unit 110. At the same time, a bottom right side of the AR view is a minimized GPS map 320 view of the surrounding. The position of the human feature or any Ool 310 can be planted on the GPS map 320 by firing a laser finder 101 at the target and obtaining estimates of distance and location coordinates from the user position. Preferably, the minimized GPS map view occupies about 25% of the entire AR view. On the left hand edge of the AR view, there are 6 view mode buttons/icons 331, 332, 333, 334, 335, 336, respectively for activating the camera/video unit 220, activating the thermal camera 230, activating a forward equipment 103 (such as controlling a turret or camera of an unmanned vehicle, including an UGV (unmanned ground vehicle) 103a, UAV (unmanned aerial vehicle) or drone 103b or UUV (unmanned underwater vehicle) 103c), interfacing with third party support devices 101, 102, activating an emergency hotkey 335 to communicate with the command centre 20 and logging out 1336 of the AR mode 300. Across the top of the default AR video view mode is an incoming message panel 350 that pops up an incoming message from other user/peer 32 or the command centre to the user 30. When a user wears a vest with a health monitor and battery power sensor, health conditions of the user (such as, body temperature 391, health state 392 (like, tired, exhausted, heat stroke, etc.) and electric power level 393 may be displayed in a health and supplies panel 390 located on the right hand side of the AR view mode. Preferably, when a view mode button/icon is active, its colour toggles, for eg. to grey.

[0022] In the default AR view mode 300, the camera 220 can be activated to take 1220 video or photo 310 by activating the camera icon 331 or button 240 on the projection body 210. With a photo taken, the user can activate the touch pad/track point 145, move a highlight box to select a target or Ool 310, click within the highlight box to attach 1312 a tag or icon 312. Alternatively, the entire photo 310 can be tagged. If the user takes no action after capturing a photo, the view mode reverts to the default AR video mode after a lapse of a predetermined time, such as about 10 s; alternatively, when the user does not need to tag a target or Ool, the user can click on a cancel button on the touch pad 145 to switch immediately to the default AR video mode. If the touch pad is still active, the predetermined view mode toggling will not take place and the user can continue tagging other targets or Ools. The predetennined view mode toggle will occur when the AR display system detects inactivity from the user. The videos, photos and tagged photos 310 are sent to the command centre 20 for recording and analyzing.

[0023] In dim light situation or night time, the user 30 can activate the camera 220 and thermal camera 230 for assisted night vision. As in the default video view mode, the man- identification algorithm 116 automatically helps to identify and to mark/highlight a human face 310 in the field of vision to lessen visual cognitive load on the user. [0024] FIG. 4B shows a turret view 301 when a forward equipment 103 (such as a camera, remote detectors, etc.) of an UGV 103a, UAV/drone 103b or UUV 103c is deployed in the frontline ahead of the user. When the turret button/icon 333 is activated, the forward equipment is automatically paired with the modular AR display system 100,100a,100b. When pairing is not successful, the user has the option to reconnect the pairing; if the pairing fails, the user or command centre is notified. In the turret view 301, a sighting cross-hair 360 appears in the centre of the video streamed from the forward equipment (or camera/detector) mounted on the unmanned vehicle 103. Pan and tilt movements of the forward equipment's turret directions are controlled by outputs of the 9-axis IMU 135 by moving the head of the user in realtime (ie. requiring substantially continuous, manual inputs to actuators and sensors in the forward equipment). Alternatively, gesture control and/or brain sensory control may be used to control movements of the forward equipment 103 in an autonomous mode, thereby allowing heads-up, eyes-out and hands-on readiness. A multi-modal controller 400 in association with control of the drone 103b will be described in a later section.

[0025] Clicking on the mimimised GPS map 320 brings up the full GPS map view in a new view. FIG. 4C shows the full GPS map view 302. In the GPS map view, the user 30 is identified by a circle with an apex of a triangle 31 indicating the direction the user is facing as enabled by the GPS unit 140 and 9-axis IMU 135. For eg., peers or friends 32 are identified by water-drop location pin, whilst foes 34 are identified by quadrilateral speech location pin. On the right hand edge are 4 buttons 361, 362, 363, 364, respectively for returning to the default view mode, for zooming in, zooming out and refreshing the GPS map. A user can tap on the peer location pin to send 1380 a message (text, icon, photo or video). On taping a peer location, a keypad (such as that shown in FIG. 4E) appears for the user to enter and send the message. Refreshing updates location of the tagged, peer/friends and foes locations from the last viewing position (instead of refreshing from the user's location).

[0026] When a user enters an indoor area, GPS communication is lost and the user is directed to an indoor navigation mode. From the last known GPS coordinates and direction, the pedometer 130 provides the user with the distances moved, even by the rates of movements, whilst the 9-axis IMU 135 provides the directional changes and the barometer 125 provides the ascending and descending distances.

[0027] FIG. 4D shows a third party support device view mode 303. The third party support device may be a laser finder 101 or an ATS 102. With the use of the ATS, a clock face 370 visually shows positions of the targets or Ool 310, with concentric circles indicating distances from the user and an apex of a triangle 371 at the centre shows the direction the user is facing. The user has the option to tag 312 a target location within the predetermined view mode toggle time. These known target locations and tags are automatically planted on the GPS map 320 and are made available to other users/peers 32 and the command centre 20.

[0028] Preferably, after tagging a target or Ool 310 position, the modular AR display system 100,100a,100b automatically switches to the photo taking view mode. The AR display system switches over to the default AR video mode 300 after the predetermined time or the user has the option to cancel the photo taking view mode to immediately switch to the default AR video view mode.

[0029] FIG. 4E shows an emergency view mode 304 of the user interface for communicating with the command centre 20. In the emergency view mode 304, text and/or icons are selected from a keypad 380 to compose 1380 messages in an input view panel 382. The message is sent by activating a send button 384. In addition, the camera 220 can be activated to provide live video of the frontline surrounding. In the situation when the user 30 requires assistance or attention, the camera 220 can also be programmed to provide live video stream to the command centre 20.

[0030] Communication with other users/peers, with the forward equipment, with the third party support devices and with the command centre may be via secure wireless connection. As described above, the incoming message panel 350 pops up at the top of the default AR video view mode 300. There is a tick button 352 near the incoming message panel 350 for the user to acknowledge receipt; if no acknowledgement is made, the incoming message panel 350 fades away after a predetermined time, such as about 15 s. The incoming message panel disappears immediately after acknowledging receipt. To send a message to a peer/friend, the user clicks on the GPS map 320 and clicks on the relevant position icon representing the peer/friend and a message panel similar to that in FIG. 4E appears.

[0031] Now, the modular heads-up display system 100,100a,100b is described to bring out more clearly each of the various functionalities: (1): Feeding of intuitive AR information to users 30, 32 to help improve situation awareness and to allow better decision making. The user interfaces help in minimizing the cognitive load on the users so as to lessen the burden on the users in making a decision by providing AR information in an intuitive manner and to lessen the demand on them to capture and to send information at the frontline to other users/peers and command centre. In addition, various view modes in the user interface allow the users to quickly switch to the various functionalities, such as:

(a) Default AR view 300 - allows users to see through the spectacle in the eyes-out and heads-up concepts with constant view of the real surrounding and stay vigilant, with hands- on trigger readiness for action whilst receiving AR information for decision making;

(b) Night vision button 332 - allows users to use the heads-up display system in dim light environment;

(c) Forward equipment 103 interaction 333 with man-identification algorithm 116 for identifying humans in videos of forward (or frontline) surrounding some distances away from the users;

(d) Tagging 1312 of humans identified as peers/friends or foes in videos of frontline surrounding;

(e) GPS map view 302 - allows users to appraise frontline surrounding by using location maps through GPS and to help in user navigation and communication with peers/friends 32;

(f) Interface with third party support devices (such as, ATS and laser finders) to trace and to locate hostile or target 34 locations on the GPS map;

(g) messaging interface 304 - allows users to communicate and coordinate with other users/peers in the frontline and with the command centre; and

(h) Emergency hotkey 335 - for contacting or alerting the command centre during an emergency.

[0032] (2) Identification for danger sensing (in the default AR video view mode): (a) with the man-identification algorithm 116, automatically detects and identifies a human face from the video of the frontline surrounding and to mark/highlight the detected human whether they are friends/peers 32 or foes (targets) 34;

(b) from this video view mode, users can activate the camera/video 220 button to take photos or videos of the frontline environment to assist other users and the command centre;

(c) users can activate third party support devices (such as, a laser finder 101 to fire at target positions for automatic planting of target locations/coordinates onto the GPS map 320 so that AR information can be shared with other users and the command centre; and

(d) turns 1332 on the night vision when the surrounding is dim.

[0033] (3) GPS map view mode 302 allows:

(a) automatic identification of locations of user and peers/friends 32 in the frontline. This visual broad view of the frontline surrounding lessens the cognitive load on the user; and

(b) targets/foes 34 locations identified through third party support devices are also automatically planted on the GPS map, thus helping the user to navigate in the field and to communicate with other users/peers and with the command centre.

[0034] (4) Digital tagging of Ool for identification and tracking:

(a) tagging 1312 allows digitally labeling of targets 310 onto videos or photos captured with the camera/video function;

(b) tagged information can be in the form of text message or represented by icons or logos 312;

(c) tagged information is reflected in the GPS maps for sharing with other users and command centre; and

(d) instructions and messages from the command centre are received and read by each user in the incoming message panel 350 that is prominently shown across the top of the AR view.

[0035] (5) Forward equipment 103 interaction:

(a) the forward equipment includes camera/video mounted on or detectors sent by unmanned vehicle 103a, 103b, 103c deployed ahead of the user; (b) with outputs from the 9-axis IMU 135, users can control movement of the unmanned vehicle 103, for eg., by realtime panning and tilting turrets of the forward equipment; or using a multi-modal controller 400 for autonomous control of a drone or UAV 103b;

(c) the camera 220 provides live video streams of the frontline surrounding to assist other users and the command centre; and

(d) planting and activating remote detectors to assist in user navigation.

[0036] (6) Interface with third party support devices to trace/locate and identify hostile or targets:

(a) the clock face display 370 provides visual information, such as, the angle, range and position of friends/peers 32 and foes/targets 34 at the frontline. Positions of foes can be traced from detecting hostile gunfires using third party devices like the ATS 102; and

(b) with the help of laser finders 101, users can locate foes/targets coordinates and these locations are planted onto the GPS maps 320.

[0037] (7) Communication and coordination with the command centre: Users at the frontline may not have a complete view of the surrounding, for eg. due to nature of terrain and structural obstruction, thereby needing support from the command centre, in the form of non-verbal and non-line of sight information of strategic place-of-interest (Pol) or certain Ools:

(a) The command centre receives information from other users at the frontline and can thus disseminate information (such as, messages (text or icons) and AR photos/videos to users for better coordination;

(b) users are also able to send messages (text or icons) and photos/videos to the command centre and other users for sharing information and communicating with one another;

(c) information history is tracked by time stamping as frontline situations are fast changing; and

(d) the hotkey 335 for emergency contact with the command centre is provided as a button on the left hand edge of the default AR view. The hotkey allows users to seek quick assistance and attention from the command centre.

[0038] (8) AR heads-up display on host spectacles: The host eyewear 10 is preferably a ballistic protection spectacle, such as those conforming to US military requirements. This modular heads-up display system 100,100a,100b provides up-to-date information to users at the frontline for making mission-critical, time-critical or safety-critical decisions and coordinating with each other and with the command centre.

[0039] (9) Modular add-on functionalities to host spectacle: The modular heads-up display system 100, 100a thus extends the functionalities of the host spectacle 10 by removeable snapping on the three modules 110, 170, 180 onto the host spectacle. Users have a choice of right- and left-hand configurations. The display or projection module 200 is pivotable between an extended position and a retracted position; at the retracted position, the projection module is out of the line of sight through the host spectacle and this gives the user full reality view (or un-obstructed view) of the frontline. In addition, the lengths of the battery and processor modules are kept small, for eg, within substantially 65 mm so that even when the heads-up display system 100, 100a is attached onto the host spectacle, the temple pieces can be folded and the spectacle can be kept away when not in use.

[0040] (10) Health monitor and electric power sensor. When the user wears a vest with health monitoring, the user is made aware of the state of health (such as body temperature 391) and be warned of any unhealthy symptoms 392 via the health monitor and supplies panel 390; when the vest is also equipped with battery power sensing, the user can check the battery power level 393, even before setting out on a task.

[0041] Typically, a drone 103b requires more complex controls from a user; generally, a conventional drone controller also requires both hands of a user to operate when navigating the drone. In the following description, the multimodal controller 400 is now described for use to control a drone 103b, which is deployed as a forward equipment 103 in the frontline. The multimodal controller 400 includes a command integration unit 410 and a command priority weighting unit 414. In the present invention, the users are often called to execute mission-critical, time-critical or safety-critical tasks; the multimodal controller 400 thus allows a user natural, intuitive and autonomous control of a drone, yet allowing the user to stay vigilant with heads-up, eyes-out and hands-on trigger readiness (with the drone control not requiring both hands to operate); at the same time, with AR information being presented to the user or made available to the user, this heads-up AR system 100,100a,100b enhances the user's task effectiveness and efficiency. In addition, the multimodal controller 400 adapts to the user (instead of the user having to adapt to the controller, as the case for the conventional drone controller).

[0042] The command integration unit 410 fuses three control modes, namely, voice, gesture and brain signals 420,430,440 to generate an autonomous command signal; in response, the drone executes the autonomous command signal and incrementally updates its state; for eg., by executing a "turn" autonomous command signal, the drone navigates a predetermined distance in an azimuth direction from a present position. In another eg., by executing an "up" autonomous command signal, the drone moves up a predetermined altitude from its present position. With this autonomous control, during a critical moment, a user can continue to hold a weapon with both hands, with eyes-out and staying vigilant whilst navigating the drone. This autonomous control with predetermined motion and direction is distinguished from the realtime control provided by outputs from the IMU 135. Further, the user has a choice of initiating a voice control 1420 (where a certain degree of sound is acceptable), gesture control 1430 (using hand signals or inertia of a wearable device) or brain sensory control 1440 (during silent watch). Each of these three controls has respective characteristics of response time, accuracy and sensitivity, and they augment each other (instead of creating redundancies). In this way, the command integration unit 410 is driven by a dominant control mode in one particular state according to its characteristic response time, accuracy, sensitivity and environment compatibility, thereby dispensing with any need for command error correction. This also prevents commands from two different modes being treated as two distinct commands, which would result in unwanted movements of the drone, for eg., when the beginning part of a command stream from a mode with short response/process time catches an ending part of a command stream with longer response/process time. In one embodiment, the command integration unit 410 operates on a rule-based mechanism (for eg., by comparing a current state of the drone with the state of the drone when command signals were received).

[0043] In addition, sensitivities of the different input modes of control are different; for eg., some input modes are error-prone to the environment, such as, noise level and lighting condition, whilst other modes are subject to mental distractions. The command priority weighting unit 414 determines the most appropriate command generated from the three control modes. [0044] In the multimodal controller, priority weighting unit 414 is given to the control mode which gives the highest sensitivity under a particular environment. For eg., in an environment where brightness is low, gesture control 1430 will be given low weightage in generating the command signal. However, the user can over-ride the command mode. A reason for giving the user this authority is because the user is often able to assess the most suitable control mode in a given environment. For eg., the user can switch to use brain sensory control 1440 for commanding the drone in an environment where voice control 1420 was given the highest priority where a noisy environment could cause a false signal to mix in.

[0045] While specific embodiments have been described and illustrated, it is understood that many changes, modifications, variations and combinations thereof could be made to the present invention without departing from the scope of the invention. For eg., the electronic processing unit includes encryption and deciyption algorithms which allow secure coding and decoding of messages and communication. In another eg., a consumer can use the above heads-up display system 100,100a,100b to improve productivity when conducting a training during which information is provided to the trainer in the AR form; this can also be used during a test or training simulation, or by a pilot, driver or rider when navigating a vehicle, be it aerial, ground or underwater.