초록 ▼

A method and apparatus using ultrasonic sensors for determination of the pointing vector described by two points separated in space in the coordinate frame of the measuring system. For measurement, acoustic signals are transmitted from two emitters whose spatially separated coordinates form the desi

A method and apparatus using ultrasonic sensors for determination of the pointing vector described by two points separated in space in the coordinate frame of the measuring system. For measurement, acoustic signals are transmitted from two emitters whose spatially separated coordinates form the desired pointing vector. Three detectors, associated receiver electronics and software are required to compute six distinct spheres from the time of flight measurements. The intersection of the three spheres, associated with each emitter, describe the desired location in the detector coordinate system of that emitter. With the coordinates of each emitter, the pointing vector is computed using standard geometry. A reference is required to determine the time of flight of the signals to each detector. Another embodiment uses an active reflective technique, where the timing is obtained through round trip transmission and reception of the signal with a known fixed delay at the vector points.

대표청구항 ▼

1. A method for determining a position and orientation of an object, the method comprising the steps of:providing two linearly aligned emitters on the object; providing at least three non co-linear detectors in line of sight from the at least two linearly aligned emitters; providing a system frame o

1. A method for determining a position and orientation of an object, the method comprising the steps of:providing two linearly aligned emitters on the object; providing at least three non co-linear detectors in line of sight from the at least two linearly aligned emitters; providing a system frame of reference; transmitting a distinct signal from each of the at least two linearly aligned emitters; receiving the distinct signals by each of the at least three non co-linear detectors; deriving at least six time of flight measurements from the distinct signals to the at least three non co-linear detectors; and computing the position and orientation of the object relative to the system frame of reference from the derived at least six time of flight measurements.