Method and device for determing the position or orientation of an object

• US 20030151401A1
• Filed: 01/29/2003
• Published: 08/14/2003
• Est. Priority Date: 03/07/2000
• Status: Active Grant

• Current Assignee: Commissariat a L'Energie Atomique (AES Corporation), Brevalex (Government of France)
• Original Assignee: Commissariat a L'Energie Atomique (AES Corporation)
• Inventors: Flament, Bruno, Dolbeau, Benoit
• Granted Patent: US 6,898,548 B2
• Time in Patent Office: Days
• US Class Current: 324/207.11
• CPC Class Codes: G01D 5/2086 by movement of two or more coils with respect to two or more other coils

Abstract

Method for determining the position or the orientation of an object using a magnetic field and corresponding device.

The fields produced by sources (S₁, S₂, S₃) are coded, for example, by pseudo-random binary sequences. In this way it is possible, in a sensor (20) fixed to the object, to distinguish the respective contributions of different sources. The position or the orientation of the object on which the sensor (20) is fixed can be deduced (40) from these contributions.

Applications in remote control, positioning, security, medicine, etc.

Claims

1. Method for determining the position or the orientation of an object in space, in which:

in all of the space where the object is supposed to be situated, a magnetic field (H_i) is produced using a plurality of N sources (S_i) (where N is a whole number at least equal to

     1),

the object is equipped with a magnetic sensor (20),

the signal (c_i (t)) delivered by the sensor (20) is processed in order to determine the respective contributions of each of the N sources (S_i) and the position or the orientation of the object is deduced from this,

characterised in that;

the field (H_i) produced by each source (S_i) is coded using a code that is specific to this source, wherein the N different codes assigned to the N different sources are two by two orthogonal.

the N respective contributions of the N sources are obtained through decodings that correspond to the N codes used in the sources.

2. Method according to claim 1, in which the N codes used in the N sources are comprised of N pseudo-random binary sequences (seq_i (t)) two by two orthogonal, the decodings then being correlation operations.

3. Method according to claim 2, in which, in addition, a sinusoidal modulation of the field is carried out in each source and in which, in the processing means, a corresponding demodulation is carried out.

4. Method according to claim 1, in which, in the sensor (20), M components of the field are measured along M different directions (O_x, O_y, O_z) (where M is a whole number as least equal to 1) and N decodings are carried out on each of the M components in order to obtain the N contributions of the N sources (S_i) to each of these M components.

5. Method according to claim 1, in which the magnetic field produced by the sources is the magnetic component of an electromagnetic field, the sources then being electromagnetic field sources.

6. Device for determining the position or the orientation of an object in space using the method according to claim 1, comprising:

a plurality of N sources (S_i) of magnetic field (H_i) (where N is a whole number at least equal to

     1) in all of the space where the object is supposed to be situated,

a magnetic sensor (20) equipping the object,

means for processing the signal (C_j (t)) delivered by the sensor (20), wherein these means are suited to determining the respective contributions of each of the N sources (S_i) and for deducing from this the position or the orientation of the object, characterised in that is comprises in addition;

means for coding the field (H_i) produced by each source (S_i) by a code specific to this source, the N different codes assigned to the N different sources being two by two orthogonal

means for decoding the field using N codes in order to obtain the N respective contributions of the N sources.

7. Device according to claim 6, in which the N codes used in the N sources are made up of N pseudo-random binary sequences (seq_i (t)) orthogonal two by two, the means of decoding then being correlation means.

8. Device according to claim 7, in which each source comprises a carrier generator (16) and in which the means of processing comprise corresponding demodulation means.

9. Device according to claim 6, in which the sensor (20) measures M components of the field along M different directions (O_x, O_y, O_z) (where M is a whole number at least equal to 1) and in which the means of processing comprise means for carrying out N decodings on each of the M components and deliver the N contributions of the N sources (S_i) to each of these M components.