Method and system of triangulating an object
First Claim
1. A method of triangulating an object by means of at least two sensors, each sensor being placed in a respective local reference system, each of the at least two sensors at least providing a bearing to the object in their respective local reference system, characterized in that the method comprises the steps of:
- determining a triangulation reference system;
calculating a triangulation transformation matrix from each sensor'"'"'s local reference system to the triangulation reference system;
calculating an object transformation matrix from the triangulation reference system to an object reference system;
for each sensor used, determining at least a bearing to the object in a respective local reference system;
for each determined bearing to the object in a respective local reference system, calculating a corresponding bearing in the triangulation reference system by means of a corresponding calculated triangulation transformation matrix;
triangulating the object in the triangulation reference system by means of the calculated bearings in the triangulation reference system, by transforming a position of the triangulated object in the triangulation reference system to a position of the triangulated object in the object reference system by means of the calculated object transformation matrix.
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Abstract
A method and a system of triangulating an object by means of at least two sensors. Each sensor is placed in a respective local reference system. Each of the at least two sensors at least provide a bearing to the object in their respective local reference system. According to the invention a triangulation reference system is created. The triangulation reference system is different to any one of the local reference systems and suitably such that at least two local reference systems are rotated more in relation to each other than each one is in relation to the triangulation reference system. Sensor positions and bearings are transformed into the triangulation reference system where the triangulation is performed. Suitably the triangulated position is then transformed into a desired reference system.
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Citations
20 Claims
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1. A method of triangulating an object by means of at least two sensors, each sensor being placed in a respective local reference system, each of the at least two sensors at least providing a bearing to the object in their respective local reference system, characterized in that the method comprises the steps of:
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determining a triangulation reference system;
calculating a triangulation transformation matrix from each sensor'"'"'s local reference system to the triangulation reference system;
calculating an object transformation matrix from the triangulation reference system to an object reference system;
for each sensor used, determining at least a bearing to the object in a respective local reference system;
for each determined bearing to the object in a respective local reference system, calculating a corresponding bearing in the triangulation reference system by means of a corresponding calculated triangulation transformation matrix;
triangulating the object in the triangulation reference system by means of the calculated bearings in the triangulation reference system, by transforming a position of the triangulated object in the triangulation reference system to a position of the triangulated object in the object reference system by means of the calculated object transformation matrix. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13)
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14. A system arranged to triangulate an object by means of at least two sensors, each sensor being placed in a respective local reference system, each of the at least two sensors at least providing a bearing to the object in their respective local reference system, characterized in that the system comprises:
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means arranged to determine a triangulation reference system;
means arranged to calculate a triangulation transformation matrix from each sensor'"'"'s local reference system to the triangulation reference system;
means arranged, for each sensor used, to determine at least a bearing to the object in a respective local reference system;
means arranged to, for each determined bearing to the object in a respective local reference system, calculate a corresponding bearing in the triangulation reference system by means of a corresponding calculated triangulation transformation matrix;
means arranged to triangulate the object in the triangulation reference system by means of the calculated bearings in the triangulation reference system, and means arranged to calculate an object transformation matrix from the triangulation reference system to an object reference system;
means arranged to transform a position of the triangulated object in the triangulation reference system to a position of the triangulated object in the object reference system by means of the calculated object transformation matrix. - View Dependent Claims (15, 16, 17, 18, 19, 20)
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Specification