Circuit for estimating position and orientation of a mobile object
First Claim
Patent Images
1. A circuit system for estimating position and orientation of a mobile object based on lights from a plurality of external light sources, comprising:
- a position-sensitive light sensor, said sensor being disposed to detect said light sources and generate a first signal;
an analog filter and amplification module (“
AFA”
), said AFA being disposed to filter and amplify said first signal and generate a second signal;
a digital signal processor (“
DSP”
), said DSP being adapted to generate a coordinate system by extracting frequency components from said second signal.
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Abstract
A circuit system for estimating position and orientation of a mobile object based on lights from a plurality of external light sources. The circuit comprises a position-sensitive light sensor for detecting the light sources and generating a first signal, an analog filter and amplification module (“AFA”) for filtering and amplifying the first signal and generating a second signal, a digital signal processor (“DSP”) for generating a coordinate system by extracting frequency components from the second signal.
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Citations
26 Claims
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1. A circuit system for estimating position and orientation of a mobile object based on lights from a plurality of external light sources, comprising:
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a position-sensitive light sensor, said sensor being disposed to detect said light sources and generate a first signal;
an analog filter and amplification module (“
AFA”
), said AFA being disposed to filter and amplify said first signal and generate a second signal;
a digital signal processor (“
DSP”
), said DSP being adapted to generate a coordinate system by extracting frequency components from said second signal. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12)
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13. A circuit system for estimating position and orientation of a mobile object based on lights from a plurality of external light sources, comprising:
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a position-sensitive light sensor, said sensor being disposed to detect said light sources and generate a first signal;
an analog filter and amplification module (“
AFA”
), said AFA being disposed to filter and amplify said first signal and generate a second signal, said AFA comprising;
a transimpedance amplifier (“
TIA”
), being disposed to amplify said first signal from said position-sensitive light sensor to generate its output;
a first passive high-pass filter (“
1st PHP”
), said 1st PHIP being disposed to remove DC bias from the output of said TIA and generate its output;
a passive notch filter (“
PNF”
), disposed to remove noise signals between a predetermined range of frequencies from the output of said 1st PHP and generate its output;
a first gain amplifier, being disposed to amplify the output from said PNF and generate its output;
a second passive high-pass filter (“
2nd PHP”
), being disposed to remove DC bias from the output of said PNF and generate its output;
a second gain amplifier, being disposed to amplify the output from said 2nd PHP and generate its output;
a passive low-pass filter (“
PLP”
), being disposed to remove signals above a predetermined frequency from the output of said gain amplifier and generate its output;
a first buffer, coupled between said 1st PHP and said PNF, disposed to reduce interaction between said 1st PHP and said passive notch filter;
a second buffer, coupled between said PNF and said 2nd PHP, disposed to reduce interaction between said PNF and said 2nd PHP;
a digital signal processor (“
DSP”
), said DSP being adapted to generate a coordinate system by extracting frequency components from the output of said PLP. - View Dependent Claims (14, 15, 16, 17, 18, 19, 20, 21, 22)
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23. A filter circuit for removing undesired light noises having a predetermined frequency band in a light-based position estimation system, comprising:
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a passive notch filter (“
PNF”
), said PNF being detuned to remove light noises having a frequency band which is twice as wide as said predetermined frequency band and generate PNF output;
a passive high-pass filter (“
PHP”
) coupled to receive said PNF output, said PHP being disposed to remove a DC bias from said PNF output and generate PHP output;
a buffer, coupled between said PNF and said PHP, said buffer being disposed to isolate frequency response characteristics between said PNF and said PHP. - View Dependent Claims (24, 25, 26)
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Specification