Viewing and Display Apparatus Position Determination Algorithms
First Claim
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1. A device for viewing celestial objects comprising:
- viewing means having a viewing axis defined by an azimuth angle and a nadir angle;
a magnetic field sensor array comprising a first magnetic field sensor aligned in parallel to the viewing axis, a second magnetic field sensor aligned perpendicular to the first magnetic field sensor, and a third magnetic field sensor aligned perpendicular to the first and second magnetic field sensor, each of the magnetic field sensors being operable to provide a signal corresponding to a sensed magnetic field along an axis of the sensor;
a gravitational sensor array comprising a first gravitational sensor aligned in parallel to the viewing axis, and a second gravitational sensor aligned perpendicular to the first gravitational sensor, each of the gravitational sensors being operable to provide a signal corresponding to a sensed gravity along an axis of the sensor; and
a microprocessor operably connected to the gravitational sensors, magnetic field sensors, database and output means;
wherein the microprocessor is programmed to receive input from the magnetic field sensor array and the gravitational sensor array and calculate the nadir angle of the device using signals from the first gravitational sensor to determine a first component of gravity parallel to the viewing axis, and interpreting signals from the second gravitational sensor to determine a second component of gravity perpendicular to the viewing axis, and interpreting the signals from the first and second gravitational sensors to estimate a third component of gravity perpendicular the first and second components of gravity.
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Abstract
Celestial object location devices with sensor arrays of having less that one sensor for each of three orthogonal components of gravity and magnetic field vectors. The accuracy of position sensing is enhanced by estimating “missing” sensor input based on input from two orthogonal sensors provided, or determined with limitations from the two gravitational sensors provided.
33 Citations
11 Claims
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1. A device for viewing celestial objects comprising:
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viewing means having a viewing axis defined by an azimuth angle and a nadir angle;
a magnetic field sensor array comprising a first magnetic field sensor aligned in parallel to the viewing axis, a second magnetic field sensor aligned perpendicular to the first magnetic field sensor, and a third magnetic field sensor aligned perpendicular to the first and second magnetic field sensor, each of the magnetic field sensors being operable to provide a signal corresponding to a sensed magnetic field along an axis of the sensor;
a gravitational sensor array comprising a first gravitational sensor aligned in parallel to the viewing axis, and a second gravitational sensor aligned perpendicular to the first gravitational sensor, each of the gravitational sensors being operable to provide a signal corresponding to a sensed gravity along an axis of the sensor; and
a microprocessor operably connected to the gravitational sensors, magnetic field sensors, database and output means;
wherein the microprocessor is programmed to receive input from the magnetic field sensor array and the gravitational sensor array and calculate the nadir angle of the device using signals from the first gravitational sensor to determine a first component of gravity parallel to the viewing axis, and interpreting signals from the second gravitational sensor to determine a second component of gravity perpendicular to the viewing axis, and interpreting the signals from the first and second gravitational sensors to estimate a third component of gravity perpendicular the first and second components of gravity. - View Dependent Claims (2, 3, 4, 5, 8, 10)
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6. A device for viewing celestial objects comprising:
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viewing means having a viewing axis defined by an azimuth angle and a nadir angle;
a magnetic field sensor array comprising a first magnetic field sensor aligned in parallel to the viewing axis, a second magnetic field sensor aligned perpendicular to the first magnetic field sensor, and a third magnetic field sensor aligned perpendicular to the first and second magnetic field sensor, each of the magnetic field sensors being operable to provide a signal corresponding to a sensed magnetic field along an axis of the sensor;
a gravitational sensor array comprising a first gravitational sensor aligned in parallel to the viewing axis, and a second gravitational sensor aligned perpendicular to the first gravitational sensor, each of the gravitational sensors being operable to provide a signal corresponding to a sensed gravity along an axis of the sensor;
a microprocessor operably connected to the gravitational sensors, magnetic field sensors, database and output means;
wherein the microprocessor is programmed to receive input from the magnetic field sensor array and the gravitational sensor array and calculate the nadir angle of the device using signals from the first gravitational sensor and determining the rotation angle of the device based on the output of the second gravitational sensor. - View Dependent Claims (7, 9, 11)
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Specification