Method of and an Apparatus for Determining Information Relating to a Projectile, Such as a Golf Ball

• US 20070293331A1
• Filed: 05/23/2005
• Published: 12/20/2007
• Est. Priority Date: 05/26/2004
• Status: Abandoned Application

• Current Assignee: Trackman A/S
• Original Assignee: Trackman A/S
• Inventors: Tuxen, Fredrik
• Application Number:
  US11/597,513
• Publication Number:
  US 20070293331A1
• Time in Patent Office: Days
• US Class Current: 473/199
• CPC Class Codes: G01S 13/4418 with means for eliminating radar-dependent errors in angle measurements, e.g. multipath effects
• CPC Class Codes: G01S 13/583 using transmission of continuous unmodulated waves, amplitude-, frequency-, or phase-modulated waves and based upon the Doppler effect resulting from movement of targets
• CPC Class Codes: G01S 13/88 Radar or analogous systems specially adapted for specific applications electromagnetic prospecting or detecting of objects, e.g. near-field detection, G01V3/00
• CPC Class Codes: G01S 2013/462 using multipath signals
• CPC Class Codes: G01S 7/352 Receivers

Abstract

An apparatus and a method of providing information relating to a projectile, such as a sports ball, such as a golf ball. The apparatus and method provide better estimations of e.g. the landing point of the projectile or its position in general in that an oscillating signal caused e.g. by multiple path reflections of the radiation, is identified and may be removed in order to generate the “true” signal used for the landing point determination. This oscillating signal may be used for quantifying an error of the landing point determination or may be used for providing information relating to the surroundings of the projectile during its flight.

Claims

1-68. -68. (canceled)

69. A method of determining information relating to a projectile, the method comprising:

receiving electromagnetic radiation emitted from or reflected by the projectile at least partly while it is in flight, and providing a corresponding signal,

generating an altered signal by removing, from the provided signal, an oscillating signal, and

determining the information relating to the projectile from the altered signal.

70. A method according to claim 69, wherein the generating step comprises performing an averaging operation comprising averaging the provided signal over a predetermined time period.

71. A method according to claim 69, wherein the generating step comprises tracking the oscillating signal and subtracting the oscillating signal from the provided signal.

72. A method according to claim 69, wherein the generating step comprises generating the altered signal for a predetermined period of time after, that the provided signal reaches zero.

73. A method according to claim 69, wherein the receiving step comprises receiving the radiation from at least two different directions.

74. A method according to claim 69, wherein the determining step comprises determining a parameter of the projectile at a first point in time and estimating, from the determined parameter, the parameter at a second, later, point in time.

75. A method according to claim 74, wherein the estimation is performed using a predetermined relation between the parameter and time.

76. A method according to claim 74, wherein the parameter determined is a distance between a means receiving the radiation and the projectile.

77. A method according to claim 69, wherein the corresponding signal provided is a signal representing an intensity of the radiation received and wherein the determining step comprises determining a distance between a means receiving the radiation and the projectile.

78. A method according to claim 69, wherein the generating step comprises generating the altered signal, until the altered signal fulfils a predetermined criterion, the determining step comprising providing, as the information, an estimate of a landing point of the projectile.

79. A method according to claim 78, wherein the determining step comprises providing as the information an estimate of a distance between the landing point of the projectile and a predetermined target.

80. A method according to claim 78, wherein the determining step comprises providing as the information an estimate of a deviation from a predetermined direction and a determined direction of the projectile.

81. A method according to claim 80, wherein the determining step further comprises determining a launch position of the projectile, the determined direction of the projectile being a direction between the launch position and the landing point.

82. A method according to claim 78, wherein the generating step comprises performing a filtering using a time constant larger than a period of the oscillating signal and wherein the determining step comprises determining the landing point as a point where the signal level has decreased a predetermined amount.

94. A method according to claim 69, wherein the step of providing the corresponding signal comprises providing a signal representing an intensity or power of the received radiation within a predetermined frequency/wavelength interval.

95. A method according to claim 69, the method further comprising the initial step of providing electromagnetic radiation toward the projectile while in flight.

127. A method according to claim 69, wherein:

the receiving step comprises receiving radiation at a plurality of spatially displaced positions and providing a provided signal for each position,

the generating step comprises generating an altered signal for each provided signal, and

the determining step comprises determining the information on the basis of all provided signals.

83. A method of determining information relating to a projectile, the method comprising:

receiving electromagnetic radiation emitted from or reflected by the projectile at least partly while it is in flight, and providing a corresponding signal,

identifying whether an amplitude of the provided signal varies more than a predetermined threshold,

determining the information from the corresponding signal, and

quantifying an uncertainty of the determination of the information from the variation of the amplitude.

84. A method according to claim 83, wherein the generating step comprises performing an averaging operation comprising averaging the provided signal over a time period larger than a predetermined time period.

85. A method according to claim 83, further comprising a step of generating an altered signal by removing an oscillating signal from the provided signal, the method further comprising the step of determining further information from the altered signal.

86. A method according to claim 85, wherein the generating step comprises tracking the oscillating signal and subtracting the oscillating signal from the provided signal.

87. A method according to claim 85, wherein the generating step comprises generating the altered signal for a predetermined period of time after, that the provided signal reaches zero.

88. A method according to claim 83, wherein the receiving step comprises receiving the radiation from at least two different directions.

89. A method according to claim 83, wherein the determining step comprises determining a parameter of the projectile at a first point in time and estimating, from the determined parameter, the parameter at a second, later, point in time.

90. A method according to claim 89, wherein the estimation is performed using a predetermined relation between the parameter and time.

91. A method according to claim 89, wherein the parameter determined is a distance between a means receiving the radiation and the projectile.

92. A method according to claim 83, wherein the corresponding signal provided is a signal representing an intensity of the radiation received and wherein the determining step comprises determining a distance between a means receiving the radiation and the projectile.

128. A method according to claim 83, wherein:

the receiving step comprises receiving radiation at a plurality of spatially displaced positions and providing a provided signal for each position,

the identifying step is performed for each provided signal,

the determining step comprises determining the information on the basis of all provided signals, and

the quantifying step is performed on the basis of the variation of the amplitudes of all provided signals.

129. A method according to claim 91, wherein:

the receiving step comprises receiving radiation at a plurality of spatially displaced positions and providing a provided signal for each position,

the generating step is performed for at least two of the provided signals, and

the determining step comprises determining the information on the basis of all generated, altered signals.

137. A method according to claim 83, wherein the step of providing the corresponding signal comprises providing a signal representing an intensity or power of the received radiation within a predetermined frequency/wavelength interval.

139. A method according to claim 83, the method further comprising the initial step of providing electromagnetic radiation toward the projectile while in flight.

93. A method of determining information relating to the surroundings of a projectile, the method comprising:

receiving electromagnetic radiation emitted from or reflected by the projectile at least partly while it is in flight, and providing a corresponding signal,

generating an altered signal by isolating, from the provided signal, an oscillating signal, and

determining, as the information and from the altered signal, an angle to vertical of, and/or a distance to, a surface over which the projectile flies and/or a reflection coefficient of the radiation of a surface over which the projectile flies.

138. A method according to claim 93, wherein the step of providing the corresponding signal comprises providing a signal representing an intensity or power of the received radiation within a predetermined frequency/wavelength interval.

140. A method according to claim 93, the method further comprising the initial step of providing electromagnetic radiation toward the projectile while in flight.

96. A method of determining a distance between a projectile and a radiation receiver, the method comprising the steps of:

receiving electromagnetic radiation emitted from or reflected by the projectile at least partly while it is in flight,

determining an intensity of the radiation received and a distance between the receiver and the projectile at a first point in time,

determining, at a second, later point in time, a second intensity of the radiation received, and

determining from a mathematical relation between the first and second intensities determined, a distance, at the second point in time, between the receiver and the projectile.

130. A method according to claim 96, wherein:

the receiving step comprises receiving radiation at a plurality of spatially displaced positions and providing a provided signal for each position,

the steps of determining intensities comprises determining the intensities at each position, and

the step of determining the distance comprises determining the distance on the basis of all intensities determined.

97. An apparatus for determining information relating to a projectile, the apparatus comprising:

means for receiving electromagnetic radiation emitted from or reflected by the projectile at least partly while it is in flight, and for providing a corresponding signal,

means for generating an altered signal by removing, from the provided signal, an oscillating signal, and

means for determining the information relating to the projectile from the altered signal.

98. An apparatus according to claim 97, wherein the generating means are adapted to perform an averaging operation comprising averaging the provided signal over a predetermined time period.

99. An apparatus according to claim 97, wherein the generating means are adapted to track the oscillating signal and subtract the oscillating signal from the provided signal.

100. An apparatus according to claim 97, wherein the generating means are adapted to generate the altered signal for a predetermined period of time after, that the provided signal reaches zero.

101. An apparatus according to claim 97, wherein the receiving means are adapted to receive the radiation from at least two different directions.

102. An apparatus according to claim 97, wherein the determining means are adapted to determine a parameter of the projectile at a first point in time and estimate, from the determined parameter, the parameter at a second, later, point in time.

103. An apparatus according to claim 102, wherein the determining means are adapted to perform the estimation using a predetermined relation between the parameter and time.

104. An apparatus according to claim 102, wherein the determining means are adapted to determine a parameter being a distance between the receiving means and the projectile.

105. An apparatus according to claim 97, wherein the receiving means are adapted to provide the corresponding signal representing an intensity of the radiation received and wherein the determining means are adapted to determine a distance between the receiving means and the projectile.

106. An apparatus according to claim 97, wherein the generating means are adapted to generate the altered signal, until the altered signal fulfils a predetermined criterion, the determining means being adapted to provide, as the information, an estimate of a landing point of the projectile.

107. An apparatus according to claim 106, wherein the determining means are adapted to provide as the information an estimate of a distance between the landing point of the projectile and a predetermined target.

108. An apparatus according to claim 106, wherein the determining means are adapted to provide as the information an estimate of a deviation from a predetermined direction and a determined direction of the projectile.

109. An apparatus according to claim 108, wherein the determining means further comprise means for determining a launch position of the projectile, the determining means being adapted to provide the determined direction of the projectile as a direction between the launch position and the landing point.

110. An apparatus according to claim 105, wherein the generating means comprise means for filtering the provided signal using a time constant larger than a period of the oscillating signal, the determining means being adapted to determine a landing point as a point where the signal level has decreased a predetermined amount.

122. An apparatus according to claim 97, wherein the receiving means are adapted to provide the corresponding signal as a signal representing an intensity or power of the received radiation within a predetermined frequency/wavelength interval.

123. An apparatus according to claim 97, the apparatus further comprising means for providing electromagnetic radiation toward the projectile while in flight.

132. An apparatus according to claim 97, wherein:

the receiving means comprise a plurality of spatially displaced receiving means each adapted to provide a provided signal,

the generating means area adapted to generate an altered signal for each receiving means, and

the determining means are adapted to determine the information on the basis of all provided signals.

141. An apparatus according to claim 106, wherein the generating means comprise means for filtering the provided signal using a time constant larger than a period of the oscillating signal, the determining means being adapted to determine a landing point as a point where the signal level has decreased a predetermined amount.

111. An apparatus of determining information relating to a projectile, the apparatus comprising:

means for receiving electromagnetic radiation emitted from or reflected by the projectile at least partly while it is in flight, and for providing a corresponding signal,

means for identifying whether an amplitude of the provided signal varies more than a predetermined threshold,

means for determining the information from the corresponding signal, and

means for quantifying an uncertainty of the determination of the information from the variation of the amplitude.

112. An apparatus according to claim 111, wherein the generating means are adapted to perform an averaging operation comprising averaging the provided signal over a time period larger than a predetermined time period.

113. An apparatus according to claim 111, further comprising means for generating an altered signal by removing an oscillating signal from the provided signal, the determining means being adapted to provide additional information relating to the projectile from the altered signal.

114. An apparatus according to claim 111, wherein the generating means are adapted to track the oscillating signal and subtract the oscillating signal from the provided signal.

115. An apparatus according to claim 113, wherein the generating means are adapted to generate the altered signal for a predetermined period of time after, that the provided signal reaches zero.

116. An apparatus according to claim 111, wherein the receiving means are adapted to receive the radiation from at least two different directions.

117. An apparatus according to claim 111, wherein the determining means are adapted to determine a parameter of the projectile at a first point in time and estimate, from the determined parameter, the parameter at a second, later, point in time.

118. An apparatus according to claim 117, wherein the determining means are adapted to perform an estimation using a predetermined relation between the parameter and time.

119. An apparatus according to claim 117, wherein the determining means are adapted to determine a parameter being a distance between a means receiving the radiation and the projectile.

120. An apparatus according to claim 111, wherein the receiving means are adapted to provide a corresponding signal representing an intensity of the radiation received and wherein the determining means are adapted to determine a distance between the receiving means receiving the radiation and the projectile.

133. An apparatus according to claim 111, wherein:

the receiving means comprise a plurality of spatially displaced receiving means each adapted to provide a provided signal,

the identifying means performed for each provided signal,

the determining means are adapted to determine the information on the basis of all provided signals, and

the quantifying means is adapted to perform the quantification on the basis of the variation of the amplitudes of all provided signals.

134. An apparatus according to claim 119, wherein:

the receiving means comprise a plurality of spatially displaced receiving means each adapted to provide a provided signal,

the generating means is adapted to generate an altered signal for each of at least two of the provided signals, and

the determining means is adapted to determine the information on the basis of all generated, altered signals.

142. An apparatus according to claim 111, wherein the receiving means are adapted to provide the corresponding signal as a signal representing an intensity or power of the received radiation within a predetermined frequency/wavelength interval.

144. An apparatus according to claim 111, the apparatus further comprising means for providing electromagnetic radiation toward the projectile while in flight.

121. An apparatus of determining information relating to the surroundings of a projectile, the apparatus comprising:

means for receiving electromagnetic radiation emitted from or reflected by the projectile at least partly while it is in flight, and for providing a corresponding signal,

means for generating an altered signal by isolating, from the provided signal, an oscillating signal, and

means for determining, as the information and from the altered signal, an angle to vertical of, and/or a distance to, a surface over which the projectile flies and/or a reflection coefficient of the radiation of a surface over which the projectile flies.

143. An apparatus according to claim 121, wherein the receiving means are adapted to provide the corresponding signal as a signal representing an intensity or power of the received radiation within a predetermined frequency/wavelength interval.

145. An apparatus according to claim 121, the apparatus further comprising means for providing electromagnetic radiation toward the projectile while in flight.

124. An apparatus of determining a distance between a projectile and a radiation receiver, the apparatus comprising:

means for receiving electromagnetic radiation emitted from or reflected by the projectile at least partly while it is in flight,

means for determining an intensity of the radiation received and a distance between the receiver and the projectile at a first point in time,

means for determining, at a second, later point in time, a second intensity of the radiation received, and

means for determining from a mathematical relation between the first and second intensities determined, a distance, at the second point in time, between the receiver and the projectile.

135. An apparatus according to claim 124, wherein:

the receiving means comprise a plurality of spatially displaced receiving means each adapted to provide a provided signal,

the means for determining intensities are adapted to determine the intensities at each receiving means, and

the means for determining the distance is adapted to determine the distance on the basis of all intensities determined.

125. A method of determining information relating to a projectile, the method comprising:

receiving electromagnetic radiation emitted from or reflected by the projectile at least partly while it is in flight, and providing a corresponding signal,

determining an expected oscillation of the provided signal, and

determining the information from a deviation between the corresponding signal and the expected oscillation.

131. A method according to claim 125, wherein:

the receiving step comprises receiving radiation at a plurality of spatially displaced positions and providing a provided signal for each position,

the step of determining the expected oscillation comprises determining an expected oscillation for at least one of the positions, and

the step of determining the information comprises determining the information on the basis of the deviation between at least one pair of an expected oscillation and the corresponding provided signal.

126. An apparatus of determining information relating to a projectile, the apparatus comprising:

means for receiving electromagnetic radiation emitted from or reflected by the projectile at least partly while it is in flight, and for providing a corresponding signal,

means for determining an expected oscillation of the provided signal, and

means for determining the information from a deviation between the corresponding signal and the expected oscillation.

136. An apparatus according to claim 126, wherein:

the receiving means comprise a plurality of spatially displaced receiving means each adapted to provide a provided signal,

the means for determining the expected oscillation is adapted to determine an expected oscillation for at least one of the receiving means, and

the means for determining the information is adapted to determine the information on the basis of a deviation between at least one pair of an expected oscillation and the corresponding provided signal.