Remote object position locater

• US 4,054,881 A
• Filed: 04/26/1976
• Issued: 10/18/1977
• Est. Priority Date: 04/26/1976
• Status: Expired due to Term

• Current Assignee: Kaiser Aerospace & Electronics Corporation (Rtx Corporation)
• Original Assignee: The Austin Company (Kajima Corporation)
• Inventors: Raab, Frederick H.
• Primary Examiner(s): Wilbur, Maynard R.
• Assistant Examiner(s): Blum, T. M.
• Application Number:
  US05/680,471
• Time in Patent Office: 540 Days
• Field of Search: 343/112 R, 343/112 D, 324/34 R, 324/34 PS, 324/34 D, 324/4, 324/8, 340/38 L
• US Class Current: 342/448
• CPC Class Codes: G01B 7/004 for measuring coordinates of points

Abstract

Three mutually orthogonal radiating antennas each transmit electromagnetic radiation to three mutually orthogonal receiving antennas. The transmitted electromagnetic radiation carries data characterizing the phase of the electromagnetic radiation. Measurement of the three transmitted signals as received by the set of three orthogonal receiving antennas produces nine parameters which, in combination with one known position or orientation parameter, are sufficient to determine the position and orientation parameters of the receiving antennas with respect to the position and orientation of the radiating antennas.

Claims

1. Apparatus for determining position coordinate of an object, constrained to move in a plane, relative to a reference coordinate frame and remote from said reference coordinate frame comprising:

two radiating means having orthogonal components centered about the origin of said reference coordinate frame;

means for applying to said two radiating means electrical signals which are multiplexed with respect to one another for producing two electromagnetic fields radiated in response to said electrical signals, said two electromagnetic fields being distinguishable from one another and containing information characterizing the polarity of the electromagnetic radiation;

two receiving means having orthogonal components for detecting and measuring the spatial components of said electromagnetic fields; and

analyzing means coupled to said receiving means for converting said electromagnetic field components into remote object position coordinates relative to said reference coordinate frame, said analyzing means operating open loop with respect to said radiating means and including computation means for determining the separation distance between said radiating means and said receiving means by comparing the total transmitted magnetic moment to the total received magnetic moment.

2. Apparatus as recited in claim 1 wherein said analyzing means further includes means for converting said electromagnetic field components and remote object position coordinates into at least one remote object orientation component relative to said reference coordinate frame.

3. Apparatus as recited in claim 1 wherein said analyzing means convert said electromagnetic field components into remote object position relative to said reference coordinate frame with at most one ambiguous combination of orientation and position.

4. Apparatus as recited in claim 2 wherein said analyzing means convert said electromagnetic field components into remote object position and orientation relative to said reference coordinate frame with at most one ambiguous combination of orientation and position.

5. Apparatus for determining the position of a remote object relative to a reference coordinate frame comprising:

three radiating means having orthogonal components centered about the origin of said reference coordinate frame;

means for applying to said three radiating means electrical signals which are multiplexed with respect to one another and, additionally, carry information for characterizing the polarity of said three electromagnetic fields radiated in response to said electrical signals, said three electromagnetic fields being distinguishable from one another;

three receiving means having orthogonal components for detecting and measuring the spatial components of said electromagnetic fields; and

analyzing means coupled to said receiving means for converting said electromagnetic field components into remote object position relative to said reference coordinate frame with at most one ambiguous combination of orientation and position, said analyzing means operating open loop with respect to said radiating means and including computation means for determining the separation distance between said radiating means and said receiving means by comparing the total transmitted magnetic moment to the total received magnetic moment.

6. Apparatus as recited in claim 5 wherein said analyzing means further includes means for converting said electromagnetic field components and remote object position into remote object orientation relative to said reference coordinate frame with at most one ambiguous combination of orientation and position.

7. Apparatus as recited in claim 6 wherein said analyzing means are physically remote from said receiving means and are coupled by electromagnetic radiation.

8. Apparatus as recited in claim 7 wherein said detected and measured spatial components of said electromagnetic fields have substantially greater nearfield components than far-field components and wherein said electromagnetic fields have a frequency sufficiently low to substantially reduce interference by surrounding objects to the free-space characteristics of said electromagnetic fields.

9. Apparatus for determining the position and orientation of an object relative to a reference coordinate frame comprising:

three radiating means having orthogonal components located at the origin of said reference coordinate frame for radiating an electromagnetic field;

means for applying to said radiating means electrical signals which differ from one another thereby creating electromagnetic fields associated with each of said radiating means, said electrical signals including spatial component data characterizing the magnetic moment and polarity of said electromagnetic fields;

means for detecting and measuring the spatial components of said electromgnetic fields; and

means for converting said electromagnetic field components into object position and orientation relative to said reference coordinate frame, said means for converting operating open loop with respect to said radiating means.

10. Apparatus as recited in claim 9 wherein said three radiating means are three closed, current-carrying circular loop antennas.

11. Apparatus as recited in claim 10 wherein the difference between said electrical signals is selected from a group including time, frequency, phase and spread spectrum multiplexing.

12. Apparatus as recited in claim 11 wherein said detecting and measuring means comprises three orthogonal receiving means located at said object.

13. Apparatus as recited in claim 12 wherein said electrical signals are sinusoidal.

14. Apparatus as recited in claim 13 wherein said three orthogonal receiving means are three closed, current-carrying circular loop antennas fixedly mounted to said object.

15. Apparatus as recited in claim 14 wherein said spatial components include nine characteristic signals, each said three receiving antennas having a characteristic signal associated with each of said three radiating antennas.

16. Apparatus as recited in claim 15 wherein said converting means includes:

means for determining the total magnetic moment radiated from said radiating means;

means for determining the total magnetic moment received by said receiving means; and

means for determining the distance of said object from said reference coordinate frame by comparing said total magnetic moment radiated to said total magnetic moment received.

17. Apparatus as recited in claim 16 further comprising a monitor station at a fixed location spaced from said radiating means having receiving means for detecting said radiated electromagnetic field and being coupled to said transmitting means for providing feedback to said transmitting means characterizing said transmitted field.

18. Apparatus as recited in claim 17 wherein said electrical signal further include information selected from the group of transmitter identification, electromagnetic field distortion corrections, locations of obstacles, location of a landing site relative to said radiating means and wind direction.

19. Apparatus as recited in claim 18 wherein said sinusoidal electrical signals have a frequency from about 1 kHz to about 10 kHz and the separation distance from said remote object to said radiating means is limited so said electromagnetic field has a near-field component substantially in excess of a far-field component.

20. Apparatus for determining the position and orientation of an object with respect to a reference coordinate frame comprising:

three orthogonal, conductive loop radiating means located at the origin of said reference coordinate frame for radiating an electromagnetic field;

means for applying to said radiating means three sinusoidal, coherent, frequency multiplexed electrical signals which differ from one another thereby creating distinguishable electromagnetic fields associated with each of said radiating means, said electrical signals including data characterizing the magnetic moment and phase of said electromagnetic fields;

three orthogonal, conductive loop receiving means mounted to said object for detecting and measuring the spatial components of said electromagnetic fields, said spatial components including nine characteristic signals, each of said three receiving means having a characterisitc signal associated with each of said three radiating means; and

means for converting said electromagnetic field components into object position and orientation relative to said reference coordinate frame, said converting means operating open loop with respect to said radiating means including means for determining the total magnetic moment radiated from said radiating means, means for determining the total magnetic moment received by said receiving means, and means for determining the distance of said object from said radiating means by comparing said total magnetic moment radiated to said total magnetic moment received, said distance being limited so said electromagnetic field has a near-field component substantially greater than a far-field component of said electromagnetic field.

21. Apparatus as recited in claim 20 wherein said converting means includes the coupling of an amplifier means, a frequency translator means and a signal processor means, said signal processor means including integration means for integrating with respect to time the transmitted signal received at each of said receiving means from each of said radiating means.

22. Apparatus for determining the orientation of an object relative to a reference coordinate frame comprising:

three radiating means having orthogonal components located at the origin of said reference coordinate frame for radiating an electromagnetic field;

means for applying to said radiating means electrical signals which differ from one another thereby creating electromagnetic fields associated with each of said radiating means, said electrical signals including spatial component data characterizing the magnetic moment and polarity of said electromagnetic fields;

means for detecting and measuring the spatial components of said electromagnetic fields; and

means for converting said electromagnetic field components into object orientation relative to said reference coordinate frame, said means for converting operating open loop with respect to said radiating means.