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System for measuring the position of a moving body

  • US 4,818,107 A
  • Filed: 11/30/1987
  • Issued: 04/04/1989
  • Est. Priority Date: 05/21/1986
  • Status: Expired due to Fees
First Claim
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1. An apparatus for measuring the position of a moving body such as a vehicle, characterized by:

  • first and second projector means installed at two preset fixed positions for projecting rotating laser beams, respectively, rotating at a fixed period;

    first, second and third photodetection means disposed on the moving body for detecting the photodetection timings with which laser beams are detected and photodetection height positions of the rotating laser beams;

    rotating angle calculating means for calculating first and second rotating angles of the rotating laser beams from the first and second projector means upon detection of the laser beams on the basis of the photodetection timings detected by the first photodetection means, third and fourth rotating angles of the rotating laser beams from the first and second projector means upon detection of the laser beams on the basis of the photodetection timings sensed by the second photodetection means, and fifth and sixth rotating angles of the rotating laser beams from the first and second projecting means upon detection of the laser beams on the basis of the photodetection timings detected by the third photodetector means;

    first calculating means for calculating a first, a second and a third coordinate positions, on a certain x-y-z-coordinate system, of the respective photodetection positions in the first, second and third photodetection means on the basis of the spacing between the first and second projector means, and the first and second rotating angles, third and fourth rotating angles and fifth and sixth rotating angles, calculated by the rotating angle calculating means; and

    second calculating means for calculating the longitudinal tilt angle, lateral tilt angle and azimuth of the moving body on the basis of the respective spacings among the first, second and third photodetection means, the photodetection height positions detected by the respective photodetection means and the first, second and third coordinate positions calculated by the first calculating means.

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