Device to measure the relative position and attitude of two bodies

• US 4,853,863 A
• Filed: 04/17/1987
• Issued: 08/01/1989
• Est. Priority Date: 04/17/1987
• Status: Expired due to Fees

• Current Assignee: Brian J. Woycechowsky, Edwin Cohen
• Original Assignee: Brian J. Woycechowsky, Edwin Cohen
• Inventors: Woycechowsky, Brian J., Cohen, Edwin
• Primary Examiner(s): Lall, Parshotam S.
• Assistant Examiner(s): Black, Thomas G.
• Application Number:
  US07/039,172
• Time in Patent Office: 837 Days
• Field of Search: 364/460, 364/559, 364/516, 364/578, 434/30, 434/33, 434/51, 434/55
• US Class Current: 701/300
• CPC Class Codes: G01S 13/874 Combination of several systems for attitude determination in general G01C, control of attitude G05D1/49
• CPC Class Codes: G01S 5/0247 Determining attitude
• CPC Class Codes: G01S 7/4091 during normal radar operation
• CPC Class Codes: G01S 7/497 Means for monitoring or calibrating
• CPC Class Codes: G01S 7/52004 Means for monitoring or calibrating short-range imaging G01S7/5205

Abstract

A method of determining the position and attitude of a first body, e.g. a body movable in six degrees of freedom, with respect to a second body comprising establishing three or more reference points which are not colinear on the first body, establishing three or more reference points which are not colinear on the second body and measuring at least six of the distances or angles between the reference points on the two bodies to determine the relative position and attitude of the two bodies.

Claims

1. A method of determining the position and attitude of a first body, with respect to a second body, comprising:

(a) establishing three reference points which are not colinear on the first body;

(b) independently establishing three reference points which are not colinear on the second body;

(c) measuring at least six geometric parameters describing the relationship between reference points on said first body and reference points on the second body; and

(d) computing from said geometric parameters the position and attitude of said first body with respect to said second body.

2. The method according to claim 1, wherein said six geometric parameters comprises six of the nine distances between said reference points on said first body and said referenced points on said second body.

3. The method according to claim 1, wherein said six geometric parameters comprise six of the angles associated with the three non-colinear points on said first body and three of the non-colinear points on said second body.

4. The method according to claim 1, wherein said six geometric parameters comprise distance measurements between reference points on said first and second bodies and angular measurements associated with the said reference points on said first and second bodies.

5. The method according to claim 1, wherein said reference points on each of the two bodies are used to provide more than six geometric parameters to provide redundant measurements and using said redundant measurements to improve the accuracy and/or reliability of the computation of the position and attitude of said first body with respect to said second body.

6. The method according to claim 1, wherein said step of measuring comprises:

(a) disposing energy transmitters at three of said reference points;

(b) disposing energy sensors at said same three reference points;

(c) disposing means for retransmitting at the other three reference points;

(d) sequentially radiating energy from each of said transmitters to each of said means for retransmitting, and back to each of said sensors;

(e) measuring the time for said energy to travel between said transmitter and sensors; and

(f) converting said times into distances by multiplying by the speed of propagation of said energy.

7. The method according to claim 1, wherein said step of measuring comprises:

(a) disposing energy transmitters at three of said reference points;

(b) disposing energy sensors at each of the other three of said reference points;

(c) sequentially radiating energy from each of said transmitters to each of said sensors;

(d) measuring the time for said energy to travel between transmitters sensors; and

(e) converting said times into distances by multiplying by the speed of propagation of said energy.

8. The method according to claim 1, wherein said step of measuring comprises:

(a) disposing three energy transmitters transmitting at known fixed frequencies at three of said reference points;

(b) disposing three frequency sensors adapted to measure Doppler shift at the other three of said reference points;

(c) radiating energy from each of said transmitters to each of said sensors;

(d) measuring the Doppler shift at each sensor; and

(e) converting said Doppler shift into distances by integration.

9. The method according to claim 7 or 8, wherein said energy is light energy.

10. The method according to claim 7 or 8, wherein said energy is sound energy.

11. The method according to claim 7 or 8, wherein said energy is electromagnetic energy.

12. The method according to claim 1, wherein said step of computing comprises for each point on one body:

(a) disposing all of said reference points on the other body in a common plane;

(b) determining the point where a line from each point on said first body intersects a line connecting two reference points in said second body at a 90°

angle;

(c) defining a right hand axis system having its origin at said point of intersection, its x axis along said connecting line, and its y axis in said plane; and

(d) determining the location of said point on said first body in said right hand axis system.

13. The method according to claim 12, wherein said right-hand system is rotated with respect to said second body'"'"'s axes and further including converting the location of said point in said right-hand axes system to its location in said fixed axes system.

14. The method according to claim 1, wherein said first body is a six degree of freedom motion base located in a room having walls and a ceiling and wherein said second body'"'"'s axes system is referenced to said room.

15. The method according to claim 1, wherein said step of measuring comprises:

(a) connecting a variable length string, cord, line, or cable between each of said reference points on said movable body and each of said reference points on said fixed body;

(b) establishing an initial length of each of said strings; and

(c) measuring the changes in length of each of said strings and adding and subtracting said differences to or from said initial length.

16. Apparatus for determining the position and attitude of a first body, with respect to a second body comprising:

(a) means independently establishing three reference points which are not colinear on the first body;

(b) means establishing three reference points which are not colinear on the second body;

(c) means for measuring at least six geometric parameters describing the relationship between reference points on said first body and reference points on said second body;

(d) means for computing from said parameters the position of each of the three reference points on the first body with respect to the second body; and

(e) means for computing from said positions of said three reference points the position and attitude of said first body.

17. The apparatus according to claim 16, wherein said six geometric parameters comprises six of the nine distances between said reference points on said first body and said referenced points on said second body.

18. The apparatus according to claim 16, wherein said six geometric parameters comprise six of the angles associated with the three non-colinear points on said first body and three of the non-colinear points on said second body.

19. The apparatus according to claim 16, wherein said six geometric parameters comprise distance measurements between reference points on said first and second bodies and angular measurements associated with the said reference points on said first and second bodies.

20. The apparatus according to claim 16, wherein said reference points on each of the two bodies are used to provide more than six geometric parameters to provide redundant measurements and using said redundant measurements to improve the accuracy and/or reliability of the computation of the position and attitude of said first body with respect to said second body.

21. Apparatus according to claim 16, wherein said means for measuring comprise:

(a) three energy transmitters located at three of said reference points;

(b) three energy sensors located at the other three of said reference points;

(c) means for sequentially radiating energy from each of said transmitters to each of said sensors;

(d) means for measuring the time for said energy to travel from each transmitter to each sensor; and

(e) means for converting said times into distances by multiplying by the speed of propagation of said energy.

22. Apparatus according to claim 16, wherein said means for measuring comprise:

(a) three energy transmitters transmitting at know frequencies at three of said reference points;

(b) three or more frequency sensors adapted to measure Doppler shift at the other three of said reference points;

(c) means for radiating energy from each of the said transmitters to each of said sensors;

(d) means for measuring the Doppler shift at each sensor; and

(e) means for converting said Doppler shifts into distances by integration.

23. Apparatus according to claims 21 or 22, wherein said energy is electromagnetic energy.

24. Apparatus according to claim 21 or 22, wherein said energy is light energy.

25. Apparatus according to claim 21 or 22, wherein said energy is sound energy.

26. Apparatus according to claim 16, wherein said means for measuring comprise:

(a) a variable length string or cord, line or cable connected between at least six of the nine paths between of said reference points on said first body and said reference points on said second body;

(b) means for establishing an initial length of each of said string and

(c) means for measuring the changes in length of each of said string and for adding and subtracting said differences to or from said initial length.

27. Apparatus according to claim 29, wherein said first body is a six degree of freedom motion base located in a room having walls and a ceiling and wherein said second body'"'"'s system is referenced in said room with said three reference points in said second body'"'"'s axes system are located at the intersection of said walls and ceiling so that said plane is in said ceiling and wherein the Z axis in said right hand system points downward.

28. Apparatus according to claim 16, wherein:

(a) all of said reference points in said second body are located in a common plane; and

(b) said means for computing comprise for each point on said first body;

(i) means for determining the point where a line from said point on said first body intersects a line connecting two reference points in said second body at a 90°

angle;

(ii) means defining a right hand axis system having its origin at said point of intersection, its x axis along said connecting line, and its y axis in said plane; and

(iii) means for determining the location of said point on said first body in said right-hand axis system.

29. Apparatus according to claim 28 wherein said right-hand system is rotated with respect to said second body'"'"'s axes system and further including means for converting the location of said point in said right-hand axes system to its location in said second body'"'"'s axes system.

30. Apparatus according to claims 16, wherein said first body is a six degree of freedom motion base located in a room having walls and a ceiling and wherein said second body'"'"'s axes system is referenced to said room.