Method and a device for laser optical navigation
First Claim
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1. A laser-optical method for navigating a vehicle comprising:
- a) providing a transmitter/sensor unit mounted on said vehicle for transmission of a beam of light and reception of reflected light, and a plurality of spaced-apart reflectors positioned a distance away from said transmitter/sensor unit for reflecting said beam of light;
b) transmitting said beam of light away from said transmitter/sensor unit toward one of said reflectors;
c) reflecting said beam of light off said one of said reflectors back toward said transmitter/sensor unit;
d) receiving said reflected light with said transmitter/sensor unit;
e) measuring an elevation angle of said vehicle from said reflected light;
f) measuring an azimuth angle of said vehicle from said reflected light;
g) repeating steps c)-g) for each of said plurality of reflectors;
h) compiling said measured elevation angles and azimuth angles; and
i) computing navigational data elements for said vehicle from said compiled elevation and azimuth angles, said elements comprising a position in three-dimensional coordinates, a heading, a pitch angle, and a roll angle, and wherein said elements may be used to navigate said vehicle.
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Abstract
A laser-optical navigation method and apparatus are provided for rotationally emitting a pulsed beam of light from a transmitter/sensor unit mounted on a vehicle. Ground mounted reflectors in the path of the emitted light reflect the light back to the transmitter/sensor unit, which converts the reflected light to electrical signals. Attitude angles and other directional and locational information are computed from these signals, which may be used to navigate the vehicle.
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Citations
20 Claims
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1. A laser-optical method for navigating a vehicle comprising:
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a) providing a transmitter/sensor unit mounted on said vehicle for transmission of a beam of light and reception of reflected light, and a plurality of spaced-apart reflectors positioned a distance away from said transmitter/sensor unit for reflecting said beam of light; b) transmitting said beam of light away from said transmitter/sensor unit toward one of said reflectors; c) reflecting said beam of light off said one of said reflectors back toward said transmitter/sensor unit; d) receiving said reflected light with said transmitter/sensor unit; e) measuring an elevation angle of said vehicle from said reflected light; f) measuring an azimuth angle of said vehicle from said reflected light; g) repeating steps c)-g) for each of said plurality of reflectors; h) compiling said measured elevation angles and azimuth angles; and i) computing navigational data elements for said vehicle from said compiled elevation and azimuth angles, said elements comprising a position in three-dimensional coordinates, a heading, a pitch angle, and a roll angle, and wherein said elements may be used to navigate said vehicle. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8)
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9. A device for navigating a vehicle by a laser-optical method comprising:
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a transmitter/sensor means mounted on said vehicle for transmitting a beam of light away from said vehicle and for receiving reflected light; a plurality of reflector means disposed a distance away from said transmitter/sensor means for reflecting said beam of light back to said transmitter/sensor means; an elevation angle measuring means for measuring elevation angles of said vehicles from said reflected light; an azimuth angle measuring means for measuring azimuth angles of said vehicle from said reflected light; and a computing means for compiling said elevation and azimuth angles received from said elevation and azimuth angle measuring means and computing navigational data elements for said vehicle from said compiled elevation and azimuth angles, said elements comprising a position in three-dimensional coordinates, a heading, a pitch angle and a roll angle, and wherein said elements may be used to navigate said vehicle. - View Dependent Claims (10, 11, 12, 13, 14, 15, 16, 17, 18, 19, 20)
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Specification