Method and apparatus for determining an orientation associated with a mobile system, especially a line of sight inside a helmet visor

• US 5,457,641 A
• Filed: 09/26/1994
• Issued: 10/10/1995
• Est. Priority Date: 06/29/1990
• Status: Expired due to Term

• Current Assignee: Sextant Avionique
• Original Assignee: Sextant Avionique
• Inventors: Cordonnier, Alain, Zimmer, Pierre
• Primary Examiner(s): Cosimano, Edward R.
• Application Number:
  US08/311,435
• Time in Patent Office: 379 Days
• Field of Search: 89/41.21, 324/207.13, 324/207.18, 324/247, 342/451, 345/7, 345/8, 364/559
• US Class Current: 702/153
• CPC Class Codes: G01B 7/004 for measuring coordinates of points

Abstract

A method for determining a line of sight from a visor borne by a helmet fitted with a pick-up with three magnetic orthogonal coils, in relation to a mark affixed to an aircraft concretized by an emitter with three magnetic orthogonal coils, consists of initially setting up a magnetic cartography of the piloting cabin: to this end sets of measurements of fields picked up by the pick-up from fields emitted in succession by the three coils of the emitter, for different known positions and orientations of the pick-up inside the cabin, are established then entered in memory. Then the method consists of setting up, based on those measurements, a magnetic modeling of the piloting cabin. In flight, the measurement matrix, associated with a cycle of emission from the emitter, triggered when the pilot validates a line of sight in a given direction in relation to his helmet, makes it possible by using the preliminary modeling to compute accurately the orientation of that line of sight inside the mark of the aircraft.

Claims

1. A process for determining an orientation associated with a mobile system in a given space, by using a magnetic system for determining the relative orientation of said mobile system in said given space, said magnetic system including an emitter including three orthogonal coils which define a reference coordinate frame (1) of the given space, and a pick-up attached to the mobile system and comprising three orthogonal coils defining a coordinate frame (2) of the mobile system, said magnetic system having a sensing cycle consisting of emitting in succession inside the three coils of the emitter and of measuring measurement matrices representing the field components generated in the three coils of the pick-up, wherein the process comprises:

a preliminary phase executed while the pick-up is detached from the mobile system and an operator is not in the given space, comprising the steps of;

acquiring n measurement matrices M_i for a set of n positions of the pick-up when the emitter emits electromagnetic waves and the pick-up receives the emitted electromagnetic waves, said pick-up being in a known orientation with respect to the reference coordinate frame;

identifying a reference matrix P which corresponds to a position of the pick-up coinciding with the reference coordinate frame;

determining a compact position modeling function (F_p) representative of disruptive effects as a function of the position of the pick-up, from the reference matrix P and the measurement matrices M_i ;

an operation phase executed while the pick-up is attached to the mobile system comprising the steps of;

acquiring a measurement matrix M when the emitter emits electromagnetic waves and the pick-up receives the electromagnetic waves; and

deducing from said measurement matrix M and from the compact position modeling function (F_p ), the instant orientation (Lv) of the mobile system with respect to the reference coordinate frame.

2. A process according to claim 1, wherein the compact position modeling function (F_p) is determined by computing, for all the measurement matrices M_i, the matrix product tM_i M_i, and by researching through linear regression the polynomial relations that connect the component of the reference matrix P with the components of the matrix product tM_i M_i.

3. A process according to claim 1, wherein the preliminary phase is completed by a second phase consisting of:

acquiring a set of measurement matrices for a plurality of known orientations of the pick-up with respect to the reference coordinate frame;

determining a compact modeling function (F_r) representative of disruptive effects as a function of the orientation of the pick-up.

4. A process according to claim 1, further comprising:

improving the accuracy of the instant orientation (Lv) by modeling the instant orientation (Lv) during intervals between true orientations and computed orientations.

5. A process according to claim 1, wherein the computation of the instant orientation further comprises:

initially aligning the pick-up at a known position (Lv₀) with respect to the emitter, for determining an initialing matrix (I) that characterizes the rotation of the known position in relation to a cardiographic mark.

6. A process according to claim 1, wherein the computation of the compact position modeling function further comprises:

determining measurement matrices associated with a set of orientations defined on the basis of a static orientation; and

deducing virtual measurement matrices (Mv) from determined instant orientations (Lv) and a corresponding measurement matrix (M).

7. A process according to claim 1, further comprising:

evaluating an initial rotation (I) of a static orientation (Lv₀) in relation to a cartographic mark, performed at the same time as a computation of virtual measurement matrices (Mv) using an iterative method which optimizes a compact modeling function (F'"'"'p) r⁴ Mv=F'"'"'p (r⁷ t_MM), and such that MvM^-1 ILv₀ approaches the instant orientation (Lv).

8. A process according to claim 1, wherein one rotation matrix ROT=McM^-1 MoMco^-1 is computed on a basis of each said measurement matrix M, Mc being a matrix resulting from M after application of the compact position modeling function (F_p), Mo and Mco being the matrices M and Mc for a known static initialing orientation (Lvo), such that modeling of angular intervals is performed by identification of true known rotations (G₂, S₂, R₂) with polynomials comprised of regressors computed on terms of matrices ROT and resulting in coefficients comprising a modeling function (F_r) of disruptive effects.

9. A process according to claim 1, wherein a rotation matrix ROT=McM^-1 MoMco^-1 is computed from each said measurement matrix M, Mc being a resulting matrix of M after application of the compact position modeling function (F_p) and Mo and Mco being matrices M and Mc for a known static initialing orientation (Lvo), such that modeling of the angular intervals is performed by identifying terms of a matrix ROT with polynomials formed from regressors computed on terms of the matrix ROT resulting in coefficients comprising a modeling function (F_r) of disruptive effects.

10. A process according to claim 1, wherein the compact position modeling function (F_p) is determined by computing, for all the measurement matrices M_i, the matrix product tM_i M_i, and by identifying, with the method of the least squares, the components of r⁴ P, r being the distance between the origin of the static coordinate frame and the mobile coordinate frame, with the components of F_p (r^ex tM_i M_i), ex being an exponent between 6.5 and 7.

11. A process according to claim 10, wherein the exponent ex is equal to 7.

12. An apparatus for determining an orientation associated with a mobile system, comprising:

an emitter having three magnetic orthogonal coils which is statically positioned within an enclosure;

a pick-up having three orthogonal coils affixed to the mobile system for receiving electromagnetic signals from the emitter;

means for displacing the pick-up and the orientation of the mobile system according to a set of known positions;

means for field emission and measurement for emitting signals from the emitter and measuring the signals emitted by the pick-up;

computation means coupled with the means for field emission and measurement for computing the signals measured by the pick-up; and

a modeling computer coupled with the computation means by way of an interface circuit for modeling an optimal compact position modeling function (F'"'"'_p) and for obtaining an orientation of the mobile system by inputting to the optimal compact position modelling function (F'"'"'_p) a received position of the pick-up when the pick-up is attached to the mobile system.

13. A process for determining an orientation associated with a mobile system in a given space, comprising the steps of:

determining a compact position modeling function (F_p) during a preliminary phase, comprising the substeps of;

positioning the pick-up within the given space using a robot, the pick-up unattached from the mobile system and positioned within the given space with no operator in the given space;

positioning the pick-up along a three-dimensional regular meshing in steps of three to four centimeters, the pick-up positioned at an n number of positions, for obtaining measurement matrices (M₁ . . . M_n);

wherein the pick-up has a fixed rotational orientation with respect to the emitter for all of the n positions;

identifying a measuring matrix (P) corresponding to the position of the pick-up which coincides with a cartography mark, the cartography mark designating a position of the emitter within the given space where the axes of the coils of the pick-up correspond to the axes of the coils of the emitter;

determining a compact position modeling function (F_p) representative of electromagnetic disruptive effects and a function of the position of the pick-up, determined from the matrix (P) and the measurement matrices (M₁ . . . M_n);

an operation phase comprising the substeps of;

determining an initialing matrix (I), corresponding to a rotational orientation of the mobile system when an operator is wearing the mobile system;

positioning the mobile system such that a line of sight is achieved between the mobile system and a target;

selecting the target;

acquiring a measurement matrix (M) for a particular position of the mobile system at a time the target is selected;

determining from said measurement matrix (M) and from the compact position modeling function (F_p) the instant rotational orientation (Lv) of the mobile system with respect to a reference coordinate frame; and

wherein, the emitter coils emit electromagnetic waves and the pick-up coils receive the emitter electromagnetic waves, the received electromagnetic waves used to determine the position of the pick-up with respect to the emitter.