System for measuring the location and orientation of an object

• US 5,974,365 A
• Filed: 10/23/1997
• Issued: 10/26/1999
• Est. Priority Date: 10/23/1997
• Status: Expired due to Fees

• Current Assignee: United States Secretary of the Army
• Original Assignee: The United States Of America As Represented By The Secretary Of The Army
• Inventors: Mitchell, Robert R.
• Primary Examiner(s): SHAH, KAMINI S
• Application Number:
  US08/956,597
• Time in Patent Office: 733 Days
• Field of Search: 702/94.95, 702/150-153, 395/89, 395/138, 348/870.31, 348/95, 250/548, 250/201.3, 250/201.7, 250/202, 250/550-553, 250/559.29-559.3, 378/69, 356/400, 356/326, 356/139.04, 356/139.05-139.06
• US Class Current: 702/150
• CPC Class Codes: G01B 11/272 using photoelectric detection means
• CPC Class Codes: G01S 11/12 using electromagnetic waves other than radio waves
• CPC Class Codes: G01S 5/163 Determination of attitude using inertial means G01C9/00; control of attitude G05D1/49

Abstract

The purpose of a system for measuring the location and orientation of an ect is to align one object with another by simultaneously measuring the six degrees of freedom of the objects. The system accomplishes the purpose by employing a linear optical detector array sensor on the first object and a pre-selected target pattern on a second object to measure the six degrees of freedom and converting them to six position measurement via a microprocessor which has suitable algorithms residing in it. The six position measurements (azimuth, elevation, range, pitch, yaw and roll) are displayed for viewing by the operator who, then, manipulates the objects until pre-determined desired values of the six position measurements are obtained, indicating a complete alignment between the objects.

Claims

1. A system for aligning together a first six-DOF object and a second six-DOF object by simultaneously measuring the six degrees of freedom (DOF) of said second object and displaying the six position measurements and manipulating said first six-DOF object relative to said second six-DOF object until the six position measurements reach pre-determined desired values, said system comprising:

a pre-selected pattern attached to said second object;

a detector array, said array being fixedly mounted on said first object;

an aperture suitably positioned to provide said detector array a field of view, said array producing signals that are indicative of the relative locations and orientations of said first and second objects;

a computer processor having resident therein pre-selected algorithms, said processor being coupled to said array to receive therefrom said signals and being adapted for, using said resident algorithms, converting said signals to the six position measurements; and

a display unit, said display unit being coupled to said processor to receive therefrom said six position measurements and display said measurements for viewing by the operator, thereby enabling the operator to manipulate said first six-DOF object until the six position measurements reach the pre-determined desired values.

2. An aligning system as described in claim 1, wherein said pre-selected pattern comprises a plurality of identical v-shaped elements.

3. An aligning system as described in claim 2, wherein said v-shaped elements are four in number and arranged in a linear fashion, a rightside-up v-shaped element alternating with a upside-down v-shaped element.

4. An aligning system as described in claim 3, wherein the two outer v-shaped elements are on the plane of the surface of said second object and the two inner v-shaped elements are raised from the plane of the surface of said second object.

5. An aligning system as described in claim 4, wherein the angle formed by the two sides of each v-shaped element ranges between 10 degrees and 40 degrees.

6. An aligning system as described in claim 5, wherein said detector array is a linear detector array.

7. An aligning system as described in claim 6, wherein said aperture is a lens.