Detection system for determining orientation information about objects

• US 6,710,719 B1
• Filed: 08/02/1999
• Issued: 03/23/2004
• Est. Priority Date: 12/04/1997
• Status: Expired due to Fees

• Current Assignee: AT&T Istel (Bayerische Motoren Werke AG)
• Original Assignee: AT&T Corporation (AT&T, Inc.)
• Inventors: Jones, Alan Henry, Ward, Andrew Martin Robert
• Primary Examiner(s): Horabik, Michael
• Assistant Examiner(s): NGUYEN, NAM V
• Application Number:
  US09/355,685
• Time in Patent Office: 1,695 Days
• Field of Search: 340/825.49, 340/10.2, 340/10.3, 340/10.32, 340/825.5, 250/206.1, 250/206.2
• US Class Current: 340/8.1
• CPC Class Codes: G01S 11/16 using difference in transit time between electrical and acoustic signals
• CPC Class Codes: G01S 13/74 Systems using reradiation of radio waves, e.g. secondary radar systems; Analogous systems
• CPC Class Codes: G01S 13/86 Combinations of radar systems with non-radar systems, e.g. sonar, direction finder
• CPC Class Codes: G01S 15/872 Combination of several systems for attitude determination using inertial means G01C9/00, control of attitude G05D1/49
• CPC Class Codes: G01S 15/876 Combination of several spaced transmitters or receivers of known location for determining the position of a transponder or a reflector G01S15/872 takes precedence
• CPC Class Codes: G01S 5/0247 Determining attitude
• CPC Class Codes: G01S 5/14 Determining absolute distances from a plurality of spaced points of known location
• CPC Class Codes: G01S 5/186 Determination of attitude using inertial means G01C9/00; control of attitude G05D1/49
• CPC Class Codes: G01S 5/30 Determining absolute distances from a plurality of spaced points of known location
• CPC Class Codes: G08G 1/20 Monitoring the location of vehicles belonging to a group, e.g. fleet of vehicles, countable or determined number of vehicles

Abstract

A system which enables the orientation of a device in a specified environment to be determined in relation to a plurality of sensing receivers positioned at known points in or around the specified environment. A directional transmission from a directional transmitter which forms part of a known face of the device is initiated by a trigger signal from a timing transmitter located so as to cause transmitted bursts of energy to enter the environment. Associated with the directional transmitter having is a timing receiver adapted to respond to any such trigger signals, to thereby initiate the directional transmission. At the beginning of a timeslot, the sensing receivers are reset, and the trigger signal is transmitted, to render the receivers ready to receive the directional transmission. A control system determines the direction in which the directional transmitter is facing as a function of an identification of those of the sensing receivers on which the directional transmission was incident within the timeslot.

Claims

1. A system which enables the orientation of a device in a specified environment to be determined in relation to a plurality of sensing receivers positioned at known points in or around the specified environment, wherein a directional transmission from a directional transmission means which forms part of a known face of the device is initiated by a trigger signal from a timing transmitter located so as to cause transmitted bursts of energy to enter the said environment, said directional transmission means having associated therewith a timing receiver adapted to respond to any such trigger signals, to thereby initiate said directional transmission, and wherein at the beginning of a timeslot the sensing receivers are reset, and the trigger signal is transmitted, to render the receivers ready to receive the directional transmission, and wherein a control system determines the direction in which the directional transmission means is facing as a function of an identification of those of the sensing receivers on which the directional transmission was incident within the timeslot.

2. A system as claimed in claim 1, wherein the positions of the receivers is fixed.

3. A system as claimed in claim 1, wherein the directional transmission is a radio wave, ultra-violet, infra-red, visible light or a soundwave.

4. A system as claimed in claim 1, wherein the timing transmission is a high speed of propagation signal, such as a radio transmission.

5. A system as claimed in claim 1, wherein the sensing receivers are connected directly to the timing transmitter and the resetting transmissions are by way of an electrical current signal along a conductive path.

6. A system as claimed in claim 1, wherein the resetting transmissions are by way of a radio transmission.

7. A system as claimed in claim 1, wherein the directional transmission is one of a slowly propagating energy wave and the time periods latched by the sensing receivers are related to the distances between the directional transmission means and the receivers.

8. A system as claimed in claim 1, wherein receivers which have received a good signal are defined as occupying a region of good transmission relative to the directional transmission, and wherein the relationship of the region of good transmission to the position and orientation of the transmitter is known, and after the location of the device is determined, the control system determines the direction in which the directional transmission means is facing from the pattern of receivers which have received a good signal.

9. A system as claimed in claim 1, wherein the location of the device is determined using estimated distances from known ones of the receivers computed from the times of flight of the transmitted signals to those receivers, wherein the estimation is made by finding the point in space whose predicted distance from each receiver most closely matches the measured distance.

10. A system as claimed in claim 1, wherein a device with a narrow beam angle is mounted facing upwards on an object and the position of the object relative to a horizontal plane containing the receivers is determined by polling the latter to determine on which receivers the beam is incident and the object position is given as being below those receivers.

11. A method of determining the orientation of an object having a directional transmitter mounted in a known manner thereon and in an environment defined by a plurality of receivers having known positions therein, by polling the receivers and determining the direction in which the object is facing as a function of which of the receivers received transmissions from the transmitter during a timeslot.

12. A method as claimed in claim 11, further comprising the step of determining any changes in the pattern of receivers having transmitted energy incident thereon from one poll thereof to another.

13. A method as claimed in claim 11, wherein differentially propagating wave energies are used and the orientation of a device in a specified environment is determined in relation to the plurality of sensing receivers positioned at known fixed points in or around the specified environment, by means of a directional transmission of slowly propagating energy from transducer means which form part of, or are mounted on known face of the device, and which is initiated by a trigger signal from a timing transmitter located so as to cause transmitted energy to enter the said environment, said transducer means having associated therewith a timing receiver adapted to respond to any such transmitted timing signals, to thereby initiate said directional transmission, and wherein at the beginning of a timeslot the sensing receivers are reset, the timing signal is transmitted, and the sensing receivers are adapted to latch the time between the beginning of the timeslot and the arrival of the beginning of a transmission of the slowly propagating energy, and a control system polls the receivers at the end of the timeslot to determine those on which the directional transmission of slowly propagating energy has been incident within the timeslot.

14. A method as claimed in claim 13, wherein an indication of the mean direction of the directional transmission is determined from the pattern of the sensing receivers on which the directional transmission has been incident, and an estimate of the direction in which the device is facing with reference to said fixed points is determined using the known positions of the fixed points at which the receivers are located.

15. A method as claimed claim 11, wherein the sensitivity of more distant sensing receivers to the directional energy transmission is reduced by reducing the duration of the timeslot, and/or by reducing the solid angle of the directional transmission.

16. A method as claimed in claim 11, wherein the time latched by each receiver is converted into a line of sight distance and an approximation of the point from which the transmissions have emanated is determined by finding the position at which radii, centred on and drawn from each of the sensing receivers, intersect.

17. A method as claimed in claim 11, when adapted to allow different numbers of devices to be monitored and differing demands of service to be accommodated, wherein a coordinating control system is provided for determining the order in which the device-mounted transmitters are to be addressed, and triggered, by timing transmissions, in response to updatable information relating to the devices, and related service demands.

18. A method as claimed in claim 11 wherein flight time distance computing means is programmed to convert transit times into distance values and use position data relating to the receivers stored in a memory, to compute therefrom the distances of an object mounted transmitter from each of the receivers and therefore its position within the environment.

19. A system in which a directional beam of energy is transmitted by a transmitter mounted on an object towards a plurality of receivers at fixed positions and the latter are polled to determine on which the beam has been incident together with the times of reception of the transmitted energy by the receivers, wherein computing means is provided to determine from at least the times of reception the position of the object from which the beam of energy is emanating and to determine the orientation of the object from at least an identification of which of the receivers received the beam of energy.