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Determining a position of objects in a predetermined coordinate system

  • US 6,876,196 B1
  • Filed: 09/22/2003
  • Issued: 04/05/2005
  • Est. Priority Date: 03/19/2001
  • Status: Active Grant
First Claim
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1. A method for determining the location and/or orientation of an object in a predetermined coordinate system, in which method in the object there is arranged a set of signal sources in a known manner in relation to the co-ordinate system of the object, the method comprising:

  • transmitting a predetermined signal from the signal sources, receiving the signal transmitted from the signal sources with a receiver which comprises signal receivers, computing the location and/or orientation of the object based on received amplitudes of the signals, determining the amplitudes of the received signals, said amplitudes being independent of each other, by computationally taking into account the correlation between the transmitted signals, said transmitted signals being transmitted simultaneously and having arbitrary waveforms, determining each signal source separately from the independent amplitudes, and computing the location and/or orientation of the object at the time interval being examined based on the independent amplitude distributions associated with the signal sources by adjusting numerical amplitudes of the signal sources to the received amplitudes measured using the receiver, said adjusting the numerical amplitudes performed by setting the geometrical free parameters of the signal sources and/or of the receiver to values by which the difference between the calculated and measured amplitude distributions is at its smallest.

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