Handheld coordinate reference system

• US 7,287,701 B2
• Filed: 02/17/2005
• Issued: 10/30/2007
• Est. Priority Date: 02/17/2005
• Status: Active Grant

• Current Assignee: The Boeing Co.
• Original Assignee: The Boeing Co.
• Inventors: Skaggs, Kirk D., Miller, Gary E., Price, William O.
• Primary Examiner(s): Le; Thien Minh
• Application Number:
  US11/059,779
• Publication Number:
  US 20060180648A1
• Time in Patent Office: 985 Days
• Field of Search: 235/472.01, 235/472.02, 235/472.03, 235/492, 701/1, 701/37, 701/45, 701/301, 382/284, 382/294, 342/357.14, 342/357.01
• US Class Current: 235/472.01
• CPC Class Codes: G01S 17/86 Combinations of lidar systems with systems other than lidar, radar or sonar, e.g. with direction finders
• CPC Class Codes: G01S 17/89 for mapping or imaging

Abstract

A method and apparatus for determining a spatial position of interest in an assembly is disclosed. In one embodiment, the method comprises the steps of determining a reference position of reference unit; moving the reference unit from the reference position to the first spatial position; inertially measuring a displacement of the reference unit while the reference unit is unilluminated by an illuminator; and determining the first position from the reference position, illuminator energy reflected from the reference unit, and the inertially measured displacement of the reference unit.

Claims

1. A method of determining a first position of interest in an assembly, comprising the steps of:

determining a reference position of a reference unit;

moving the reference unit from the reference position to the first position in the assembly and inertially measuring a displacement of the reference unit while the reference unit is unilluminated by an illuminator; and

determining the first position in the assembly from the reference position, illuminator energy reflected from the reference unit, and the inertially measured displacement of the reference unit.

2. The method of claim 1, wherein the step of determining a reference position of the reference unit comprises the step of placing the reference unit in a known reference position.

3. The method of claim 1, wherein the reference position is determined from illuminator energy reflected from the reference unit.

4. The method of claim 1, wherein the step of determining a reference position of the reference unit comprises the steps of:

illuminating the reference unit; and

determining the reference position from illuminator energy reflected from the reference unit.

5. The method of claim 1, wherein the displacement is inertially measured by inertial sensors.

6. The method of claim 1, wherein the inertial sensors include an accelerometer.

7. The method of claim 1, wherein the step of determining the first position from the reference position, illuminator energy reflected from the reference unit, and the inertially measured displacement of the reference unit comprises the steps of:

determining the inertially measured displacement of the reference unit;

transmitting the inertially measured displacement of the reference unit to a processor; and

determining, in the processor, the first position from the reference position, the illuminator energy reflected from the reference unit, and the inertially measured displacement of the reference unit.

8. The method of claim 1, wherein the step of determining the first position from the reference position, illuminator energy reflected from the reference unit, and the inertially measured displacement of the reference unit comprises the steps of:

receiving the reference position from a processor remote from the reference unit;

receiving a second displacement of the reference unit, the second displacement determined from the illuminator energy reflected from the reference unit while the reference unit is illuminated by the illuminator; and

determining, in the reference unit, the first position from the received reference position, the second displacement, and the inertially measured displacement of the reference unit.

9. The method of claim 1, wherein the step of determining the first position from the reference position, illuminator energy reflected from the reference unit, and the inertially measured displacement of the reference unit comprises the steps of:

receiving a second displacement of the reference unit, the second displacement determined from the illuminator energy reflected from the reference unit while the reference unit is illuminated by the illuminator; and

determining the first position from the received reference position, the second displacement, and the inertially measured displacement of the reference unit.

10. A reference unit for determining a first spatial position in an assembly, comprising:

an inertial measurement unit;

a reflector for reflecting energy from an illuminator; and

a communications interface communicatively coupled to the inertial measurement unit, for communicating information between the reference unit and a processor controlling the illuminator.

11. The apparatus of claim 10, wherein the information includes an displacement of the reference unit from a reference position to the first spatial position as measured by the inertial measurement unit, and wherein the processor computes the first spatial position from the reference position and the displacement of the reference unit from the reference position.

12. The apparatus of claim 10, wherein the information includes the reference position and wherein the reference unit computes the first spatial position from the reference position and the displacement of the reference unit from the reference position.

13. The apparatus of claim 10, wherein the information includes a displacement of the reference unit from a first unilluminated position to the first spatial position.

14. The apparatus of claim 10, wherein:

the information includes a displacement of the reference unit when unilluminated by the illuminator; and

the processor computes the first spatial position from a reference position, the reflected energy, and a displacement of the reference unit as measured by the inertial measurement unit while the reference unit is unilluminated by the illuminator.

15. The apparatus of claim 10, wherein:

the information includes a first displacement of the reference unit determined from the illuminator energy reflected from the reference unit while the reference unit is illuminated by the illuminator; and

the reference unit comprises a second processor for computing the first spatial position from a reference position, the first displacement, and a second displacement of the reference unit as measured by the inertial measurement unit while the reference unit is unilluminated by the illuminator.

16. The apparatus of claim 10, wherein the reference unit comprises:

a handheld computing device (HCD) having an HCD data interface;

a inertial positioning unit (IPU) which includes the inertial measurement unit and the reflector, the IPU further including an IPU interface configured to be communicatively coupled to the HCD data interface.

17. The apparatus of claim 10, wherein the illuminator is a laser ranging device.

18. The apparatus of claim 10, wherein the inertial measurement unit is disposed within the reflector.

19. The apparatus of claim 10, wherein the inertial measurement unit includes a plurality of accelerometers and a plurality of gyros.

20. An apparatus for determining a first spatial position of a component in an assembly opaque to energy from an illuminator, comprising:

means for determining a reference position of a reference unit;

means for inertially measuring a displacement of the reference unit while the reference unit is moved from the reference position to the first spatial position and the reference unit is unilluminated by an illuminator; and

determining the first position from the reference position, illuminator energy reflected from the reference unit, and the inertially measured displacement of the reference unit.

21. The apparatus of claim 20, wherein the means for determining a reference position of the reference unit comprises a means for placing the reference unit in a known reference position.

22. The apparatus of claim 20, wherein the reference position is determined from illuminator energy reflected from the reference unit.

23. The apparatus of claim 20, wherein the means for determining a reference position of the reference unit comprises:

means for illuminating the reference unit; and

means for determining the reference position from illuminator energy reflected from the reference unit.

24. The apparatus of claim 20, wherein the displacement is inertially measured by an inertial sensors.

25. The apparatus of claim 20, wherein the inertial sensors include an accelerometer.

26. The apparatus of claim 20, wherein the means for determining the first position from the reference position, illuminator energy reflected from the reference unit, and the inertially measured displacement of the reference unit comprises:

means for determining the inertially measured displacement of the reference unit;

means for transmitting the inertially measured displacement of the reference unit to a processor; and

means for determining, in the processor, the first position from the reference position, the illuminator energy reflected from the reference unit, and the inertially measured displacement of the reference unit.

27. The apparatus of claim 20, wherein the means for determining the first position from the reference position, illuminator energy reflected from the reference unit, and the inertially measured displacement of the reference unit comprises:

means for receiving the reference position from the computer;

means for receiving a second displacement of the reference unit, the second displacement determined from the illuminator energy reflected from the reference unit while the reference unit is illuminated by the illuminator; and

means for determining, in the reference unit, the first position from the received reference position, the second displacement, and the inertially measured displacement of the reference unit.

28. The apparatus of claim 20, wherein the means for determining the first position from the reference position, illuminator energy reflected from the reference unit, and the inertially measured displacement of the reference unit comprises:

means for receiving the reference position from the computer;

means for receiving a second displacement of the reference unit, the second displacement determined from the illuminator energy reflected from the reference unit while the reference unit is illuminated by the illuminator; and

means for determining, in the reference unit, the first position from the received reference position, the second displacement, and the inertially measured displacement of the reference unit.