Determination of spin parameters of a sports ball

• US 8,845,442 B2
• Filed: 02/28/2006
• Issued: 09/30/2014
• Est. Priority Date: 03/03/2005
• Status: Active Grant

• Current Assignee: Trackman A/S
• Original Assignee: Trackman A/S
• Inventors: Tuxen, Fredrik
• Primary Examiner(s): HOANG, BACH V
• Application Number:
  US11/885,280
• Publication Number:
  US 20090075744A1
• Time in Patent Office: 3,136 Days
• Field of Search: 356/4.01, 356/5.09, 356 16- 17, 356 27- 285, 273/317.2, 273/108.2, 473/152, 473198-200, 473/405, 702145-148
• US Class Current: 473/152
• CPC Class Codes: A63B 2024/0034 during flight
• CPC Class Codes: A63B 2220/35 Spin
• CPC Class Codes: A63B 24/0021 Tracking a path or terminating locations
• CPC Class Codes: A63B 69/3658 Means associated with the ball for indicating or measuring, e.g. speed, direction

Abstract

A method of determining spin parameters of a spot ball, such as spin axis and rotation velocity of a golf ball. The spin axis is determined solely from the trajectory of the flying ball, and the rotational velocity is determined from a frequency analysis of a signal provided by a radar, which signal comprises spectrum traces positioned equidistantly in frequency, which frequency distance relates to the spin velocity.

Claims

1. A method of estimating a spin frequency of a rotating sports ball in flight, the method comprising:

receiving, using a receiver of a radar arrangement, electromagnetic waves reflected from the rotating sports ball;

deriving from said received electromagnetic waves, via the radar arrangement, a signal having a first frequency corresponding to a velocity of the rotating sports ball, the signal being frequency modulated by a modulation frequency; and

estimating, via the radar arrangement, at at least a single point in time, the spin frequency of the rotating sports ball based on at least one frequency distance between a harmonic of the modulation frequency and one or more of;

the first frequency and an additional harmonic of the modulation frequency.

3. The method of claim 1, wherein said harmonic and said additional harmonic comprise harmonics symmetric about the first frequency.

4. The method of claim 1, wherein the spin frequency of the rotating sports ball is estimated based on the at least one frequency distance between the first frequency and each of said harmonic and said additional harmonic.

5. The method according to claim 1, wherein the first frequency corresponds to the velocity of the rotating sports ball in a direction toward or away from the receiver.

13. The method of claim 1, wherein said estimating step is repeated at at least one additional point in time during the flight of the rotating sports ball.

19. The method of claim 1, wherein the deriving step includes performing a frequency analysis of the signal.

20. The method of claim 19, wherein the step of performing a frequency analysis comprises:

identifying the first frequency as a 0^th harmonic, the first frequency corresponding to the velocity of the rotating sports ball in a direction toward or away from the receiver,

tracking a plurality of harmonics of the modulation frequency of said signal over time,

qualifying the tracked plurality of harmonics by requiring that the tracked plurality of harmonics are equally spaced in frequency, and

solving the qualified harmonics for their corresponding harmonic number,

wherein the step of estimating comprises estimating, at at least one point in time, the spin frequency from two of the qualified harmonics by dividing the frequency distance by a difference between respective corresponding harmonic numbers of said two qualified harmonics.

21. The method of claim 19, wherein the step of performing a frequency analysis comprises detecting a plurality of harmonics.

22. The method of claim 1, wherein said first harmonic and said additional harmonic comprise two adjacent harmonics.

2. A method of estimating a spin frequency of a rotating sports ball in flight, the method comprising:

receiving, using a receiver of a radar arrangement, electromagnetic waves reflected from the rotating sports ball;

deriving from said received electromagnetic waves, via the radar arrangement, a signal having a first frequency corresponding to a velocity of the rotating sports ball, the signal being modulated by a modulation frequency; and

estimating, via the radar arrangement, at at least a single point in time, the spin frequency of the rotating sports ball as a frequency distance between the first frequency and an adjacent first harmonic of the modulation frequency or a frequency distance between two adjacent harmonics of the modulation frequency.

6. The method of claim 2, wherein the deriving step includes performing a frequency analysis of the signal.

7. A method according to claim 2, wherein the first frequency corresponds to the velocity of the rotating sports ball in a direction toward or away from the receiver.

8. A method according to claim 6, wherein the step of performing the frequency analysis comprises:

tracking a plurality of harmonics of the modulation frequency over time,

qualifying the tracked harmonics by requiring that the tracked harmonics are equally spaced in frequency, and

solving the qualified harmonics for their corresponding harmonic number,

wherein the step of estimating comprises estimating, at at least one point in time, the spin frequency from one of the qualified harmonics by dividing a frequency of said one qualified harmonic by the respective corresponding harmonic number.

11. A method according to claim 6, wherein the step of performing the frequency analysis comprises detecting a plurality of harmonics.

23. The method of claim 2, wherein said estimating step is repeated at at least one additional point in time.

9. A system for estimating a spin frequency of a rotating sports ball in flight, the system comprising:

a receiver adapted to, at a number of points in time during the flight, receive electromagnetic waves reflected from the rotating sports ball and provide a corresponding signal;

means for performing a frequency analysis of the signal, and detecting one or more sideband harmonics, the one or more sideband harmonics being spaced by the spin frequency and around a frequency corresponding to a velocity of the rotating sports ball; and

means for estimating the spin frequency from a frequency distance between the frequency corresponding to the velocity of the rotating sports ball and one of the one or more sideband harmonics in a first case, or the distance between two of the one or more sideband harmonics in a second case, wherein there are at least two sideband harmonics in the second case.

10. A system according to claim 9, wherein the means for performing the frequency analysis are adapted to

identify, subsequent to the frequency analysis, the frequency corresponding to the velocity of the rotating sports ball in a direction toward or away from the receiver,

track the one or more sideband harmonics over time,

qualify the tracked one or more sideband harmonics by requiring that the tracked one or more sideband harmonics are equally spaced in frequency, and

solve the qualified sideband harmonics for their corresponding harmonic number,

wherein the means for estimating are adapted to estimate the spin frequency from one of the qualified sideband harmonics by dividing said one qualified sideband harmonic by the respective corresponding harmonic number.

12. A system according to claim 9, wherein the means for performing the frequency analysis of the signal is adapted to detect a plurality of the one or more sideband harmonics.

14. A system for estimating a spin frequency of a rotating sports ball in flight, the system comprising:

a receiver of a radar arrangement configured to, at at least one point in time, receive electromagnetic waves reflected from the rotating sports ball and provide a corresponding signal, which is frequency modulated by a modulation frequency,

wherein the radar arrangement is configured to perform a frequency analysis of the frequency modulated signal and detect at least one harmonic of the modulation frequency, the radar arrangement being further configured to estimate the spin frequency from a frequency distance between a first frequency corresponding to a velocity of the rotating sports ball and said at least one harmonic or a second frequency distance between said at least one harmonic and an additional harmonic of the modulation frequency.

15. A system according to claim 14, wherein the radar arrangement is further configured to

identify, subsequent to the frequency analysis, the first frequency as a 0^th harmonic, the first frequency corresponding to the velocity of the rotating sports ball in a direction toward or away from the receiver,

track a plurality of harmonics of the modulation frequency of said signal over time,

qualify the tracked plurality of harmonics by requiring that the tracked plurality of harmonics are equally spaced in frequency,

solve the qualified harmonics for their corresponding harmonic number, and

estimate the spin frequency from two of the qualified harmonics by dividing the frequency distance by a difference between respective corresponding harmonic numbers of said two qualified harmonics.

24. The system of claim 14, wherein said at least one harmonic and said additional harmonic comprise two adjacent harmonics.

25. The system of claim 14, wherein said at least one harmonic and said additional harmonic comprise harmonics symmetric about the first frequency.

26. The system of claim 14, wherein the spin frequency of the rotating sports ball is estimated based on the frequency distance between the first frequency and each of said at least one harmonic and said additional harmonic.

27. The system of claim 14, wherein the first frequency corresponds to the velocity of the rotating sports ball in a direction toward or away from the receiver.

16. A system for estimating a spin frequency of a rotating sports ball in flight, the system comprising:

a receiver of a radar arrangement configured to, at least one point in time, receive electromagnetic waves reflected from the rotating sports ball and provide a corresponding signal, which is modulated by a modulation frequency,

wherein the radar arrangement is configured to perform a frequency analysis of the modulated signal and estimate the spin frequency as a frequency distance between a first frequency corresponding to a velocity of the rotating sports ball and an adjacent harmonic of the modulation frequency or a frequency distance between two adjacent harmonics of the modulation frequency.

28. The system of claim 16, wherein the first frequency corresponds to the velocity of the rotating sports ball in a direction toward or away from the receiver.

29. The system of claim 16, wherein the radar arrangement is configured to

track a plurality of harmonics over time,

qualify the plurality of harmonics by requiring that the plurality of harmonics are equally spaced in frequency, and

solve the qualified harmonics for their corresponding harmonic number.

17. A method of estimating spin frequency of a rotating sports ball in flight, the method comprising:

receiving, using a receiver of a radar arrangement, electromagnetic waves reflected from the rotating sports ball;

deriving from said received electromagnetic waves, via the radar arrangement, a signal having a first frequency corresponding to a velocity of the rotating sports ball, the signal being modulated by a modulation frequency; and

estimating, via the radar arrangement, at at least a single point in time, a spin frequency of the rotating sports ball based on, in a first case, at least one frequency distance between a harmonic of the modulation frequency and the first frequency or, in a second case, between two harmonics of the modulation frequency,

wherein the spin frequency is determined by dividing the frequency distance by a harmonic number of the harmonic in the first case or a difference in harmonic number of the harmonics in the second case.

30. The method of claim 17, wherein the deriving step includes performing a frequency analysis of the signal.

31. The method of claim 17, wherein, in the second case, said two harmonics comprise two harmonics symmetric about the first frequency.

32. The method of claim 17, wherein, in the second case, said two harmonics comprise two adjacent harmonics.

33. The method of claim 30, wherein the step of performing a frequency analysis comprises:

tracking a plurality of harmonics of the modulation frequency of said signal over time,

qualifying the tracked plurality of harmonics by requiring that the tracked plurality of harmonics are equally spaced in frequency, and

solving the qualified harmonics for their corresponding harmonic number,

wherein the step of estimating comprises estimating, at at least one point in time, the spin frequency from one of the qualified harmonics by dividing the frequency of said one qualified harmonic in the first case by the respective corresponding harmonic number.

34. The method of claim 17, wherein said estimating step is repeated at at least one additional point in time during the flight of the rotating sports ball.

35. The method of claim 17, wherein the first frequency corresponds to the velocity of the rotating sports ball in a direction toward or away from the receiver.

18. A system for estimating a spin frequency of a rotating sports ball in flight, the system comprising:

a receiver of a radar arrangement configured to, at at least one point in time, receive electromagnetic waves reflected from the rotating sports ball and provide a corresponding signal, which is modulated by a modulation frequency, the signal having a first frequency corresponding to a velocity of the rotating sports ball,

wherein the radar arrangement is configured to perform a frequency analysis of the modulated signal and estimate the spin frequency based on, in a first case, at least one frequency distance between a first harmonic of the modulation frequency of the modulated signal and the first frequency or, in a second case, between two harmonics of the modulation frequency of the modulated signal, and

wherein the spin frequency is determined by dividing the frequency distance by a harmonic number of the harmonic in the first case or a difference in harmonic number of the harmonics in the second case.

36. The system of claim 18, wherein the radar arrangement is configured to

track a plurality of harmonics of the modulation frequency of said signal over time,

qualify the tracked plurality of harmonics by requiring that the tracked plurality of harmonics are equally spaced in frequency, and

solve the qualified harmonics for their corresponding harmonic number,

wherein the radar arrangement is configured to estimate, at at least one point in time, the spin frequency from one of the qualified harmonics by dividing the frequency of said one qualified harmonic in the first case by the respective corresponding harmonic number.

37. The system of claim 18, wherein the first frequency corresponds to the velocity of the rotating sports ball in a direction toward or away from the receiver.

38. The system of claim 18, wherein, in the second case, said two harmonics comprise two harmonics symmetric about the first frequency.

39. The system of claim 18, wherein, in the second case, said two harmonics comprise two adjacent harmonics.