Position measuring system for vehicle
First Claim
1. A position sensing arrangement for a dirigible vehicle travelling along a two dimensional path comprising markers placed at known coordinates, a scanner rotatable upon said vehicle and emitting a signal for sensing at least three angular positions of said markers relative to said vehicle in sequence during the travel of said vehicle along said path to provide first, second and third angular measurements, first vehicle measurement means other than said scanner for sensing the distance travelled by said vehicle between each of said angular measurements to provide first and second distance measurements, and second vehicle measurement means other than said scanner for sensing the course of the vehicle between each angular measurement to provide first and second angular course measurements, computing means for computing the actual location and the actual course of said vehicle from said first and second distance measurements and from said first and second angular course measurements, and means for controlling said vehicle based on the computed actual location and the actual course.
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Abstract
An arrangement for determining the position of a vehicle along a two dimensional course and for steering the vehicle to maintain a desired preset path. A sensing device is incorporated that includes markers placed at known locations and an optical sensor sequentially makes three measurements of the angle between the vehicle and the sensors, the angular course of the vehicle and the distance travelled from the last sensing so as to provide an indication of the actual vehicle position and course. The actual position is then compared with the desired position and corrections are made by the steering mechanism.
25 Citations
13 Claims
- 1. A position sensing arrangement for a dirigible vehicle travelling along a two dimensional path comprising markers placed at known coordinates, a scanner rotatable upon said vehicle and emitting a signal for sensing at least three angular positions of said markers relative to said vehicle in sequence during the travel of said vehicle along said path to provide first, second and third angular measurements, first vehicle measurement means other than said scanner for sensing the distance travelled by said vehicle between each of said angular measurements to provide first and second distance measurements, and second vehicle measurement means other than said scanner for sensing the course of the vehicle between each angular measurement to provide first and second angular course measurements, computing means for computing the actual location and the actual course of said vehicle from said first and second distance measurements and from said first and second angular course measurements, and means for controlling said vehicle based on the computed actual location and the actual course.
Specification