Real-time digital orientation device

• US 5,517,430 A
• Filed: 06/20/1994
• Issued: 05/14/1996
• Est. Priority Date: 06/20/1994
• Status: Expired due to Fees

• Current Assignee: Directional Robotics Research, Inc.
• Original Assignee: Directional Robotics Research, Inc.
• Inventors: Lewis, W. Stan
• Primary Examiner(s): Cosimano, Edward R.
• Application Number:
  US08/262,697
• Time in Patent Office: 694 Days
• Field of Search: 33/363 R, 33/363 K, 33/364, 250/215, 356/139.03, 356/147, 356/375, 364/559
• US Class Current: 702/150
• CPC Class Codes: G01C 17/26 using electric pick-offs for transmission to final indicator, e.g. photocell

Abstract

A real time directional orientation apparatus is disclosed for use in a four pi (4π) geometry. The apparatus is to be affixed to an object which translates in space. A source emitter means, which may be radioactive, is suspended in a fluid in concert with a magnet. A bank of emission detectors registers the orientation of the source emitter or emitters against a known starting value. As the object translates in space, so does its position and orientation, thus causing the magnet to adjust its position in reference to an external magnetic field, such as, but not limited to, the earth'"'"'s magnetic field. The motion of the magnet causes the emitter or emitters orientation to change which is sensed by the emission detectors as both a change in intensity and position. This data is processed by a computer and with ancillary data provided by other sensors provides real time position, path and other navigational, directional and positional data, such as pitch, yaw, attitude and roll.

Claims

1. A real-time directional orientation apparatus, for determining the directional orientation of an object, comprising:

a) a housing having an inner wall forming a spherical chamber, the spherical chamber having opposing poles disposed within an outer housing;

b) a spherical core disposed in spaced relation within the spherical chamber;

c) a fluid means disposed between the spherical core and the spherical chamber;

d) a source emitter means having a directional orientation disposed within the spherical core, the source emitter means providing a directional signal of sufficient strength to pass through the fluid means; and

e) a plurality of source detector means disposed in horizontally and vertically spaced, radial alignment between the opposing poles on the inner wall of the outer housing, the source detector means positioned to receive the directional signal from the source emitter means, and to transmit data from the source detector means regarding the relative intensity of the signal received from the source emitter means;

f) a magnet means disposed within the spherical core, the magnet means having a directional orientation relative to magnetic north or other external fixed magnetic field, the directional orientation of the magnet means being in fixed relation to the directional orientation of the source emitter means;

whereby

the relative intensity of the signal from the source emitter means is sensed by at least one of the plurality of source detector means, to determine the relative real time position and orientation of the housing, in relation to the magnetic north orientation of the magnet means located within the spherical core.

2. The apparatus of claim 1, wherein a portion of the housing is separable, to provide for the selective removal and insertion of the spherical core within the housing, for ease of maintenance and repair.

3. The apparatus of claim 1, wherein data from the source detector means is analyzed by a computer every few milliseconds by means of signal averaging, to determine the real-time directional orientation of the apparatus.

4. The apparatus of claim 1, wherein a scalar orientation resolution of the directional source emitter means is less than the distance between adjacent source detector means.

5. The apparatus of claim 1, wherein two sources are positioned in a co-planar fashion at 90 degrees from each other such that illumination of the source detectors occurs from the surface of the spherical core.

6. The apparatus of claim 1, wherein data from a speed sensor is integrated by a computer with a scalar direction determined by the real-time directional orientation apparatus to provide real-time location and path traveled vectors from a known starting point.

7. The apparatus of claim 1, wherein the source emitter means is a radioactive source, and the source detector means is a radiation detector.

8. The apparatus of claim 7 wherein the radioactive source is iron-55.

9. The apparatus of claim 1, wherein a selected sampling rate of a relative intensity signal from the source detector means, is greater than a relative movement rate of the source emitter means.

10. The apparatus of claim 9, wherein the selected sampling rate of the relative intensity signal from the source detector means is measured in the kilohertz range.

11. The apparatus of claim 1, wherein a speed sensor is secured to the housing to determine the linear and angular speed of the real time directional orientation apparatus.

12. The apparatus of claim 11, wherein a computer samples a plurality of data signals from the source detector means and the speed sensor, to determine both the linear and angular speed of the apparatus, to determine a real-time orientation vector.

13. The apparatus of claim 11, wherein a computer receives a plurality of real-time data samples from the source detector means, and preferentially analyzes data showing the highest relative intensity of the data signal from the last real-time data signal received, to preferentially sample those source detector means located nearest to the highest relative intensity of the last data signal, at a sampling speed sufficient to determine the real-time position and orientation of the outer housing in relation to the magnetic north orientation of the magnet means located within the spherical core.

14. A real-time directional orientation apparatus, for determining the directional orientation of an object, comprising:

a) a housing having an inner wall forming a spherical chamber, the spherical chamber having opposing poles disposed within the housing, the housing separable to provide for access to the spherical chamber;

b) a spherical core disposed in spaced relation within the spherical chamber;

c) a fluid means disposed between the spherical core and spherical chamber;

d) a source emitter means having a directional orientation disposed within the spherical core, the source emitter means providing a directional signal of sufficient strength to pass through the fluid means;

e) a power supply means disposed within the spherical core, to power the source emitter means;

f) a plurality of source detector means disposed in horizontally and vertically spaced radial alignment between the opposing poles on the inner wall of the housing;

the source detector means positioned to receive the directional signal from the source emitter means, and to transmit data from the source detector means regarding the relative intensity of the signal received from the source emitter means; and

g) a magnet means disposed within the spherical core, the magnet means having a directional orientation relative to magnetic north, the directional orientation of the magnet means being in fixed relation to the directional orientation of the source emitter means;

whereby

the relative intensity of the signal from the source emitter means is sensed by at least one of the source detector means, to determine the relative real time position and orientation of the outer housing, in relation to the magnetic north orientation of the magnet means located within the spherical core.

15. The apparatus of claim 14, wherein a selected sampling rate of the relative intensity signal from the source detector means is greater than a relative movement rate of the source emitter means.

16. The apparatus of claim 14, wherein data from the source detector means is analyzed by a computer every few milliseconds by means of signal averaging, to determine the real-time directional orientation of the apparatus.

17. The apparatus of claim 14, wherein a speed sensor is secured to the housing, and data from the speed sensor and data from the source detector means is analyzed by the computer, to determine the linear and angular speed of the real time directional orientation apparatus, and to determine a real-time orientation vector therefrom.

18. The apparatus of claim 14, wherein a scalar orientation resolution of the directional source emitter means is less than the distance between adjacent source detector means.

19. The apparatus of claim 14, wherein the fluid means is an electrolyte, and the housing is grounded to prevent an electrical charge build-up on the spherical core.

20. The apparatus of claim 14, wherein data from a speed sensor is integrated by a computer with a scalar direction determined by the real-time directional orientation apparatus to provide real-time location and path traveled from a known starting point.

21. The apparatus of claim 14, wherein the source emitter means is a directional magnet means, and each of the plurality of source detective means is selected from one of a Hall effect sensor and a Faraday type sensor.

22. The apparatus of claim 14, wherein the source emitter means is a radioactive source, and the source detector means is a radiation detector.

23. The apparatus of claim 14, wherein the source emitter means is a light emitting diode, and the source detecting means is a plurality of photon sensitive detectors.

24. The apparatus of claim 23, including heat dissipation means for dissipating heat build up within the apparatus.

25. The apparatus of claim 14, wherein the fluid means is an electrolyte, and the inner wall of the housing is grounded to prevent an electrical charge build-up on the spherical core.

26. The apparatus of claim 25, wherein the source emitter means is radioactive and the source detection means is a radioactive detector.

27. The apparatus of claim 26, wherein the radioactive source is selected from one of Tritium and Nickel-63.

28. A real-time directional orientation apparatus, comprising:

a) a housing having an inner wall forming a cylindrical chamber;

b) a spherical core disposed in spaced relation within the spherical chamber;

c) a fluid means disposed between the spherical core and the spherical chamber;

d) a source emitter means having a directional orientation disposed within the spherical core, the source emitter means providing a directional signal of sufficient strength to pass through the fluid means;

e) a plurality of source detector means radially aligned in spaced relation in a plurality of horizontal and vertical rows upon the cylindrical chamber, the source detector means positioned to receive the directional signal from the source emitter means;

f) a magnet means disposed within the spherical core, the magnet means having a directional orientation relative to magnetic north, the directional orientation of the magnet means in fixed relation to the directional orientation of the source emitter means;

g) a pair of source collimator means aligned co-planar and at a 90 degree relation upon the spherical core;

h) a speed sensor means; and

i) a computer means in communication with the source detector means, and the speed sensor means, to selectively determine real-time position and orientation of the housing, to determine the linear and angular speed of the apparatus, to determine a real-time orientation vector, to aid in determination of pitch, yaw, attitude and roll; and

to determine real-time location and path traveled vectors from a known starting point.

29. The apparatus of claim 28, wherein the source emitter means is a radioactive source, and the source detector means is an ionizing radiation detector.

30. The apparatus of claim 28, wherein the source emitter means is a light emitting diode, and the source detecting means is a plurality of photon sensitive detectors.

31. The apparatus of claim 28, wherein the source emitter means is the magnet means, and the source detective means is selected from one of a Hall effect sensor and a Faraday type sensor.

32. The apparatus of claim 28, wherein the scalar orientation resolution of the source emitter means is less than the distance between adjacent source detector means.

33. The apparatus of claim 28, wherein the source emitter means is an aggregate of luminescent material.

34. The apparatus of claim 33, wherein the spherical core has a first opening.

35. The apparatus of claim 34, wherein the spherical chamber has a second opening.

36. The apparatus of claim 35, wherein said first opening and said second opening are proximal and said second opening resides above said first opening is such a fashion as to permit electromagnetic radiation to traverse to illuminate the source emitter means.

37. A real-time directional orientation apparatus, for determining the directional orientation of an object, comprising:

a) a housing having a wall forming a chamber,

b) a core disposed in spaced relation within the chamber;

c) a fluid means disposed between the core and the chamber;

d) a source emitter means having a directional orientation disposed within the core, the source emitter means providing a directional signal of sufficient strength to pass through the fluid means;

e) a plurality of source detector means disposed on the housing, the source detector means positioned to receive the signal from the source emitter means, and to transmit data from the source detector means regarding the signal received from the source emitter means; and

f) a magnet means disposed within the core, the magnet means having a directional orientation relative to an external fixed magnetic field, the directional orientation of the magnet means being in fixed relation to the directional orientation of the source emitter means;

whereby

the signal from the source emitter means is sensed by at least one of the plurality of source detector means, which is utilized to determine the relative real time position and orientation of the housing, in relation to the external fixed magnetic field.

38. The apparatus of claim 37, wherein the source emitter means is a radioactive source, and the source detector means is a radiation detector.

39. The apparatus of claim 38 wherein the radioactive source is iron-55.