CN1320370C - 基于多个传感器的距离读数而确定对象位置的方法和设备 - Google Patents

基于多个传感器的距离读数而确定对象位置的方法和设备 Download PDF

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Publication number
CN1320370C
CN1320370C CNB028279468A CN02827946A CN1320370C CN 1320370 C CN1320370 C CN 1320370C CN B028279468 A CNB028279468 A CN B028279468A CN 02827946 A CN02827946 A CN 02827946A CN 1320370 C CN1320370 C CN 1320370C
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China
Prior art keywords
sensors
potential object
range observation
potential
sensor
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Expired - Fee Related
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CNB028279468A
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English (en)
Chinese (zh)
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CN1636149A (zh
Inventor
迈克尔·J·帕拉迪
安德鲁·E·亨特
约翰·J·福德
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Vennell America
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Pine Valley Investments Inc
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    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
    • G01S13/87—Combinations of radar systems, e.g. primary radar and secondary radar
    • G01S13/878—Combination of several spaced transmitters or receivers of known location for determining the position of a transponder or a reflector
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
    • G01S13/02—Systems using reflection of radio waves, e.g. primary radar systems; Analogous systems
    • G01S13/06—Systems determining position data of a target
    • G01S13/08—Systems for measuring distance only
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
    • G01S13/02—Systems using reflection of radio waves, e.g. primary radar systems; Analogous systems
    • G01S13/06—Systems determining position data of a target
    • G01S13/46—Indirect determination of position data
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S15/00—Systems using the reflection or reradiation of acoustic waves, e.g. sonar systems
    • G01S15/87—Combinations of sonar systems
    • G01S15/876—Combination of several spaced transmitters or receivers of known location for determining the position of a transponder or a reflector
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
    • G01S13/66—Radar-tracking systems; Analogous systems
    • G01S13/72—Radar-tracking systems; Analogous systems for two-dimensional tracking, e.g. combination of angle and range tracking, track-while-scan radar
    • G01S13/723—Radar-tracking systems; Analogous systems for two-dimensional tracking, e.g. combination of angle and range tracking, track-while-scan radar by using numerical data
    • G01S13/726—Multiple target tracking
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
    • G01S13/88—Radar or analogous systems specially adapted for specific applications
    • G01S13/93—Radar or analogous systems specially adapted for specific applications for anti-collision purposes
    • G01S13/931—Radar or analogous systems specially adapted for specific applications for anti-collision purposes of land vehicles
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
    • G01S13/02—Systems using reflection of radio waves, e.g. primary radar systems; Analogous systems
    • G01S13/06—Systems determining position data of a target
    • G01S13/46—Indirect determination of position data
    • G01S2013/466—Indirect determination of position data by Trilateration, i.e. two antennas or two sensors determine separately the distance to a target, whereby with the knowledge of the baseline length, i.e. the distance between the antennas or sensors, the position data of the target is determined
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
    • G01S13/88—Radar or analogous systems specially adapted for specific applications
    • G01S13/93—Radar or analogous systems specially adapted for specific applications for anti-collision purposes
    • G01S13/931—Radar or analogous systems specially adapted for specific applications for anti-collision purposes of land vehicles
    • G01S2013/9327—Sensor installation details
    • G01S2013/93275—Sensor installation details in the bumper area

Landscapes

  • Engineering & Computer Science (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Computer Networks & Wireless Communication (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Radar Systems Or Details Thereof (AREA)
  • Position Fixing By Use Of Radio Waves (AREA)
  • Testing Or Calibration Of Command Recording Devices (AREA)
CNB028279468A 2002-01-09 2002-12-17 基于多个传感器的距离读数而确定对象位置的方法和设备 Expired - Fee Related CN1320370C (zh)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
US10/042,903 2002-01-09
US10/042,903 US6522288B1 (en) 2002-01-09 2002-01-09 Method and apparatus for determining location of objects based on range readings from multiple sensors

Publications (2)

Publication Number Publication Date
CN1636149A CN1636149A (zh) 2005-07-06
CN1320370C true CN1320370C (zh) 2007-06-06

Family

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CNB028279468A Expired - Fee Related CN1320370C (zh) 2002-01-09 2002-12-17 基于多个传感器的距离读数而确定对象位置的方法和设备

Country Status (6)

Country Link
US (1) US6522288B1 (enExample)
EP (1) EP1463959B1 (enExample)
JP (1) JP4145800B2 (enExample)
CN (1) CN1320370C (enExample)
AU (1) AU2002366996A1 (enExample)
WO (1) WO2003060545A2 (enExample)

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DE10258287A1 (de) * 2002-12-13 2004-06-24 Robert Bosch Gmbh Verfahren und Einrichtung zur Objektdetekrierung
JP4371115B2 (ja) * 2006-03-01 2009-11-25 トヨタ自動車株式会社 物体検出装置
US7584020B2 (en) * 2006-07-05 2009-09-01 Battelle Energy Alliance, Llc Occupancy change detection system and method
US8271132B2 (en) * 2008-03-13 2012-09-18 Battelle Energy Alliance, Llc System and method for seamless task-directed autonomy for robots
US7668621B2 (en) * 2006-07-05 2010-02-23 The United States Of America As Represented By The United States Department Of Energy Robotic guarded motion system and method
US7801644B2 (en) * 2006-07-05 2010-09-21 Battelle Energy Alliance, Llc Generic robot architecture
US8355818B2 (en) * 2009-09-03 2013-01-15 Battelle Energy Alliance, Llc Robots, systems, and methods for hazard evaluation and visualization
US8073564B2 (en) * 2006-07-05 2011-12-06 Battelle Energy Alliance, Llc Multi-robot control interface
US8965578B2 (en) 2006-07-05 2015-02-24 Battelle Energy Alliance, Llc Real time explosive hazard information sensing, processing, and communication for autonomous operation
US7620477B2 (en) * 2006-07-05 2009-11-17 Battelle Energy Alliance, Llc Robotic intelligence kernel
US7974738B2 (en) * 2006-07-05 2011-07-05 Battelle Energy Alliance, Llc Robotics virtual rail system and method
US7587260B2 (en) 2006-07-05 2009-09-08 Battelle Energy Alliance, Llc Autonomous navigation system and method
US7211980B1 (en) * 2006-07-05 2007-05-01 Battelle Energy Alliance, Llc Robotic follow system and method
NL1032520C2 (nl) * 2006-09-15 2008-03-18 Thales Nederland Bv Werkwijze en systeem voor het volgen van een object.
JP2008209321A (ja) * 2007-02-27 2008-09-11 Fujitsu Ltd 探知測距装置および探知測距プログラム
CN101952004B (zh) * 2007-06-13 2015-08-12 因温斯特技术公司 改善己二腈质量的方法
JP5164546B2 (ja) * 2007-12-07 2013-03-21 クラリオン株式会社 測位方法
SE532431C2 (sv) * 2008-05-30 2010-01-19 Atlas Copco Rock Drills Ab Metod och anordning för bestämning av en överensstämmelse mellan en representation av en omgivning och nämnda omgivning
US8340818B2 (en) * 2009-04-24 2012-12-25 Robert Bosch Gmbh Method of accurate mapping with mobile robots
US8816895B2 (en) * 2011-04-15 2014-08-26 Raytheon Company Target-tracking radar classifier with glint detection and method for target classification using measured target epsilon and target glint information
JP5634423B2 (ja) * 2012-03-02 2014-12-03 株式会社東芝 目標追跡装置、目標追跡プログラム、目標追跡システム、及び目標追跡方法
JP6123133B2 (ja) * 2013-03-04 2017-05-10 パナソニックＩｐマネジメント株式会社 車両用障害物検知装置および、車両用障害物検知システム
JP5950122B2 (ja) * 2013-12-27 2016-07-13 株式会社国際電気通信基礎技術研究所 キャリブレーション装置、キャリブレーション方法およびキャリブレーションプログラム
US10156853B2 (en) 2015-04-02 2018-12-18 Electric 80 S.P.A. Group for localizing a moving target in a warehouse with automatic guided vehicles
US11762085B2 (en) * 2018-03-29 2023-09-19 Sony Corporation Device, system and method for localization of a target in a scene
JP7074593B2 (ja) * 2018-07-03 2022-05-24 株式会社Soken 物体検出装置
JP7111586B2 (ja) * 2018-11-09 2022-08-02 株式会社Soken 物体検出装置
JP7208112B2 (ja) * 2019-06-19 2023-01-18 株式会社Soken 物体検出装置
EP3997483A1 (en) * 2019-07-12 2022-05-18 Artis LLC Microsecond time of flight (mtof) sensor
JP7055491B1 (ja) * 2020-12-21 2022-04-18 ＷａｖｅＡｒｒａｙｓ株式会社 レーダ装置
US12461223B2 (en) * 2022-09-22 2025-11-04 Nxp B.V. System and methods for vehicle localization using infrastructure sensing

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DE19711467A1 (de) * 1997-03-20 1998-10-01 Mannesmann Vdo Ag Verfahren zur Bestimmung des senkrechten Abstandes zwischen einem Objekt und einer sich örtlich verändernden Einrichtung
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Patent Citations (3)

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WO2001015070A2 (en) * 1999-08-25 2001-03-01 Pinpoint Corporation Method and apparatus for locating mobile tags
DE19949409A1 (de) * 1999-10-13 2001-04-19 Bosch Gmbh Robert Verfahren und Vorrichtung zur Objektdetektierung

Also Published As

Publication number Publication date
JP2005515444A (ja) 2005-05-26
EP1463959B1 (en) 2013-03-20
CN1636149A (zh) 2005-07-06
WO2003060545A2 (en) 2003-07-24
WO2003060545A3 (en) 2003-11-13
AU2002366996A8 (en) 2003-07-30
JP4145800B2 (ja) 2008-09-03
US6522288B1 (en) 2003-02-18
EP1463959A2 (en) 2004-10-06
AU2002366996A1 (en) 2003-07-30

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