IL45177A - Object tracking and orientation determination system - Google Patents

Object tracking and orientation determination system

Info

Publication number
IL45177A
IL45177A IL45177A IL4517774A IL45177A IL 45177 A IL45177 A IL 45177A IL 45177 A IL45177 A IL 45177A IL 4517774 A IL4517774 A IL 4517774A IL 45177 A IL45177 A IL 45177A
Authority
IL
Israel
Prior art keywords
reference signals
signal
pointing
sensing
primary reference
Prior art date
Application number
IL45177A
Other versions
IL45177A0 (en
Original Assignee
Polhemus Navigation Sciences
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Polhemus Navigation Sciences filed Critical Polhemus Navigation Sciences
Publication of IL45177A0 publication Critical patent/IL45177A0/en
Publication of IL45177A publication Critical patent/IL45177A/en

Links

Classifications

    • 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
    • G01S1/00—Beacons or beacon systems transmitting signals having a characteristic or characteristics capable of being detected by non-directional receivers and defining directions, positions, or position lines fixed relatively to the beacon transmitters; Receivers co-operating therewith
    • G01S1/02—Beacons or beacon systems transmitting signals having a characteristic or characteristics capable of being detected by non-directional receivers and defining directions, positions, or position lines fixed relatively to the beacon transmitters; Receivers co-operating therewith using radio waves
    • G01S1/08—Systems for determining direction or position line
    • G01S1/42—Conical-scan beacons transmitting signals which indicate at a mobile receiver any displacement of the receiver from the conical-scan axis, e.g. for "beam-riding" missile control
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F41—WEAPONS
    • F41G—WEAPON SIGHTS; AIMING
    • F41G7/00—Direction control systems for self-propelled missiles
    • 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
    • G01S1/00—Beacons or beacon systems transmitting signals having a characteristic or characteristics capable of being detected by non-directional receivers and defining directions, positions, or position lines fixed relatively to the beacon transmitters; Receivers co-operating therewith
    • G01S1/02—Beacons or beacon systems transmitting signals having a characteristic or characteristics capable of being detected by non-directional receivers and defining directions, positions, or position lines fixed relatively to the beacon transmitters; Receivers co-operating therewith using radio waves
    • 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
    • G01S1/00—Beacons or beacon systems transmitting signals having a characteristic or characteristics capable of being detected by non-directional receivers and defining directions, positions, or position lines fixed relatively to the beacon transmitters; Receivers co-operating therewith
    • G01S1/02—Beacons or beacon systems transmitting signals having a characteristic or characteristics capable of being detected by non-directional receivers and defining directions, positions, or position lines fixed relatively to the beacon transmitters; Receivers co-operating therewith using radio waves
    • G01S1/08—Systems for determining direction or position line

Landscapes

  • Engineering & Computer Science (AREA)
  • Computer Networks & Wireless Communication (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Chemical & Material Sciences (AREA)
  • Combustion & Propulsion (AREA)
  • General Engineering & Computer Science (AREA)
  • Measurement Of Length, Angles, Or The Like Using Electric Or Magnetic Means (AREA)
  • Traffic Control Systems (AREA)
  • Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
  • Position Fixing By Use Of Radio Waves (AREA)
  • Measurement Of The Respiration, Hearing Ability, Form, And Blood Characteristics Of Living Organisms (AREA)
  • Toys (AREA)
  • Measuring Magnetic Variables (AREA)

Claims (11)

  1. - 1 - Λη object tracking system characterized by means for radiating a directable nutating field about a pointing vector which is the axis of nutation; means located at the object for sensing the nutating field; and, means for deriving a signal, based on the sensing of the nutating field, which is related to the misdirection, if any, of said pointing vector, means for redirecting said pointing vector toward said object in accordance with said error signal.
  2. - 2 - The system as set forth in claim 1 further characterized by said radiating means including means for generating a pointing vector having at least two independent components which are a function of at least two primary reference signals and means for transforming said primary reference signals in accordance with presumed pointing angle inputs to direct said pointing vector in a direction corresponding to said presumed pointing angle inputs, wherein said sensing means comprises means for sensing components of the field generated by the nutating field about said pointing vector and means for transforming the sensed components in accordance with said presumed pointing angle inputs to yield a set of reconstructed reference signals; and wherein said deriving means comprises means for comparing at least some of said reconstructed reference signals with at least some of said primary reference signals, deriving pointing angle error signals and altering the pointing angle input signals of said transforming means in accordance therewith to tend to null the pointing error.
  3. - 3 - The system as set forth in claim 2 further characterized by said directable field being an electromagnetic field, said radiating means including orthogonal radiators, said primary reference signals being a DC signal and a first AC signal.
  4. - 4 - The system as set forth in claim 3 further characterized by said sensing means including orthogonal sensors.
  5. - 5 - The syste as set forth in claim 4 further characterized by the object being free to translate in two dimensions and to orient in the same two dimensions, and in which there are at least two orthogonal radiators and sensors in each of said radiating and sensing means, respectively, the radiators and sensors being in the plane of the two dimensions.
  6. - 6 - The system as set forth in claim 4 further characterized by the object being free to translate in three dimensions and to orient in three dimensions, in which there are three orthogonal sensors and radiators in each of the sensing and radiating means, respectively, and in which a second AC signal in phase quadrature with said first AC signal is one of said primary reference signals.
  7. - 7 - The system as set forth in any of the preceding claims which is further characterized by means for determining the orientation of said object.
  8. - 8 - The system as set forth in claim 7 further characterized by said directable field being an electromagnetic field, said radiating means including three orthogonal radiators; said sensing means including three orthogonal sensors, said primary reference signals being a DC signal, a first AC signal and a second AC signal in phase quadrature with said first AC signal.
  9. - 9 - The system as set forth in claim 8 further characterized by means for determining the orientation of said object, said determining means including means for analyzing two of said reconstructed reference signals to determine two degrees-of-freedom of orientation and means for determining the phase relationship between at least one primary reference AC signal and the corresponding reconstructed AC reference signal to determine the third degree -of - freedom of orientation.
  10. - 10 - The system as set forth in claim 9 further characterized by said pointing error signals being determined by the presence or absence of a reference si-gnal variant in one of said reconstructed reference signals and wherein said two degrees -of- freedom of orientation are determined by detecting the presence of a DC signal in the other two of said reconstructed reference signals. - 11 - An object tracking system as characterized in claim 1 further including means for tracking the angular orientation of an object, said system including means for generating a series of three primary reference signals; -
  11. 11 - (Continued) first means for transforming said primary reference signals in accordance with a first transformation representing a presumed pointing angle; means including three orthogonal radiators for radiating said transformed primary reference signals; means including three orthogonal sensors for sensing the transformed primary reference signals, said sensing means being rigidly affixed to the object; second means for transforming said sensed signals in accordance with a second transformation which is the inverse of a presumed set of orientation angles; third means for transforming said sensed signals in accordance with a third transformation which is the inverse of said first transformation; means for comparing the sensed signals so transformed with said primary reference signals and altering, if necessary, the presumed pointing and orientation angles.
IL45177A 1973-07-30 1974-07-03 Object tracking and orientation determination system IL45177A (en)

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
US383688A US3868565A (en) 1973-07-30 1973-07-30 Object tracking and orientation determination means, system and process

Publications (2)

Publication Number Publication Date
IL45177A0 IL45177A0 (en) 1974-10-22
IL45177A true IL45177A (en) 1976-09-30

Family

ID=23514249

Family Applications (1)

Application Number Title Priority Date Filing Date
IL45177A IL45177A (en) 1973-07-30 1974-07-03 Object tracking and orientation determination system

Country Status (9)

Country Link
US (1) US3868565A (en)
JP (1) JPS6321157B2 (en)
CA (1) CA1045703A (en)
DE (1) DE2436641C3 (en)
FR (1) FR2239690B1 (en)
GB (1) GB1465134A (en)
IL (1) IL45177A (en)
IT (1) IT1017347B (en)
SE (1) SE396145B (en)

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US3868565A (en) 1975-02-25
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