WO2001067034A1 - Procede et dispositif pour determiner la position ou l'orientation d'un objet - Google Patents
Procede et dispositif pour determiner la position ou l'orientation d'un objet Download PDFInfo
- Publication number
- WO2001067034A1 WO2001067034A1 PCT/FR2001/000655 FR0100655W WO0167034A1 WO 2001067034 A1 WO2001067034 A1 WO 2001067034A1 FR 0100655 W FR0100655 W FR 0100655W WO 0167034 A1 WO0167034 A1 WO 0167034A1
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- WO
- WIPO (PCT)
- Prior art keywords
- sources
- field
- sensor
- orientation
- source
- Prior art date
Links
- 238000000034 method Methods 0.000 title claims abstract description 25
- 230000005672 electromagnetic field Effects 0.000 claims description 4
- 102000005717 Myeloma Proteins Human genes 0.000 claims 6
- 108010045503 Myeloma Proteins Proteins 0.000 claims 6
- 238000012544 monitoring process Methods 0.000 abstract description 2
- 239000003814 drug Substances 0.000 abstract 1
- 241001465754 Metazoa Species 0.000 description 4
- 238000005259 measurement Methods 0.000 description 4
- 238000004804 winding Methods 0.000 description 3
- 230000003071 parasitic effect Effects 0.000 description 2
- 238000004088 simulation Methods 0.000 description 2
- 238000001228 spectrum Methods 0.000 description 2
- 238000004458 analytical method Methods 0.000 description 1
- 210000003484 anatomy Anatomy 0.000 description 1
- 230000000712 assembly Effects 0.000 description 1
- 238000000429 assembly Methods 0.000 description 1
- 238000004422 calculation algorithm Methods 0.000 description 1
- 238000004364 calculation method Methods 0.000 description 1
- 238000001514 detection method Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 230000007613 environmental effect Effects 0.000 description 1
- 230000008921 facial expression Effects 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 230000000737 periodic effect Effects 0.000 description 1
- 230000002441 reversible effect Effects 0.000 description 1
- 239000000523 sample Substances 0.000 description 1
- 230000003595 spectral effect Effects 0.000 description 1
- 230000002123 temporal effect Effects 0.000 description 1
Classifications
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01D—MEASURING NOT SPECIALLY ADAPTED FOR A SPECIFIC VARIABLE; ARRANGEMENTS FOR MEASURING TWO OR MORE VARIABLES NOT COVERED IN A SINGLE OTHER SUBCLASS; TARIFF METERING APPARATUS; MEASURING OR TESTING NOT OTHERWISE PROVIDED FOR
- G01D5/00—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable
- G01D5/12—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable using electric or magnetic means
- G01D5/14—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable using electric or magnetic means influencing the magnitude of a current or voltage
- G01D5/20—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable using electric or magnetic means influencing the magnitude of a current or voltage by varying inductance, e.g. by a movable armature
- G01D5/204—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable using electric or magnetic means influencing the magnitude of a current or voltage by varying inductance, e.g. by a movable armature by influencing the mutual induction between two or more coils
- G01D5/2086—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable using electric or magnetic means influencing the magnitude of a current or voltage by varying inductance, e.g. by a movable armature by influencing the mutual induction between two or more coils by movement of two or more coils with respect to two or more other coils
Definitions
- the invention relates to a method for determining the position or orientation of an object using a magnetic field and a corresponding device.
- the desired position can be an abscissa, an ordinate, a dimension, etc ..., and the orientation a pitch angle, yaw or roll, etc ...
- object we mean both a body, an apparatus , a device, a human or animal body, or even a point on a body, an apparatus, a device, a body, human or animal etc ...
- the document FR-A-2 586 302 describes, for example, a process in which the object is fitted with a magnetic dipole constituted by a winding excited by an alternating current generator. Furthermore, there are measurement assemblies in the space where the object is supposed to be located, each assembly comprising directional magnetometers capable of measuring the component along an axis of the ambient magnetic field. The components of the field along the axes are measured using these sets and, depending on the result of these measurements, the coordinates of the origin of the dipole and the orientation angles of the dipole moment are calculated. We can also reverse this arrangement by fixing the sensor on the object and arranging the dipole in a fixed manner in space.
- the object of the present invention is precisely to remedy all of these drawbacks.
- the invention recommends assigning an identity to each field source using a code which is printed in the field.
- This code constitutes a kind of "signature" which will allow, in the sensor, to identify the origin of the field and thus, to restore the contributions of the different sources.
- the present invention relates to a method for determining the position or orientation of an object in space, in which: - in all the space where the object is supposed to be located, a magnetic field using a plurality of N sources (N integer at least equal to 1), - the object is fitted with a magnetic sensor,
- the signal delivered by the sensor is processed to determine the respective contributions of each of the N sources and the position or orientation of the object is deduced therefrom, characterized in that:
- the field produced by each source is coded with a code specific to this source, the N different codes assigned to the N different sources being orthogonal two by two,
- magnetic sensor any means capable of measuring one or more components of a magnetic field or its module.
- the signal delivered is meant the signal or signals delivered by the sensor.
- the N codes used in the N sources consist of N orthogonal pseudo-random binary sequences two by two, the decodings then being correlation operations.
- a pseudo-random binary sequence consists of a sequence of 0 and 1 (or of -1 and 1), this sequence not being periodic. Each element of this sequence has a duration T c .
- the length T s of a sequence is arbitrary but predetermined. It is the same for all sources.
- the number of elements in the sequence is the quotient of T ⁇ by T c .
- the magnetic field created can be the magnetic component of an electromagnetic field, in which case the sources are sources of the electromagnetic field.
- the present invention also relates to a device for implementing this method. This device comprises means capable of carrying out the operations defining the method.
- position or orientation is inclusive, that is to say it covers the cases where it is determined either the position of the object, or its orientation, or both.
- FIG. 1 illustrates the production of a magnetic field which is coded by a pseudo-random identification sequence and which is modulated by a carrier;
- FIG. 3 shows, schematically, an installation implementing the method of one invention.
- codes made up of pseudo-random binary sequences are not limited to this single case and encompasses all the codes which may present between them a certain orthogonality compared to a certain operation.
- this operation is correlation, an operation which is frequently encountered in signal processing.
- a source Si comprising a supply circuit A ⁇ and a winding B ⁇ .
- the index i denotes a rank between 1 and N (inclusive).
- Circuit A comprises a current generator 10, a pseudo-random sequence generator 12, a multiplier 14, a carrier wave generator 16, and a multiplier 18.
- the current produced by the generator 10 is denoted a x (t) and the sequence seqAt).
- the sequence seq x (t) is specific to each source. In order to be able to distinguish the sources from each other, a family of orthogonal sequences is used two by two in the sense of the correlation operation. If the binary sequence has a quasi-white power spectral density, the spectrum of the field produced by the source will be spread around a central frequency (which may possibly be zero). This technique is therefore similar to that of spectrum spreading.
- the carrier p (t) is preferably the same for all the sources.
- the current s x (t) feeds the winding B x , which then produces a magnetic field E coded by the sequence used.
- the amplitude aAt) of the current delivered by the generator 10 can be constant or slowly variable.
- the intensity of the magnetic field can be controlled to obtain an optimal signal-to-noise ratio.
- the N sources S x thus formed are distributed in the space where the object to be located is supposed to be located. They produce at each point in this space a magnetic field which is the sum of all the fields H x produced at this point. This total field must be unequivocally linked at this point.
- the plurality of sources makes it possible to obtain this result and to remove any ambiguity.
- FIG. 2 illustrates the means for measuring the field at a point and the processing carried out.
- These means first comprise a magnetic sensor 20 fixed on the object whose position or orientation is to be measured.
- This sensor receives all the H fields produced by the different sources. It can be directional, that is to say sensitive to the magnetic field along M directions (for example the three directions defined by a trirectangle Oxyz trihedron). In In principle, three directions are sufficient, but more could be used to obtain some redundancy.
- This sensor thus delivers M signals C -, (t) where j denotes a rank (j ranging from 1 to M).
- the means shown then comprise processing circuits CT lr -, each with a carrier generator 32 1:
- the generator 32 1 # - generates a carrier p (t), which will be used for the demodulation of the signal C (t).
- the generator 36 1 #: ⁇ delivers a pseudo-random sequence seq x (t) corresponding to the sequence seqAt) used in the source of rank i.
- the multiplier 38 ⁇ - performs the signal decoding and delivers a signal s 1 ⁇ ;) (t) corresponding to the source of rank i and to the component j of the field measured by the sensor.
- the MN demodulated and decoded signals s 1 # -, (t) (i from 1 to N, j from 1 to M) are then applied to an estimation circuit 40, which will give the position or the orientation, or the position and orientation of the object.
- FIG. 3 illustrates an exemplary implementation in which three field sources and a sensor are used which measure the three components of the field in three directions Ox, Oy, Oz.
- FIG. 3 thus shows: - three sources Si, S 2 , S 3 each composed of a supply Ai, A 2 , A 3 and a coil Bi, B 2 , B 3 ,
- a magnetic sensor 20 fixed to an object not shown, this sensor being directional and delivering three signals C x (t), C y (t) and C z (t) representing the three components of the global magnetic field along three axes Ox , Oy, Oz;
- each of these circuits comprising three circuits similar to the GT 1 circuit ( -, illustrated in FIG. 2, namely CT ⁇ , x , CT 2jX and CT 3 / X as regards of the component according to 0x (only the circuit 30 x is detailed in FIG. 3);
- the number of sources is equal to 3, but this arrangement is in no way limiting. In certain cases, it is possible to use only one source, the code then serving to facilitate the detection of the field in a difficult ambient environment. Correlation will always be implemented and will make it possible to distinguish the useful field from the parasitic fields, which, without coding-decoding, would disturb the measurement.
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- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Measurement Of Length, Angles, Or The Like Using Electric Or Magnetic Means (AREA)
Abstract
Description
Claims
Priority Applications (3)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP2001565960A JP2003526099A (ja) | 2000-03-07 | 2001-03-06 | 磁界を使用して対象物の位置または向きを決定するための方法ならびに対応するデバイス |
US10/220,998 US6898548B2 (en) | 2000-03-07 | 2001-03-06 | Method and device for determining the position or orientation of an object |
EP01915444A EP1261839A1 (fr) | 2000-03-07 | 2001-03-06 | Procede et dispositif pour determiner la position ou l'orientation d'un objet |
Applications Claiming Priority (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
FR0002899A FR2806158B1 (fr) | 2000-03-07 | 2000-03-07 | Procede pour determiner la position ou l'orientation d'un objet a l'aide d'un champ magnetique et dispositif correspondant |
FR00/02899 | 2000-03-07 |
Publications (1)
Publication Number | Publication Date |
---|---|
WO2001067034A1 true WO2001067034A1 (fr) | 2001-09-13 |
Family
ID=8847801
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
PCT/FR2001/000655 WO2001067034A1 (fr) | 2000-03-07 | 2001-03-06 | Procede et dispositif pour determiner la position ou l'orientation d'un objet |
Country Status (5)
Country | Link |
---|---|
US (1) | US6898548B2 (fr) |
EP (1) | EP1261839A1 (fr) |
JP (1) | JP2003526099A (fr) |
FR (1) | FR2806158B1 (fr) |
WO (1) | WO2001067034A1 (fr) |
Cited By (1)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
WO2011092396A1 (fr) | 2010-01-27 | 2011-08-04 | Universite De Franche Comte | Dispositif pour la mesure de positionnement d'un micro-actionneur |
Families Citing this family (10)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
DE10234744A1 (de) * | 2002-07-30 | 2004-02-19 | Elgo-Electric Gmbh | Vorrichtung zur Positions-und/oder Längenbestimmung |
US6962001B2 (en) * | 2003-11-10 | 2005-11-08 | The Research Institute For Electric And Magnetic Materials | Magnetic north detecting device and magnetic north detecting method |
WO2006058292A2 (fr) * | 2004-11-29 | 2006-06-01 | Purdue Research Foundation | Procede d'extraction de formes et de dessins |
JP5004646B2 (ja) * | 2007-04-26 | 2012-08-22 | 旭化成エレクトロニクス株式会社 | 位置姿勢検出システム及びその検出方法並びに位置姿勢検出装置 |
EP2211194A4 (fr) * | 2007-10-29 | 2013-05-01 | Tokyo Inst Tech | Dispositif de détection d'une quantité physique |
US8063642B2 (en) * | 2008-06-11 | 2011-11-22 | Mtem Ltd | Method for subsurface electromagnetic surveying using two or more simultaneously actuated electromagnetic sources |
US8258791B2 (en) | 2009-01-27 | 2012-09-04 | Mtem Ltd. | Method for subsurface electromagnetic surveying using two or more simultaneously actuated electromagnetic sources to impart electromagnetic signals into a subsurface formation and thereby determining a formation response to each signal |
US9576322B1 (en) * | 2015-06-29 | 2017-02-21 | State Farm Mutual Automobile Insurance Company | System and method for determining an indication of a location of a device in a vehicle |
US10314538B2 (en) | 2016-08-30 | 2019-06-11 | Huami Inc. | Biomechanical motion measurement |
US11076695B1 (en) * | 2018-02-14 | 2021-08-03 | Joshua A. McCloskey | Leveling system |
Citations (3)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US4054881A (en) * | 1976-04-26 | 1977-10-18 | The Austin Company | Remote object position locater |
US5446727A (en) * | 1993-11-30 | 1995-08-29 | Motorola Inc. | Method and apparatus for time aligning signals for reception in a code-division multiple access communication system |
WO1996005768A1 (fr) * | 1994-08-19 | 1996-02-29 | Biosense, Inc. | Systemes medicaux de diagnostic, de traitement et d'imagerie |
Family Cites Families (8)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US4346384A (en) * | 1980-06-30 | 1982-08-24 | The Austin Company | Remote object position and orientation locator |
US5151919A (en) * | 1990-12-17 | 1992-09-29 | Ericsson-Ge Mobile Communications Holding Inc. | Cdma subtractive demodulation |
FR2681204B1 (fr) * | 1991-09-11 | 1993-11-26 | Snecma | Procede et dispositif pour la transmission de deux informations dans le cadre d'une liaison dite a etalement de spectre. |
FI94819C (fi) * | 1993-06-10 | 1995-10-25 | Nokia Telecommunications Oy | Tiedonsiirtomenetelmä ja CDMA/FDMA-radiojärjestelmä |
FI110042B (fi) * | 1993-10-04 | 2002-11-15 | Nokia Corp | Solukkoradiojärjestelmä |
JP3136076B2 (ja) * | 1994-06-08 | 2001-02-19 | キヤノン株式会社 | 符号分割多重変復調装置 |
IL125761A (en) * | 1996-02-15 | 2005-05-17 | Biosense Inc | Independently positionable transducers for location system |
US6606349B1 (en) * | 1999-02-04 | 2003-08-12 | Sirf Technology, Inc. | Spread spectrum receiver performance improvement |
-
2000
- 2000-03-07 FR FR0002899A patent/FR2806158B1/fr not_active Expired - Lifetime
-
2001
- 2001-03-06 WO PCT/FR2001/000655 patent/WO2001067034A1/fr not_active Application Discontinuation
- 2001-03-06 EP EP01915444A patent/EP1261839A1/fr not_active Withdrawn
- 2001-03-06 JP JP2001565960A patent/JP2003526099A/ja active Pending
- 2001-03-06 US US10/220,998 patent/US6898548B2/en not_active Expired - Lifetime
Patent Citations (3)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US4054881A (en) * | 1976-04-26 | 1977-10-18 | The Austin Company | Remote object position locater |
US5446727A (en) * | 1993-11-30 | 1995-08-29 | Motorola Inc. | Method and apparatus for time aligning signals for reception in a code-division multiple access communication system |
WO1996005768A1 (fr) * | 1994-08-19 | 1996-02-29 | Biosense, Inc. | Systemes medicaux de diagnostic, de traitement et d'imagerie |
Cited By (2)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
WO2011092396A1 (fr) | 2010-01-27 | 2011-08-04 | Universite De Franche Comte | Dispositif pour la mesure de positionnement d'un micro-actionneur |
US9052218B2 (en) | 2010-01-27 | 2015-06-09 | Universite De Franche Comte | Device for measuring the positioning of a microactuator |
Also Published As
Publication number | Publication date |
---|---|
US20030151401A1 (en) | 2003-08-14 |
EP1261839A1 (fr) | 2002-12-04 |
FR2806158A1 (fr) | 2001-09-14 |
JP2003526099A (ja) | 2003-09-02 |
FR2806158B1 (fr) | 2002-05-17 |
US6898548B2 (en) | 2005-05-24 |
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