Method and apparatus for determining orientation
US6816437B1 · kind B1 · utility
Assignee
Inventors
Key dates
| Filing date | Jul 17, 2002 |
| Grant date | Nov 9, 2004 |
| Priority date | — |
| Expiry date | Jul 17, 2022 |
Classification
- Technology area (CPC G)Physics
- CPC primaryG01S5/186
- WIPO fieldMeasurement
- WIPO sectorInstruments
Abstract
The position and orientation of a mobile unit is determined from ultrasonic waves received from beacons of known location. Orientation is determined from a phase difference of the sensed ultrasonic wave at plural receivers on the mobile unit. Signals from multiple beacons may be processed to solve for x, y and z position and for speed of sound. The receivers are spaced at greater than a half wavelength of the ultrasonic wave and signals from plural receivers are processed to remove multiple wavelength phase ambiguity. Two non-collinear sets of collinear receivers allow ambiguity resulting from symmetry of the receivers to be broken.
Source: USPTO / EPO open patent data. Objective bibliographic and citation counts.