U.S. patent number 3,868,565 [Application Number 05/383,688] was granted by the patent office on 1975-02-25 for object tracking and orientation determination means, system and process.
Invention is credited to Jack Kuipers.
United States Patent |
3,868,565 |
Kuipers |
February 25, 1975 |
**Please see images for:
( Certificate of Correction ) ** |
OBJECT TRACKING AND ORIENTATION DETERMINATION MEANS, SYSTEM AND
PROCESS
Abstract
A field (e.g., a magnetic field) which nutates about a pointing
vector is used to both track or locate an object in addition to
determining the relative orientation of this object. Apparatus for
generating such a field includes mutually orthogonal coils and
circuitry for supplying an unmodulated carrier, hereafter called DC
signal, to one coil and an AC modulated carrier signal, hereafter
called AC signal, to at least one (usually two) other coil, such
that the maximum intensity vector of a magnetic field produced by
the currents in the coils nutates about a mean axis called the
pointing vector direction of the field. The generated field is
sensed in at least two orthogonal directions at the object to be
tracked and whose orientation is to be determined. The sensed
signals provide an indication of the direction and orientation of
the object relative to the coordinates of the generating means.
Inventors: |
Kuipers; Jack (Grand Rapids,
MI) |
Family
ID: |
23514249 |
Appl.
No.: |
05/383,688 |
Filed: |
July 30, 1973 |
Current U.S.
Class: |
324/207.26;
318/16; 318/647; 342/445; 342/448; 342/450 |
Current CPC
Class: |
F41G
7/00 (20130101); G01S 1/02 (20130101); G01S
1/08 (20130101); G01S 1/42 (20130101) |
Current International
Class: |
G01S
1/02 (20060101); G01S 1/00 (20060101); G01S
1/08 (20060101); G01S 1/42 (20060101); F41G
7/00 (20060101); G01r 033/02 () |
Field of
Search: |
;324/41,43R,34R
;318/16,647,653 ;343/1CS ;340/258C |
References Cited
[Referenced By]
U.S. Patent Documents
Other References
Kalmus, H.; A New Guiding & Tracking System; IRE Trans. On
Aerospace; Mar. 1962; pp. 7-10..
|
Primary Examiner: Corcoran; Robert J.
Attorney, Agent or Firm: Price, Heneveld, Huizenga &
Cooper
Claims
The embodiments of the invention in which an exclusive property or
privilege is claimed are defined as follows:
1. An object locating system which comprises:
a. means for radiating a directable nutating field about a pointing
vector direction;
b. means located at the object to be tracked, for sensing the
nutating field; and
c. means for determining the direction to the object relatiave to
the coordinate frame of the radiating means.
2. The object locating system of claim 1 in which the object is
free to translate and to orient in two-dimensions, and in which the
said field radiating means commprises orthogonal radiators and said
field sensing means comprises orthogonal sensors, said radiators
and sensors being in the plane of the two dimensions and sources of
a DC reference signal and an AC reference signal to be passed
through the two radiators and means for measuring and processing
the signals induced thereby in the sensors to determine the
translation and orientation of said object.
3. The object locating system of claim 1 in which the object is
free to translate and orient in three dimensions and in which said
field radiating means comprises three orthogonal radiators and said
sensing means comprise three orthogonal sensors and sources of a DC
reference signal, a first AC reference signal and a second AC
reference signal phase quadrature related to the first AC signal to
be passed through each of the three radiators and means for
measuring and processing the signals induced in the sensor coils to
determine the translation and orientation of said object.
4. A process for tracking an object, which comprises:
(a) radiating a nutating field about a pointing vector;
(b) sensing the generated field in at least two axes of the object
to be tracked; and
(c) moving the nutating field until the field signals sensed on the
two axes indicate that the object lies along the pointing
vector.
5. The process of claim 4 in which the object is free to translate
and orient in two dimensions and in which the field is sensed in
two dimensions.
6. The process of claim 4 in which the object is free to translate
and orient in three dimensions and in which the field is sensed in
three dimensions.
7. A process for tracking an object relative to the coordinate
frame of a radiator, which comprises:
a. radiating a nutating field about a pointing vector;
b. sensing the radiated field in at least two orthogonal axes at
the object, to produce an output signal for each axis; and
c. determining after appropriate coordinate transformation
processing, the directional position of the object and also its
angular orientation, both relative to the coordinate frame of the
radiating means.
8. The process of claim 7 in which the object is free to translate
and to orient in two dimensions, the field nutates by nodding in
the plane of the two dimensions, and in which the field is also
sensed in the two dimensions.
9. The process of claim 7 in which the object is free to translate
and to orient in three dimensions, the field nutates by describing
a conical motion about the pointing vector, and in which the field
is sensed in the three dimensions.
10. The process as set forth in claim 7 wherein said determining
step includes the steps of deriving a signal, based on the sensing
of the nutating field, which is related to the misdirection, if
any, of the pointing vector and applying the signal to the
radiator.
11. An object tracking system comprising 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.
12. The system as set forth in claim 11 wherein: said radiating
means includes 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.
13. The system as set forth in claim 12 wherein said directable
field is an electromagnetic field, said radiating means including
orthogonal radiators, said primary reference signals being a DC
signal and a first AC signal.
14. The system as set forth in claim 13 wherein said sensing means
includes orthogonal sensors.
15. The system as set forth in claim 14 wherein the object is 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.
16. The system as set forth in claim 14 wherein the object is 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.
17. The system as set forth in claim 12 which further comprises
means for determining the orientation of said object.
18. The system as set forth in claim 17 wherein said directable
field is 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.
19. The system as set forth in claim 18 wherein said means for
determining the orientation of said object comprises 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.
20. The system as set forth in claim 19 wherein said pointing error
signals are determined by the presence or absence of a reference
signal 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.
21. The object tracking system as set forth in claim 11 which
includes means for tracking the angular orientation of the object,
said system comprising: means for generating a series of three
parimary reference signals; 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.
22. An object tracking system for tracking the position and angular
orientation of an object, said system comprising: means for
generating a series of three primary reference signals; 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.
Description
BACKGROUND OF THE INVENTION
1. Field of the Invention
This invention relates to an object locating or tracking system or
process in which a vector field which is caused to nutate about an
axis called the pointing vector, is used to locate or track a
remote object. It also relates to an apparatus for generating such
a nutating field, more particularly a nutating magnetic field,
which mutates about an axis called the pointing vector. More
particularly, the invention relates to such a system or process
which is capable of determining both the relative translation and
the relative angular orientation of the coordinate frame of a
remote object, relative to the reference coordinate frame of the
apparatus which generates and points the nutating field.
2. Description of the Prior Art
The use of orthogonal coils for generating and sensing magnetic
fields is well known. Such apparatus has received wide attention in
the area of mapping magnetic fields to provide a better
understanding of their characteristics, for example. If a magnetic
field around generating coils can be very accurately mapped through
use of sensing coils, it has also been perceived that it might be
possible to determine the location of the sensing coils relative to
the generating coils based on what is sensed. However, a problem
associated with doing this is that there is more than one location
and/or orientation within a usual magnetic dipole field that will
provide the same characteristic sensing signals in a sensing coil.
In order to use a magnetic field for this purpose, additional
information must threfore be provided.
One approach to provide the additional information required for
this purpose is to have the generating and sensing coils move with
respect to each other, such as is taught in U.S. Pat. No.
3,644,825. The motion of the coils generates changes in the
magnetic field, and the resulting signals then may be used to
determine direction of the movement or the relative position of the
generating and sensing coils. While such an approach removes some
ambiguity about the position on the basis of the field sensed, its
accuracy is dependent on the relative motion, and it cannot be used
at all without the relative motion.
Another approach that has been suggested to provide the additional
required information is to make the magnetic field rotate as taught
in Kalmus, "A New Guiding and Tracking System," IRE TRansactions on
Aerospace and Navigational Electronics, March 1962, pages 7 - 10.
To determine the distance between a generating and a sensing coil
accurately, that approach requires that the relative orientation of
the coils be maintained constant. It therefore cannot be used to
determine both the relative translation and relative orientation of
the generating and sensing coils.
While the art of locating and tracking remote objects is a well
developed one, there still remains a need for a way to determine
the relative angular orientation of a remote object in addition to
locating or tracking the object. Further, there is a need for a
means, system or process which operates on the signals detected by
one sensor, those signals resulting from the nutating field
generated by one generating means, which is capable of determining
continuously the location of or tracking the remote object and
sensor, in addition to simultaneously determining continuously the
relative angular orientation of the remote object and sensor.
SUMMARY OF THE INVENTION
Accordingly, it is an object of this invention to provide a system
and process capable of determining both relative translation and
relative orientation of remote objects through the use of a vector
field.
It is another object of the invention to determine relative
translation and orientation of remote objects through use of a
field in a continuous manner, so that translation and orientation
may be tracked and therefore determined continuously.
It is a further object of the invention to provide a system and
process for locating an object precisely relative to a reference
coordinate frame of the vector field generating means.
It is still another object of the invention to provide a system in
which a pointing vector defined by a modulated field is used to
track an object very precisely.
It is a still further object of the invention to provide a
generator capable of producing electronically a field which nutates
about a specified pointing vector, which field can be used in the
above system and process.
It is therefore, also an object of this invention to set forth an
efficient signal processing technique which results in the measure
of the relative translation of a remote object (two angles) in
addition to the simultaneous measure of the relative angular
orientation of the remote object (three angles). That is, the
invention provides a means for measuring five independent angular
measurements utilizing only one field generating means and only one
sensing means at the remote moving object.
The above and related objects may be attained through use of the
system, process and field generating apparatus described herein.
This invention is based on the realization that the only positions
in a nutating dipole field where the field strength is magnitude
invariant lie along the axis of nutation, herein called the
pointing vector. This phenomenon allows very precise location or
tracking of a remote object that is free to undergo not only
changes in position but also changes in angular orientation.
A system in accordance with the invention has means for generating
a directable, nutating field, such as a magnetic field, about a
pointing vector. Means is provided at the remote object to be
located or tracked for sensing the field.
If the system is used to locate the object only, say for small
perturbations in pointing angle, means is provided for generating a
signal based on the sensed field for indicating the location of the
object. If the system is used to track the object, a signal
generating means is connected between the sensing means and the
field generating means which provides a signal to the field
generating means, based on the sensed field, for moving the
pointing vector of the nutating field toward the sensing means.
Preferably, orthogonal coils are used both in the generation of the
nutating field -- in which case it is an electromagnetic field --
and in the sensing of the resulting field.
BRIEF DESCRIPTION OF THE DRAWINGS
FIG. 1 describes the geometry of a simple coordinate transformation
called a rotation;
FIG. 2 is the block diagram representation of a single rotation
operator, as in FIG. 1, called a Resolver;
FIG. 3 shows the circuit giving 360.degree. pointing freedom to the
two-dimensional nutating magnetic field in the plane;
FIG. 4a shows the pointing angles defined for three dimensional
pointing;
FIG. 4b illustrates the circuit corresponding to the pointing
angles of FIG. 4a;
FIG. 5 is a schematic representation of a prior art magnetic field
generating and sensing system;
FIG. 6 is a representation of signals sensed in the system of FIG.
5;
FIG. 7 is a schematic representation of a system which will allow
practice of the invention for determining location and orientation
of an object which moves in two dimensions;
FIG. 8 is a representation of signals sensed in the system of FIG.
7;
FIG. 9 is a representation of a simplified two-dimensional system
using a two-coil generator and a two-coil sensor;
FIG. 10 is a schematic representation of a system in accordance
with the invention which will track the location and the angular
orientation of an object free to move in two-dimensions; and
FIG. 11 is a schematic representation of a system in accordance
with the invention which will track the location or direction and
the relative angular orientation of an object free to move in
three-dimensions, subject to certain restraints.
DETAILED DESCRIPTION OF THE INVENTION
Apparatus in accordance with the invention for generating a
directable, nutating, magnetic field along a pointing vector
includes at least two orthogonally positioned coils through which
excitation currents can be passed. This excitation current will
usually be operating at some specified carrier frequency which is
modulated by a direct current (DC) signal and/or an alternating
current (AC) signal. Hereinafter, these modulation envelopes will
be referred to only as DC signal or AC signal. The AC signal is at
the nutation frequency. Circuitry for supplying a DC current
through one of the coils and an AC current through at least one
additional orthogonally positioned coil produces a nutating
magnetic field whose pointing vector is in the direction of the
axis of the DC coil, or more properly stated, in the direction of
the axis of the DC field. The amplitude of the nutation depends on
the relative amplitude of AC and DC signals, in most cases taken to
be equal in amplitude. If the object can move only two dimensions,
the nutation need only be a simple nodding in the plane of the
motion. This can be produced by a DC signal in one of the coils and
an AC signal in the second coil, with both coils in the plane of
the motion. If the object is free to move in three dimensions, the
nutation desirably describes a conical motion about the pointing
vector of the field, the conical apex at the intersection of the
coils. Such a nutating field can be generated by the combination of
a DC signal in one of the coils, an AC signal is a second coil, and
another AC signal having a phase in quadrature with the phase of
the first AC signal, passed through the third coil, all three coils
being mutually, spacially orthogonal.
In both the 2-D and 3-D nutating fields described above, the
pointing vector is fixed to the direction of the axis of the DC
field. To make this nutating field directable, a signal processing
means known as a coordinate transformation circuit must operate on
the reference AC and DC excitation signals in order to point the
nutating field in the desired direction. A brief discussion of the
coordinate transformation known as a rotation is presented as
background in order to properly teach the principles underlying the
techniques employed in this invention.
A vector transformed by pure rotation from one coordinate frame
into another coorindate frame is also said to be resolved from the
one into the new coordinate frame. Resolve and resolution in this
context are synonyms for transform and transformation. The operator
which transforms the components of a given vector in one coordinate
frame into its components in another coordinate frame where the two
coordinate frames are related by a simple angular rotation is
defined as a resolver. The equations governing this transformation
are:
x.sub.2 = x.sub.1 cosA + y.sub.1 sinA
y.sub.2 = y.sub.1 cosA - x.sub.1 sinA
z.sub.2 = z.sub.1
where in this case the z.sub.1 axis is the axis of rotation. The
equations are readily verified from the geometry illustrated in
FIG. 1. Note that when the two components operated on by the
resolver are ordered positively (zxyzxy . . . ) then the first
component of the positively ordered pair always has the positive
sine term when the angle of rotation is positive. If the angle of
rotation is negative then the sign of the sine terms reverses. A
convenient notation for a resolver is the block shown in FIG. 2
where the rotation in this case is shown as negative about the
y-axis. The y component is therefore not affected by the
transformation and this fact is indicated in this notation by
passing that component directly through the box as shown whereas,
the resolver block representing FIG. 1 would show the z.sub.1 axis
passing directly through the box. This notation should be regarded
as a signal flow or block diagram for vector components,
particularly useful in describing the computational strategy
employed in this invention.
A process in accordance with the invention includes the generation
of a directable, nutating field, nutating about an axis called the
pointing vector. In the 2-D case, a single resolver operates on the
AC and DC orthogonal components of the reference nutating
excitation vector in order to produce the proper mixture of AC and
DC on each of the two generator coils such that the pointing
vector, along with the entire nutating magnetic field structure, is
directed so as to make an angle A with the reference X-axis, as
shown in FIG. 3. The excitation for the two generator coils
necessary to direct the pointing vector in the required direction
defined by the angle A is given by the equations:
Excitation for X-coil = (DC)cosA - (AC) sinA
Excitation for Y-coil = (AC)cosA + (DC)sinA
The computational circuitry necessary for precisely directing or
pointing the nutating magnetic field for the 3-D case operates, in
principle much the same as in the 2-D case. The reference nutating
excitation vector now consists of three components: a DC and two AC
signals quadrature related. The pointing vector and its entire
nutating magnetic field structure are pointed in any desired
direction defined in terms of angle A and B, in this case. FIG. 4
illustrates the pointing geometry and the computational coordinate
transformation circuitry necessary for achieving the desired
pointing direction by operating on the given three reference
excitation signals. A more detailed explanation of coordinate
transformations, calculations and applications is contained in
Kuipers, J., Solution and Simulation of Certain Kinematics and
Dynamics Problems Using Resolvers, Proceedings of the Fifth
Congress of the International Association for Analog Computation,
Lausanne, Switzerland, Aug. 28 - Sept. 2, 1967, pages 125 - 134,
the disclosure of which is incorporated by reference herein.
A process in accordance with the invention includes the generation
of a field which nutates about a pointing vector. The generated
field is sensed in at least two axes at the object to be located or
tracked. From the processed relationship between the field
components sensed in each of the orthogonal axes, the position of
the object relative to the pointing vector of the field is
determined to locate the object. To track the object, the pointing
vector of the nutating field is moved until the field sensed on the
two axes, after appropriate coordinate transformation processing,
indicates that the object lies along the pointing vector. This has
taken place when the processed signal resulting from the sensed
nutating field is magnitude invariant over the nutation cycle. If a
pointing error exists, then the amplitude of the modulation sensed
in the pointing direction is proportional to the angular
displacement of the object from the pointing vector. More
specifically, the relative phase of the detected and processed
signals compared to the reference field generating signals is
proportional to the direction of the object relative to the
pointing vector. The modulation amplitude of the sensed and
processed signal, in the pointing vector direction is proportional
to the angular displacement from the pointing vector.
The above discussion explains that the pointing vector can
continuously track the object. This results in two angular measures
defining the location of the object. Determination of the angular
orientation of the object is however is independent matter. The
orientation of the object is specified in general by three Euler
(see Kuipers' referenced paper) angles measured relative to the
reference coordinate frame at the generator. Two of the error
measures of angular orientation are proportional to whatever
non-zero projections of the sensed and processed DC field component
exist in the coordinate directions of the plane perpendicular to
the pointing direction. The third angular error measure is
proportional to the relative phase of the sensed and processed
nutation signals in this orthogonal plane, compared to the nutation
reference excitation at the generator means.
This system, apparatus for generating a nutating field about a
pointing vector, and process allows a remote object to be located
and tracked very precisely, both as to position and angular
orientation. While the invention should find application in a wide
variety of situations where remote object location or tracking
coordinates, in addition to the orientation angles of the object,
is required, it is particularly adapted in its present preferred
form for use in tracking the position and angular orientation of an
observer's head, more specifically his line-of-sight, for visually
coupled control system applications. In this limited application,
the pilot's line-of-sight is continuously and precisely defined
relative to the coordinates of the aircraft. Many other
applications such as automatic landing or docking, remotely piloted
vehicles, automatically negotiated air-to-air refuelling, formation
control, etc. are all applications operating over much larger
domains. In general, any situation involving two or more
independent bodies or coordinate frames, wherein it is desired not
only that the relative distance or location of the frames be
measured, tracked and controlled precisely but also that it is
desired simultaneously and with the same device to precisely
measure, track and control the relative angular orientation of the
two frames, is a potential application of this invention.
Referring now particularly to FIG. 5, the elements of a prior art
magnetic field generating and sensing system which cannot be used
to locate, track or determine the orientation of an object, are
shown. Included is a magnetic field generator 10 having a coil 12
wound of copper or other conducting wire on a magnetic, preferably
isotropic, core 14. A source 16 of current i at some convenient
carrier frequency, is connected to the coil 12 by leads 18 and 20.
Sensor 22 has a coil 24 wound preferably also on a magnetically
isotropic core 25, as in the case of the generating coil 12. Sense
circuits 26 are connected to the coil 24 by leads 28 and 30.
In use in accordance with prior art techniques, the passage of
current i through coil 12 creates a magnetic field 32. Coil 24 of
sensor 22 is moved to different points around the generating coil
12, and currents induced in the coil 24 provide a measure of the
strength of the magnetic field 32 at the different points. With
reference to the reference coordinate axes 34, 36, and 38, in
addition to simple translation of coil 24 in the directions X, Y
and/or Z, the coil 24, whose coordinate axes are 33, 35 and 37, may
assume different relative angular orientations by rotations about
these axes x, y and/or z.
FIG. 6 shows the output signal at coil 24 measured by sense circuit
26 for a given field 32 generated by current i flowing through the
coil 12, as coil 24, is rotated for 360.degree. about either the y
axis 35 or the z axis 37. In fact, coil 24 could be translated to
uncountably many points around coil 12 where the above rotations of
coil 24 would again give the same output signal shown in FIG. 6.
This demonstrates simply why the prior art apparatus cannot be used
to uniquely define the relative position of nor the relative
angular orientation of the sensing coils 24 with respect to coil
12.
FIGS. 7 and 8 show coil 12 which nutates the field 32 in a simple
nodding motion, induced by nutating means 44 connected to coil 12
by line 46, through a predetermined angle 48, e.g., 45.degree., and
the resulting output curves as sensed by circuits 26. The
translation and rotation motions to be considered are restricted to
the X-Y plane. The curves of FIG. 8 illustrate the basis underlying
strategy in the subject invention. In FIG. 7 note that two
orthogonal angular orientations are shown for the sensor coil 24.
In each of these two orientations there is, in general, an AC and a
DC component induced in coil 24. When coil 24 is aligned with the
y-axis which is assumed to be orthogonal to the pointing axis 50,
the induced signal consists of a zero AC component at the
fundamental nutation frequency and a zero DC component. When coil
24 is aligned with the x-axis, which is coincident with the
pointing axis 50, the induced signal consists of the entire DC
component and again zero AC at the fundamental nutation frequency.
The two pertinent signals for determination of relative orientation
and translation, are the DC signal induced in coil 24 when in the
y-position and the AC signal when in the x-position. Both are zero
as illustrated in the first two curves of FIG. 8 when there is no
orientation or translation error.
If a translation error exits then the sensor coil 24, in the x
position, will sense some AC signal 47 at the fundamental nutation
frequency. The magnitude of this signal will be proportional to the
magnitude of the translation error; its phase, either 0.degree. or
180.degree., will indicate the direction of the error.
If an orientation error exists, then the sensor coil 24 in the y
position will sense some DC signal 45. The magnitude and polarity
of this DC signal will indicate the magnitude and direction of the
orientation error, respectively.
The apparatus of FIG. 7 will allow practice of the process of the
invention to determine the location and orientation of coil 24 by
alternately positioning the coil 24 along the x and y axes,
assuming freedom to move or orientate the coil 24 alternately to
coincide with the x and y axes. If movement occurs in each of the
X, Y and Z directions, that is, in all three dimensions, then more
than a simple planar nutation in the X-Y plane is required to
characterize that movement, as will be considered in more detail
below. In the X-Y plane, however, rather than a successive
positioning of the coil 24, it is far simpler to utilize two
orthogonal coils, as in the apparatus of FIG. 9. Therefore, coil 24
of FIG. 7 has been replaced by orthogonally positioned coils 52 and
54, each connected to sense circuits 26 by leads 56 and 58, and 60
and 62, respectively. While nutation of the field 32 in FIG. 7
through the angle 48 can be accomplished by any convenient method,
such as by means 44 giving a mechanical nutating motion of the coil
12 in FIG. 7, it is best accomplished electrically, utilizing a
pair of coils 64 and 66, also orthogonal. Current sources 68 and 70
are connected to each of these coils by leads 72 and 74 and 76 and
78, respectively. As shown, current source 68 supplies a DC signal
i to coil 64, and current source 70 supplies an AC signal, say Msin
wt, to coil 66. These signals can be either simple DC and AC or may
be both superimposed on a suitable carrier frequency such as 10
kilohertz, in which case the terms AC and DC pertain to the
modulation envelope defining each curve. In either case, the
resulting magnetic field in the apparatus of FIG. 9 will nutate
about a pointing axis 80 which is always coincident with the axis
of the coil 64 as the AC signal in coil 66 produces an alternating
magnetic field which adds vectorially to the magnetic field
generated by the DC signal in coil 64.
In practice, an object having orthogonal sensing coils 52 and 54
mounted on it is free to move anywhere in the plane defined by the
axes of the coils. If the system is to track the object, generating
coils 64 and 66 should have the capability to generate a magnetic
field which nutates about a pointing vector 80, with a peak-to-peak
angular nutation amplitude 49, in which the pointing vector 80 does
not coincide with the axis of coil 64. Such a magnetic field can be
created by supplying the appropriate mixtures of the AC and DC
signals to coil 64 and to coil 66. As was described earlier, the
amplitude 44 of nutation angle depends upon the relative amplitude
of the reference DC and AC sources, 68 and 70, respectively. The
angle that the pointing vector 80 makes with the reference x-axis
of the coil 64 is governed by the mixing process performed by the
resolver circuit or process suggested in the discussion related to
FIG. 3, inserted in the leads 72, 74, 76 and 78 between sources 68
and 70, and coils 64 and 66, respectively. The resolver operates on
the fixed reference DC and AC signals from sources 68 and 70, such
that the processed signals received from the resolver for exciting
the generator coils 64 and 66 now have the capability of directing
the pointing vector 80 of the nutating field, at any desired angle
A, through a full 360.degree., in accordance with the equations
Excitation of coil 64 = (DC)cosA - (AC)sinA
Excitation of coil 66 = (AC)cosA + (DC)sinA
In order to provide sufficient information for tracking in a plane
the position and the angular orientation of an object having
sensing coils 52 and 54 mounted on it, the sense circuits 26 should
have the capability to detect, after coordinate rotation processing
of the signals induced in the sensing coils 52 and 54, the AC error
component in the pointing vector direction and the DC error
component in the direction orthogonal to the pointing vector. The
relative phase and amplitude of the above mentioned AC error is
proportional to the direction and magnitude of the pointing error.
The polarity and magnitude of the above mentioned DC error
component is proportional to the direction and magnitude of the
error in the computed orientation angle of the remote object. These
two error signals, which are proportional to the angular error in
the pointing angle and to the angular error in the relative
orientation angle of the object, respectively, are used to make
corrections in the previous measure of these two angles. The change
in the pointing angle will shift the pointing vector until the
sensor coils 52 and 54 lie along it, at which time the AC error
signal, measured in the direction of the pointing vector 80, will
be zero. The indicated change required in the orientation angle
will improve or correct the computed orientation angle which
represents the relative coordinate relationship between the
coordinate frame of the generator coils 64 and 66, and the
coordinate frame of the sensor coils 52 and 54. If this
relationship is properly represented in the signal processor, by
the orientation angle resolver .theta., then the DC error signal
detected in the direction orthogonal to the pointing vector 80,
will be zero.
In summary, and with added reference to FIG. 10, apparatus in
accordance with the invention, for continuously tracking the
relative location or direction and the relative angular orientation
between two independent bodies in a plane, is described. The
reference coordinates of the plane are defined by the X-axis 84 and
the Y-axis 86 which are coincident with the field generating coils
64 and 66, respectively. Both the translation and the orientation
angles will be measured with respect to this reference coordinate
frame. The sensor coils 52 and 54 are fixed to the remotely moving
object, and their mutually orthogonal axes 90 and 92 define the
coordinate frame of the object to be tracked both as to location
and orientation. In order to generate a nutating magnetic field
pointed in a prescribed direction relative to the fixed coordinate
frame of the generator coils 64 and 66, a particular mixture of DC
and AC excitation signals is required in each of the generating
coils. The resolver 102 processes the reference DC and AC
excitation signals received on leads 104 and 106 from sources 68
and 70, respectively, in accordance with the presumed input
pointing angle A 82, to give the appropriately mixed resolver
output excitation signals which are connected by leads 108 and 110
to the generator coils 64 and 66, respectively, such that the
pointing vector 80 and its attendant nutating field structure makes
the angle A with respect to the reference X-axis. The generated
nutating field points nominally at the sensor coils 52 and 54. The
peak-to-peak amplitude of the nutation 88 is fixed, usually
45.degree. to 90.degree., and depends upon the relative magnitude
of the two fixed reference DC and AC excitation signals from
sources 68 and 70. It is clear that the signals induced in the
sensor coils 52 and 54 depend not only on the pointing angle A but
also on the relative orientation angle .theta. 94. It is for this
reason that the induced signals in coils 52 and 54 are connected by
leads 112 and 114 to resolver 96 to be processed by resolver 96
which removes or unmixes that part of the AC and DC mixing of the
two signals that is attributable to the non-zero orientation angle
.theta. 94. The two output signal components from resolver 96 are
connected by leads 116 and 118 to resolver 98 which further unmixes
the DC and AC signals mixing that was necessary to achieve the
desired pointing angle A 82. If the presumed pointing angle A and
the presumed orientation angle .theta. are correct, then the output
components from resolver 98 will be totally unmixed. That is, there
will be no AC modulation error on the nominal DC output signal 120
which indicates that there is no pointing error, and also there
will no DC component on the nominally AC signal 122 which indicates
that the computed orientation angle is correct. In the event that
the angles .theta. and/or A are incorrect, as will be the case,
since very small errors are expected, when operating under
dynamically changing circumstances, then sense circuits 26 wil
detect the AC and Dc errors on lines 120 and 122, respectively,
relate them to errors in the angles .theta. and A, respectively,
and on leads 124 and 126 introduce the corresponding incremental
changes accumulated by Angle Measuring Circuit 100, in the
respective angles. These improved angle meaures of .theta. and A
are connected to the appropriate resolvers employed in this
embodiment on leads 132, 134 and 136 in a stable feedback
arrangement. That is, the corrections made in the outputs 128 and
130 tend to reduce the errors measured on components 124 and 126.
These principles can be extended to applications in three
dimensions by employing the system shown in FIG. 11.
As in the system of FIG. 10, the system of FIG. 11 includes
magnetic field generating coils 64 and 66 and magnetic field
sensing coils 52 and 54. A third magnetic field generating coil
158, which is mutually orthogonal to coils 64 and 66, and a third
magnetic field sensing coil 248, which is mutually orthogonal to
coils 52 and 54, is provided in order to measure information in the
third dimension. For ease of understanding, the three coils in each
case have been shown as spacially separated. In actuality, the
magnetic axes of both the generator coils and the sensor coils
intersect in a mutually orthogonal relationship as shown by the
cartesian coordinate frames 84, 86, 160, and 90, 92, 170,
respectively. It should also be noted that an additional AC
reference excitation signal has been provided such that AC1 and AC2
are quadrature related or 90.degree. phase related. They may be
considered as sinusoids of equal amplitude but 90.degree. out of
phase, although the two reference AC1 and AC2 signals need not
necessarily be sinusoidal in the practical embodiment of the
system. Reference is again made to FIG. 4 which was related to the
earlier discussion of coordinate transformation circuitry and which
shows the three dimensional pointing geometry. As in the case of
the two dimensional embodiment shown in FIG. 10, the ability to
point the pointing vector 180 in any direction in which the
assembly of sensing coils 52, 54 and 248 are free to move enables
the sensing coils to be tracked. The reference excitation Dc, AC1
and AC2 signals from sources 68, 70 and 140, respectively, define a
conically nutating 164 magnetic field about a pointing axis 180
which is coincident with the axis of the DC component of the field.
It should be emphasized again that the pointing of the vector 180
is accomplished electrically by the circuit to be described while
the generating coils 64, 66 and 158 maintain a fixed orientation
phsyically. DC source 68 and AC2 source 140 are connected by leads
142 and 144, respectively, to resolver 220, whose output lead 148
and output lead 146 from AC1 source 70 are connected to resolver
222. The output leads 154 and 156 provide the excitation signals
from resolver 222 to generator coils 64 and 66, respectively.
Generator coil 158 is excited through connection 152 from the
output of resolver 220. The two angles A and B of resolver 222 and
220, respectively, are thus operating on the reference nutating
field vector input whose components are the reference excitations
from sources 68, 70 and 140, so as to point the pointing vector 180
and its attendant nutating field structure in accordance with the
geometry shown in FIG. 4. The pointing vector 180 is presumed to be
pointing nominally at the sensor which is fixed to the remote
object to be tracked by the system. This sensor consists of the
three mutually orthogonal sensor coils 52, 54 and 248, which are
fixed to the remote object and in the preferred embodiment are
aligned to the principal axes of the remote object, so that in the
process of determining the orientation of the sensor triad the
orientation of the remote object is therefore determined. As in the
discussion of the two dimensional case, illustrated in FIG. 10, the
signals induced in the sensor coils 52, 54 and 248 depend on the
orientation of their sensor coordinate frame, defined by the
mutuallyy orthogonal coordinate axes 90, 92 and 170, relative to
the pointing axis 180 and its two orthogonal nutation components of
the nutating field. In other words, the particular mixing of the
three reference excitation signals DC, AC1, and AC2 from sources
68, 70 and 140, induced in each of the three sensor coils 52, 54
and 248, depends not only upon the two pointing angles A and B
which govern the composite pointing coordinate transformation
circuit 252 but also upon the three Euler angles defining the
relative angular orientation of the remote object and which govern
the composite orientation coordinate transformation circuit 250.
The principal function of the two coordinate transformation
circuits 250 and 252 in the overall computational strategy of the
system is that the transformation circuit 250 unmixes that part of
the reference signal mix induced in the sensor coils attributable
to the relative orientation of the remote object, and coordinate
transformation circuit 252 unmixes the remaining part of the
reference signal mix that was due to the pointing angles. If the
three orientation angles defining coordinate transformation circuit
250 and the two pointing angles defining the coordinate
transformation circuit 252 properly represent the physical
relationship between the sensor and generator coordinate frames,
then the signals sensed by the sense circuits 26 will correspond to
the unmixed reference signals DC, AC1 and AC2, respectively, from
sources 68, 70 and 140.
The sensor coils 54 and 248 are connected to resolver 224 by leads
168 and 172, respectively. The output of sensor coil 52 and one
output from resolver 224 connect to resolver 226 by leads 166 and
174, respectively. One output from resolver 224 and one output from
resolver 226 connect to resolver 228 by leads 176 and 178,
respectively. The two outputs from resolver 228 are connected to
resolver 230 by leads 186 and 188, respectively. One output from
resolver 226 and one output from resolver 230 connect to resolver
232 on leads 184 and 190, respectively. One output from resolver
230 and the two outputs from resolver 232 provide the processed
signal inputs to sense circuits 26 by connections 192, 194 and 196,
respectively. Sense circuits 26 operates on the three input signals
provided by leads 194, 192 and 196, to sense deviations from their
nominally correct values which should correspond to the reference
excitation signal components 68, 70 and 140, respectively. The
signal sensed on lead 194 should be nominally DC. If lead 194
contains an AC error signal at the nutation frequency then a
pointing error exists, that is, the pointing vector 180 is not
pointing precisely at the sensor coils 52, 54 and 248. That portion
of the AC error signal, detected on lead 194 that is of the same
absolute phase as the excitation signal 146, is proportional to an
error in the pointing angle A. This pointing angle error in A is
connected to the angle measuring circuits 100 by lead 200. That
portion of the AC error signal detected on lead 194 that is of the
same absolute phase as the excitation signal 144, is proportional
to an error in the pointing angle B. This detected error in
pointing angle B is connected to the angle measuring circuits 100
by lead 202. The signal that appears on lead 192 should be
nominally AC at the nutation frequency and no DC signal. Whatever
DC signal appears on lead 192 is proportional to an orientation
angle error in the angle .PSI., called the relative bearing angle.
This detected error in the relative bearing angle .PSI., is
connected to the angle measuring circuits by lead 208. The signal
that appears on lead 196 should also be nominally AC at the
nutation frequency and should contain no DC. Whatever DC signal is
present on signal lead 196 is proportional to an error in the
relative orientation angle .theta., called the relative elevation
angle. This error in the relative elevation angle .theta., is
connected to the angle measuring circuits 100 by lead 206. As
mentioned above, the nominal signals appearing on leads 192 and 196
are not only characterized as being AC at the nutation frequency
but also quadrature related as are their normal reference signal
counterparts AC1 and AC2. Moreover, whatever phase difference
exists between the signal on lead 192 and signal source 70, or
alternatively, whatever phase difference exists between the signal
on lead 196 and signal source 140, is proportional to an error in
the relative orientation angle .theta., called the relative roll
angle. This error in the relative roll angle .phi., is connected to
the angle measuring circuit 100 by lead 204. The function of the
angle measuring circuits 100 is to provide correct or corrected
measures of the two pointing angles A and B on leads 210 and 212,
respectively, based upon the angular errors sensed by sense
circuits 26. Another function of the angle measuring circuits 100
is to provide correct or corrected measures of the three relative
orientation angles .phi., .theta. and .PSI., on leads 214, 216, and
218, respectively. These continuously improved angle measures,
appearing on leads 210, 212, 214, 216, 218, are connected by leads
234 and 240, 236 and 238, 246, 244, 242, to resolvers 222 and 230,
220 and 232, 224, 226, 228, all respectively, in a stable feedback
arrangement. That is, the corrections made in the respective angles
by the angle measuring circuits 100 tend to reduce to zero the
error signals detected by sense circuits 26 appearing on leads 194,
192 and 196.
It should be pointed out that the sequence of angles and their
corresponding axes of rotation, for both the pointing coordinate
transformation circuit 252 and the relative orientation coordinate
transformation circuit 250, are not unique. That is, other angle
definitions and rotation sequences can be used for either of the
two transformations subject to their having the required pointing
and relative orientation freedom.
It should be pointed out that the implementation of the invention
can be done using state-of-the-art techniques using digital, analog
or hybrid circuitry.
It should also be pointed out that whereas the invention might be
also regarded as a unique five degree-of-freedom transducing system
between two remotely separated independent coordinate frames,
employing only one generating source in one of the coordinate
frames and only one sensor in the other coordinate frame, that the
system can easily be extended to provide a measure of the full six
degrees-of-freedom by using two generating means. The second
generating means would or could be located at another point in the
coordinate frame of the first generating means, operating
cooperatively with the first generating means on a time shared
basis, thereby allowing the third translation coordinate, that of
relative range, to be determined by triangularization, using the
same computational techniques employed in the invention.
It should also be emphasized that the subject invention applies to
a wide range of applications operable in domains from a few cubic
feet or less to applications operable in domains of several cubic
miles.
In the discussion above it is to be understood that the sense
circuits 26 are internally supplied with the components of the
reference excitation signals from sources 68, 70 and 140 in order
to logically perform the discriminating sensing function required
of their sensing circuits 26.
The resolvers which form components of the circuitry described
herein may be fabricated, by way of example, in accordance with the
teachings of U.S. Pat. Nos. 3,187,169 issued June 1, 1965, and
2,927,734 issued Mar. 8, 1960. The sensing circuits, again by way
of example, may be fabricated in accordance with the teachings of a
circuit diagram appearing at page 67 of the book entitled
"Electronics Circuit Designers Casebook", published by Electronics,
McGraw Hill, No. 14-6. The angle measuring circuitry may take the
form of any of a vast number of well-known Type I Servomechanisms.
There are, of course, numerous alternate constructions available
for each of these components as will be readily appreciated by
those skilled in the art.
It should now be apparent that a remote object tracking and
orientation determination system capable of attaining the stated
objects of the invention has been provided. The system and process
of this invention utilizes a field for the purpose of determining
tracking and orientation angles of a remote object very precisely
relative to the coordinate frame of the apparatus which generates
the field. With a two-dimensional nutation of the generated field,
the tracking and orientation angles of the remote object in the
plane of nutation may be determined. With a three-dimensional
nutation, the direction to and the orientation of a remote object
may be determined.
It will be appreciated by those skilled in the art, additionally,
that (a) the raw output from the angle measuring circuitry will be
useful in certain situations in an open looped system although
ordinarily, for .phi., .theta. and .PSI. to be accurate, the
generator must be pointing directly at the sensing means; and (b)
absolute location and orientation (including distance) of an object
relative to the reference source can be determined by utilizing two
physically displaced generators such as that shown in FIG. 11 with
appropriate receiving and output circuitry at the object.
While the invention has been described in detail as a system for
tracking the movement and angular orientation of a generalized
remote object, it should be readily apparent to one art-skilled
that the invention may be used in a variety of object locating,
tracking and orientation angle determination applications. One
application currently in development is tracking the movement and
orientation of an observers head, or more specifically, his
line-of-sight for use in a Visually-Coupled-Control System. Other
potential applications: a two-dimensional system might be employed
with surface modes of transportation, such as in the docking of
ships or maintaining proper distances between passenger cars in an
automated public transportation system. Other aircraft navigation
problems suitable for handling with the invention include airborne
alignment of missle systems, automated coupling of boom-nozzle and
receptacle for inflight refuelling of aircraft, formation flying,
instrument landing of vertical take-off and landing craft, and the
like.
While the above description treats preferred embodiments of the
invention, it should be readily apparent that a variety of
modifications may be made in the system and process within the
scope of the appended claims.
* * * * *