Long range position and Orientation Tracking System
Abstract
The long range Position and Orientation Tracking System is an active triangulation-based system that is being developed to track a target to a resolution of 6.35 mm (0.25 in.) and 0.009{degrees}(32.4 arcseconds) over a range of 13.72 m (45 ft.). The system update rate is currently set at 20 Hz but can be increased to 100 Hz or more. The tracking is accomplished by sweeping two pairs of orthogonal line lasers over infrared (IR) sensors spaced with known geometry with respect to one another on the target (the target being a rigid body attached to either a remote vehicle or a remote manipulator arm). The synchronization and data acquisition electronics correlates the time that an IR sensor has been hit by one of the four lasers and the angle of the respective mirror at the time of the hit. This information is combined with the known geometry of the IR sensors on the target to determine position and orientation of the target. This method has the advantage of allowing the target to be momentarily lost due to occlusions and then reacquired without having to return the target to a known reference point. The system also contains a camera with operatormore »
- Authors:
-
- and others
- Publication Date:
- Research Org.:
- Oak Ridge National Lab. (ORNL), Oak Ridge, TN (United States)
- Sponsoring Org.:
- USDOE, Washington, DC (United States)
- OSTI Identifier:
- 192400
- Report Number(s):
- CONF-9510307-1
ON: DE96005986; TRN: 96:008353
- DOE Contract Number:
- AC05-84OR21400
- Resource Type:
- Conference
- Resource Relation:
- Conference: 6. topical meeting on robotics and remote systems, San Francisco, CA (United States), 29 Oct - 2 Nov 1995; Other Information: PBD: 1996
- Country of Publication:
- United States
- Language:
- English
- Subject:
- 05 NUCLEAR FUELS; 99 MATHEMATICS, COMPUTERS, INFORMATION SCIENCE, MANAGEMENT, LAW, MISCELLANEOUS; FEED MATERIALS PRODUCTION CENTER; REMEDIAL ACTION; MANIPULATORS; DESIGN; CONTROL; REMOTE HANDLING EQUIPMENT; ALGORITHMS
Citation Formats
Armstrong, G A, Jansen, J F, and Burks, B L. Long range position and Orientation Tracking System. United States: N. p., 1996.
Web.
Armstrong, G A, Jansen, J F, & Burks, B L. Long range position and Orientation Tracking System. United States.
Armstrong, G A, Jansen, J F, and Burks, B L. 1996.
"Long range position and Orientation Tracking System". United States. https://www.osti.gov/servlets/purl/192400.
@article{osti_192400,
title = {Long range position and Orientation Tracking System},
author = {Armstrong, G A and Jansen, J F and Burks, B L},
abstractNote = {The long range Position and Orientation Tracking System is an active triangulation-based system that is being developed to track a target to a resolution of 6.35 mm (0.25 in.) and 0.009{degrees}(32.4 arcseconds) over a range of 13.72 m (45 ft.). The system update rate is currently set at 20 Hz but can be increased to 100 Hz or more. The tracking is accomplished by sweeping two pairs of orthogonal line lasers over infrared (IR) sensors spaced with known geometry with respect to one another on the target (the target being a rigid body attached to either a remote vehicle or a remote manipulator arm). The synchronization and data acquisition electronics correlates the time that an IR sensor has been hit by one of the four lasers and the angle of the respective mirror at the time of the hit. This information is combined with the known geometry of the IR sensors on the target to determine position and orientation of the target. This method has the advantage of allowing the target to be momentarily lost due to occlusions and then reacquired without having to return the target to a known reference point. The system also contains a camera with operator controlled lighting in each pod that allows the target to be continuously viewed from either pod, assuming their are no occlusions.},
doi = {},
url = {https://www.osti.gov/biblio/192400},
journal = {},
number = ,
volume = ,
place = {United States},
year = {Thu Feb 01 00:00:00 EST 1996},
month = {Thu Feb 01 00:00:00 EST 1996}
}