Position and orientation tracking system
Patent
·
OSTI ID:871533
- Oak Ridge, TN
- Knoxville, TN
- Riceville, TN
A position and orientation tracking system presents a laser scanning appaus having two measurement pods, a control station, and a detector array. The measurement pods can be mounted in the dome of a radioactive waste storage silo. Each measurement pod includes dual orthogonal laser scanner subsystems. The first laser scanner subsystem is oriented to emit a first line laser in the pan direction. The second laser scanner is oriented to emit a second line laser in the tilt direction. Both emitted line lasers scan planes across the radioactive waste surface to encounter the detector array mounted on a target robotic vehicle. The angles of incidence of the planes with the detector array are recorded by the control station. Combining measurements describing each of the four planes provides data for a closed form solution of the algebraic transform describing the position and orientation of the target robotic vehicle.
- Research Organization:
- Oak Ridge National Laboratory (ORNL), Oak Ridge, TN
- Assignee:
- United States of America as represented by Department of Energy (Washington, DC)
- Patent Number(s):
- US 5748321
- OSTI ID:
- 871533
- Country of Publication:
- United States
- Language:
- English
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Related Subjects
/356/
algebraic
angles
appaus
array
closed
closed form
combining
control
control station
data
describing
detector
detector array
direction
dome
dual
emit
emitted
encounter
form
incidence
laser
laser scan
laser scanner
laser scanning
lasers
line
measurement
measurement pod
measurement pods
measurements
mounted
orientation
orientation tracking
oriented
orthogonal
pan
planes
pod
pods
position
provides
provides data
radioactive
radioactive waste
recorded
robotic
robotic vehicle
scan
scanner
scanning
silo
solution
station
storage
subsystem
subsystems
surface
target
tilt
tracking
transform
vehicle
waste
waste storage
algebraic
angles
appaus
array
closed
closed form
combining
control
control station
data
describing
detector
detector array
direction
dome
dual
emit
emitted
encounter
form
incidence
laser
laser scan
laser scanner
laser scanning
lasers
line
measurement
measurement pod
measurement pods
measurements
mounted
orientation
orientation tracking
oriented
orthogonal
pan
planes
pod
pods
position
provides
provides data
radioactive
radioactive waste
recorded
robotic
robotic vehicle
scan
scanner
scanning
silo
solution
station
storage
subsystem
subsystems
surface
target
tilt
tracking
transform
vehicle
waste
waste storage