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Title: Position and orientation tracking system

Abstract

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.

Inventors:
 [1];  [2];  [1];  [2];  [1];  [3]
  1. (Oak Ridge, TN)
  2. (Knoxville, TN)
  3. (Riceville, TN)
Issue Date:
Research Org.:
Oak Ridge National Laboratory (ORNL), Oak Ridge, TN
OSTI Identifier:
871533
Patent Number(s):
5748321
Assignee:
United States of America as represented by Department of Energy (Washington, DC) ORNL
Resource Type:
Patent
Country of Publication:
United States
Language:
English
Subject:
position; orientation; tracking; laser; scanning; appaus; measurement; pods; control; station; detector; array; mounted; dome; radioactive; waste; storage; silo; pod; dual; orthogonal; scanner; subsystems; subsystem; oriented; emit; line; pan; direction; tilt; emitted; lasers; scan; planes; surface; encounter; target; robotic; vehicle; angles; incidence; recorded; combining; measurements; describing; provides; data; closed; form; solution; algebraic; transform; detector array; radioactive waste; robotic vehicle; waste storage; laser scanner; laser scanning; control station; provides data; orientation tracking; closed form; measurement pods; measurement pod; laser scan; /356/

Citation Formats

Burks, Barry L., DePiero, Fred W., Armstrong, Gary A., Jansen, John F., Muller, Richard C., and Gee, Timothy F. Position and orientation tracking system. United States: N. p., 1998. Web.
Burks, Barry L., DePiero, Fred W., Armstrong, Gary A., Jansen, John F., Muller, Richard C., & Gee, Timothy F. Position and orientation tracking system. United States.
Burks, Barry L., DePiero, Fred W., Armstrong, Gary A., Jansen, John F., Muller, Richard C., and Gee, Timothy F. Thu . "Position and orientation tracking system". United States. https://www.osti.gov/servlets/purl/871533.
@article{osti_871533,
title = {Position and orientation tracking system},
author = {Burks, Barry L. and DePiero, Fred W. and Armstrong, Gary A. and Jansen, John F. and Muller, Richard C. and Gee, Timothy F.},
abstractNote = {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.},
doi = {},
journal = {},
number = ,
volume = ,
place = {United States},
year = {1998},
month = {1}
}

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