Position and orientation tracking system

Patent · Thu Jan 01 00:00:00 EST 1998

OSTI ID:871533

Burks, Barry L ^[1]; DePiero, Fred W ^[2]; Armstrong, Gary A ^[1]; Jansen, John F ^[2]; Muller, Richard C ^[1]; Gee, Timothy F ^[3]

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1. Oak Ridge, TN
2. Knoxville, TN
3. 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 (United States)
• 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

Related Subjects

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
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