Patent EP0922966A2 successfully refreshed from Google Patents.
EP0922966A2
Expired / Lapsed
EP
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Wireless six-degree-of-freedom locator
Assignee: SuperDimension Ltd
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Filing: 1998-12-04
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Granted: —
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Expires: 2018-12-04
Abstract
Abstract A method for determining the position and orientation of an object with respect to a reference frame comprises the steps of providing the object with three independent transmitters (12, 14, 16) of electromagnetic radiation; providing three independent receivers (20, 22, 24) of the electromagnetic radiation, each of the receivers having a fixed position in the reference frame; transmitting the electromagnetic radiation, using the transmitters, each of the transmitters transmitting an electromagnetic radiation with different frequency; receiving signals corresponding to the electromagnetic radiation; for each of the receivers, processing the signals received by the receiver from the transmitters and inferring the position and the orientation of the object from the processed signals.
Inventors
- 👤 Pinhas Gilboa
- 👤 David Zur
Bibliographic Details
Application Number
—
Jurisdiction
EP
Data Source
google_patents
Last Synchronized
2026-11-09 22:20
CPC Classifications
G; G01; G01S; G01S5/00; G01S5/02; G01S5/0247; G01D; G01D5/00; G01D5/02; G01D5/06; G01S5/06
Claims Analysis
Total Claims: 14
Claim 1
Independent Claim
259 words
A method for determining the position and orientation of an object
with respect to a reference frame, comprising the steps of: (a) providing the object with three independent transmitters of
electromagnetic radiation; (b) providing three independent receivers of said electromagnetic
radiation, each of said receivers having a fixed position in the reference
frame; (c) transmitting said electromagnetic radiation, using said transmitters, a
first of said transmitters transmitting said electromagnetic radiation
including at least a first frequency, a second of said transmitters
transmitting said electromagnetic radiation including at least a second
frequency different from said first frequency, and a third of said
transmitters transmitting said electromagnetic radiation including at
least a third frequency different from said first frequency; (d) receiving signals corresponding to said electromagnetic radiation, at all
three of said receivers, at a plurality of times, each of said signals
including components of at least one of said three frequencies; (e) for each of said receivers, forming a first function of said components
including said components of said signal received by said each receiver
from said first transmitter at said first frequency, a function of said
components including said components of said signal received by said
each receiver from said second transmitter at said second frequency,
and a function of said components including said components of said
signal received by said each transmitter from said third transmitter at
said third frequency, said functions being independent of a time delay
between said transmitters and said receivers; and (f) inferring the position and the orientation of the object from said
functions.
Claim 2
Dependent Claim
15 words
The method of claim 1, wherein said third frequency is different from
said second frequency.
Claim 3
Dependent Claim
76 words
The method of claim 1, wherein, for each of said receiver, said first
function includes said components of a strongest of said signals received by any of
said receivers at said first frequency, said second function includes components of a
strongest of said signals received by any of said receivers at said second frequency,
and said third function includes components of a strongest of said signals received by
any of said receivers at said second frequency.
Claim 4
Dependent Claim
20 words
The method of claim 1, wherein said second frequency and said third
frequency are even multiples of said first frequency.
Claim 5
Dependent Claim
15 words
The method of claim 4, wherein said second frequency and said third
frequency are equal.
Claim 6
Dependent Claim
35 words
The method of claim 4, wherein, for each of said receivers, all three of
said functions include said components of a strongest of said signals received by any
of said receivers at said first frequency.
Claim 7
Independent Claim
160 words
A method for determining the position and orientation of an object
with respect to a reference frame, comprising the steps of: (a) providing the object with three independent transmitters of
electromagnetic radiation; (b) providing three independent receivers of said electromagnetic
radiation, each of said receivers having a fixed position in the reference
frame, at least one of said receivers being spatially extended: (c) transmitting said electromagnetic radiation, using said transmitters, a
first of said transmitters transmitting said electromagnetic radiation
including at least a first frequency, a second of said transmitters
transmitting said electromagnetic radiation including at least a second
frequency different from said first frequency, and a third of said
transmitters transmitting said electromagnetic radiation including at
least a third frequency different from said first frequency; (d) receiving signals corresponding to said electromagnetic radiation, at all
three of said receivers, at a plurality of times; and (e) inferring the position and the orientation of the object noniteratively
from said signals.
Claim 8
Dependent Claim
15 words
The method of claim 7, wherein said third frequency is different from
said second frequency.
Claim 9
Dependent Claim
134 words
The method of claim 7, wherein each of said signals including
components of at least one of said three frequencies, the method further comprising
the step of: (f) for each of said receivers, forming a first function of said components
including said components of said signal received by said each receiver
from said first transmitter at said first frequency, a function of said
components including said components of said signal received by said
each receiver from said second transmitter at said second frequency,
and a function of said components including said components of said
signal received by said each transmitter from said third transmitter at
said third frequency, said functions being independent of a time delay
between said transmitters and said receivers; said position and orientation of the object being inferred from said functions.
Claim 10
Dependent Claim
22 words
The method of claim 7, further comprising the step of: (f) calibrating said inferring of the position and orientation of the object.
Claim 11
Dependent Claim
24 words
The method of claim 10, wherein said calibrating includes predicting
said signals at a number of calibration positions and a number of calibration
orientations.
Claim 12
Dependent Claim
25 words
The method of claim 11, wherein said number of calibration positions
is at least 36 and said number of calibration orientations are at least 36.
Claim 13
Dependent Claim
24 words
The method of claim 10, wherein said calibrating includes measuring
said signals at a number of calibration positions and a number of calibration
orientations.
Claim 14
Dependent Claim
25 words
The method of claim 13, wherein said number of calibration positions
is at least 36 and said number of calibration orientations are at least 36.
References Cited (Backward Citations)
No citation records indexed.
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