US5646524A
Expired / Lapsed
US
⏱️ 0.0 years remaining
Three dimensional tracking system employing a rotating field
Assignee: Elbit Systems Ltd
•
Filing: 1993-06-16
•
Granted: 1997-07-08
•
Expires: 2013-06-16
Abstract
Abstract Apparatus for determining the position and orientation of a helmet worn by a crew member in a vehicle including a generator, associated with the vehicle, which produces a rotating magnetic and electric field of fixed strength, orientation and frequency within at least a portion of the vehicle. The apparatus also includes a plurality of detectors each of which generates a signal proportional to at least one of the electric or magnetic fields at least one point associated with the helmet and calculation circuitry responsive to the signal for ascertaining the coordinates of the at least one point with respect to the generator and for determining the position and orientation of the helmet.
Inventors
- 👤 Pinhas Gilboa
Bibliographic Details
Application Number
—
Jurisdiction
US
Data Source
google_patents
Last Synchronized
2026-11-09 21:55
CPC Classifications
G; G01; G01C; G01C9/00; G01C9/02; G01C9/06; G01B; G01B7/00; G01B7/004; G01D; G01D5/00; G01D5/12; G01D5/14; G01D5/20; G01D5/204; G01D5/2086
Claims Analysis
Total Claims: 89
Claim 1
Independent Claim
147 words
Apparatus for determining the position and orientation of an object relative to a referenced frame, comprising: a generator, associated with the reference frame, which produces a magnetic or electric field pattern rotating about a fixed axis; a plurality of detectors, each of which generates at least one signal responsive to at least one of the electric and magnetic fields at at least one point associated with the object; and calculation circuitry, responsive to the at least one signal, which determines the coordinates of the at least one point associated with each of said detectors with respect to the generator based on the total field strength at the at least one point, and which determines the three-dimensional position and orientation of the object, wherein the object is a helmet, and the computation circuitry is operative to determine the orientation of the head of a person wearing the helmet.
Claim 2
Dependent Claim
147 words
Apparatus for determining the position and orientation of an object relative to a referenced frame, comprising: a generator, associated with the reference frame, which produces a magnetic or electric field pattern rotating about a fixed axis; a plurality of detectors, each of which generates at least one signal responsive to at least one of the electric and magnetic fields at at least one point associated with the object; and calculation circuitry, responsive to the at least one signal, which determines the coordinates of the at least one point associated with each of said detectors with respect to the generator based on the total field strength at the at least one point, and which determines the three-dimensional position and orientation of the object, wherein the object is a helmet, and the computation circuitry is operative to determine the orientation of the head of a person wearing the helmet.
Claim 3
Dependent Claim
49 words
Apparatus according to claim 1 wherein each of the plurality of detectors comprises a single set of three substantially orthogonal receivers associated with a given point relative to the object, each receiver providing a signal proportional to one component of either the electric or magnetic field at the point.
Claim 4
Dependent Claim
40 words
Apparatus according to claim 1 wherein the plurality of detectors includes at least three detectors each associated with different points on the object, each detector providing at least one signal responsive to the total field strength at its associated point.
Claim 5
Dependent Claim
34 words
Apparatus according to claim 1 wherein the calculation circuitry is adapted for determining the maximum and minimum of at least one of the electric and magnetic field strength at the at least one point.
Claim 6
Dependent Claim
20 words
Apparatus according to claim 4 wherein the detectors comprise a field strength sensor associated with the at least one point.
Claim 7
Dependent Claim
14 words
Apparatus according to claim 5 wherein the field strength sensor comprises three orthogonal receivers.
Claim 8
Dependent Claim
12 words
Apparatus according to claim 6 wherein the receivers comprise dipole receiving antennas.
Claim 9
Dependent Claim
12 words
Apparatus according to claim 6 wherein the receivers comprise magnetic field sensors.
Claim 10
Dependent Claim
13 words
Apparatus according to claim 6 wherein the orthogonal receivers are electric field sensors.
Claim 11
Dependent Claim
17 words
Apparatus according to claim 1 wherein the generator comprises two dipole radiators having different orientation and phase.
Claim 12
Dependent Claim
16 words
Apparatus according to claim 10 wherein the two dipole radiators are in space and phase quadrature.
Claim 13
Dependent Claim
14 words
Apparatus according to claim 1 wherein the generator comprises a rotating static field generator.
Claim 14
Dependent Claim
21 words
Apparatus according to claim 1 wherein the calculation circuitry is adapted for determining the phase and strength of the rotating field.
Claim 15
Dependent Claim
34 words
Apparatus according to claim 13, and including a reference sensor, having a fixed position and orientation with respect to the transmitter, adapted for determining the instantaneous strength of the field at the reference sensor.
Claim 16
Dependent Claim
43 words
Apparatus according to claim 1 wherein the calculation circuitry is adapted for determining the elevation angle of the at least one point with respect to the plane of rotation of at least one of the magnetic or electric field associated with the generator.
Claim 17
Dependent Claim
39 words
Apparatus according to claim 4 wherein the calculation circuitry is operative for determining the elevation angle of the at least one point responsive to the corresponding ratios of minimum and maximum values of the field strength at the point.
Claim 18
Dependent Claim
24 words
Apparatus according to claim 1 wherein the calculation circuitry is operative for determining the distance of the at least one point from the generator.
Claim 19
Dependent Claim
31 words
Apparatus according to claim 4 wherein the calculation circuitry is operative for determining the distance of the at least one point responsive to the corresponding minimum field strength at the point.
Claim 20
Dependent Claim
25 words
Apparatus according to claim 18 wherein the distance is inversely proportional to the sixth root of the minimum of the square of the field strength.
Claim 21
Dependent Claim
35 words
Apparatus according to claim 1 wherein the calculation circuitry is operative for determining the elevation of the at least one point with respect to the plane of rotation of the field produced by the generator.
Claim 22
Dependent Claim
41 words
Apparatus according to claim 20 wherein the calculation circuitry is operative for determining the elevation of the at least one point with respect to a reference direction responsive to the corresponding field strength at the point and at a reference position.
Claim 23
Dependent Claim
37 words
Apparatus according to claim 20 wherein the calculation circuitry is operative for determining the elevation of the at least one point responsive to the minimum and maximum of the square of the field strength at the point.
Claim 24
Dependent Claim
46 words
Apparatus according to claim 20 wherein the calculation circuitry is operative for determining the azimuthal angle of the at least one point responsive to the phase difference between the time-varying portions of the square of the field strengths at the point and at the reference position.
Claim 25
Dependent Claim
37 words
Apparatus according to claim 20 wherein the calculation circuitry is operative for determining the azimuthal angle responsive to the phase difference between the measured signal at the at least one point and the drive to the generator.
Claim 26
Dependent Claim
41 words
Apparatus according to claim 1 wherein the computation circuitry is operative for determining the orientation of the detectors associated with the at least one point, responsive to the signals generated at the point and the determined field strength at that point.
Claim 27
Dependent Claim
34 words
Apparatus according to claim 1 and also including a second generator comprising a stationary dipole radiator axially oriented with the fixed axis and having a frequency different from the frequency of the rotating field.
Claim 28
Dependent Claim
125 words
Apparatus for determining the position and orientation of an object relative to a reference frame, comprising; a generator, associated with the reference frame, which produces a magnetic or electric field pattern rotating about a fixed axis; a plurality of detectors, each of which generates at least one signal responsive to at least one of the electric and magnetic fields at at least one point associated with the object; and calculation circuitry, responsive to the at least one signal, which determines the coordinates of the at least one point associated with each of said detectors with respect to the generator based on the total field strength at the at least one point, and which determines the three-dimensional position and the three dimensional orientation of the object.
Claim 29
Dependent Claim
125 words
Apparatus for determining the position and orientation of an object relative to a reference frame, comprising; a generator, associated with the reference frame, which produces a magnetic or electric field pattern rotating about a fixed axis; a plurality of detectors, each of which generates at least one signal responsive to at least one of the electric and magnetic fields at at least one point associated with the object; and calculation circuitry, responsive to the at least one signal, which determines the coordinates of the at least one point associated with each of said detectors with respect to the generator based on the total field strength at the at least one point, and which determines the three-dimensional position and the three dimensional orientation of the object.
Claim 30
Dependent Claim
49 words
Apparatus according to claim 27 wherein each of the plurality of detectors comprise a single set of three substantially orthogonal receivers associated with a given point relative to the object, each receiver providing a signal proportional to one component of either the electric or magnetic field at the point.
Claim 31
Dependent Claim
40 words
Apparatus according to claim 27 wherein the plurality of detectors includes at least three detectors each associated with different points on the object, each detector providing at least one signal responsive to the total field strengths at its associated point.
Claim 32
Dependent Claim
34 words
Apparatus according to claim 27 wherein the calculation circuitry is adapted for determining the maximum and minimum of at least one of the electric and magnetic field strength at the at least one point.
Claim 33
Dependent Claim
20 words
Apparatus according to claim 30 wherein the detectors comprise a field strength sensor associated with the at least one point.
Claim 34
Dependent Claim
14 words
Apparatus according to claim 31 wherein the field strength sensor comprises three orthogonal receivers.
Claim 35
Dependent Claim
12 words
Apparatus according to claim 32 wherein the receivers comprise dipole receiving antennas.
Claim 36
Dependent Claim
12 words
Apparatus according to claim 32 wherein the receivers comprise magnetic field sensors.
Claim 37
Dependent Claim
13 words
Apparatus according to claim 32 wherein the orthogonal receivers are electric field sensors.
Claim 38
Dependent Claim
14 words
Apparatus according to claim 27 wherein the generator comprises a rotating static field generator.
Claim 39
Dependent Claim
21 words
Apparatus according to claim 27 wherein the calculation circuitry is adapted for determining the phase and strength of the rotating field.
Claim 40
Dependent Claim
34 words
Apparatus according to claim 37, and including a reference sensor, having a fixed position and orientation with respect to the transmitter, adapted for determining the instantaneous strength of the field at the reference sensor.
Claim 41
Dependent Claim
43 words
Apparatus according to claim 27 wherein the calculation circuitry is adapted for determining the elevation angle of the at least one point with respect to the plane of rotation of at least one of the magnetic or electric field associated with the generator.
Claim 42
Dependent Claim
39 words
Apparatus according to claim 30 wherein the calculation circuitry is operative for determining the elevation angle of the at least one point responsive to the corresponding ratios of minimum and maximum values of the field strength at the point.
Claim 43
Dependent Claim
24 words
Apparatus according to claim 27, wherein the calculation circuitry is operative for determining the distance of the at least one point from the generator.
Claim 44
Dependent Claim
31 words
Apparatus according to claim 30 wherein the calculation circuitry is operative for determining the distance of the at least one point responsive to the corresponding minimum field strength at the point.
Claim 45
Dependent Claim
25 words
Apparatus according to claim 42 wherein the distance is inversely proportional to the sixth root of the minimum of the square of the field strength.
Claim 46
Dependent Claim
35 words
Apparatus according to claim 27 wherein the calculation circuitry is operative for determining the elevation of the at least one point with respect to the plane of rotation of the field produced by the generator.
Claim 47
Dependent Claim
41 words
Apparatus according to claim 44 wherein the calculation circuitry is operative for determining the elevation of the at least one point with respect to a reference direction responsive to the corresponding field strength at the point and at a reference position.
Claim 48
Dependent Claim
37 words
Apparatus according to claim 44 wherein the calculation circuitry is operative for determining the elevation of the at least one point responsive to the minimum and maximum of the square of the field strength at the point.
Claim 49
Dependent Claim
46 words
Apparatus according to claim 45 wherein the calculation circuitry is operative for determining the azimuthal angle of the at least one point responsive to the phase difference between the time-varying portions of the square of the field strengths at the point and at the reference position.
Claim 50
Dependent Claim
41 words
Apparatus according to claim 27 wherein the calculation circuitry is operative for determining the azimuthal angle responsive to the phase difference between the measured signal at the at least one point and the square of the drive signal to the generator.
Claim 51
Dependent Claim
41 words
Apparatus according to claim 27 wherein the computation circuitry is operative for determining the orientation of the detectors associated with the at least one point, responsive to the signals generated at the point and the determined field strength at that point.
Claim 52
Dependent Claim
30 words
Apparatus according to claim 27 wherein the object is a helmet, and the computation circuitry is operative to determine the orientation of the head of a person wearing the helmet.
Claim 53
Dependent Claim
34 words
Apparatus according to claim 27 and also including a second generator comprising a stationary dipole radiator axially oriented with the fixed axis and having a frequency different form the frequency of the rotating field.
Claim 54
Dependent Claim
161 words
Apparatus for determining the position and orientation of an object relative to a reference frame, comprising: a generator, associated with the reference frame, which produces a magnetic or electric field pattern rotating about a fixed axis; a plurality of detectors, each of which generates at least one signal responsive to at least one of the electric and magnetic fields at at least one point associated with the object; and calculation circuitry, responsive to the at least one signal, which determines the coordinates of the at least one point associated with each of said detectors with respect to the generator based on the total field strength at the at least one point, and which determines the three-dimensional position and orientation of the object, wherein the calculation circuitry determines the maximum and minimum of at least one of the electric and magnetic field at the at least one point and wherein the determination of the orientation is responsive to the maximum and minimum.
Claim 55
Dependent Claim
161 words
Apparatus for determining the position and orientation of an object relative to a reference frame, comprising: a generator, associated with the reference frame, which produces a magnetic or electric field pattern rotating about a fixed axis; a plurality of detectors, each of which generates at least one signal responsive to at least one of the electric and magnetic fields at at least one point associated with the object; and calculation circuitry, responsive to the at least one signal, which determines the coordinates of the at least one point associated with each of said detectors with respect to the generator based on the total field strength at the at least one point, and which determines the three-dimensional position and orientation of the object, wherein the calculation circuitry determines the maximum and minimum of at least one of the electric and magnetic field at the at least one point and wherein the determination of the orientation is responsive to the maximum and minimum.
Claim 56
Dependent Claim
49 words
Apparatus according to claim 52 wherein each of the plurality of detectors comprises a single set of three substantially orthogonal receivers associated with a given point relative to the object, each receiver providing a signal proportional to one component of either the electric or magnetic field at the point.
Claim 57
Dependent Claim
38 words
Apparatus according to claim 52 wherein the plurality of detectors includes at least three detectors each associated with different points on the object, each detector providing a signal related to the total field strength at its associated point.
Claim 58
Dependent Claim
20 words
Apparatus according to claim 52 wherein the detectors comprise a field strength sensor associated with the at least one point.
Claim 59
Dependent Claim
14 words
Apparatus according to claim 55 wherein the field strength sensor comprises three orthogonal receivers.
Claim 60
Dependent Claim
12 words
Apparatus according to claim 56 wherein the receivers comprise dipole receiving antennas.
Claim 61
Dependent Claim
12 words
Apparatus according to claim 56 wherein the receivers comprise magnetic field sensors.
Claim 62
Dependent Claim
13 words
Apparatus according to claim 56 wherein the orthogonal receivers are electric field sensors.
Claim 63
Dependent Claim
17 words
Apparatus according to claim 52 wherein the generator comprises two dipole radiators having different orientation and phase.
Claim 64
Dependent Claim
16 words
Apparatus according to claim 60 wherein the two dipole radiators are in space and phase quadrature.
Claim 65
Dependent Claim
14 words
Apparatus according to claim 52 wherein the generator comprises a rotating static field generator.
Claim 66
Dependent Claim
21 words
Apparatus according to claim 52 wherein the calculation circuitry is adapted for determining the phase and strength of the rotating field.
Claim 67
Dependent Claim
34 words
Apparatus according to claim 63, and including a reference sensor, having a fixed position and orientation with respect to the transmitter, adapted for determining the instantaneous strength of the field at the reference sensor.
Claim 68
Dependent Claim
43 words
Apparatus according to claim 52 wherein the calculation circuitry is adapted for determining the elevation angle of the at least one point with respect to the plane of rotation of at least one of the magnetic or electric field associated with the generator.
Claim 69
Dependent Claim
24 words
Apparatus according to claim 52 wherein the calculation circuitry is operative for determining the distance of the at least one point from the generator.
Claim 70
Dependent Claim
25 words
Apparatus according to claim 66 wherein the distance is inversely proportional to the sixth root of the minimum of the square of the field strength.
Claim 71
Dependent Claim
35 words
Apparatus according to claim 52 wherein the calculation circuitry is operative for determining the elevation of the at least one point with respect to the plane of rotation of the field produced by the generator.
Claim 72
Dependent Claim
41 words
Apparatus according to claim 68 wherein the calculation circuitry is operative for determining the elevation of the at least one point with respect to a reference direction responsive to the corresponding field strength at the point and at a reference position.
Claim 73
Dependent Claim
37 words
Apparatus according to claim 68 wherein the calculation circuitry is operative for determining the elevation of the at least one point responsive to the minimum and maximum of the square of the field strength at the point.
Claim 74
Dependent Claim
46 words
Apparatus according to claim 68 wherein the calculation circuitry is operative for determining the azimuthal angle of the at least one point responsive to the phase difference between the time-varying portions of the square of the field strengths at the point and at the reference point.
Claim 75
Dependent Claim
39 words
Apparatus according to claim 68 wherein the calculation circuitry is operative for determining the azimuthal angle responsive to the phase difference between the measured signal at the at least point and the square of the drive to the generator.
Claim 76
Dependent Claim
34 words
Apparatus according to claim 52 and also including a second generator comprising a stationary dipole radiator axially oriented with the fixed axis and having a frequency different from the frequency of the rotating field.
Claim 77
Dependent Claim
138 words
Apparatus for determining the position and orientation of an object relative to a reference frame, comprising: a generator, associated with the reference frame, which produces a magnetic or electric field pattern rotating about a fixed axis; a plurality of detectors, each of which generates at least one signal responsive to at least one of the electric and magnetic fields at at least one point associated with the object; and calculation circuitry, responsive to the at least one signal, which determines the coordinates of the at least one point associated with each of said detectors with respect to the generator based on the total field strength at the at least one point, and which determines the three-dimensional position and orientation of the object, wherein the calculation circuitry is adapted for determining the phase and strength of the rotating field.
Claim 78
Dependent Claim
138 words
Apparatus for determining the position and orientation of an object relative to a reference frame, comprising: a generator, associated with the reference frame, which produces a magnetic or electric field pattern rotating about a fixed axis; a plurality of detectors, each of which generates at least one signal responsive to at least one of the electric and magnetic fields at at least one point associated with the object; and calculation circuitry, responsive to the at least one signal, which determines the coordinates of the at least one point associated with each of said detectors with respect to the generator based on the total field strength at the at least one point, and which determines the three-dimensional position and orientation of the object, wherein the calculation circuitry is adapted for determining the phase and strength of the rotating field.
Claim 79
Dependent Claim
34 words
Apparatus according to claim 74, and including a reference sensor, having a fixed position and orientation with respect to the transmitter, adapted for determining the instantaneous strength of the field at the reference sensor.
Claim 80
Dependent Claim
152 words
Apparatus for determining the position and orientation of an object relative to a reference frame, comprising: a generator, associated with the reference frame, which produces a magnetic or electric field pattern rotating about a fixed axis; a plurality of detectors, each of which generates at least one signal responsive to at least one of the electric and magnetic fields at at least one point associated with the object; and calculation circuitry, responsive to the at least one signal, which determines the coordinates of the at least one point associated with each of said detectors with respect to the generator based on the total field strength at the at least one point, and which determines the three-dimensional position and orientation of the object; wherein the calculation circuitry is operative for determining the elevation of the at least one point with respect to the plane of rotation of the field produced by the generator.
Claim 81
Dependent Claim
152 words
Apparatus for determining the position and orientation of an object relative to a reference frame, comprising: a generator, associated with the reference frame, which produces a magnetic or electric field pattern rotating about a fixed axis; a plurality of detectors, each of which generates at least one signal responsive to at least one of the electric and magnetic fields at at least one point associated with the object; and calculation circuitry, responsive to the at least one signal, which determines the coordinates of the at least one point associated with each of said detectors with respect to the generator based on the total field strength at the at least one point, and which determines the three-dimensional position and orientation of the object; wherein the calculation circuitry is operative for determining the elevation of the at least one point with respect to the plane of rotation of the field produced by the generator.
Claim 82
Dependent Claim
41 words
Apparatus according to claim 76 wherein the calculation circuitry is operative for determining the elevation of the at least one point with respect to a reference direction responsive to the corresponding field strength at the point and at a reference position.
Claim 83
Dependent Claim
37 words
Apparatus according to claim 76 wherein the calculation circuitry is operative for determining the elevation of the at least one point responsive to the minimum and maximum of the square of the field strength at the point.
Claim 84
Dependent Claim
46 words
Apparatus according to claim 76 wherein the calculation circuitry is operative for determining the azimuthal angle of the at least one point responsive to the phase difference between the time-varying portions of the square of the field strengths at the point and at the reference position.
Claim 85
Dependent Claim
40 words
Apparatus according to claim 76 wherein the calculation circuitry is operative for determining the azimuthal angle responsive to the phase difference between the measured signal at the at least one point and the square of the drive to the generator.
Claim 86
Dependent Claim
167 words
Apparatus for determining the position and orientation of an object relative to a reference frame, comprising: a generator, associated with the reference frame, which produces a magnetic or electric field pattern rotating about a fixed axis; a plurality of detectors, each of which generates at least one signal responsive to at least one of the electric and magnetic fields at at least one point associated with the object; and calculation circuitry, responsive to the at least one signal, which determines the coordinates of the at least one point associated with each of said detectors with respect to the generator based on the total field strength at the at least one point, and which determines the three-dimensional position and orientation of the object; wherein the each of the plurality of detectors comprises a single set of three substantially orthogonal receivers associated with a given point relative to the object, each receiver providing a signal proportional to one component of either the electric or magnetic field at the point.
Claim 87
Dependent Claim
167 words
Apparatus for determining the position and orientation of an object relative to a reference frame, comprising: a generator, associated with the reference frame, which produces a magnetic or electric field pattern rotating about a fixed axis; a plurality of detectors, each of which generates at least one signal responsive to at least one of the electric and magnetic fields at at least one point associated with the object; and calculation circuitry, responsive to the at least one signal, which determines the coordinates of the at least one point associated with each of said detectors with respect to the generator based on the total field strength at the at least one point, and which determines the three-dimensional position and orientation of the object; wherein the each of the plurality of detectors comprises a single set of three substantially orthogonal receivers associated with a given point relative to the object, each receiver providing a signal proportional to one component of either the electric or magnetic field at the point.
Claim 88
Dependent Claim
148 words
Apparatus for determining the position and orientation of an object relative to a reference frame, comprising: a generator, associated with the reference frame, which produces a magnetic or electric field pattern rotating about a fixed axis; a plurality of detectors, each of which generates at least one signal responsive to at least one of the electric and magnetic fields at at least one point associated with the object; calculation circuitry, responsive to the at least one signal, which determines the coordinates of the at least one point associated with each of said detectors with respect to the generator based on the total field strength at the at least one point, and which determines the three-dimensional position and orientation of the object; and a second generator comprising a stationary dipole radiator axially oriented with the fixed axis and having a frequency different from the frequency of the rotating field.
Claim 89
Dependent Claim
148 words
Apparatus for determining the position and orientation of an object relative to a reference frame, comprising: a generator, associated with the reference frame, which produces a magnetic or electric field pattern rotating about a fixed axis; a plurality of detectors, each of which generates at least one signal responsive to at least one of the electric and magnetic fields at at least one point associated with the object; calculation circuitry, responsive to the at least one signal, which determines the coordinates of the at least one point associated with each of said detectors with respect to the generator based on the total field strength at the at least one point, and which determines the three-dimensional position and orientation of the object; and a second generator comprising a stationary dipole radiator axially oriented with the fixed axis and having a frequency different from the frequency of the rotating field.
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USPTO Annuity & Maintenance Windows
| Annuity Stage | Window Opens | Payment Deadline | Surcharge Period Until | Estimated Fee | Status |
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| 3.5 Years (Year 4) | 2000-07-07 | 2001-01-06 | 2001-07-08 | $2000.00 | Window Closed / Lapsed |
| 7.5 Years (Year 8) | 2004-07-07 | 2005-01-06 | 2005-07-08 | $3760.00 | Window Closed / Lapsed |
| 11.5 Years (Year 12) | 2008-07-07 | 2009-01-06 | 2009-07-08 | $7700.00 | Window Closed / Lapsed |