CA1318010C - Direct current utilization position and orientation measuring device - Google Patents

Direct current utilization position and orientation measuring device

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Publication number
CA1318010C
CA1318010C CA000568991A CA568991A CA1318010C CA 1318010 C CA1318010 C CA 1318010C CA 000568991 A CA000568991 A CA 000568991A CA 568991 A CA568991 A CA 568991A CA 1318010 C CA1318010 C CA 1318010C
Authority
CA
Canada
Prior art keywords
antennae
magnetic field
transmitter
earth
transmitting
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Expired - Fee Related
Application number
CA000568991A
Other languages
French (fr)
Inventor
Ernest B. Blood
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
BAE Systems Electronics Ltd
Original Assignee
GEC Marconi Ltd
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by GEC Marconi Ltd filed Critical GEC Marconi Ltd
Application granted granted Critical
Publication of CA1318010C publication Critical patent/CA1318010C/en
Anticipated expiration legal-status Critical
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Links

Classifications

    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F41—WEAPONS
    • F41G—WEAPON SIGHTS; AIMING
    • F41G3/00—Aiming or laying means
    • F41G3/22—Aiming or laying means for vehicle-borne armament, e.g. on aircraft
    • F41G3/225—Helmet sighting systems
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
    • G01B7/00—Measuring arrangements characterised by the use of electric or magnetic techniques
    • G01B7/004—Measuring arrangements characterised by the use of electric or magnetic techniques for measuring coordinates of points
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
    • G01B7/00—Measuring arrangements characterised by the use of electric or magnetic techniques
    • G01B7/14—Measuring arrangements characterised by the use of electric or magnetic techniques for measuring distance or clearance between spaced objects or spaced apertures

Abstract

ABSTRACT OF THE DISCLOSURE

A device for measuring the position and orien-tation of receiving antennae (3) with respect to transmitting antennae (2) utilizing electromagnetic signals is hereby disclosed. The transmitting and receiving components of the instant device consist of two or more separate transmitting antennae of known position and orientation with respect to each other.
Each transmitting antenna (2) is driven one at a time by a pulsed, direct current signal. The receiving antennae (3) measure the transmitted direct current magnetic field and the Earth's magnetic field as well. A com-puter device (5) is used to control the transmitting and receiving elements and to convert the received signals into position and orientation outputs.

Description

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AD~ ~Nr U~LG~ P~TI~ ~ oU~A~ ~M~
This invention pertains to devices utili~ed for purposes of measuring the posi~ion and orientation of receiving antennae ~ith respect to transmitting antennae using direct current signals.

The art of using transmitting and receiving components ~ith electromagnetic coupling for measuring position and orientation is well knoun especially u;th respect to armament sighting systems ~here the receiver 10 component ~ould be located in a gunner's helmet and a transmitter component ~ould be attached to a nearby electrically non-conductive structure. As the gunner uoulJ sight-in a target through a sighting cross-hair affixed to his helmet, the receiver located thereupon 15 would pick up signals generated by the trans~itter.
These signals would then be processed by a computer to determine the position and orientation of the helmet and then to contemporaneously point a unit of armament in the same direction as the helmet mounted sight piece.
ZO
As taught in U.S. Patent No. 4,054,881 ;ssued February 18th, 1977 to Raab and U.S. Patent No.
4,287,809 issued September 8th, 19~1 to Egli et al, and US Patent No. 4,314,251 issued February 2, 1982 to Raab 25 and U.S. Patent No. 4,396,885 issued August 2nd, 1983 to Constant, an alternating current (AC) signa~ is applied in a time division or frequency division format to a transm;tter consisting of t~o or three orthogonal coils uhich generate an AC electromagnetic field which is 30 measured by an AC receiver like~ise consisting of three or t~o orthogonal coils. These sensed signals are then f~ltered and amplified in a method compatible uith the 13 1 ~j& ' 1~

transmitted format, converted to a digital format and then read into a computer uhere various mathematical methods are resorted to in order to extract pos;tion and orientation with resort to applicable electromagnet;c 5 field equations.
All current systems such as the ones abovesaid that utilize an AC transmitted signal work accurately only when there are no electrically conductive materials located near either the transmitter or receiver because lO any transmitted AC signal ~ould invariably induce eddy currents in these conductive materials ~hich uould in turn serve to generate an AC magnetic field that would distort any transmitted field, and, of course, any ultimate output position and orientation data. In 15 fighter aircraft or helicopters where it is desired to use these position and orientation measuring systems, there are a lot of highly conductive materials in the form of aluminum, titanium, magnesium, stainless steel, and copper used in the construction of the cockpit Z0 structure, seat, viring and helmet-mounting displays.
U.S~ Patent No. 4,287,809 teaches a method of compensating for the errors resulting from any field distortion due to cockpit metal that does not move with respect to the transmitter. The compensation method 25 therein suggested involves making measurements throughout the cockpit to determine the amount of such distortion and then using this data to form a correction that is applied to the sensed signals. ln a similar manner, U.S. Patent No. 4,394,831 issued July 2bth, 1983 30 to Egli et al. teaches a method to accomplish compensation for errors due to eddy currents induced in metal such as would be found ~n a display located on a pilot's helmet. ~his compensation method again requires initial experimental measurements of such distortion ;n order to effect necessary corrections and provides moderate improvements in accuracy only when the amount 5 of metal on the helmet is concentrated in a single location and the helmet does not go through large angular rotations or translations in the cockpit. These types of compensation efforts that are required to make AC systems work accurately are time consuming and 10 expensive to perform and only uork in environments uhere there uould not be too much conductive material near transmitter or receiver units. In many helicopters, for example, AC systems cannot be utilized at all because the distort;ons produced are simply too large to be 15 corrected merely by such mapping.

The instant device represents a radical departure from all of the prior art relating to such transmitting and receiving position and orientation devices, insomuch ZO as it avoids, in-toto, resort to AC signals and instead relies upon DC signals. Such reliance on DC signals obviates completely any need for a priori calibration undertakings and greatly expands the potential utility of devices of this type. Moreover, manufacture and Z5 utilization of this device for purposes of accomplish;ng all that current devices can accomplish is manifestly less expensive than such manufacture and utilization of said currently used devices are or ever uil~ be.

This device consists of a tuo- or three-axis transm;tter driven by a pulsed DC current coupled uith a three- or tuo-axis receiver that is sensitive to a 3 iJ ~ ~

transmitted DC magnetic field emanating from the abovesaid activated transmitter. Moreover, there are receiver s;gnal process;ng electron;cs that control the rece;ver and serve to convert ;ts output to a format 5 suitable for processing by a dig;tal.computer in conjunction w;th a method for processing received signals so as to thereby develop position and or;entation data.
An object of this invention is to provide a system 1O of transmitting and receiving antennae that by themselves intrinsically and with inherent electronic means together with a digital computer readily measure position and orientation relative to one another without the need for expensive calibration procedures undertaken 15 in advance of implementation and further without concern for what types of diamagnetic or paramagnetic metallic materials such as may be nearby. For the first time, for lnstance, devices of this nature could be used in helicopters.
Another object of this invention would be to provide a computer graphics system with an effective three-dimensional "mouse" where presently only two-dimensional "mouse" devices are known to exist. For ~5 instance, no longer will a graphics processor need to use one hand to control a "mouse" for length and width drafting on a computer screen and another hand to turn knobs to ach;eve image depth on such a screen. With this dev;ce, one hand can control all three d;mens;ons 30 on such a screen w~th respect to the draft;ng of images including image rotation as ~ell, ~hile the other hand ~ould be free to perform other design tasks such as recording, drafting, et cetera.

t ~ ~ ~ 2~ ~ ~

Still another object of thls ;nvention is to provide a distinctly less expensive sighting device than is currently provided within the frameuork of the present state of the art separate and apart from the cost 5 savings to be realized from abrogatio.n of calibrat;on requirements. Presently, the cores of the transmitting components of these devices are made up of Ferrite.
Ferrite is rather expensive, but, in addition to this, it is also rather fragile and difficult to shape.
10 Houever, Ferr;te ;s necessary as a core piece in order to keep eddy current distortion acceptably lou where AC
current is used. ~ut, there are no AC signaL components in the instant device's steady state signal and hence, the same magnetic flux concentration as can be had with 15 Ferr;te can likewise be had and used with- th;s device by resorting to less expensive iron or steel for a transmitting core piece, since, uith this device, there is no need to be concerned with eddy currents at aLl.

ZO The invention will nou be described, by way of example, with reference to the accompanying drawings, in ~hich:

FIG. 1 is a block diagram of the disclosed invention;
fIG. 2 is a block diagram of the transmitter driver electronics, uhich constitute an integral part of the disclosed invention;

FlG. 3 shous the construction of the transmitter component of the ;nstant invention;

FlG. 4 is a block diagram of the receiver signal processing electronics that const;tute an integral part of the disclosed invention;

FIG. 5 is a t;ming diagram showing the relationship between the transmitted and receiving signals generated during any use of the disclosed invention; and FlG. 6 is a diagram of computational and control 10 task sequences as performed by the computer component of this device.
Fig. 1 depicts the maior elements of the disclosed invention. The electromagnetic pos;tion and orientation measuring system consists of: a Transmitter Driver 15 Circuit 1 for prov;ding a controlled amount of DC
current to each of t~o or three axes of Transm;tter 2 one at a time. The amount of DC current provided by Dr;ver 1 to the Transmitter axis to which it is provided is controlled by Computer 5. Transmitter 2 is usually ZO attached to the cockpit structure of an alrcraft or helicopter and would be located within a few feet of distance from a pilot's head in its military application, or in its computer graphics application, Transmitter 2 would be located on, under, or above any Z5 table where a computer graphics user would be working~
Transmitter 2 consists of two or three individual antennae arranged concentrically ~hich generate a multiplicity of DC magnetic fields that are picked up by Rece~ver 3. Receiver 3 measures not only the fields 30 generated by Transmitter 2 but also the earth's magnetic field to thereby effect an ultimate measure of the pos;t~on and orientation of the object to ~hich it is a attached. ln the military application, this is usually the pilQt's helmet. ln the computer graphics applicat'ion, Receiver 3 is usually hand-held. Receiver 3 consists of three or two axes with driving and 5 detecting circuits that are sensitive to DC magnetic fields. The D.C. signal output from Receiver 3 goes to the Signal Processing Electronics 4. Signal Processing Electronics 4 controls, conditions, and converts analog receiver signals into a digital format that can be read 10 by Computer 5. Computer 5, by way of an algorithm, such as the one detailed in Figure 6 below, com~utes the position and orientation of Receiver 3 with respect to Tran-smitter 2. Computer 5 then outputs this information to an aircraft's armament control computer or, in the 15 computer graphics application, to a graphic image controller.

Fig. 2 presents the details of the~Transmitter Drive Electronics 1. The purpose of the Transmitter Drive zo Electronics 1 is to provide DC current pluses to each antennae of Transmitter 2, one antenna at a time. While a given Transmitter 2 antenna is being provided with current, readings are taken from the antennae of Receiver 3. For a Transmitter 2 composed of three 25 antenna (X, Y, and Z axis antennae) and a Receiver 3 also composed of three antennae (X, Y, and Z axis antenna), there would be nine readings of the transmitted signal. Transmitter 2 is initiàlly shut off and Receiver 3 measures the X, Y, and Z components of 30 the Earth's magnetic field. ln respect of the operation of the Transmitter DC Drive Electronics, ~omputer 5 sends to the Digital to Analog (D/A) Converter 7 a digital number that represents the amplitude of the current pluses eO be sent to the selected transmitted antenna. The D/A Converter 7 converts this digital representation of the amplitude to an analog control 5 voltage. th;s control voltage goes to the Multiplexer ~MUX) 8 ~hich connects or s~itches the control voLtage to one of the Current Sources 9, 10, or 11 as directed by Computer 5 ~hen it is desired to transmit on the X, Y, or Z transmitter axis. Current Sources, 9, 10, and 10 11 are identical. There purpose is to provide a DC
current to the Transmitter 2's antennae one at a time.
The amplitude of such current so provided ;s proportional to the ;nput control voltage generated by the D/A 7. Construction details for said DC current 15 sources are not presented here because they are well kno~n to one skilled in the art.
Transmitter 2 as sho~n in Figure 3 consists of a core about ~hich X, Y, and/or Z antennae are ~ound. The core can be constructed of air, but is usually Z0 constructed of magnetically permeable ferrite that concentrates the magnetic flux at any g~ven location around the antenna. Ferrite is an expensive `material, very fragile and difficult to shape but must be used ;n the cores of systems that use an AC signal format 25 because its eddy current losses are very lo~. For Transmitter 2 herein disclosed there are no AC signal components in its steady state signal and the core càn therefore be and has been constructed of very inexpensive iron or steel and obtain the same flux 30 concentration as the more expensive ferrite. The antenna ~indings of Transmitter 2 consist of multiple turns of standard magnetic ~ire. The s;ze of the ~ire, _9_ the number of turns, and the enclosed area of the antenna ~ ;nd~ng, are determined by methods ~ell kno-ln to those skilled in the art of designing antennae.
Transmitter 2 generates a near f;eld signal strength 5 var;ation of the order of 1/R3 (R equalling the distance bet~een Transmitter 2 and Receiver 3 at any one instant in time).

Receiver 3 consists of three or t-o antennae lO arranged approximately orthogonal to each other ~ith driving and detecting circuits. Each antenna is capable of measuring a DC magnetic field. ~here are many technologies available for use as a DC Receiver 3. A
representat;ve embodiment of Receiver 3 ~ould be the 15 three axis toroidal fluxgate magnetometer detailed in U.S. Patent No. 3,800,213 ;ssued March 26, 1974 to Rorden. Other representative embodiments ~ould be other DC field sensitive technologies that may also be used for Receiver 3: including thin film magnetometers as 20 deta;led in U.S. Patent No. 3,942,258;ssued March 9, 1976 to Stucki et al. or zero magntostrictive amorphous ribbon magnetometers as detai~ed in "Magnetometers Using T~o Amorphous Core Multivibrator Pridge" by K. Mohri et al. ;n lEEE ~ransactions on Magnetics, Vol. MAG-19, No.
Z5 5, Sep. 1983. or Hall effect based DC sensors as detailed in "Lo~ F;eld Hall Effect Magnetometry" by P.
Dan;il and E. Cohen in J. Appl. Phys. 53(11), November 1982; or a fiberoptic magnetometer as detailed in "Phase Shift Nulling DC-Fjeld Fibreoptic Magnetometer" by A.D.
30 Kersey, et al., in Electronic Letters Vol. 20 No. 14 (July 1984), or semi-conductor based magnetic field sensors and transistors as described in "Silicon 3~

--. o--Micro-Transducers," by S. Middelhoek and D. J. W.
Noorlag ;n The Journal of Physics, E: Sc;entific lnstruments, Vol. 14 (1981), or the permalloy based magnetoresistive sensors as described in "The Permalloy 5 Magnetoresistive Sensors - Properties and Applications"
by ~. Kuiatouksi and S. Tumanski, The ~ournal of Physics, E: Scientific Instruments, Vol. 19, No. 7 (July 1986); or piezoeletrical crystal receivers such as uould be depicted in a patent of R. Pittmann, Apparatus lO for measuring the strength and direction of magnetic fields util;zing a Piezoelectric Crystal (U.S. Pat. No.
3,564,402 (February 16, 1971). There are many varlations of such D.C. sensors detailed in the open literature and there are many other methods that are 15 uell knoun to those skilled in the art. For the subject application ~here one desires to measure a transmieted magnetic field that is superimposed on top of the Earth's magnetic field, an arrangement such as taught in U.S. Pat. No. 2,485,847 issued Oct. 25, 1949 allous one 20 to cancel the Earth's field right at Receiver 3's antenna thus allouing one to make a more sensitive measure of the transmitted fields deviation from the Earth's field. The output from Receiver 3 goes to Signal Processing Electronics 4 because the abovesaid ~5 technologies are well kno~n, no drauing of a Receiver 3 is herein submitted.

As detailed in Figure 4, the Signal Processing Electronics 4 consisting of a Multiplexer (MUX) 12, 30 which suitches on, via command from Computer 5, the desired X, Y, or ~ detected antenna signal, one at a time, to Different~al Amplifer (DIFF) 13. Differential ~ 3 ~
, l Amplifier 13 subtracts from this antenna signal the previously measured component of the Earth's magnetic field, outputting only that part of the rece;ved signal that is due to the transmitted field. This Earth's 5 magnetic field component would have been stored in Computer 5 during a previous measurement cycle and sent to Differential Amplifier 13 via Digital to Analog Converter (D/A) 14. The output from Differential Amplifier 13 ;s then f;ltered by Filter 15 to remove 10 noise and ;s amplified by Amplifier 16. Computer 5 sets the gain of Amplifier 16 to the maximum value possible such that Receiver 3's signal will not exceed the limits of Analog to Digital Converter (A/D) 17. The Analog to Digital Converter (A/D) 17 then converts the received DC
l5 signal to a digital format that can be read by Computer 5.

Figure 5 shows the timing relationship between the current pulses provided by Transmitter Driver 1 to 20 Transmitter 2 and the signals received by Receiver 3.
As sho~n therein, the transmitting and receiving sequence begins at time T0 with all three Transmitter 2 antennae shut off. During the time period T0 to T1, the X, Y, and I components of the Earth's magnetic field are 25 measured by Received 3 and read into Computer 5.
Computer 5 outputs these Earth field values to Signal Processing Electronics 4 where they are subtracted from the nine measured values generated ~hen Transm;tter 2's X, Y, and t antennae are turned on. At time T1 a 30 current pulse is supplied only to the X Antenna of Transmitter 2. After the pulse reaches its steady state value, a DC magnetic field will be established about Transmitter 2's X antenna that is free of distortions due to eddy currents. As sho~n in Figure 5, Receiver 3's X, Y, and t antennae ~ill measure the X, Y, and Z
components of this transm;tted magnetic field plus the 5 Earth's magnetic field during the period T1 to T2, the amplitude of the measured signals being a function of the position and orientation of Receiver 3's antennae ~ith respect to Transmitter 2's X antenna and the location and orientation of Receiver 3 on the Earth's 10 surface. During the T1 to T2 pe;iod, the Earth's field is subtracted from Receiver 3's X, Y, and Z signals and the resulting analog signals are conditioned and converted to a digital format by the Receiver Signal Processing Electronics 4 and read into Computer 5 and 15 then the -X antenna of Transmitter 2 is turned off. At time T2, a current pulse is applied to Transm;tter 2's Y
antenna and again Receiver 3's X, Y, and Z antennae values are read into Computer S during the period T2 to T3. Starting at time T3, the same process is repeated 20 for Transmitter 2's Z antenna. At the end of this period, twelve receiver values ~ill have been read into Computer 5; three Earth field components and three receiver values for each of the three transmitter antennae. The entire sequence of turning on Transmitter 25 X, Y, and Z antenna then repeats itself as above, continuing as long as measurements are required.
Figure 6 summarizes the computational and control task sequences performed by Computer 5 in controlling the hard~are elements 7, 8, 12, 14, and 16 and in 30 converting the received data into position and orientation outputs.

l3-The t~elve data items measured by the system can be represented by the follo~ing matrix:

M(1,1) M(1,2) M(1,3) E(1,4) M = M(2,1) M(2,2~ M(2,3~ E(2,4~
M(3,1~ M(3,2~ M(3,3) E(3,4) Where the elements in each row represent the values measured by the X, Y, and ~ axes of Receiver 3 and the lO elements in the first three columns represent data measured by Receiver 3 minus the Earth's magnetic field ~hen the X, Y, and ~ axes of Transmitter 2 uere turned on one at a time. Data elements in the fourth column represent the components of the Earth's magnetic field 15 measured uhen the three Transmitter 2 axes were turned off. For example, M(2,1) represents the Y receiver axis value measured uhen the X transmitter axis uere turned on m;nus the Y component of the Earth's magnetic field (E(2,4) ).
Since the elements in the first three columns represent the signals one uould measure from a Transmitter 2 if there uas no Earth's magnetic field present, the position and orientation of the Receiver 3 25 uith respect to Transmitter 2 can be extracted from these nine elements through the use of any one of the many algorithms knoun to those skilled in the art. For example, the algorithms detailed in U. S. Patent No.
4,287,809 or U. S. Patent No. 4,314,251 uill produce the 30 desired position and orientation information.

Claims (16)

1. A device for quantitatively measuring the position of receiver antennae relative to transmitter antennae comprising:
transmitter antennae consisting of at least two aparallel antennae to generate at least two DC magnetic vectors;
drive means for sequentially supplying said aparallel antennae with DC pulses to generate said DC
magnetic vectors;
receiver antennae consisting of at least two aparallel antennae to detect said DC magnetic vectors;
the number of transmitter antennae times the number of receiver antennae being at least equal to the number of degrees of freedom of the desired quantitative measurement of the position of the receiver antennae relative to the transmitter antennae;
means for compensating for the effects of the earth's magnetic field on the operation of the device; and signal processing means to ascertain the magnitude of the detected DC magnetic vectors and to quantitatively compute said relative position from said received DC magnetic vectors.
2. A device according to claim 1 wherein the number of transmitter antennae times the number of receiver antennae is at least six.
3. A device according to claim 2 wherein there are three transmitter antennae arranged to generate three orthogonal DC magnetic vectors.
4. A device according to claim 2 wherein there are three receiver antennae arranged to detect said generated DC magnetic vectors on three orthogonal axes.
5. A device according to claim 4 wherein there are three transmitter antennae arranged to generate three orthogonal DC magnetic vectors.
6. A device according to claim 5 wherein said transmitter antennae consist of three orthogonal wire windings.
7. A device according to claim 3 wherein said drive means sequentially supplies each transmitter antennae one at a time with a DC pulse.
8. A device according to claim 6 wherein said receiver simultaneously detects three orthogonal components of said DC magnetic vectors.
9. A device according to claim 1 wherein said means for compensating for the earth's magnetic field comprises using said receiver antennae to detect components of the earth's magnetic field while the transmitter antennae are not transmitting, causing said signal processing means to ascertain the magnitude of said components of the detected earth's magnetic field and using the information so ascertained to compensate for the detection of the earth's magnetic field by the receiver antennae when the transmitter antennae are transmitting DC magnetic vectors.
10. A device according to claim 1 wherein said DC
pulses are of square waveform.
11. A device for quantitatively measuring the relative location and orientation of receiving antennae with respect to transmitting antennae in the presence of metals utilizing direct current magnetic fields, comprising:

a) transmitting means for transmitting direct current magnetic fields sequentially on three orthogonal axes no more than two at a time;
b) receiving means for receiving said transmitted direct current magnetic fields;
c) means for supplying direct current electrical signal pulses to said transmitting means for creating said transmitted direct current magnetic field;
d) means for controlling circuit elements of said transmitting and receiving means, measuring received signals, and converting output signals from said receiving means into location in three coordinate directions and orientation about three coordinate axes measurements.
12. A device according to claim 11 comprising said transmitting means consists of a core and three orthogonal antenna axis wire windings.
13. A device according to claim 11 wherein said means for controlling, measures the earth's magnetic field while the said transmitting means is shut off, and produces a signal representing the earth's magnetic field and subtracts said earth's field signal from said received signal to cancel the effect of the earth's magnetic field when the transmitting means is transmitting.
14. A device according to claim 1, wherein said receiving means for receiving said transmitted direct current magnetic fields consists of three orthogonal antennae axes that are sensitive to transmitted direct current magnetic fields to earth's magnetic fields.
15. A device according to claim 9 wherein said signal processing means computes the components of the earth's magnetic field between successive detections thereof while the transmitter antennae are not transmitting and uses these computed components to compensate for the earth's magnetic field detected by the receiver antennae while the transmitter antennae were transmitting between said successive detections.
16. A system for quantitatively measuring the position of magnetic field sensor means with respect to magnetic field transmitter means, comprising:
transmitter means consisting of at least two magnetic field transmitter elements to generate a corresponding number of aparallel DC magnetic field vectors;
drive means for sequentially supplying said transmitter elements with DC pulses to generate said aparallel DC magnetic field vectors;
magnetic field sensor means consisting of at least two magnetic field sensor elements differentially responsive to said magnetic field vectors generated by the said transmitter elements;
the arithmetic product of the number of transmitter elements and the number of sensor elements being not less than the number of degrees of freedom to be measured;
means for compensating for the effects of the earth's magnetic field;
means operable to effect executive control of the said drive means and of the said compensating means and to compute from signals derived as a result of such executive control the relative position of the magnetic field sensor means with respect to the said magnetic field transmitter means.
CA000568991A 1986-10-09 1988-06-07 Direct current utilization position and orientation measuring device Expired - Fee Related CA1318010C (en)

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
US06/917,389 US4849692A (en) 1986-10-09 1986-10-09 Device for quantitatively measuring the relative position and orientation of two bodies in the presence of metals utilizing direct current magnetic fields

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CA1318010C true CA1318010C (en) 1993-05-18

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US (1) US4849692A (en)
EP (1) EP0285658B1 (en)
JP (1) JP2541648B2 (en)
KR (1) KR880701862A (en)
CA (1) CA1318010C (en)
DE (1) DE3786783T2 (en)
IL (1) IL83941A (en)
WO (1) WO1988002844A1 (en)

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EP0285658A1 (en) 1988-10-12
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EP0285658B1 (en) 1993-07-28
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WO1988002844A1 (en) 1988-04-21
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US4849692A (en) 1989-07-18
KR880701862A (en) 1988-11-05

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