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System and method for calculating the orientation of a device

An orientation and chassis technology, applied in the direction of measuring devices, control/adjustment systems, two-dimensional position/course control, etc., can solve problems such as poor positioning execution and inability of GPS to provide orientation data

Active Publication Date: 2016-10-05
SAUDI ARABIAN OIL CO
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  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

GPS is great for global positioning but small scale applications often sometimes require higher resolution / accuracy and GPS does not provide orientation data, only positioning
On the other hand, IMUs are great performers for orientation data but they don't perform well for localization

Method used

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  • System and method for calculating the orientation of a device
  • System and method for calculating the orientation of a device

Examples

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Embodiment Construction

[0053]The present invention relates to systems and methods for determining the orientation of a moving device, such as a robotic vehicle, pincer, etc., relative to a surface of known geometry. For a mechanism (eg, a vehicle) that contacts (eg, drives on) a known curved surface, the orientation of the mechanism may be determined based on changes in the configuration of the mechanism and measurements of the mechanism. For example, a mechanism may be configured such that its general shape can be changed dynamically (either actively or passively) in a measurable manner so as to allow the body of the mechanism to self-adjust to the curvature of the surface being contacted (or traversed). Additionally, the mechanism maintains a well-defined configuration during this change (eg, parts of the mechanism may rotate relative to each other, but the length of the mechanism itself remains constant). Using such a mechanism, the measured changes can be run through a mathematical model to calc...

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Abstract

A system and method for determining orientation of a vehicle is provided. The method includes the steps of providing a vehicle having a hinge joint such that sections of the chassis are capable of rotation with respect to each other, A first and second wheel is mounted to one and the other of the chassis sections, respectively. Vehicle geometric data defining a distance between the hinge joint and the centers of the first and second wheels, respectively, and the diameter of the wheels is provided. Surface geometric data defining the curvature of the surface can be provided. The angle of rotation about the hinge joint is measured. An orientation of the vehicle relative to the surface based on the vehicle geometric date, the surface geometric data, and the measured angle of rotation can be determined. A system and method for determining the orientation of an object is also provided.

Description

[0001] Cross References to Related Applications [0002] This application is based upon and claims priority from US Provisional Patent Application Serial No. 61 / 910,341, filed November 30, 2013, the entire contents of which are incorporated herein by reference. technical field [0003] The present invention relates to the orientation of devices, and in particular, to systems and methods for determining the orientation of a device relative to a surface. Background technique [0004] In mobile robotics, localization data is understood as data determining the position and orientation of an object relative to a frame of reference. Precise positioning data is required for proper navigation, path planning, mapping, and other tasks in this field. In general, positioning-related sensing technologies can be divided into absolute and relative reference technologies. Relative techniques include the use of rotary encoders to track the rotation of the vehicle's drive mechanism and whee...

Claims

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Application Information

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IPC IPC(8): F16L55/00G05D1/02
CPCG05D1/0274G05D1/027F16L2101/30G01B21/22G05D1/0268
Inventor P.E.C.Z.冈萨雷斯F.A.拉蒂夫A.奥塔
Owner SAUDI ARABIAN OIL CO
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