3D position sensing using the differences in the time-of-flights from a wave source to various receivers

Author

Mahajan, Ajay ; Walworth, Maurice

Author_Institution

Dept. of Mech. Eng., Carbondale Univ., IL, USA

Volume

17

Issue

1

fYear

2001

fDate

2/1/2001 12:00:00 AM

Firstpage

91

Lastpage

94

Abstract

This paper presents a novel formulation for the estimation of the coordinates of a wave source based on the differences in the time-of-flights from a single transmitter to various receivers fixed in 3D space. The formulation is closed form linear, and estimates the speed of sound at every ranging operation. This leads to a robust system that is insensitive to changes in the environmental conditions. Typical applications that will benefit from this technology are 3D position sensing systems that may be used in robotics, navigation of autonomously guided vehicles, tracking of objects for virtual reality cells, and vibration analysis

Keywords

navigation; position control; robots; tracking; 3D position sensing; autonomously guided vehicles; navigation; object tracking; robotics; time-of-flights; triangulation; vibration analysis; wave source; Mobile robots; Navigation; Orbital robotics; Remotely operated vehicles; Robot kinematics; Robot sensing systems; Robustness; Space technology; Transmitters; Virtual reality;

fLanguage

English

Journal_Title

Robotics and Automation, IEEE Transactions on

Publisher

ieee

ISSN

1042-296X

Type

jour

DOI

10.1109/70.917087

Filename

917087