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    • 10. 发明申请
    • DETERMINING LOCATION AND ORIENTATION OF DIRECTIONAL TRANCEIVERS
    • 确定方向跟踪者的位置和方向
    • US20150160329A1
    • 2015-06-11
    • US14401645
    • 2012-05-30
    • Ville RankiAntti KainulainenKimmo KalliolaFabio Belloni
    • Ville RankiAntti KainulainenKimmo KalliolaFabio Belloni
    • G01S5/04
    • G01S5/04G01S5/0242G01S5/0252G01S5/0263G01S5/0284
    • A method comprises using a first directional transceiver (14A) to determine a first angle (α1) between a first vector (V1) from the first directional transceiver to a second directional transceiver (14B) and a second vector (V2) from the first directional transceiver to a third directional transceiver (14C), using the second directional transceiver to determine a second angle (α2) between a third vector (V3) from the second directional transceiver to the first directional transceiver and a fourth vector (V4) from the second directional transceiver to the third directional transceiver, calculating a location, relative to a local coordinate system, of the third directional transceiver using the first and second angles and locations in the local coordinate system of the first and second directional transceivers, the local coordinate system being defined relative to the locations of the first, second, and third directional transceivers, and calculating an orientation relative to the local coordinate system of the first directional transceiver using directions of the first and second vectors relative to the first directional transceiver and the locations in the local coordinate system of the first, second and third directional transceivers.
    • 一种方法包括使用第一定向收发器(14A)来确定从第一定向收发器到第二定向收发器(14B)的第一向量(V1)和来自第一定向收发器(14B)的第二向量(V2)之间的第一角度(α1) 收发器到第三定向收发器(14C),使用第二定向收发器来确定从第二定向收发器到第一定向收发器的第三矢量(V3)和来自第二定向收发器的第四矢量(V4)之间的第二角度(α2) 定向收发器到第三定向收发器,使用第一和第二定向收发器的局部坐标系中的第一和第二角度和位置来计算相对于局部坐标系的位置,局部坐标系为 相对于第一,第二和第三定向收发器的位置定义,并且计算相对于该位置的取向 使用第一和第二矢量相对于第一定向收发器的方向和第一,第二和第三定向收发器的局部坐标系中的位置的第一定向收发器的坐标系。