Method and apparatus for determining remote object orientation and

Abstract

A method and apparatus is provided for determining remote object orientation and position with an electromagnetic coupling. A plurality of radiating antennas are provided for radiating electromagnetic energy. Each of the radiating antennas have independent components for defining a source reference coordinate frame. A transmitter is provided for applying electrical signals to the radiating antennas for generating a plurality of electromagnetic fields. The signals are multiplexed so that the fields are distinguishable from one another. A plurality of receiving antennas are disposed on a remote object for receiving the transmitted electromagnetic fields. The receiving antennas have a plurality of independent components for detecting the transmitted electromagnetic fields and defining a sensor reference coordinate frame. An analyzer is provided for receiving the output of the receiving antennas and converting the components of the transmitted electromagnetic fields into remote object position and orientation relative to the source reference coordinate frame. The analyzing means includes means for processing the components of the electromagnetic fields in an uncoupled manner into remote object position and remote object orientation. The processing technique provides an uncoupled, noniterative, closed form solution for both position and orientation which is fast and includes no discontinuities. The processing speed is enhanced with a parallel processing technique which provides for simultaneous determination of the position and orientation parameters. The speed of the processing technique is further enhanced by provision of quaternion solutions for position and orientation. A new virtual real-time binocular computer graphics application is provided which is particularly adapted for generating the cockpit view of an aircraft pilot in a flight simulator.