Automated multi-vehicle position, orientation and identification system and method

摘要

The present invention provides a system and method for relative localization that provides an orientation signal and a position signal between at least two vehicles. The present invention also provides for vehicle formation, such that there is a leading vehicle and a follower vehicle that maintain a specific formation relative to one another. The orientation, relative position and identity signals are utilized to control that formation. Each vehicle has at least three ultrasonic sensors, at least one ultrasonic source and an optional pair of FM receiver/transmitter. By installing several acoustic sensors whose relative position are known and by measuring the difference in the time of arrival of the same signal from the various sensors on the same vehicle, the difference in time can be converted into a difference of distance and then into relative position of the sensors from the source based on the Time Difference of Arrival (TDOA).

主权项

1. A system for locating a first vehicle relative to a second vehicle comprising:
at least one source, operatively coupled to the first vehicle, for transmitting a signal; at least four sensors, operatively coupled to the second vehicle, for receiving the signal; and signal processing means, operatively coupled to the second vehicle, for processing the signal received by each of the at least four sensors to determine the relative location of the second vehicle to the first vehicle based on differences in time of arrival of the same signal by each of the at least four sensors; wherein the first vehicle and the second vehicle are both unmanned; wherein the time of arrival of the signal at each of the at least four sensors corresponds to an initial detection of a sinusoidal wave at each of the at least four sensors; wherein the system determines the time of arrival of the signal from a series of samples taken along a period of time when the sinusoidal wave is at its peak, the time of arrival being determined to be when a first peak of the sinusoidal wave within the series of samples is detected; wherein the peak of the sinusoidal wave occurs when a power of the signal is at a maximum level; and wherein the relative location is validated by an infrared tracking means that includes at least one infrared camera that is in operative communication with at least one infrared marker operatively coupled to the first vehicle.