| 摘要 |
A method for determining a spatial orientation of a body, including receiving, by receiving equipment located with the body, at least three electromagnetic signal sets, each of the received signal sets having been transmitted by a different one of at least three separate transmitters at different locations, detecting, for each one of the received signal sets, information that partially defines a direction from the body to the transmitter from which the signal set was received, the detected information including one of two angles that fully define an arrival direction from which the body received the signal set in relation to a body frame, the detected information not including a second of the two angles, and determining the spatial orientation of the body, including yaw, pitch, and roll angles relative to a navigation frame, using the detected information for each one of the received signal sets. |
| 主权项 |
1. A machine-implemented method for determining a spatial orientation of a body frame of reference of a body with respect to a navigation frame of reference, wherein the body frame of reference is defined in relation to the body, and wherein the navigation frame of reference is defined in a manner that is not dependent upon the spatial orientation of the body, the method comprising:
receiving, by receiving equipment that is co-located in a fixed spatial relationship with the body, at least three sets of electromagnetic signals, each of the sets of electromagnetic signals arriving at the body from a different one of at least three separate transmission sources that have known locations, and obtaining, by the receiving equipment, signal amplitude measurement information for each one of the sets of electromagnetic signals; determining a location in space of the body; transforming, by a computing device, the known locations of the separate transmission sources and the determined location of the body into a navigation reference data set; calculating, for each one of the sets of electromagnetic signals, azimuth angle information based on the obtained signal amplitude measurement information for the set of electromagnetic signals, the calculated azimuth angle information partially specifying a direction of arrival of the set of electromagnetic signals at the body relative to a body azimuth axis in the body frame of reference; transforming, by the computing device, the calculated azimuth angle information into a body measurement data set; and determining, by the computing device and based on at least the navigation reference data set and the body measurement data set, the spatial orientation, including yaw, pitch, and roll angles, of the body frame of reference with respect to the navigation frame of reference, wherein the determination of the spatial orientation is performed without using detected elevation angle information. |
