| 摘要 |
The present invention provides an improved method for determining a coarse direction in an orientation system of a an autonomous device (10), for instance a dust cleaning robot together with a system of active beacons or transponders. A transmitter (20) for transmitting sensing signals is displaced in relation to the rotational center (25) of the the device (10). When the device is rotated around a vertical rotational axis in the rotational center, a minimum in the distance to the respective transponder or beacon is obtained when the transmitter of the device is positioned immediate to a point lying on a straight line between the rotational center of the device and a respective transponder, whereby an immediate coarse determination of the direction to each transponder is directly obtained. From such an immediate direction determination direct better starting values are obtained for a position calculation by means of for example Kalman filtering, by which successively from the signals obtained by these transponder responses an orientation basis is achieved for the area where the device should be acting. |
