Increasing robustness of online calibration through motion detection

摘要

In a method for controlling an orienting/positioning system; the orienting system comprises at least one sensor means (S), an external motion detection device (M) for detecting an externally-caused motion in the environment of the sensor means and actuator means (A) for controlling an orienting and/or positioning action of the sensor means (S). The method comprises the steps of: (S1) Evaluating pre-action output information of said sensor means (S) in order to detect the position of a pattern in the input space of the sensor means; (S2) Deciding on a targeted post-action position of said pattern in the input space of said sensor means (S); (S3) Defining a command for the actuator means by mapping any deviation of the pre-action position and the targeted post-action position in the input space coordinates of the sensor-means to actuator control coordinates using a predefined mapping function; (S4) Orienting/Positioning the sensor means by the actuator means according to the defined command in order to carry out an orienting/positioning action; (S5) Detecting the real post-action position of the patterns in the input space of said sensor means; (S6) Detecting external motion of the pattern; and (S7) Adapting the mapping function used in step (S3), wherein steps S1 to S7 are cyclically repeated at least once using the respectively adapted mapping function. An output signal from the external-motion detection device is used to control at least the adaptation step (S7).