| 摘要 |
A system (10, 10') for determining spatial position and/or orientation of on e or more objects (18, 18'; 22, 22') includes an optical subsystem (14, 14') and a non-optical subsystem (12, 12'). The optical subsystem includes optical subsystem light sources (16a, 16b, 16c; 16a', 16b', 16c') mounted to one or more of the objects and an optical subsystem sensor (20, 20') adapted to detect energy from the optical subsystem light sources. The optical subsystem has an optical subsystem coordinate system (X o, Y o, Z o) in a fixed relationship with the optical subsystem sensor. The optical subsystem sensor produces position and/or orientation signals relati ve to the optical subsystem coordinate system in response to optical subsystem light source detected energy. The non-optical subsystem has a non-optical coordinate syst em (X M, Y M, Z M; X A, Y A, Z A) and is adapted to produce position and/or orientati on signals of one or more of the objects (22, 22') relative to the non-optical subsystem coordinate system. A coupling arrangement (24, 24'; 34, 34') is provided for producing position and/or orientation signals indicative of the position and/or orientation of the selected one of the optical or non-optical subsystems relative to the coordinate syst em of the other one of the optical or non-optical subsystems. A processor (26, 26') is responsive to signals produced by the coupling arrangement and the individual subsystem sensors for determining the position and/or orientation of one or more of the object s relative to some conveniently defined coordinate system. |
