| 摘要 |
A frame of reference is selected, and con- trol inputs provided by a vehicle operator are trans- formed to account for the orientation of a remotely operated vehicle with respect to the selected frame of reference such that the remotely operated vehi- cle responds to the control inputs with respect to the selected frame of reference. An earth frame of refer- ence may be selected based on a fixed true heading, e.g., North, or based on the initial orientation of the vehicle operator. Alternatively, a vehicle frame of reference may be selected which provides a fixed frame of reference with respect to the vehicle and a variable frame of reference with respect to the vehi- cle operator. A vehicle operator frame of reference may also be selected based on the orientation of the vehicle operator with respect to earth, and control commands are transformed based on changes in both the operator orientation with respect to the earth ref- erence and the remotely operated vehicle orientation with respect to the earth reference, which provides a fixed frame of reference with respect to the vehicle operator and a variable frame of reference with re- spect to the vehicle. The remotely operated vehicle heading transformation may be based on a selected forward, fixed or variable point on the vehicle re- lated to a vehicle center of gravity a forward part of the vehicle, the location of a sensor on the ve- hicle, or some other arbitrary reference location on the vehicle.
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