A Robust Method to Determine the Coordinates of a Wave Source for 3-D Position Sensing
This work addresses a method for location of a wave source by observing the wave as it reaches various observation points (receivers), or conversely, this is also a method for location of a receiver at an observation point, by probing with waves generated at various sources. The terms observing and probing imply measurement of time-of-flight (TOF) between a source (transmitter) and a receiver. Practical implications of this work include development and improvement of systems that triangulate the position of a point of interest based on TOF measurements to observation points. Typical applications to benefit from this work include 3-D digitization devices based in ultrasonic, laser, or infrared wave energy. This paper proposes a formulation for location of a wave source (receiver) using a minimum of five receivers (transmitters). It will also be shown that the proposed formulation defines a system that is inherently self-installing and self-calibrating. Also, conditions are developed to geometrically locate the observation points such that a solution to the problem is feasible, and last, a method to define an optimum geometric configuration of the observation points is provided. The case of an ultrasonic 3-D location system mounted on an autonomous vehicle is used as an example.
Journal of Dynamic Systems, Measurement, and Control
Figueroa, Fernando and Mahajan, Ajay, "A Robust Method to Determine the Coordinates of a Wave Source for 3-D Position Sensing" (1994). Mechanical Engineering Faculty Research. 427.