Circuit for estimating position and orientation of a mobile object
AssigneeEvolution Robotics, Inc.
InventorsSteve Schell, Robert Witman, Joe Brown
Life of this patent
Estimating the term…
Abstract
A circuit system for estimating position and orientation of a mobile object based on lights from a plurality of external light sources. The circuit comprises a position-sensitive light sensor for detecting the light sources and generating a first signal, an analog filter and amplification module (“AFA”) for filtering and amplifying the first signal and generating a second signal, a digital signal processor (“DSP”) for generating a coordinate system by extracting frequency components from the second signal.
Claims22
A circuit system for estimating position and orientation of a mobile object based on lights from a plurality of external light sources, comprising:
- a position-sensitive light sensor, said sensor being disposed to detect said light sources and generate a first signal;
- an analog filter and amplification module (“AFA”), said AFA being disposed to filter and amplify said first signal and generate a second signal;
- a digital signal processor (“DSP”), said DSP being adapted to generate a coordinate system by extracting frequency components from said second signal.
A circuit system for estimating position and orientation of a mobile object based on lights from a plurality of external light sources, comprising:
- a position-sensitive light sensor, said sensor being disposed to detect said light sources and generate a first signal;
- an analog filter and amplification module (“AFA”), said AFA being disposed to filter and amplify said first signal and generate a second signal, said AFA comprising:
- a transimpedance amplifier (“TIA”), being disposed to amplify said first signal from said position-sensitive light sensor to generate its output;
- a first passive high-pass filter (“1st PHP”), said 1st PHP being disposed to remove DC bias from the output of said TIA and generate its output;
- a passive notch filter (“PNF”), disposed to remove noise signals between a predetermined range of frequencies from the output of said 1st PHP and generate its output;
- a first gain amplifier, being disposed to amplify the output from said PNF and generate its output;
- a second passive high-pass filter (“2nd PHP”), being disposed to remove DC bias from the output of said PNF and generate its output;
- a second gain amplifier, being disposed to amplify the output from said 2nd PHP and generate its output;
- a passive low-pass filter (“PLP”), being disposed to remove signals above a predetermined frequency from the output of said gain amplifier and generate its output;
- a first buffer, coupled between said 1st PHP and said PNF, disposed to reduce interaction between said 1st PHP and said passive notch filter;
- a second buffer, coupled between said PNF and said 2nd PHP, disposed to reduce interaction between said PNF and said 2nd PHP;
- a digital signal processor (“DSP”), said DSP being adapted to generate a coordinate system by extracting frequency components from the output of said PLP.
Dependencies are inferred from the claim text.