Scanning optical positioning system with spatially triangulating receivers

A sensing hardware device, comprising:

• at least one sensor that is arranged with at least one aperture to detect at least one spot illuminated by a beam that is scanned across a surface over time, and wherein the at least one spot is defined by its location on the surface over time;
• and
• a processor that is operative to perform actions, including:
• employing the at least one sensor to observe at least three spots on a surface over time through at least three lines of sight between each of the at least three spots and the at least one sensor, wherein each line of sight is based on the arrangement of the at least one sensor and the at least one aperture and has an observation angle between each other line of sight;
• determining each location of each of the at least three spots based on a time that each of the at least three spots are observed by the at least one sensor;
• and
• determining a position of the sensing device relative to the surface based on each location of the at least three spots and each determined observation angle.

A system for determining a position of a sensing device, comprising:

• a projection device that is operative to scan a beam across a surface to illuminate at least one spot across the surface over time, wherein the at least one spot is defined by its location on the surface over time;
• at least one sensor within the sensing device that is arranged with at least one aperture to detect the at least one spot;
• and
• a position detection device, including:
• a memory for storing instructions;
• and
• a processor that executes the instructions to enable actions, comprising:
• employing the at least one sensor to observe at least three spots on the surface over time through at least three lines of sight between each of the at least three spots and the at least one sensor, wherein each line of sight is based on the arrangement of the at least one sensor and the at least one aperture;
• determining an observation angle between each of the at least three lines of sight;
• determining each location of each of the at least three spots based on a time that each of the at least three spots are observed by the at least one sensor;
• and
• determining a position of the sensing device relative to the surface based on each location of the at least three spots and each determined observation angle.