METHOD OF ANGULAR AND SPATIAL COORDINATES ESTIMATION OF OBJECTS IN REFERENCE POINTS IN OPTICAL-ELECTRONIC POSITIONING SYSTEM Russian patent published in 2020 - IPC G01B11/26 G01S5/16 

FIELD: measurement technology.

SUBSTANCE: invention relates to methods for optical determination of position and orientation of an object using an optical device and determination of angular directions on light-emitting or light-reflecting markers rigidly fixed on the object. Proposed method of estimating angular and spatial coordinates of an object with reference radiators is selected adaptively depending on the number of observed reference points of the cluster, as well as the configuration of projections of the reference points in the plane of the image of the camera. At that, adaptation consists in the fact that depending on the number of observed reference points of cluster 2 ≤ n ≤ 4 and estimation of the geometrical factor, the problem of determining angular and spatial coordinates of the object is solved either using optical means only, or using both optical means and auxiliary inertial positioning subsystem.

EFFECT: technical result is the development of an algorithm for adaptive selection of a method of solving the problem of positioning an object with at least n = 4 reference points on it with an a priori known coordinates in the coordinate system of the object using a single camera.

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