Patent ID: 7151480
Filing Date: 2006-12-19
Classification: G01B,G01S

Abstract:
1. A method of triangulating an object by means of at least two sensors, each sensor being placed in a respective local reference system, each of the at least two sensors at least providing a bearing to the object in their respective local reference system, characterized in that the method comprises the steps of: determining a triangulation reference system; calculating a triangulation transformation matrix from each sensor's local reference system to the triangulation reference system; calculating an object transformation matrix from the triangulation reference system to an object reference system; for each sensor used, determining at least a bearing to the object in a respective local reference system; for each determined bearing to the object in a respective local reference system, calculating a corresponding bearing in the triangulation reference system by means of a corresponding calculated triangulation transformation matrix; triangulating the object in the triangulation reference system by means of the calculated bearings in the triangulation reference system, by transforming a position of the triangulated object in the triangulation reference system to a position of the triangulated object in the object reference system by means of the calculated object transformation matrix.