Abstract:
The method for locating a mobile unit relatively to an intermittent lighted beacon consists in calculating, on the basis of data concerning the mobile movement, the position of the discrete scatterer on the linear barrette obtained by a point by point subtraction of two linear images of the same image field, one wherein the beacon is alight and one wherein it is not alight, and the derivative of the position. On the basis of said data, the distance separating the beacon thus represented and a mark related to the mobile unit is calculated, and the beacon angular position relative to said mark linked with the mobile.

Description:
FIELD OF THE INVENTION 
     The present invention relates to the location and guidance of a moving body equipped with a linear camera. 
     It finds one application in the location and/or guidance of a motor vehicle driving along a roadway along which fixed beacons are distributed which define a reference path, the beacons being intermittently illuminated either actively (intermittently emitting sources) or passively (retroreflective beacons illuminated by a flash). 
     BACKGROUND OF THE INVENTION 
     A number of techniques for locating and guiding motor vehicles are already known. 
     One of these techniques, known as the “wire guidance” system consists in continuously slaving the motor vehicle to a conductive wire embedded in the ground and powered at a chosen frequency. 
     Another known technique consists in slaving the motor vehicle to magnetic markers, embedded in the ground. One or more detectors on board the vehicle detect the presence of the markers as the vehicle passes over said markers, and thus allow the vehicle to be located with respect to the markers. 
     Yet another known technique consists in providing wire guidance along a radiating cable laid along the roadway along which the vehicle moves. A sensor on board the vehicle determines the distance between the cable and the vehicle. Slaving keeps this distance at a constant value. 
     Such techniques have the disadvantage of requiring infrastructures which are generally expensive to implement both in the ground and in the vehicle. Furthermore, these techniques provide information only along that portion of the route which is in the immediate vicinity of the vehicle. As a result, this information does not allow the path along the road to be predicted, and this prevents the next said path being used to regulate the speed of the vehicle. 
     Another known technique uses image processing to locate a moving body with respect to visible points of reference on the roadway, such as white lines. However, this technique is not satisfactory either, because of poor marking (old white lines, roadworks, puddles, reflections from the sun) which perturb the image processing. 
     BRIEF SUMMARY OF THE INVENTION 
     The present invention provides a solution to the problems discussed above. 
     It sets out from a method for locating a moving body equipped with a camera of the type comprising a linear array of photosensitive elements, aimed in a known direction with respect to reference axes associated with the moving body, image processing means, and means for capturing information relating to the movement of the moving body. 
     According to a general definition of the invention, the method involves the steps consisting in: 
     a) distributing in the zone in which the moving body moves, fixed beacons which are intermittently illuminated either actively and/or passively, 
     b) at the moving body and at a chosen rate, taking a pair of different linear images of the same image field, one of the images being one in which the beacon or beacons are illuminated, the other being one in which the beacon or beacons are not illuminated, 
     c) processing the pair of linear images by a point-by-point subtraction of one from the other, 
     d) obtaining at least one bright spot from the subtraction of the two linear images, this spot representing at least one light beacon in the environment, 
     e) calculating, on the basis of information relating to the movement of the moving body, the position of the bright spot on the linear array, and its derivative, a first item of information relating to the distance separating the beacon thus represented and a frame of reference associated with the moving body, and a second item of information relating to the angular position of the beacon with respect to said frame of reference associated with the moving body, thus making it possible, as a function of the first and second items of information thus calculated, to locate the moving body in relative terms with respect to said beacon. 
     According to a first embodiment of the invention, step e) further comprises locating the moving body in absolute terms with respect to a fixed frame of reference associated with two separate beacons which can be seen simultaneously, said absolute location consisting in calculating, at a single given instant, a relative location with respect to each beacon as described hereinabove, the heading of the moving body with respect to the two beacons, and the coordinates of a chosen point of the moving body with respect to said fixed frame of reference associated with the two beacons. 
     According to a second embodiment of the invention, step e) further comprises locating the moving body in absolute terms with respect to a fixed frame of reference associated with two beacons which can be seen at least in turn as the moving body moves along, said absolute location consisting in calculating, at a first given instant, a first relative location with respect to a first beacon as described hereinabove, in calculating, at a second given instant, after the first instant, in calculating [sic] a second relative location of the moving body with respect to a second beacon which follows the first beacon in the direction of travel of the moving body, as described hereinabove, in using odometry to calculate the movement of the moving body and the heading of the moving body with respect to said first and second beacons and in calculating the coordinates of a chosen point of the moving body with respect to said fixed frame of reference. 
     Advantageously, the number of beacons are distributed along the roadway to define a reference path, and the method further comprises a step f) which consists in determining said reference path using the relative and/or absolute location of the moving body as described hereinabove, and in guiding the moving body, keeping a certain distance between the moving body and said reference path. A method such as this allows the moving body to predict the path along the route so as, for example, to regulate the speed of the moving body. 
     Another subject of the present invention is a device for implementing the method according to the invention. 
    
    
     BRIEF DESCRIPTION OF THE DRAWINGS 
     Further features and advantages of the invention will become clear from reading the detailed description hereinafter and from the drawings, in which: 
     FIG. 1 diagrammatically depicts a moving body such as a motor vehicle taking pictures of its environment which, in particular, contains a beacon; 
     FIG. 2 diagrammatically depicts the essential and constituent means of the linear camera and of the flash according to the invention; 
     FIG. 3 is a front-on view of the camera support which comprises light-emitting diodes arranged around the objective lens of the camera according to the invention, so as to create a flash; 
     FIGS. 4A to  4 C illustrate the obtaining of two linear images of the same image field, one without flash and the other with flash, and the point-by-point subtraction to locate a light beacon on the linear array; 
     FIG. 5 illustrates a first method of locating the moving body in absolute terms, which is performed at a given instant with respect to two separate beacons which can be seen simultaneously according to the invention; and 
     FIG. 6 illustrates a second method of locating the moving body in absolute terms, which is. performed at two given instants with respect to two beacons which can be seen at least in turn according to the invention. 
    
    
     DETAILED DESCRIPTION OF THE INVENTION 
     In FIG. 1, a moving body such as a motor vehicle M moves along a roadway CH, along which at least one beacon B 1  is placed. The moving body carries identification equipment comprising a camera and, if appropriate, a flash that will be described in further detail hereafter. The camera takes pictures of its environment in a field F with a line of sight V. 
     The environment of the moving body comprises a series of beacons such as B 1  capable of emitting or reflecting light, advantageously of the infrared IR type so as not to distract other motorists, intermittently toward the moving body M. 
     In a first embodiment, the beacons may themselves be active intermittent IR light-emitting sources, equipped with self-contained power supplies or alternatively powered from the mains. 
     In a preferred alternative form, the moving body M is equipped with a flash which illuminates the zone of sight of the identification equipment with infrared light at a chosen rate. The beacons are then passive and consist simply of reflectors, such as catadioptric reflectors. For example, the moving body is itself autonomous, that is to say, on the one hand, self-propelled and, on the other hand, capable of operating on automatic pilot or providing assistance for lateral guidance as will be described in greater detail hereinafter. 
     The identification device is, for example, fixed inside the cabin of the vehicle, near the driver&#39;s interior rear-view mirror. The camera may be aimed approximately downward, for example at an angle of about 5° to the horizontal plane. 
     The line of sight V of the identification equipment is aimed in a known direction with respect to reference axes associated with the moving body. In what follows, it is assumed that this direction is fixed, aimed toward the front of the moving body. 
     In the known way, the vehicle comprises means of capturing information relating to the movement of the moving body, for example information of the odometric type. For example, encoders ODO are placed on the non-driving wheels of the vehicle (in this instance, the point A of the vehicle with reference to FIG. 1 corresponds to the center of the rear axle of the moving body). Calculation means (not depicted) on board the vehicle are capable, with good accuracy by virtue of a Kalman filter, for example, of calculating the linear speed Va, and the angular velocity of the mid-point A of the rear axle of the vehicle using these odometric encoders. Alternatively, a rate gyro can be used to calculate the angular velocity of the vehicle. 
     With reference to FIGS. 2 and 3, the identification equipment R comprises a flash FH aimed in the same direction as the camera CA. The flash FH is placed on a support  10  which has an opening  12  through which the light beams can pass. 
     Arranged around the periphery  14  of the opening  12  are a number of light-emitting diodes E capable of operating with infrared light. 
     For example, the opening  12  is of parallelepipedal shape and the support  10  is of concave shape with a concavity of a few degrees. The dimensions of the opening  12  are 47.5 mm and 30 mm, for example. 
     A chosen distance away from the edge of the opening, for example 1 mm away, are rows of light-emitting diodes. For example a row of 7 diodes is arranged along each long side of the opening, these being labeled individually as E 1  to E 7  along the first long side and E 8  to E 14  along the second long side. The diodes E 4  and E 11  are aligned with the field of sight V. 
     There is a row of 4 diodes along each short side of the opening. Advantageously, other parallel rows of 3 or 4 diodes are arranged along the short sides of the opening. Quite obviously, the distribution of the diodes could differ from the one described with reference to FIG. 3, according to the desired radiation pattern. Thus, if there were a desire to illuminate one verge of the road more than the other, more diodes could be placed on one of the sides of the opening  12 . 
     The camera CA comprises a linear array  9 , for example of 2048 photoelements of the CCD type. The length of the array 9 is 30 millimeters. This is arranged horizontally along a straight line perpendicular to the axis of travel of the vehicle. In addition to the array, the camera comprises a spherical lens  20  of the type used in photographic apparatus with a focal length of 28 mm, and a cylindrical lens  22  with a focal length f of about 100 millimeters, and a horizontal generatrix. 
     Finally, the optical assembly is supplemented by a filter (not depicted) which allows only infrared radiation to pass. 
     The camera may be aimed approximately downward, for example at an angle of a few degrees to the horizontal plane. The field of view of the camera is thus about a few degrees (10° for example) in the vertical plane, and about 60° in the horizontal plane. 
     It should be pointed out that the cylindrical lens  22  makes it possible to observe the projection in the horizontal plane of the beacons located in the field of view regardless of their position in the vertical plane. 
     The optical assembly has been optimized for a distance of about 15 meters. 
     The camera is connected to processing means on board the vehicle which process the information from the camera and from the odometric information capture means. 
     According to the invention, two linear images IL 1  and IL 2  of the same image field are taken at a chosen rate (for example 1000 Hz). The first image IL 1  (FIG. 4A) is obtained without flash, (or alternatively when the beacon or beacons are not illuminated in the case of actively-emitting beacons), possibly in the presence of sunlight. 
     The signal SIL 1  corresponds to the value of light intensity of the 2048 pixels of the linear camera. For example, the value of the light intensity of the pixels of the linear camera is coded on 12 bits, that is to say from 0 to 4096 in arbitrary units. With reference to FIG. 4A, the background noise has an intensity of the order of 1000 for pixels from 1100 to 1170. 
     The second image IL 2  (FIG. 4B) is obtained with flash (or alternatively when the beacon or beacons are illuminated in the case of actively illuminated beacons). With reference to FIG. 4B, the high-intensity pixels form a spike EP 1  representing the light beacon and the base of the spike EP 1  has a non-zero intensity because of the continuous background noise. 
     Point-by-point subtraction of the images IL 1  and IL 2  one from the other makes it possible to obtain at least one collection of bright spots P 1 , reliably and without background noise. With reference to FIG. 4C, the central position e of the set of bright spots P 1  is calculated on the basis of thresholds S 1  and S 2  established for the intensity of the signal corresponding to the subtracting of the two images IL 1  and IL 2 . For example, the threshold S 1  is at 400 and the threshold S 2  is at 800. The central position e is, for example, deduced from the mean of all of the points P 1  which in this instance corresponds to the center of the points PS 11  and PS 12  in the case of the threshold S 1  and the center of the points PS 21  and PS 22  in the case of the threshold S 2 . 
     The central position e on the linear array (for example e is equal to 1136 on a scale of 2048 pixels) represents the light beacon B 1  in the environment of the moving body as described with reference to FIG.  1 . 
     On the basis of information relating to the movement of the moving body (for example odometric information), the position e of the bright spot or spots P 1  on the linear array and the derivative e of said position e, the calculation means will determine the distance D 1  separating the beacon B 1  and a frame of reference associated with the moving body. In practice, the frame of reference associated with the moving body has as its point of origin the point A described with reference to FIG.  1 . 
     The calculation means will also use the above information to determine the angular position ψ 1  of the beacon B 1  with respect to said frame of reference A associated with the moving body. 
     This information D 1  and tan ψ 1  is resolved using the appended formulae I and II, with the aid of known parameters which are: 
     e: position of the bright spot P 1  on the array; 
     Va: linear speed of the moving body (odometric quantity); 
     f: focal length of the camera; 
     d: distance between the mid-point A of the rear axle and the linear array; 
     {dot over (ψ)} 1 : derivative of the angular position, or angular velocity (odometric quantity) 
     {dot over (e)}: derivative of e. 
     At the end of the calculation, the moving body is located in relative terms with respect to the beacon B 1 . 
     A number of beacons may be distributed along the roadway to define a reference path. The method according to the invention then consists is determining the reference path defined by the beacons by locating the moving body using the relative location described hereinabove. Next, the calculation means can maintain a certain distance between the moving body and said reference path thus determined. 
     A method such as this allows the moving body to predict the path along the route so as, for example, to regulate the speed of the vehicle. It also allows the moving body to be given lateral guidance with respect to the reference path. 
     As a preference, the beacons are distributed in such a way that the moving body sees at least two of them at every point of its movement (beacons distributed every 5 m for example). 
     To allow the vehicle to operate on “automatic pilot” according to the invention, the vehicle has to have the possibility of having its drive, braking and steering controlled electronically. 
     For example, these electronic controls come from an on-board microcomputer device (not depicted) capable of operating braking, steering and drive actuators. 
     It may also be necessary to locate the moving body in absolute terms with respect to a fixed frame of reference defined by one or more beacons. 
     With reference to FIG. 5, absolute location is achieved using two beacons B 1  and B 2  which can be seen simultaneously and which define a fixed frame of reference R 0 , with respect to the moving body. In this frame of reference R 0 , the beacon B 1  has the coordinates  0 , 0 , the beacon B 2  has the coordinates X B2 ,  0  and the point A has the coordinates X A , Y A . 
     The heading of the vehicle tanψ V , is defined according to the appended formulae III and IV using parameters (calculated as described with reference to FIG. 1) and which are: 
     D 1 : distance between point A and the beacon B 1 ; 
     D 2 : distance between point A and the beacon B 2 ; 
     ψ 1 : angular position of point A with respect to B 1 ; and 
     ψ 2 : angular position of point A with respect to B 2 . 
     The coordinates of point A are defined by the intersection of the circles C 1  and C 2  centered respectively on B 1  and B 2  and with the respective radii D 1  and D 2  according to formulae V and VI. 
     The coordinates of the vehicle X A  and Y A  are determined according to formulae VII and VIII. 
     Absolute location is achieved here at a single given instant with respect to the beacons B 1  and B 2  seen simultaneously by the camera. 
     With reference to FIG. 6, absolute location is achieved at two given instants in the movement of the moving body with respect to two beacons which can be seen at least in turn by the linear camera. Absolute location is achieved using a first relative location of the moving body with respect to the beacon B 1 , calculated at a given instant t 1 , and a second relative location of the moving body with respect to the beacon B 2  calculated at another given instant t 2  spaced from the first instant t 1  by a few seconds. 
     At the instant t 1 , the moving body sees the beacon B 1  (position A 1 ). At the instant t 2 , the moving body sees the beacon B 2  (position A 2 ). 
     The two relative locations are calculated using an approach similar to the one employed for the relative locations described with reference to FIG.  5 . The first location makes it possible to obtain the parameters D 1  and ψ 1 . The second location makes it possible to obtain the parameters D 2  and ψ 2 . 
     In short, the search here is for the absolute coordinates X A2 , Y A2  of the point A2 of the moving body in the frame of reference R 0  from the intersection of two circles C′ 1  and C 2  and its heading tan ψ V , as follows: 
     First of all, 4 study frames of reference R 0 , R 1 , R′ 1 , R 2  are defined according to formula IX. The frame of reference R 0  is associated with the beacon B 1 . The other frames of reference are associated with the moving body. 
     The relative locations are then used to determine the distances D 1  and D 2  respectively separating the point A 1  from the beacon B 1  and the point A 2  from the beacon B 2 , using the appended formula II. 
     The moving body is located on the circle C 1  centered on B 1  and of radius D 1 . Likewise, the point A 2  is located on the circle C 2  centered on B 2  and of radius D 2 . The point A 2  is also on the circle C′ 1  centered on B 1  and of radius D′ 1 . 
     The distance D′ 1  is the distance that separates the point A 2  from the beacon B 1 . 
     Odometry then needs to be used to calculate the distance D′ 1  on the basis of the parameters dX, dY and d ψ , using the appended formulae X, XI and XII. In these formulae, dX is the distance separating the points A 1  and A 2  in the longitudinal direction of travel of the moving body, dY is the distance separating the points A 1  and A 2  of the moving body in the direction transverse to the movement of the moving body, and d ψ  is the difference between the angular positions ψ 1  and ψ 2 . 
     Having solved formula XII, the coordinates of the point A 2  in the frame of reference R 0  are obtained using appended formula XIII. 
     The heading of the moving body, tanψ V , with reference to FIG. 6, is determined using formulae XIV and XV. 
     Obviously, the calculation of the relative location and/or absolute location can be performed using other formulae. 
     It was seen earlier that the camera looks at one or more beacons which flash periodically. This flashing makes it possible to eliminate the background noise by taking the difference between two consecutive images, one in which the beacons are illuminated and the other in which the beacons are not illuminated. Thus, the spikes (or bright spots) can be detected far more easily and, above all, far more reliably. 
     However, a problem of synchronization of the camera and the light beacons may remain. This is because if the camera performs the exposure phase while the light beacons are changing status then the image perceived may be incorrect. 
     One solution to this problem consists in bringing the camera exposure signal into phase with the beacons&#39; flashing signal. 
     To perform this synchronization correctly, the frequency at which the beacons flash is chosen to be identical to the acquisition frequency of the lines of the linear camera. An intrinsic frequency shift (different oscillator, temperature) is, however, tolerated. 
     Next, the phase difference between the two electrical signals has to be regulated. One known solution consists in using electronic means capable of using software to achieve a phase-locked loop also known as PLL. For example, to compensate for phase differences between the camera signals and the beacons&#39; signals, the software solution hinges around modulating the camera acquisition period. 
     In the case of passive beacons illuminated by a flash, the synchronization means are designed to synchronize the operation of the flash and the operation of the camera. 
     
       
         
               
             
               
               
             
           
               
                   
               
               
                 ANNEX 
               
               
                   
               
             
             
               
                   
               
             
          
           
               
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                                 2 
                               
                                
                               sin 
                                
                               
                                   
                               
                                
                               
                                 Ψ 
                                 2 
                               
                             
                             - 
                             
                               
                                 D 
                                 2 
                               
                                
                               sin 
                                
                               
                                   
                               
                                
                               
                                 Ψ 
                                 1 
                               
                             
                           
                           
                             
                               
                                 D 
                                 2 
                               
                                
                               cos 
                                
                               
                                   
                               
                                
                               
                                 Ψ 
                                 2 
                               
                             
                             - 
                             
                               
                                 D 
                                 1 
                               
                                
                               cos 
                                
                               
                                   
                               
                                
                               
                                 Ψ 
                                 1 
                               
                             
                           
                         
                       
                     
                             
                     
                         
                     
                   
                 
               
               
                   
               
               
                 Formula V: 
                 
                   
                     
                       
                         { 
                         
                           
                             
                               
                                 
                                   
                                     X 
                                     A 
                                     2 
                                   
                                   + 
                                   
                                     Y 
                                     A 
                                     2 
                                   
                                 
                                 = 
                                 
                                   D 
                                   1 
                                   2 
                                 
                               
                             
                           
                           
                             
                               
                                 
                                   
                                     
                                       ( 
                                       
                                         
                                           X 
                                           A 
                                         
                                         - 
                                         
                                           X 
                                           
                                             B 
                                             2 
                                           
                                         
                                       
                                       ) 
                                     
                                     2 
                                   
                                   + 
                                   
                                     Y 
                                     A 
                                     2 
                                   
                                 
                                 = 
                                 
                                   D 
                                   2 
                                   2 
                                 
                               
                             
                           
                         
                          
                       
                     
                             
                     
                         
                     
                   
                 
               
               
                   
               
               
                 Formula VI: 
                 
                   
                     
                       
                         { 
                         
                           
                             
                               
                                 
                                   X 
                                   A 
                                 
                                 = 
                                 
                                   
                                     
                                       
                                         D 
                                         1 
                                         2 
                                       
                                       - 
                                       
                                         D 
                                         2 
                                         2 
                                       
                                     
                                     
                                       2 
                                        
                                       
                                         X 
                                         
                                           B 
                                           2 
                                         
                                       
                                     
                                   
                                   + 
                                   
                                     
                                       X 
                                       
                                         B 
                                         2 
                                       
                                     
                                     2 
                                   
                                 
                               
                             
                           
                           
                             
                               
                                 
                                   Y 
                                   A 
                                 
                                 = 
                                 
                                   
                                     
                                       D 
                                       1 
                                       2 
                                     
                                     - 
                                     
                                       
                                         ( 
                                         
                                           
                                             
                                               
                                                 D 
                                                 1 
                                                 2 
                                               
                                               - 
                                               
                                                 D 
                                                 2 
                                                 2 
                                               
                                             
                                             
                                               2 
                                                
                                               
                                                 X 
                                                 
                                                   B 
                                                   2 
                                                 
                                               
                                             
                                           
                                           + 
                                           
                                             
                                               X 
                                               
                                                 B 
                                                 2 
                                               
                                             
                                             2 
                                           
                                         
                                         ) 
                                       
                                       2 
                                     
                                   
                                 
                               
                             
                           
                         
                          
                       
                     
                             
                     
                         
                     
                   
                 
               
               
                   
               
               
                 Formula VII: 
                 
                   
                     
                       
                         
                           
                             
                               
                                 
                                   X 
                                   A 
                                 
                                 = 
                                 
                                     
                                 
                                  
                                 
                                   
                                     
                                       
                                         
                                           ( 
                                           
                                             
                                               d 
                                                
                                               
                                                   
                                               
                                                
                                               f 
                                                
                                               
                                                 
                                                   e 
                                                   . 
                                                 
                                                 1 
                                               
                                             
                                             + 
                                             
                                               f 
                                                
                                               
                                                   
                                               
                                                
                                               
                                                 e 
                                                 1 
                                               
                                                
                                               
                                                 V 
                                                 A 
                                               
                                             
                                             - 
                                             
                                               
                                                 e 
                                                 1 
                                                 2 
                                               
                                                
                                               d 
                                                
                                               
                                                 Ψ 
                                                 . 
                                               
                                             
                                           
                                           ) 
                                         
                                         2 
                                       
                                       + 
                                       
                                         
                                           
                                             e 
                                             1 
                                             2 
                                           
                                            
                                           
                                             ( 
                                             
                                               
                                                 
                                                   V 
                                                   A 
                                                 
                                                  
                                                 
                                                   e 
                                                   1 
                                                 
                                               
                                               + 
                                               
                                                 f 
                                                  
                                                 
                                                     
                                                 
                                                  
                                                 d 
                                                  
                                                 
                                                   Ψ 
                                                   . 
                                                 
                                               
                                             
                                             ) 
                                           
                                         
                                         2 
                                       
                                     
                                     
                                       2 
                                        
                                       
                                         
                                           
                                             X 
                                             
                                               B 
                                               2 
                                             
                                           
                                            
                                           
                                             ( 
                                             
                                               
                                                 f 
                                                  
                                                 
                                                     
                                                 
                                                  
                                                 
                                                   
                                                     e 
                                                     . 
                                                   
                                                   1 
                                                 
                                               
                                               - 
                                               
                                                 
                                                   ( 
                                                   
                                                     
                                                       e 
                                                       1 
                                                       2 
                                                     
                                                     + 
                                                     
                                                       f 
                                                       2 
                                                     
                                                   
                                                   ) 
                                                 
                                                  
                                                 
                                                   Ψ 
                                                   . 
                                                 
                                               
                                             
                                             ) 
                                           
                                         
                                         2 
                                       
                                     
                                   
                                   - 
                                 
                               
                             
                           
                           
                             
                               
                                 
                                     
                                 
                                  
                                 
                                   
                                     
                                       
                                         
                                           ( 
                                           
                                             
                                               d 
                                                
                                               
                                                   
                                               
                                                
                                               f 
                                                
                                               
                                                 
                                                   e 
                                                   . 
                                                 
                                                 2 
                                               
                                             
                                             + 
                                             
                                               f 
                                                
                                               
                                                   
                                               
                                                
                                               
                                                 e 
                                                 2 
                                               
                                                
                                               
                                                 V 
                                                 A 
                                               
                                             
                                             - 
                                             
                                               
                                                 e 
                                                 2 
                                                 2 
                                               
                                                
                                               d 
                                                
                                               
                                                 Ψ 
                                                 . 
                                               
                                             
                                           
                                           ) 
                                         
                                         2 
                                       
                                       + 
                                       
                                         
                                           
                                             e 
                                             2 
                                             2 
                                           
                                            
                                           
                                             ( 
                                             
                                               
                                                 
                                                   V 
                                                   A 
                                                 
                                                  
                                                 
                                                   e 
                                                   2 
                                                 
                                               
                                               + 
                                               
                                                 f 
                                                  
                                                 
                                                     
                                                 
                                                  
                                                 d 
                                                  
                                                 
                                                   Ψ 
                                                   . 
                                                 
                                               
                                             
                                             ) 
                                           
                                         
                                         2 
                                       
                                     
                                     
                                       2 
                                        
                                       
                                         
                                           
                                             X 
                                             
                                               B 
                                               2 
                                             
                                           
                                            
                                           
                                             ( 
                                             
                                               
                                                 f 
                                                  
                                                 
                                                     
                                                 
                                                  
                                                 
                                                   
                                                     e 
                                                     . 
                                                   
                                                   2 
                                                 
                                               
                                               - 
                                               
                                                 
                                                   ( 
                                                   
                                                     
                                                       e 
                                                       2 
                                                       2 
                                                     
                                                     + 
                                                     
                                                       f 
                                                       2 
                                                     
                                                   
                                                   ) 
                                                 
                                                  
                                                 
                                                   Ψ 
                                                   . 
                                                 
                                               
                                             
                                             ) 
                                           
                                         
                                         2 
                                       
                                     
                                   
                                   + 
                                   
                                     
                                       X 
                                       
                                         B 
                                         2 
                                       
                                     
                                     2 
                                   
                                 
                               
                             
                           
                         
                          
                       
                     
                             
                     
                         
                     
                   
                 
               
               
                   
               
               
                 Formula VIII: 
                 
                   
                     
                       
                         
                           Y 
                           A 
                         
                         = 
                         
                           
                             
                               
                                 
                                   
                                     
                                       
                                         
                                           ( 
                                           
                                             
                                               d 
                                                
                                               
                                                   
                                               
                                                
                                               f 
                                                
                                               
                                                 
                                                   e 
                                                   . 
                                                 
                                                 1 
                                               
                                             
                                             + 
                                             
                                               f 
                                                
                                               
                                                   
                                               
                                                
                                               
                                                 e 
                                                 1 
                                               
                                                
                                               
                                                 V 
                                                 A 
                                               
                                             
                                             - 
                                             
                                               
                                                 e 
                                                 1 
                                                 2 
                                               
                                                
                                               d 
                                                
                                               
                                                 Ψ 
                                                 . 
                                               
                                             
                                           
                                           ) 
                                         
                                         2 
                                       
                                       + 
                                       
                                         
                                           
                                             e 
                                             1 
                                             2 
                                           
                                            
                                           
                                             ( 
                                             
                                               
                                                 
                                                   V 
                                                   A 
                                                 
                                                  
                                                 
                                                   e 
                                                   1 
                                                 
                                               
                                               + 
                                               
                                                 f 
                                                  
                                                 
                                                     
                                                 
                                                  
                                                 d 
                                                  
                                                 
                                                   Ψ 
                                                   . 
                                                 
                                               
                                             
                                             ) 
                                           
                                         
                                         2 
                                       
                                     
                                     
                                       
                                         ( 
                                         
                                           
                                             f 
                                              
                                             
                                                 
                                             
                                              
                                             
                                               
                                                 e 
                                                 . 
                                               
                                               1 
                                             
                                           
                                           - 
                                           
                                             
                                               ( 
                                               
                                                 
                                                   e 
                                                   1 
                                                   2 
                                                 
                                                 + 
                                                 
                                                   f 
                                                   2 
                                                 
                                               
                                               ) 
                                             
                                              
                                             
                                               Ψ 
                                               . 
                                             
                                           
                                         
                                         ) 
                                       
                                       2 
                                     
                                   
                                   - 
                                 
                               
                             
                             
                               
                                 
                                   ( 
                                   
                                     
                                       
                                         
                                           
                                             ( 
                                             
                                               
                                                 d 
                                                  
                                                 
                                                     
                                                 
                                                  
                                                 f 
                                                  
                                                 
                                                   
                                                     e 
                                                     . 
                                                   
                                                   1 
                                                 
                                               
                                               + 
                                               
                                                 f 
                                                  
                                                 
                                                     
                                                 
                                                  
                                                 
                                                   e 
                                                   1 
                                                 
                                                  
                                                 
                                                   V 
                                                   A 
                                                 
                                               
                                               - 
                                               
                                                 
                                                   e 
                                                   1 
                                                   2 
                                                 
                                                  
                                                 d 
                                                  
                                                 
                                                   Ψ 
                                                   . 
                                                 
                                               
                                             
                                             ) 
                                           
                                           2 
                                         
                                         + 
                                         
                                           
                                             
                                               e 
                                               1 
                                               2 
                                             
                                              
                                             
                                               ( 
                                               
                                                 
                                                   
                                                     V 
                                                     A 
                                                   
                                                    
                                                   
                                                     e 
                                                     1 
                                                   
                                                 
                                                 + 
                                                 
                                                   f 
                                                    
                                                   
                                                       
                                                   
                                                    
                                                   d 
                                                    
                                                   
                                                     Ψ 
                                                     . 
                                                   
                                                 
                                               
                                               ) 
                                             
                                           
                                           2 
                                         
                                       
                                       
                                         2 
                                          
                                         
                                           
                                             
                                               X 
                                               
                                                 B 
                                                 2 
                                               
                                             
                                              
                                             
                                               ( 
                                               
                                                 
                                                   f 
                                                    
                                                   
                                                       
                                                   
                                                    
                                                   
                                                     
                                                       e 
                                                       . 
                                                     
                                                     1 
                                                   
                                                 
                                                 - 
                                                 
                                                   
                                                     ( 
                                                     
                                                       
                                                         e 
                                                         1 
                                                         2 
                                                       
                                                       + 
                                                       
                                                         f 
                                                         2 
                                                       
                                                     
                                                     ) 
                                                   
                                                    
                                                   
                                                     Ψ 
                                                     . 
                                                   
                                                 
                                               
                                               ) 
                                             
                                           
                                           2 
                                         
                                       
                                     
                                     - 
                                   
                                 
                               
                             
                             
                               
                                 
                                   
                                     
                                       
                                         
                                           
                                             ( 
                                             
                                               
                                                 d 
                                                  
                                                 
                                                     
                                                 
                                                  
                                                 f 
                                                  
                                                 
                                                   
                                                     e 
                                                     . 
                                                   
                                                   2 
                                                 
                                               
                                               + 
                                               
                                                 f 
                                                  
                                                 
                                                     
                                                 
                                                  
                                                 
                                                   e 
                                                   2 
                                                 
                                                  
                                                 
                                                   V 
                                                   A 
                                                 
                                               
                                               - 
                                               
                                                 
                                                   e 
                                                   2 
                                                   2 
                                                 
                                                  
                                                 d 
                                                  
                                                 
                                                   Ψ 
                                                   . 
                                                 
                                               
                                             
                                             ) 
                                           
                                           2 
                                         
                                         + 
                                         
                                           
                                             
                                               e 
                                               2 
                                               2 
                                             
                                              
                                             
                                               ( 
                                               
                                                 
                                                   
                                                     V 
                                                     A 
                                                   
                                                    
                                                   
                                                     e 
                                                     2 
                                                   
                                                 
                                                 + 
                                                 
                                                   f 
                                                    
                                                   
                                                       
                                                   
                                                    
                                                   d 
                                                    
                                                   
                                                     Ψ 
                                                     . 
                                                   
                                                 
                                               
                                               ) 
                                             
                                           
                                           2 
                                         
                                       
                                       
                                         2 
                                          
                                         
                                           
                                             
                                               X 
                                               
                                                 B 
                                                 2 
                                               
                                             
                                              
                                             
                                               ( 
                                               
                                                 
                                                   f 
                                                    
                                                   
                                                       
                                                   
                                                    
                                                   
                                                     
                                                       e 
                                                       . 
                                                     
                                                     2 
                                                   
                                                 
                                                 - 
                                                 
                                                   
                                                     ( 
                                                     
                                                       
                                                         e 
                                                         2 
                                                         2 
                                                       
                                                       + 
                                                       
                                                         f 
                                                         2 
                                                       
                                                     
                                                     ) 
                                                   
                                                    
                                                   
                                                     Ψ 
                                                     . 
                                                   
                                                 
                                               
                                               ) 
                                             
                                           
                                           2 
                                         
                                       
                                     
                                     + 
                                     
                                       
                                         X 
                                         
                                           B 
                                           2 
                                         
                                       
                                       2 
                                     
                                   
                                   ) 
                                 
                               
                             
                           
                         
                       
                     
                             
                     
                         
                     
                   
                 
               
               
                   
               
               
                 Formula IX: 
                 
                   
                     
                       
                         { 
                         
                           
                             
                               
                                 
                                   R 
                                   0 
                                 
                                 = 
                                 
                                   ( 
                                   
                                     
                                       B 
                                       1 
                                     
                                     , 
                                     
                                       
                                         i 
                                         _ 
                                       
                                       0 
                                     
                                     , 
                                     
                                       
                                         j 
                                         _ 
                                       
                                       0 
                                     
                                   
                                   ) 
                                 
                               
                             
                           
                           
                             
                               
                                 
                                   R 
                                   1 
                                 
                                 = 
                                 
                                   ( 
                                   
                                     
                                       A 
                                       1 
                                     
                                     , 
                                     
                                       
                                         i 
                                         _ 
                                       
                                       1 
                                     
                                     , 
                                     
                                       
                                         j 
                                         _ 
                                       
                                       1 
                                     
                                   
                                   ) 
                                 
                               
                             
                           
                           
                             
                               
                                 
                                   R 
                                   1 
                                   ′ 
                                 
                                 = 
                                 
                                   ( 
                                   
                                     
                                       A 
                                       2 
                                     
                                     , 
                                     
                                       
                                         i 
                                         _ 
                                       
                                       1 
                                     
                                     , 
                                     
                                       
                                         j 
                                         _ 
                                       
                                       1 
                                     
                                   
                                   ) 
                                 
                               
                             
                           
                           
                             
                               
                                 
                                   R 
                                   2 
                                 
                                 = 
                                 
                                   ( 
                                   
                                     
                                       A 
                                       2 
                                     
                                     , 
                                     
                                       
                                         i 
                                         _ 
                                       
                                       2 
                                     
                                     , 
                                     
                                       
                                         j 
                                         _ 
                                       
                                       2 
                                     
                                   
                                   ) 
                                 
                               
                             
                           
                         
                          
                       
                     
                             
                     
                         
                     
                   
                 
               
               
                   
               
               
                 Formula X: 
                 
                   
                     
                       
                         { 
                         
                           
                             
                               
                                 
                                   X 
                                   
                                     
                                       B 
                                       1 
                                     
                                     / 
                                     
                                       R 
                                       1 
                                       ′ 
                                     
                                   
                                 
                                 = 
                                 
                                   
                                     X 
                                     
                                       
                                         B 
                                         1 
                                       
                                       / 
                                       
                                         R 
                                         1 
                                       
                                     
                                   
                                   - 
                                   
                                     d 
                                      
                                     
                                         
                                     
                                      
                                     X 
                                   
                                 
                               
                             
                           
                           
                             
                               
                                 
                                   Y 
                                   
                                     
                                       B 
                                       1 
                                     
                                     / 
                                     
                                       R 
                                       1 
                                       ′ 
                                     
                                   
                                 
                                 = 
                                 
                                   
                                     Y 
                                     
                                       
                                         B 
                                         1 
                                       
                                       / 
                                       
                                         R 
                                         1 
                                       
                                     
                                   
                                   - 
                                   
                                     d 
                                      
                                     
                                         
                                     
                                      
                                     Y 
                                   
                                 
                               
                             
                           
                         
                          
                       
                     
                             
                     
                         
                     
                   
                 
               
               
                   
               
               
                 Formula XI: 
                 
                   
                     
                       
                         
                           D 
                           1 
                           ′ 
                         
                         = 
                         
                           
                             
                               
                                 ( 
                                 
                                   
                                     X 
                                     
                                       
                                         B 
                                         1 
                                       
                                       / 
                                       
                                         R 
                                         1 
                                       
                                     
                                   
                                   - 
                                   
                                     d 
                                      
                                     
                                         
                                     
                                      
                                     X 
                                   
                                 
                                 ) 
                               
                               2 
                             
                             + 
                             
                               
                                 ( 
                                 
                                   
                                     Y 
                                     
                                       
                                         B 
                                         1 
                                       
                                       / 
                                       
                                         R 
                                         1 
                                       
                                     
                                   
                                   - 
                                   
                                     d 
                                      
                                     
                                         
                                     
                                      
                                     Y 
                                   
                                 
                                 ) 
                               
                               2 
                             
                           
                         
                       
                     
                             
                     
                         
                     
                   
                 
               
               
                   
               
               
                 Formula XII: 
                 
                   
                     
                       
                         { 
                         
                           
                             
                               
                                 
                                   
                                     
                                       C 
                                       1 
                                       ′ 
                                     
                                      
                                     
                                       : 
                                     
                                      
                                     
                                       X 
                                       2 
                                     
                                   
                                   + 
                                   
                                     Y 
                                     2 
                                   
                                 
                                 = 
                                 
                                   D 
                                   1 
                                   
                                     ′ 
                                      
                                     
                                         
                                     
                                      
                                     2 
                                   
                                 
                               
                             
                           
                           
                             
                               
                                 
                                   
                                     
                                       C 
                                       2 
                                     
                                      
                                     
                                       : 
                                     
                                      
                                     
                                       
                                         ( 
                                         
                                           X 
                                           - 
                                           
                                             X 
                                             
                                               B 
                                               2 
                                             
                                           
                                         
                                         ) 
                                       
                                       2 
                                     
                                   
                                   + 
                                   
                                     Y 
                                     2 
                                   
                                 
                                 = 
                                 
                                   D 
                                   2 
                                   2 
                                 
                               
                             
                           
                         
                          
                       
                     
                             
                     
                         
                     
                   
                 
               
               
                   
               
               
                 Formula XIII: 
                 
                   
                     
                       
                         { 
                         
                           
                             
                               
                                 
                                   X 
                                   
                                     A 
                                     2 
                                   
                                 
                                 = 
                                 
                                   
                                     
                                       
                                         D 
                                         1 
                                         
                                           ′ 
                                            
                                           
                                               
                                           
                                            
                                           2 
                                         
                                       
                                       - 
                                       
                                         D 
                                         2 
                                         2 
                                       
                                     
                                     
                                       2 
                                        
                                       
                                         X 
                                         
                                           B 
                                           2 
                                         
                                       
                                     
                                   
                                   + 
                                   
                                     
                                       X 
                                       
                                         B 
                                         2 
                                       
                                     
                                     2 
                                   
                                 
                               
                             
                           
                           
                             
                               
                                 
                                   Y 
                                   
                                     A 
                                     2 
                                   
                                 
                                 = 
                                 
                                   
                                     
                                       D 
                                       1 
                                       
                                         ′ 
                                          
                                         
                                             
                                         
                                          
                                         2 
                                       
                                     
                                     - 
                                     
                                       
                                         ( 
                                         
                                           
                                             
                                               
                                                 D 
                                                 1 
                                                 
                                                   ′ 
                                                    
                                                   
                                                       
                                                   
                                                    
                                                   2 
                                                 
                                               
                                               - 
                                               
                                                 D 
                                                 2 
                                                 2 
                                               
                                             
                                             
                                               2 
                                                
                                               
                                                 X 
                                                 
                                                   B 
                                                   2 
                                                 
                                               
                                             
                                           
                                           + 
                                           
                                             
                                               X 
                                               
                                                 B 
                                                 2 
                                               
                                             
                                             2 
                                           
                                         
                                         ) 
                                       
                                       2 
                                     
                                   
                                 
                               
                             
                           
                         
                          
                       
                     
                             
                     
                         
                     
                   
                 
               
               
                   
               
               
                 Formula XIV: 
                 
                   
                     
                       
                         { 
                         
                           
                             
                               
                                 
                                   X 
                                   
                                     
                                       B 
                                       1 
                                     
                                     / 
                                     
                                       R 
                                       2 
                                     
                                   
                                 
                                 = 
                                 
                                   
                                     
                                       ( 
                                       
                                         
                                           X 
                                           
                                             
                                               B 
                                               1 
                                             
                                             / 
                                             
                                               R 
                                               1 
                                             
                                           
                                         
                                         - 
                                         
                                           d 
                                            
                                           
                                               
                                           
                                            
                                           X 
                                         
                                       
                                       ) 
                                     
                                      
                                     
                                       cos 
                                       ( 
                                       
                                         d 
                                          
                                         
                                             
                                         
                                          
                                         Ψ 
                                       
                                       ) 
                                     
                                   
                                   + 
                                   
                                     
                                       ( 
                                       
                                         
                                           Y 
                                           
                                             
                                               B 
                                               1 
                                             
                                             / 
                                             
                                               R 
                                               1 
                                             
                                           
                                         
                                         - 
                                         
                                           d 
                                            
                                           
                                               
                                           
                                            
                                           Y 
                                         
                                       
                                       ) 
                                     
                                      
                                     
                                       sin 
                                       ( 
                                       
                                         d 
                                          
                                         
                                             
                                         
                                          
                                         Ψ 
                                       
                                       ) 
                                     
                                   
                                 
                               
                             
                           
                           
                             
                               
                                 
                                   Y 
                                   
                                     
                                       B 
                                       1 
                                     
                                     / 
                                     
                                       R 
                                       2 
                                     
                                   
                                 
                                 = 
                                 
                                   
                                     
                                       ( 
                                       
                                         
                                           Y 
                                           
                                             
                                               B 
                                               1 
                                             
                                             / 
                                             
                                               R 
                                               1 
                                             
                                           
                                         
                                         - 
                                         
                                           d 
                                            
                                           
                                               
                                           
                                            
                                           Y 
                                         
                                       
                                       ) 
                                     
                                      
                                     
                                       cos 
                                       ( 
                                       
                                         d 
                                          
                                         
                                             
                                         
                                          
                                         Ψ 
                                       
                                       ) 
                                     
                                   
                                   - 
                                   
                                     
                                       ( 
                                       
                                         
                                           X 
                                           
                                             
                                               B 
                                               1 
                                             
                                             / 
                                             
                                               R 
                                               1 
                                             
                                           
                                         
                                         - 
                                         
                                           d 
                                            
                                           
                                               
                                           
                                            
                                           X 
                                         
                                       
                                       ) 
                                     
                                      
                                     
                                       sin 
                                       ( 
                                       
                                         d 
                                          
                                         
                                             
                                         
                                          
                                         Ψ 
                                       
                                       ) 
                                     
                                   
                                 
                               
                             
                           
                         
                          
                       
                     
                             
                     
                         
                     
                   
                 
               
               
                   
               
               
                 Formula XV: 
                 
                   
                     
                       
                         
                           tan 
                            
                           
                               
                           
                            
                           
                             Ψ 
                             V 
                           
                         
                         = 
                         
                           
                             
                               
                                 D 
                                 2 
                               
                                
                               sin 
                                
                               
                                   
                               
                                
                               
                                 Ψ 
                                 2 
                               
                             
                             + 
                             
                               Y 
                               
                                 
                                   B 
                                   1 
                                 
                                 / 
                                 
                                   R 
                                   2 
                                 
                               
                             
                           
                           
                             
                               
                                 D 
                                 2 
                               
                                
                               cos 
                                
                               
                                   
                               
                                
                               
                                 Ψ 
                                 2 
                               
                             
                             - 
                             
                               X 
                               
                                 
                                   B 
                                   1 
                                 
                                 / 
                                 
                                   R 
                                   2