Sensors, Systems and Methods for Position Sensing

Abstract

Various systems and methods for estimating the position of a radiation source in three-dimensional space, together with sensors for use in such systems are described. In some embodiments, the systems include a plurality of radiation sensors. The three-dimensional position of the radiation source is estimated relative to each sensor using an aperture that casts shadows on a radiation detector as a function of the incident angle of the incoming radiation. In some embodiments, the ratio of a reference radiation intensity to a measured radiation intensity is used to estimate direction of the radiation source relative to the sensor. When the angular position of the radiation source is estimated relative to two sensors, the position of the radiation source in three dimensions can be triangulated based on the known relative positions of the two sensors.

1 .- 5 . (canceled) 
     
     
         6 . A system for estimating the position of a radiation source in three dimensional space, the system comprising:
 a first radiation sensor for receiving radiation from the radiation source and for providing a first incident angle pair corresponding to the direction of the radiation source relative to the first radiation source;   a second radiation sensor for receiving radiation from the radiation source and for providing a second incident angle pair corresponding the direction of the radiation source relative to the second radiation source; and   a processor for calculating the estimated position of the radiation source based on the first and second incident angle pairs.   
     
     
         7 . The system of  claim 6  wherein the processor is adapted to calculate the estimated position of the radiation source by determining a point of intersection between a first line defined by the first incident angle pair and the position of the first radiation sensor and a second line defined by the second incident angle pair and the second radiation sensor. 
     
     
         8 . The system of  claim 6  wherein the processor is adapted to calculate the estimated position of the radiation source by identifying a line segment between the closest points between a first line defined by the first incident angle pair and the position of the first radiation sensor and a second line defined by the second incident angle pair and the second radiation sensor. 
     
     
         9 . The system of  claim 8  wherein the processor is adapted to calculate the estimate position of the radiation source by bisecting the line segment. 
     
     
         10 . The system of  claim 6  wherein the first and second sensors are mounted in a fixed relationship to one another. 
     
     
         11 . The system of  claim 6  wherein the first and second sensors may be independently positioned relative to one another. 
     
     
         12 . A method of estimating the position of a radiation source, comprising:
 positioning first and second sensors in a three dimensional space, wherein the first second sensor are separated by a sensor spacing distance;   calculating a first line corresponding to the position of the first sensor and the position of the radiation source;   calculating a second line corresponding to the position of the second sensor and the position of the radiation source; and   calculating an estimated position of the radiation source based on the first and second lines.   
     
     
         13 . The method of  claim 12  wherein the position of the radiation source is estimated by identifying a point of intersection between the first and second lines. 
     
     
         14 . The method of  claim 12  wherein the position of the radiation source is estimated by identifying a line segment between the closest points on the first and second lines. 
     
     
         15 . The method of  claim 14  wherein the position of the radiation source is estimated by bisecting the line segment.