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A simple and economical ultrasonic measurement system for 3-D orientation of a moving object was developed. In this system three transmitters are attached to the object and their absolute positions related to the coordinate system, which is based on receivers' positions, are calculated by using the measured transit times of ultrasonic pulses. The absolute orientation is calculated from these three positions. An electric spark and a condenser microphone of a small diameter were adopted as the transmitter and the receiver respectively. Since both of them are approximated to be non-directional points, the system composition was simplified while keeping high measuring accuracy. Since three transmitters must spark successively one by one in order to avoid the interference of ultrasonic waves, the dynamic orientation measuring method which predicts two non-sparking transmitters' positions from their previous measured ones was newly proposed. It was proved by using a developed orientation standard machine that this system can measure the dynamic orientation by error within ±0.2°when Z coordinates of transmitters keep almost same value and within ±0.4° when they change. As an example of applications, the vibration and position control of the suspended object of a prototype crane was executed by using orientation information obtained by this system. The experimental results proved the good practicability of this system.

Development of an Ultrasonic Measurement System for 3-D Orientation of a Moving Object and Its Application to Vibration Control of a Crane.