WO2009032586A2 - Antenna orientation sensor and method for determining orientation - Google Patents
Antenna orientation sensor and method for determining orientation Download PDFInfo
- Publication number
- WO2009032586A2 WO2009032586A2 PCT/US2008/074183 US2008074183W WO2009032586A2 WO 2009032586 A2 WO2009032586 A2 WO 2009032586A2 US 2008074183 W US2008074183 W US 2008074183W WO 2009032586 A2 WO2009032586 A2 WO 2009032586A2
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- WIPO (PCT)
- Prior art keywords
- sensor
- antenna orientation
- magnetic sensor
- antenna
- circuit board
- Prior art date
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- 238000000034 method Methods 0.000 title claims description 12
- 230000000694 effects Effects 0.000 claims description 8
- 238000004891 communication Methods 0.000 claims description 7
- 239000002184 metal Substances 0.000 claims description 6
- 229910052751 metal Inorganic materials 0.000 claims description 6
- 230000003287 optical effect Effects 0.000 claims description 2
- XEEYBQQBJWHFJM-UHFFFAOYSA-N Iron Chemical compound [Fe] XEEYBQQBJWHFJM-UHFFFAOYSA-N 0.000 description 8
- 229910052742 iron Inorganic materials 0.000 description 4
- 238000004364 calculation method Methods 0.000 description 3
- 238000012937 correction Methods 0.000 description 3
- 238000010586 diagram Methods 0.000 description 3
- 238000009434 installation Methods 0.000 description 3
- 230000010354 integration Effects 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- UFNIBRDIUNVOMX-UHFFFAOYSA-N 2,4'-dichlorobiphenyl Chemical compound C1=CC(Cl)=CC=C1C1=CC=CC=C1Cl UFNIBRDIUNVOMX-UHFFFAOYSA-N 0.000 description 1
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- 230000002776 aggregation Effects 0.000 description 1
- 238000004220 aggregation Methods 0.000 description 1
- 230000008859 change Effects 0.000 description 1
- 238000004140 cleaning Methods 0.000 description 1
- 238000013500 data storage Methods 0.000 description 1
- 230000007812 deficiency Effects 0.000 description 1
- 230000007613 environmental effect Effects 0.000 description 1
- 238000012423 maintenance Methods 0.000 description 1
- 239000000463 material Substances 0.000 description 1
- 238000005259 measurement Methods 0.000 description 1
- 238000012544 monitoring process Methods 0.000 description 1
- 238000010606 normalization Methods 0.000 description 1
- 230000000737 periodic effect Effects 0.000 description 1
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Classifications
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- H—ELECTRICITY
- H01—ELECTRIC ELEMENTS
- H01Q—ANTENNAS, i.e. RADIO AERIALS
- H01Q1/00—Details of, or arrangements associated with, antennas
- H01Q1/12—Supports; Mounting means
- H01Q1/18—Means for stabilising antennas on an unstable platform
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C17/00—Compasses; Devices for ascertaining true or magnetic north for navigation or surveying purposes
- G01C17/38—Testing, calibrating, or compensating of compasses
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C25/00—Manufacturing, calibrating, cleaning, or repairing instruments or devices referred to in the other groups of this subclass
-
- H—ELECTRICITY
- H01—ELECTRIC ELEMENTS
- H01Q—ANTENNAS, i.e. RADIO AERIALS
- H01Q1/00—Details of, or arrangements associated with, antennas
- H01Q1/12—Supports; Mounting means
- H01Q1/125—Means for positioning
-
- H—ELECTRICITY
- H01—ELECTRIC ELEMENTS
- H01Q—ANTENNAS, i.e. RADIO AERIALS
- H01Q3/00—Arrangements for changing or varying the orientation or the shape of the directional pattern of the waves radiated from an antenna or antenna system
- H01Q3/02—Arrangements for changing or varying the orientation or the shape of the directional pattern of the waves radiated from an antenna or antenna system using mechanical movement of antenna or antenna system as a whole
- H01Q3/08—Arrangements for changing or varying the orientation or the shape of the directional pattern of the waves radiated from an antenna or antenna system using mechanical movement of antenna or antenna system as a whole for varying two co-ordinates of the orientation
Definitions
- the invention relates to an antenna orientation sensor. More particularly the invention relates to a magnetic antenna orientation sensor, capable of self-correction for the presence of hard and soft iron effects.
- directional antennas are oriented to direct the antenna radiation pattern towards a desired direction.
- Orientation of an antenna is typically performed via adjustments to the antenna mount, with respect to a fixed mounting point, to vary orientation in, for example, three axis: proper heading, roll and pitch (mechanical beam tilt).
- Orientation may generally be performed by manual or remote controlled electromechanical adjustment with respect to a reference direction. Orientation may be performed upon installations that are fixed, or dynamically on an ongoing basis during antenna operation to satisfy varying directional requirements and or changes to the orientation of the antenna mount, for example where the communication target(s) are mobile and or the antenna is mounted upon a movable land, air or water vehicle.
- Magnetic direction sensors typically provide a directional output with respect to the planetary magnetic north pole.
- a problem with magnetic direction sensors is errors introduced by hard and soft iron effects from nearby metal, such as the mounting of the antenna upon, for example, a metal tower or vehicle. The error level introduced will vary with the location and size of the nearby metal at each installation. Further, the error magnitude may change as the selected antenna orientation varies the location and or orientation of the sensor towards and away from the nearby metal.
- Sunlight angle sensors have been applied as an alternative to magnetic direction sensing, however these systems operate only when and where the sun is visible to the sensor and may have a significant initial reading lag time. Also, sunlight angle sensors require periodic cleaning to prevent failure of the sensor due to environmental fouling, a significant drawback where the sensor is difficult and or dangerous to access, such as when mounted atop an antenna tower.
- Figure 1 is top schematic view of an exemplary antenna orientation sensor module.
- Figure 2 is a block circuit diagram demonstrating functional interconnections of antenna orientation sensor electrical circuit elements.
- Figure 3 is a network diagram for a distributed network embodiment of the invention.
- Figure 4 is an exemplary operation sequence for the antenna orientation sensor module.
- the inventor has recognized that, by monitoring sensor outputs along a repeatable calibration movement of the antenna orientation sensor, the hard and soft effects of nearby ferrous material may be calculated to determine a true magnetic field reference direction, thereby eliminating the hard and soft effects.
- FIG. 1 An exemplary embodiment of a magnetic sensor based antenna orientation sensor in module form is shown in Figure 1.
- the magnetic sensor 4 is movable through the calibration movement with respect to the module 2.
- the magnetic sensor 4 may be mounted upon, for example, a pivoting support 6 such as a printed circuit board (PCB) 8 movable through a calibration movement such as an arc segment via an actuator 10 coupled to a base 12 of the module 2.
- the pivoting support 6 may also carry an accelerometer 14 and or other position reporting sensor(s) 16 to identify the position of the magnetic sensor 4 as it is moved through the calibration movement.
- the magnetic sensor 4 may be a three axis magnetic sensor.
- the position reporting sensor 16 may be, for example, an optical sensor with respect to the base, tilt sensor, a two axis accelerometer, or a translation of the reported actuator position based upon the secondary position reporting sensor 28, described herein below.
- Associated signal integration circuitry 18, Global Positioning Service (GPS) circuitry 20 and or direction output calculation circuitry 22 may be located on a single PCB 8 along with the magnetic sensor 4 and a position reporting sensor 16 or may alternatively be provided on a separate PCB board (not shown).
- GPS Global Positioning Service
- FIG. 2 An example block diagram of signal integration circuitry 18 is shown in Figure 2.
- the three axis magnetic sensor 4 delivers, for example, X, Y and Z axis analog AN1 -AN3 or digital inputs to a microcontroller 24, the output of the three axis magnetic sensor 4 callable by a link between a set / reset input of the three axis magnetic sensor 4 driven from the microcontroller 24 via a digital output DO2.
- the position reporting sensor 16 in this example a two-axis accelerometer 14, similarly delivers X and Y digital D10 and D1 1 or analog outputs to the microcontroller 24.
- Digital outputs D01 are applied to a relay or other control 26 that energizes the actuator 10.
- a secondary position reporting sensor 28 of the actuator 10 may be applied as a position output of the linear actuator 10 that drives an analog ANO or digital input of the microcontroller 24 to report, for example, the current angle of the calibration movement.
- serial data, communication control inputs and data outputs between the microcontroller 24 and a transceiver 30 are transmitted / received at the microcontroller 24 TxD and RxD ports.
- the module 2 also may include lightning protection 32 for the electrical circuits and a local power supply 34. Communications and power are delivered to the module via a network interface 36 and or bus interface 38.
- the module 2 may be configured for local feedback and control or control over an extended data network 38, as shown for example in Figure 3, comprising links to a plurality of devices such as communications transceivers / antennas that are mounted local to the module 2 and oriented via the feedback from the module 2 by a remote controller 42.
- an extended data network 38 as shown for example in Figure 3, comprising links to a plurality of devices such as communications transceivers / antennas that are mounted local to the module 2 and oriented via the feedback from the module 2 by a remote controller 42.
- the calibration movement is performed with respect to pitch angle ⁇ and roll angle ⁇ readings obtained from the position reporting sensor 28 and a reference angle representing the position of the magnetic sensor 4 along the arc of the calibration movement.
- the magnetic sensor 4 outputs are designated as x, y, and z, with x aligned with the boresight of the antenna or other designated reference orientation, y forming with x the azimuth plane of the antenna and x and z forming the elevation plane.
- the x and y sensor outputs are normalized between reference coordinates of the module 2 shown in frame 1 , below, and a reference frame aligned with the local horizontal plane shown in frame 3, below.
- the outputs X 3 and y 3 represent x- and y-axis sensor data that have been corrected for the pitch and roll angles of the antenna to obtain horizontal plane equivalent magnetic field measurements.
- An exemplary method for the error analysis and application of the resulting correction factors is to generate a corrected three axis orientation output based upon deviations from:
- the calibration data aggregation, orientation and planar normalization calculations may take place in the microcontroller 24, or in the remote controller 42 as desired.
- a plurality of antenna orientation sensor module(s) 2 are coupled to an array of antennas, each under independent orientation control, it is cost effective to configure the system to handle calculations at the remote controller 42, rather than providing numerous higher level microcontrollers 24, one in each antenna orientation sensor module 2.
- a further correction between the geographic north and the magnetic north may be applied by providing the module with latitude and longitude data that is either operator entered, for example at a static installation, or dynamically obtained from a, for example, GPS unit with a latitude and longitude output coupled to the microcontroller 24 or remote controller 42.
- FIG. 4 An exemplary operation sequence for the module as applied to antenna orientation is shown in figure 4.
- the sequence is initiated, for example by an operator and or as a precursor to a re-alignment command to the antenna position controls.
- the module 2 reads pitch and roll angles from the position reporting sensor 16.
- magnetic sensor data with respect to rotation angle through the calibration movement range is collected.
- any hard and soft effects are removed from the magnetic sensor data via the least squares error function.
- the corrected magnetic sensor data is normalized with respect to the pitch and roll angles from the position reporting sensor.
- the magnetic heading of the antenna is stored, that is with respect to the module orientation as it is mounted upon the antenna.
- site longitude and latitude data is referenced either from the operator entered data storage location or dynamically from an associated GPS circuitry 20 and or separate GPS module.
- the magnetic heading is adjusted according to the longitude and latitude data with respect to true north versus magnetic north.
- the resulting heading, with respect to true north, pitch and roll data is stored, for example with a time/date stamp to provide a history of the antenna orientation and or a reference position for further antenna orientation adjustments.
- the magnetic sensor module 2 may be formed as a compact, cost effective and easily environmentally sealed module. Thereby, highly accurate, maintenance free position feedback may be applied to positioning systems in close proximity to metal structure that would otherwise introduce unacceptable and or variable hard and soft iron effects to common magnetic sensors.
Abstract
An antenna orientation sensor, having a base, a pivoting support coupled to the base. An actuator operable to move the pivoting support through a calibration movement with respect to the base. A, for example, three axis magnetic sensor on the pivoting support and a position sensor operable to sense the position of the pivoting support within the calibration movement.
Description
Antenna Orientation Sensor and Method for Determining Orientation
BACKGROUND
Field of the Invention
The invention relates to an antenna orientation sensor. More particularly the invention relates to a magnetic antenna orientation sensor, capable of self-correction for the presence of hard and soft iron effects.
Description of Related Art
To optimize electrical performance, directional antennas are oriented to direct the antenna radiation pattern towards a desired direction. Orientation of an antenna is typically performed via adjustments to the antenna mount, with respect to a fixed mounting point, to vary orientation in, for example, three axis: proper heading, roll and pitch (mechanical beam tilt).
Orientation may generally be performed by manual or remote controlled electromechanical adjustment with respect to a reference direction. Orientation may be performed upon installations that are fixed, or dynamically on an ongoing basis during antenna operation to satisfy varying directional requirements and or changes to the orientation of the antenna mount, for example where the communication target(s) are mobile and or the antenna is mounted upon a movable land, air or water vehicle.
Magnetic direction sensors typically provide a directional output with respect to the planetary magnetic north pole. A problem with magnetic direction sensors is errors introduced by hard and soft iron effects from nearby metal, such as the mounting of the antenna upon, for example, a metal tower or vehicle. The error level introduced will vary with the location and size of the nearby metal at each installation. Further, the error magnitude may change as the selected antenna orientation varies the location and or orientation of the sensor towards and away from the nearby metal.
Sunlight angle sensors have been applied as an alternative to magnetic direction sensing, however these systems operate only when and where the sun is visible to the sensor and may have a significant initial reading lag time. Also, sunlight angle sensors require periodic cleaning to prevent failure of the sensor due to environmental fouling, a significant drawback where the sensor is difficult and or dangerous to access, such as when mounted atop an antenna tower.
Therefore, it is an object of the invention to provide an apparatus that overcomes deficiencies in the prior art.
BRIEF DESCRIPTION OF THE DRAWINGS
The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments of the invention and, together with the general and detailed descriptions of the invention appearing herein, serve to explain the principles of the invention.
Figure 1 is top schematic view of an exemplary antenna orientation sensor module.
Figure 2 is a block circuit diagram demonstrating functional interconnections of antenna orientation sensor electrical circuit elements.
Figure 3 is a network diagram for a distributed network embodiment of the invention.
Figure 4 is an exemplary operation sequence for the antenna orientation sensor module.
DETAILED DESCRIPTION
The inventor has recognized that, by monitoring sensor outputs along a repeatable calibration movement of the antenna orientation sensor, the hard and soft effects of nearby ferrous material may be calculated to determine a true magnetic field reference direction, thereby eliminating the hard and soft effects.
An exemplary embodiment of a magnetic sensor based antenna orientation sensor in module form is shown in Figure 1. In an antenna orientation sensor module 2 according to the invention, rather than moving the entire module 2, and whatever the module 2 is mounted upon through the calibration movement, the magnetic sensor 4 is movable through the calibration movement with respect to the module 2. The magnetic sensor 4 may be mounted upon, for example, a pivoting support 6 such as a printed circuit board
(PCB) 8 movable through a calibration movement such as an arc segment via an actuator 10 coupled to a base 12 of the module 2. In addition to the magnetic sensor 4, the pivoting support 6 may also carry an accelerometer 14 and or other position reporting sensor(s) 16 to identify the position of the magnetic sensor 4 as it is moved through the calibration movement. To obtain three axis position data, the magnetic sensor 4 may be a three axis magnetic sensor. The position reporting sensor 16 may be, for example, an optical sensor with respect to the base, tilt sensor, a two axis accelerometer, or a translation of the reported actuator position based upon the secondary position reporting sensor 28, described herein below.
Associated signal integration circuitry 18, Global Positioning Service (GPS) circuitry 20 and or direction output calculation circuitry 22 may be located on a single PCB 8 along with the magnetic sensor 4 and a position reporting sensor 16 or may alternatively be provided on a separate PCB board (not shown).
An example block diagram of signal integration circuitry 18 is shown in Figure 2. The three axis magnetic sensor 4 delivers, for example, X, Y and Z axis analog AN1 -AN3 or digital inputs to a microcontroller 24, the output of the three axis magnetic sensor 4 callable by a link between a set / reset input of the three axis magnetic sensor 4 driven from the microcontroller 24 via a digital output DO2. The position reporting sensor 16, in this example a two-axis accelerometer 14, similarly delivers X and Y digital D10 and D1 1 or analog outputs to the microcontroller 24. Digital outputs D01 are applied to a relay or other control 26 that energizes the actuator 10. A secondary position reporting
sensor 28 of the actuator 10 may be applied as a position output of the linear actuator 10 that drives an analog ANO or digital input of the microcontroller 24 to report, for example, the current angle of the calibration movement. For example, serial data, communication control inputs and data outputs between the microcontroller 24 and a transceiver 30 are transmitted / received at the microcontroller 24 TxD and RxD ports. The module 2 also may include lightning protection 32 for the electrical circuits and a local power supply 34. Communications and power are delivered to the module via a network interface 36 and or bus interface 38.
The module 2 may be configured for local feedback and control or control over an extended data network 38, as shown for example in Figure 3, comprising links to a plurality of devices such as communications transceivers / antennas that are mounted local to the module 2 and oriented via the feedback from the module 2 by a remote controller 42.
The calibration movement is performed with respect to pitch angle α and roll angle β readings obtained from the position reporting sensor 28 and a reference angle representing the position of the magnetic sensor 4 along the arc of the calibration movement. The magnetic sensor 4 outputs are designated as x, y, and z, with x aligned with the boresight of the antenna or other designated reference orientation, y forming with x the azimuth plane of the antenna and x and z forming the elevation plane. The x and y sensor outputs are normalized between reference coordinates of the module 2
shown in frame 1 , below, and a reference frame aligned with the local horizontal plane shown in frame 3, below.
The outputs X3 and y3 represent x- and y-axis sensor data that have been corrected for the pitch and roll angles of the antenna to obtain horizontal plane equivalent magnetic field measurements.
An exemplary method for the error analysis and application of the resulting correction factors is to generate a corrected three axis orientation output based upon deviations from:
(x, - a)2 + (y, - b)2 = r2
This is the equation for a circle with origin a,b and radius r, which would be the sensor ideal behavior along the calibration movement, that is without the presence of hard or soft iron effects. Data points X1, yt are extracted from sensor readings that are
converted to the local horizontal plane. To analyze deviation from this ideal, a Least Squares error function is applied:
Take partial derivatives with respect to a, b, and k and use to find a,b, and k values that minimize
This results in a set of linear equations to solve:
The calibration data aggregation, orientation and planar normalization calculations may take place in the microcontroller 24, or in the remote controller 42 as desired. For example, where a plurality of antenna orientation sensor module(s) 2 are coupled to an array of antennas, each under independent orientation control, it is cost effective to configure the system to handle calculations at the remote controller 42, rather than providing numerous higher level microcontrollers 24, one in each antenna orientation sensor module 2.
To further improve precision of the module 2, a further correction between the geographic north and the magnetic north may be applied by providing the module with latitude and longitude data that is either operator entered, for example at a static installation, or dynamically obtained from a, for example, GPS unit with a latitude and longitude output coupled to the microcontroller 24 or remote controller 42.
An exemplary operation sequence for the module as applied to antenna orientation is shown in figure 4. At 70, the sequence is initiated, for example by an operator and or as
a precursor to a re-alignment command to the antenna position controls. At 72, the module 2 reads pitch and roll angles from the position reporting sensor 16. At 76, magnetic sensor data with respect to rotation angle through the calibration movement range is collected. At 78, any hard and soft effects are removed from the magnetic sensor data via the least squares error function. At 80, the corrected magnetic sensor data is normalized with respect to the pitch and roll angles from the position reporting sensor. At 82, the magnetic heading of the antenna is stored, that is with respect to the module orientation as it is mounted upon the antenna. At 84, site longitude and latitude data is referenced either from the operator entered data storage location or dynamically from an associated GPS circuitry 20 and or separate GPS module. At 86, the magnetic heading is adjusted according to the longitude and latitude data with respect to true north versus magnetic north. At 88, the resulting heading, with respect to true north, pitch and roll data is stored, for example with a time/date stamp to provide a history of the antenna orientation and or a reference position for further antenna orientation adjustments.
One skilled in the art will appreciate that the magnetic sensor module 2 may be formed as a compact, cost effective and easily environmentally sealed module. Thereby, highly accurate, maintenance free position feedback may be applied to positioning systems in close proximity to metal structure that would otherwise introduce unacceptable and or variable hard and soft iron effects to common magnetic sensors.
Table of Parts
Where in the foregoing description reference has been made to ratios, integers, components or modules having known equivalents then such equivalents are herein incorporated as if individually set forth.
While the present invention has been illustrated by the description of the embodiments thereof, and while the embodiments have been described in considerable detail, it is not the intention of the applicant to restrict or in any way limit the scope of the appended claims to such detail. Additional advantages and modifications will readily appear to those skilled in the art. Therefore, the invention in its broader aspects is not limited to the specific details, representative apparatus, methods, and illustrative examples shown and described. Accordingly, departures may be made from such details without departure from the spirit or scope of applicant's general inventive concept. Further, it is to be appreciated that improvements and/or modifications may be made thereto without departing from the scope or spirit of the present invention as defined by the following claims.
Claims
1. An antenna orientation sensor, comprising: a base; a pivoting support coupled to the base; a magnetic sensor on the pivoting support; an actuator operable to move the pivoting support through a calibration movement with respect to the base; and a position sensor sensing the position of the pivoting support within the calibration movement.
2. The antenna orientation sensor of claim 1 , wherein the magnetic sensor is a three axis magnetic sensor.
3. The antenna orientation sensor of claim 1 , wherein the pivoting support is a printed circuit board.
4. The antenna orientation sensor of claim 1 , wherein the position sensor is a two axis accelerometer.
5. The antenna orientation sensor of claim 1 , wherein the position sensor is an optical sensor.
6. The antenna orientation sensor of claim 3, wherein the printed circuit board further includes a microcontroller coupled to the magnetic sensor and the position sensor.
7. The antenna orientation sensor of claim 6, wherein an output of the microcontroller controls the actuator.
8. The antenna orientation sensor of claim 6, wherein the microcontroller is coupled to a transceiver; the transceiver in communication with a remote controller.
9. The antenna orientation sensor of claim 8, wherein the communication between the transceiver and the remote controller is via a communication network.
10. The antenna orientation sensor of claim 1 , wherein the pivoting support is a printed circuit board; and the position sensor is a two axis accelerometer mounted upon the printed circuit board.
1 1. A method for determining orientation, comprising the steps of: analyzing a quality level of an output of a magnetic sensor as it is moved through a calibration movement for variances indicating the presence of a soft or hard metal effect; and adjusting an orientation output according to the variances detected during the calibration movement.
12. The method of claim 11 , wherein the magnetic sensor is a three axis magnetic sensor.
13. The method of claim 11 , further including the step of applying a latitude and a longitude of the magnetic sensor to correct for a variance between true north and magnetic north.
14. The method of claim 13, wherein the latitude and the longitude are detected by a global positioning sensor circuit.
15. The method of claim 11 , further including the step of removing the variances via a least squares error function.
16. The method of claim 12, further including the step of normalizing the position data with respect to pitch and roll angles identified by three axis data from the magnetic sensor.
17. The method of claim 11 , further including the step of transmitting the orientation to a remote controller via a network.
18. The method of claim 11 , wherein the calibration movement is an arc segment.
19.An antenna orientation sensor, comprising: a base; a printed circuit board pivotally coupled to the base; a three axis magnetic sensor and a two axis accelerometer on the printed circuit board; a microcontroller on the printed circuit board receiving inputs from the three axis magnetic sensor and the two axis accelerometer; an actuator operable to move the printed circuit board through a calibration movement with respect to the base; and a position sensor sensing the position of the pivoting support within the calibration movement.
20. The antenna orientation sensor of claim 19, further including a global positioning circuit coupled to the microcontroller.
Applications Claiming Priority (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
US11/852,288 US7777480B2 (en) | 2007-09-08 | 2007-09-08 | Antenna Orientation Sensor |
US11/852,288 | 2007-09-08 |
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WO2009032586A2 true WO2009032586A2 (en) | 2009-03-12 |
WO2009032586A3 WO2009032586A3 (en) | 2009-04-23 |
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PCT/US2008/074183 WO2009032586A2 (en) | 2007-09-08 | 2008-08-25 | Antenna orientation sensor and method for determining orientation |
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US (1) | US7777480B2 (en) |
WO (1) | WO2009032586A2 (en) |
Cited By (1)
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EP2702773A1 (en) * | 2011-04-28 | 2014-03-05 | Dalmazzo, Enzo | Autonomous wireless antenna sensor system |
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KR101709142B1 (en) | 2010-06-27 | 2017-02-22 | 씨텔, 인크. | Three-axis pedestal having motion platform and piggy back assemblies |
US9750945B2 (en) | 2010-08-02 | 2017-09-05 | St. Jude Medical Luxembourg Holdings SMI S.A.R.L. | Neurostimulation programmers with improved RF antenna radiation patterns |
RS61601B1 (en) * | 2010-08-05 | 2021-04-29 | Forsight Vision4 Inc | Injector apparatus for drug delivery |
CN102314182A (en) * | 2011-06-24 | 2012-01-11 | 天津市亚安科技电子有限公司 | Cradle head locating method and device |
WO2021257253A1 (en) | 2020-06-17 | 2021-12-23 | Commscope Technologies Llc | Methods and systems for provisioning of parameter data of radios controlled by a spectrum access system |
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- 2007-09-08 US US11/852,288 patent/US7777480B2/en not_active Expired - Fee Related
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2008
- 2008-08-25 WO PCT/US2008/074183 patent/WO2009032586A2/en active Application Filing
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EP2702773A1 (en) * | 2011-04-28 | 2014-03-05 | Dalmazzo, Enzo | Autonomous wireless antenna sensor system |
EP2702773B1 (en) * | 2011-04-28 | 2018-06-06 | Dalmazzo, Enzo | Autonomous wireless antenna sensor system |
Also Published As
Publication number | Publication date |
---|---|
US20090066323A1 (en) | 2009-03-12 |
WO2009032586A3 (en) | 2009-04-23 |
US7777480B2 (en) | 2010-08-17 |
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