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1.发明授权公开(公告)号：US11841432B2
公开(公告)日：2023-12-12
申请号：US16897858
申请日：2020-06-10
Applicant: RAYTHEON COMPANY
Inventor： Valeri I. Karlov , Steven A. Miles , Aaron Maestas , Jason R. Mcmurtrey
CPC classification number: G01S17/50 , G01S7/4808 , G01S17/42
Abstract: A method for determining positions of moving targets in unbiased three-dimensional (3D) measurement spaces using data collected against the moving targets by an electro-optical or infrared (EO/IR) sensor, the method comprising receiving data collected from electrical signals reflected from the moving targets in a first focal plane of the EO/IR sensor at a first time point, receiving data collected from electrical signals reflected from the moving targets in a second focal plane of the EO/IR sensor at a second time point, generating two-dimensional (2D) measurement data for the moving targets in the first and second focal planes, calculating 3D target velocities for the moving targets using the 2D measurement data, and estimating local 3D positions within a first unbiased 3D measurement space for the moving targets at the first and second time points based on the 3D target velocity.
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2.发明申请公开(公告)号：US20210389461A1
公开(公告)日：2021-12-16
申请号：US16897858
申请日：2020-06-10
Applicant: RAYTHEON COMPANY
Inventor： Valeri I. Karlov , Steven A. Miles , Aaron Maestas , Jason R. Mcmurtrey
Abstract: A method for determining positions of moving targets in unbiased three-dimensional (3D) measurement spaces using data collected against the moving targets by an electro-optical or infrared (EO/IR) sensor, the method comprising receiving data collected from electrical signals reflected from the moving targets in a first focal plane of the EO/IR sensor at a first time point, receiving data collected from electrical signals reflected from the moving targets in a second focal plane of the EO/IR sensor at a second time point, generating two-dimensional (2D) measurement data for the moving targets in the first and second focal planes, calculating 3D target velocities for the moving targets using the 2D measurement data, and estimating local 3D positions within a first unbiased 3D measurement space for the moving targets at the first and second time points based on the 3D target velocity.
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3.发明授权公开(公告)号：US10527705B2
公开(公告)日：2020-01-07
申请号：US16380854
申请日：2019-04-10
Applicant: RAYTHEON COMPANY
Inventor： Valeri I. Karlov , Julian S. Brody , John D. Hulsmann
Abstract: System and method for determining a position of a target in an unbiased 3D measurement space: generating 2D measurement data in focal planes of each sensor; calculating a line of sight (LOS) from the target for each sensor; intersecting the LOSs and finding the closest intersection point in a 3D space; calculating a boresight LOS in 3D for each sensor; intersecting the boresight lines of sights for each sensor, and finding the closest intersection point in the 3D space to define an origin for forming the unbiased 3D measurement space; and forming local unbiased 3D estimates of the position of the target in the unbiased 3D measurement space as a difference between a closest point of the target LOS and a closest point of the boresight LOS.
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4.发明申请公开(公告)号：US20190235043A1
公开(公告)日：2019-08-01
申请号：US16380854
申请日：2019-04-10
Applicant: RAYTHEON COMPANY
Inventor： Valeri I. Karlov , Julian S. Brody , John D. Hulsmann
CPC classification number: G01S3/7867 , G01B11/002 , G01C3/08 , G01S3/785 , G01S5/16
Abstract: System and method for determining a position of a target in an unbiased 3D measurement space: generating 2D measurement data in focal planes of each sensor; calculating a line of sight (LOS) from the target for each sensor; intersecting the LOSs and finding the closest intersection point in a 3D space; calculating a boresight LOS in 3D for each sensor; intersecting the boresight lines of sights for each sensor, and finding the closest intersection point in the 3D space to define an origin for forming the unbiased 3D measurement space; and forming local unbiased 3D estimates of the position of the target in the unbiased 3D measurement space as a difference between a closest point of the target LOS and a closest point of the boresight LOS.
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公开(公告)号：US09909866B2
公开(公告)日：2018-03-06
申请号：US14933997
申请日：2015-11-05
Applicant: Raytheon Company
Inventor： Valeri I. Karlov , John D. Hulsmann , Aaron Maestas , Christopher J. Cormier , Anthony Sommese , Owen Lewis
CPC classification number: G01C1/10 , G01C1/08 , G01C21/02 , G01C21/025 , G01C21/165 , G01S3/7867 , G01S3/7868 , G01S5/16 , G01S19/48
Abstract: Technology for determining a position of a platform is described. A location of a horizon line can be determined using a sensor onboard the platform. One or more celestial objects in the sky can be detected using the sensor onboard the platform. Differential angular measurements between the horizon line and at least one of the celestial objects in the sky can be determined over a duration of time. The position of the platform can be determined based on the differential angular measurements between the horizon line and the celestial objects.
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Patent Agency Ranking
公开(公告)号：US20170131096A1
公开(公告)日：2017-05-11
申请号：US14933997
申请日：2015-11-05
Applicant: Raytheon Company
Inventor： Valeri I. Karlov , John D. Hulsmann , Aaron Maestas , Christopher J. Cormier , Anthony Sommese , Owen Lewis
CPC classification number: G01C1/10 , G01C1/08 , G01C21/02 , G01C21/025 , G01C21/165 , G01S3/7867 , G01S3/7868 , G01S5/16 , G01S19/48
Abstract: Technology for determining a position of a platform is described. A location of a horizon line can be determined using a sensor onboard the platform. One or more celestial objects in the sky can be detected using the sensor onboard the platform. Differential angular measurements between the horizon line and at least one of the celestial objects in the sky can be determined over a duration of time. The position of the platform can be determined based on the differential angular measurements between the horizon line and the celestial objects.
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公开(公告)号：US20140085462A1
公开(公告)日：2014-03-27
申请号：US13626978
申请日：2012-09-26
Applicant: RAYTHEON COMPANY
Inventor： Valeri I. Karlov , Adam C. Durst , Patrick E. Barry
IPC: H04N7/18
CPC classification number: G06T7/208 , G06T7/277 , G06T7/579 , G06T2207/10016 , G06T2207/10032 , G06T2207/30212 , G06T2207/30244
Abstract: A method for locating features in a field of view of an imaging sensor that includes receiving image data from the field of view of an imaging sensor, wherein the image data includes a plurality of image frames. The method also includes receiving three-dimensional position measurements, in an absolute coordinate system, for the imaging sensor at the point in time each image frame is acquired and identifying one or more features in each of the image frames. The method also includes determining position and velocity of the one or more features in the image frames based on changes to the one or more features between the image frames and determining three-dimensional positions of the one or more features in the image frames based on the received three-dimensional position measurements for the imaging sensor and position and velocity of the one or more features in the image frames.
Abstract translation: 一种用于定位成像传感器的视野中的特征的方法，其包括从成像传感器的视场接收图像数据，其中所述图像数据包括多个图像帧。 该方法还包括在绝对坐标系中接收在每个图像帧获取的时间点处的成像传感器的三维位置测量，并且识别每个图像帧中的一个或多个特征。 该方法还包括基于对图像帧之间的一个或多个特征的改变来确定图像帧中的一个或多个特征的位置和速度，并且基于图像帧中的一个或多个特征确定三维位置 接收成像传感器的三维位置测量以及图像帧中的一个或多个特征的位置和速度。
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8.发明授权公开(公告)号：US10371784B2
公开(公告)日：2019-08-06
申请号：US15172578
申请日：2016-06-03
Applicant: RAYTHEON COMPANY
Inventor： Valeri I. Karlov , Julian S. Brody , John D. Hulsmann
Abstract: System and method for determining a position of a target in an unbiased 3D measurement space: generating 2D measurement data in focal planes of each sensor; calculating a line of sight (LOS) from the target for each sensor; intersecting the LOSs and finding the closest intersection point in a 3D space; calculating a boresight LOS in 3D for each sensor; intersecting the boresight lines of sights for each sensor, and finding the closest intersection point in the 3D space to define an origin for forming the unbiased 3D measurement space; and forming local unbiased 3D estimates of the position of the target in the unbiased 3D measurement space as a difference between a closest point of the target LOS and a closest point of the boresight LOS.
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9.发明申请公开(公告)号：US20170350956A1
公开(公告)日：2017-12-07
申请号：US15172578
申请日：2016-06-03
Applicant: RAYTHEON COMPANY
Inventor： Valeri I. Karlov , Julian S. Brody , John D. Hulsmann
CPC classification number: G01S3/7867 , G01B11/002 , G01C3/08 , G01S3/785 , G01S5/16
Abstract: System and method for determining a position of a target in an unbiased 3D measurement space: generating 2D measurement data in focal planes of each sensor; calculating a line of sight (LOS) from the target for each sensor; intersecting the LOSs and finding the closest intersection point in a 3D space; calculating a boresight LOS in 3D for each sensor; intersecting the boresight lines of sights for each sensor, and finding the closest intersection point in the 3D space to define an origin for forming the unbiased 3D measurement space; and forming local unbiased 3D estimates of the position of the target in the unbiased 3D measurement space as a difference between a closest point of the target LOS and a closest point of the boresight LOS.
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公开(公告)号：US09230335B2
公开(公告)日：2016-01-05
申请号：US13626978
申请日：2012-09-26
Applicant: RAYTHEON COMPANY
Inventor： Valeri I. Karlov , Adam C. Durst , Patrick E. Barry
CPC classification number: G06T7/208 , G06T7/277 , G06T7/579 , G06T2207/10016 , G06T2207/10032 , G06T2207/30212 , G06T2207/30244
Abstract: A method for locating features in a field of view of an imaging sensor that includes receiving image data from the field of view of an imaging sensor, wherein the image data includes a plurality of image frames. The method also includes receiving three-dimensional position measurements, in an absolute coordinate system, for the imaging sensor at the point in time each image frame is acquired and identifying one or more features in each of the image frames. The method also includes determining position and velocity of the one or more features in the image frames based on changes to the one or more features between the image frames and determining three-dimensional positions of the one or more features in the image frames based on the received three-dimensional position measurements for the imaging sensor and position and velocity of the one or more features in the image frames.
Abstract translation: 一种用于定位成像传感器的视野中的特征的方法，其包括从成像传感器的视场接收图像数据，其中所述图像数据包括多个图像帧。 该方法还包括在绝对坐标系中接收在每个图像帧获取的时间点处的成像传感器的三维位置测量，并且识别每个图像帧中的一个或多个特征。 该方法还包括基于对图像帧之间的一个或多个特征的改变来确定图像帧中的一个或多个特征的位置和速度，并且基于图像帧中的一个或多个特征确定三维位置 接收成像传感器的三维位置测量以及图像帧中的一个或多个特征的位置和速度。
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