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公开(公告)号：US10048084B2
公开(公告)日：2018-08-14
申请号：US15267918
申请日：2016-09-16
发明人： Juha-Pekka J. Laine , Gregory P. Blasche , Matthew T. Jamula , Paul A. Bohn , Robin Mark Adrian Dawson , Benjamin F. Lane , Eric T. Hoke , Daniel M. Meiser , Joseph M. Kinast , Stephen P. Smith
摘要： Methods and apparatus automatically determine a location, such as of an aircraft or spacecraft, by matching images of terrain below the craft, as captured by a camera, radar, etc. in the craft, with known or predicted terrain landmark data stored in an electronic data store. A star tracker measures attitude of the camera. Optionally, a rangefinder measures altitude of the camera above the terrain. A navigation filter uses the attitude, and optionally the altitude, to resolve attitude, and optionally altitude, ambiguities and thereby avoid location solution errors common in prior art terrain matching navigation systems.
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公开(公告)号：US10935381B2
公开(公告)日：2021-03-02
申请号：US16020563
申请日：2018-06-27
发明人： Juha-Pekka J. Laine , Gregory P. Blasche , Matthew T. Jamula , Paul A. Bohn , Robin Mark Adrian Dawson , Benjamin F. Lane , Eric T. Hoke , Daniel M. Meiser , Joseph M. Kinast , Stephen P. Smith
IPC分类号： G01C21/00 , G01S19/45 , G06K9/00 , G01C21/04 , G01C21/16 , G01C21/02 , G06K9/62 , G01S5/16 , G01S19/48 , G01S19/49
摘要： Methods and apparatus automatically determine a location, such as of an aircraft or spacecraft, by matching images of terrain below the craft, as captured by a camera, radar, etc. in the craft, with known or predicted terrain landmark data stored in an electronic data store. A star tracker measures attitude of the camera. An additional navigation aiding sensor provides additional navigational data. Optionally, a rangefinder measures altitude of the camera above the terrain. A navigation filter uses the attitude, the additional navigational data, and optionally the altitude, to resolve attitude, and optionally altitude, ambiguities and thereby avoid location solution errors common in prior art terrain matching navigation systems.
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公开(公告)号：US20180313651A1
公开(公告)日：2018-11-01
申请号：US16020563
申请日：2018-06-27
发明人： Juha-Pekka J. Laine , Gregory P. Blasche , Matthew T. Jamula , Paul A. Bohn , Robin Mark Adrian Dawson , Benjamin F. Lane , Eric T. Hoke , Daniel M. Meiser , Joseph M. Kinast , Stephen P. Smith
摘要： Methods and apparatus automatically determine a location, such as of an aircraft or spacecraft, by matching images of terrain below the craft, as captured by a camera, radar, etc. in the craft, with known or predicted terrain landmark data stored in an electronic data store. A star tracker measures attitude of the camera. An additional navigation aiding sensor provides additional navigational data. Optionally, a rangefinder measures altitude of the camera above the terrain. A navigation filter uses the attitude, the additional navigational data, and optionally the altitude, to resolve attitude, and optionally altitude, ambiguities and thereby avoid location solution errors common in prior art terrain matching navigation systems.
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公开(公告)号：US20200300634A1
公开(公告)日：2020-09-24
申请号：US16890140
申请日：2020-06-02
发明人： Juha-Pekka J. Laine , Gregory P. Blasche , Benjamin F. Lane , Daniel M. Meiser , Eric T. Hoke , Matthew T. Jamula , Robin M. A. Dawson , Stephen P. Smith
摘要： An image-based navigation system is arranged to obtain a terrain image of a target terrain from one or more image sensors at a low altitude imaging location. The terrain image includes at least one celestial image feature and at least one terrain feature. Map database information stored in at least one hardware memory device is accessed and compared to the at least one celestial image feature and the at least one terrain feature in the terrain image to determine absolute location coordinates of the imaging location.
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公开(公告)号：US10724871B2
公开(公告)日：2020-07-28
申请号：US15803367
申请日：2017-11-03
发明人： Juha-Pekka J. Laine , Simone B. Bortolami , Jeffrey Korn , Gregory P. Blasche , Matthew T. Jamula , Paul A. Bohn , Robin Mark Adrian Dawson , Benjamin F. Lane , Eric T. Hoke , Daniel M. Meiser , Joseph M. Kinast , Timothy J. McCarthy , Stephen P. Smith
摘要： A visual navigation system includes a compass configured to orient a user in a heading direction, an image sensor configured to capture a series of successive navigation images in the heading direction, one or more of the navigation images having at least two reference markers, data storage memory configured to store the series of successive navigation images, a navigation processor configured to identify at least one principal marker and at least one ancillary marker from the at least two reference markers, the principal marker positioned within a principal angle and the ancillary marker positioned within an ancillary angle, which is greater than the principal angle, and to determine heading direction information based on a position of the at least one principal marker and/or the at least one ancillary marker in the successive navigation images, and a user interface configured to provide the heading direction information to the user.
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公开(公告)号：US11237003B2
公开(公告)日：2022-02-01
申请号：US16890140
申请日：2020-06-02
发明人： Juha-Pekka J. Laine , Gregory P. Blasche , Benjamin F. Lane , Daniel M. Meiser , Eric T. Hoke , Matthew T. Jamula , Robin M. A. Dawson , Stephen P. Smith
摘要： An image-based navigation system is arranged to obtain a terrain image of a target terrain from one or more image sensors at a low altitude imaging location. The terrain image includes at least one celestial image feature and at least one terrain feature. Map database information stored in at least one hardware memory device is accessed and compared to the at least one celestial image feature and the at least one terrain feature in the terrain image to determine absolute location coordinates of the imaging location.
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公开(公告)号：US20190033421A1
公开(公告)日：2019-01-31
申请号：US15661881
申请日：2017-07-27
发明人： Juha-Pekka J. Laine , Robin Mark Adrian Dawson , Daniel M. Meiser , Benjamin F. Lane , Eric T. Hoke , Matthew T. Jamula , Stephen P. Smith , Matthew A. Sinclair
摘要： A star tracker includes a lens slice, a pixelated image sensor, an ephemeral database and a processor configured to estimate attitude, orientation and/or location of the star tracker based on an image of one or more celestial objects projected by the lens slice onto the pixelated image sensor. The lens slice is smaller and lighter than an optically comparable conventional lens, thereby making the star tracker less voluminous and less massive than conventional star trackers. A lens slice is elongated along one axis. Optical performance along the elongation axis is comparable to that of a conventional circular lens of equal diameter. Although optical performance along a width axis, perpendicular to the elongation axis, of a lens slice can be significantly worse than that of a conventional lens, use of two orthogonal lens slices provides adequate optical performance in both axes, and still saves volume and mass over a conventional lens.
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公开(公告)号：US20180238690A1
公开(公告)日：2018-08-23
申请号：US15888318
申请日：2018-02-05
发明人： Juha-Pekka J. Laine , Gregory P. Blasche , Benjamin F. Lane , Daniel M. Meiser , Eric T. Hoke , Matthew T. Jamula , Robin M. A. Dawson , Stephen P. Smith
CPC分类号： G01C21/20 , G01C21/02 , G01C21/04 , G01C21/203 , G06K9/0063 , G06K9/00664 , G06K9/00791 , G06T7/74 , G06T2207/10004 , G06T2207/30181 , G06T2207/30204 , G06T2207/30252
摘要： An image-based navigation system is arranged to obtain a terrain image of a target terrain from one or more image sensors at a low altitude imaging location. The terrain image includes at least one celestial image feature and at least one terrain feature. Map database information stored in at least one hardware memory device is accessed and compared to the at least one celestial image feature and the at least one terrain feature in the terrain image to determine absolute location coordinates of the imaging location.
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公开(公告)号：US20180120122A1
公开(公告)日：2018-05-03
申请号：US15803367
申请日：2017-11-03
发明人： Juha-Pekka J. Laine , Simone B. Bortolami , Jeffrey Korn , Gregory P. Blasche , Matthew T. Jamula , Paul A. Bohn , Robin Mark Adrian Dawson , Benjamin F. Lane , Eric T. Hoke , Daniel M. Meiser , Joseph M. Kinast , Timothy J. McCarthy , Stephen P. Smith
CPC分类号： G01C21/3647 , G01C17/38 , G01C21/3602 , G06T7/74 , H04W4/026
摘要： A visual navigation system includes a compass configured to orient a user in a heading direction, an image sensor configured to capture a series of successive navigation images in the heading direction, one or more of the navigation images having at least two reference markers, data storage memory configured to store the series of successive navigation images, a navigation processor configured to identify at least one principal marker and at least one ancillary marker from the at least two reference markers, the principal marker positioned within a principal angle and the ancillary marker positioned within an ancillary angle, which is greater than the principal angle, and to determine heading direction information based on a position of the at least one principal marker and/or the at least one ancillary marker in the successive navigation images, and a user interface configured to provide the heading direction information to the user.
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公开(公告)号：US20180080787A1
公开(公告)日：2018-03-22
申请号：US15267918
申请日：2016-09-16
发明人： Juha-Pekka J. Laine , Gregory P. Blasche , Matthew T. Jamula , Paul A. Bohn , Robin Mark Adrian Dawson , Benjamin F. Lane , Eric T. Hoke , Daniel M. Meiser , Joseph M. Kinast , Stephen P. Smith
CPC分类号： G01C21/3602 , G01C21/005 , G01C21/025 , G01C21/30 , G06F17/30247 , G06K9/0063
摘要： Methods and apparatus automatically determine a location, such as of an aircraft or spacecraft, by matching images of terrain below the craft, as captured by a camera, radar, etc. in the craft, with known or predicted terrain landmark data stored in an electronic data store. A star tracker measures attitude of the camera. Optionally, a rangefinder measures altitude of the camera above the terrain. A navigation filter uses the attitude, and optionally the altitude, to resolve attitude, and optionally altitude, ambiguities and thereby avoid location solution errors common in prior art terrain matching navigation systems.
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