Precision mobile baseline determination device and related method

• US 10,288,738 B1
• Filed: 04/01/2014
• Issued: 05/14/2019
• Est. Priority Date: 04/01/2014
• Status: Expired due to Fees

• Current Assignee: Rockwell Collins, Inc. (Raytheon Technologies Corporation d/b/a RTX)
• Original Assignee: Rockwell Collins, Inc. (Raytheon Technologies Corporation d/b/a RTX)
• Inventors: Koenck, Steven E., Doty, James H., Walker, Brad A., Gokay, Michael C.
• Primary Examiner(s): Magloire, Vladimir
• Assistant Examiner(s): Malley, Sr., Daniel P
• Application Number:
  US14/231,850
• Time in Patent Office: 1,869 Days
• CPC Class Codes: G01S 19/05 providing aiding data
• CPC Class Codes: G01S 19/51 Relative positioning

Abstract

Devices, systems, and methods for determining azimuth, elevation, or object position relative to a baseline using an integrated sighting device. The integrated sighting device includes a GPS receiver, an inertial measurement unit (IMU), an optical aperture, a microcomputer, and a handheld housing. The integrated sighting device, during transit from a reference position to a sighting position, determines a first angle between the sighting position and the reference position based on carrier phase input received during the transit. Orientation input is received from the IMU at the sighting position as the integrated sighting device is aimed and sighted along a line of sight to the reference position. The baseline is generated based on a second angle of the orientation input correlating with the first angle. The baseline is used as a reference for determining azimuth, elevation, or position of other objects or devices.

Claims

1. A sighting system, comprising:

an integrated sighting device comprising;

an optical aperture;

a global positioning system (GPS) receiver connected to a first GPS antenna;

an inertial measurement unit (IMU) for measuring an orientation; and

a microcomputer configured for;

transmitting a trigger signal, characterized by a first optical wavelength, to a triggered optical global positioning system repeater (TOGR);

optically receiving a reference position solution from the TOGR via a second optical wavelength distinct from the first optical wavelength;

receiving an orientation input from the IMU to establish a visual line of sight to the TOGR and at least one reference position, the orientation input including an angle associated with the visual line of sight; and

determining, upon receiving the reference position solution, a first angular movement to transform the reference position solution to a sighting position solution; and

wherein the TOGR comprises;

a photo detector;

an optical emitter;

a second GPS antenna; and

a microcomputer in data communication with the photo detector, optical emitter, and the second GPS antenna, the microcomputer configured for;

receiving a plurality of signals from at least one GPS satellite constellation;

computing the reference position solution based on the plurality of signals;

receiving the trigger signal from the integrated sighting device via the photo detector; and

transmitting the reference position solution via the optical emitter operating in the second optical wavelength.

2. The system of claim 1, wherein the integrated sighting device microcomputer is further configured to determine an angular scale factor of the IMU based on a sighting of the TOGR.

3. The system of claim 1, wherein the optical aperture is integrated with a camera of the integrated sighting device, and wherein the integrated sighting device microcomputer is further configured to:

compare a first digital image of the at least one reference position with a second digital image of the at least one reference position;

determine at least one corresponding feature between the first digital image and the second digital image;

determine an azimuth baseline based on X- or Y-offsets of the at least one corresponding feature; and

update the IMU by storing the azimuth baseline.

4. The system of claim 1, the integrated sighting device further comprising:

a camera

at least one light source; and

a filter, wherein the TOGR comprises a reflective reference position indicator, the reflective reference position indicator is configured to be illuminated by the at least one light source, light reflected from the reflective position indicator comprises filtered light, and light sensed by the camera comprises light corresponding to a wavelength of the at least one light source.

5. The system of claim 1, wherein the integrated sighting device has a front and back cross-section of less than four inches (10.16 cm) a length of less than ten inches (25.4 cm), and a weight of less than six pounds (2.72 kg) including its internal components.

6. The system of claim 1, wherein the integrated sighting device is further configured for at least one of:

receiving the sighting position solution via a user input; and

receiving the reference position solution via the user input, wherein a baseline is determined using the user input.

7. A system, comprising:

an integrated sighting device comprising;

an optical aperture;

a GPS receiver connected to a first GPS antenna;

an inertial measurement unit (IMU) configured for measuring an orientation of the integrated sighting device; and

a microcomputer configured for;

transmitting a trigger signal characterized by a first optical wavelength to a triggered optical global positioning system repeater (TOGR);

optically receiving a reference position solution from the TOGR via a second optical wavelength distinct from the first optical wavelength;

receiving an orientation input from the IMU to establish a visual line of sight to the TOGR and at least one reference position, the orientation input including an angle associated with the visual line of sight; and

determining, upon receiving the reference position solution, a first angular movement to transit the reference position solution to a sighting position; and

wherein the TOGR comprises;

a photo detector;

an optical emitter;

a second GPS antenna; and

a microcomputer in data communication with the photo detector, optical emitter, and GPS antenna, the microcomputer configured for;

receiving a plurality of signals from at least one GPS satellite constellation;

computing the reference position solution based on the plurality of signals;

receiving the trigger signal from the integrated sighting device via the photo detector; and

transmitting the reference position solution via the optical emitter in the second wavelength for a predetermined period after receiving the trigger signal.

8. The system of claim 7, wherein the optical aperture is integrated with a camera of the integrated sighting device for capturing an image of the reference position, wherein the microcomputer is further configured to algorithmically stabilize an unintentional motion of the integrated sighting device using the captured image.

9. The system of claim 7, wherein the microcomputer is further configured to determine an angular scale factor of the IMU based on a sighting of the TOGR.

10. The system of claim 7, wherein the optical aperture is integrated with a camera of the integrated sighting device, and wherein the microcomputer is further configured to:

compare a first digital image of the reference position with a second digital image of the reference position;

determine at least one corresponding feature between the first digital image and the second digital image;

determine an azimuth baseline based on one or more offsets of the at least one corresponding feature; and

update the IMU by storing the azimuth baseline.

11. The system of claim 7, the integrated sighting device further comprising:

a camera;

at least one light source; and

a filter, wherein the TOGR comprises a reflective reference position indicator, the reflective reference position indicator configured to be illuminated by the at least one light source, light reflected from the reflective position indicator comprising filtered light, and light sensed by the camera comprising light corresponding to a wavelength of the at least one light source.

12. The system of claim 10, wherein the IMU comprises an accelerometer module, the IMU is configured to store a third angle upon determining the azimuth baseline, the third angle comprising an elevation angle, and wherein the one or more offsets comprise an azimuth and elevation offset such that the microcomputer is further configured to update the IMU based on the azimuth and elevation offset of the at least one corresponding feature.

13. The system of claim 7, wherein the integrated sighting device is further configured for at least one of:

receiving the sighting position solution via a user input; and

receiving the reference position solution via the user input, wherein the first angular movement is determined using the user input and the baseline is determined based on sighting landmarks having coordinates that are known with respect to the first angular movement.

14. A method, comprising:

determining that an integrated sighting device cannot determine a position solution;

transmitting an optical trigger signal characterized by a first optical wavelength to a remote Triggered Optical Global Positioning System Repeater (TOGR);

receiving the optical trigger signal via the remote TOGR;

determining a sighting position solution via a global positioning system (GPS) receiver in the remote TOGR;

optically transmitting the sighting position solution to the integrated sighting device via a second optical wavelength distinct from the first optical wavelength;

determining, upon receiving the sighting position solution, a first angular movement to transit an optical aperture of the integrated sighting device from a reference position to the sighting position solution;

receiving an inertial measurement unit (IMU) orientation input while using the optical aperture of the integrated sighting device to establish a visual line of sight between the TOGR and a marker disposed at the reference position, the IMU orientation input including a second angle associated with the visual line of sight; and

generating and displaying a baseline as a reference for the IMU based on the first angular movement correlating with the second angle.