Control system for tracking and targeting multiple autonomous objects

• US 20040006424A1
• Filed: 06/30/2003
• Published: 01/08/2004
• Est. Priority Date: 06/28/2002
• Status: Abandoned Application

• Current Assignee: Brian Tarbox, Glenn J. Joyce
• Original Assignee: Brian Tarbox, Glenn J. Joyce
• Inventors: Tarbox, Brian, Joyce, Glenn J.
• Application Number:
  US10/610,202
• Publication Number:
  US 20040006424A1
• Time in Patent Office: Days
• US Class Current: 701/207
• CPC Class Codes: G01S 19/19 Sporting applications
• CPC Class Codes: G01S 19/41 Differential correction, e.g. DGPS [differential GPS]
• CPC Class Codes: G01S 19/47 the supplementary measurement being an inertial measurement, e.g. tightly coupled inertial
• CPC Class Codes: G01S 5/0027 of actual mobile position, i.e. position determined on mobile
• CPC Class Codes: G01S 5/0294 Trajectory determination or predictive filtering, e.g. target tracking or Kalman filtering
• CPC Class Codes: H04N 21/21805 enabling multiple viewpoints, e.g. using a plurality of cameras
• CPC Class Codes: H04N 23/61 based on recognised objects
• CPC Class Codes: H04N 23/661 Transmitting camera control signals through networks, e.g. control via the Internet
• CPC Class Codes: H04N 23/695 Control of camera direction for changing a field of view, e.g. pan, tilt or based on tracking of objects
• CPC Class Codes: H04N 23/90 Arrangement of cameras or camera modules, e.g. multiple cameras in TV studios or sports stadiums

Abstract

A control system for dynamically tracking and targeting multiple targets wherein the targets have position sensors and communicate to with central location that uses the information to process projected locations of moving targets. The system uses several means to smooth the track and to deal with missing or degraded data, wherein the data may be degraded in either time or location. The present system can use a combination of Kalman filtering algorithms, multiple layers of smoothing, decoupled recording of predicated positions and use of those predications along with optimization of speed of apparent target motion to achieve a degree of time on target.

Claims

1. A system for dynamically tracking and targeting at least one moving target, comprising:

a position location receiver located proximate said target, wherein said position location receiver receives present location information of said target;

a communicating apparatus coupled to said position location receiver;

at least one base station communicating with said target, wherein said communicating apparatus transmits said present location information to said base station, and wherein said base station calculates a projection location information; and

at least one autonomous client station coupled to said base station, wherein said client station acts upon said projection location information.

2. The system according to claim 1, wherein said communicating apparatus periodically emits said present location information.

3. The system according to claim 1, wherein said position location receiver obtains said present location information from a system selected from the group comprising:

global positioning system (GPS), differential GPS, Ultra Wide Band (UWB), and Wide Area Augmentation System (WAAS) enhanced GPS.

4. The system according to claim 1, wherein said base stations receives, checks and processes present location information from multiple targets.

5. The system according to claim 1, further comprising a plurality of base stations receiving said present location information.

6. The system according to claim 1, wherein said projection location information is performed using Kalman filtering.

7. The system according to claim 6, with a real time input for modifying parameters of the Kalman filtering.

8. The system according to claim 1, wherein said base station simultaneously tracks each of said targets and said base station transmits said projection location to a client upon request.

9. The system according to claim 1, further comprising a publish/subscribe system wherein a subscriber requests a data feed from said client station.

10. The system according to claim 1, with a real time input for modifying parameters of said subscriber requests.

11. The system according to claim 1, wherein said client station is selected from the group comprising:

a camera, a microphone, antenna, display, speaker, range finder, memory device, and a processing unit.

12. The system according to claim 1, wherein communication between said base station and said client station is bi-directional.

13. The system according to claim 1, further comprising a processor on said target and coupled to said position location receiver and said communications apparatus.

14. The system according to claim 1, wherein at least one of said targets is a client station.

15. A computer-implemented system for dynamically tracking and targeting multiple vehicles, comprising:

a plurality of targets containing a location receiver and a wireless communications apparatus;

at least one base station coupled to said targets, wherein said base station performs target processing to calculate projected target location; and

at least one client station coupled to said base station, wherein said client station directs a robotic pointing platform based on said target information.

17. The system according to claim 15, wherein said client station is an autonomous camera system receiving a set of positioning commands from said base station.

18. The system according to claim 15, further comprising a means to decouple the base station transmission rates from the client station service interval.

19. The system according to claim 15, further comprising a smoothing function for said robotic pointing platform.

20. The system according to claim 15, further comprising a publish/subscribe system wherein a subscriber requests a data feed from said client station.

21. The system according to claim 20, with a real time input for modifying parameters of said subscriber requests.

22. The system according to claim 15, wherein said robotic pointing platform tracks a synthesized target.

16. The system according to claim 16, further comprising a calibration of said camera system.