System and method for geo-registration with global positioning and inertial navigation
First Claim
1. A position estimation system comprising:
- first means for providing an image including a known target in a known reference frame;
second means for correlating said image with a stored image; and
third means responsive to said second means for computing an error in response thereto.
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Abstract
A position estimation system including a first arrangement for providing an image with a known target in a known reference frame. A second arrangement correlates the image with a stored image. The correlation is used to compute an error with respect to a position estimate. In a specific embodiment, the error is referenced with respect to first (x), second (y) and third (z) directions. A target location error is computed with respect to a stored image provided by a target image catalog. The target image catalog includes target geo-locations and digital terrain elevation data. In an illustrative application, the image data is provided by synthetic aperture radar and forward-looking infrared systems. An observation model and a measure noise matrix are Kalman filtered to ascertain a position error in navigation data generated by an integrated inertial navigation and Global Positioning system. In the illustrative application, geo-registered SAR/FLIR imagery is used to track targets and to determine a target location error (TLE). This TLE information is a set of error equations that describe the relationship between vehicle navigation information and target data. In accordance with the invention, this relationship is used to form an observation model for vehicle navigation with respect to target locations. Using Kalman filtering and the observation model, vehicle navigation errors can be bound and the navigation accuracy of the vehicle can be improved.
28 Citations
42 Claims
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1. A position estimation system comprising:
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first means for providing an image including a known target in a known reference frame;
second means for correlating said image with a stored image; and
third means responsive to said second means for computing an error in response thereto. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16, 17, 18, 19, 20, 21, 22)
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23. A navigation system comprising:
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an inertial navigation system;
a Global Positioning System receiver for minimizing an error generated by said inertial navigation system;
means for minimizing an error in position data generated by said inertial navigation system in response to an output from said receiver;
means for detecting interference in reception of said receiver and providing ;
a signal in response thereto; and
means responsive to said signal for referencing data from a target in a known location to minimize an error generated by said inertial navigation system.
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24. A position estimation method including the steps of:
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providing an image including a known target in a known reference frame;
correlating said image with a stored image; and
computing an error in response said step of correlating said image with a stored image. - View Dependent Claims (25, 26, 27, 28, 29, 30, 31, 32, 33, 34, 35, 36, 37, 38, 39, 40, 41)
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42. A navigation method including the steps of:
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providing an inertial navigation system;
providing a Global Positioning System;
minimizing an error in position data generated by said inertial navigation system in response to an output from said receiver;
detecting interference in reception of said receiver and providing a signal in response thereto; and
referencing data from a target in a known location to minimize an error generated by said inertial navigation system in response to said signal.
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Specification
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- Resources
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Current AssigneeRaytheon Company (Rtx Corporation)
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Original AssigneeRaytheon Company (Rtx Corporation)
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InventorsChiou, Kuo-Liang, Rudolph, Kevin E., Chiou, Carroll C.
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Granted Patent
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Time in Patent OfficeDays
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Field of Search
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US Class Current701/301
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CPC Class CodesG01S 13/867 Combination of radar system...G01S 13/90 using synthetic aperture te...G01S 19/21 Interference related issues...G01S 19/47 the supplementary measureme...G01S 7/40 Means for monitoring or cal...
