Stereoscopic Targeting, Tracking and Navigation Device, System and Method

• US 20070002304A1
• Filed: 07/20/2005
• Published: 01/04/2007
• Est. Priority Date: 08/10/2004
• Status: Active Grant

• Current Assignee: Joseph Saltsman
• Original Assignee: Joseph Saltsman
• Inventors: Saltsman, Joseph
• Granted Patent: US 7,433,021 B2
• Time in Patent Office: Days
• US Class Current: 356/3.100
• CPC Class Codes: G01C 11/30 by triangulation
• CPC Class Codes: G01S 5/16 using electromagnetic waves other than radio waves

Abstract

A measurement system with a minimum of 2 sensors that identifies precise locations of remote objects. The sensors measure the elevation and azimuth angles to the target using the electromagnetic radiation that is either intentionally or incidentally reflected off of the object. Given the known distance between the sensors, the system are able to calculate the exact X-Y-Z coordinates of the object using a modified type of triangulation. In the case of moving targets, this data is used to determine target origin and destination. In the case of stationary targets, the data is used to determine exact location of target and for navigation to or around the stationary target.

Claims

1. A sensor system for tracking and navigation, comprising:

two sensors, each sensor comprising a two-dimensional plurality of discrete detection pixels;

for each said sensor, computerized data associating each said detection pixel thereof with a predetermined azimuth angle and a predetermined elevation angle; and

computerized means for automatically determining azimuth angles and elevation angles of a target or beacon simultaneously detected by each of said sensors, for each of said sensors, based on said computerized data.

2. The system of claim [claim 1], further comprising:

computerized means for calculating a three-dimensional position of said target or beacon, based on said azimuth angles and said elevation angles of said target or beacon for each of said sensors, and based on a known distance and relative orientation between each of said sensors.

3. The system of [claim 1], wherein:

said computerized data is established for each sensor from detecting electromagnetic radiation at known azimuth and elevation angles with said sensor or an equivalent sensor and determining which pixels are activated thereby.

4. The system of claim [claim 3], wherein:

said computerized data, for each sensor, associates the activated detection pixels with said known azimuth and elevation angles.

5. The system of [claim 1], wherein:

said azimuth angle and elevation angle are automatically determined for each sensor to be the azimuth angle and elevation angle associated with said given pixel by said computerized data.

6. The system of [claim 1], said computerized data comprising a computerized lookup table for each sensor, associating each said detection pixel with said predetermined azimuth angle and said predetermined elevation angle.

7. The system of [claim 1], further comprising:

at least one additional sensor substantially equivalent to each of said two sensors and comprising substantially equivalent computerized data therefor; and

computerized means for calculating said three-dimensional position of said target or beacon, based on azimuth angles and elevation angles of said target or beacon for a selected pair of said sensors, and based on a known distance and relative orientation between said selected pair of said sensors.

8. The system of [claim 7], further comprising computerized means for using said azimuth angles and elevation angles from less than all of said sensors, when one or both of said azimuth angles and elevation angles are undefined.

9. The system of [claim 1], further comprising:

computerized means for calculating an origin of said target based on calculations of said three-dimensional position at at least two distinct times.

10. The system of [claim 1], further comprising:

computerized means for calculating a destination of said target based on calculations of said three-dimensional position at at least two distinct times.

11. A sensor system for tracking and navigation, comprising:

a sensor comprising a two-dimensional plurality of discrete detection pixels; and

computerized data associating each said detection pixel with a predetermined azimuth angle and a predetermined elevation angle;

wherein;

when a target or beacon is detected by a given pixel of said sensor, an azimuth angle and an elevation angle of said target or beacon is automatically determined from said computerized data.

12. The system of [claim 11], wherein:

said computerized data is established from detecting electromagnetic radiation at known azimuth and elevation angles with said sensor or an equivalent sensor and determining which pixels are activated thereby.

13. The system of [claim 11], wherein:

said azimuth angle and elevation angle are automatically determined to be the azimuth angle and elevation angle associated with said given pixel by said computerized data.

14. The system of [claim 11], said computerized data comprising a computerized lookup table associating each said detection pixel with said predetermined azimuth angle and said predetermined elevation angle.

15. A computerized device for use in connection with a sensor system for tracking and navigation, comprising computerized input, storage and processing means for:

storing computerized data associating each of a plurality of detection pixels of a sensor with a predetermined azimuth angle and a predetermined elevation angle;

receiving input data specifying a given detection pixel of said sensor which has detected a target or beacon; and

automatically determining an azimuth angle and an elevation angle of the detected target or beacon from said input data based on said stored computerized data.

16. The device of [claim 15], said computerized data comprising a lookup table associating each said detection pixel with said predetermined azimuth angle and said predetermined elevation angle.

17. A sensor calibrated for tracking and navigation, comprising:

computerized data associating activated detection pixels of said sensor with a predetermined azimuth angle and a predetermined elevation angle;

wherein;

said computerized data is established by;

striking said sensor or an equivalent sensor with calibration electromagnetic radiation originating at known azimuth and elevation angles; and

and determining which detection pixels of said sensor are activated by said calibration electromagnetic radiation.

18. The sensor of [claim 17], further comprising:

a computerized lookup table associating said activated detection pixels with said known azimuth and elevation angles.

19. The sensor of [claim 17], further comprising:

said computerized data associating each detection pixel of said sensor with a predetermined azimuth angle and a predetermined elevation angle, based on said associating the activated detection pixels with said known azimuth and elevation angles.

20. The sensor of [claim 19], further comprising:

said computerized data associating each detection pixel of said sensor with said predetermined azimuth angle and said predetermined elevation angle using a computerized lookup table.

21. A method for tracking and navigation, comprising:

placing two sensors at a known distance and with a known orientation relative to one another, each sensor comprising a two-dimensional plurality of discrete detection pixels;

simultaneously detecting a target or beacon with each of said sensors; and

automatically determining azimuth angles and elevation angles of a target or beacon simultaneously detected by each of said sensors, for each of said sensors, based on which detection pixels of each sensor are activated by detecting said target or beacon, using computerized data associating each said detection pixel thereof, for each sensor, with a predetermined azimuth angle and a predetermined elevation angle.

22. The method of [claim 21], further comprising:

calculating a three-dimensional position of said target or beacon, based on said azimuth angles and said elevation angles of said target or beacon for each of said sensors, and based on said known distance and relative orientation between each of said sensors.

23. The method of [claim 21], further comprising:

establishing said computerized data for each sensor by detecting electromagnetic radiation at known azimuth and elevation angles with said sensor or an equivalent sensor and determining which pixels are activated thereby.

24. The method of claim [claim 23], further comprising:

for each sensor, associating the activated detection pixels with said known azimuth and elevation angles.

25. The method of [claim 21], further comprising:

automatically determining said azimuth angle and elevation angle for each sensor to be the azimuth angle and elevation angle associated with said given pixel by said computerized data.

26. The method of [claim 21], further comprising:

for each sensor, associating each said detection pixel with said predetermined azimuth angle and said predetermined elevation angle, using a computerized lookup table.

27. The method of [claim 21], further comprising:

placing at least one additional sensor substantially equivalent to each of said two sensors and comprising substantially equivalent computerized data therefor, at a known distance and with a known orientation relative to said two sensors; and

calculating said three-dimensional position of said target or beacon, based on azimuth angles and elevation angles of said target or beacon for a selected pair of said sensors, and based on the known distance and relative orientation between said selected pair of said sensors.

28. The method of [claim 27], further comprising:

using said azimuth angles and elevation angles from less than all of said sensors, when one or both of said azimuth angles and elevation angles are undefined.

29. The method of [claim 21], further comprising:

calculating an origin of said target based on calculations of said three-dimensional position at at least two distinct times.

30. The method of [claim 21], further comprising:

calculating a destination of said target based on calculations of said three-dimensional position at at least two distinct times.

31. A method for tracking and navigation, comprising:

associating each detection pixel of a sensor comprising a two-dimensional plurality of discrete detection pixels, with a predetermined azimuth angle and a predetermined elevation angle;

wherein;

when a target or beacon is detected by a given pixel of said sensor, automatically determining an azimuth angle and an elevation angle of said target or beacon from said computerized data.

32. The method of [claim 31], further comprising:

associating said each detection pixel with said azimuth angle and elevation angle by detecting electromagnetic radiation at known azimuth and elevation angles with said sensor or an equivalent sensor and determining which pixels are activated thereby.

33. The method of [claim 31], further comprising:

automatically determining said azimuth angle and elevation angle from the azimuth angle and elevation angle associated with said given pixel by said computerized data.

34. The system of [claim 31], said automatically determining further comprising automatically looking up said predetermined azimuth angle and said predetermined elevation angle associated with said given pixel, in a computerized lookup table.

35. A method for use in connection with a sensor system for tracking and navigation, comprising:

storing computerized data associating each of a plurality of detection pixels of a sensor with a predetermined azimuth angle and a predetermined elevation angle;

receiving input data specifying a given detection pixel of said sensor which has detected a target or beacon; and

automatically determining an azimuth angle and an elevation angle of the detected target or beacon from said input data based on said stored computerized data.

36. The method of [claim 35], said automatically determining further comprising automatically looking up said predetermined azimuth angle and said predetermined elevation angle associated with said given pixel, in a computerized lookup table.

37. A method for calibrating a sensor for tracking and navigation, comprising:

striking said sensor or an equivalent sensor with calibration electromagnetic radiation originating at known azimuth and elevation angles;

determining which detection pixels of said sensor are activated by said calibration electromagnetic radiation; and

associating the activated detection pixels with said known azimuth and elevation angles.

38. The method of [claim 37], further comprising:

associating said activated detection pixels with said known azimuth and elevation angles using a computerized lookup table.

39. The method of [claim 37], further comprising:

associating each detection pixel of said sensor with a predetermined azimuth angle and a predetermined elevation angle, based on said associating the activated detection pixels with said known azimuth and elevation angles.

40. The method of [claim 40], further comprising:

associating each detection pixel of said sensor with said predetermined azimuth angle and said predetermined elevation angle using a computerized lookup table.