SYSTEM AND METHODS FOR AUTONOMOUS TRACKING AND SURVEILLANCE

• US 20090157233A1
• Filed: 12/14/2007
• Published: 06/18/2009
• Est. Priority Date: 12/14/2007
• Status: Active Grant

• Current Assignee: The Boeing Co.
• Original Assignee: The Boeing Co.
• Inventors: Olson, Trevor L., Munoz, Michael L., Cathey, Frederick W., Hilliard, David J., Lutter, Robert P., Kokkeby, Kristen L.
• Granted Patent: US 8,718,838 B2
• Time in Patent Office: Days
• US Class Current: 701/3
• CPC Class Codes: G01S 13/723 by using numerical data
• CPC Class Codes: G01S 3/7864 T.V. type tracking systems
• CPC Class Codes: G05D 1/0094 involving pointing a payload, e.g. camera, weapon, sensor, towards a fixed or moving target

Abstract

A system and methods for autonomously tracking and simultaneously providing surveillance of a target from air vehicles. In one embodiment the system receives inputs from outside sources, creates tracks, identifies the targets and generates flight plans for unmanned air vehicles (UAVs) and camera controls for surveillance of the targets. The system uses predictive algorithms and aircraft control laws. The system comprises a plurality of modules configured to accomplish these tasks. One embodiment comprises an automatic target recognition (ATR) module configured to receive video information, process the video information, and produce ATR information including target information. The embodiment further comprises a multi-sensor integrator (MSI) module configured to receive the ATR information, an air vehicle state input and a target state input, process the inputs and produce track information for the target. The embodiment further comprises a target module configured to receive the track information, process the track information, and produce predicted future state target information. The embodiment further comprises an ownship module configured to receive the track information, process the track information, and produce predicted future state air vehicle information. The embodiment further comprises a planner module configured to receive the predicted future state target information and the predicted future state air vehicle information and generate travel path information including flight and camera steering commands for the air vehicle.

Claims

1. A system for autonomously tracking a target from an air vehicle, the system comprising:

an automatic target recognition (ATR) module configured to receive video information, process the video information and produce ATR information including target information;

a multi-sensor integrator (MST) module configured to receive the ATR information, an air vehicle state input and a target state input, process the inputs and produce track information for the target;

a target module configured to receive the track information, process the track information, and produce predicted future state target information;

an ownship module configured to receive the track information, process the track information, and produce predicted future state air vehicle information; and

a planner module configured to receive the predicted future state target information and the predicted future state air vehicle information and generate travel path information including flight and camera steering commands for the air vehicle.

2. The system of claim 1, further comprising a weave corridor module, wherein the planner is configured to use information provided by the weave corridor module to generate a weave plan for the air vehicle the weave plan being designed to maintain a desired distance between the air vehicle and the target while the target is moving and while maintaining the air vehicle within predetermined boundaries.

3. The system of claim 2, wherein at least a portion of the boundaries coincide with at least one of a national border, an edge of a no fly zone and a physical obstruction.

4. The system of claim 1, further comprising a loiter circle module, wherein the planner is configured to use information provided by the loiter circle module to generate a loiter plan for the air vehicle, the loiter plan being designed to maintain a desired distance between the air vehicle and the target while the target is stationary.

5. The system of claim 1, further comprising a region search module, wherein the planner is configured to use information provided by the region search module to generate a region search plan for the air vehicle, the region search plan being designed to allow the air vehicle to scan an area.

6. The system of claim 1, further comprising at least one of a command module configured to analyze an anticipated path of travel for the air vehicle and determine whether the path crosses into any restricted airspace or intersects any obstructions;

an automatic target recognition trainer module configured to catalog information about the target;

a self calibration planner module configured to calibrate navigational sensors aboard the air vehicle;

a configuration manager module configured to save a data configuration within the system so that the data configuration can be used in the future;

a legs module configured to predict a flight path for the air vehicle; and

a record module configured to record data associated with a tracking operation.

7. The system of claim 1, further comprising a camera module configured to predict future imaging characteristics for a camera aboard the air vehicle.

8. The system of claim 6, further comprising a camera and a camera command module configured to control focus and zoom of the camera.

9. The system of claim 1, wherein the air vehicle is an unmanned aircraft.

10. The system of claim 1, further comprising a ground station.

11. The system of claim 10, wherein at least one of the modules is located at the ground station.

12. A method of autonomously tracking a target from an airborne vehicle, the method comprising the steps of:

receiving video information input to an automatic target recognition (ATR) module, processing the video information, and producing ATR information;

receiving the ATR information, air vehicle state information and target state information as inputs to a multi-sensor integrator (MSI), processing the inputs and producing track information;

receiving the track information as an input to a target module, processing the track information, predicting a future state of the target and producing target information;

receiving the track information as an input to an ownship module, processing the track information, predicting a future state of the air vehicle and producing own ship information; and

receiving the target information and the ownship information as inputs to a planner module and generating a travel path for the air vehicle.

13. The method of claim 12, further comprising the step of storing the track information as a track file.

14. The method of claim 12 further comprising at least one of

generating a weave plan for the air vehicle, the weave plan being designed to maintain a desired distance between the air vehicle and the target while the target is moving and while maintaining the air vehicle within boundaries;

generating a loiter plan for the air vehicle, the loiter plan being designed to maintain a desired distance between the air vehicle and the target while the target is stationary;

generating a region search plan for the air vehicle, the region search plan being designed to allow the air vehicle to scan an area,

analyzing an anticipated path of travel for the air vehicle and determining whether the path crosses into any restricted airspace or intersects any obstructions, cataloging information about the target;

calibrating navigational sensors aboard the air vehicle;

predicting a flight path for the air vehicle; and

recording data associated with a tracking operation.

15. The method of claim 12, further comprising the step of predicting, using a camera module, future imaging characteristics for a camera aboard the air vehicle.

16. The method of claim 15, wherein the air vehicle further comprises a camera and a camera command module configured to control focus and zoom of the camera.

17. A system for autonomously tracking a target from an air vehicle, the system comprising:

means for receiving video information, processing the video information, and producing automatic target recognition (ATR) information including target information;

means for receiving the ATR information, an air vehicle state input and a target state input, processing the inputs and producing track information for the target;

means for receiving the track information, processing the track information, and producing predicted future state target information;

means for receiving the track information, processing the track information, and producing predicted future state air vehicle information; and

means for receiving the predicted future state target information and the predicted future state air vehicle information and generating travel path information including flight and camera steering commands for the air vehicle.

18. The system of claim 17, further comprising at least one of means for analyzing an anticipated path of travel for the air vehicle and determining whether the path crosses into any restricted airspace or intersects any obstructions;

means for cataloging information about the target;

means for calibrating navigational sensors aboard the air vehicle;

means for saving a data configuration within the system so that the data configuration can be used in the future;

means for predicting a flight path for the air vehicle; and

means for recording data associated with a tracking operation.

19. The system of claim 17, further comprising means for predicting future imaging characteristics for a camera aboard the air vehicle.

20. The system of claim 17, wherein the air vehicle is an unmanned aircraft.