Prestored area correlation tracker

• US 4,106,726 A
• Filed: 11/04/1969
• Issued: 08/15/1978
• Est. Priority Date: 11/04/1969
• Status: Expired due to Term

• Current Assignee: Martin Marietta Corporation
• Original Assignee: Martin Marietta Corporation
• Inventors: Pasko, Edward, Roberts, Richard E., Emmons, David L., Harmon, George Lamar
• Primary Examiner(s): Buczinski, S. C.
• Application Number:
  US05/873,864
• Time in Patent Office: 3,206 Days
• Field of Search: 250/201, 250/203 R, 244/3.17
• US Class Current: 244/3.17
• CPC Class Codes: F41G 7/343 comparing observed and stored data of target position or of distinctive marks along the path towards the target
• CPC Class Codes: G01S 3/7865 using correlation of the live video image with a stored image

Abstract

A novel prestored area correlation tracker comprising multiple concentric field of view apparatus in combination with apparatus for memorizing multiple digital representations of a target scene and logic apparatus to utilize such representations for the purpose of recognizing said target scene and accurately maintaining a desired aim point in the scene. A primary embodiment utilizes a small field of view apparatus in conjunction with self made direct view memories for tracking the target scene during range closure, and a large field of view apparatus in conjunction with the previously stored memories for initial pointing and intermediate corrections of the afore-mentioned tracking, with said small field of view tracking minimizing the number of prestored memories required for intermediate corrections.

Claims

1. Apparatus for determining angular misalignment between a desired aim point and an actual aim point of a missile or other vehicle, comprising memory means for prestoring at least three related signals representing the appearance of the aim point area at an initial range and at successively closer ranges to such aim point, scanning means for generating a current signal indicative of the area about the actual aim point, and means for sequentially utilizing the prestored signals in determining angular misalignment between the current signal and the memory signals.

2. A tracker for minimizing angular misalignment between a desired aim point and an actual aim point of a missile or other vehicle, comprising memory means for prestoring at least three related signals representing the appearance of the aim point area at an initial range and at successively closer ranges to such aim point, scanning means for generating a current signal indicative of the area about the actual aim point, means for sequentially utilizing the prestored signals in determining angular misalignment between the current signal and the memory signals, and means for realigning the actual aim point with the desired aim point.

3. The tracker as defined in claim 2 in which the prestored related signals are provided by a reference insertion device utilizing a photographic representation of the aim point.

4. The tracker as defined in claim 2 in which the prestored related signals are provided by airborne apparatus which views the target scene directly.

5. The tracker as defined in claim 2 in which rememorization logic apparatus is used to make automatic references by a direct viewing of the scene, thereby reducing the required number of prestored related signals.

6. The tracker as defined in claim 5 in which the prestored related signals are made by the use of a reference insertion device.

7. The tracker as defined in claim 5 in which the prestored related signals are made by a magnifier scanner tracker device.

8. A tracker for minimizing angular misalignment between a desired aim point and an actual aim point of a missile or other vehicle, comprising memory means for prestoring at least three related signals representing the appearance of the aim point area at an initial range and at successively closer ranges to such aim point, a multiple switchable field of view scanning means for generating current signals indicative of the area about the actual aim point, means for determining angular misalignment between said current signals and said memory signals, and means for sequentially utilizing the prestored signals in realigning the actual aim point with the desired aim point, said multiple field of view either providing increased acquisition capability with a larger field of view, or improved accuracy with a smaller field of view.

9. The tracker as defined in claim 8 in which the prestored related signals are provided by a reference insertion device utilizing a photographic representation of the aim point.

10. The tracker as defined in claim 8 in which the prestored related signals are provided by airborne apparatus which views the target scene directly.

11. The tracker as defined in claim 8 in which rememorization logic apparatus is used to make automatic references by a direct viewing of the scene, thereby reducing the required number of prestored related signals.

12. The tracker as defined in claim 11 in which the prestored related signals are made by the use of a reference insertion device.

13. The tracker as defined in claim 11 in which the prestored related signals are made by a magnifier scanner tracker device.

14. A tracker for minimizing angular misalignment between the actual aim point of a missile and a desired aim point, including

memory means for storing a plurality of related signals representing the appearance of the aim point area at an initial range and at successively closer ranges to the desired aim point, said plurality of related signals involving a plurality of prestored references utilized in a preestablished order for missile guidance,

scanning means for generating a current signal indicative of the area about the actual aim point,

means for sequentially utilizing the prestored references in determining angular misalignment between the current signal and the memory signals, and

servo means for realigning the actual aim point with the desired aim point.

15. The tracker as defined in claim 14 in which rememorization means are utilized for periodically updating the current signal representing the area around the actual aim point, thus enabling the number of required prestored references for accurately guiding the missile to be minimized.

16. The tracker as defined in claim 14 in which the plurality of prestored references is obtained by means for accurately scaling reconnaisance photographs, said means producing therefrom digital representations of the aim point scene.

17. The tracker as defined in claim 14 in which the plurality of prestored references is obtained by means of an apparatus carried aboard a launching aircraft, said apparatus having multiple field of view capability, and providing properly scaled representations of the aim point area in digital format.

18. The tracker as defined in claim 14 in which multiple switchable field of view scanning means is provided for generating current signals indicative of the area about the actual aim point.

19. A tracker for minimizing angular misalignment between the actual aim point of a missile and a desired aim point, including

memory means for storing a plurality of related signals representing the appearance of the aim point area at an initial range and at successively closer ranges to the desired aim point, such plurality of related signals involving a plurality of prestored references utilized in a preestablished order for missile guidance,

multiple field of view scanning means for generating current signals indicative of the area about the actual aim point,

means for selectively switching between a large field of view used for acquisition of a target and a small field of view for accurate tracking purposes,

means for sequentially utilizing the prestored references in determining angular misalignment between the current signals and the memory signals, and

means for realigning the actual aim point with the desired aim point.

20. The tracker as defined in claim 19 in which rememorization means are utilized for periodically updating the current signal representing the area around the actual aim point, thus enabling the number of required prestored references for accurately guiding the missile to be minimized.

21. The tracker as defined in claim 19 in which said plurality of prestored references is obtained from ancillary means for accurately scaling reconnaissance photographs, said means producing therefrom digital representations of the aim point scene.

22. The tracker as defined in claim 19 in which said plurality of prestored references is obtained by means of an apparatus carried aboard a launching aircraft, said apparatus having multiple field of view capability, and providing properly scaled representations of the aim point area in digital format.

23. A tracker for minimizing angular misalignment between a desired aimpoint and an actual aimpoint of a missile or other vehicle, comprising a multiple, switchable field of view means for providing real time scans of the actual aimpoint, means for sensing and processing said real time scans to obtain current signals, memory means for prestoring at least three related reference signals representing the appearance of the desired aimpoint at an initial range and at successively closer ranges to such aimpoint, said memory means also including means for storing one or more current signals generated from real time scans of the actual aimpoint, means for selecting from the memory the appropriate reference signals, means for correlating the selected reference signals with the current signals to continuously determine the angular misaligment of the actual aimpoint with the desired aim-point, and servo means for reducing the angular misaligment of the actual aimpoint with the desired aimpoint represented by the reference signals.

24. The tracker as defined in claim 23 in which the prestored related reference signals are provided by a reference insertion device utilizing a photographic representation of the aimpoint.

25. The tracker as defined in claim 23 in which the prestored related reference signals are provided by airborne apparatus which views the target scene directly.