Process and apparatus for fixing the position of a moving vehicle on a map

• US 4,494,200 A
• Filed: 01/11/1982
• Issued: 01/15/1985
• Est. Priority Date: 01/14/1981
• Status: Expired due to Fees

• Current Assignee: MATRA 4
• Original Assignee: Matra
• Inventors: Lam, Do Mau
• Primary Examiner(s): Chin, Gary
• Application Number:
  US06/338,627
• Time in Patent Office: 1,100 Days
• Field of Search: 364/424, 364/443, 364/444, 364/447, 364/449, 364/460, 364/433, 340/24, 340/27 NA, 343/378, 343/450, 343/451, 343/5 MM, 343/7 TA, 343/50 P, 73/178 R, 353/11, 353/12
• US Class Current: 701/207
• CPC Class Codes: G01C 21/005 with correlation of navigation data from several sources, e.g. map or contour matching G01C21/30 takes precedence

Abstract

For fixing the position of a moving vehicle, typically an aircraft, a map of a strip of ground along the theoretical path of the vehicle is prepared. The map has two parts. The transparency i at each point of one part is in direct relation with the value of a predetermined parameter representative of the ground at that point, typically the altitude. The transparency at each point in the other part is in inverse relation of the parameter. During movement of the vehicle, the successive actual values of the parameter are measured and stored over a distance p. Such values are used for modulating light fluxes which are directed along a plurality of bands each representative of distance p, in succession. A correlation factor is determined for each band based on integration of light fluxes received by sensors through the bands in succession. The location of the band on the map which corresponds to the best correlation is determined and used for fixing the position.

Claims

1. A process for fixing the position of a moving vehicle having a direction of movement which is predetermined on a map, said process comprising:

(a) preparing a map of a strip of ground along a theoretical path of movement of the vehicle over an area whose width is equal to the greatest possible expected deviation of the actual path of the vehicle, said map comprising two complementary transparent parts, the transparency i of the map at each point of said area in a first one of said parts being in direct relation to the value of a predetermined ground parameter at that point and the transparency i of the map at each point of said area in a second one of said parts being in inverse relation to the value of said predetermined parameter at that point;

(b) during movement of the vehicle, measuring the successive actual values of said ground parameter from the moving body and storing said actual values over a predetermined distance p;

(c) directing light of intensity i'"'"' whose value is modulated to be a direct function of the actual value of said ground parameter as measured from the vehicle through each successive point in a band of said first part located at a predetermined transverse offset distance from said theoretical path and directing light of intensity i'"'"' whose value is modulated to be an inverse function of said actual value through each successive point in a band of said second part located at said predetermined transverse offset distance from said theoretical path;

(d) measuring the cumulative light intensities which pass through said bands, determining the value of a correlation factor based on measurements of said light intensities and storing said value;

(e) repeating steps (c) and (d) for a plurality of pairs of bands, each pair of bands corresponding to a different value of said predetermined transverse offset distance; and

(f) determining the pair of bands for which the correlation factor is optimized and which correspond to the actual true position of the moving vehicle on the map.

3. Process according to claim 1 or 2, wherein step (f) comprises:

after the termination of each of steps (c) and (d) with respect to any one of said pairs of bands, comparing the value of the correlation factor obtained for that pair of bands and a previously stored value, and storing the new value in places of the former value if the new value is more optimum and

storing the transverse distance and the longitudinal distance for which the value of the correlation factor is optimized.

4. Process according to claim 1 or 2, wherein the transparency i of the second part at each point is related to the transparency of the corresponding point of the first part by the relation i=√

1-i² and wherein the flux i'"'"' is related to the flux i'"'"' by the relation i=√

1-'"'"'².

5. Process according to claim 1 or 2, wherein the value of i·

i'"'"'+i'"'"'·

i'"'"' or |i·

i'"'"'-i·

i'"'"'| is determined for each point, a maximum or a minimum is determined for said values and the location in the band corresponding to the maximum or minimum is stored.

6. Process according to claim 1, wherein the first part of the map is a positive representation and the second part is a negative representation.

2. Process according to clim 1 for fixing the position of an aircraft with respect to a theoretical path above ground, wherein sid parameter is altitude of the ground above a predetermined level.

7. A navigation apparatus for fixing the position of a vehicle moving in a predetermined direction on a map, comprising:

a map having a first part and a second part providing two different representations of the distribution of the same parameter representative of a predetermined ground condition in the vehicle and over an area whose width to the left and right of said path is at least equal to the greatest possible expected deviation of the vehicle from its theoretical path, the transparency i at each point of said area in said first part being in direct relation to the value of said parameter at the point and the transparency i at each point of said area in said second part being to the value of said parameter at that point;

means onboard the vehicle for measuring successive values of said parameter at respective successive locations of the vehicle along its actual path of movement,

means for storing said actual values over a predetermined distance p,

first and second lighting means located on one side of said first and second parts, respectively, for directing light of controllable intensities through said first and second parts, respectively,

first light sensor means, located on the other side of said first part, for accumulating the light received from said first lighting means through an associated band of said first part of length p located at a predetermined transverse offset distance from an expected location of said vehicle along said theoretical path,

second light sensor means, located on the other side of said second path, for accumulating the light received from said second lighting means through an associated band of said second part located at said predetermined transverse offset distance from said theoretical path and at the same predetermined distance from said expected location as said band of said first part,

first and second control means, operatively connected to said storing means, for controlling one of said lighting means such that the intensity of the light directed through a particular point along said distance p is in direct relation to the stored value of said parameter at said point and for controlling the other lighting means such that the intensity of the light therefrom is in reverse relation to said stored value;

means for varying the location of the associated bands on the map;

and correlation means connected to said first and second light sensor means for determining the transverse position and longitudinal position of the associated bands for which correlation between the light intensities is optimized and which corresponds to the actual true position of the moving vehicle.

8. An apparatus according to claim 7, wherein the first and second light sensor means comprise two strips of light integrating sensors located on a drum rotatable about an axis and adapted to receive the map, said strips being parallel to said axis, whereby accumulation of the light fluxes received through a plurality of bands located at the same longitudinal distance from said expected location and at different transverse distances may be carried out simultaneously.

9. Apparatus according to claim 8, wherein said first and second lighting means comprise respective light sources controlled by said first and second control means in synchronism with the rotation of the drum, whereby the fluxes i'"'"' and i'"'"' delivered at each time are representative of the stored value of said parameter corresponding to the longitudinal distance on the map at which the strips are then located.

10. Apparatus according to claim 8 or 9, wherein the storing means for storing said actual values is located on said drum.

11. Apparatus according to claim 10, wherein said storing means include a magnetic track formed along a circumference of said drum.