Method and system for relative geometry tracking utilizing multiple distributed emitter/detector local nodes and mutual local node tracking
First Claim
1. A method of tracking the relative geometry and relative orientation of two or more tracking stations, and the additional relative geometry of other objects with respect to said tracking stations utilizing at least two tracking stations and at least one fusion center, including the steps of:
- sensing, at each tracking station, energy emissions arriving from other tracking stations and other objects, said energy emissions including information relating to the relative geometry of the tracking stations and the other objects;
forwarding sensor data relating to the relative geometry of each tracking station with respect to other tracking stations and with respect to other objects to a means for processing said sensor data, which determines the mutual relative geometry of each tracking station with respect to a second tracking station without utilizing attitude information local to each tracking station;
estimating components of the relative geometry of each tracking station with respect to other tracking stations and other objects, said estimating components step conducted in said processing means;
forwarding information between said means for processing said sensor data and at least one fusion center regarding the relative geometry of each tracking station with respect to other tracking stations and other objects;
estimating the relative orientation of pairs of tracking station Egocentric Coordinate Frames, said estimating step conducted in said means for processing said sensor data; and
estimating the relative geometry of triplets of two tracking stations and one other object, said estimating step conducted in said means for processing said sensor data.
1 Assignment
0 Petitions
Accused Products
Abstract
A method and system for tracking various objects utilizing a plurality of sensors. Separate locations or platforms are provided with a number of sensors collocated with an energy generation/ reflection device, and also a communication device. Each of the platforms is termed local nodes of a multi-sensor fusion system, and possibly can experience relative translational and/or rotational motion in as many as three dimensions with respect to itself and with respect to similar local nodes. Each local node is capable of measuring some combination of bearing angles and/or range and/or respective derivatives from the local node to cooperative local nodes by generating or reflecting energy such that cooperative local nodes may obtain mutual sensor measurements. Information obtained or processed by each local node, including track data or track estimates, are possibly transmitted to one or more central nodes denoted as fusion centers provided with processing capabilities. In addition, when an object or multiple objects which are not local nodes are being tracked, at least one cooperative local node can measure bearing angles and/or range and/or respective derivatives from the local node to the other object. After undergoing a series of processes, sensor data from multiple local nodes are combined at the fusion centers to provide estimates of both the relative geometry and relative orientation of each cooperative local node with respect to other cooperative local nodes and the relative geometry of other sensed objects with respect to each cooperative local node. Estimated relative geometries are either range normalized or scaled with actual ranges depending upon sensor capabilities.
55 Citations
27 Claims
-
1. A method of tracking the relative geometry and relative orientation of two or more tracking stations, and the additional relative geometry of other objects with respect to said tracking stations utilizing at least two tracking stations and at least one fusion center, including the steps of:
-
sensing, at each tracking station, energy emissions arriving from other tracking stations and other objects, said energy emissions including information relating to the relative geometry of the tracking stations and the other objects; forwarding sensor data relating to the relative geometry of each tracking station with respect to other tracking stations and with respect to other objects to a means for processing said sensor data, which determines the mutual relative geometry of each tracking station with respect to a second tracking station without utilizing attitude information local to each tracking station; estimating components of the relative geometry of each tracking station with respect to other tracking stations and other objects, said estimating components step conducted in said processing means; forwarding information between said means for processing said sensor data and at least one fusion center regarding the relative geometry of each tracking station with respect to other tracking stations and other objects; estimating the relative orientation of pairs of tracking station Egocentric Coordinate Frames, said estimating step conducted in said means for processing said sensor data; and estimating the relative geometry of triplets of two tracking stations and one other object, said estimating step conducted in said means for processing said sensor data. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 18, 19)
-
- 13. The method in accordance with claim including the steps of estimating any time parameters of the rotational motion of any number of the tracking stations, and forwarding the data generated by this step to said means for processing said sensor data, said step of estimating any time parameters being conducted in said means for processing said sensor data.
-
20. A system for tracking the relative geometry and relative orientation of two or more tracking stations, and the additional relative geometry of other objects with respect to said tracking stations including:
-
any number of fusion centers including a receiver and an information processor which determines the mutual relative geometry of each tracking station with respect to a second tracking station without utilizing attitude information local to each tracking station; the present of at least one information processor within the collection of said tracking stations and said fusion centers; a plurality of tracking stations for sensing of information related to the relative geometry of said tracking stations and possibly other objects, each of said tracking station including, energy generating means for directing energy emission toward at least one other tracking station; sensing means for sensing energy emissions arriving at each of said tracking stations, said energy emissions including data relating to the relative geometry of said tracking station with respect to any combination of other tracking stations and other objects; and communication device provided on each of said tracking stations for exchanging data with, or transmitting data to, any combination of other said tracking stations and said fusion centers. - View Dependent Claims (21, 22, 23, 24, 25, 26, 27)
-
Specification