Enhanced precision forward observation system and method

• US 6,064,942 A
• Filed: 05/30/1997
• Issued: 05/16/2000
• Est. Priority Date: 05/30/1997
• Status: Expired due to Term

• Current Assignee: Rockwell Collins, Inc. (Rtx Corporation)
• Original Assignee: Rockwell Collins, Inc. (Rtx Corporation)
• Inventors: Johnson, Mark W., Deal, David V.
• Primary Examiner(s): Cuchlinski, Jr., William A.
• Assistant Examiner(s): Beaulieu, Yonel
• Application Number:
  US08/866,457
• Time in Patent Office: 1,082 Days
• Field of Search: 701/213, 701/214, 701/215, 701/207, 342/119, 342/357.06, 342/357.08, 342/357.01, 342/357.02, 342/357.03, 342/357.04, 342/118, 434/1, 434/2, 434/11
• US Class Current: 701/213
• CPC Class Codes: F41G 3/02 using an independent line of sight
• CPC Class Codes: F41G 3/06 with rangefinder rangefinders per se G01C
• CPC Class Codes: G01C 21/005 with correlation of navigation data from several sources, e.g. map or contour matching G01C21/30 takes precedence
• CPC Class Codes: G01S 17/06 Systems determining position data of a target
• CPC Class Codes: G01S 17/86 Combinations of lidar systems with systems other than lidar, radar or sonar, e.g. with direction finders
• CPC Class Codes: G01S 19/18 Military applications
• CPC Class Codes: G01S 19/51 Relative positioning
• CPC Class Codes: G01S 7/497 Means for monitoring or calibrating

Abstract

An enhanced precision forward observation system and method employs a satellite positioning system receiver, range finder, and a compass/inclinometer. The satellite positioning system receiver is used to calculate an observer'"'"'s position and target position estimation software employs data from multiple measurements for improved target position estimation.

Claims

1. A forward observation system for determining the location of a target comprising:

(a) instrumentation for determining an observer position;

(b) a range finder for determining the distance to the target from the observation position;

(c) instrumentation for determining the attitude of the line of sight vector to the target from the observation position;

(d) a processor for receiving output from said instrumentation for determining an observer position, said range finder, and said instrumentation for determining the attitude of the line of sight vector to the target, said processor comprising means for calculating an estimated target position and determining error range.

2. The forward observation system according to claim 1 wherein said instrumentation for determining observer position comprises satellite based positioning system receiver.

3. The forward observation system according to claim 1 wherein said range finder comprises a laser range finder.

4. The forward observation system according to claim 1 wherein said instrumentation for determining the attitude of the line of sight vector to the target comprises a compass and inclinometer.

5. The forward observation system according to claim 1 wherein said means for calculating an estimated target position and determining error range comprises an estimation filter.

6. The forward observation system according to claim 5 wherein said estimation filter comprises a Kalman filter.

7. The forward observation system according to claim 6 wherein said instrumentation for determining observer position comprises satellite based positioning system receiver.

8. The forward observation system according to claim 7 wherein said range finder comprises a laser range finder.

9. The forward observation system according to claim 6 wherein said instrumentation for determining the attitude of the line of sight vector to the target comprises a compass and inclinometer.

10. The forward observation system according to claim 2 wherein said means for calculating an estimated target position and determining error range comprises a Kalman filter;

said instrumentation for determining observer position comprises satellite based positioning system receiver;

said range finder comprises a laser range finder; and

said instrumentation for determining the attitude of the line of sight vector to the target comprises a compass and inclinometer.

11. The forward observation system according to claim 10 further comprising magnetic variation data for calibration of said compass and inclinometer.

12. The forward observation system according to claim 1 further comprising a measurement error detector for alerting a user when a target position estimate varies from an expected value by more than a prespecified amount.

13. The forward observation system according to claim 12 wherein said measurement error detector alerts a user when said target position estimate varies by more than 2σ

from said expected value.

14. A method for determining the coordinates of a target position comprising the steps of determining a target position estimate and error range for said target position estimate by making distance and attitude measurements relative to a given observation position having determinable coordinates;

determining the observation position coordinates of the observation position; and

using said observation position coordinates, said distance and attitude measurements, and a Kalman filter to determine coordinates and error range for said target position estimate.

15. A method for determining the coordinates of a target position from one or more observation positions comprising the steps of:

(a) making distance and attitude measurements of said target position relative to a given observation position having determinable coordinates;

(b) determining the observation position coordinates of the observation position;

(c) using said observation position coordinates, distance and attitude measurements from step (a), and a Kalman filter to determine coordinates for a first target position estimate and error range for said first target position estimate;

(d) determining at least one other target position estimate and error range for said at least one other target position estimate by making distance and attitude measurements relative to at least one observation position having determinable coordinates;

(e) determining the observation position coordinates for each step (d) observation position;

(f) and using the step (d) observation position coordinates, the corresponding distance and attitude measurements, and a Kalman filter to calculate an enhanced target position estimate and enhanced error estimate using the first target position estimate from step (a) and said at least one other target position estimate from step (d);

(g) logging target position information comprising enhanced target position estimate and error distribution calculated in step (f).

16. The method according to claim 15 wherein the observation position of step (a) and at least one observation position in step (d) are the same.

17. The method according to claim 15 wherein the observation position of step (a) and at least one observation position in step (d) are different.

18. The method according to claim 15 wherein the line of sight vector to the target from the observation position in step (a) and the line of sight vector to the target from at least one observation position in step (d) form an angle ranging from about 45 degrees to about 135 degrees.

19. The method according to claim 18 wherein the line of sight vector to the target from the observation position in step (a) and the line of sight vector to the target from at least one observation position in step (d) form an angle of about 90 degrees.

20. The method according to claim 15 wherein the observation position coordinates are determined by a satellite positioning system.

21. The method according to claim 15 wherein at least one attitude measurement is calibrated to correct for regional magnetic variations between magnetic north and true north.

22. The method according to claim 21 wherein at least one attitude measurement is calibrated with values for regional magnetic variations stored in a database.

23. The method according to claim 21 wherein at least one attitude measurement is calibrated by determining the magnetic variation of a region, comprising the step of determining a line between two objects of known position within said region.

24. The method according to claim 15 further comprising the step providing an alert when a target position estimate varies from an expected value by more than a prespecified amount.

25. The forward observation system according to claim 24 wherein said alert is provided when said target position estimate varies by more than 2σ

from said expected value.