Panoramic aerial imaging device

• US 6,933,965 B2
• Filed: 03/13/2002
• Issued: 08/23/2005
• Est. Priority Date: 03/13/2001
• Status: Expired due to Fees

• Current Assignee: Tacshot Incorporated
• Original Assignee: Tacshot Incorporated
• Inventors: Heafitz, Andrew
• Primary Examiner(s): DIEP, NHON THANH
• Application Number:
  US10/096,567
• Publication Number:
  US 20020196339A1
• Time in Patent Office: 1,259 Days
• Field of Search: H04/N00.7/18, H04/N00.9/47, 348/144, 348/164, 348/145, 348/195, 250/334, 250/202, 250/203
• US Class Current: 348/144
• CPC Class Codes: F41G 3/02 using an independent line of sight
• CPC Class Codes: F42B 12/365 Projectiles transmitting information to a remote location using optical or electronic means F42B12/385 takes precedence
• CPC Class Codes: G01C 11/02 Picture taking arrangements specially adapted for photogrammetry or photographic surveying, e.g. controlling overlapping of pictures

Abstract

An imaging device that gives a ground based user immediate access to a detailed aerial photograph of the entire area for a given radius about his present position. The device can be launched into the air, and rotates in a predictable pattern to scan an imager over every point of the ground, from a vantage point high in the air. These pictures can be stored or transmitted to the ground and assembled on a computer to form a spherical picture of everything surrounding the imaging device in the air.

Claims

1. An aerial reconnaissance vehicle system, comprising:

a portable, unmanned vehicle;

a propulsion device to place said vehicle high above the launch point;

an imaging device mounted on said vehicle to gather imagery data;

first rotation means for rotating the imaging device to cause it to scan across a sensed area about a first axis at a rate selected for image capture;

second rotation means for rotating the imaging device to cause it to scan across the sensed area about a second axis at a rate selected for image capture; and

a data transmitter that transmits data gathered by the imaging device, wherein the means for determining the orientation of the imagery data comprise a directional light sensor sweeping past the horizon to determine one or more of the roll rate, roll position, pitch rate, and pitch position of the vehicle.

2. The aerial reconnaissance vehicle of claim 1, wherein the vehicle is man-portable.

3. The aerial reconnaissance vehicle of claim 1, further comprising means for placing the imagery data in a data set that represents the scene imaged by the imaging device.

4. The aerial reconnaissance vehicle of claim 3, wherein the data set that represents the scene imaged by the device comprises a three-dimensional representation of the scene.

5. The aerial reconnaissance vehicle of claim 1, wherein the imaging device comprises a linear array imager, rectangular CCD, or other electronic imaging device.

6. The aerial reconnaissance vehicle of claim 1, wherein the imaging device comprises a film camera.

7. The aerial reconnaissance vehicle of claim 1, wherein the portable unmanned vehicle travels on a ballistic trajectory, a sensing axis of the imaging device being pointed transverse to the roll axis of the vehicle.

8. The aerial reconnaissance vehicle of claim 7, wherein the first rotation means causes the imaging device to scan across the sensed area about the first axis using a rotation about the vehicle roll axis.

9. The aerial reconnaissance vehicle of claim 8, wherein the first rotation means comprises fins at an angle of attack that provides a rolling moment.

10. The aerial reconnaissance vehicle of claim 9, wherein the fins are fixed.

11. The aerial reconnaissance vehicle of claim 9, wherein the fins are movable.

12. The aerial reconnaissance vehicle of claim 7, wherein the second rotation means causes the imaging device to scan across the sensed area about the second axis using the pitch axis at the apogee of the ballistic trajectory.

13. The aerial reconnaissance vehicle of claim 1, wherein the propulsion device comprises a motor or engine.

14. The aerial reconnaissance vehicle of claim 1, wherein the propulsion device comprises a spring mechanism.

15. The aerial reconnaissance vehicle of claim 1, wherein the propulsion device comprises an explosive charge.

16. The aerial reconnaissance vehicle of claim 1, wherein the propulsion device comprises compressed gas.

17. The aerial reconnaissance vehicle of claim 1, wherein the propulsion device comprises a mechanical launcher.

18. The aerial reconnaissance vehicle of claim 1, wherein the propulsion device comprises a pressurized fluid.

19. The aerial reconnaissance vehicle of claim 1, wherein the propulsion device comprises means for absorbing the kinetic energy from a projectile fired from a gun.

20. The aerial reconnaissance vehicle of claim 1, wherein the means for determining the orientation of the imagery data comprise an inertial device to determine the orientation of the vehicle.

21. The aerial reconnaissance vehicle of claim 20, wherein the inertial device comprises a gyroscope.

22. The aerial reconnaissance vehicle of claim 1, wherein the means for determining the orientation of the imagery data comprise a wide-angle lens mounted on the vehicle.

23. The aerial reconnaissance vehicle of claim 1, wherein the means for determining the orientation of the imagery data comprises means for analyzing the imagery data obtained by the imaging device to determine the orientation of the vehicle.

24. The aerial reconnaissance vehicle of claim 23, wherein the means for analyzing the imagery data include means for determining the pitch rate and roll rate of the vehicle in order to determine image spacing.

25. The aerial reconnaissance vehicle of claim 1, further comprising a Global Positioning System (GPS) receiver that determines the true orientation or location of the vehicle.

26. The aerial reconnaissance vehicle of claim 1, further comprising a magnetic sensor that determines the orientation of the vehicle relative to the Earth'"'"'s magnetic field.

27. The aerial reconnaissance vehicle of claim 1, further comprising a polarized light sensor that determines the orientation of the vehicle relative to the polarization direction of the ambient light.

28. The aerial reconnaissance vehicle of claim 1, further comprising a light level sensor that uses the position of the sun or another distinctive light source to determine the orientation of the vehicle.

29. The aerial reconnaissance vehicle of claim 1, further comprising a sensor selected from the group consisting of biological sensors, chemical sensors, optical sensors, thermal sensors, radiation sensors, electronic emissions sensors, range-finding sensors, and acoustic sensors.

30. A ground station for use with an aerial reconnaissance vehicle, the aerial reconnaissance vehicle system comprising a portable, unmanned vehicle;

a propulsion device to place said vehicle high above the launch point;

an imaging device mounted on said vehicle to gather imagery data;

first rotation means for rotating the imaging device to cause it to scan across a sensed area about a first axis at a rate selected for image capture;

second rotation means for rotating the imaging device to cause it to scan across the sensed area about a second axis at a rate selected for image capture; and

a data transmitter that transmits data gathered by the imaging device, wherein the ground station comprises a receiver that receives data transmitted by the data transmitter; and

means for assembling the data into a unified data set for display or later use, said assembly means comprising means for determining the relative orientation and spacing of a plurality of images, wherein the means for determining the relative orientation and spacing use data from within the plurality of images to determine their orientation and spacing.

31. The ground station of claim 30, further comprising means for viewing of the data set.

32. The ground station of claim 31, wherein the viewing means include panning, zooming or other viewing manipulations.

33. The ground station of claim 30, wherein the means for determining the relative orientation and spacing use data collected by a sensor mounted on the vehicle, said mounted sensor being separate from the sensor used to gather image data.

34. The ground station of claim 33, wherein the mounted sensor is selected from the group consisting of a GPS receiver, an altimeter, a time-of-flight sensor, a magnetic sensor, a polarized light sensor, and a light level sensor.

35. The ground station of claim 30, wherein the means for determining the relative orientation and spacing locate the horizon within one or more of the plurality of images in order to determine the roll rate or roll location.

36. The ground station of claim 30, wherein the means for determining the relative orientation and spacing determine the angle of the horizon within one or more of the plurality of images in order to determine the pitch rate or pitch location.

37. The ground station of claim 30, wherein the means for determining the relative orientation and spacing determine the location of a distinctive feature in order to determine at least one member of the group consisting of roll rate, roll location, pitch rate, and pitch location.

38. The ground station of claim 37, wherein the distinctive feature is selected from the group consisting of the sun, the moon, the stars, and artificial light sources or emissions.

39. The ground station of claim 37, wherein the distinctive feature is the polarization state of ambient light.

40. The ground station of claim 30, wherein the assembly means comprise means for using orientation and spacing data obtained or determined onboard the flight vehicle.

41. The ground station of claim 30, further comprising means for determining the absolute location of images transmitted by the vehicle.

42. The ground station of claim 41, wherein the means for determining the absolute location comprise using GPS data transmitted by the vehicle.

43. The ground station of claim 41, wherein the means for determining the absolute location comprise using a known location of a launch point for the vehicle and a known direction of launch or a measured direction of flight.

44. The ground station of claim 43, wherein the means for determining the absolute location comprise matching the images to a map or a photograph.