Systems and methods for identifying targets among non-targets with a plurality of sensor vehicles

• US 7,032,858 B2
• Filed: 08/17/2004
• Issued: 04/25/2006
• Est. Priority Date: 08/17/2004
• Status: Active Grant

• Current Assignee: Raytheon Company (Rtx Corporation)
• Original Assignee: Raytheon Company (Rtx Corporation)
• Inventors: Williams, Darin S.
• Primary Examiner(s): Gregory, Bernarr E.
• Application Number:
  US10/919,714
• Publication Number:
  US 20060049974A1
• Time in Patent Office: 616 Days
• Field of Search: 244 31- 33, 89/11.1, 701 1- 18, 701 23- 28, 701/200, 701/207, 701213-223, 382/100, 382/103, 342 25 R- 25 F, 342 52- 64, 342/89, 342/90, 342/175, 342192-197
• US Class Current: 244/3.15
• CPC Class Codes: G01S 13/726 Multiple target tracking
• CPC Class Codes: G01S 13/89 for mapping or imaging
• CPC Class Codes: G06V 10/255 Detecting or recognising potential candidate objects based on visual cues, e.g. shapes

Abstract

A plurality of sensor vehicles collect imaging data from an assigned location of a target region having targets and non-targets. The imaging data may be combined based on its location and the combined data is matched to a threat object map to identify the actual targets from the non-targets. In some embodiments, the sensor vehicles may be redirected to collect velocity and/or range information on the identified targets.

Claims

1. A method comprising:

directing sensors in a plurality of sensor vehicles to receive images from differing substantially non-overlapping assigned locations of a target region;

generating detection lists by any one or more of the sensor vehicles when a potential target is identified within a field-of-view of the one or more sensor vehicles; and

combining the detection lists to identify actual targets by comparison with an object map.

2. The method of claim 1 wherein each detection list includes location coordinates and characteristics of the potential targets,

wherein combining comprises combining the detection lists based on the location coordinates using a common inertial reference frame, and

wherein the location coordinates are associated with potential targets within the field-of-view of an associated sensor vehicle.

3. The method of claim 2 further comprising identifying actual targets by matching the characteristics from the combined detections lists with objects on the object map.

4. The method of claim 1 wherein directing comprises directing an inertial vector of each of the sensor vehicles to an associated one of the assigned locations, wherein the sensor vehicles have a common reference frame, and

wherein generating the detection lists comprises mapping the target region to the common reference frame.

5. The method of claim 1 further comprising collecting image data with an optical sensor from an associated one of the assigned locations.

6. The method of claim 5 wherein the optical sensor is an infrared sensor and the image data comprises infrared image data.

7. The method of claim 1 wherein each of the plurality of sensor vehicles has a field-of-view to collect image data from an associated one of the assigned locations of the target region, and

wherein fields-of-view together from the plurality of sensor vehicles substantially cover at least a portion of the target region.

8. The method of claim 7 wherein the target region comprises a threat cloud comprising one or more targets and one or more non-targets, the threat cloud being a three-dimensional region in space corresponding to a threat object map (TOM),

wherein the threat object map is a map of the threat cloud generated by a ground station.

9. The method of claim 8 further comprising:

extracting features from the image data to distinguish the potential targets from potential non-targets, the potential non-targets having predetermined features; and

eliminating the potential non-targets when generating the detection lists.

10. The method of claim 9 further comprising transmitting the detection lists to a processing station for the combining and the identifying.

11. The method of claim 9 further comprising distributing the combining and identifying amongst the plurality of sensor vehicles.

12. The method of claim 1 further comprising redirecting the sensors of at least some of the sensor vehicles to collect ranging data on one or more of the identified targets.

13. The method of claim 1 further comprising redirecting at least some of the sensor vehicles toward at least some of the identified targets for interception.

14. The method of claim 13 wherein the sensor vehicles comprise at least one of either kinetic energy kill vehicles, miniature kill vehicles, explosive kill vehicles, space vehicles or spacecraft, guided missiles, or guided projectiles.

15. A system for identifying targets from non-targets comprising:

a plurality of sensor vehicles to direct sensors and receive images from differing substantially non-overlapping assigned locations of a target region, the sensor vehicles to generate detection lists when a potential target is identified within a field-of-view of the one or more sensor vehicles; and

a processing station to combine the detection lists to identify actual targets by comparison with an object map.

16. The system of claim 15 wherein each detection list includes location coordinates and characteristics of the potential targets,

wherein the processing station combines the detection lists based on the location coordinates using a common inertial reference frame, and

wherein the location coordinates are associated with potential targets within the field-of-view of an associated one of the sensor vehicles.

17. The system of claim 16 wherein the processing station identifies actual targets by matching the characteristics from the combined detections lists with objects on the object map.

18. The system of claim 15 wherein the sensor vehicles have a common inertial reference frame and direct an inertial vector to an associated one of the assigned locations, and

wherein the processing station maps the target region to the common inertial reference frame.

19. The system of claim 15 wherein the sensor vehicles collect image data with an optical sensor from an associated one of the assigned locations.

20. The system of claim 19 wherein the optical sensor is an infrared sensor and the image data comprises infrared image data.

21. The system of claim 15 wherein each of the plurality of sensor vehicles has a field-of-view to collect image data from the assigned location of the target region, and

wherein fields-of-view together from the plurality of sensor vehicles substantially cover at least a portion of the target region.

22. The system of claim 21 wherein the target region comprises a threat cloud comprising one or more targets and one or more non-targets, the threat cloud being a three-dimensional region in space corresponding to a threat object map (TOM),

wherein the threat object map is a map of the threat cloud generated by a ground station.

23. The system of claim 22 wherein at least some of the sensor vehicles include a feature extractor to extract features from the image data to distinguish the potential targets from potential non-targets, the potential non-targets having predetermined features, the feature extractor to eliminate the potential non-targets when generating the detection lists.

24. The system of claim 23 further comprising a transmitter to transmit the detection lists to the processing station.

25. The system of claim 23 wherein the detections list are distributed amongst the sensor vehicles and the sensor vehicles combine the detection lists to identify the actual targets by performing distributed processing.

26. The system of claim 15 wherein the processing station instructs at least some of the sensor vehicles to redirect their sensors to collect ranging data on one or more of the identified targets.

27. The system of claim 15 further comprising a carrier vehicle, the carrier vehicle to direct an on-board sensor to collect at least one of either range and velocity information on one or more of the identified targets for interception, and

wherein the processing station is to instruct at least some of the sensor vehicles toward at least some of the identified targets.

28. The system of claim 27 wherein the sensor vehicles comprise at least one of either kinetic energy kill vehicles, miniature kill vehicles, explosive kill vehicles, space vehicles or spacecraft, guided missiles, or guided projectiles.

29. A sensor vehicle comprising:

a navigation system to direct a sensor to receive images from one of plurality of substantially non-overlapping assigned locations of a target region; and

a processing system to generate a detection list when a potential target is identified within a field-of-view of the sensor vehicle,

wherein the detection list is combined with detection lists from other sensor vehicles of a plurality of sensor vehicles to identify actual targets by comparison with an object map.

30. The vehicle of claim 29 wherein each detection list includes location coordinates and characteristics of the potential targets,

wherein the detection lists are combined based on the location coordinates using a common inertial reference frame,

wherein the location coordinates are associated with potential targets within the field-of-view of an associated sensor vehicle.

31. The vehicle of claim 30 wherein a processing station identifies actual targets by matching the characteristics from the combined detections lists with objects on the object map.

32. The vehicle of claim 29 wherein the navigation system directs an inertial vector of the sensor vehicle to the assigned location, wherein the plurality of sensor vehicles have a common inertial reference frame, and

wherein processing system generates the detection lists by mapping the target region to the common inertial reference frame.

33. The vehicle of claim 29 further comprising an optical sensor to collect the image data from the assigned location.

34. The vehicle of claim 33 wherein the optical sensor is an infrared sensor and the image data comprises infrared image data.

35. The vehicle of claim 29 wherein sensor vehicle has a field-of-view to collect image data from the assigned location of the target region, and

wherein fields-of-view of the plurality of target vehicles together substantially cover at least a portion of the target region.

36. The vehicle of claim 35 wherein the target region comprises a threat cloud comprising one or more targets and one or more non-targets, the threat cloud being a three-dimensional region in space corresponding to a threat object map (TOM), and

wherein the threat object map is a map of the threat cloud generated by a ground station.

37. The vehicle of claim 36 wherein the processing system comprises a feature extractor to extract features from the image data to distinguish the potential targets from potential non-targets, the potential non-targets having predetermined features, the feature extractor to eliminate the potential non-targets when generating the detection lists.

38. The vehicle of claim 37 further comprising a transceiver to transmit the detection lists to a processing station and to receive directional information from a carrier vehicle for the navigation system to direct an inertial vector of the sensor vehicle to the assigned location.

39. The vehicle of claim 37 further comprising distributing the combining and identifying amongst the plurality of sensor vehicles.

40. The vehicle of claim 29 wherein the navigation system further redirects the sensor vehicle to collect ranging data on one or more of the identified targets.

41. The vehicle of claim 29 wherein the navigation system redirects the sensor vehicle toward one of the identified targets for interception, and

wherein the sensor vehicle comprises at least one a kinetic energy kill vehicle, a miniature kill vehicle, an explosive kill vehicle, a space vehicle or a spacecraft, a guided missile, or a guided projectile.