Beacon-augmented pose estimation

• US 7,599,789 B2
• Filed: 05/24/2006
• Issued: 10/06/2009
• Est. Priority Date: 05/24/2006
• Status: Active Grant

• Current Assignee: Raytheon Company (Rtx Corporation)
• Original Assignee: Raytheon Company (Rtx Corporation)
• Inventors: Neely, Howard E. III, Leonard, Jon N., Daily, Michael J., Azuma, Ronald T.
• Primary Examiner(s): Tran; Dalena
• Application Number:
  US11/420,079
• Publication Number:
  US 20070276590A1
• Time in Patent Office: 1,231 Days
• Field of Search: 701/220, 701/225, 701/207, 345/419, 345/634, 382/103, 382/104, 382/153, 382/154, 348/169, 342/357.01, 342/357.06, 342/417
• 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
• CPC Class Codes: G01C 21/20 Instruments for performing navigational calculations G01C21/24, G01C21/26 take precedence
• CPC Class Codes: G01S 19/18 Military applications
• CPC Class Codes: G01S 5/16 using electromagnetic waves other than radio waves

Abstract

A beacon-augmented pose estimation system includes positionable beacons that can determine their own 3-D geospatial coordinates and transmit those coordinates back to the pose object. An imaging sensor images the field-of-view of the pose object to provide 2-D image coordinates for any of the beacons in the FOV. A pose object controller processes the sets of 3-D geospatial coordinates and 2-D image coordinates to refine a pose estimate of the pose object. The positionable beacons may include both static beacons that are pre-positioned and mobile beacons that are command-guided to position themselves in the pose object'"'"'s likely or actual FOV.

Claims

1. A beacon-augmented system for determining a pose of a pose object, comprising:

At least one positionable beacon configured to determine and transmit its 3-D geospatial coordinates, including at least one moveable beacon mounted on a vehicle;

An imager on a pose object configured to image a field-of-view (FOV) and to determine a 2-D image coordinates for at least one said beacon in the FOV, said at least one moveable beacon responsive to a command to position the moveable beacon in the imager'"'"'s FOV; and

A pose object controller configured to process the at least one set of 3-D geospatial coordinates and 2-D image coordinates to refine a pose estimate of the pose object.

2. The system of claim 1, further comprising:

A sensor package that provides inertial measurements of the pose object to determine the pose estimate.

3. The system of claim 2, wherein the sensor package provides roll and pitch measurements.

4. The system of claim 3, wherein the imager images one said positionable beacon to provide a yaw measurement, said pose object controller using said roll, pitch and yaw measurements to determine the pose estimate.

5. The system of claim 4, wherein the pose estimate is a 6-D pose estimate, said sensor package further comprising a GPS receiver that provides 3-D geospatial coordinates of the pose object, said pose object controller using said pose object 3-D geospatial coordinates and said roll, pitch and yaw measurements to determine the 6-D pose estimate.

6. The system of claim 1, wherein said at least one positionable beacon includes a GPS receiver to determine its 3-D geospatial coordinates.

7. The system of claim 1, wherein the pose object controller transmits the command to position the moveable beacon in the imager'"'"'s FOV.

8. The system of claim 1, wherein the pose object controller issues commands to position the moveable beacon near an object of interest in the imager'"'"'s FOV.

9. The system of claim 1, wherein at least one said positionable beacons includes at least one static beacon and at least one said moveable beacon.

10. The system of claim 9, wherein the vehicle for at least one said moveable beacon is an unmanned aerial vehicle.

11. The system of claim 1 including a plurality of said positionable beacons, said imager imaging a subset of said plurality in its FOV and providing the 2-D image coordinates to the pose object controller where they are matched with the respective 3-D beacon geospatial coordinates into said sets, said pose object controller processing each set one at a time to refine the pose estimate.

12. The system of claim 11, wherein said object controller includes a Single Constraint at A Time (SCAAT) filter that processes the 2-D image coordinates and 3-D geospatial coordinates to refine the pose estimate.

13. The system of claim 1, further comprising a plurality of pose objects each having an imager and a pose object controller that utilize a common set of said at least one positionable beacon to refine a pose estimate for each pose object.

14. A beacon-augmented system for determining a pose of a pose object, comprising;

At least one positionable beacon configured to determine and transmit its 3-D geospatial coordinates including at least one moveable beacon mounted on a vehicle;

An imager on a pose object configured to image a field-of-view including at least one said positionable beacon and to determine each said beacon'"'"'s 2-D image coordinates; and

A pose object controller configured to issue commands to position a pair of moveable beacons approximately equidistant on either side of an object of interest in the imager'"'"'s FOV at approximately a same range point as the object and process the 3-D geospatial coordinates and 2-D image coordinates to refine a pose estimate of the pose object.

15. A beacon-augmented system for determining a pose of a pose object, comprising:

At least one positionable beacon configured to determine and transmit its 3-D geospatial coordinates including at least one moveable beacon mounted on a vehicle;

An imager on a pose object configured to image a field-of-view including at least one said positionable beacon and to determine each said beacon'"'"'s 2-D image coordinates; and

A pose object controller configured to issue commands to position multiple pairs of beacons approximately equidistance on either side of an object of interest in the imager'"'"'s FOV at different heights at approximately a same range point as the object and process the 3-D geospatial coordinates and 2-D image coordinates to refine a nose estimate of the pose object.

16. A system for determining a pose of a pose object, comprising:

A plurality of positionable beacons each configured to determine and transmit its 3-D geospatial coordinates including at least one moveable beacon;

An imager on a pose object configured to image a field-of-view (FOV) and to determine 2-D image coordinates for at least one said beacon in the FOV, said at least one moveable beacon responsive to a command to position the moveable beacon in the imager'"'"'s FOV;

A GPS receiver on the pose object to provide its 3-D geospatial coordinates;

An inertial sensor on the pose object to provide its pitch and roll; and

A pose object controller configured to process a set of beacon 3-D geospatial coordinates and 2-D image coordinates to estimate a pose object yaw and provide an initial 6-D pose estimate of the pose object and thereafter to process the at least one set of beacon 3-D geospatial coordinates and 2-D image coordinates to refine the 6-D pose estimate.

17. The system of claim 16, wherein said plurality of positionable beacons includes at least one static beacon and at least one said moveable beacon.

18. The system of claim 17, wherein the pose object controller transmits the command to position the moveable beacon in the imager'"'"'s FOV.

19. The system of claim 16, wherein said imager images a subset of said plurality of beacons in its FOV and provides the 2-D image coordinates to the pose object controller where they are matched with the respective 3-D beacon geospatial coordinates into said sets, said pose object controller processing each set one at a time to refine the pose estimate.

20. The system of claim 19, wherein said object controller includes a Single Constraint at A Time (SCAAT) filter that processes the 2-D image coordinates and 3-D geospatial coordinates to refine the pose estimate.

21. A method for determining a pose of a pose object, comprising:

Deploying at least one positionable beacon configured to determine and transmit its 3-D geospatial coordinates including at least one moveable beacon;

From a pose object, imaging a field-of-view (FOV);

Issuing a command to position the moveable beacon in the FOV;

Determining said moveable beacon'"'"'s 2-D image coordinates;

Providing an initial pose estimate of the pose object; and

Processing the at least one set of 3-D geospatial coordinates from the moveable beacon and 2-D image coordinates for the moveable beacon to refine the pose estimate of the pose object.

22. The method of claim 21, wherein commands are issued to position multiple pairs of moveable beacons approximately equidistant on either side of an object of interest in the imager'"'"'s FOV at different heights at approximately the same range point as the object.

23. The method of claim 21, wherein the command is initiated from the pose object.

24. The method of claim 21, wherein a pair of said beacons are positioned approximately equidistant on either side of an object of interest in the imager'"'"'s FOV at approximately the same range point as the object.

25. The method of claim 21, wherein at least one static beacon and at least one said moveable beacon are deployed.