Registration of latitude/longitude coordinates using range detection sensors and digital nautical charts

• US 8,154,438 B1
• Filed: 09/08/2009
• Issued: 04/10/2012
• Est. Priority Date: 09/08/2009
• Status: Expired due to Fees

• Current Assignee: the united states of america as represented by the secretary of the navy
• Original Assignee: the united states of america as represented by the secretary of the navy
• Inventors: Larson, Jacoby, Bruch, Michael
• Primary Examiner(s): GREGORY, BERNARR E
• Application Number:
  US12/555,112
• Time in Patent Office: 945 Days
• Field of Search: 342 25 R- 25 F, 342 52- 55, 342 61- 66, 342/118, 342/145, 342/175, 342/176, 342/179, 342/195, 342450-465, 342/89, 342/90, 342/190, 342/191, 342/41, 342120-123, 345/156, 345/157, 345/158, 701/1, 701 23- 28, 701/200, 701/207, 701/223, 701/300, 701/301, 382/100, 382/103, 382/276, 382/293, 367/87, 367/99, 367/100, 367101-116, 356/3, 356/4.01, 356 501- 508
• US Class Current: 342/145
• CPC Class Codes: G01S 13/865 Combination of radar systems with lidar systems
• CPC Class Codes: G01S 13/867 Combination of radar systems with cameras
• CPC Class Codes: G01S 5/16 using electromagnetic waves other than radio waves

Abstract

The present invention can find the exact location anywhere in the nautical world (latitude/longitude coordinates) by correlating or matching radar returns with maps produced by a digital nautical chart called a Chart Server, because each pixel location on the Chart Server maps can be traced back to a latitude/longitude coordinate. An obstacle avoidance module called a Chart Server provides digital nautical charts to create a map of the world. To determine the current world location of a vehicle, the invention combines the Chart Server maps with a radar return, which also appears to display prominent features such as coastlines, buoys, piers and the like. These return features from the radar are correlated or matched with features found in the Chart Server maps. The radar then reports its current location inside of its local map, which when translated to the Chart Server map, correlates to a latitude/longitude registration location.

Claims

1. A latitude/longitude registration apparatus comprising:

a digital nautical chart server for providing pixel image representations of a world-wide map, including nautical features, together with respective latitude/longitude coordinates,

a range detector sensor for providing return images representing reflected local nautical features and the current local location, and

a correlator for correlating the pixel representations and the return images of the local features to provide a registration of the current local latitude/longitude coordinates.

2. The apparatus of claim 1 wherein the range detector sensor comprises a radar.

3. The apparatus of claim 1 wherein the range detector sensor comprises a sonar.

4. The apparatus of claim 1 wherein the range detector sensor comprises a ladar.

5. The apparatus of claim 1 wherein the range detector sensor comprises a camera.

6. The apparatus of claim 1 wherein the nautical features comprise coastlines, piers, buoys, shallow water and the like and the apparatus comprises means for filtering the image representations of selected ones of the nautical features.

7. A latitude/longitude registration apparatus for a surface vehicle comprising:

a digital nautical chart server for providing pixel image representations of a world-wide map, including nautical features, together with respective latitude/longitude coordinates,

a radar sensor for providing return radar images representing reflected local nautical features and the current local location of the surface vehicle, and

a correlator for correlating the pixel representations and the return images of the local features to provide a registration of the current local latitude/longitude coordinates of the surface vehicle.

8. A latitude/longitude registration method comprising the steps of:

providing pixel image representations of a world-wide map from a digital nautical chart server, the pixel image representations including nautical features, together with respective latitude/longitude coordinates,

providing return images from a range detector sensor, the return images representing reflected local nautical features and the current local location, and

correlating the pixel representations and the return images of the local features to provide a registration of the current local latitude/longitude coordinates.

9. The method of claim 8 wherein the nautical features include coastlines, piers, buoys, shallow water and the like and comprising the step of filtering the image representations of selected ones of the nautical features.