Tracking method

• US 8,204,677 B2
• Filed: 11/07/2007
• Issued: 06/19/2012
• Est. Priority Date: 11/16/2006
• Status: Active Grant

• Current Assignee: Rafael - Armament Development Authority Ltd.
• Original Assignee: Rafael - Armament Development Authority Ltd.
• Inventors: Rosenfeld, Daniel, Salama, Ofer
• Primary Examiner(s): Trammell, James
• Assistant Examiner(s): Marc, McDieunel
• Application Number:
  US11/936,099
• Publication Number:
  US 20080120031A1
• Time in Patent Office: 1,686 Days
• Field of Search: 701/1, 701/16, 701/202, 701/220, 342/36, 342/62, 342/359, 342/450, 342/451, 342/352, 342/357.31, 342/357.48, 342/357.29, 342/357.32, 342/357.42, 342/357.68, 342/357.3, 342/417, 342/424, 342/447, 342/357.59, 342/357.65, 375/5.1
• US Class Current: N/A
• CPC Class Codes: G01C 21/1656 with passive imaging devices, e.g. cameras
• CPC Class Codes: G01S 13/723 by using numerical data
• CPC Class Codes: G01S 13/86 Combinations of radar systems with non-radar systems, e.g. sonar, direction finder
• CPC Class Codes: G01S 7/003 Transmission of data between radar, sonar or lidar systems and remote stations
• CPC Class Codes: G01S 7/2955 Means for determining the position of the radar coordinate system for evaluating the position data of the target in another coordinate system G01S7/24 takes precedence; sighting devices adapted for indirect laying of fire F41G3/16; inertial navigation G01C21/16
• CPC Class Codes: H01Q 3/10 to produce a conical or spiral scan

Abstract

A method for tracking a moving platform (MP) wherein the MP uses an on-board navigation system (NS). Data provided by the navigation system on board the moving platform (MP) is merged with data obtained using a tracking system that tracks the MP from another location. A typical navigation system on board the moving platforms is an inertial navigation system (INS). State data of one or more MP is sent to a processing facility and state data of one or more electromagnetic tracking (EMT) is collected by one or more processing facility. The collected states data from the sources are processed, using the one or more processing facilities for calculating tracking data are used to direct one or more antennas for MP tracking. The state data from one or more MP'"'"'s are sent using a communications channel.

Claims

1. A method of tracking a moving platform having an on-board navigation system, the method comprising:

using a communication channel to send state data provided by the navigation system of the moving platform to a tracking system state estimator of a processing facility of a ground station having at least one antenna;

collecting additional state data derived from at least one electromagnetic tracking system by the processing facility;

calculating, using a processor tracking data by implementing a merging process, by the tracking system state estimator, of the state data provided by the navigation system of the moving platform and the state data derived from the at least one electromagnetic tracking system; and

effecting encoders of motors in a turning device of the antenna to direct at least one antenna for tracking the moving platform.

2. The method as in claim 1 wherein the processing facility performs a location calculation whereby data acquired at one point in time by the navigation system and by the electromagnetic tracking system are used to estimate the position of the moving platform at a next point in time.

3. The method as in claim 1 wherein the navigation system of the moving platform is an inertial navigation system.

4. The method as in claim 1 wherein the navigation system of the moving platform is a star tracker.

5. The method as in claim 1 wherein calculating tracking data involves merging of data using an adaptive filter.

6. The method as in claim 1 wherein at least one tracking unit is deployed on the moving platform.

7. The method as in claim 1 wherein state data are processed by a tracking system state estimator and sent to the navigation system on board the moving platform to update on-board coordinates of the moving platform.