Apparatus for measurement of vertical obstructions

• US 8,649,917 B1
• Filed: 09/26/2012
• Issued: 02/11/2014
• Est. Priority Date: 09/26/2012
• Status: Active Grant

• Current Assignee: Rapid Imaging Technologies, LLC
• Original Assignee: Michael Franklin Abernathy
• Inventors: Abernathy, Michael Franklin
• Primary Examiner(s): NGUYEN, TAN QUANG
• Application Number:
  US13/627,376
• Time in Patent Office: 503 Days
• Field of Search: 701/2, 701/3, 701/25, 701/24, 701/528, 707/754, 244/23, 244/190, 348/140, 348/144
• US Class Current: 701/2
• CPC Class Codes: G01S 17/86 Combinations of lidar systems with systems other than lidar, radar or sonar, e.g. with direction finders
• CPC Class Codes: G01S 17/88 Lidar systems specially adapted for specific applications
• CPC Class Codes: G05D 1/0038 by providing the operator with simple or augmented images from one or more cameras located onboard the vehicle, e.g. tele-operation images analyzed by a computer and used for automatic navigation G05D1/0246

Abstract

Accurate measurements of flight path obstructions are taken from a moving aerial platform. Platform position, including altitude, is combined with dynamic data including target distance and target elevation data to calculate obstruction height or altitude. An optical subsystem on the aerial platform images the obstructions and provides a video stream showing the obstructions. The video stream and aerial platform data are wirelessly communicated to a control terminal where an operator observes a presentation of obstructions and obstruction altitudes or heights. The operator can issue commands to the aerial platform.

Claims

1. A system comprising:

a ground station comprising a user interface;

an unmanned aerial vehicle (UAV) in communication with the ground station wherein the UAV comprises a distance measuring module, a location module, an angle measuring module, and an optics module;

image data wherein the optics module captures the image data and wherein the UAV transmits the image data to the ground station for presentation to a user;

control commands wherein the user manipulates the user interface to thereby cause the ground station to transmit the control commands to the UAV, wherein the control commands comprise imaging commands that control the optics module;

an obstruction distance wherein the user commands the optics module to point at an obstruction, wherein the user observes the image data and selects a target on the obstruction, wherein the distance measuring module determines the distance between the UAV and the target, and wherein the obstruction is a hazard to aviation;

an elevation angle wherein the angle measuring module determines the elevation angle between the UAV and the target;

an analysis module that produces target data based on data from data sources wherein the target data comprises a target altitude, wherein the data sources comprise the location module, the angle measuring module, and the distance measuring module, and wherein the target altitude is the target altitude above sea level; and

a database entry for submission to an aviation database as an aviation obstruction wherein the aviation database stores aviation flight planning data, and wherein the database entry comprises the target altitude and the target location.

2. The system of claim 1 wherein the target data further comprises a target latitude and a target longitude.

3. The system of claim 1 further comprising a database updating module that accepts the database entry and updates the aviation database to thereby store information about the obstruction.

4. The system of claim 1 wherein the optics module produces a video stream and wherein the user interface presents a three dimensional synthetic presentation to the user.

5. The system of claim 4 wherein the three dimensional synthetic presentation comprises a target annotation indicating the target altitude.

6. The system of claim 1 further comprising a navigation module wherein the navigation module uses an obstruction coordinate to guide the UAV toward the obstruction.

7. The system of claim 6 further comprising an aiming module that uses the obstruction coordinate to aim the optics module at the obstruction.

8. A system comprising:

a ground station comprising a user interface;

an unmanned vehicle in communication with the ground station wherein the unmanned vehicle comprises a distance measuring module, a location module, an angle measuring module, and an optics module;

image data wherein the optics module captures the image data and wherein the unmanned vehicle transmits the image data to the ground station for presentation to a user;

control commands wherein the user manipulates the user interface to thereby cause the ground station to transmit the control commands to the unmanned vehicle, and wherein the control commands comprise imaging commands that control the optics module;

an obstruction distance wherein the user commands the optics module to point at an obstruction, wherein the user observes the image data and selects a target on the obstruction, wherein the distance measuring module determines the distance between the unmanned vehicle and the target;

an analysis module that produces target data based on data from data sources wherein the target data comprises a target latitude and a target longitude, and wherein the data sources comprise the location module, the angle measuring module, and the distance measuring module; and

a database entry for submission to a navigation database as an obstruction wherein the navigation database stores route planning data, and wherein the database entry comprises the target data.

9. The system of claim 8 further comprising the navigation database wherein the navigation database is updated with the database entry.

10. The system of claim 8 wherein the target data further comprises a target altitude wherein the obstruction is a hazard to aviation, and wherein the navigation database is an aviation database that stores aviation flight planning data.

11. The system of claim 10 further comprising the aviation database wherein the aviation database is updated with the database entry.

12. The system of claim 8 further comprising a database updating module that accepts the database entry and updates the navigation database to thereby store information about the obstruction.

13. The system of claim 8 wherein the optics module produces a video stream and wherein the user interface presents a three dimensional synthetic presentation to the user.

14. The system of claim 13 wherein the three dimensional synthetic presentation comprises a target annotation indicating at least one datum in the target data.

15. The system of claim 8 further comprising a navigation module wherein an obstruction coordinate obtained from the navigation database is used to guide the unmanned vehicle toward the obstruction.

16. The system of claim 8 further comprising an aiming module wherein an obstruction coordinate obtained from the navigation database is used to aim the optics module at the obstruction.