Method and device for measuring the angular velocity of a luminance transition zone and steering aid system for fixation and tracking a target comprising at least one such luminance transition zone

• US 8,938,324 B2
• Filed: 12/09/2010
• Issued: 01/20/2015
• Est. Priority Date: 12/15/2009
• Status: Expired due to Fees

• Current Assignee: Aix-Marseille University, Centre National De La Recherche Scientifique
• Original Assignee: Aix-Marseille University, Centre National De La Recherche Scientifique
• Inventors: Kerhuel, Lubin, Ruffier, Franck, Viollet, Stphane
• Primary Examiner(s): Ratcliffe, Luke
• Assistant Examiner(s): Abraham, Samantha K
• Application Number:
  US13/516,717
• Publication Number:
  US 20120310451A1
• Time in Patent Office: 1,503 Days
• Field of Search: 244 31- 33, 356/3, 356/496, 235/414, 348/135, 396/89
• US Class Current: 701/3
• CPC Class Codes: G01P 3/68 using optical means, i.e. using infrared, visible, or ultraviolet light G01P3/80 takes precedence ; by reflection of waves G01S17/58
• CPC Class Codes: G01S 17/66 Tracking systems using electromagnetic waves other than radio waves
• CPC Class Codes: G01S 3/782 Systems for determining direction or deviation from predetermined direction
• CPC Class Codes: G01S 3/786 the desired condition being maintained automatically
• CPC Class Codes: G05D 1/12 Target-seeking control

Abstract

The present invention relates to a method for measuring a time delay between two output signals measured by two adjacent optical sensors, the time delay resulting from a movement of an object moving in a given direction. The method comprises the steps:

• • carrying out a spatial filtering of the signals Ph₁ and Ph₂ delivered by a first and a second optical sensor;
  • calculating a first order derivative and carrying out a temporal low-pass filtering of the signals;
  • calculating the second order derivative of the signals;
  • measuring the delay between the signals;
    and is characterized in that the step of measuring the delay is a feedback loop based on an estimated delay between the temporally filtered signals.

Device and set of devices for measuring the angular velocity of a luminance transition zone and steering aid system for fixation and tracking a target comprising at least one such luminance transition zone.

Claims

1. A method for measuring a time delay between two output signals measured by two adjacent optical sensors, the time delay resulting from a movement of an object moving in a given direction, the method comprising:

carrying out a spatial filtering of the first and second signals delivered by a first and a second optical sensor, the optical axes of the first and the second optical sensors forming an inter-receptor angle containing the object;

calculating a first order derivative and carrying out a temporal low-pass filtering of the first and second signals delivered by the first and second optical sensors in order to obtain respectively a third and a fourth signals;

calculating the second order temporal derivative of the first and second signals delivered by the first and second sensors in order to obtain respectively a fifth and a sixth signals;

measuring the delay between the first and second signals delivered by the first and second optical sensors, the delay depending on the angular velocity of the luminance transition zone of the object;

wherein the step of measuring the delay is a feedback loop based on an estimated delay between the temporally filtered signals delivered by the first and second optical sensors, the feedback loop comprising the steps of;

estimating a time delay at a first instant between the third and fourth signals;

calculating the error at the first instant between the fourth signal at the first instant and third signal at the first instant delayed by the estimated time delay at the first instant; and

estimating whether the error at the first instant is different from 0, namely whether a delay error at the first instant exists;

if the error at the first instant is different from 0, estimating whether the delay error at the first instant is smaller or bigger than zero on the basis of the error at the first instant and the fifth and sixth signals;

calculating the evolution of the delay on the basis of the time delay at the first instant and the delay error at the first instant.

2. The method according to claim 1, wherein the feedback loop on the estimated delay comprises the steps of:

filtering the third signal, the fourth signal or both the third and the fourth signals with a derivative filter in order to compute the fifth signal, the sixth signal or both the fifth and the sixth signals;

determining the temporal evolution of the estimated delay on the basis of the error at the first instant and the fifth or sixth signal and updating the estimated delay;

these steps being continuously repeated until the estimated delay error between the delayed signal of the first optical sensor and the signal of the second optical sensor is substantially zero.

3. The method according to claim 2, wherein the update of the estimated delay is increased or decreased with a constant slope according to the sign of the estimated delay error at the first instant which is the ratio of the error at the first instant to the fifth or sixth signal at the first instant.

4. The method according to claim 3, wherein the update of the estimated delay is increased or decreased by the product of a function of time and the ratio of the error at the first instant to the fifth or sixth signal at the first instant.

5. The method according to claim 4, wherein the function is a constant value between 0 and 1.

6. The method according to claim 4, characterized in that the function of time is proportional to the square of the estimated delay.

7. The method according to claim 5, characterized in that the function of time is modulated by the function |cos(Δ

t*2π

F)|, where Δ

t is the estimated delay and F is a frequency present on background signals.

8. The method according to claim 1, wherein in the error between the delayed third signal and the fourth signal or between the delayed fourth signal and the third reflects the accuracy of the time delay estimation.

9. The method according to claim 1, wherein the feedback loop on the estimated delay comprises the step of resetting and initializing an integrator by a threshold method applied to the third and fourth signals if the error exceeds a predetermined value.

10. The method according to claim 1, wherein it comprises a step of detecting the direction of the movement of the luminance transition zone comprising the steps of

calculating a) the error at an instant according to the difference between the fourth signal at the instant delayed by the estimated time delay at the first instant and the third signal at the first instant

and b) Ph_diff(t) according to the difference between the third signal at the instant delayed by the estimated time delay at the first instant and the fourth signal at the first instant;

comparing the temporal evolution of the error obtained according to a) to the error obtained according to b);

determining on this basis whether the luminance transition zone moves from the first to the second optical sensor or in the opposite direction.

11. A device for measuring an angular velocity of a luminance transition zone of an object moving in a given direction, the device comprising at least:

a first and a second optical sensor having each an optical axis that delimit an inter-receptor angle, the inter-receptor angle containing the object; and

a lens in order to carry out a spatial filtering of the signals delivered by the first and second optical sensors the lens having an optical center, the first and second optical sensors being placed substantially in the image focal plane of this lens, the two lines linking the centers of the first and second optical sensors and the optical center of the lens being defined as average directions of observation of the first and second optical sensors; and

a detection circuit connected to the first and second optical sensors and comprising a band-pass filter in order to carry out a band-pass temporal filtering of the signals delivered by the first and second optical sensors in order to obtain respectively a third and a fourth signals, a means for measuring the delay between the signals delivered by the first and the second optical sensors, the delay depending on the angular velocity of the light transition zone, and a calculator for calculating the angular velocity starting from the delay, the angular velocity being the ratio of the inter-receptor angle to the delay;

wherein means for measuring the delay comprises;

a means to sample the temporally filtered signals of the first and second optical sensors, this means following the band-pass filter;

a means to estimate a time delay at a first instant between the third and fourth signals,

a means to compute the error at the first instant between the fourth signal at the first instant and the third signal at the first instant and delayed by the estimated time delay at the first instant; and

a means to compute the evolution of the estimated delay starting from the estimated time delay at the first instant and the delay error calculated at the first instant.

12. The device according to claim 11, wherein the first and second optical sensors are each formed by a photoelectric sensor.

13. The device according to claim 11, wherein means for measuring the delay comprises a derivative filter in order to calculate a fifth signal, a sixth signal or both a fifth and a sixth signal which are the second-order temporal derivative of the signals delivered by the first optical sensor, the second optical sensor or both the first and the second optical sensors at the first instant and a means to determine the temporal evolution of the delay on the basis of the error at the first instant and the fifth signal, the sixth signal or both the fifth and the sixth signals and to update the estimated delay.

14. The device according to claim 11, wherein the detection circuit is a bidirectional detection circuit adapted to detect the direction of the motion of the luminance transition zone, that is, from the first to the second optical sensor or from the second to the first optical sensor, the bidirectional detection circuit comprising two means and for measuring the delay between the signals.

15. A set of devices comprising at least one lens, a plurality of at least three optical sensors and a plurality of detection circuits,

wherein two adjacent optical sensors form a pair and are placed in the focal plane of one of the at least one lens and connected to one of the plurality of detection circuits, in that each lens of the at least one lens and all optical sensors are arranged substantially on a spherical or cylindrical surface surrounding a common centre, the common centre constituting, the optical centre of an inter-receptor angle which is the sum over all inter-receptor angles of all elementary devices taken together, and in that the devices are devices according to claim 11.

16. The set of devices according to claim 15, wherein the at least three optical sensors are arranged in two directions substantially orthogonal.

17. The set of devices according to claim 15, wherein the optical sensors have a spectral sensitivity which can be the same or different for the individual optical sensors.

18. A steering aid system for the visual fixation and fine tracking of a target, the target being an object comprising at least one contrasting edge having a luminance transition zone, and for controlling the speed of an aircraft, wherein it comprises:

a set of devices for detecting the angular position of the contrasting edge;

a means to maintain the line of sight of the steering aid system constantly on the position of the contrast edge;

a set of devices for measuring an angular velocity of the luminance transition zone according to claim 15; and

a means to control the speed of the aircraft according to the angular position and angular velocity of the target.

19. A steering aid system for the visual fixation and fine tracking of a target, the target being an object comprising at least one contrasting edge having a luminance transition zone, and for controlling the speed of an aircraft, wherein it comprises:

a device for detecting the angular position of the contrasting edge;

a means to maintain the line of sight of the steering aid system constantly on the position of the contrast edge;

a device for measuring an angular velocity of the luminance transition zone according to claim 11; and

a means to control the speed of the aircraft according to the angular position and angular velocity of the target.