Method and system for generating a route

• US 9,097,527 B2
• Filed: 10/05/2006
• Issued: 08/04/2015
• Est. Priority Date: 10/07/2005
• Status: Active Grant

• Current Assignee: Saab AB
• Original Assignee: Saab AB
• Inventors: Notstrand, Joakim, Ivansson, Johan, Skarman, Erik, Norberg, Pr
• Primary Examiner(s): Keith, Jack W
• Assistant Examiner(s): Nguyen, Chuong P
• Application Number:
  US11/538,819
• Publication Number:
  US 20070112478A1
• Time in Patent Office: 3,225 Days
• Field of Search: 701/200, 701/202, 701208-210, 701/400, 701409-411, 340/988, 34099519-99527
• US Class Current: 1/1
• CPC Class Codes: G01C 11/00 Photogrammetry or videogrammetry, e.g. stereogrammetry; Photographic surveying
• CPC Class Codes: G01C 21/34 Route searching; Route guidance
• CPC Class Codes: G08G 1/096827 where the route is computed onboard

Abstract

A method for generating a route including at least one path. The method is suitable for aircraft reconnaissance of an area. The method includes encompassing the area with a geometrical figure, generating a first direction depending upon a configuration of the figure, generating the at least one path depending upon the first direction wherein the path corresponds to a sub area covering at least a part of the area.

Claims

1. A method for generating a reconnaissance route comprising at least one path for guiding a vehicle, having at least one sensor configured to obtain sensor data of a search area of interest, the method comprising:

defining a non-rectangular search area through which the at least one path will pass, wherein the search area is defined by a number of area points and legs connecting the points, wherein the legs define the perimeter of the search area;

generating a quadrilateral encompassing the search area, wherein the generated quadrilateral is a smallest quadrilateral that entirely encompasses the search area, wherein each side of the quadrilateral intersects at least one of the area points;

generating a first route direction, based on an orientation of a longer side of the generated quadrilateral;

generating the at least one path along the first route direction, wherein the at least one path has a width that corresponds to a separate sub area which covers at least a portion of the search area, wherein said width is related to a width that the at least one sensor is capable of covering on the ground given a particular flying altitude, wherein a number of paths are generated such that the widths of the paths cumulatively cover the search area;

generating the route along the at least one path for maneuvering the vehicle through the search area so as to enable obtaining sensor imagery of the defined search area using the at least one sensor; and

maneuvering the vehicle through the search area according to the generated route and obtaining sensor imagery of the defined search area using the at least one sensor.

2. The method according to claim 1, wherein said at least one path is generated to be substantially parallel with a longest side of the quadrilateral.

3. The method according to claim 2, wherein each of the separate sub areas is strip shaped.

4. The method according to claim 2, wherein at least two paths are generated, and wherein the at least two paths are substantially parallel.

5. The method according to claim 1, wherein at least two paths are generated such that corresponding sub areas of the at least two paths are partly overlapping.

6. The method according to claim 1, further comprising:

adjusting the generated route dynamically depending upon recorded interrupt information.

7. The method according to claim 1, wherein at least two paths are generated, and wherein the paths are assigned a direction which minimizes a total distance of travel between said paths.

8. The method according to claim 1, wherein the quadrilateral is a rectangle or trapezoid.

9. The method according to claim 1, further comprising:

defining an end strip marker at an end of each path, wherein a location of each end strip marker is such that the sensor will obtain data of all of the search area within the path.

10. The method according to claim 9, wherein each end strip marker is arranged on a line perpendicular to sides of the path such that the line intersects at least one of the legs within the path.

11. A control unit, suitable for generating a reconnaissance route comprising at least one path, the control unit comprising:

a processor configured to define a non-rectangular search area through which the at least one path will pass, wherein the search area is defined by a number of area points and legs connecting the points, wherein the legs define the perimeter of the search area, generate a quadrilateral encompassing the search area, wherein the generated quadrilateral is the smallest quadrilateral that entirely encompasses the search area, wherein each side of the quadrilateral intersects at least one of the area points, generate a first route direction based on an orientation of a longer side of the generated quadrilateral, and generate the at least one path along the first route direction, wherein the at least one path has a width that corresponds to a sub area which covers at least a portion of the search area, wherein said width is related to a width that at least one sensor is capable of covering on the ground given a particular flying altitude, and wherein a number of paths are generated such that the widths of the paths cumulatively cover the search area, generate the route along the at least one path for maneuvering a vehicle through the search area, so as to enable obtaining sensor imagery of the defined search area using the at least one sensor, maneuver the vehicle through the search area according to the generated route and obtain sensor imagery of the defined search area using the at least one sensor.

12. The control unit according to claim 11, wherein said at least one path is substantially parallel with a longest side of the quadrilateral, and wherein each of the sub areas is strip-shaped.

13. The control unit according to claim 11, wherein the processor is further configured to generate at least two paths, wherein the at least two paths are substantially parallel.

14. The control unit according to claim 13, wherein the sub areas corresponding to the at least two paths are partly overlapping.

15. The control unit according to claim 11, wherein the processor is further configured to generate end markers defining ends of the at least one path, depending upon said the configuration of the quadrilateral.

16. The control unit according to claim 11, wherein the processor is configured to generate the route dynamically depending upon recorded interrupt information.

17. The control unit according to claim 11, wherein the processor is further configured to generate a plurality of search area points, wherein the area points define corners of the search area.

18. A platform, comprising:

a control unit comprising a processor configured to define a non-rectangular search area through which the at least one path will pass, wherein the search area is defined by a number of area points and legs connecting the points, wherein the legs define the perimeter of the search area, generate a quadrilateral encompassing the search area, wherein the generated quadrilateral is the smallest quadrilateral that entirely encompasses the search area, wherein each side of the quadrilateral intersects at least one of the area points, generate a first route direction based on an orientation of a longer side of the generated quadrilateral, and generate the at least one path along the first route direction, wherein the at least one path has a width that corresponds to a sub area which covers at least a portion of the search area, wherein said width is related to a width that at least one sensor is capable of covering on the ground given a particular flying altitude, and wherein a number of paths are generated such that the widths of the paths cumulatively cover the search area, generate the route along the at least one path for maneuvering a vehicle through the search area, so as to enable obtaining sensor imagery of the defined search area using the at least one sensor, maneuver the vehicle through the search area according to the generated route and obtain sensor imagery of the defined search area using the at least one sensor; and

an airplane, an Unmanned Aerial Vehicle, a helicopter, a robot, or a missile, wherein the control unit is arranged with the airplane, Unmanned Aerial Vehicle, helicopter, robot, or missile.

19. A communication system, comprising:

at least one platform comprising a control unit comprising a processor configured to define a non-rectangular search area through which the at least one path will pass, wherein the search area is defined by a number of area points and legs connecting the points, wherein the legs define the perimeter of the search area, generate a quadrilateral encompassing the search area, wherein the generated quadrilateral is the smallest quadrilateral that entirely encompasses the search area, wherein each side of the quadrilateral intersects at least one of the area points, generate a first route direction based on an orientation of a longer side of the generated quadrilateral, and generate the at least one path along the first route direction, wherein the at least one path has a width that corresponds to a sub area which covers at least a portion of the search area, wherein said width is related to a width that at least one sensor is capable of covering on the ground given a particular flying altitude, and wherein a number of paths are generated such that the widths of the paths cumulatively cover the search area, generate the route along the at least one path for maneuvering a vehicle through the search area, so as to enable obtaining sensor imagery of the defined search area using the at least one sensor, maneuver the vehicle through the search area according to the generated route and obtain sensor imagery of the defined search area using the at least one sensor, and an airplane, an Unmanned Aerial Vehicle, a helicopter, a robot, or a missile, wherein the control unit is arranged with the airplane, Unmanned Aerial Vehicle, helicopter, robot, or missile; and

a control arrangement arranged to communicate with the at least one platform.

20. A computer program product, comprising:

a non-transitory computer readable medium; and

a programme code recorded on the computer readable medium and executable by a processor for performing a method for generating a reconnaissance route comprising at least one path along which at least one sensor configured to obtain sensor data of a search area of interest travels, the method comprising

defining a non-rectangular search area through which the at least one path will pass, wherein the search area is defined by a number of area points and legs connecting the points, wherein the legs define the perimeter of the search area;

generating a quadrilateral encompassing the search area, wherein the generated quadrilateral is a smallest quadrilateral that entirely encompasses the search area, wherein each side of the quadrilateral intersects at least one of the area points;

generating a first route direction, based on an orientation of a longer side of the generated quadrilateral;

generating the at least one path along the first route direction, wherein the at least one path has a width that corresponds to a separate sub area which covers at least a portion of the search area, wherein said width is related to a width that the at least one sensor is capable of covering on the ground given a particular flying altitude, wherein a number of paths are generated such that the widths of the paths cumulatively cover the search area;

generating the route along the at least one path for maneuvering the vehicle through the search area so as to enable obtaining sensor imagery of the defined search area using the at least one sensor; and

maneuvering the vehicle through the search area according to the generated route and obtaining sensor imagery of the defined search area using the at least one sensor.