Target locating device and methods

• US 9,372,070 B1
• Filed: 03/15/2013
• Issued: 06/21/2016
• Est. Priority Date: 07/17/2012
• Status: Active Grant

• Current Assignee: L-3 Communications Corporation (L3Harris Technologies, Inc.)
• Original Assignee: L-3 Communications Corporation (L3Harris Technologies, Inc.)
• Inventors: Jancic, Dale, Spencer, Donald, Rakowski, Christopher
• Primary Examiner(s): Lu, Tom Y
• Application Number:
  US13/833,030
• Time in Patent Office: 1,194 Days
• US Class Current: 1/1
• CPC Class Codes: F41G 3/02 using an independent line of sight
• CPC Class Codes: F41G 3/06 with rangefinder rangefinders per se G01C
• CPC Class Codes: F41G 3/165 using a TV-monitor
• CPC Class Codes: F41G 3/18 Auxiliary target devices adapted for indirect laying of fire
• CPC Class Codes: G01B 11/026 by measuring distance between sensor and object G01B11/0608 takes precedence
• CPC Class Codes: G01C 19/56 Turn-sensitive devices using vibrating masses, e.g. vibratory angular rate sensors based on Coriolis forces
• CPC Class Codes: G01C 3/06 Use of electric means to obtain final indication
• CPC Class Codes: G01C 3/08 Use of electric radiation detectors

Abstract

A target location device has a video camera, a range finder, a self location module and an inertial measurement unit. The device provides a video display including video output of the camera and an object marker such as a cross-hair overlayed on the video output for aiming the camera on a reference point or on a target in the video output. The range finder determines a distance from the device to the target. The self location module identifies the geographic location of the device. The inertial measurement unit includes at least one gyro for providing outputs corresponding to the location of the reference point and the target. Video stabilization may be use to allow accurate placement of the object marker on the target or reference point. Automatic range finder firing and gyroscope error compensation are also provided.

Claims

1. A target location device comprising:

a video camera;

a display for providing a video output of said camera and a cursor overlayed on said video output for aiming said video camera on a reference point or on a target in said video output by positioning said cursor on said reference point or said target;

a range finder for determining a target distance from said device to said target when said video camera is aimed at said target;

a self location module configured to determine a geographic location of said device; and

an inertial measurement unit comprising at least one gyroscope for providing a first output corresponding to a position of said reference point when said video camera is aimed at said reference point and a second output corresponding to a position of said target when said video camera is aimed at said target,

wherein said device is configured to correct for errors in said at least one gyroscope in response to a third output of said gyroscope corresponding to a position of said reference point, said third output being provided after said second output.

2. A device according to claim 1, said device further comprising at least one video processor for providing stabilization of said video output to facilitate said positioning of said cursor on said reference point and on said target.

3. A device according to claim 1, wherein said device is configured for automatically firing said range finder for determining said target distance when said video camera is aimed at said target.

4. A device according to claim 1, wherein said reference point has a known geographic location stored in a memory of said device.

5. A device according to claim 1, wherein said display further comprises a list of known reference points overlayed on said video output, each of said known reference points having a known geographic location stored in a memory of said device, and wherein said device comprises a user control for selecting one of said known reference points as said reference point.

6. A device according to claim 1, wherein said device is configured to mark said reference point with a reference point marker, said reference point marker being overlayed on said reference point.

7. A device according to claim 6, wherein said device is configured for automatically calculating an updated gyroscope output corresponding to a position of said reference point when said cursor is placed on said reference point marker.

8. A device according to claim 6, wherein said device is configured for automatically firing said range finder for determining said reference point distance from said device to said reference point when said cursor is placed on said reference point marker.

9. A device according to claim 1, wherein said device is configured to mark said target with a target marker, said target marker being overlayed on said target.

10. A device according to claim 9, wherein said device is configured for automatically calculating an updated gyroscope output corresponding to a position of said target when said cursor is placed on said target marker.

11. A device according to claim 9, wherein said device is configured for automatically firing said range finder for determining said target distance from said device to said target when said cursor is placed on said target marker.

12. A method of determining the location of a target in a target location device comprising a gyroscope, said method comprising:

acquiring, by a processor, a reference point gyroscope output corresponding to a position of a reference point;

acquiring, by a processor, a target gyroscope output corresponding to a position of said target;

acquiring, by a processor, an updated reference point gyroscope output corresponding to said position of said reference point;

calculating, by a processor, a gyroscope error in response to said reference point gyroscope output and said updated reference point gyroscope output; and

calculating, by a processor, a geographic position of said target in response to said gyroscope error.

13. A method according to claim 12, said method further comprising:

displaying a video output of a video camera on a display with an overlay;

said overlay comprising a cursor for aiming said video camera on said reference point or on said target in said video output by positioning said cursor on said reference point or said target; and

marking said reference point with a reference point marker overlayed on said video output, wherein said device automatically acquires said updated reference point gyroscope output when said cursor is positioned adjacent said reference point marker.

14. A method according to claim 13, further comprising stabilizing said video output to facilitate positioning of said cursor on said reference point or said target.

15. A method of determining a geographic position of a target in a target location device, said method comprising:

determining a geographic location of said device from an output of a global positioning system device;

displaying a video output of a video camera on a display with an overlay, said overlay comprising a cursor for aiming said video camera on a reference point or on said target in said video output;

acquiring a first gyroscope output corresponding to a position of said reference point when said video camera is aimed at said reference point;

acquiring a second gyroscope output corresponding to a position of said target when said video camera is aimed at said target;

firing a range finder to determine a target distance from said device to said target when said video camera is aimed at said target;

calculating the geographic position of said target in response to said geographic location of said device, said first gyroscope output, said target distance, and said second gyroscope output;

acquiring an updated reference point gyroscope output corresponding to said position of said reference point; and

calculating a gyroscope error in response to said reference point gyroscope output and said updated reference point gyroscope output, wherein said geographic position of said target is calculated in response to said gyroscope error.

16. A method according to claim 15, said method further comprising stabilizing said video output to facilitate said positioning said cursor on said reference point or on said target.

17. A method according to claim 15, wherein said firing said range finder to determine said target distance is performed automatically.

18. A method according to claim 15, further comprising displaying a heading of the target in the video output of the video camera.