Method for accurately geolocating an image sensor installed on board an aircraft

• US 9,875,403 B2
• Filed: 12/11/2013
• Issued: 01/23/2018
• Est. Priority Date: 12/12/2012
• Status: Active Grant

• Current Assignee: Thales SA
• Original Assignee: Thales SA
• Inventors: Petit, Jean-Marie
• Primary Examiner(s): Dunn, Alex C
• Application Number:
  US14/651,166
• Publication Number:
  US 20160012289A1
• Time in Patent Office: 1,504 Days
• CPC Class Codes: B64D 47/08 Arrangements of cameras
• CPC Class Codes: F41G 3/06 with rangefinder rangefinders per se G01C
• CPC Class Codes: F41G 3/22 for vehicle-borne armament, e.g. on aircraft
• CPC Class Codes: F41G 3/326 for checking the angle between the axis of the gun sighting device and an auxiliary measuring device F41G3/323 takes precedence
• CPC Class Codes: G01B 11/14 for measuring distance or clearance between spaced objects or spaced apertures G01B11/26 takes precedence; rangefinders G01C3/00
• CPC Class Codes: G01C 21/005 with correlation of navigation data from several sources, e.g. map or contour matching G01C21/30 takes precedence
• CPC Class Codes: G06F 16/51 Indexing; Data structures therefor; Storage structures
• CPC Class Codes: G06T 11/60 Editing figures and text; Combining figures or text
• CPC Class Codes: G06T 7/20 Analysis of motion motion estimation for coding, decoding, compressing or decompressing digital video signals H04N19/43, H04N19/51
• CPC Class Codes: G06T 7/60 Analysis of geometric attributes
• CPC Class Codes: G06T 7/73 using feature-based methods
• CPC Class Codes: G06V 30/422 Technical drawings; Geographical maps
• CPC Class Codes: H04N 23/635 Region indicators; Field of view indicators
• CPC Class Codes: H04N 23/69 Control of means for changing angle of the field of view, e.g. optical zoom objectives or electronic zooming

Abstract

A method for geolocating an image sensor having an LoS and installed on board an aircraft. The geographical position of the sensor and the orientation of its LoS being approximate, it comprises: a step of creating an opportune landmark comprising the following substeps: an operator locating, on a screen for displaying acquired images, a stationary element on the ground, the axis of a telemeter being indicated in these images by means of a reticle the direction of which represents the LoS; the operator moving the LoS in order to place the reticle on this stationary element; tracking of this stationary element; estimating the approximate geographical position of this stationary element; searching in a terrain DB for the location corresponding to a zone centered on the stationary element; displaying an image of the terrain of this location, the operator locating the stationary element; and the operator pointing to this stationary element in the displayed terrain image, the geographical coordinates pointed to being retrieved from the terrain DB, this stationary element becoming an opportune landmark; and the sensor moving relative to the landmark, a step of accurately locating the sensor, from the geographical coordinates of this landmark and using a Kalman filter supplied with a plurality of measurements of the distance between the sensor and the landmark and with a plurality of measurements of the orientation of the LoS of the sensor toward the landmark, there being one orientation measurement for each telemetry measurement, simultaneously allowing the orientation of the LoS to be accurately estimated.

Claims

1. A method for geolocating an image sensor having a line of sight and installed on board an aircraft, characterized in that the geographical position of the sensor and the orientation of its a line of sight being approximate, it comprises:

a step of creating at least one opportune landmark comprising the following substeps;

an operator locating, on a screen for displaying acquired images, an observable stationary element, on the ground the axis of a telemeter being indicated in these images by means of a “

reticle”

type overlay the direction of which in the scene space represents the line of sight of the image sensor;

the operator moving the line of sight in order to place the reticle marking the axis of the telemeter on this stationary observable element;

tracking of this stationary element by tracking means;

estimating the geographical position of this stationary element from image capture conditions delivered by a device able to determine them, this position also being approximate;

on the basis of the approximate position of this tracked stationary element, searching in a terrain database for the location corresponding to a zone centered on the approximately positioned stationary element, this zone being of preset size;

displaying an image of the terrain of this location, said image being constructed from the terrain database, the operator locating the observable element in this image; and

the operator pointing to this observable element in the displayed terrain image, the geographical coordinates pointed to being retrieved from the terrain database, this observable stationary element that the line of sight is tracking thus becoming an opportune landmark; and

the sensor moving relative to the opportune landmark, a step of determining the accurate location of the sensor, from the geographical coordinates of this tracked opportune landmark, using a Kalman filter supplied with a plurality of measurements of the distance between the sensor and the opportune landmark and with a plurality of measurements of the orientation of the line of sight of the sensor toward the opportune landmark, there being one orientation measurement for each telemetry measurement, simultaneously allowing the orientation of the line of sight to be accurately estimated.

2. The method for geolocating an on-board sensor as claimed in claim 1, wherein the approximate geographical position of the tracked stationary element is estimated following a telemetry distance measurement that complements the image capture conditions.

3. The method for geolocating an on-board sensor as claimed in claim 1, wherein the displayed image obtained from the terrain database is a terrain image projected depending on the image capture conditions.

4. The method for geolocating an on-board sensor as claimed in claim 1, further comprising a step of displaying the projected acquired image depending on the image capture conditions in order to obtain a real orthoimage.

5. The method for geolocating an on-board sensor as claimed in claim 1, wherein the step of creating an opportune landmark comprises a step of marking on the displayed terrain image, the imprint on the ground of the acquired image.

6. The method for geolocating an on-board sensor as claimed in claim 1, further comprising a step of displaying the terrain image showing the overall situation of the entirety of the geographical zone encompassing the positions of the sensor and the point tracked on the ground, these positions, the line of sight and the imprint on the ground of the acquired image being, based on the image capture conditions available on-board, represented in this terrain image.

7. The method for geolocating an on-board sensor as claimed in claim 1, wherein the terrain image is moved laterally in latitude/longitude and/or “

zoomed”

or “

dezoomed”

.

8. A method for locating a target using a geolocated on-board sensor as claimed in claim 1, further comprising a step of locating the target relative to the sensor.

9. A processing unit comprising means for implementing the locating method as claimed in claim 1.

10. An image sensor having a line of sight and comprising:

an imager able to acquire images, having an optical axis and intended to be installed on board an aircraft;

a telemeter harmonized with the optical axis of the imager and intended to be installed on board the aircraft, the optical axis of the telemeter being the line of sight of the sensor;

a tracking means intended to be installed on board the aircraft, allowing the line of sight to remain targeted on a stationary element on the ground;

a device able to determine the image capture conditions of the sensor, i.e. at least its geographical position and the orientation of its line of sight, and intended to be installed on board the aircraft;

and equipped with;

a display device for displaying in real time acquired images, the axis of the telemeter being indicated in these images by means of a “

reticle”

the direction of which in the scene space represents the line of sight of the image sensor;

a device allowing an operator to move the orientation of the line of sight;

a georeferenced, altimetric, planimetric terrain database;

a device for displaying a zone of the terrain database, said device being equipped with a pointer able to be controlled by the operator by way of means for controlling the pointer; and

a processing unit as claimed in claim 9, connected to the preceding elements.

11. The image sensor as claimed in claim 10, wherein the display device and/or the device allowing an operator to move the orientation of the line of sight, and/or the terrain database, and/or the device for displaying a zone of the terrain database, and/or the processing unit are remote or intended to be installed on board the aircraft.