Position reference system and method for positioning and tracking one or more objects

• US 9,879,990 B2
• Filed: 03/18/2014
• Issued: 01/30/2018
• Est. Priority Date: 03/22/2013
• Status: Active Grant

• Current Assignee: Kongsberg Discovery As
• Original Assignee: Kongsberg Seatex AS (Government of Norway)
• Inventors: Klepsvik, John O., Rosshaug, Harald Fossum, Ueland, Gard Flemming
• Primary Examiner(s): Bolda, Eric
• Application Number:
  US14/773,557
• Publication Number:
  US 20160025489A1
• Time in Patent Office: 1,414 Days
• CPC Class Codes: G01C 3/08 Use of electric radiation detectors
• CPC Class Codes: G01S 17/42 Simultaneous measurement of distance and other co-ordinates indirect measurement G01S17/46
• CPC Class Codes: G01S 17/66 Tracking systems using electromagnetic waves other than radio waves
• CPC Class Codes: G01S 17/74 Systems using reradiation of electromagnetic waves other than radio waves, e.g. IFF, i.e. identification of friend or foe
• 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 7/4817 relating to scanning
• CPC Class Codes: G01S 7/4865 Time delay measurement, e.g. time-of-flight measurement, time of arrival measurement or determining the exact position of a peak peak detection in noise, signal conditioning G01S7/487
• CPC Class Codes: G01S 7/497 Means for monitoring or calibrating
• CPC Class Codes: G01S 7/4972 Alignment of sensor

Abstract

Position reference system and method for positioning and tracking one or more objects which in addition to range and azimuth also provides the elevation angle of the target relative to the instrument axes of the sensor platform. The system and method is based on a near IR laser radar transceiver and one or more active or passive retroreflectors placed on the objects to be positioned. The present invention further includes an internal beam stabilization mechanism protected from the environment and utilize a cylindrical window which is transparent for the near IR laser radiation, but absorbs all visible and UV radiation and thus protects the optical parts from ambient solar radiation. In addition, the cylindrical window protects all internal mechanical parts, notably the rotating and moving parts, from a corrosive and freezing/icing environment.

Claims

1. A method for positioning and tracking one or more objects using a transceiver unit fixed to a sensor platform and one or more active or passive retroreflector arranged at each of said one or more objects to be positioned, comprising:

(a) emitting a fan-shaped pulsed laser beam with predefined vertical and horizontal beam widths by controlling a mirror (34) for emitting the laser beam in a plane in the vertical direction and stabilizing the fan-shaped beam relative to a plane in the horizontal direction and overlapping Instantaneous Field-of-View of a receiver relative to the horizontal plane,

(b) detecting reflected or returned light from said at least one retroreflector located at an object to be positioned and tracked by the controllable mirror (34) and an optical receiver lens (37) focusing the reflected or returned light onto a photodiode array (38),

(c) calculating elevation angle to the object by measuring mirror angle and interpolation of illuminated photodiodes in the photodiode array (38), measuring azimuth angle and measuring time-of-flight for laser light pulses from transmission to reception, and

(d) calculating range and bearing to the object relative to instrument-axes of the sensor platform based on information from step (c).

2. The method of claim 1, comprising controlling the mirror (34) based on information from a two axis inclinometer (26) for compensating for angular movements of the sensor platform or information about sensor platform movements from a Motion Reference Sensor.

3. The method of claim 1, wherein step (b) includes vertical discrimination of the photodiode array (38) to distinguish between reflected or returned light from retroreflectors and other sources.

4. The method of claim 1, wherein bearing is calculated by azimuth position at transmission time of outgoing laser pulse.

5. The method of claim 1, comprising the step of determining geographic position of the at least one object to be tracked.

6. The method of claim 1, comprising the step of storing data or parameters calculated and measured in a database together with time of measurement.

7. The method of claim 1, comprising the step of using active reflectors arranged for modifying optical or signal characteristics of a transmitted laser beam signal before the transmitted laser beam signal is returned or reflected from the retroreflectors to the transceiver unit.

8. The method of claim 1, comprising the step of compensating for different atmospheric attenuation via controlling gain of a detector amplifier as a function of time.

9. A system for positioning and tracking one or more objects provided with active or passive retroreflectors, comprising a transceiver unit (11) having a housing (12) with a window (13) through which light can be transmitted and received, a stationary part (20) and rotating part (30) in one unit enclosed and sealed within the housing (12), the rotating part (30) including a transmitter assembly with a laser source (32) and optical collimator (33), a receiver assembly including an optical receiver lens assembly (37), and a mirror (34) for transmitting and receiving reflected or returned light from a retroreflector, wherein

the laser source (32) and optical collimator (33) are arranged to generate a pulsed fan-shaped laser beam with predefined vertical and horizontal beam widths,

the mirror (34) is controllable and arranged for emitting the laser beam in a plane of the vertical direction and stabilizing the fan-shaped beam and an overlapping Instantaneous Field-of-View of the receiver relative to a plane in the horizontal direction,

the receiver assembly includes a photodiode array (38) and that the optical receiver lens (37) is arranged to focus returned or reflected light from a retroreflector on one of the at least one objects via the mirror (34) onto the photodiode array (38), and

a unit for calculating range, bearing and elevation to the at least one object relative to the instrument-axes of the sensor platform.

10. The system of claim 9, wherein the transceiver unit (11) is fixed to the sensor platform.

11. The system of claim 9, wherein the window (13) has cylindrical shape.

12. The system of claim 9, wherein the window (13) is an IR-transparent window.

13. The system of claim 9, wherein the transceiver unit (11) includes a two-axis inclinometer (26).

14. The system of claim 9, wherein the transceiver unit (11) includes a driver (35) for rotating the mirror (34) and a reader (36) for reading angular position of the mirror (34).

15. The system of claim 9, further comprising instrumentation for self-calibration of that at least one reflector with fixed and known position and orientation relative to the instrument-axes of the sensor platform that are arranged outside the housing (12) on the same sensor platform as the transceiver unit (11) to provide a calibration reference.

16. The system of claim 9, wherein rotation of the rotating part (30) is driven by an electrical motor (24), comprising a reader (25) for monitoring azimuth position of the rotating part (30).

17. The system claim 9, wherein the rotating part (30) includes a signal processing unit (31) configured for one or more of:

(a) controlling the photodiode array (38), variable gain amplifiers and analogue to digital converters,

(b) detecting pulse and time-of-flight measurements,

(c) operating a main clock and timing system,

(d) controlling the mirror (34), and

(e) controlling the laser source 32.

18. The system of claim 9, wherein the stationary part (20) includes a control unit (21) configured for one or more of:

(a) controlling a search for new targets or objects and tracking said new targets or objects,

(b) performing an integrity check, generating telegrams and communicating with graphical user interface (GUI) and external motion reference sensors,

(c) performing a calculation of elevation angle,

(d) performing calculation of range and bearing,

(e) controlling a driver (22) for driving the rotating part (30) of the transceiver unit (11),

(f) controlling a user interface,

(g) communicating with external units via an Ethernet or network interface.

19. The system of claim 9, being configured for exchanging data with a GNSS-system for displaying tracked and positioned objects in a map.