Method and system for target localization
First Claim
1. A method of estimating a minimum range from an ownship to a target at a closest point of approach (CPA) between the target and the ownship, comprising:
- a.a bearing detector obtaining at least three bearing data points of the target with respect to anthe ownship, wherein each of said bearing data points includes a bearing angle and a corresponding time of acquisition;
b. using the three bearing data points to determine a speed contribution Vos of a first point of interest to a distance from a relative velocity vector over a time frame comprising an initial time to to a predetermined time ti;
c.a computer system determining an angle θ
β
as defined as, where θ
β
is the bearing relative to the ownship'"'"'s heading at the point in time (tβ
) of the closest point of approach to a second point of interest; and
d.the computer system calculating a minimum range Min RCPA using the formula;
Min RCPA=VOS(tβ
−
ti)cos(θ
β
−
θ
i)θ
i|=0;
using the calculated minimum range for at least one of;
targeting a weapon with respect to the target, navigating the ownship;
e. wherein tβ
is the time at which θ
β
was mreaured and θ
i is a bearing angle to the target relative to the ownship corresponding to a first of said at least three bearing data points obtained at time ti, and Vos is the speed of the ownship during said obtaining said at least three bearing data points.
7 Assignments
0 Petitions
Accused Products
Abstract
The present inventions comprise aA method of estimating a minimum range for a target with respect to a first point of interest, independent of actual, range to the target, comprising obtaining three bearing data points; using the three bearing data points to determine a speed contribution Vos cos (θβ) of a first point of interest to a distance from a relative velocity vector over a time frame comprising t0 to t0′; determining an angle θβ as defined by the bearing relative to ownship'"'"'s heading at the point in time of closest approach to a second point of interest; and calculating a minimum range using a predetermined formula.
34 Citations
83 Claims
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1. A method of estimating a minimum range from an ownship to a target at a closest point of approach (CPA) between the target and the ownship, comprising:
-
a.a bearing detector obtaining at least three bearing data points of the target with respect to anthe ownship, wherein each of said bearing data points includes a bearing angle and a corresponding time of acquisition; b. using the three bearing data points to determine a speed contribution Vos of a first point of interest to a distance from a relative velocity vector over a time frame comprising an initial time to to a predetermined time ti; c.a computer system determining an angle θ
β
as defined as, where θ
β
is the bearing relative to the ownship'"'"'s heading at the point in time (tβ
) of the closest point of approach to a second point of interest; andd.the computer system calculating a minimum range Min RCPA using the formula;
Min RCPA=VOS(tβ
−
ti)cos(θ
β
−
θ
i)θi |=0;using the calculated minimum range for at least one of;
targeting a weapon with respect to the target, navigating the ownship;e. wherein tβ
is the time at which θ
β
was mreaured and θ
i is a bearing angle to the target relative to the ownship corresponding to a first of said at least three bearing data points obtained at time ti, and Vos is the speed of the ownship during said obtaining said at least three bearing data points. - View Dependent Claims (2, 3, 4, 5, 6, 15, 16, 17)
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7. A method for estimating a minimum range Min RCPA to a contact from an ownship, independent of actual contact range, comprising:
-
a. a bearing detector passively obtaining at least three bearing data points of the contact relative to an the ownship; b. a computer system determining an angle θ
β
defining the bearing to the contact relative to a heading of the ownship at the point in time of closest approach to a second point of interest the contact;c. the computer system calculating a the minimum range at CPA a closest point of approach (CPA) between the ownship and the target contact using the formula
Min RCPA=Vos(tβ
−
ti)cos(θ
β
−
θ
i)θi |=0; andd. generating a representation of the probability of the location of the target contact located at the minimum range; d. using the calculated minimum range to alter a heading of the ownship; e. wherein tβ
is the time at which corresponding to θ
β
was measured, θ
i is a bearing angle to the contact relative to the ownship at time ti; and
Vos is a speed contribution of a first point of interest to a distance from a relative velocity vector over a time frame comprising an initial time t0 to a predetermined time ti the ownship during said passively obtaining said at least three bearing data points. - View Dependent Claims (8, 9, 10, 11, 18, 19, 20)
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12. A system for calculating an estimated minimum range estimate RCPA from a source to a target, comprising:
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a. a bearing detector capable of passively obtaining a bearing to the target from the source; b. a computer having a processor and memory; and c. range calculation software executing in the computer; d. wherein i. the memory stores at least three bearing data points obtained from the bearing detector; ii. the range calculation software uses the stored three bearing data points to determine a speed contribution Vos of the target to a distance from a relative velocity vector over source during a time from t0 to t0′
when said at least three bearing data points are obtained;iii. the range calculation software determines an angle θ
β
defined by the bearing to the target relative to a heading of the source at the point in time of closest approach to between the source and the target;iv. the range calculation software calculates a minimum range from the source to the targetand as Min RCPA=VOS(tβ
-ti)cos(θ
β
θ
i)θ
i|=0; and
, wherein said minimum range is based in part on Vos, θ
β
, and the point in time of closest approach; andv. the range calculation software generates a representation of the probability of the location of a target. wherein the system is configured to use the calculated minimum range to alter a heading of the source; wherein the source and the target are physical objects. - View Dependent Claims (13)
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14. A method, comprising:
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a. a bearing detector obtaining at least three bearing data points of a target with respect to a vehicle; b. a computer system determining an angle θ
β
, wherein θ
β
is defined as the bearing of the target relative to the vehicle'"'"'s heading at the time of closest approach to the target;c. the computer system estimating a minimum range from the vehicle to the target using said obtained three bearing data points, said bearing angle θ
β
and a speed of the vehicle during said obtaining; andd. using said estimated minimum range to alter a heading of the vehicle. - View Dependent Claims (81)
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21. A method for tracking a second point of interest relative to a first point of interest, said method comprising:
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a computer system receiving information indicative of at least three bearing data points of said second point of interest relative to said first point of interest, wherein each of the at least three bearing data points includes a bearing angle and a corresponding acquisition time, wherein each acquisition time is different; the computer system estimating a minimum range of said second point of interest relative to said first point of interest, wherein said estimating uses one or more equations, wherein said one or more equations have a closed-form solution, and wherein at least one of said one or more equations is based in part upon three of said at least three bearing data points; and altering a heading of the first point of interest based at least in part on the estimated minimum range; wherein the first and second points of interest are physical objects. - View Dependent Claims (22, 23, 24, 25, 26, 27, 28, 29, 30, 31, 32, 33, 34, 35, 36, 37, 38, 39, 40, 41)
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42. A method for tracking a second point of interest relative to a first point of interest, said method comprising:
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a computer system receiving information indicative of at least three bearing data points, wherein each of said at least three bearing data points includes a bearing angle and a corresponding acquisition time, wherein each bearing angle is measured between a heading of said first point of interest and the second point of interest at said corresponding acquisition time, wherein each said corresponding acquisition time is different; the computer system estimating a minimum range of said second point of interest relative to said first point of interest, wherein said estimating is performed in a single iteration through a set of one or more equations, wherein said set of equations are based in part upon three of said at least three bearing data points; and altering a heading of the first point of interest based at least in part on the estimated minimum range; wherein the first and second points of interest are physical objects. - View Dependent Claims (43, 44, 45, 46, 47, 48, 49, 50, 51, 52)
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53. A system, comprising:
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a processor; and a memory coupled to the processor, wherein the memory is configured to store program instructions executable by the processor to; receive at least three bearing data points of a second point of interest relative to a first point of interest, wherein each of the at least three bearing data points includes a bearing angle and a corresponding acquisition time, wherein each bearing angle is an angle between a heading of said first point of interest and a second point of interest at said corresponding acquisition time, wherein each acquisition time is different, and wherein said first and second points of interest are physical objects; and estimate a minimum range of said second point of interest relative to said first point of interest, wherein said estimation uses one or more equations, wherein said one or more equations have a closed-form solution, and wherein at least one of said one or more equations is based in part upon three of said at least three bearing data points; wherein said system is further configured to use said estimated minimum range to alter a heading of said first point of interest. - View Dependent Claims (54, 55, 56, 57, 58)
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59. A system, comprising:
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a processor; and a memory coupled to the processor, wherein the memory is configured to store program instructions executable by the processor to; receive at least three bearing data points of a second point of interest relative to a first point of interest, wherein said data points are acquired at different times, and wherein said first and second points of interest are physical objects; and estimate a minimum range of said second point of interest relative to said first point of interest, wherein said estimating is performed in a single iteration through a set of one or more equations, wherein said set of equations are based in part upon three of said at least three bearing data points; wherein said system is further configured to use said estimated minimum range to target said second point of interest with a weapons system. - View Dependent Claims (60, 61, 62, 63)
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64. A non-transitory computer readable medium comprising program instructions, wherein the instructions are computer-executable to:
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receive at least three bearing data points of a second point of interest relative to a first point of interest, wherein each of the at least three bearing data points includes a bearing angle and a corresponding acquisition time, wherein each acquisition time is different; estimate a minimum range of said second point of interest relative to said first point of interest, wherein said estimation uses one or more equations, wherein said one or more equations have a closed-form solution, and wherein said one or more equations are based in part upon three of said at least three bearing data points; and use said estimated minimum range to alter a heading of said first point of interest; wherein said first and second points of interest are physical objects. - View Dependent Claims (65)
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66. A non-transitory computer readable medium comprising program instructions, wherein the instructions are computer executable to:
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receive at least three bearing data points of a second point of interest relative to a first point of interest, wherein each of said data points corresponds to different points in time, and wherein said first and second points of interest are physical objects; calculate an estimation of a minimum range of said second point of interest relative to said first point of interest, wherein said estimation is performed in a single iteration through one or more equations, wherein said one or more equations depend in part upon three of said at least three bearing data points; and use said estimated minimum range to target said second point of interest with a weapons system.
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67. A method, comprising:
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a computer system receiving information indicative of at least three bearing data points, wherein each of the at least three bearing data points includes a bearing angle and a corresponding acquisition time, wherein each bearing angle is measured between a heading of a first point of interest and a second point of interest, and wherein each acquisition time is different; the computer system estimating a minimum range of said second point of interest relative to said first point of interest, wherein said estimating is based on one or more equations having a closed-form solution, and wherein said one or more equations are based in part upon three of said at least three bearing data points; and using said estimated minimum range to change a heading of said first point of interest; wherein said first point of interest and said second point of interest are physical objects, and wherein said first point of interest is a vehicle. - View Dependent Claims (68, 69, 70, 71, 72, 73, 74, 82, 83)
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75. A method, comprising:
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a computer system receiving information indicative of at least three bearing data points, wherein each of the at least three bearing data points includes a bearing angle and a corresponding acquisition time, wherein each bearing angle is measured between a heading of a first point of interest and a second point of interest, and wherein each acquisition time is different, and wherein said first and second points of interest are physical objects; the computer system estimating a minimum range of said second point of interest relative to said first point of interest, wherein said estimating is based on one or more equations having a closed-form solution, and wherein said one or more equations are based in part upon three of said at least three bearing data points; and targeting said second point of interest using a weapons system, wherein said targeting is based in part upon said estimated minimum range. - View Dependent Claims (76, 77, 78, 79, 80)
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Specification