Method and system for tracking attitude

  • US 5,786,804 A
  • Filed: 10/06/1995
  • Issued: 07/28/1998
  • Est. Priority Date: 10/06/1995
  • Status: Expired due to Term
First Claim
Patent Images

1. A method of tracking attitude of a device comprising the steps of:

  • fixing a two-dimensional array of photosensors to said device;

    attaching an optical means to said device to image features of an environment onto said photosensors;

    utilizing said two-dimensional array to acquire a first image of features within a field of view of said array;

    storing said first image;

    utilizing said two-dimensional array to acquire a second image of features within said field of view at a time subsequent to acquiring said first image, said first and second images being images of regions that are largely overlapping such that there are features common to both of said first and second images;

    correlating said first and second images to detect differences in location of said common features within said first and second images; and

    based upon said step of correlating, forming an attitudinal signal indicative of any changes in angular orientation of said device during an interval between acquiring said first and second images.

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