Enhancement of aimpoint in simulated training systems

• US 7,345,265 B2
• Filed: 07/15/2005
• Issued: 03/18/2008
• Est. Priority Date: 07/15/2004
• Status: Active Grant

• Current Assignee: Cubic Corporation
• Original Assignee: Cubic Corporation
• Inventors: Page, David Wayne
• Primary Examiner(s): Gregory; Bernarr E.
• Application Number:
  US11/183,250
• Publication Number:
  US 20060073438A1
• Time in Patent Office: 977 Days
• Field of Search: 434 11- 27, 244/3.1, 342 61- 67
• US Class Current: 244/3.1
• CPC Class Codes: F41G 3/2633 using a TV type screen, e.g. a CRT, displaying a simulated target
• CPC Class Codes: F41G 3/2655 in which the light beam is sent from the weapon to the target
• CPC Class Codes: G09B 9/003 for military purposes and tactics

Abstract

Embodiments of the invention, therefore, provide improved systems and methods for tracking targets in a simulation environment. Merely by way of example, an exemplary embodiment provides a reflected laser target tracking system that tracks a target with a video camera and associated computational logic. In certain embodiments, a closed loop algorithm may be used to predict future positions of targets based on formulas derived from prior tracking points. Hence, the target'"'"'s next position may be predicted. In some cases, targets may be filtered and/or sorted based on predicted positions. In certain embodiments, equations (including without limitation, first order equations and second order equations) may be derived from one or more video frames. Such equations may also be applied to one or more successive frames of video received and/or produced by the system. In certain embodiments, these formulas also may be used to compute predicted positions for targets; this prediction may, in some cases, compensate for inherent delays in the processing pipeline.

Claims

1. A method of predicting the position of an aimpoint in a simulation environment, the method comprising:

a computer receiving from a video capture system a plurality of video frames, wherein each of the plurality of video frames comprises at least one aimpoint projected by a simulated weapon, and wherein the plurality of video frames comprises a current video frame and at least one past video frame;

the computer analyzing each of the plurality of video frames to determine a plurality of known positions of the aimpoint, the plurality of known positions of the aimpoint comprising a current known position of the aimpoint in the current video frame and at least one historical known position of the aimpoint in the at least one past video frame; and

the computer predicting a position of the aimpoint in a first subsequent video frame by averaging a predicted position of the aimpoint in a second subsequent video frame with at least one of the plurality of known positions of the aimpoint.

2. The method recited in claim 1, wherein the at least one historical known position of the aimpoint comprises a plurality of historical known positions of the aimpoint, and wherein:

if the aimpoint is moving at a relatively high velocity, the plurality of historical known positions of the aimpoint comprises a relatively greater number of historical known positions of the aimpoint; and

if the aimpoint is moving at a relatively low velocity, the plurality of historical known positions of the aimpoint comprises a relatively smaller number of historical known positions of the aimpoint.

3. The method recited in claim 1, wherein the average of the predicted position of the aimpoint in the second subsequent video frame and the at least one known position of the aimpoint is a weighted average.

4. The method recited in claim 3, wherein the weighted average depends on an acceleration of the aimpoint.

5. The method recited in claim 3, wherein the weighted average depends on a velocity of the aimpoint.

6. The method recited in claim 5, wherein if the velocity of the aimpoint is relatively lower, the weighted average accords the at least one known position of the aimpoint relatively greater weight.

7. The method recited in claim 5, wherein if the velocity of the aimpoint is relatively lower, the second subsequent video frame is relatively closer in time to the first subsequent video frame, and wherein if the velocity of the aimpoint is relatively higher, the second subsequent video frame is relatively further in time from the first subsequent video frame.

8. A system for predicting the position of an aimpoint in a simulation environment, the system comprising:

a processor; and

a computer readable medium in communication with the processor, the computer readable medium comprising a set of instructions executable by the computer, the set of instructions comprising,

instructions for receiving from a video capture system a plurality of video frames, wherein each of the plurality of video frames comprises at least one aimpoint projected by a simulated weapon, and wherein the plurality of video frames comprises a current video frame and at least one past video frame;

instructions for analyzing each of the plurality of video frames to determine a plurality of known positions of the aimpoint, the plurality of known positions of the aimpoint comprising a current known position of the aimpoint in the current video frame and at least one historical known position of the aimpoint in the at least one past video frame; and

instructions for predicting a position of the aimpoint in a first subsequent video frame by averaging a predicted position of the aimpoint in a second subsequent video frame with at least one of the plurality of known positions of the aimpoint.

9. The system recited in claim 8, wherein the at least one historical known position of the aimpoint comprises a plurality of historical known positions of the aimpoint, and wherein:

if the aimpoint is moving at a relatively high velocity, the plurality of historical known positions of the aimpoint comprises a relatively greater number of historical known positions of the aimpoint; and

if the aimpoint is moving at a relatively low velocity, the plurality of historical known positions of the aimpoint comprises a relatively smaller number of historical known positions of the aimpoint.

10. The system recited in claim 8, wherein the average of the predicted position of the aimpoint in the second subsequent video frame and the at least one known position of the aimpoint is a weighted average.

11. The system recited in claim 10, wherein the weighted average depends on an acceleration of the aimpoint.

12. The system recited in claim 10, wherein the weighted average depends on a velocity of the aimpoint.

13. The system recited in claim 12, wherein if the velocity of the aimpoint is relatively lower, the weighted average accords the at least one known position of the aimpoint relatively greater weight.

14. The system recited in claim 12, wherein if the velocity of the aimpoint is relatively lower, the second subsequent video frame is relatively closer in time to the first subsequent video frame, and wherein if the velocity of the aimpoint is relatively higher, the second subsequent video frame is relatively further in time from the first subsequent video frame.

15. An apparatus, comprising:

a computer readable storage medium encoded with a computer program, the computer program comprising a set of instructions executable by a computer, the set of instructions comprising;

instructions for receiving from a video capture system a plurality of video frames, wherein each of the plurality of video frames comprises at least one aimpoint projected by a simulated weapon, and wherein the plurality of video frames comprises a current video frame and at least one past video frame;

instructions for analyzing each of the plurality of video frames to determine a plurality of known positions of the aimpoint, the plurality of known positions of the aimpoint comprising a current known position of the aimpoint in the current video frame and at least one historical known position of the aimpoint in the at least one past video frame; and

instructions for predicting a position of the aimpoint in a first subsequent video frame by averaging a predicted position of the aimpoint in a second subsequent video frame with at least one of the plurality of known positions of the aimpoint.

16. The apparatus recited in claim 15, wherein the at least one historical known position of the aimpoint comprises a plurality of historical known positions of the aimpoint, and wherein:

if the aimpoint is moving at a relatively high velocity, the plurality of historical known positions of the aimpoint comprises a relatively greater number of historical known positions of the aimpoint; and

if the aimpoint is moving at a relatively low velocity, the plurality of historical known positions of the aimpoint comprises a relatively smaller number of historical known positions of the aimpoint.

17. The apparatus recited in claim 15, wherein the average of the predicted position of the aimpoint in the second subsequent video frame and the at least one known position of the aimpoint is a weighted average.

18. The apparatus recited in claim 17, wherein the weighted average depends on an acceleration of the aimpoint.

19. The apparatus recited in claim 17, wherein the weighted average depends on a velocity of the aimpoint.

20. The apparatus recited in claim 19, wherein if the velocity of the aimpoint is relatively lower, the weighted average accords the at least one known position of the aimpoint relatively greater weight.

21. The apparatus recited in claim 19, wherein if the velocity of the aimpoint is relatively lower, the second subsequent video frame is relatively closer in time to the first subsequent video frame, and wherein if the velocity of the aimpoint is relatively higher, the second subsequent video frame is relatively further in time from the first subsequent video frame.