US4855932A
Expired / Lapsed
US
⏱️ 0.0 years remaining
Three-dimensional electro-optical tracker
Assignee: Lockheed Electronics Co Inc
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Filing: 1987-07-08
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Granted: 1989-08-08
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Expires: 2007-07-08
Abstract
Abstract Improved performance in an electro-optical tracker is achieved by incorporating range measurements. Further, the tracker uses a Kalman filter in which the target is modeled as the superposition of two Gaussian ellipsoids in space and projected onto an image plane.
Inventors
- 👤 Gene L. Cangiani
- 👤 Appasaheb N. Madiwale
Bibliographic Details
Application Number
—
Jurisdiction
US
Data Source
google_patents
Last Synchronized
2026-10-26 10:25
CPC Classifications
G; G01; G01S; G01S17/00; G01S17/66; G01S13/00; G01S13/86; G01S13/867; G01S3/00; G01S3/78; G01S3/782; G01S3/785; G01S3/786; G01S3/7864
Claims Analysis
Total Claims: 14
Claim 1
Independent Claim
147 words
An electro-optical tracker for tracking a target moving in three-dimensional space, comprising: a servo-controlled electro-optical sensor having an image data output; a range sensor for detecting the distance between the sensor and the target, the range sensor having an output; preprocessing means responsive to the output of the electro-optical sensor and the range sensor, the preprocessing means having an output; and Kalman filter means for generating a predicted position, velocity, and acceleration of the target, the Kalman filter means being connected to the output of the preprocessing means and including an interface for controlling the servos of the electro-optical sensor; the Kalman filter means including prediction means for generating a predicted position, velocity, and acceleration of the target; and modeling means for generating a predicted two-dimensional image from a projection of the target in space, where the target is represented in the filter by a three-dimensional object.
Claim 2
Dependent Claim
147 words
An electro-optical tracker for tracking a target moving in three-dimensional space, comprising: a servo-controlled electro-optical sensor having an image data output; a range sensor for detecting the distance between the sensor and the target, the range sensor having an output; preprocessing means responsive to the output of the electro-optical sensor and the range sensor, the preprocessing means having an output; and Kalman filter means for generating a predicted position, velocity, and acceleration of the target, the Kalman filter means being connected to the output of the preprocessing means and including an interface for controlling the servos of the electro-optical sensor; the Kalman filter means including prediction means for generating a predicted position, velocity, and acceleration of the target; and modeling means for generating a predicted two-dimensional image from a projection of the target in space, where the target is represented in the filter by a three-dimensional object.
Claim 3
Dependent Claim
30 words
An electro-optical tracker as set forth in claim 1 above wherein the three-dimensional object is the product of the superposition of a first three-dimensional object on a second three-dimensional object.
Claim 4
Dependent Claim
36 words
An electro-optical tracker as set forth in claim 2 wherein the first three-dimensional object is representative of the fuselage of the target and the second three-dimensional object is representative of the wingspan surfaces of the target.
Claim 5
Dependent Claim
19 words
An electro-optical tracker as set forth in claim 3 wherein the first and second three-dimensional objects are Gaussian ellipsoids.
Claim 6
Independent Claim
148 words
A method of controlling a three-dimensional electro-optical tracker, having an electro-optical sensor having an image data output, following a target moving in three-dimensional space, comprising the steps of: capturing the target in the field of view of the electro-optical sensor; measuring the range of the target from the sensor; selecting a portion of the output of the electro-optical sensor; augmenting the selected portions with the range measurement to form an augmented partial target image; developing predicted values for the augmented partial target image by modeling the target as a three-dimensional object in space, the model being a function of the iterated predictions of position, velocity, and acceleration; substracting the predicted values from the augmented partial target image to yield a residual difference; multiplying the residual difference by a Kalman gain factor to produce an update; and summing the update and the predicted value of position, velocity, and acceleration.
Claim 7
Independent Claim
148 words
A method of controlling a three-dimensional electro-optical tracker, having an electro-optical sensor having an image data output, following a target moving in three-dimensional space, comprising the steps of: capturing the target in the field of view of the electro-optical sensor; measuring the range of the target from the sensor; selecting a portion of the output of the electro-optical sensor; augmenting the selected portions with the range measurement to form an augmented partial target image; developing predicted values for the augmented partial target image by modeling the target as a three-dimensional object in space, the model being a function of the iterated predictions of position, velocity, and acceleration; substracting the predicted values from the augmented partial target image to yield a residual difference; multiplying the residual difference by a Kalman gain factor to produce an update; and summing the update and the predicted value of position, velocity, and acceleration.
Claim 8
Dependent Claim
22 words
The method as set forth in claim 5, wherein the target is modeled as one three-dimensional object superposed on another three-dimensional object.
Claim 9
Dependent Claim
26 words
The method as set forth in claim 5, wherein the target is modeled as a first three-dimensional Gaussian ellipsoid superposed on a second three-dimensional Gaussian ellipsoid.
Claim 10
Dependent Claim
138 words
An electro-optical tracker for tracking a target moving in three-dimensional space, comprising: a servo-controlled electro-optical sensor having an image data output; a range sensor for detecting the distance between the sensor and the target, the range sensor having an output; Kalman filter means for generating a predicted position, velocity, and acceleration of the target, the Kalman filter means being connected to and operating upon at least a portion of the outputs of the electro-optical sensor and the range sensor and including an interface for controlling the servos of the electro-optical sensor; the Kalman filter means including prediction means for generating a predicted position, velocity, and acceleration of the target; and modeling means for generating a predicted two-dimensional image from a projection of the target in space, where the target is represented in the filter by a three-dimensional object.
Claim 11
Dependent Claim
138 words
An electro-optical tracker for tracking a target moving in three-dimensional space, comprising: a servo-controlled electro-optical sensor having an image data output; a range sensor for detecting the distance between the sensor and the target, the range sensor having an output; Kalman filter means for generating a predicted position, velocity, and acceleration of the target, the Kalman filter means being connected to and operating upon at least a portion of the outputs of the electro-optical sensor and the range sensor and including an interface for controlling the servos of the electro-optical sensor; the Kalman filter means including prediction means for generating a predicted position, velocity, and acceleration of the target; and modeling means for generating a predicted two-dimensional image from a projection of the target in space, where the target is represented in the filter by a three-dimensional object.
Claim 12
Dependent Claim
30 words
An electro-optical tracker as set forth in claim 8 above wherein the three-dimensional object is the product of the superposition of a first three-dimensional object on a second three-dimensional object.
Claim 13
Dependent Claim
36 words
An electro-optical tracker as set forth in claim 9 wherein the first three-dimensional object is representative of the fuselage of the target and the second three-dimensional object is representative of the wingspan surfaces of the target.
Claim 14
Dependent Claim
19 words
An electro-optical tracker as set forth in claim 10 wherein the first and second three-dimensional objects are Gaussian ellipsoids.
References Cited (Backward Citations)
US4050068A
Cited
US4179696A
Cited
USPTO Annuity & Maintenance Windows
| Annuity Stage | Window Opens | Payment Deadline | Surcharge Period Until | Estimated Fee | Status |
|---|---|---|---|---|---|
| 3.5 Years (Year 4) | 1992-08-07 | 1993-02-06 | 1993-08-08 | $2000.00 | Window Closed / Lapsed |
| 7.5 Years (Year 8) | 1996-08-07 | 1997-02-06 | 1997-08-08 | $3760.00 | Window Closed / Lapsed |
| 11.5 Years (Year 12) | 2000-08-07 | 2001-02-06 | 2001-08-08 | $7700.00 | Window Closed / Lapsed |