Device for locating a target by stellar correction, intended to be on board a mobile carrier

Patent metadata

Field	Value
Publication number	US-10964047-B2
Application number	US-201716469134-A
Country	US
Kind code	B2
Filing date	Dec 12, 2017
Priority date	Dec 16, 2016
Publication date	Mar 30, 2021
Grant date	Mar 30, 2021

Abstract

The invention concerns a device ( 1 ) for locating a target, comprising: —a camera ( 2 ) that can be oriented in an orientation in view of the target so that the camera acquires an image of the target, and an orientation in view of a star so that the camera acquires at least one image of the star, —an inertial unit ( 4 ) configured to calculate position and orientation data of the camera ( 2 ), —a resetting module ( 6 ) configured to a apply stellar resetting to the data on the basis of the image of the star, in order to produce reset data, —a location module ( 8 ) configured to estimate a position of the target (T) from the image of the target (T) and the reset data, —a communication interface for communicating with an operator station, the camera ( 2 ) passing from one orientation to the other in response to the reception, by the interface, of a command sent by the operator station.

First claim

The invention claimed is:

1. A device for locating a target from a mobile carrier, the device comprising:
a camera orientable relative to the carrier in:
a first orientation towards the target wherein the camera can acquire an image of the target, and
a second orientation towards at least one predetermined star wherein the camera can acquire at least one image of the star,

an inertial unit configured to calculate position and orientation data of the camera,
a stellar correction module configured to apply a stellar correction to the data calculated by the inertial unit based on the image of the star, so as to produce corrected position and orientation data,
a location module configured to estimate a position of the target from the image of the target and the corrected position and orientation data,
an uncertainty estimation module configured to estimate an uncertainty on an error affecting an accuracy of the position estimated by the location module, and
an interface of communication with an operator station, wherein the camera is further configured to switch from one of the first and second orientations to the other orientation in response to the reception, by the communication interface, of a command issued by the operator station,
wherein the camera is further configured to switch from one of the first and second orientations to the other orientation when the uncertainty crosses a predetermined threshold.

2. The device according to claim 1 , wherein the camera is configured to wait, after the reception of the command, for the mobile carrier to have an orientation relative to the star allowing the camera to see the star in the second orientation, before switching from the first orientation to the second orientation.

3. The device according to claim 1 , wherein the camera is configured to switch from the first orientation to the second orientation when the uncertainty crosses a first predetermined threshold, and wherein the camera is configured to switch from the second orientation to the first orientation when the uncertainty crosses a second predetermined threshold different from the first predetermined threshold.

4. The device according to claim 1 , wherein the uncertainty is an uncertainty on a position error tainting the position of the target estimated by the location module.

5. The device according to claim 1 , wherein the uncertainty is an uncertainty on a heading error of the camera tainting a heading data calculated by the inertial unit.

6. The device according to claim 5 , wherein the first predetermined threshold is less than or equal to 0.3 milliradians.

7. The device according to claim 1 , wherein the camera is configured to switch from the first orientation to the second orientation when the uncertainty crosses a first predetermined threshold, and wherein the camera is configured to switch from the second orientation to the first orientation when the uncertainty crosses a second predetermined threshold less than or equal to the first predetermined threshold.

8. The device according to claim 1 , wherein the camera is configured to acquire the image of the predetermined star in an infrared acquisition mode in which the camera is sensitive to infrared wavelengths.

9. An aircraft comprising a device for locating a target according to claim 1 .

10. A method for locating a target, comprising:
orienting a mobile camera on board a mobile carrier in a first orientation in which the target is within sight of the camera,
calculating, by an inertial unit, position and orientation data of the camera,
acquiring, by the camera, at least one image of the target,
orienting the camera in a second orientation relative to the carrier in which a predetermined star is within sight of the camera,
acquiring at least one image of the star by the camera,
applying a stellar correction to the data calculated by the inertial unit based on the image of the star, so as to produce corrected position and orientation data,
estimating a position of the target from the image of the target and the corrected position and orientation data,
estimating an uncertainty on an error affecting an accuracy of the estimated position,
wherein the camera switches from one of the first and second orientations to the other in response to the reception of a command issued from an operator station, and wherein the camera is further configured to switch from one of the first and second orientation to the other orientation when the uncertainty crosses a predetermined threshold.

11. The method according to claim 10 , wherein the camera waits, after the reception of the command, for the mobile carrier to have an orientation relative to the star allowing the camera to see the star in the second orientation, before switching from the first to the second orientation.

12. The method according to claim 11 , wherein the carrier is an aircraft.

13. An aircraft according to claim 9 , wherein the aircraft is a drone.

14. The method according to claim 12 , wherein the aircraft is a drone.

15. A device for locating a target from a mobile carrier, the device comprising:
a camera orientable relative to the carrier in:
a first orientation towards the target wherein the camera can acquire an image of the target, and
a second orientation towards at least one predetermined star wherein the camera can acquire at least one image of the star,

an inertial unit configured to calculate position and orientation data of the camera,
a stellar correction module configured to apply a stellar correction to the data calculated by the inertial unit based on the image of the star, so as to produce corrected position and orientation data,
a location module configured to estimate a position of the target from the image of the target and the corrected position and orientation data
an uncertainty estimation module configured to estimate an uncertainty on an error affecting an accuracy of the position estimated by the location module, and
wherein the camera is further configured to switch from the first orientation to the second orientation when the uncertainty crosses a predetermined threshold.

16. A method comprising:
orienting a mobile camera on board a mobile carrier in a first orientation in which a target is within sight of the camera,
acquiring, by the camera, at least one image of the target,
orienting the camera in a second orientation relative to the carrier in which a predetermined star is within sight of the camera,
acquiring at least one image of the star by the camera,
applying a stellar correction to data calculated by an inertial unit based on the image of the star, so as to produce corrected position and orientation data,
estimating a position of the target from the image of the target and the corrected position and orientation data,
estimating an uncertainty on an error affecting an accuracy of the estimated position,

wherein the camera switches from the first orientation to the second orientation when the uncertainty crosses a predetermined threshold.

Assignees

• Safran Electronics & Defense

Inventors

• Robert Emmanuel
• Roland Flavien
• Davenel Arnaud
• Deleaux Benjamin
• Roberfroid David
• Reymond Georges-Olivier

Classifications

• H04N23/66

  Remote control of cameras or camera parts, e.g. by remote control devices · CPC title

• H04N23/695

  Control of camera direction for changing a field of view, e.g. pan, tilt or based on tracking of objects · CPC title

• B64D47/08

  Arrangements of cameras · CPC title

• G06T2207/10048

  Infrared image · CPC title

• G06T2207/10032

  Satellite or aerial image; Remote sensing · CPC title