Positioning and navigation according to scattered light in sky

Patent metadata

Field	Value
Publication number	US-9689682-B1
Application number	US-201615086566-A
Country	US
Kind code	B1
Filing date	Mar 31, 2016
Priority date	Mar 31, 2016
Publication date	Jun 27, 2017
Grant date	Jun 27, 2017

Abstract

Scattered light in the sky (sky glow) from light sources at one or more known geographic locations is used as reference point(s), from which geographic location of a system observing the sky glow is automatically ascertained. The light is scattered by particulates in the atmosphere. An upward looking camera captures an image of the sky, including the sky glow. A search engine automatically searches a catalog of modeled or pre-stored sky glows for a model that matches the image. Each model is associated with a geographic location. The models characterize each sky glow, such as in terms of color, intensity, etc., as the sky glow would appear from the associated geographic location. If a matching model is found, within a predetermined match criterion, the system outputs the geographic location associated with the matching model. Optionally, the geographic location is used to select and display a map of the geographic location.

First claim

What is claimed is:

1. A method for automatically ascertaining a geographic location, the method comprising:
capturing a digital image of at least a portion of sky visible upward from the geographic location;
automatically generating, by a processor, a plurality of digital sky light scattering models, each sky light scattering model characterizing light, as the light would appear from a corresponding candidate geographic location after the light was emitted by at least one light source disposed proximate the candidate geographic location and subsequently scattered by particulates disposed in an atmosphere proximate the at least one light source;
automatically associating, by a processor, each sky light scattering model with the corresponding candidate geographic location;
automatically searching, by a processor, the plurality of sky light scattering models for a matching sky light scattering model that matches the image within a match criterion; and
as a result of the searching, the matching sky light scattering model is found, automatically outputting, by a processor, to at least one of: a display panel, a map selector, a guidance system, a navigation system and/or a control system, the candidate geographic location associated with the matching sky light scattering model as the ascertained geographic location.

2. The method according to claim 1 , further comprising:
storing, in a digital memory, a digital map encompassing candidate geographic locations corresponding to at least some of the plurality of sky light scattering models,
wherein the outputting the candidate geographic location comprises:
automatically selecting a portion of the digital map that corresponds to the candidate geographic location associated with the matching sky light scattering model; and
automatically displaying the selected portion of the digital map.

3. The method according to claim 2 , wherein the digital map comprises a topographic map.

4. The method according to claim 2 , wherein the digital map comprises a street map.

5. The method according to claim 2 , wherein the digital map comprises a map of at least one land mass and at least one body of water.

6. The method according to claim 1 , wherein automatically generating the plurality of sky light scattering models occurs before capturing the image further comprising before capturing the image, storing, in a digital memory, the plurality of sky light scattering models.

7. The method according to claim 1 , wherein the particulates comprise water and/or dust.

8. The method according to claim 1 , wherein each light source comprises a land-based light source, a sea-based light source and/or an air-based light source.

9. The method according to claim 1 , wherein each light source comprises a building, a plurality of buildings, a sports arena, a billboard, a street light, a parking lot light, an automobile headlight, a beacon, a radio tower light, a village, a city, a land vehicle, a ship and/or an aircraft.

10. The method according to claim 1 , wherein each light source comprises a geographically fixed-location light source or a geographically mobile light source.

11. The method according to claim 10 , wherein generating the plurality of sky light scattering models comprises, for each geographically mobile light source, automatically modeling movement of the geographically mobile light source.

12. The method according to claim 1 , wherein for each sky light scattering model, characterizing the light comprises characterizing color of the light, color pattern of the light, intensity of the light, intensity pattern of the light, continuity of the light, location of the light in the sky, height of the light in the sky, width of the light in the sky and/or shape of the light in the sky, as apparent from the corresponding candidate geographic location.

13. The method according to claim 1 , further comprising: automatically obtaining a compass reading at the geographic location; wherein automatically searching the plurality of sky light scattering models comprises automatically adjusting the image or at least some of the plurality of sky light scattering models according to the compass reading.

14. A system for automatically ascertaining a geographic location, the system comprising:
a digital camera configured to capture an image of at least a portion of sky visible upward from the geographic location;
a memory storing a plurality of digital sky light scattering models, each sky light scattering model characterizing light, as the light would appear from a corresponding candidate geographic location after the light was emitted by at least one light source disposed proximate the candidate geographic location and subsequently scattered by particulates disposed in an atmosphere proximate the at least one light source, wherein each sky light scattering model is associated with the corresponding candidate geographic location;
a search engine executed by a processor and configured to search the plurality of sky light scattering models in the memory for a matching sky light scattering model that matches the image within a match criterion; and
a port configured to automatically, to at least one of: a display panel, a map selector, a guidance system, a navigation system and/or a control system, the candidate geographic location associated with the matching sky light scattering model as the ascertained geographic location as a result of the searching, the matching sky light scattering model is found.

15. The system according to claim 14 , further comprising a display panel coupled to the port and configured to automatically display the candidate geographic location associated with the matching sky light scattering model.

16. The system according to claim 14 , further comprising:
a display panel;
a memory storing a digital map encompassing candidate geographic locations corresponding to at least some of the plurality of sky light scattering models; and
a map selector executed by a processor, coupled to the port and configured to automatically select a portion of the digital map that corresponds to the candidate geographic location associated with the matching sky light scattering model and automatically display, on the display panel, the selected portion of the digital map.

17. The system according to claim 14 , further comprising a sky light scattering model generator executed by a processor, configured to automatically generate the plurality of sky light scattering models and store the generated sky light scattering models in the memory.

18. The system according to claim 14 , wherein each sky light scattering model characterizes color of the light, color pattern of the light, intensity of the light, intensity pattern of the light, continuity of the light, location of the light in the sky, height of the light in the sky, width of the light in the sky and/or shape of the light in the sky, as apparent from the corresponding candidate geographic location.

19. The system according to claim 14 , further comprising:
a compass,
wherein the digital camera is configured to automatically adjust the image according to a reading from the compass.

20. The system according to claim 14 , further comprising:
a compass,
wherein the search engine is configured to automatically adjust the image or at least some of the plurality of sky light scattering models according to a reading from the compass.

21. A non-transitory computer-readable medium encoded with instructions that, when executed by

Assignees

• Charles Stark Draper Laboratory Inc

Inventors

• Laine Juha-Pekka J
• Lane Benjamin F
• Whitacre William W
• Dawson Robin Mark Adrian
• Mcpherson Jr Charles A
• Smith Stephen P
• Sinclair Matthew A

Classifications

• G06F17/30241

  Physics · mapped topic

• G01C21/005

  with correlation of navigation data from several sources, e.g. map or contour matching (G01C21/30 takes precedence) · CPC title

• G06F17/30259

  Physics · mapped topic

• G06K9/00664

  Physics · mapped topic

• G01C21/025 Primary

  with the use of startrackers · CPC title