Global positioning system (“GPS”) independent navigation system for a self-guided aerial vehicle utilizing multiple optical sensors

Patent metadata

Field	Value
Publication number	US-9852645-B2
Application number	US-201514828052-A
Country	US
Kind code	B2
Filing date	Aug 17, 2015
Priority date	Aug 17, 2015
Publication date	Dec 26, 2017
Grant date	Dec 26, 2017

Abstract

Disclosed is a Global Positioning System (“GPS”) independent navigation system (“GINS”) for a self-guided aerial vehicle (“SAV”). The SAV has a housing, where the housing has an outer surface, a length, a front-end, and a longitudinal axis along the length of the housing. The GINS includes a first optical sensor, a second optical sensor, a storage unit, and a comparator.

First claim

What is claimed is:

1. A Global Positioning System (“GPS”) independent navigation system (“GINS”) for a self-guided aerial vehicle (“SAV”) having a housing, wherein the housing has an outer surface, a length, a front-end, and a longitudinal axis along the length of the housing, the GINS comprising:
a first optical sensor, wherein the first optical sensor is located along the outer surface of the housing and is directed at a first angle with respect to the longitudinal axis;
a second optical sensor, wherein the second optical sensor is located along the outer surface of the housing and is directed at a second angle with respect to the longitudinal axis;
a storage unit, wherein the storage unit is configured to include a database of a plurality of reference images; and
a comparator, wherein the comparator is in signal communication with the first optical sensor, the second optical sensor, and the storage unit,
wherein the first optical sensor is configured to acquire a first plurality of images of a first view with respect to the SAV when the SAV is in flight,
wherein the second optical sensor is configured to acquire a second plurality of images of a second view with respect to the SAV when the SAV is in flight, and
wherein the comparator is configured to compare the first plurality of acquired images and the second plurality of acquired images to the plurality of reference images in the database, and, in response, produce navigation information utilized to guide the inflight SAV.

2. The GINS of claim 1 , wherein the first angle is approximately ninety (90) degrees from the longitudinal axis.

3. The GINS of claim 2 ,
wherein the second optical sensor is located at the front-end of the housing and
wherein the second optical sensor is directed in a direction approximately along the longitudinal axis,
wherein the first plurality of acquired images is a plurality of look-down images and the first view is a view beneath the SAV when the SAV is in flight, and
wherein the second plurality of acquired images is a plurality of look-forward images of a frontal view of the SAV when the SAV is in flight.

4. The GINS of claim 3 , wherein the second angle is approximately equal to zero.

5. The GINS of claim 4 ,
wherein the SAV is configured to travel in a direction that is collinear with the longitudinal axis of the housing and
wherein the first optical sensor is directed obliquely from a normal direction from the outer surface.

6. The GINS of claim 1 , wherein the comparator includes a processing device selected from the group consisting of a correlator, digital signal processor (“DSP”), and processor.

7. The GINS of claim 1 , further including
a navigation filter and
an inertial measurement unit (“IMU”),
wherein the navigation filter is in signal communication with both the comparator and IMU.

8. The GINS of claim 7 , further including
an altimeter,
wherein the altimeter is in signal communication with the navigation filter.

9. The GINS of claim 8 , further including
a GPS tracker,
wherein the GPS tracker is in signal communication with the navigation filter and
wherein the GPS tracker is configured to produce GPS positional information measurements that are transmitted to the navigation filter.

10. The GINS of claim 9 , wherein the navigation filter includes a Kalman filter.

11. The GINS of claim 1 , further including a third optical sensor, wherein the third optical sensor is located along the outer surface of the housing and is directed at a third angle away from the outer surface.

12. The GINS of claim 11 ,
wherein the first angle is approximately ninety (90) degrees from the longitudinal axis,
wherein the SAV is configured to travel in a direction that is collinear with the longitudinal axis of the housing,
wherein the first optical sensor is directed obliquely at a first right angle from the direction of travel, and
wherein the third optical sensor is directed obliquely at a second right angle from the direction of travel.

13. The GINS of claim 1 , wherein the first optical sensor and second optical sensor are infrared cameras.

14. A self-guided aerial vehicle (“SAV”) having a navigation system, the SAV comprising:
a housing having an outer surface, a length, a front-end, and a longitudinal axis along the length of the housing;
a first optical sensor, wherein the first optical sensor is located along the outer surface of the housing and is directed at a first angle with respect to the longitudinal axis;
a second optical sensor, wherein the second optical sensor is located along the outer surface of the housing and is directed at a second angle with respect to the longitudinal axis;
a storage unit, wherein the storage unit is configured to include a database of a plurality of reference images; and
a comparator, wherein the comparator is in signal communication with the first optical sensor, the second optical sensor, and the storage unit,
wherein the first optical sensor is configured to acquire a first plurality of images of a first view with respect to the SAV when the SAV is in flight,
wherein the second optical sensor is configured to acquire a second plurality of images of a second view with respect to the SAV when the SAV is in flight, and
wherein the comparator is configured to compare the first plurality of acquired images and the second plurality of acquired images to the plurality of reference images in the database, and, in response, produce navigation information utilized by the navigation system to guide the inflight SAV.

15. The SAV of claim 14 ,
wherein the first angle is approximately ninety (90) degrees from the longitudinal axis,
wherein the second optical sensor is located at the front-end of the housing and
wherein the second optical sensor is directed in a direction approximately along the longitudinal axis,
wherein the first plurality of acquired images is a plurality of look-down images and the first view is a view beneath the SAV when the SAV is in flight, and
wherein the second plurality of acquired images is a plurality of look-forward images of a frontal view of the SAV when the SAV is in flight.

16. The SAV of claim 15 ,
wherein the SAV is configured to travel in a direction that is collinear with the longitudinal axis of the housing and
wherein the first optical sensor is directed obliquely from a normal direction from the outer surface.

17. A method for guiding an inflight self-guided aerial vehicle (“SAV”) with a navigation system utilizing a first optical sensor, a second optical sensor, a database of a plurality of reference images, and a comparator, the method comprising:
acquiring, with the first optical sensor, a first plurality of images of a first view with respect to the SAV when the SAV is in flight;
acquiring, with the second optical sensor, a second plurality of images of a second view with respect to the SAV when the SAV is in flight;
comparing the first plurality of acquired images and the second plurality of acquired images to the plurality of reference images in the database, and, in response, producing navigation information utilized by the navigation system to guide the inflight SAV; and
providing the navigation information to the navigation system, wherein the navigation system utilizes the navigation information to guide the inflight SAV.

18. The method of claim 17 ,
wherein the first plurality of acquired images is a plurality of look-down images and the first view is a view beneath the SAV when the SAV is in flight and
wherein the second plura

Assignees

• Boeing Co

Inventors

• Wright Steven A

Classifications

• G06T2207/30244

  Camera pose · CPC title

• G06T2207/30184

  Infrastructure · CPC title

• G06T2207/10032

  Satellite or aerial image; Remote sensing · CPC title

• G06T7/70

  Determining position or orientation of objects or cameras (camera calibration G06T7/80) · CPC title

• G05D1/00

  Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots (drive control systems specially adapted for autonomous road vehicles B60W60/00) · CPC title