[특허]Autonomous, check-pointing, navigational system for an airborne vehicle

[미국특허] Autonomous, check-pointing, navigational system for an airborne vehicle 원문보기

IPC분류정보
국가/구분	United States(US) Patent 등록
국제특허분류(IPC7판)	G01S-009/02
출원번호	US-0799423 (1977-05-23)
발명자 / 주소	Evans Gregory W. (Whittier CA) Paul James E. (Anaheim CA)
출원인 / 주소	Rockwell Internation Corporation (El Segundo CA 02)
인용정보	피인용 횟수 : 52 인용 특허 : 1

초록 ▼

An autonomous navigational system for an airborne vehicle is disclosed which automatically updates its position and heading coordinates at each of a plurality of checkpoints along a preselected flight path. Prestored in a memory of the navigational system is a plurality of reference map images respectively associated with the plurality of checkpoints. Each reference map image is comprised of a plurality of terrain features associated with the terrain about an associated checkpoint. In operation, an acquisition unit senses an image of local terrain at each checkpoint. The relative sizes of reference and sensed map images vary with the mission requirements. A terrain feature extractor detects a plurality of terrain features contained in the sensed map image. The detected terrain features in the sensed map image are selectively matched in a feature pattern matcher against the terrain features of the associated reference map image to determine the position and orientation of the sensed map image within the associated reference map image. The output of the feature pattern matcher comprises error signals which are used by an inertial guidance system to update the position and heading coordinates of the airborne vehicle.

대표청구항 ▼

A navigational system comprising: means for periodically generating a first pattern of terrain features from a sensed image of ground terrain, said generating means including: means for periodically sensing an image of ground terrain; and means for extracting the first pattern of terrain features contained in the sensed image; means for prestoring a second pattern of terrain features contained in a reference image, said sensed image substantially corresponding to a portion of the reference image; means selectively responsive to the first and second patterns of terrain features for determining the relative coordinate and orientation displacements of the first pattern within the second pattern, said determining means including: means responsive to the features of the first and second patterns for selectively developing a feature neighborhood of nearby features surrounding each feature in the first and second patterns; means selectively responsive to the feature neighborhoods of the first and second patterns for developing a plurality of neighborhood comparison signals indicative of the closeness of match and coordinate and orientation displacements between each feature neighborhood of the first pattern with respect to each feature neighborhood of the second pattern; and means responsive to the neighborhood comparison signals for computing the relative coordinate and orientation displacements of the first pattern within the second pattern; and means responsive to the relative coordinate and orientation displacements for updating position and heading coordinates of the navigational system.

이 특허에 인용된 특허 (1) 인용/피인용 타임라인 분석

Thomas Frank J. (Orlando FL) Farrow Max W. (Orlando FL), Line scan area signature detection system.
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이 특허를 인용한 특허 (52) 인용/피인용 타임라인 분석

Cline J. Douglas (Mission Viejo CA) Wilson James A. (Prescott AZ) Feher Stanley H. (Corona CA) Ward George D. (Prescott AZ), Airborne flight planning and information system.
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Case, Timothy John; Mckitterick, John B.; Black, Randy, Apparatus and method for determining the position of a vehicle with respect to a terrain.
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Runnalls Andrew R. (Faversham GB2), Apparatus incorporating recursive estimators.
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Frederick Philip R., Automatic horizontal and vertical scanning radar with terrain display.
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Frederick Philip R., Automatic horizontal and vertical scanning radar with terrain display.
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Clark William J. R. (Great Baddow GB2) Ward John J. (Cheltenham GB2) Jones Harry M. (Edinburgh GB6) Powell John H. (Lytham-St.-Annes GB2), Data processing arrangements.
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Weichbrod, Shimon; Graves, David, Efficient retrieval of aviation data and weather over low bandwidth links.
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Baird Charles A. (Melbourne Beach FL), Elevation map-referenced mechanism for updating vehicle navigation system estimates.
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Vos, David William; Motazed, Behnam; Gavrilets, Vladislav, Image-augmented inertial navigation system (IAINS) and method.
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Love Robert J. (San Francisco CA) Campbell Richard I. (Saratoga CA), Intensity area correlation addition to terrain radiometric area correlation.
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Nakano, Toshiaki; Hayashi, Giichi, Map information providing system and map information searching method.
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Chotiros Nicholas P. (1508 Charolais Dr. Austin TX 78758), Method and apparatus for tracking, mapping and recognition of spatial patterns.
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Strelow, Dennis W.; Touchberry, Alan B., Method and system for GPS-denied navigation of unmanned aerial vehicles.
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Strelow, Dennis W.; Touchberry, Alan B., Method and system for autonomous vehicle navigation.
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Strelow, Dennis W.; Touchberry, Alan B, Method and system for navigation of an ummanned aerial vehicle in an urban environment.
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Gjessing Dag K. T. (Skedsmokorset NOX) Hjelmstad Jens F. (Tretten NOX), Method of detection and identification of one or more remote objects.
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Seitz William R. (Royal Oak MI) Farrah Harry R. (Birmingham MI) Brumm Gerald A. (Boca Raton FL) Evans Lansing B. (Boca Raton FL) Walter Chris J. (Columbia MD), Moving map display.
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Bodin, William K.; Redman, Jerry W.; Thorson, Derral C., Navigating a UAV having an on-board digital camera to capture desired geographic area.
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Bodin,William Kress; Redman,Jesse; Thorson,Derral Charles, Navigating a UAV having an on-board digital camera to capture desired geographic area.
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Henderson David Sydney,GBX ; McGinn William Douglas,GBX ; Miles Stewart David,GBX, Navigation apparatus.
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Blaha Alfred (Haar DEX) Schwrzler Hans-Juergen (Taufkirchen DEX), Navigation method for precisely steering a flying object.
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Lerche Horst-Dieter (Stuhr DEX), Navigation of aircraft by correlation.
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Doerry, Armin W.; Marquette, Brandeis, Navigator alignment using radar scan.
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Jiang, Bolan; Diaz Spindola, Serafin, Orientation determination of a mobile station using side and top view images.
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Yoshida,Kouji, Pattern matching method and device, position determining method and device, position aligning method and device, exposing method and device, and device and its production method.
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Hofmann Otto (Kirchstockach DEX), Photogrammetric device for aircraft and spacecraft for producing a digital terrain representation.
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Virnot Alain D. (21 Rue des Canettes 75006 Paris FRX), Pilot assistance device.
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Botwin Leo (Westport CT) Kosowsky Lester H. (Stamford CT), Polarization controlled map matcher missile guidance system.
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O\Neill Gerard K. (Princeton NJ) Snively Leslie O. (Centreville VA), Position determination and message transfer system employing satellites and stored terrain map.
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O\Neill Gerard K. (Princeton NJ) Snively Leslie O. (Princeton NJ), Position determination and message transfer system employing satellites and stored terrain map.
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Costello,Michael J.; Castro,Roy, Precision landmark-aided navigation.
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Hsu Shin-yi (2312 Hemlock La. Vestal NY 13850), Process for identifying simple and complex objects from fused images and map data.
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Hilton Richard D. (King George VA) Coate Godfrey T. (Belmont MA), Radar guidance system.
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Hasegawa, Koyo, Radar monitoring device.
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Chambers, Andrew; Wyrobek, Keenan; Rinaudo, Keller; Oksenhorn, Ryan; Hetzler, William, System and method for human operator intervention in autonomous vehicle operations.
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Chambers, Andrew; Wyrobek, Keenan; Rinaudo, Keller; Oksenhorn, Ryan; Hetzler, William, System and method for human operator intervention in autonomous vehicle operations.
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Chan Luen C. (Indian Harbor Beach FL) Snyder Franklin B. (Palm Bay FL), System for correlation and recognition of terrain elevation.
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Ivanov, Vladimir; Fischer, Martin; Spindler, Carsten-Christian; Schütz, Simon, System for determining height information.
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Hirono Chiharu,JPX, System for providing and linking regularity updated map data with data related to the map.
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Goebel Robert H. ; Fogle Dale A. ; Torretta David C. ; Panagos Philip ; Heffern Patrick A., Terrain correlation system.
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Chambers, Andrew; Wade, Bryan; Drula, Catalin; Halley, David; Napolskikh, Igor; Wyrobek, Keenan; Rinaudo, Keller; Brake, Nicholas; Oksenhorn, Ryan; Patterson, Ryan; Hetzler, William, Unmanned aerial vehicle management system.
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Ell, Todd A.; Rutkiewicz, Robert D., View-point guided weapon system and target designation method.
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Breiholz, Arlen E.; Kronfeld, Kevin M.; Walling, Karen L., Weather radar system and method with latency compensation for data link weather information.
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IPC	Description
A	생활필수품
A62	인명구조; 소방(사다리 E06C)
A62B	인명구조용의 기구, 장치 또는 방법(특히 의료용에 사용되는 밸브 A61M 39/00; 특히 물에서 쓰이는 인명구조 장치 또는 방법 B63C 9/00; 잠수장비 B63C 11/00; 특히 항공기에 쓰는 것, 예. 낙하산, 투출좌석 B64D; 특히 광산에서 쓰이는 구조장치 E21F 11/00)
A62B-1/08	.. 윈치 또는 풀리에 제동기구가 있는 것

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[미국특허] Autonomous, check-pointing, navigational system for an airborne vehicle 원문보기