초록

Navigation by interpretation of images of parallelogram corner points of a ground beacon array. A video camera senses images of the beacon array and a computer interprets the images to provide attitude and location of the platform, on which the camera is mounted, relative to the array.

대표청구항 ▼

A method of navigation by a video-camera sensed array comprising: sensing beacons of an array with a video camera, wherein the array is located externally to the camera, and the beacons are situated so as to represent corners of a parallelogram; detecting locations of images of the beacons on an ima

A method of navigation by a video-camera sensed array comprising: sensing beacons of an array with a video camera, wherein the array is located externally to the camera, and the beacons are situated so as to represent corners of a parallelogram; detecting locations of images of the beacons on an image plane of the camera; translating the locations of the images into pixel addresses; processing the pixel addresses in a manner so as to determine a position and an attitude of the camera relative to the beacons of the array, wherein said processing comprises: defining the images on the image plane of the camera with vectors; connecting first and second images with a first line; connecting third and fourth images with a second line; extending the first and second lines until they meet at a first point; connecting second and third images with a third line; connecting first and fourth images with a fourth line; extending the first and second lines until they meet at a second point; connecting the first and second points with a line which is an image of a horizon; connecting the first point and a center point of a focal lens of the camera with a fifth line; connecting the second point and the center point of the focal lens of the camera with a sixth line; defining a first plane with the fifth and sixth lines, said plane being parallel with a second plane containing the beacons and defining orientation of the second plane; determining distance between the first and second planes; determining orientation of the second plane; and determining location and orientation of the camera relative to the beacons; displaying the position and the attitude of the camera relative to the beacons; storing the position and attitude; and comparing the position and attitude with formerly stored positions and attitudes.