초록 ▼

Vehicle attitude is estimated relative to a ground surface over which the vehicle is traveling. An actual image of the ground surface over which the vehicle is traveling is compared with stored or predicted model images of the ground surface. The model images have corresponding known vehicle attitud

Vehicle attitude is estimated relative to a ground surface over which the vehicle is traveling. An actual image of the ground surface over which the vehicle is traveling is compared with stored or predicted model images of the ground surface. The model images have corresponding known vehicle attitudes associated therewith. For one of the model images that most closely matches the actual image, the known vehicle attitude associated therewith is an estimate of an actual vehicle attitude relative to the ground surface over which the vehicle is traveling.

대표청구항 ▼

1. A system for estimating vehicle attitude relative to a ground surface over which the vehicle is traveling, comprising: first means for generating an actual image of the ground surface over which the vehicle is traveling;second means for providing (i) a plurality of model images of the ground surf

1. A system for estimating vehicle attitude relative to a ground surface over which the vehicle is traveling, comprising: first means for generating an actual image of the ground surface over which the vehicle is traveling;second means for providing (i) a plurality of model images of the ground surface, and (ii) a known vehicle attitude associated with each of said model images wherein each said known vehicle attitude accounts for slope in the ground surface represented by a corresponding one of said model images; andthird means coupled to said first means and said second means for comparing said actual image to said model images wherein, for one of said model images that most closely matches said actual image, said known vehicle attitude associated with said one of said model images is an estimate of an actual vehicle attitude relative to the ground surface over which the vehicle is traveling. 2. A system as in claim 1 further comprising an output device coupled to said third means for presenting said actual vehicle attitude in a human discernable format. 3. A system as in claim 1 wherein said first means comprises a sonar-based imaging system. 4. A system as in claim 1 wherein said first means comprises a radar-based imaging system. 5. A system as in claim 1 wherein said model images are generated using empirical methods, and wherein said second means comprises a database for storing said model images. 6. A system as in claim 1 wherein said model images are generated using prediction methods, and wherein said second means comprises a database for storing said model images. 7. A system as in claim 1 wherein said second means implements a prediction scheme for generating said model images in real-time. 8. A method of estimating vehicle attitude relative to a ground surface over which the vehicle is traveling, comprising the steps of: generating an actual image of the ground surface over which the vehicle is traveling;providing (i) a plurality of model images of the ground surface, and (ii) a known vehicle attitude associated with each of said model images wherein each said known vehicle attitude accounts for slope in the ground surface represented by a corresponding one of said model images; andcomparing said actual image to said model images wherein, for one of said model images that most closely matches said actual image, said known vehicle attitude associated with said one of said model images is an estimate of an actual vehicle attitude relative to the ground surface over which the vehicle is traveling. 9. A method according to claim 8 further comprising the step of presenting said actual vehicle attitude in a human discernable format. 10. A method according to claim 8 wherein said step of generating occurs underwater. 11. A method according to claim 8 wherein said step of generating occurs in the air. 12. A method according to claim 8 wherein said step of providing includes the step of empirically generating said model images. 13. A method according to claim 8 wherein said step of generating includes the step of predictively generating said model images. 14. A system for estimating an underwater vehicle's attitude relative to a ground surface over which the underwater vehicle is traveling, comprising: a sonar imaging system adapted to be mounted on the underwater vehicle, said sonar imaging system generating an actual image of the ground surface as the underwater vehicle travels thereover;means for providing predictions of images of the ground surface for a corresponding plurality of known vehicle attitudes; anda processor coupled to said means and said sonar imaging system, said processor comparing said actual image to said predictions wherein, for one of said predictions that most closely matches said actual image, a corresponding one of said known vehicle attitudes associated with said one of said predictions is an estimate of an actual vehicle attitude relative to the ground surface over which the underwater vehicle is traveling. 15. A system as in claim 14 wherein said sonar imaging system comprises a forward-looking sonar imaging system. 16. A system as in claim 14 further comprising an output device coupled to said processor for presenting said actual vehicle attitude in a human discernable format. 17. A system as in claim 14 wherein said means includes a database for storing said predictions and said corresponding plurality of known vehicle attitudes. 18. A system as in claim 14 further comprising an altimeter adapted to be mounted on the underwater vehicle and coupled to said processor, said altimeter measuring altitude of the underwater vehicle relative to the ground surface over which the underwater vehicle is traveling, wherein said altitude is used by said processor in comparing said actual image to said predictions. 19. A system for estimating an underwater vehicle's attitude relative to a ground surface over which the underwater vehicle is traveling, comprising: a sonar imaging system adapted to be mounted on the underwater vehicle, said sonar imaging system generating an actual image of the ground surface as the underwater vehicle travels thereover;means for providing model images of the ground surface for a corresponding plurality of known vehicle attitudes;an altimeter adapted to be mounted on the underwater vehicle, said altimeter measuring altitude of the underwater vehicle relative to the ground surface over which the underwater vehicle is traveling; anda processor coupled to said means, said sonar imaging system and said altimeter, said processor comparing said actual image to said model images in light of said altitude so-measured wherein, for one of said model images that most closely matches said actual image, a corresponding one of said known vehicle attitudes associated with said one of said model images is an estimate of an actual vehicle attitude relative to the ground surface over which the underwater vehicle is traveling. 20. A system as in claim 19 wherein said sonar imaging system comprises a forward-looking sonar imaging system. 21. A system as in claim 19 further comprising an output device coupled to said processor for presenting said actual vehicle attitude in a human discernable format. 22. A system as in claim 19 wherein said means includes a database for storing said model images and said corresponding plurality of known vehicle attitudes.