초록 ▼

A system for determining the orientation of a fixture relative to the Earth includes at least one sensor configured to detect a celestial body and provide signals indicative of a plurality of positions of a detected celestial body relative to the sensor over a period of time. The system further incl

A system for determining the orientation of a fixture relative to the Earth includes at least one sensor configured to detect a celestial body and provide signals indicative of a plurality of positions of a detected celestial body relative to the sensor over a period of time. The system further includes a processor configured to receive information relating to a time and date associated with the period of time during which the celestial body is detected, and information relating to an expected relationship between the detected celestial body and the Earth at the time and date. The processor is further configured to determine the orientation of the fixture relative to the Earth based on signals from the at least one sensor, and the information relating to the time and date and the expected relationship between the detected celestial body and the Earth at the time and date.

대표청구항 ▼

1. A system for determining orientation of a fixture relative to the Earth, the system comprising: a fixture configured to be coupled to a structure;at least one sensor coupled to the fixture, the at least one sensor comprising an imaging device and being configured to detect a celestial body and pr

1. A system for determining orientation of a fixture relative to the Earth, the system comprising: a fixture configured to be coupled to a structure;at least one sensor coupled to the fixture, the at least one sensor comprising an imaging device and being configured to detect a celestial body and provide signals indicative of a plurality of positions of the detected celestial body relative to the at least one sensor over a period of time, wherein detecting a celestial body comprises receiving an image from the imaging device, and identifying candidate regions of the image and eliminating false detections by comparing the image to a template image;a Kalman filter; anda processor configured to:receive the signals from the at least one sensor,receive information relating to a time and date associated with the period of time during which the celestial body is detected,receive information relating to an expected relationship between the detected celestial body and the Earth at the time and date, anddetermine the orientation of the fixture relative to the Earth based on the signals from the at least one sensor, the information relating to the time and date, and the information relating to the expected relationship between the detected celestial body and the Earth at the time and date,wherein the Kalman filter is configured to provide a more accurate orientation determination with respect to the Earth when determining at least one of true north, azimuth, elevation angle, and bank angle. 2. The system of claim 1, wherein the system is configured to determine the orientation of the fixture relative to the Earth according to a first mode during which the Sun is detectible via the at least one sensor and a second mode during which celestial bodies other than the Sun are detectible via the at least one sensor. 3. The system of claim 2, wherein the at least one sensor comprises a first sensor configured to detect the Sun and a second sensor configured to detect celestial bodies other than the Sun. 4. The system of claim 1, wherein the at least one sensor comprises a digital camera. 5. The system of claim 1, wherein the processor is configured to identify a centroid of the detected celestial body and track the centroid during the period of time during which the celestial body is detected. 6. The system of claim 1, wherein the processor is further configured to determine, using the Kalman filter updated at least one time with measurements derived at least in part from said signals from the at least one sensor, at least one of the azimuth, bank angle, and elevation angle of the fixture relative to the Earth. 7. The system of claim 6, wherein the processor is configured to determine a position of an object remote from the fixture relative to the Earth based on at least one of the azimuth, bank angle, and elevation angle of the fixture. 8. The system of claim 1, wherein the processor is configured to detect a plurality of celestial bodies, compare the detected celestial bodies to information relating to known relative positions of celestial bodies at the time and date, and identify the detected celestial bodies. 9. The system of claim 1, wherein the fixture is configured to be coupled to a vehicle comprising a navigation system configured to provide at least one of position, attitude, and heading of the vehicle, wherein the processor is further configured to: determine at least one of a position, attitude, and heading of the fixture relative to the detected celestial body;determine information related to at least one of a position, attitude, and heading of the vehicle based on at least one of the position, attitude, and heading of the fixture relative to the detected celestial body and the information relating to the expected relationship between the detected celestial body and the Earth at the time and date; andsupply the information related to at least one of the position, attitude, and heading of the vehicle to the navigation system. 10. A method for determining orientation of a fixture relative to the Earth, the method comprising: receiving signals indicative of continuous unfiltered electromagnetic radiation via a sensor;detecting, based on the received unfiltered electromagnetic radiation, a celestial body via a sensor comprising an imaging device and configured to provide signals indicative of a plurality of positions of the detected celestial body relative to the sensor over a period of time, wherein detecting a celestial body comprises receiving an image from the imaging device, and identifying candidate regions of the image and eliminating false detections by comparing the image to a template image;obtaining information relating to a time and date associated with the period of time during which the celestial body is detected;obtaining information relating to an expected relationship between the detected celestial body and the Earth at the time and date, anddetermining the orientation of the fixture relative to the Earth based on the signals from the at least one sensor, the information relating to the time and date, and the information relating to the expected relationship between the detected celestial body and the Earth at the time and date. 11. The method of claim 10, wherein detecting the celestial body via the sensor comprises detecting the Sun when the Sun is detectible via the sensor and detecting a celestial body other than the Sun when the Sun is not detectible. 12. The method of claim , wherein detecting the celestial body via a sensor comprises detecting the Sun with a first sensor and detecting the celestial body other than the Sun via a second sensor. 13. The method of claim 10, further comprising identifying a centroid of the detected celestial body and tracking the centroid during the period of time during which the celestial body is detected. 14. The method of claim 10, wherein detecting the celestial body comprises using a Kalman filter updated at least one time with measurements derived at least in part from said signals from the sensor, and determining at least one of the azimuth, bank angle, and elevation angle of the fixture relative to the Earth. 15. The method of claim 14, further comprising determining a position of an object remote from the fixture relative to the Earth based on at least one of the azimuth, bank angle, and elevation angle of the fixture. 16. The method of claim 10, further comprising detecting a plurality of celestial bodies, comparing the detected celestial bodies to information relating to known relative positions of celestial bodies at the time and date, and identifying the detected celestial bodies. 17. The method of claim 10, wherein the fixture is configured to be coupled to a vehicle comprising a navigation system configured to provide at least one of position, attitude, and heading of the vehicle, wherein the method further comprises: determining at least one of a position, attitude, and heading of the fixture relative to the detected celestial body;determining information related to at least one of a position, attitude, and heading of the vehicle based on at least one of the position, attitude, and heading of the fixture relative to the detected celestial body and the information relating to the expected relationship between the detected celestial body and the Earth at the time and date; andsupplying the information related to at least one of the position, attitude, and heading of the vehicle to the navigation system. 18. A portable structure comprising: a mount;a fixture configured to be coupled to the mount; anda system for determining orientation of the fixture relative to the Earth, the system comprising: at least one sensor coupled to the fixture, the at least one sensor comprising an imaging device and being configured to detect a celestial body and provide signals indicative of a plurality of positions of a detected celestial body relative to the at least one sensor over a period of time, wherein detecting a celestial body comprises receiving an image from the imaging device, identifying candidate regions of the image, eliminating false detections by comparing the image to a template image;a Kalman filter; anda processor configured to: receive the signals from the at least one sensor,receive information relating to a time and date associated with the period of time during which the celestial body is detected,receive information relating to an expected relationship between the detected celestial body and the Earth at the time and date, anddetermine the orientation of the fixture relative to the Earth based on the signals from the at least one sensor, the information relating to the time and date, and the information relating to the expected relationship between the detected celestial body and the Earth at the time and date,wherein the Kalman filter is configured to provide a more accurate orientation determination with respect to the Earth when determining at least one of true north, azimuth, elevation angle, and bank angle. 19. The portable structure of claim 18, wherein the processor is further configured to determine, using the Kalman filter updated at least one time with measurements derived at least in part from said signals from the at least one sensor, at least one of the azimuth, bank angle, and elevation angle of the fixture relative to the Earth. 20. The portable structure of claim 18, wherein the portable structure comprises a vehicle comprising the mount and a navigation system configured to provide at least one of position, attitude, and heading of the vehicle, wherein the processor is further configured to: determine at least one of a position, attitude, and heading of the fixture relative to the detected celestial body;determine information related to at least one of a position, attitude, and heading of the vehicle based on at least one of the position, attitude, and heading of the fixture relative to the detected celestial body and the information relating to the expected relationship between the detected celestial body and the Earth at the time and date; andsupply the information related to at least one of the position, attitude, and heading of the vehicle to the navigation system.