DE3203593A1 - Device for local orientation on the basis of terrestrial information - Google Patents

Abstract

Published without abstract.

Description

The invention relates to a device for local orientation

based on terrestrial information for each type of itself im Water, vehicles moving on the ground or in the air.

The topography of the earth provides parameters for terrestrial navigation available, which is used in the form of reference data for local orientation can be.

Well-known navigation methods use the Lurch Rader directly recorded topographical data.

This wheel navigation has been in widespread use for around 15 years. Size Disadvantages are the extensive and costly construction of the radar devices, the required recording of the respective terrestrial areas by radar (availability of the data!) as well as in many cases of disturbance and locatability.

Terrestrial navigation methods have been known in recent years which are used as stored soil data sample reference data, contour lines or points Use (sequence of heights) that come directly from relief maps or stereo photos are determined.

With the help of a sensor unit, data is recorded for navigation, which should represent the contour line of the strip of terrain in which the vehicle is located just moved.

As a rule, an attempt is then made to prepare this recorded data in such a way that that a comparison with the stored data becomes possible and on the basis of this comparison navigation data can be determined.

Such methods are e.g. B. made known by navigation systems U.S. Patent 2,3:28,795; U.S. Patent Publication 28 01 045; German Patent Office OS 30 16 901; German Patent Office OS 30 28 050.

These methods have advantages over the aforementioned radar navigation in that the reference data to be stored is not recorded by radars Need to become but the elevation profiles, relief maps, etc. are taken can be. The disadvantage is that the sensors used are the terrain strips not "see" as they are given in the topographical height structure.

This is particularly noticeable when the terrain are slightly structured in height and have different surface structures, the seasonal, weather-related and mission-related (including altitude) Subject to influences.

The orientation device according to the invention is now in terms of improvement on these points.

It should be noted that with orientation both the local Orientation (based on terrestrial information) of air, ground and Is referred to as submarine cell lelly, although in the embodiment described later the aircraft orientation is described. Furthermore, the term "terrain" or "surface" for both the ground and any part of the surface of the earth used, be it that it is exposed or that it is covered, being application-oriented the covered terrain structure or the surface structure is selected in each case.

According to the invention, as a reference for determining the orientation from current sensor data, such soil data samples are stored that are derived from a standardized, standardized land mass data base can be derived.

This land mass data base can in turn be obtained from a standardization of terrain information such as Height gradients, surface structures, special flat, linear, punctiform Properties for topographic maps, satellite informational photos, information service indications etc. can be used.

The US Defense Mapping Agency's DLMS is a preferable one for this Example.

These soil data samples should not only be standardized height sequence information contain, but also standardized surface structure information including details of special properties to be emphasized. The soil data samples to be saved should continue to be so from the above standardized information with the help of known Models about the behavior of the sensors used are derived that they largely show the "terrain view" of the sensor during the overflight.

These soil data samples obtained in this way are stored in digital form in a Memory 2, according to FIG. 1, which shows an embodiment of the orientation device according to the invention shows, filed.

The stored soil data samples are therefore standardized at the base level on the used soil data sample sensor I.

This sensor does not preferably have to be a device for determining be line information, but should be a uniform physical point or line structure and not a differentiated area such as scenes and images.

The soil data samples recorded by the sensor I, 1 are only interfering signals filtered, fed to a Mi.cro processor 3, in which they are used to determine the orientation according to known methods of correlation and (Kalman) filtering with the stored Reference data are compared.

These reference data from FIG. 2 described above are used according to the invention however, not directly fed to the microprocessor, but usually over two Variator units 5 and 6.

The stored soil data sample information depending on the given environmental and mission conditions but also depending from the information of a further soil data sample sensor II, 7 based on known The sensor behavior models are analytically converted in such a way that they contain the data from the sensor I. soil data sample strips determined under the given mission and environmental conditions included with a defined probability in terms of representation.

As an explanation of the soil data sample design for storage should be pointed out by way of example that for a radar altimeter a Level and one level with a singular mast with a corner reflector-like shield during an overflight depending on, among other things, flight altitude and antenna opening angle can look very different, or a flat field for an IR sensor (no image-generating) is designed differently depending on vegetation, rain situation, ice and snow cover.

The variators 5 and 6 do not have to be physically separate represent, they can also continue to be integrated in the memory 2.

The environment and mission conditions can be set manually in the form of agreed, codes corresponding to the standardized soil data samples are entered.

But you can also, e.g. in unmanned systems, through further suitable transducers, automatically and possibly with support on the sensor II can be determined or, in some cases, entered manually before the start of the mission.

It is also conceivable to exchange the functions of sensors r and II, when the mission and environmental conditions so require and the appropriate soil data samples are available for storage.

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Claims (4)

P A T E N T A N S P R U C H E 1.) Device for local orientation on the basis of terrestrial information, characterized by a memory with soil data samples that are derived from a normalized, standardized Land mass data base that they and mission conditions from a primary soil data sample sensor at the respective Position determined soil data samples with a defined probability according to the representation and by using simple, well-known correlation and filtering methods in a micro-processor along with each from the primary soil data sample sensor the determined data enable an orientation. 2. Orientation device according to claim 1, characterized in that the soil data samples in the memory are varied analytically according to the given environmental and mission conditions based on known and measured soil data sample sensor behaviors based on the standardized sizes of the land mass data base. 3. Orientation device according to claim 1 and 2, characterized in that that the determinacy of the soil data samples in memory with respect to the respective Soil data samples of the sensor increased especially in poorly structured terrain is determined by data from a second, in a different electromagnetic spectral range working soil data sample sensor. 4. Orientation device according to claim 1 to 3, characterized in that that the normalized, standardized land mass data base is preferably the DLMS the US Defemse Mapping Agency.