EP3924683A1 - Dispositifs embarqués avec dispositifs de visualisation connectés en réseau permettant un suivi simultané d'une cible par de multiples autres dispositifs - Google Patents

Dispositifs embarqués avec dispositifs de visualisation connectés en réseau permettant un suivi simultané d'une cible par de multiples autres dispositifs

Info

Publication number
EP3924683A1
EP3924683A1 EP20755165.6A EP20755165A EP3924683A1 EP 3924683 A1 EP3924683 A1 EP 3924683A1 EP 20755165 A EP20755165 A EP 20755165A EP 3924683 A1 EP3924683 A1 EP 3924683A1
Authority
EP
European Patent Office
Prior art keywords
scope
target
target position
presumed
location
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Pending
Application number
EP20755165.6A
Other languages
German (de)
English (en)
Other versions
EP3924683A4 (fr
Inventor
Taylor J. CARPENTER
Mark J. Howell
Douglas FOUGNIES
Robert A. PRESSMAN
Larry L. DAY
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Individual
Original Assignee
Individual
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Priority claimed from US16/272,733 external-priority patent/US10408573B1/en
Application filed by Individual filed Critical Individual
Publication of EP3924683A1 publication Critical patent/EP3924683A1/fr
Publication of EP3924683A4 publication Critical patent/EP3924683A4/fr
Pending legal-status Critical Current

Links

Classifications

    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F41—WEAPONS
    • F41G—WEAPON SIGHTS; AIMING
    • F41G3/00—Aiming or laying means
    • F41G3/02—Aiming or laying means using an independent line of sight
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F41—WEAPONS
    • F41G—WEAPON SIGHTS; AIMING
    • F41G1/00—Sighting devices
    • F41G1/38—Telescopic sights specially adapted for smallarms or ordnance; Supports or mountings therefor
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F41—WEAPONS
    • F41G—WEAPON SIGHTS; AIMING
    • F41G3/00—Aiming or laying means
    • F41G3/04—Aiming or laying means for dispersing fire from a battery ; for controlling spread of shots; for coordinating fire from spaced weapons
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F41—WEAPONS
    • F41G—WEAPON SIGHTS; AIMING
    • F41G3/00—Aiming or laying means
    • F41G3/06—Aiming or laying means with rangefinder
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F41—WEAPONS
    • F41G—WEAPON SIGHTS; AIMING
    • F41G3/00—Aiming or laying means
    • F41G3/14—Indirect aiming means
    • F41G3/145—Indirect aiming means using a target illuminator
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F41—WEAPONS
    • F41G—WEAPON SIGHTS; AIMING
    • F41G3/00—Aiming or laying means
    • F41G3/14—Indirect aiming means
    • F41G3/16—Sighting devices adapted for indirect laying of fire
    • F41G3/165—Sighting devices adapted for indirect laying of fire using a TV-monitor
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F41—WEAPONS
    • F41G—WEAPON SIGHTS; AIMING
    • F41G9/00—Systems for controlling missiles or projectiles, not provided for elsewhere
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F41—WEAPONS
    • F41H—ARMOUR; ARMOURED TURRETS; ARMOURED OR ARMED VEHICLES; MEANS OF ATTACK OR DEFENCE, e.g. CAMOUFLAGE, IN GENERAL
    • F41H7/00—Armoured or armed vehicles
    • F41H7/005—Unmanned ground vehicles, i.e. robotic, remote controlled or autonomous, mobile platforms carrying equipment for performing a military or police role, e.g. weapon systems or reconnaissance sensors
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
    • G01S19/38—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system
    • G01S19/39—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system the satellite radio beacon positioning system transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
    • G01S19/42—Determining position
    • G01S19/48—Determining position by combining or switching between position solutions derived from the satellite radio beacon positioning system and position solutions derived from a further system
    • G01S19/49—Determining position by combining or switching between position solutions derived from the satellite radio beacon positioning system and position solutions derived from a further system whereby the further system is an inertial position system, e.g. loosely-coupled
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
    • G01S19/38—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system
    • G01S19/39—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system the satellite radio beacon positioning system transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
    • G01S19/53—Determining attitude
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S5/00—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations
    • G01S5/0009—Transmission of position information to remote stations
    • G01S5/0018—Transmission from mobile station to base station
    • G01S5/0027—Transmission from mobile station to base station of actual mobile position, i.e. position determined on mobile
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S5/00—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations
    • G01S5/0009—Transmission of position information to remote stations
    • G01S5/0045—Transmission from base station to mobile station
    • G01S5/0054—Transmission from base station to mobile station of actual mobile position, i.e. position calculation on base station

Definitions

  • Vehicle-mounted device with network-connected scopes for allowing a target to be simultaneously tracked by multiple other devices
  • a sight or optical viewer which incorporate lenses to magnify an image or simply passes through light without magnification also referred to as a“scope,” is a sighting device that is based on an optical refracting telescope or other optical viewing device. It includes some form of graphic image pattern (a reticle or cross-hairs) mounted in an optically appropriate position in its optical system to give an accurate aiming point.
  • Telescopic sights are used with all types of systems that require accurate aiming but are most commonly found on firearms, particularly rifles.
  • a telescopic sight may include an integrated rangefinder (typically, a laser rangefinder) that measures distance from the observer’s sighting device to a target.
  • a compass is an instrument used for navigation and orientation that shows direction relative to the geographic“cardinal directions,”, or“points.”.
  • A“compass rose” diagram shows the directions north, south, east, and west as abbreviated initials marked on the compass.
  • the rose can be aligned with the corresponding geographic directions, so, for example, the "N" mark on the rose really points to the north.
  • angle markings in degrees may be shown on the compass. North corresponds to zero degrees, and the angles increase clockwise, so east is 90 degrees, south is 180, and west is 270. These numbers allow the compass to show azimuths or bearings, which are commonly stated in this notation.
  • GPS data typically provides a three-dimensional location (latitude, longitude, and altitude (elevation)). For example, a sample GPS of a location in Philadelphia is as follows:
  • Miniaturized GPS devices are known that include a GPS receiver for providing GPS location data and an orientation sensor for providing attitude data.
  • the orientation sensor may derive its data from an accelerometer and a geomagnetic field sensor, or another combination of sensors.
  • One such miniaturized GPS device that is suitable for use in the present invention is a device that is commercially available from Inertial Sense, LLC located in Salem, Utah. This device is marketed as“pINS” and“pINS-2” (“INS” is an industry abbreviation for“Inertial Navigation System.”)
  • the pINS” and pINS-2 are GPS-aided Inertial Navigation Systems (GPS/INS).
  • GPS/INS uses GPS satellite signals to correct or calibrate a solution from an inertial navigation system (INS).
  • VN-300 Another known miniature GPS/INS that is suitable for use in the present invention is a device that is commercially available from VectorNav Technologies, LLC located in Dallas, Texas. This device is marketed as“VN-300” and is a dual-antenna GPS/INS. The dual-antenna feature in the VN-300 allows it to provide accurate compass data.
  • nodes can be formed into a network using a variety of network topologies including hub and spoke and mesh.
  • nodes communicate through one or more base stations which in turn are directly or indirectly connected to a mobile switching center (MSC).
  • MSCs are interconnected based on industry standards which enable nodes in a cellular network to communicate with other nodes that are connected to different based stations.
  • GSM Global System for Mobile communications
  • LTE Long Term Evolution
  • CDMA Code Division Multiple Access
  • a common feature in cellular networks is the capability of allowing nodes to connect to the Internet.
  • Broadband satellite communication systems use one or more communication satellites organized into a constellation.
  • satellite systems There are numerous commercially available satellite systems including systems operated by Globalstar, Iridium and Inmarsat.
  • broadband satellite communication systems allow nodes to connect to the Internet.
  • each satellite in the constellation acts as a base station and nodes in the system connect to a satellite that is in range.
  • One advantage of satellite systems is that coverage is sometimes better in remote areas.
  • Wireless Local Area Network (WLAN) technology allows nodes to establish a network.
  • WLAN standards including 802.11a, b, g and n.
  • 802.11s is a WIFI based mesh networking standard.
  • Bluetooth ® is another standard for connecting nodes in a network and mesh networking capability has recently been added to the Bluetooth LE standard by the Bluetooth Special Interest Group. Accordingly, through various standards, it is possible to implement point to point, point to multipoint and mesh WLAN, all of which are suitable for use with the present invention.
  • Mesh network topology has significant advantages for mobile devices, particularly in remote areas where there is limited cellular service since each node can be connected to multiple other nodes and there is no required path from any node in the network to any other node.
  • a further advantage of a mesh network is that as long as any one node in the mesh network has access to the Internet such as by way of a cellular or satellite connection, all of the nodes in the mesh network have access.
  • a representative wireless mesh networking chipset that is suitable for use with the present invention is the RC17xx(HP)TM (TinymeshTM RF Transceiver Module), which is commercially available from Radiocrafts AS and Tinymesh, both located in Norway.
  • the chipset incorporates the Tinymesh application for the creation of mesh networks.
  • the ideal mesh network chipset for the present invention is small, and has high power and a long range, and should operate in unlicensed spectrum.
  • a network of scopes including one or more lead scopes and one or more follower scopes, is provided to allow scope operators of the respective scopes to track the same presumed target.
  • a lead scope locates a target and communicates target position data of the presumed target to the follower scope.
  • the follower scope uses the target position data and its own position data to electronically generate indicators for use to prompt the operator of the follower scope to make position movements so as to re-position the follower scope from its current target position to move towards the target position defined by the target position data received from the lead scope.
  • a network of scopes including one or more lead scopes and one or more follower scopes, is provided to allow the respective scopes to track the same presumed target.
  • a lead scope locates a target and communicates target position data of the presumed target to the follower scope.
  • the follower scope uses the target position data and its own position data to electronically generate indicators for use to allow the follower scope to make position movements so as to re-position the follower scope from its current target position to move towards the target position defined by the target position data received from the lead scope.
  • At least the second scope is mounted to, or integrated into, a vehicle, which uses the target position data to move to a new position so as to allow the second scope to better view the target.
  • FIGS 1 A, IB, 2 and 3 are schematic diagrams of system components in accordance with preferred embodiments of the present invention.
  • Figures 4A-4C are optical sights in accordance with preferred embodiments of the present invention.
  • Figure 5 shows a sample preset list that may be displayed on a display of scope in accordance with one preferred embodiment of the present invention.
  • FIGS 6-8 show flowcharts in accordance with preferred embodiments of the present invention.
  • Figure 9A is a schematic diagram of a surveillance environment having a plurality of scopes, some of which are vehicle-based.
  • Figure 9B is a schematic diagram of a vehicle having vehicle-based devices in the surveillance environment of Figure 9A.
  • Figure 10 is a flowchart in accordance with another preferred embodiment of the present invention.
  • FIGS 11 A-l ID show surveillance environments having a plurality of scopes and a presumed target in accordance with preferred embodiments of the present invention.
  • Figures 12A and 12B are schematic diagrams of operator-assisted and fully automated embodiments for scope movement in accordance with preferred embodiments of the present invention.
  • Preferred embodiments of the present invention provide for devices having network- connected scopes which are designed to hone in on the same target, which may be a still or moving target.
  • a“lead scope” identifies a target and communicates location data regarding the target to a“follower scope” which uses the location data from the lead scope and its own location and orientation data to hone in the target.
  • the lead scope and the follower scope communicate through any available wireless data communication technology including cellular, satellite or one or more WLAN technologies.
  • a first scope identifies a target and communicates location data regarding the target to a plurality of other scopes which use the location data from the first scope and their respective location and orientation data to hone in on the target.
  • additional scopes locate the target, they communicate their location data regarding the target to a network server which amalgamates location data that is accumulated from each scope that identified the target to define successively more precise location data of the target (i.e., more data points increase the precision of the location), which is then communicated to the scopes that have not yet located the target.
  • the scopes that have previously reported the location of the target may also receive the latest location data of the target to assist in tracking the target.
  • the scopes in this embodiment can be connected using any available WLAN technology but in the preferred embodiment, a mesh networking technology is used to enable the plurality of scopes to communicate with each other. It is understood that any one of the scopes can perform the functions of the network server or the functions of the network server can be distributed among the plurality of scopes for redundancy in case one of the scopes loses connectivity to the WLAN. Ideally, at least one of the scopes is connected to the Internet and the other scopes in the network are thus able to access the Internet through the connected scope by way of the mesh network.
  • the target may be a moving object
  • the location data of the target for the scopes that have identified the target is continuously streamed to the scopes that have not yet located the target.
  • the location of the target is only sent when the lead scope activates a switch that designates the target.
  • the scope and/or the network server will predict the future location of the target assuming continued movement in the same direction using known techniques.
  • device The device is the object that a scope is integrated into. Examples of such devices include a rifle, gun, binoculars, smart eyeglasses or goggles, helmet visor and a drone. Certain types of devices are themselves“scopes,” such as binoculars, telescopes and spotting scopes.
  • the device may be handheld or may be mounted on a land, aerial or water based vehicle.
  • target The target is the object of interest. It may be a person, animal or object, and may either be stationary or moving.
  • lead scope The lead scope is the first scope that identifies a target. In the first embodiment, there is only one lead scope. In the second embodiment, the lead scope is only the first scope that located the target.
  • any scope in the network can function as a lead scope.
  • follower scope The follower scope is a scope that attempts to hone in on the same target that the lead scope identified. In the first embodiment, there may be one or more follower scopes. In the second embodiment, the follower scopes include all of the scopes that have not yet honed in on the target that the previous set of scopes (including the lead scope) has identified. In one preferred embodiment, any scope in the network can function as a follower scope.
  • scopes can function as either a lead or follower scope.
  • certain scopes may be dedicated to a lead or follower role, and certain scopes may have more or less functionality than other scopes.
  • a device having a scope includes each of the following measurement devices (or their equivalents):
  • GPS/INS device provides location data of the device
  • location data of the device (could be implemented as two or more distinct devices such as a GPS receiver, gyroscope and accelerometer)
  • rangefinder provides the distance from the device’s scope to the target.
  • laser technology is used by the rangefinder to detect range but other technologies such as optical distance measurement could also be used.
  • One example of an optical distance measurement system uses a series of lenses and mirrors to produce a double image and a dial or other controller with distance indicia is adjusted to bring the two images into alignment.
  • compass (provides the direction of the target relative to the position of the scope (north, south, east, and west)).
  • the compass may be a standalone device, or may be incorporated into the GPS/INS and determine direction using GPS compassing. GPS compasses often have two antennas and if the device is a pair of binoculars, one option would be to place an antenna on each barrel. Accuracy can be increased by increasing the separation of the antennas used by the GPS compass such as through the use of one or more fold-out arms, booms, lighter than air balloons or other mechanical means to obtain separation, or by connecting a second antenna through an RF or optical connection.
  • orientation sensor (provides attitude data, namely, the pointing angle of the device relative to a fixed level plane (e.g., zero degrees if pointing straight ahead, 30 degrees up if pointing at a bird or plane in the sky or - 10 degrees if pointed down into a valley)
  • elevation sensor (optional) (provides absolute elevation above sea level or other reference point). This would typically be a barometric sensor that would supplement the accuracy of the elevation determined by the GPS/INS which, in some cases is not particularly accurate.
  • an ultrasonic or other proximity sensor may be used to determine the distance to the ground if the GPS/INS either incorporates or has access to a topographic map though a network connected scope. For example, if the GPS position corresponded to a position on a topographic map that is 500 feet above sea level and the proximity sensor determines that the distance from the scope to the ground is 5 feet, an accurate elevation of 505 feet would be known by the scope.
  • Data from these measurement devices are used to calculate the position of the target, which may be expressed in GPS coordinates or the like.
  • the operator of a device that contains the lead scope identifies a presumed target.
  • the operator of the device either centers a cross-hair or other target indicia to the center of the target or using a pointing device such as a touchpad or eye tracking sensor, causes a cross-hair to move to the center of the target.
  • the operator optionally presses a button to cause the target to be designated.
  • the rangefinder is activated and the data from the measurement devices is stored in memory.
  • the lead scope calculates a local AER (azimuth, elevation, range) position of the target based on the stored directional and range measurement data. A calculation is then made using the stored positional measurement data to convert the local AER position to a global position. In the preferred embodiment, the global position is designated as GPS coordinates. In some cases, an accuracy or estimated error associated with the target position is also determined by the lead scope.
  • An alternative implementation which obtains the same result involves the wireless transmission of the stored measurement data, as opposed to the position data to the follower scope or other device connected to the network such as a network server.
  • the follower scope or network server calculates the target position and, in some cases, the estimated error or accuracy, from the measurement data. Either the determined position data and error or accuracy data (if collected or determined) or the measurement data is transmitted to the follower scope. Through the above operations, either one or more follower scopes will wirelessly receive the position data or calculate it from the received measurement data transmitted by the lead scope.
  • the system includes a network server and the network server receives the raw data from the measurement devices transmitted by the lead scope, it calculates the target position and stores the data. If the network server receives the calculated target position, it stores this data and forwards it to other scopes. It is understood that the system can be operated without a network server and that the features described as being performed by the network server could be performed by any scope or device in the network or by a remote network server to which the scopes are connected via the Internet.
  • a follower scope on another device wirelessly receives either from the lead scope or from the network server the target position calculated by the lead scope.
  • the device containing the follower scope also includes the same set of measurement devices (or their equivalents).
  • the follower scope uses its own location data and the target position to calculate the bearing and attitude where the follower scope should aim so as to be pointing at the same target position as the lead scope.
  • the follower scope could include a reduced set of measurement devices and operate with reduced functionality. For example, if the rangefinder was not included in the follower scope, it would have limited functionality as a lead scope.
  • Visual (guiding) indicators are displayed on the device of the follower scope to direct (guide) the operator of the follower scope as to where the scope should be moved to so as to lock in on the target position.
  • an eyepiece of the follower scope may include the visual indicators.
  • a device or scope-mounted display may provide the visual indicators.
  • the visual indicators may be directional arrows, LED lights, text messages (e.g., move left, move up), or the like. Audio indicators may be used as well. 10. If the lead scope moves its physical position or its aiming position and indicates that the target has been re-located, the calculations are automatically rerun and sent to the follower scope so that the follower scope can continue to search for the target.
  • the calculations at the follower scope of the vector to the target must be redone, even if no changes are made to the physical position or aiming position of the lead scope so as to update the guiding indicators display within the follower scope.
  • each follower scope uses the raw measurement data from the lead scope to calculate the target position of the lead scope. That is, if the follower scope receives the raw measurement data, it must perform the target position calculation of the lead scope before it can determine the relative position of its own device to the target.
  • Additional options include the ability of the lead scope to capture a digital image of the target using a digital image sensor incorporated into or attached onto the scope and transmit the digital image to the follower scope so that the operator of the follower scope would know what it is looking for.
  • a further option would be for the follower scope to signal back to the lead scope that it sees the target and to transmit a digital image of its view of the target. Capturing a digital image of the target could have unique applications in military and law enforcement. For example, if at least one of the scopes is connected to the Internet and the digital image is a human face, the digital image could be transmitted through the Internet to a database that would attempt to match the face using facial recognition. If a match is identified, additional information about the target could be provided to each of the scopes.
  • other biometric measures can be captured and transmitted such as gait and facial blood vessel patterns which when used with a thermal imager can form a digital fingerprint of a human face.
  • the steps of the second embodiment are similar to the first embodiment, except that a network server (which as noted above could be one or more of the scopes in the network) performs additional calculations as described above to amalgamate the estimated location data that is accumulated from each scope that identified the target to define successively more precise location data of the target (i.e., more data points increase the precision of the location), which is then communicated to the scopes that have not yet located the target.
  • the network server can store multiple targets (such as from multiple lead scopes) and communicate those to each follower scope in the network.
  • Connected rifle scopes two hunters are hunting. One hunter spots a prey and signals to the other hunter to lock in their scope on the same prey. If the scopes are equipped with image capture and display devices, the image of the prey could be sent from the first hunter to the second hunter and the second hunter could signal the first hunter using the connected scope that it has seen the target and potentially transmit the image that it has seen back to the first hunter. If the first hunter has lost the target, the second hunter would then become the lead scope and transmit the position of the target (or raw measurement data) back to the first hunter who would attempt to reacquire the target.
  • two birdwatchers are birding. One birdwatcher spots a bird and signals to the other birdwatcher to lock in their binoculars on the bird.
  • a drone operated by a law enforcement agency identifies the position of a suspected shooter in a field.
  • Police armed with connected rifle scopes are directed to the suspected shooter position data as initially determined by the drone and as further refined by subsequent position data collected from police who subsequently identify the shooter in their connected rifle scopes.
  • Figure 1 A shows a system view wherein a plurality of devices 10 (devicei-devicen) and non-device/non-scope nodes 12 (nodei-noden) are in communication with a network server 16 via wireless communication and an electronic network 18.
  • the electronic network 18 is represented by the solid lines connecting the devices 10 to the network server 16.
  • the electronic network 18 may be implemented via any suitable type of wireless electronic network (e.g., local area network, wide area network (the Internet)).
  • the functions of the one or more non- device/non-scope nodes 12 ((nodei-noden) are described below.
  • at least the network server 16 is connected to the Internet 20.
  • Figure IB shows the topology of a mesh network 22 that is suitable for use in preferred embodiments of the present invention.
  • the plurality of devices 10 and the network server 16 are nodes 24 in the mesh network 22, and thus these elements are labeled as nodes 24 in Figure 1 A.
  • each of the nodes 24 are capable of being in communication with each other via the mesh network 22.
  • either the network server 16 becomes another node 24 in the mesh network 22, or there is no network server 16, or one or more of the device scopes perform functions herein described as being performed by the network server 16.
  • at least one of the nodes 24 is connected to the Internet 20. Additionally, there may be one or more nodes 26 that are outside of the mesh network 22, but which can
  • the scope of the present invention includes other types of network topologies and is not limited to a hub and spoke network architecture with a server at the hub.
  • the devices/nodes may be directly connected to each other wirelessly (e.g. by way of a point to point connection which could also be an ad-hoc network).
  • Each device/node may have a cellular or satellite connection and connect with each other through the cloud (i.e., the Internet).
  • Each device/node may connect with each other through a wireless router that may be land-based or aerial such as in a tethered hot air balloon or drone programmed to stay in a fixed aerial location.
  • devices/nodes may connect to the network in different fashions.
  • five of the nodes could be in range of the mesh network 22.
  • the sixth node could be out of range and connected to the network by a cellular or network signal via the Internet 20.
  • Figure 2 shows elements of a sample device 10, which may include (or may be) either a lead scope or a follower scope.
  • the device 10 includes a processor 30 connected to at least the following elements:
  • orientation sensor 38 (attitude)
  • scope 42 (the structure of the scope will depend upon the type of device)
  • audiovisual display device 44 (which can be either standalone or integrated into the scope)
  • network interface 46 in communication with a wired or wireless communication transceiver 48
  • the audiovisual display device 44 is the element that provides prompts/messages and indicators to the user. In follower scopes, information provided by the audiovisual display device 44 assists the user in honing in on the target. Depending upon the type of device 10 and the environment that the device 10 is used in, there may be only video, only audio, or both audio and video provided by the audiovisual display device 44.
  • FIG. 3 shows elements of the network server 16, including a processor 52, memory 54, image analysis and manipulation software (IAMS) 56 which can implemented using artificial intelligence software, and a network interface 58 in communication with a wired or wireless communication transceiver 60.
  • IAMS image analysis and manipulation software
  • processor functions of the individual devices 10 and the network server 16 depend upon the system architecture and the distribution of computing functions. As described herein, some of these functions can be performed at either processor 30 or 52, whereas other functions may be performed by the network server’s processor 52.
  • Figures 4A-4C each show an optical sight (scope) for a rifle having an integrated audiovisual display device.
  • the display device is located at the zero degree position and presently reads“MOVE LEFT.”
  • the display device has four separate areas, at zero, 90, 180 and 270 degrees.
  • the display device in Figure 4B is currently indicating to move left (left arrow at 270 degrees is on indicated by a solid line, whereas the other three arrows for up, right and down, are off, as indicated by dashed lines).
  • Figure 4C is similar to Figure 4A, except that it includes an additional display element that shows the image that the user should be trying to locate. The direction prompts in these figures indicates that this rifle is presently functioning as a following scope. III. ADDITIONAL CONSIDERATIONS
  • the lead scope and follower scope(s) When calculating a presumed target position from GPS data and the other measurement devices, there are known, quantifiable errors introduced by the lead scope and follower scope(s), which can be represented by discrete values (e.g., +/- 20 cm). Certain types of errors will be consistent from scope to scope based on inherent limitations of the measurement devices. Other types of errors may depend upon signal strength, such as the strength of a GPS signal or number of satellites used to calculate the position of the lead scope. For each calculated target position, the lead scope, follower scope and/or network server identifies the error value. When amalgamating and accumulating target positions from multiple scopes to calculate an updated target position, the error values may be used to weight the strength given to each target position.
  • target positions with the lowest error values may be more highly weighted.
  • a target position with a very high error values compared to other target position error values may be deleted from the calculation.
  • One way to use the additional data to more accurately predict the position of the target would be to place points representing each estimated target position on a 3 -dimensional grid and estimate the center point or average location of the data representing the estimated targets. The center point can be adjusted based on weighting as discussed above.
  • a temporal factor may be used. For example, the most recently observed target positions may be given greater weighting. Certain target positions may be eliminated entirely from the weighting after a predetermined period of time has passed from the observation time.
  • the temporal factor may also be affected by the nature of the target for embodiments where the type of target is determined (e.g., car, person, deer) by the IAMS and/or by the scope.
  • the temporal factor is likely to be more important for fast-moving targets compared to slow- moving targets.
  • a fast moving target e.g., a car
  • the most recently observed target positions may be given significantly greater weighting, and older target positions would likely be eliminated more quickly from the weighting compared to slower moving targets.
  • the IAMS may also use various algorithms to determine if the target is actually moving, and if so, at what speed. This calculation may then be used for the temporal factor. For example, if a target appears to be stationary, then no temporal factor will be applied to the weightings. The algorithm may look at multiple observed target positions and if they are relatively similar after factoring in their respective error values, and were observed at significantly different time intervals (i.e., not very close in time), it can be concluded that the target is stationary.
  • the visual indicator visually communicates the error information in a form that is useful to the device operator.
  • an error box may by overlaid around the dot so that the operator of the device knows that the target may be in any of the areas within the error box, and is not necessarily exactly where the dot is showing.
  • the error box presumably becomes smaller as more target positions are identified by a succession of follower scopes.
  • the exact manner in which the error information is communicated depends upon how the presumed target position is displayed on a follower device.
  • the target is represented by a one-dimensional object on a display screen, such as a dot.
  • the target is represented by a simulated two- dimensional or three-dimensional image on the display screen. If a digital image is captured and transmitted, the actual image of the target may be displayed on the screen.
  • IAMS image analysis and manipulation software
  • AI artificial intelligence
  • the simulation process allows for the target to be rotated so that it appears properly positioned with respect to the follower scope.
  • a lead scope identifies a deer (target) that is a quarter-mile away and is facing the device head-on.
  • the target position of the deer and a physical image of the deer is captured by the scope and communicated to the network server.
  • the IAMS in the network server or remotely accessed via the Internet identifies key visual features within the image and compares these features with known objects to categorize the target as a front view of the deer and retrieves a simulated image of a deer from its database.
  • a follower scope receives target position data regarding the deer, and it is determined that the follower scope is also about a quarter-mile from the deer but is 90 degrees off compared to the lead scope.
  • the IAMS can then rotate the simulated deer by 90 degrees and communicate a side view of the deer for display on the follower scope so that the follower scope knows what the deer is likely to look like.
  • the IAMS can build a 3-D image of the target, thereby enabling a more realistic view of the target to be displayed on the follower scopes that are still looking for the target.
  • the IAMS must know the positions of both the lead scope and the follower scope to perform the rendering since both positions are necessary to know how to rotate the 3-D image of the target. If actual images are captured, one option would be for the IAMS to combine the actual image data rather than simulate the image.
  • the IAMS could attempt to match the target image to a person using facial recognition or other biometric techniques. If there is a match, information about the target could be returned to the scopes.
  • a further application of an image display system incorporated into the scopes would be the ability of the follower scope to retrieve a high-resolution aerial image or topographical map and display the aerial image or map on the display of the follower scope together with some indicia of the approximate location of the target. If error information is known, a box can be displayed on the aerial image or topographical map showing the area in which the target may be located.
  • the target is represented by a bounding box or highlighted image segment on the display when present in the scope’s field-of-view.
  • the IAMS may be used to identify key visual features within the image that allows recognition of the target object in future collected images.
  • the digital image buffer of the follower scope field-of-view is processed by the IAMS to determine if there is a pattern match between the key visual features of the target identified previously and features within the current field-of-view. Upon finding the target image features, the target is visually indicated.
  • one embodiment includes a transparent display overlay that is activated to highlight a target in a particular color or draw a box around the target. If the follower scope has a visual display, the matched target is designated as described above.
  • a lead scope identifies a deer (target) that is a quarter-mile away and is facing the device head-on.
  • the target position of the deer and a physical image of the deer is captured by the scope and communicated to the network server.
  • the IAMS in the network server or remotely accessed via the Internet uses computer vision techniques to segment the image, separating the target from the background image.
  • the IAMS generates a set of key identifiable features within the image segment, such as the points on the deer’s antlers and a white patch on its side.
  • a follower scope receives target position data regarding the deer and it is determined that the follower scope is also about a quarter-mile from the deer, but is 45 degrees off compared to the lead scope.
  • the IAMS can then rotate the visual feature-set corresponding to the target by 45 degrees so that it knows what the features should appear as in the follower scope’s field-of- view.
  • the follower scope aims in the general direction of the target, guided by the instructions regarding the target’s location. Images of the current field-of-view of the follower scope are sent to the IAMS as the follower scope moves for processing.
  • the IAMS performs pattern matching on the incoming follower scope images, comparing key features within the image with the target feature-set generated from the target scope and adjusted for the follower scope’s viewing angle. If a pattern match occurs, the location of the target, within the follower scope field-of-view, is transmitted to the follower scope.
  • the follower scope presents a bounding-box overlay highlighting the location of the target within the display.
  • the IAMS can build a larger set of key identifying features from multiple angles.
  • Calculation of a target position from the measurement data may be performed by any one of known techniques which rely upon GPS data.
  • U.S. Patent No. 5,568,152 Japanese et al.
  • U.S. Patent No. 4,949,089 discloses a similar methodology. Any such methodologies may be used to calculate the target position.
  • the follower scope knows its GPS coordinates and it has received the approximate GPS coordinates of the target from the lead scope or network server (or calculated the target position based on directly or indirectly wirelessly receiving the raw measurement data from the lead scope. With this information, the follower scope (or the network server or another node in the network) calculates a route between the two GPS coordinates. Unlike a vehicle route where you are effectively only determining a two-dimensional direction from point A to Point B, the follower scope also determines a precise vector and range from its position to the position of the target. Since the follower scope also has a GPS/INS device, it uses the information concerning the calculated vector to the target to direct the user to point the follower scope in alignment with the vector to the target.
  • the follower scope determines that the device user is presently looking due west (270 degrees) in the horizontal plane and the vector to the target is due north (0 degrees).
  • the follower scope would display a right arrow or otherwise indicate that a clockwise rotation is required and would stop the user (via displayed or verbal cues) at the point when the user is pointed at 0 degrees.
  • the follower scope would determine the vector in the vertical plane. For example, if the follower scope is level but the vector to the target is 10 degrees lower, the follower scope would direct the user to lower the angle of the follower scope until it matches the vector to the target in the vertical plane.
  • the follower scope assumes that the user would be directed to the target first in the horizontal plane and then in the vertical plane. However, it is possible to simultaneously direct the follower scope in both the horizontal and vertical plan by simultaneously displaying both a right arrow and down arrow. And, because of the GPS/INS device, the follower scope always knows its orientation and direction using GPS compassing.
  • an alternative embodiment of the scopes incorporate a forward-looking infrared sensor to detect heat signatures of targets.
  • the system uses the rangefinder, the system detects the location of the target corresponding to the selected heat signature and then in addition to or instead of transmitting an image of the target of interest, the system transmits the heat signature.
  • the preferred embodiment transmits the image and/or heat signature to the other devices in the system
  • at least a portion of the devices may not have visual displays.
  • the follower scope may rely simply on directional arrows or other indicia to direct the user of the follower scope to the target.
  • a connection between the follower scope and a pair of headphones may be used which directs the use to move the device (e.g., up, down, left, right).
  • range information from the rangefinder is not used for identifying the target at the follower scope. Since optical scopes and binoculars focus for variable distances, the guidance to target information may also include indicia to allow the user to know the correct distance to look at or focus on. In the audio embodiment, commands may be provided to focus nearer or further, look closer, or the like. Stated another way, the user is already looking along a vector calculated based on the known target location and the known location of the follower scope. The rangefinder can be used to get an idea of whether you are too far or too close to the target. For example, the target may be one mile away, but the user is currently looking 1.5 miles away.
  • the lead scope may incorporate cross-hairs or other target selection indicia such as a reticle to mark the target.
  • the rangefinder detects the distance to the target and the system determines the coordinates of the target and notifies the follower scopes of the target position as described above or communicates with an available network server to store the coordinates of the target.
  • the lead scope may incorporate the switch to send the information to follower scopes into a sensor on or adjacent to the trigger.
  • a more complex follower scope may include a higher resolution display and utilize augmented reality techniques to overlay visual information received from the lead scope and indicia directing the follower scope to the target onto an optical field-of-view of the follower scope.
  • An overlay may be implemented by a heads-up display or equivalent or by switching to a complete digital display.
  • the image of the target may be captured in a manner substantially identical to a variety of techniques used in digital cameras. For example, at the point in time when the user of the lead scope designates the target, a mirror may fold down and direct the image to an image sensor similar to the operation of a digital SLR.
  • the lead scope may also operate similar to a mirrorless or compact camera which does not use a mirror.
  • Position movement of the lead scope due to hand movements of the device (e.g., rifle/gun, binoculars) by the user may introduce instability to the system.
  • a touchpad or other pointing device may be mounted on the device and used to move the cross hairs or other target indicia over the target.
  • the range is determined based on the range to the center of the cross-hairs using the rangefinder. In some cases, and depending on the range finding technology used, it may be necessary to mechanically redirect the rangefinder to point at the target using linear or other silent motors which would make minimal noise.
  • the target position calculation is performed and adjusted for the offset between the orientation of the lead scope and the offset to the orientation determined based on the amount that the cross-hairs have been moved off-center.
  • terrain features may be on the path of the vector between the follower scope and the target. For example, if the lead scope is one mile due north of the target and the follower scope is two miles due south, there could be a hill between the follower scope and the target.
  • Detailed topographic maps and navigational tools are readily available. For example, software products such as Terrain Navigator Pro, commercially available from Trimble® subsidiary MyTopoTM, Billings, Montana, provides detailed topographical maps of the entire U.S. and Canada and incorporates U.S. Geological survey maps at various scales.
  • either a computer in the lead scope or a computer in an intelligent node in the network of connected scopes can overlay the vector between the follower scope and the target onto a topographical map of the area and determine if the vector passes through a terrain feature that would make it impossible for the follower scope to see the target. If an obstruction is present, an indicia that the target is blocked from view may be presented to the user of the follower scope.
  • the follower scope may direct the user to move to another position, preferably the closest position, where it would have an unobstructed view of the target.
  • the computer in the lead scope or the computer in an intelligent node in the network of connected scopes outputs at least one of these information items (i.e., an indicia for display by the second scope that the presumed target is blocked from view, and electronically generated indicators for use by the second scope to prompt the operator of the second scope to move to another position that allows for an unobstructed view of the presumed target) when a determination is made that the vector passes through a terrain feature that would prevent the second scope from viewing the presumed target.
  • each scope has the capability to be a lead scope or follower scope at any given time, thus creating the possibility that multiple scopes may be sending position information associated with different targets simultaneously.
  • scopes can receive an image of the target transmitted by the lead scope
  • multiple target images could be displayed in a list and using selector buttons, a pointing device, or by tracking the eye and determining a focus point, the target of interest could be selected by the follower scope and thereafter the follower scope would be directed to the target as previously described.
  • the user of the follower scope would be presented with a list of available targets and associated annotating information, such as distance to target, time of creation, or originating scope, and have the ability to select a target of interest through the use of selector buttons, a pointing device, or eye tracking.
  • the processor would select the target based on predetermined criteria or an algorithm which would use various factors to select the best target. These factors could include nearest target, target with least error rate, target matched by the IAMS to a preferred target type such as a particular animal or person identified by facial recognition.
  • the follower scope could support the simultaneous tracking of multiple targets of interest. Instead of selecting a single target of interest from a list of available targets, the user of a follower scope would have the ability to toggle each available target as shown or hidden. If an available target is set to show, indicia would be added to the follower scope overlay, annotated with a label indicating which target of interest it is guiding towards.
  • a scope may be unclear if a scope is sending confirmation that it has identified and pointed at a target previously selected by a lead scope or acting as a lead scope and sending a new target.
  • a user interface may be included to allow the user of the scope to indicate whether it is sending position information associated with a new target or confirmation that it has seen a target that was previously designated by a different target.
  • the IAMS could compare the images of the targets and determine whether to treat the received position data as associated with a previously designated target or a new target.
  • the user of a scope could make a mistake and improperly indicate that it has selected a target previously designated by a lead scope when in fact the scope is actually designating a different target. This could occur for a variety of reasons with one example being the same type of animal being within the error box.
  • the IAMS would have the capability of comparing the two images and determining that the target images have a low probability of being the same target and the that scope is acting as a lead scope and sending data associated with a new target.
  • the network-connected scopes may be used to play a game with scoring maintained by any one of the scopes or a network server.
  • the game may operate over a fixed time interval.
  • the lead scope sets the target and each follower scope searches for the target. Points are awarded based on the order in which the follower scopes identify the target and/or the amount of time it takes for the follower scope to find the target. A maximum amount of time is provided for the follower scopes to find the target at which point the round ends. Either sequentially or randomly, a new lead scope is then designated to find a target and the next round is played.
  • the winner of the game is the scope with the maximum points at the conclusion of the preset time for the game. Alternatively, the game ends when a target score is achieved and the players are ranked based on their points.
  • the IAMS can be used to support the operator of a lead scope by identifying potential targets within the current field-of-view through object classification.
  • Prior art processes exist to analyze image frames and identify objects in the image frame.
  • the GOOGLE ® Cloud Vision API provides image analytics capabilities that allows applications to see and understand the content within the images.
  • the service enables customers to detect a broad set of entities within an image from everyday objects (e.g., "sailboat”, "lion”, “Eiffel Tower") to faces and product logos.
  • Software applications of this type may be used for identifying potential targets within the current field-of-view through object classification.
  • an IAMS-enabled lead scope having object classification functionality the operator can select the type of target they are looking for from a preset list (e.g. car, person, deer), at which point an image is captured from the lead scope and the IAMS highlights any objects within the view that match the specified object type, such as with a bounding box or highlighted image segment.
  • the lead scope can then be pointed at one of the highlighted potential targets and activated to designate the target.
  • the image processing can be continuous, such that as the lead scope is moved around, any objects that are found to match the specified object type are highlighted.
  • the automatic target detection is extended to one or more follower scopes using features described in the image simulation and display of section C above.
  • the IAMS calculates how the target image should appear based on the location of a specific follower scope with respect to the lead scope.
  • the appearance factors in the angle e.g., same angle (head on), rotated +/-90 degrees (left or right side view), rotated 180 degrees (butt view)
  • distance e.g., same, bigger, or smaller in size, depending upon distance to the target.
  • An image is captured from the field-of-view of the follower scope and automated pattern identification is performed to determine if the expected target image from the lead scope, as it was calculated to appear by the follower scope, is actually in the field-of-view of the follower scope. For example, if a deer is supposed to appear rotated +90 degrees, a deer that is facing the follower scope head on, as determined from the automated pattern recognition, would not likely be the correct target. However, if the deer is supposed to appear rotated +90 degrees, and a deer is determined to be in the field-of-view of the follower scope and is also determined to be rotated +90 degrees, as determined from the automated pattern recognition, the deer is likely to be the correct target.
  • Figure 5 shows a sample preset list that may be displayed on a display of scope.
  • the listed objects include a human, a deer and a vehicle.
  • the operator of the scope has selected“deer.” Assume that the field-of-view of the scope is analyzed for object detection and the only object appearing in the field-of-view is a single deer at approximately the 1 :00 o’clock position. This would result in a field-of-view similar to that shown in Figure 4C with
  • the IAMS receives data regarding the focal lengths of the respective scopes so that any such adjustments can be made.
  • Preferred embodiments of the present invention may be implemented as methods, of which examples have been provided.
  • the acts performed as part of the methods may be ordered in any suitable way. Accordingly, embodiments may be constructed in which acts are performed in an order different than illustrated, which may include performing some acts simultaneously, even though such acts are shown as being sequentially performed in illustrative embodiments.
  • Figure 6 is a flowchart of a process for tracking a single presumed target by a first scope and a second scope located remotely from one another and being moved by separate scope operators, wherein each of the scopes include a plurality of measurement devices configured to provide current target position data.
  • the process is implemented by at least the following steps:
  • the first scope electronically communicates to the second scope the current target position data regarding the presumed target identified by the operator of the first scope.
  • the second scope identifies its current target position data of the second scope’s current target position using its plurality of measurement devices.
  • 606 Calculate in a processor of the second scope, using its current target position data and the current target position data received from the first scope, position movements that are required to move the second scope from its current target position to the target position of the presumed target identified by the first scope.
  • the processor of the second scope outputs electronically generated indicators for use by the second scope to prompt the operator of the second scope to make the position movements.
  • the operator of the second scope uses the indicators to re-position the scope from its current target position so as to move towards the target position defined by the current target position data received from the first scope.
  • Figure 7 is a flowchart of a process for tracking a single presumed target by a plurality of scopes located remotely from one another and being moved by separate scope operators, wherein each of the scopes include a plurality of measurement devices configured to provide current target position data, and each of the scopes are in electronic communication with a network server, and the current target position data have error values.
  • the process is implemented by at least the following steps: 700: Identify current target position data regarding a presumed target that is located by an operator of the first scope, using the plurality of measurement devices in the first scope.
  • the first scope electronically communicates to the network server the current target position data regarding the presumed target identified by the operator of the first scope.
  • the network server communicates to the remaining scopes the current target position data regarding the presumed target identified by the operator of the first scope.
  • Each of the remaining scopes use the current target position data regarding the presumed target identified by the operator of the first scope to locate the presumed target.
  • the network server calculates updated current target position data upon receiving current target position data from any one of the remaining scopes by amalgamating the current target position data from each scope that located the presumed target, the updated current target position data having reduced error values compared to the error values of the current target position data identified by only the first scope.
  • the network server electronically communicates the updated current target position data regarding the presumed target to the remaining scopes that have not yet located the presumed target.
  • the remaining scopes that have not yet located the presumed target use the updated current target position data, instead of any previously received current target position data, for locating the presumed target.
  • Figure 8 is a flowchart of a process for tracking a plurality of presumed targets by a plurality of lead scopes and one or more follower scopes located remotely from one another and being moved by separate scope operators, wherein each of the scopes include a plurality of measurement devices configured to provide current target position data, and each of the scopes are in electronic communication with a network server.
  • the process is implemented by at least the following steps: 800:
  • the plurality of lead scopes identify current target position data regarding a presumed target that is located by an operator of the respective lead scope, using the plurality of measurement devices in the respective lead scope.
  • the plurality of lead scopes electronically communicate to the network server (i) the current target position data regarding the presumed target identified by the operator of the respective lead scope, and (ii) information regarding each of the presumed targets.
  • the network server communicates to the one or more follower scopes (i) the current target position data regarding the presumed targets identified by the operators of the lead scopes, and (ii) the information regarding each of the presumed targets.
  • Each of the one or more follower scopes uses the information regarding each of the presumed targets to electronically select one of the presumed targets of the lead scopes.
  • Each of the one or more follower scopes locate the selected presumed target by (i) identifying its current target position data of its current target position using its plurality of measurement devices, (ii) calculating, using its current target position data and the current target position data of the selected presumed target position, movements that are required to move the follower scope from its current target position to the target position of the selected presumed target, and (iii) outputting electronically generated indicators for use by the follower scope to prompt the operator of the follower scope to make the position movements.
  • the operator of the follower scope uses the indicators to re-position the follower scope from its current target position so as to move towards the target position defined by the current target position data of the selected presumed target.
  • VectorNav Technologies, LLC markets a device that includes a dual-antenna feature for providing GPS compassing.
  • Inertial Sense, LLC also markets a device under the name“pINS-Dual Compass” that provides similar GPS-Compassing functionality.
  • the pINS-2-Dual Compass includes additional capabilities to improve the detected location data (Real-time kinematic or RTK) and two receivers to simultaneously receive GPS data from two precisely positioned antennas to enable accurate GPS heading determination from a static position. Both of these devices are suitable for use in the present invention.
  • RTK Real-time kinematic
  • the devices/nodes in Figures 1 A and IB may connect to public and private databases, application servers, and other voice and data networks via an internet connection or via a private data communications capability linked to a base station or an MSC.
  • additional voice and data information may be exchanged by the hunters, such as verification that the specific target of interest (here, the prey) is within the legal limits for hunting.
  • an error box may be overlaid around the presumed target position on a display screen of the device.
  • the error box is based on the combination of the errors introduced by the lead scope and further error introduced by the follower scope.
  • the error introduced by the lead scope and follower scope is a function of, among other things, the accuracy of the sensors for position, range and orientation, range to target and the optical characteristics of each scope.
  • IAMS may be used to allow a target to be rotated so that it appears properly positioned with respect to the follower scope.
  • the IAMS can rotate the simulated deer by 90 degrees and communicate a side view of the deer for display on the follower scope so that the follower scope knows what the deer is likely to look like.
  • the processor in the follower scope may overlay the simulated rotated image of the deer with the actual image captured by the follower scope when the follower scope is pointing at the target area.
  • a night vision goggle viewable laser may be used to mark the target. If the follower scope has night vision capability, once the follower scope is pointed at the correct area of interest, it would be able to verify that it was looking at the correct target by observing the laser on the target.
  • the device may be“handheld” and certain types of devices are themselves“scopes.”
  • the handheld device is a smartphone/mobile device (hereafter, referred to as a“mobile device”) that uses an application (app) installed therein, data from sensors that are pre-installed within the mobile device, and the mobile device’s processor and networking components, to allow the mobile device to function as a scope.
  • rangefinder apps which allow a mobile device to function as a scope are well-known in the art.
  • One suitable rangefinder app is“Whitetail Deer Hunting Range Finder for Hunting Deer,” commercially available from GuideHunting L.L.C.
  • the devices may be handheld or may be mounted on a land, aerial or water based vehicle. When mounted, the device mount will typically have a pan-tilt mechanism (described in more detail below) to allow for precise positioning of the scope associated with the device.
  • the vehicle-based devices are inherently mobile. Other devices may be in fixed positions.
  • Figure 9A shows one preferred embodiment of a surveillance environment having a plurality of devices, some of which are handheld, some of which are in fixed positions, and some of which are aerial or vehicle-based.
  • Figure 9B shows one of the vehicles in Figure 9A having vehicle-based devices mounted to or integrated therein. Referring to Figures 9A and 9B, the following types of devices are shown:
  • Vehicle-mounted devices IOi-IOb There are up to six vehicle-mounted devices shown in Figure 9A because three vehicles 90 are shown ( Figure 9B shows one of the vehicles), and one preferred embodiment of a vehicle may have up to two devices 10 mounted thereon.
  • This type of vehicle may be a truck-like vehicle 91 having the following structure:
  • ii. A retractable sunroof/moonroof 93 (hereafter, referred to as a“sunroof’), preferably, having a horizontally retractable mechanism.
  • a first retractable telescoping structure 94 having a first set of surveillance equipment 95 mounted thereon, and being mounted on the flatbed 92 of the vehicle 10, wherein the first retractable telescoping structure 94 retracts to a form factor that allows it to be completely stored in the flatbed and fully covered by a flatbed cover.
  • surveillance equipment 95 may include one of the devices 10. In its fully extended, upright position, the first retractable telescoping structure 94 effectively functions as a mast, and the first set of surveillance equipment 95 is preferably mounted at or near a top portion of the mast.
  • a second retractable telescoping structure 96 having a second set of surveillance equipment 97 mounted thereon, and being mounted completely inside of the vehicle when fully retracted, and extending partially through the sunroof 93 when in use.
  • the second set of surveillance equipment 97 may also include one of the devices 10.
  • the second retractable telescoping structure 96 In its fully extended, upright position, the second retractable telescoping structure 96 also effectively functions as a mast, and the second set of surveillance equipment 97 is preferably mounted at or near a top portion of the mast.
  • a sealing device (not illustrated) to inhibit water and dirt from entering the vehicle compartment through the open sunroof 93 when the second retractable telescoping structure 96 is in use.
  • the first and/or second set of surveillance equipment 95, 97 may also include the plurality measurement devices described above that are necessary to provide current target position data. Accordingly, in this embodiment, either or both sets of surveillance equipment 95, 97 may include one of the devices 10.
  • Aerial-mounted device An aerial -mounted device IO7 is shown in the form of a drone.
  • the drone may include the plurality measurement devices described above that are necessary to provide current target position data.
  • Handheld devices I OS- I OIO Device 10s is binoculars which a person looks through to locate or follow a target.
  • Devices IO9 and 1010 are mobile devices, such as smartphones, being carried and operated by respective persons. As described above, these handheld devices function as scopes.
  • Fixed devices IO11-IO12. Two fixed towers 1011 and IOI2 are shown in Figure 9A.
  • the fixed towers 101 may serve one or both of the following purposes:
  • a fixed tower 101 may include its own fixed device 10 having a scope integrated therein.
  • a fixed tower 101 may receive data from one or more of the vehicle-mounted devices 10 and handheld devices 10 for subsequent relaying to a network server.
  • This type of fixed tower is a non-device/non-scope node 12, as described above with respect to Figures 1 A and IB.
  • each of the devices 10 may function as a node 24 in the wireless communication and electronic network 18 described above.
  • the GPS coordinates of any of the devices 10 may be shared.
  • the devices 10 are shown in close proximity to each other. However, this is just for illustration purposes so as to show a plurality of different types of devices in the same surveillance environment.
  • the devices 10 may actually be miles away from each other, such as 5-10 miles from each other.
  • the sensors on the devices 10 may have large ranges, such as up to 7.5 miles for target detection. Accordingly, Figure 9A is not to scale.
  • Devices 10 which are on a fixed platform, such as a fixed tower 101 or a mast of a non moving vehicle, may include optical sensors that allow for wide area imaging, such as described in U.S. Patent No. 9,813,618 (Griffis et ah), which is incorporated by reference herein, so as to produce single composite or panoramic images of up to 360 degrees coverage.
  • a fixed platform such as a fixed tower 101 or a mast of a non moving vehicle
  • optical sensors that allow for wide area imaging, such as described in U.S. Patent No. 9,813,618 (Griffis et ah), which is incorporated by reference herein, so as to produce single composite or panoramic images of up to 360 degrees coverage.
  • the device is the object that a scope is integrated into, and certain types of devices are themselves“scopes,” such as binoculars, telescopes and spotting scopes.
  • scopes such as binoculars, telescopes and spotting scopes.
  • the scope can be integrated into the device by being mounted to the device (e.g., physically or electronically connected to a mast, tower, or drone), as shown in Figure 9A.
  • integrating the scope into the device allows the scope to use existing sensors and other components of the device, in lieu of duplicating such sensors and components.
  • a drone or mobile device e.g., smartphone
  • a scope may be converted to a scope by adding software to enable the drone to act as a lead or follower scope.
  • any of the scopes integrated into the devices shown in Figure 9A may act as a lead or follower scope.
  • a first scope scans an area and identifies a stationary or moving target (i.e., object of interest), and reports position data of the target either directly to a second scope, or to a network server that the second scope is in communication with so as to obtain the position data.
  • a stationary or moving target i.e., object of interest
  • the second scope obtains the position data and is provided with position movement (re-positioning data) so as to locate the target.
  • the vehicle that the second scope is mounted to or integrated into is directed to move to a new and“better location” (improved location) for the second scope to view the target.
  • a better location may be defined by one or more factors, such as being closer to the target, having a less obstructed view of the target, being at a higher elevation to view the target, or being at the best position for capturing biometric data of the target (e.g., a face of a person or animal).
  • the improved location may be improved relative to the vehicle’s current position, and/or improved relative to the current location of the first scope.
  • the second scope also reports back the target position data directly to the first scope, or to a network server that the first scope is in communication with so as to obtain the position data.
  • the first scope may then use this position data to assist in better identifying position data of the target.
  • the truck operator may receive directions (position movements) regarding where to move the truck, so that a mast-mounted scope can better see the target. Once the truck is in a better location, it may still be necessary for the scope to be re-oriented/repositioned.
  • the process for getting the second scope into the best position to view the target may involves two separate and processes, namely (1) moving the vehicle (that the second scope is mounted to or integrated into) to a better location, and (2) re orienting/repositioning the second scope.
  • This process may be iterative, in that the second scope may be continuously re-oriented/repositioned as the vehicle position changes.
  • a first scope scans an area and identifies a stationary or moving target (i.e., object of interest), and reports position data of the target either directly to a vehicle which is remote from the first scope and that includes the second scope mounted to or integrated therein, or to a network server that the vehicle is in communication with so as to obtain the position data.
  • a stationary or moving target i.e., object of interest
  • the vehicle that the second scope is mounted to or integrated into obtains the position data and is provided with position movement data so as to move the vehicle to a particular location (e.g., the“better location” described above) that would allow the second scope to view the target.
  • a particular location e.g., the“better location” described above
  • the second scope attempts to locate the target using the position data from the first scope.
  • the vehicle and/or the second scope may then be iteratively moved or re-positioned in the same manner as described above in Example 1.
  • Example 2 differs from Example 1 in that the second scope does not attempt to locate the target until the vehicle is first moved to a new location based on the position data of the target received from the first scope.
  • FIG. 1 A and IB This example illustrates another embodiment that relies upon a network of scopes, as shown in Figures 1 A and IB.
  • the first scope or the network server has knowledge of the position of the other scopes. 1.
  • a first scope which initially acts as a lead scope, scans an area and identifies a stationary or moving target (i.e., object of interest), but the first scope has a poor view of the target.
  • the first scope or the network server uses the positions of the other scopes to identify a second scope from among the scopes in the network that likely has the best view of the target.
  • the first scope or the network server directs the second scope to locate the target using the position data from the first scope.
  • the second scope then takes over as the lead scope, and sends its newly collected target position data to the other scopes (including the first scope) so that the other scopes can better locate and track the target.
  • the scope with the best view may be a scope within the network of scopes that is closest to the target, has the least obstructed view of the target, is at the best elevation to view the target, is in the best position for capturing biometric data of the target (e.g., a face of a person or animal), or is in the best position to shoot a projectile (e.g., bullet) at the target or at a specific part of the target.
  • a projectile e.g., bullet
  • the scope that has the best view may not necessarily be a vehicle-mounted or vehicle- integrated scope. However, if the scope that has the best view is a vehicle-mounted or vehicle- integrated scope, then an alternative embodiment of this example may be similar to Example 2 wherein the second scope does not attempt to locate the target until the vehicle associated with the second scope that is believed to have the best view is first moved to a new location based on the position data of the target received from the first scope.
  • the operator of the second scope uses indicators to re-position the second scope from its current target position so as to move towards the target position defined by the current target position data received from the first scope.
  • the second scope uses electronic control signals to re-position the second scope from its current target position so as to move towards the target position defined by the current target position data received from the first scope. This may involve physically or electronically rotating and/or pivoting the second scope with respect to its mounting, such as by using a pan-tilt mechanism described below, and/or by changing optical parameters of the second scope. An operator may direct such re-positioning movements by viewing a display of the second scope, and causing appropriate electronic control signals to be generated.
  • the processor of the second scope may output electronically generated indicators that are shown on a display of the second scope to prompt the operator of the second scope to make the position movements in a manner similar to the embodiments described above with respect to Figures 1-8.
  • the operator may then use the electronically generated indicators to make control inputs to an operator-controlled game controller or other pointing device (also, referred to herein as“an operator-controlled input device”) which are translated into the electronic control signals to move the pan-tilt mechanism and/or to change optical parameters of the second scope.
  • the operator and the display of the second scope is preferably in or near the vehicle that the second scope is mounted to or integrated into. This embodiment is illustrated in Figure 12A.
  • a processor to generate the electronic control signals that physically or electronically rotate and/or pivot the second scope with respect to its mounting, and/or change optical parameters of the second scope.
  • This embodiment is illustrated in Figure 12B.
  • the same processor may be used to calculate the position movements and generate the electronic control signals, or a first processor may be used to calculate the position movements, and a second processor (such as a processor dedicated to the pan-tilt mechanism) may be used to generate the electronic control signals.
  • Example 1 the improved location for the vehicle based on any of the previously identified factors.
  • the location of the vehicle is provided by conventional GPS data.
  • the improved location is plugged into a conventional mapping program (e.g.,
  • GOOGLE Maps GOOGLE Maps, APPLE Maps
  • conventional prompts may be given to the vehicle operator to move the vehicle to the improved location for allowing the second scope to view the target from the improved location.
  • topographical maps may be used and the vehicle is repositioned using the shortest path to the improved position that is feasible based on any determined terrain obstructions that are identified as being between the vehicle and the target location.
  • an elevation sensor may optionally be used to improve the accuracy of the elevation determined by the GPS/INS.
  • accuracy may be improved by overlaying GPS coordinates on a topographical map.
  • the elevation on the topographical map is then compared to the elevation determined by the GPS/INS, and adjustments may be made.
  • a suitable algorithm may be employed to select the elevation, such as by averaging the two values, or weighting one value more than the other, or by factoring in a neighboring (different) elevation on the topographical map if the position coordinates are close to a neighboring elevation after accounting for errors in the GPS/INS values.
  • the elevation calculations should also factor in known characteristics of the devices and their associated scopes, such as the height of a mast to which the scope is mounted, or the height of the scope operator.
  • the vehicle is user-operated, and a vehicle operator who is physically present in the vehicle causes the vehicle to be moved from position to position, such as when implementing the vehicle movement described above in Examples 1 or 2.
  • one or more of the vehicles are autonomous vehicles.
  • An autonomous vehicle also known as a self-driving vehicle, robot vehicle, or driverless vehicle, is a vehicle that is capable of sensing its environment and moving with little or no human input.
  • Autonomous vehicles combine a variety of sensors to perceive their surroundings, such as radar, computer vision, Lidar, sonar, GPS, odometry and inertial measurement units. Advanced control systems interpret sensory information to identify appropriate navigation paths, as well as obstacles and relevant signage (if the vehicle is on a road).
  • the vehicle which includes a lead scope or a follower scope mounted to or integrated therein may be autonomous.
  • a lead scope may search for a target, and then the vehicle which includes a follower scope mounted to or integrated therein may look for the target autonomously. More specifically, the vehicle which includes a follower scope mounted to or integrated therein will be moved to the appropriate position as described above in Examples 1 or 2.
  • position movement instructions for the vehicle are automatically implemented, instead of being provided to a vehicle operator for implementation.
  • TARGET PRESUMED TARGET
  • the improved (better) location of a vehicle having a second scope mounted to or integrated into the vehicle will meet one or more of the following conditions relative to the vehicle’s first position, or the position of the first scope:
  • the algorithm for relocating the vehicle will be different depending upon which of these conditions are most important, the type of target (also, referred to as“the target”), and what actions, if any, need to be taken with respect to the target.
  • the algorithm also depends upon factors such as scope optics and terrain issues.
  • the target is a person or animal (a“person” is used in the following description for convenience of explanation), and it is necessary for the second scope to see facial details of the person so as to track the person and/or perform facial recognition of the person.
  • the goal, or at least the initial goal, is not to come right up to the target, but instead the goal is to be positioned at a sufficiently close distance so that the target can be viewed, typically in a covert manner. Thus, there may be a minimum distance that should be kept between the scope and the target, such as 50 meters.
  • facial recognition typically involves collecting dozens of facial features (often referred to in the art as“facial landmarks”) of the person of interest, and then using an algorithm to create a facial signature for the person. The facial signature is then compared to a database of known faces to potentially identify the person, assuming that their facial signature is in the database. Alternatively, once the facial signature is obtained from the first scope, the second scope may use the facial signature to confirm that they are viewing the same person, or vice-versa, regardless of whether or not the person is identified in a database of known faces.
  • Facial signatures and facial recognition typically require that the viewer (here, a scope) be within a predefined viewing angle (arc) of the person’s face so as to capture a minimum set of facial features that become the inputs to the algorithm.
  • arc viewing angle
  • the first step in the process is to calculate how close the scope must be to the person so as to capture sufficient facial features that would allow the algorithm to obtain an accurate facial signature. This will depend on algorithm inputs since different algorithms use different facial features, and it will also depend upon scope optics such as lens quality, optical zoom, and the quality of any digital zoom. This distance may be determined experimentally before a scope is deployed in a surveillance environment. Consider an example wherein a scope containing very high quality optics can create accurate facial signatures at distances up to 150 meters. This means that the scope (and thereby the vehicle that has the scope mounted to or integrated therein) should be positioned 150 meters or less from the target.
  • the second step in the process is to calculate the angle that the scope should be positioned with respect to the person so as to be within the predefined viewing angle (arc) of the person’s face, and ideally pointing towards the person’s face.
  • a movement detection algorithm may be employed to detect the general direction of the person’s movement, which will provide the appropriate viewing angle. If the person is stationary, it may be necessary to get close enough to the person to initially detect which direction their face is pointing, and then the appropriate viewing angle can be determined. The distance to the person for making this determination would typically be much greater that the distance required to capture the minimum set of facial features that is necessary for the facial recognition algorithm. For example, the direction that a person’s face is pointing may be discernible at distances up to 300 meters.
  • the distance and angle data are then used to determine one or more suitable locations to reposition the vehicle so that the scope can view the person using the most current target position data that is available.
  • a location or set of locations is determined, conventional GPS routing techniques/mapping software may be employed to generate position movement instructions for the vehicle while also avoiding terrain obstructions for any portion of the directions that involve off-road driving.
  • terrain obstructions not only may require modifications to the position movement instructions, but may also factor into where best to reposition the vehicle so that the target can be viewed by the scope that is mounted to or integrated into the vehicle.
  • FIG. 11 A the surveillance environment shown in Figure 11 A wherein there is a lead scope that has identified a target, T, at a distance of about 500 meters.
  • the target T is walking towards a river in a southwestern direction.
  • Three follower scopes 1-3 are in the surveillance environment, and each of these scopes has the ability to perform facial recognition at a distance of 150 meters or less.
  • follower scope 3 would be directed to move to a new location that is 130 meters from the most current target position because the follower scope can more quickly get to a suitable location to view the target compared to follower scopes 1 and 2.
  • follower scope 2 While the follower scope 2 is initially closer to the target, the follower scope cannot get close enough to a location that is 150 meters or less from the target unless it takes a long route to get over one of the bridges. While the follower scope 1 is right near one of the bridges, it is farther away from a suitable viewing location than follower scope 3.
  • Figure 1 IB is shows a similar surveillance environment as Figure 11 A, except that a mountain would obstruct the view of the target if the follower scope 3 was moved to the position shown in Figure 11 A. Accordingly, the mapping software directs the follower scope 3 to a slightly further location that is also 130 meters from the target, but where there is no such viewing obstruction.
  • the mapping software may operate in an iterative manner as follows, prior to generating any final position movement instructions:
  • Step 1 Calculate an initial location that should allow the scope to view the target (e.g., 130 meters from the target, and generally facing the direction that the target is moving in, or generally facing the front of the target).
  • Step 2 Using topographical map data and terrain obstruction data, determine if the scope can actually view the target at the initial location (e.g, no hills/ridges, mountains, trees in line of sight).
  • Step 3 If the scope would not likely be able to view the target, move to another nearby location that should allow the scope to view the target, and which is also greater than a predetermined minimum distance from the target so as to maintain a covert surveillance.
  • Step 4 Iteratively repeat steps 2 and 3 until a suitable location is identified.
  • Step 5 Identify the best candidate for the follower scope based upon (i) the physical ability of the follower scopes to reach the suitable location from their respective current locations (e.g., a vehicle cannot cross a river), and for the scopes that can physically reach the suitable location, (ii) the time and effort required to reach the suitable location from their respective current locations. This step would be skipped if the follower scope is pre-identified, or if there is only one possible candidate for the follower scope.
  • Step 6 Generate position movement instructions for the vehicle associated with the selected follower scope.
  • the mapping software effectively simulates a plurality of potential new locations, and then determines if the new locations are suitable for moving a vehicle to.
  • the mapping software also preferably identifies areas that a vehicle should not drive through (e.g., swamp, roadless forest, rough terrain) when selecting the appropriate scope, and when generating the position movement instructions for the vehicle associated with the selected scope.
  • Topographical data is not only useful for selecting locations that are not obstructed by topographical features, but may also be used to select a better location from among multiple unobstructed locations. For example, if there are two suitable locations that are both about equidistant from the target, topographical data may be used to identify the location that is higher in elevation, since looking down on the target is typically a better vantage point than looking up at the target.
  • the scope is to shoot a projectile (e.g., bullet) at the target or at a specific part of the target
  • additional factors should be taken into account when selecting the new position.
  • the target is a large animal that is ideally killed by being hit in a chest area by a rifle having a scope mounted thereto.
  • Factors to be taken into account include the orientation of the scope with respect to the target (ideally, the scope should be facing the chest area), the expected range of rifle to inflict a deadly shot, and a minimum distance that should be kept from the animal to avoid detection by the animal of the scope’s presence.
  • the location that most ideally faces the chest area may be determined using similar processes described above regarding facial recognition, wherein the known anatomy of the animal’s body is used to calculate the appropriate angle of view.
  • the lead scope may be relatively close to the target, but has a partially obstructed view, and the goal is to position another scope to have a better view.
  • the lead scope is only 120 m from the target, but has a partially obstructed view of the target due to a small ridge in its sight line.
  • the mapping software directs the follower scope 3 to the same position as shown in Figure 11 A, which is 130 m from the target.
  • the follower scope 3 is slightly farther from the target than the lead scope, the follower scope has a better view of the target.
  • topographical data may indicate that the new position for the follower scope 3 is at a higher elevation than the target, compared to the elevation of the lead scope’s position, and thus the follower scope 3 would be in a better position to view the target by virtue of its higher elevation.
  • the mapping software may determine that it is not possible for any of the follower scopes 1-3 to reach a suitable, unobstructed position to view the target, or that the time and effort to reach such a position is unacceptable. This may be due to impassable terrain obstructions, obstructions near the target, long travel distances, or safety concerns.
  • an aerial-mounted device may be deployed as the follower scope for viewing the target. Referring to Figure 1 ID, the aerial -mounted device I O7 (drone) shown in Figure 9A may be deployed to hover over the target at a distance of 130 m from the target. As discussed above, the device I O7 (drone) may include the plurality measurement devices described above that are necessary to provide current target position data.
  • the device I O7 (drone) may be launched from one of the vehicles associated with the follower scope 1-3, or it may be present at a different location than any of the follower scopes 1-3, but still within the surveillance environment, and is ready to be deployed, if necessary.
  • the follower scope is manually moved by hand movements and body rotation.
  • the follower scope is connected to a pan tilt mechanism, and is moved via an operator-controlled game controller or other pointing device (operator-controlled input device) which directs the pan-tilt mechanism.
  • the pan-tilt mechanism is moved in a completely automated manner via signals that are sent to move the pan-tilt mechanism to position or re-position the follower scope to point at the target position. No operator input is provided in the completely automated embodiment.
  • the follower scope having the pan-tilt mechanism may be vehicle-mounted (e.g., at the top of the mast of land-based vehicle, connected to a drone), or may be mounted to the top of a fixed tower.
  • one or more of the follower scopes is mounted to a pan-tilt mechanism or other pointing or orienting device to automatically re position the follower scope from its current position to the target position defined by the target position data received from the lead scope.
  • user prompts may be eliminated or used in combination with the automated movement of the follower scope.
  • the lead scope and follower scope can be“locked” such that each position movement of the lead scope to track a target will automatically and continuously cause one or more of the follower scopes to be re-positioned in order to view the target identified by the lead scope.
  • sensors are incorporated into a precision, gyro-stabilized, motor driven, pan-tilt gimbal, which is under program control.
  • the gimbal provides precise motion control, capable of various speeds of motion and aiming accuracy on both pan and tilt axes.
  • the gimbal allows for the pan axis to be rotated continuously 360 degrees, while simultaneously the tilt axis can look down to 45 degrees below the horizon, and 90 degrees up to vertical.
  • Electro-mechanical stabilization provides a stable video image. Gimbal-based pan-tilt mechanisms are well-known in the art.
  • pan-tilt mechanism When the pan-tilt mechanism is mounted to a vehicle, it is necessary to know the orientation of the vehicle so that appropriate adjustments can be made to the control signals given to the pan-tilt mechanism. Various techniques may be used to accomplish this goal.
  • orientation sensors and GPS antennae are mounted to the moving payload of the pan-tilt mechanism, here, the scope. These sensors report the position and orientation of the payload with respect to a fixed reference frame such as latitude, longitude, and altitude for position, and heading, pitch, and roll angles for orientation. In this embodiment, the reported position and orientation of the vehicle is that of the payload itself.
  • orientation sensors and GPS antennae are mounted to the base of the pan-tilt mechanism. These sensors report the position and orientation of the base of the pan tilt mechanism with respect to a fixed reference frame.
  • the pan-tilt mechanism also has sensors that report the orientation of the pan-tilt payload relative to the base of the pan-tilt mechanism, as pan and tilt angles. These pan and tilt angles are relative to a reference or "home" position for the pan-tilt mechanism.
  • the orientation of the pan-tilt payload relative to the fixed reference frame is then calculated by mathematically combining the orientation of the vehicle and the pan and tilt angles, with conventional methods using, for example, Euler (yaw, pitch, and roll) angles or quaternions.
  • orientation sensors and GPS antennae are mounted to the host vehicle. These sensors report the position and orientation of the vehicle with respect to a fixed reference frame.
  • the pan-tilt mechanism is installed on the vehicle with an orientation relative to the vehicle that may be represented with, for example, Euler angles.
  • the pan-tilt mechanism has sensors that report the orientation of the pan-tilt payload relative to the base of the pan-tilt mechanism, as pan and tilt angles.
  • the orientation of the pan-tilt payload relative to the fixed reference frame is then calculated by mathematically combining the orientation of the vehicle, the orientation of the base of the pan-tilt mechanism with respect to the vehicle, and the pan and tilt angles of the mechanism.
  • Other embodiments may include position and orientation sensors distributed across a number of components that can ultimately be combined in similar ways to calculate the orientation of a payload with respect to a fixed reference frame shared with other scopes participating in the system.
  • pan-tilt gimbal mechanism may also be used on the lead scope, either as an operator- controlled version or as a completely automated version.
  • automatic target detection may be performed using a lead scope which is programmed to search for a predefined target image, and then communicate the location of any identified target to the follower scope.
  • the lead scope is vehicle or mast-mounted, and the lead scope is programmed to move in a search pattern through a designated area to look for particular types of targets using the above-described automatic target detection techniques. If a target is identified (e.g., search criterion is to search for a“human” and a“human” is identified), the target coordinates and optional image information is transmitted to one or more follower scopes. If the follower scope is hand-held or hand-controlled, the scope operator moves the scope to the received target position.
  • the follower scope automatically moves to the position designated by the lead scope.
  • a variety of search instructions can be programmed into a lead scope, such as changing characteristics of the lead scope as it moves through the search area.
  • the camera of the lead scope can be zoomed, switched from optical to thermal, and different filters can be applied during the search of the designated area to increase the possibility of finding the target that meets the specified requirements.
  • Figure 10 is a flowchart of one preferred embodiment of a target tracking process wherein one of the scopes used for target tracking is mounted to or integrated into a vehicle.
  • the process is implemented by at least the following steps:
  • the first scope electronically communicates to a second scope the current target position data regarding the presumed target identified by the first scope.
  • the second scope identifies its current target position data of the second scope’s current target position using its plurality of measurement devices.
  • 1006 Calculate in a processor of the second scope, using its current target position data and the current target position data received from the first scope, position movements that are required to move the second scope from its current target position to the target position of the presumed target identified by the first scope.
  • the processor of the second scope outputs electronically generated signals for use by the second scope to make the position movements.
  • 1012 Calculate in mapping software using the first location and the second location, position movement instructions for moving the vehicle from the first location to the second location, and communicate the position movement instructions to the vehicle operator.

Landscapes

  • Engineering & Computer Science (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • General Engineering & Computer Science (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Computer Networks & Wireless Communication (AREA)
  • Optics & Photonics (AREA)
  • Position Fixing By Use Of Radio Waves (AREA)

Abstract

La présente invention concerne un réseau de dispositifs de visualisation, comprenant un ou plusieurs dispositifs de visualisation principaux et un ou plusieurs dispositifs de visualisation suiveurs, permettant aux dispositifs de visualisation respectifs de suivre la même cible présumée. Un dispositif de visualisation principal localise une cible et communique des données de position cible de la cible présumée au dispositif de visualisation suiveur. Le dispositif de visualisation suiveur utilise les données de position cible et ses propres données de position pour générer des signaux de commande électroniques destinés à être utilisés par le dispositif de visualisation suiveur pour qu'il effectue des mouvements de positionnement de façon à repositionner le dispositif de visualisation suiveur à partir de sa position cible courante pour l'amener en direction de la position cible définie par les données de position cible reçues du dispositif de visualisation principal. Au moins le second dispositif de visualisation est monté sur un véhicule, ou intégré dans un véhicule, qui utilise les données de position cible pour se déplacer vers un nouvel emplacement de façon à permettre au second dispositif de visualisation de mieux visualiser la cible.
EP20755165.6A 2019-02-11 2020-02-04 Dispositifs embarqués avec dispositifs de visualisation connectés en réseau permettant un suivi simultané d'une cible par de multiples autres dispositifs Pending EP3924683A4 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
US16/272,733 US10408573B1 (en) 2017-08-11 2019-02-11 Vehicle-mounted device with network-connected scopes for allowing a target to be simultaneously tracked by multiple other devices
PCT/US2020/016619 WO2020167530A1 (fr) 2019-02-11 2020-02-04 Dispositifs embarqués avec dispositifs de visualisation connectés en réseau permettant un suivi simultané d'une cible par de multiples autres dispositifs

Publications (2)

Publication Number Publication Date
EP3924683A1 true EP3924683A1 (fr) 2021-12-22
EP3924683A4 EP3924683A4 (fr) 2022-11-16

Family

ID=72045013

Family Applications (1)

Application Number Title Priority Date Filing Date
EP20755165.6A Pending EP3924683A4 (fr) 2019-02-11 2020-02-04 Dispositifs embarqués avec dispositifs de visualisation connectés en réseau permettant un suivi simultané d'une cible par de multiples autres dispositifs

Country Status (4)

Country Link
EP (1) EP3924683A4 (fr)
KR (1) KR20210133972A (fr)
CN (1) CN113424012B (fr)
WO (1) WO2020167530A1 (fr)

Families Citing this family (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2020077387A1 (fr) * 2018-10-15 2020-04-23 Towarra Holdings Pty. Ltd. Dispositif d'affichage cible
US11821996B1 (en) * 2019-11-12 2023-11-21 Lockheed Martin Corporation Outdoor entity and weapon tracking and orientation
TWI791313B (zh) * 2021-10-28 2023-02-01 為昇科科技股份有限公司 雷達自我校正裝置及雷達自我校正方法
CN114285998A (zh) * 2021-12-24 2022-04-05 申通庞巴迪(上海)轨道交通车辆维修有限公司 一种车厢动态人像抓取与定位追随的视屏监控系统
CN117237560B (zh) * 2023-11-10 2024-02-23 腾讯科技（深圳）有限公司 一种数据处理方法和相关装置

Family Cites Families (17)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US4255013A (en) * 1979-05-17 1981-03-10 John E. McNair Rifle scope having compensation for elevation and drift
US4949089A (en) 1989-08-24 1990-08-14 General Dynamics Corporation Portable target locator system
US5568152A (en) 1994-02-04 1996-10-22 Trimble Navigation Limited Integrated image transfer for remote target location
US20040134113A1 (en) * 2002-08-02 2004-07-15 Deros Mark A. Adjustable gun rest apparatus
US7642741B2 (en) 2005-04-27 2010-01-05 Sidman Adam D Handheld platform stabilization system employing distributed rotation sensors
US20080118104A1 (en) * 2006-11-22 2008-05-22 Honeywell International Inc. High fidelity target identification and acquisition through image stabilization and image size regulation
US8020769B2 (en) * 2007-05-21 2011-09-20 Raytheon Company Handheld automatic target acquisition system
EP2511658A1 (fr) * 2011-04-14 2012-10-17 Hexagon Technology Center GmbH Système de mesure et procédé de détermination de nouveau point
EP2557392A1 (fr) * 2011-08-11 2013-02-13 Leica Geosystems AG Dispositif de mesure et procédé doté d'une fonctionnalité de ciblage échelonnable et basée sur l'orientation d'une unité de télécommande
CA2929355C (fr) 2012-11-02 2022-03-15 Strongwatch Corporation, Nevada C Corp Systeme et procede d'imagerie de zone etendue
DE102013008568A1 (de) * 2013-05-17 2014-11-20 Diehl Bgt Defence Gmbh & Co. Kg Verfahren zur Zieleinweisung einer Flugkörper-Abschussanlage
WO2015199780A2 (fr) * 2014-04-01 2015-12-30 Baker Joe D Système mobile d'affichage pour la visée d'une cible et de traitement balistique
US9612088B2 (en) * 2014-05-06 2017-04-04 Raytheon Company Shooting system with aim assist
US20170302852A1 (en) 2016-04-13 2017-10-19 Jason Tze Wah Lam Three Axis Gimbals Stabilized Action Camera Lens Unit
CN106643700B (zh) * 2017-01-13 2018-05-15 中国人民解放军防空兵学院 一种定位定向监测系统及方法
CN107014378A (zh) * 2017-05-22 2017-08-04 中国科学技术大学 一种视线跟踪瞄准操控系统及方法
US10267598B2 (en) * 2017-08-11 2019-04-23 Douglas FOUGNIES Devices with network-connected scopes for allowing a target to be simultaneously tracked by multiple devices

Also Published As

Publication number Publication date
CN113424012B (zh) 2023-04-25
CN113424012A (zh) 2021-09-21
EP3924683A4 (fr) 2022-11-16
KR20210133972A (ko) 2021-11-08
WO2020167530A1 (fr) 2020-08-20

Similar Documents

Publication Publication Date Title
US11226175B2 (en) Devices with network-connected scopes for allowing a target to be simultaneously tracked by multiple devices
US11555671B2 (en) Devices with network-connected scopes for allowing a target to be simultaneously tracked by multiple other devices
US11423586B2 (en) Augmented reality vision system for tracking and geolocating objects of interest
CN113424012B (zh) 具有网络连接瞄准镜以允许多个其他装置同时跟踪目标的车载装置
US9335121B2 (en) System and method of locating prey
US10408574B2 (en) Compact laser and geolocating targeting system
US20070127008A1 (en) Passive-optical locator
US10104241B2 (en) Method for integrated optical systems
US20240202968A1 (en) A method, software product, device and system for determining a direction at a position

Legal Events

Date Code Title Description
STAA Information on the status of an ep patent application or granted ep patent

Free format text: STATUS: THE INTERNATIONAL PUBLICATION HAS BEEN MADE

PUAI Public reference made under article 153(3) epc to a published international application that has entered the european phase

Free format text: ORIGINAL CODE: 0009012

STAA Information on the status of an ep patent application or granted ep patent

Free format text: STATUS: REQUEST FOR EXAMINATION WAS MADE

17P Request for examination filed

Effective date: 20210829

AK Designated contracting states

Kind code of ref document: A1

Designated state(s): AL AT BE BG CH CY CZ DE DK EE ES FI FR GB GR HR HU IE IS IT LI LT LU LV MC MK MT NL NO PL PT RO RS SE SI SK SM TR

DAV Request for validation of the european patent (deleted)
DAX Request for extension of the european patent (deleted)
A4 Supplementary search report drawn up and despatched

Effective date: 20221019

RIC1 Information provided on ipc code assigned before grant

Ipc: G01S 19/53 20100101ALI20221013BHEP

Ipc: G01S 19/49 20100101ALI20221013BHEP

Ipc: G01S 5/00 20060101ALI20221013BHEP

Ipc: F41G 9/00 20060101ALI20221013BHEP

Ipc: F41G 3/16 20060101ALI20221013BHEP

Ipc: F41G 3/06 20060101ALI20221013BHEP

Ipc: F41G 3/04 20060101ALI20221013BHEP

Ipc: G02B 23/00 20060101ALI20221013BHEP

Ipc: F41H 7/00 20060101ALI20221013BHEP

Ipc: F41G 3/14 20060101ALI20221013BHEP

Ipc: G01C 17/00 20060101ALI20221013BHEP

Ipc: F41G 1/38 20060101ALI20221013BHEP

Ipc: G01S 19/47 20100101ALI20221013BHEP

Ipc: G01S 19/13 20100101ALI20221013BHEP

Ipc: F41G 3/02 20060101AFI20221013BHEP