FR3118523B1 - Procede de determination de position par un systeme optronique dans une scene et systeme optronique associe - Google Patents

Procede de determination de position par un systeme optronique dans une scene et systeme optronique associe Download PDF

Info

Publication number
FR3118523B1
FR3118523B1 FR2014216A FR2014216A FR3118523B1 FR 3118523 B1 FR3118523 B1 FR 3118523B1 FR 2014216 A FR2014216 A FR 2014216A FR 2014216 A FR2014216 A FR 2014216A FR 3118523 B1 FR3118523 B1 FR 3118523B1
Authority
FR
France
Prior art keywords
optronic system
scene
optronic
determining position
memory
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.)
Active
Application number
FR2014216A
Other languages
English (en)
Other versions
FR3118523A1 (fr
Inventor
Alain Simon
Arnaud Beche
Jean Soula
Pierre-Yves Guinet
Pascal Jerot
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.)
Thales SA
Original Assignee
Thales SA
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
Application filed by Thales SA filed Critical Thales SA
Priority to FR2014216A priority Critical patent/FR3118523B1/fr
Priority to CA3203317A priority patent/CA3203317A1/fr
Priority to PCT/EP2021/087745 priority patent/WO2022144366A1/fr
Priority to US18/269,924 priority patent/US20240069211A1/en
Priority to EP21847711.5A priority patent/EP4272010A1/fr
Publication of FR3118523A1 publication Critical patent/FR3118523A1/fr
Application granted granted Critical
Publication of FR3118523B1 publication Critical patent/FR3118523B1/fr
Active legal-status Critical Current
Anticipated expiration legal-status Critical

Links

Classifications

    • 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
    • G01S5/16—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations using electromagnetic waves other than radio waves
    • 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
    • G01S19/01—Satellite radio beacon positioning systems transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
    • G01S19/13—Receivers
    • G01S19/31—Acquisition or tracking of other signals for positioning
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C17/00—Compasses; Devices for ascertaining true or magnetic north for navigation or surveying purposes
    • G01C17/02—Magnetic compasses
    • G01C17/04—Magnetic compasses with north-seeking magnetic elements, e.g. needles
    • G01C17/10—Comparing observed direction with north indication
    • G01C17/12—Comparing observed direction with north indication by sighting means, e.g. for surveyors' compasses
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C17/00—Compasses; Devices for ascertaining true or magnetic north for navigation or surveying purposes
    • G01C17/38—Testing, calibrating, or compensating of compasses
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
    • G01C21/10—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration
    • G01C21/12—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning
    • G01C21/16—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning by integrating acceleration or speed, i.e. inertial navigation
    • G01C21/165—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning by integrating acceleration or speed, i.e. inertial navigation combined with non-inertial navigation instruments
    • G01C21/1654—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning by integrating acceleration or speed, i.e. inertial navigation combined with non-inertial navigation instruments with electromagnetic compass
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
    • G01C21/10—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration
    • G01C21/12—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning
    • G01C21/16—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning by integrating acceleration or speed, i.e. inertial navigation
    • G01C21/165—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning by integrating acceleration or speed, i.e. inertial navigation combined with non-inertial navigation instruments
    • G01C21/1656—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning by integrating acceleration or speed, i.e. inertial navigation combined with non-inertial navigation instruments with passive imaging devices, e.g. cameras
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C3/00—Measuring distances in line of sight; Optical rangefinders
    • G01C3/02—Details
    • G01C3/04—Adaptation of rangefinders for combination with telescopes or binoculars
    • 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
    • G01S11/00—Systems for determining distance or velocity not using reflection or reradiation
    • 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
    • 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
    • G01S19/485—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 optical system or imaging system
    • 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
    • G01S5/02—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations using radio waves
    • G01S5/0257—Hybrid positioning
    • G01S5/0258—Hybrid positioning by combining or switching between measurements derived from different systems
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T7/00—Image analysis
    • G06T7/70—Determining position or orientation of objects or cameras
    • 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
    • F41G3/00—Aiming or laying means
    • F41G3/06—Aiming or laying means with rangefinder

Landscapes

  • Engineering & Computer Science (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Computer Networks & Wireless Communication (AREA)
  • Electromagnetism (AREA)
  • Automation & Control Theory (AREA)
  • Computer Vision & Pattern Recognition (AREA)
  • Theoretical Computer Science (AREA)
  • Length Measuring Devices By Optical Means (AREA)
  • Optical Radar Systems And Details Thereof (AREA)
  • Testing Or Calibration Of Command Recording Devices (AREA)
  • Length Measuring Devices With Unspecified Measuring Means (AREA)
  • Radar Systems Or Details Thereof (AREA)
  • Navigation (AREA)
  • Position Fixing By Use Of Radio Waves (AREA)

Abstract

Procédé de détermination de positions par un système optronique dans une scène et système optronique associé La présente invention concerne un procédé de détermination de positions par un système optronique (18) dans une scène (10), la scène (10) comprenant des éléments de référence (12) de coordonnées géographiques connues, le système optronique (18) comprenant les éléments suivants intégrés dans ledit système optronique (18) : un imageur numérique, une mémoire dans laquelle est mémorisé, pour chaque élément de référence (12) de la scène (10), un indicateur représentatif dudit point associé aux coordonnées géographiques dudit point,un élément de visualisation des indicateurs mémorisés dans la mémoire, un module de mesure comprenant au moins un élément choisi parmi : un compas, un goniomètre et un télémètre, une unité de calcul, le procédé étant mis en œuvre par les éléments intégrés dans le système optronique (18). Figure pour l'abrégé : 1
FR2014216A 2020-12-29 2020-12-29 Procede de determination de position par un systeme optronique dans une scene et systeme optronique associe Active FR3118523B1 (fr)

Priority Applications (5)

Application Number Priority Date Filing Date Title
FR2014216A FR3118523B1 (fr) 2020-12-29 2020-12-29 Procede de determination de position par un systeme optronique dans une scene et systeme optronique associe
CA3203317A CA3203317A1 (fr) 2020-12-29 2021-12-28 Procede de determination de positions par un systeme optronique dans une scene et systeme optronique associe
PCT/EP2021/087745 WO2022144366A1 (fr) 2020-12-29 2021-12-28 Procédé de détermination de positions par un système optronique dans une scène et système optronique associé
US18/269,924 US20240069211A1 (en) 2020-12-29 2021-12-28 Method for determining, using an optronic system, positions in a scene, and associated optronic system
EP21847711.5A EP4272010A1 (fr) 2020-12-29 2021-12-28 Procédé de détermination de positions par un système optronique dans une scène et système optronique associé

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
FR2014216A FR3118523B1 (fr) 2020-12-29 2020-12-29 Procede de determination de position par un systeme optronique dans une scene et systeme optronique associe
FR2014216 2020-12-29

Publications (2)

Publication Number Publication Date
FR3118523A1 FR3118523A1 (fr) 2022-07-01
FR3118523B1 true FR3118523B1 (fr) 2023-05-05

Family

ID=75953934

Family Applications (1)

Application Number Title Priority Date Filing Date
FR2014216A Active FR3118523B1 (fr) 2020-12-29 2020-12-29 Procede de determination de position par un systeme optronique dans une scene et systeme optronique associe

Country Status (5)

Country Link
US (1) US20240069211A1 (fr)
EP (1) EP4272010A1 (fr)
CA (1) CA3203317A1 (fr)
FR (1) FR3118523B1 (fr)
WO (1) WO2022144366A1 (fr)

Families Citing this family (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
FR3141519A1 (fr) * 2022-10-26 2024-05-03 Thales Procédé de recalage sur une pluralité d’amers, produit programme d'ordinateur et dispositif de recalage associés
FR3142642A1 (fr) * 2022-11-29 2024-05-31 Saint-Gobain Glass France Système et méthode d’acquisition synchrone d’une image hyperspectrale, d’images numériques et de spectres radiométriques d’un d’un bâtiment vitré.

Family Cites Families (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
FR2954494B1 (fr) * 2009-12-18 2012-07-27 Thales Sa Procede de calibrage d'un instrument de mesure d'un systeme optronique
FR3034553B1 (fr) 2015-03-30 2018-04-13 Thales Procede de determination d'une direction d'un objet a partir d'une image de l'objet
IL241200A0 (en) * 2015-09-06 2015-11-30 Unision Air Ltd System and method for self-geo-location of an unmanned aerial vehicle
FR3052858B1 (fr) * 2016-06-21 2020-04-03 Thales Procede d'estimation d'une direction d'orientation absolue d'un systeme optronique

Also Published As

Publication number Publication date
FR3118523A1 (fr) 2022-07-01
US20240069211A1 (en) 2024-02-29
CA3203317A1 (fr) 2022-07-07
EP4272010A1 (fr) 2023-11-08
WO2022144366A1 (fr) 2022-07-07

Similar Documents

Publication Publication Date Title
JP5295016B2 (ja) 全地球測位システム及び推測航法（ｇｐｓ＆ｄｒ）一体型ナビゲーションシステム、及び、移動体のナビゲーション情報を提供するための方法
US9821999B2 (en) External GNSS receiver module with motion sensor suite for contextual inference of user activity
US10140756B2 (en) Method for creating a spatial model with a hand-held distance measuring device
FR3118523B1 (fr) Procede de determination de position par un systeme optronique dans une scene et systeme optronique associe
AU2011301231B2 (en) Geodetic survey system having a camera integrated in a remote control unit
US20200218905A1 (en) Lateral and longitudinal offset tracking in vehicle position estimation
EP3650814B1 (fr) Navigation par vision augmentée
US7339523B2 (en) Navigation system using radio frequency tags
US6031606A (en) Process and device for rapid detection of the position of a target marking
CN104380137B (zh) 通过图像辅助的角度确定功能来间接测距的方法和手持测距设备
US8174562B2 (en) Stereo camera having 360 degree field of view
US20140070986A1 (en) Apparatuses and methods for tracking a navigation receiver
CN109564292B (zh) 用于位置确定的方法和系统
US11796682B2 (en) Methods for geospatial positioning and portable positioning devices thereof
FR2906043A1 (fr) Systeme de positionnement de precision pour un vehicule et son procede de positionnement
CN105783875A (zh) 一种集成非扫描激光雷达的航空摄影测量系统及方法
CN114600002A (zh) 基于摄像头的gnss环境检测器
KR101208638B1 (ko) 선박 측위용 위성 신호 모호성 검출 시스템 및 방법
CN111381269B (zh) 车辆定位方法、装置、电子设备、计算机可读存储介质
KR20200036405A (ko) 정밀측위 시스템의 종방향 위치 오차를 보정하기 위한 장치 및 방법
US20170227358A1 (en) Integrated auto-level and electronic rod reader
KR20170014545A (ko) 관심지점 표시 장치 및 방법
EP3198222B1 (fr) Lecteur de tige électronique et ordinateur bloc-notes de terrain
FR3106665A1 (fr) Procédé et dispositif de localisation d’un véhicule
US20220055655A1 (en) Positioning autonomous vehicles

Legal Events

Date Code Title Description
PLFP Fee payment

Year of fee payment: 2

PLSC Publication of the preliminary search report

Effective date: 20220701

PLFP Fee payment

Year of fee payment: 3

PLFP Fee payment

Year of fee payment: 4