GB2071957A - Panoramic locating apparatus - Google Patents

Panoramic locating apparatus Download PDF

Info

Publication number
GB2071957A
GB2071957A GB8101523A GB8101523A GB2071957A GB 2071957 A GB2071957 A GB 2071957A GB 8101523 A GB8101523 A GB 8101523A GB 8101523 A GB8101523 A GB 8101523A GB 2071957 A GB2071957 A GB 2071957A
Authority
GB
United Kingdom
Prior art keywords
detector
laser
finder
laser range
elevation
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.)
Granted
Application number
GB8101523A
Other versions
GB2071957B (en
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.)
Airbus Defence and Space GmbH
Original Assignee
Messerschmitt Bolkow Blohm AG
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 Messerschmitt Bolkow Blohm AG filed Critical Messerschmitt Bolkow Blohm AG
Publication of GB2071957A publication Critical patent/GB2071957A/en
Application granted granted Critical
Publication of GB2071957B publication Critical patent/GB2071957B/en
Expired legal-status Critical Current

Links

Classifications

    • G—PHYSICS
    • G08—SIGNALLING
    • G08B—SIGNALLING OR CALLING SYSTEMS; ORDER TELEGRAPHS; ALARM SYSTEMS
    • G08B13/00—Burglar, theft or intruder alarms
    • G08B13/18—Actuation by interference with heat, light, or radiation of shorter wavelength; Actuation by intruding sources of heat, light, or radiation of shorter wavelength
    • G08B13/189—Actuation by interference with heat, light, or radiation of shorter wavelength; Actuation by intruding sources of heat, light, or radiation of shorter wavelength using passive radiation detection systems
    • G08B13/194—Actuation by interference with heat, light, or radiation of shorter wavelength; Actuation by intruding sources of heat, light, or radiation of shorter wavelength using passive radiation detection systems using image scanning and comparing systems
    • G08B13/196—Actuation by interference with heat, light, or radiation of shorter wavelength; Actuation by intruding sources of heat, light, or radiation of shorter wavelength using passive radiation detection systems using image scanning and comparing systems using television cameras
    • G08B13/19602—Image analysis to detect motion of the intruder, e.g. by frame subtraction
    • 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
    • F41G3/065—Structural association of sighting-devices with laser telemeters
    • 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
    • G01S11/12—Systems for determining distance or velocity not using reflection or reradiation 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
    • G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
    • G01S17/86—Combinations of lidar systems with systems other than lidar, radar or sonar, e.g. with direction finders
    • 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
    • G01S3/00—Direction-finders for determining the direction from which infrasonic, sonic, ultrasonic, or electromagnetic waves, or particle emission, not having a directional significance, are being received
    • G01S3/78—Direction-finders for determining the direction from which infrasonic, sonic, ultrasonic, or electromagnetic waves, or particle emission, not having a directional significance, are being received using electromagnetic waves other than radio waves
    • G01S3/782—Systems for determining direction or deviation from predetermined direction
    • G01S3/789—Systems for determining direction or deviation from predetermined direction using rotating or oscillating beam systems, e.g. using mirrors, prisms
    • G—PHYSICS
    • G08—SIGNALLING
    • G08B—SIGNALLING OR CALLING SYSTEMS; ORDER TELEGRAPHS; ALARM SYSTEMS
    • G08B13/00—Burglar, theft or intruder alarms
    • G08B13/18—Actuation by interference with heat, light, or radiation of shorter wavelength; Actuation by intruding sources of heat, light, or radiation of shorter wavelength
    • G08B13/189—Actuation by interference with heat, light, or radiation of shorter wavelength; Actuation by intruding sources of heat, light, or radiation of shorter wavelength using passive radiation detection systems
    • G08B13/194—Actuation by interference with heat, light, or radiation of shorter wavelength; Actuation by intruding sources of heat, light, or radiation of shorter wavelength using passive radiation detection systems using image scanning and comparing systems
    • G08B13/196—Actuation by interference with heat, light, or radiation of shorter wavelength; Actuation by intruding sources of heat, light, or radiation of shorter wavelength using passive radiation detection systems using image scanning and comparing systems using television cameras
    • G08B13/19617—Surveillance camera constructional details
    • G08B13/1963—Arrangements allowing camera rotation to change view, e.g. pivoting camera, pan-tilt and zoom [PTZ]

Abstract

Movement within a scene is detected by scanning the scene in elevation and azimuth, 6,4,3, imaging each part of the scene onto two detector rows 12, 13 which are staggered with respect to one another in the azimuthal direction and which have an identical number of detector elements, delaying the output of the detector rows 12 which detects first of all a specific instantaneously-depicted picture detail and comparing it with the non-delayed output of the second detector row 13. A difference signal which is different from zero then indicates movement within the field of vision of the panoramic locating apparatus. The angular position of the moving object can be obtained by measuring the angle of elevation and angle of azimuth of the optical axis 6 at the instant of the recognition of the moving object.

Description

SPECIFICATION Panoramic locating apparatus This invention relates to panoramic locating apparatus, for locating the position of a moving object, comprising a mechanism for varying the apparatus's object-sided optical axis in elevation and with a constant angular velocity in azimuth arrangements for determining the angle of elevation and azimuth of the optical axis, a receiving optical system and a radiation-sensitive detector which is arranged in the receiving optical system's focal plane.
The automatic detection of objects exclusiveiy in motion is possible principally with the aid of correlation methods (see Applied Optics 18, 3307, 1979). In the case of such correlation methods, video signals of a complete individual picture picked up by scanning the overall field of vision are read into an electronic store and subsequently compared with the video signals of the next individual picture.
Different video signals in one and the same picture point then indicate a moving object within the overall field of vision.
A disadvantage of such a correlation method is that individual complete pictures have to be stored electronically and then compared with one another.
This is a relatively time-consuming method since with panoramic searchers scarcely more than two revolutions per second can be achieved. In other words two complete individual picture are only available after about a second.
It is therefore an object of the present invention to provide panoramic locating apparatus for locating the position of a moving object, which is considerably faster in reaction than the above-mentioned correlation method.
With this object in view the present invention provides panoramic locating apparatus for locating moving objects, comprising a mechansim for varying the apparatus's object side optical axis in elevation and with constant angular velocity in azimuth arrangements for determining the angle of elevation and azimuth of the optical axis, a receiving optical system and a radiation-sensitive detector which is arranged in the optical receiving system's focal plane characterised in that the detector consists of two rows of detectors arranged staggered with regard to one another in the azimuthal direction, each with the same number of detector elements, a first of the detector rows engaged firstly by a specific momentaneously-represented image area has a signal delaying mechanism 14, and that the detector elements are connected to a mechanism for forming difference signals from the delayed signals of the first detector row and the signals of a second of the detector rows.
With the panoramic locating apparatus in accordance with the invention, an individual picture point from the overall field of vision is picked up twice, shortly in succession. Advantageously, the signal given off by a detector element of the first detector row is stored in a known manner, for example, by a digital processes or by means of a delay line, until a corresponding detector element of the second detector row has also scanned the same picture point.
Corresponding video signals from both detector rows are then compared, for example, by means of difference amplifiers. A difference video signal difference from zero indicates a mechanical movement, namely the tangential component thereof. The exact angular position of the moving object results from the values obtained for the angle of elevation and azimuth at the instant of recognition of the moving object, these values being measured for example by means of angle indicators on the adjusting mechanism for varying the optical axis. A further precise measurement of the angle of elevation results by determining which detector element from the detector row has indicated the movement.
Preferably, the apparatus is also provided with a laser range finder apparatus as claimed in claim 1, characterised by the provision of a laser range-finder comprising a transmitting and receiving arrangement which is coaxial to the object-side optical axis of the apparatus, in which respect arranged in the path of an emitted laser radiation beam is a beam deflector arrangement for deflecting the laser beam in the elevation direction, which beam deflector arrangement is controllable with the aid of the difference signals obtained. This makes possible the measurement of the distance to the moving object.
The additional alignment of the laser beam in the elevation direction by means of a beam deflector makes possible, in this respect, the use of relatively closely bunched laser beams having high energy density.
The invention will be described further, by way of example, with reference to the accompanying drawing which illustrates schematically a preferred embodiment of the apparatus of the invention.
The preferred embodiment of the panoramic locating apparatus of the invention as shown in the drawing comprises a movably-mounted mirror 1, which is adjustable in height and laterally by means of drives 2 and 3. Angle indicators 4 and 5 indicate the respective angle of elevation or azimuth respectively of object-side optical axis 6. The azimuthal movement of the mirror is effected at a constant angular velocity o) about axis 7. Radiation detected by the mirror 1 is passed onto a radiation-sensitive detector 11 by way of an optical receiving system 8, an inverting prism 9 rotating at half the angular velocity )/2 and a beam divider 10. The detector 11 has two detector rows 12 and 13, built up respectiveliy from N elements (where N = 1, 2 3... etc) arranged side-by-side relative to one another in the azimuthal direction.Each detector row 12, 13 has as its function the detection of an image over a narrow vertical image area. The detector rows 12, 13 are so aligned that a picture point which encounters, for example, detector element 12.1 is passed, upon an azimuthal rotation of the mirror 1, onto a corresponding detector element 13.1 of the second detector row 13.
To ascertain the movement process within the field of vision covered by the mirror 1,video signals of the detector elements 12.1 12.112.2 12.N of the detector row 12 are scanned electronically at short intervals of time and are stored or delayed for a time until the same picture detail has been picked up also by the detector row 13 and video signal thereof has been scanned. The time delayed signals of the detector elements 12.112.2... 12.N ofthefirst detector row 12 are compared with the correspond ing signals of the detector elements 13.1, 13.2... 13.N of the second detector row 13, in a suitable electronic arrangement 15 which has, for example, N difference amplifiers.
If the signals of two corresponding detector elements differ from one another, then the difference signal thereof is fed to a logic system 16 and checked there once more by means of fixed decision criteria from a corresponding store 17. In this way, interesting speed ranges of detected objects and disturbances or several movement procedures within an instantaneously-scanned picture detail are selected.
Where a target is recognised as a moving object, the instantaneous angular position 6, y, of the optical axis 6 is stored, in which respect the angle of elevation can be ascertained more closely by determining which pair of detector elements has indicated the movement.
An angular resolution which can be achieved with the detector rows which are obtainable nowadays results from the following example: Two identical detector rows for the reception of heat radiation consists of 100 detector elements each, which are arranged perpendicularly side-byside in the picture plane. Thus an overall field of vision of 360" x 6" is intended to be scanned, so that the angular extent of the instantaneous vertical field of vision amounts to around 1 mrad.
In military applications of panoramic locating apparatus operating, for example, in the infra-red range, not only the angular position of the moving object has to be known, but also the range of the moving object. This is particularly necessary to determine the actual speed of the object, which can enter into the above-mentioned decision criteria. For this purpose, the apparatus is provided with a laser range-finder which comprises a laser 20 as well as a detector 21 which is sensitive in the appropriate spectral region. By means of a drive 18 a quaiity switch 20.1 of the laser 20 is selected by a logic system 16 as soon as a difference signal has been obtained.At the same time by means of a drive 19 a beam deflector 26 is so selected by the logic system 16 that an irradiated laser impulse arrives at that point in space which corresponds to the picture point, thereby indicating movement. For this purpose, the laser beam deflected by the beam deflector 26 in the elevation direction is directed along the beam path of the locating apparatus by way of an inverting prism 23 rotating at half the azimuthal angular velocity and an inverting prism 24, and irradiated by way of the pivoting mirror 1. The relatively closely-bunched laser beam arrives, inside the field of view covered momentarily by the mirror 1, merely at the picture detail which is detected by the detector element indicating the movement.The laser radiation reflected by the detected object then passes again by way of the mirror 1, the optical receiving system 8 and the inverting prism 9 into the beam divider 10. Here the laser radiation is filtered out of the remaining spectrum by means of a reflection filter 10.1 and is deflected. The laser radiation selected in this way then arrives at the detector 21, which also has a detector row 22 with an identical number N of detector elements as a detector row of the detector 11. The detector row 22 covers the same pictures areas as one of the detector rows 12 and 13 of the detector 11. Thus, there exists for each detector element pair 12.1 13.1 or 12.2, 13.2 etc a corresponding detector element in the laser range-finder.
The operation of laser range-finders, more especially those having a piezoelectrical beam deflection, is known 'per se' (see German Auslegeschrift No.
22 29 887) and will not be explained further here. The difference of the laser range-finder being used in the present invention consists, however, in that the deflection of the laser beam by the beam deflector 26 is effected at discrete angular spacings which correspond to the quotient from the vertical angle of view of the optical receiving system 8 and the number of detector elements 22.1... 22.N, in which respect each detector element is associated with a deflection angle of the beam deflector. Provided between the beam deflector 26 and the swivelling mirror lisa lense for extending the angular region since the maximum angular range of the beam deflector generlly does not correspond to the picture angle covered by the detector row. The panoramic locating apparatus of the invention pre-supposes a constant rotary motion of the optical axis in the azimuthal direction, but at least with the knowledge of the exact angular velocity. For this purpose the drive 3, which is an azimuth adjusting motor, is connected electrically by way of a speed regulation 25 to the logical system 16. The rotary motion of the inverting prisms 9 and 23 at half the azimuth angular velocity )/2 can be effected by appropriate mechanical coupling with the aid of the azimuth motor 3.

Claims (9)

1. Panoramic locating apparatus for locating moving objects, comprising a mechanism for varying the apparatus's object side optical axis in elevation and with constant angular velocity in azimuth arrangements for determining the angle of elevation and azimuth of the optical axis, a receiving optical system and a radiation-sensitive detector which is arranged in the optical receiving system's focal plane, characterised in that the detector consists of two rows of detectors arranged staggered with regard to one another in the azimuthal direction, each with the same number of detector elements a first of the detector rows engaged firstly by * a specific momentaneously-represented image area has a signal delaying mechanism 14, and that the detector elements are connected to a mechanism for forming difference signals from the delayed signals of the first detector row and the signals of a second of the detector rows.
2. Apparatus as claimed in claim 1, characterised by the provision of a laser range-finder comprising a transmitting and receiving arrangement which is coaxial to the object-side optical axis of the apparatus, in which respect arranged in the path of an emitted laser radiation beam is a beam deflector arrangement for deflecting the laser beam in the elevation direction, which beam deflector arrangement is controllable with the aid of the difference signal obtained.
3. Apparatus as claimed in claim 2, characterised in that the deflection of the laser beam is effected in discrete angular distances which correspond to the quotient from the vertical angle of view of the receiving optical system and the number of detector elements of a detector row.
4. Apparatus as claimed in claim 2 or 3, characterised in that the laser range-finder itself has a detector row which comprises an identical number of detector elements as one of the detector rows of the detector.
5. Apparatus as claimed in claim 4, characterised in that a respective detector element of the laser range-finder is associated with a deflection angle of the beam deflector arrangement.
6. Apparatus as claimed in any one of claims 2 to 5, characterised in that the laser range-finder has an acousto-optical beam deflector.
7. Apparatus as claimed in any preceding claim characterised in that the detectors are infra-redsensitive detectors and in that the laser range finding is a CO2-laser.
8. As claimed in claim 7, characterised in that arranged in front of the detectors and of the laser range-finder is an arrangement for wave lengthselective beam division.
9. Panoramic locating apparatus substantially as hereinbefore described with reference to and as illustrated in the accompanying drawing.
GB8101523A 1980-02-14 1981-01-19 Panoramic locating apparatus Expired GB2071957B (en)

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
DE3005427A DE3005427C2 (en) 1980-02-14 1980-02-14 All-round tracking system

Publications (2)

Publication Number Publication Date
GB2071957A true GB2071957A (en) 1981-09-23
GB2071957B GB2071957B (en) 1984-02-01

Family

ID=6094533

Family Applications (1)

Application Number Title Priority Date Filing Date
GB8101523A Expired GB2071957B (en) 1980-02-14 1981-01-19 Panoramic locating apparatus

Country Status (3)

Country Link
DE (1) DE3005427C2 (en)
FR (1) FR2476325A1 (en)
GB (1) GB2071957B (en)

Cited By (16)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
GB2122833A (en) * 1982-06-24 1984-01-18 Ferranti Plc Radiation detecting apparatus
GB2130453A (en) * 1982-11-12 1984-05-31 Zumbach Electronic Ag Movement detection
FR2537728A1 (en) * 1980-12-22 1984-06-15 Eltro Gmbh OPTOELECTRONIC DEVICE FOR MARKING A WIDE SPACE AREA
GB2139036A (en) * 1983-04-27 1984-10-31 Nissan Motor Optical radar for vehicles
FR2565698A1 (en) * 1984-06-06 1985-12-13 Thomson Csf AIRBORNE SYSTEM FOR OPTOELECTRIC DETECTION, LOCATION AND OMNIDIRECTIONAL TARGET TRACKING
FR2569926A1 (en) * 1984-08-28 1986-03-07 Trt Telecom Radio Electr DEVICE FOR DETECTION AND REMOVAL OF PARASITE IMAGES CREATED BY IR PYRAMIDAL DOME
WO1988001041A1 (en) * 1986-08-04 1988-02-11 Hughes Aircraft Company Rosette scanning surveillance sensor
EP0307677A1 (en) * 1987-08-31 1989-03-22 Josef-Ferdinand Dipl.-Ing. Menke Method for target field clarification
FR2627290A1 (en) * 1988-02-12 1989-08-18 Matra OPTICAL TRACKING AND MEASUREMENT SYSTEM FOR A SPACE VEHICLE
US4886330A (en) * 1986-08-07 1989-12-12 James Linick Infra red imaging system
WO1990007720A1 (en) * 1986-08-07 1990-07-12 James Linick Electro-optical scanning system for a hemispherical space
EP0399862A1 (en) * 1989-05-23 1990-11-28 Thomson-Csf Apparatus for missile homing
GB2248003A (en) * 1990-08-22 1992-03-18 Kollmorgen Corp Collision avoidance system
EP0493247A1 (en) * 1990-12-27 1992-07-01 Sopelem-Sofretec Distance measuring device for detecting and localizing reflecting objects or substances
FR2714479A1 (en) * 1993-12-23 1995-06-30 Thomson Csf Infrared panoramic watch device with angular coverage orientable in site.
WO1996030778A1 (en) * 1995-03-28 1996-10-03 Hollandse Signaalapparaten B.V. Arrangement for the detection of targets

Families Citing this family (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE3209209C2 (en) * 1982-03-13 1989-05-18 Eltro GmbH, Gesellschaft für Strahlungstechnik, 6900 Heidelberg Warning and aiming device
DE3219533A1 (en) * 1982-05-25 1983-12-08 Messerschmitt-Bölkow-Blohm GmbH, 8000 München Device for detecting moving targets
FR2677775B1 (en) * 1991-06-14 1993-10-01 Aerospatiale Ste Nationale Indle SCANNING METHOD AND DEVICE FOR A LARGE-FIELD, HIGH-RESOLUTION OPTO-ELECTRONIC IMAGE DEVICE.
DE102017210683B4 (en) * 2017-06-26 2022-10-20 Robert Bosch Gmbh Optical arrangement of a receiver optics of a scanning lidar system, lidar system and working device

Family Cites Families (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US3219822A (en) * 1961-09-01 1965-11-23 Lockheed Aircraft Corp Infrared search system
US3475608A (en) * 1967-11-02 1969-10-28 Us Army Thermal,moving target,intrusion detector
US3698812A (en) * 1969-08-11 1972-10-17 Hughes Aircraft Co Multi-function telescope
US3678492A (en) * 1970-10-26 1972-07-18 Hughes Aircraft Co Opto-electronic scene monitoring system
DE2229887C3 (en) * 1972-06-19 1980-07-17 Siemens Ag, 1000 Berlin Und 8000 Muenchen Distance measuring device with a laser working as a transmitter and its application for speed measurement

Cited By (26)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
FR2537728A1 (en) * 1980-12-22 1984-06-15 Eltro Gmbh OPTOELECTRONIC DEVICE FOR MARKING A WIDE SPACE AREA
GB2122833A (en) * 1982-06-24 1984-01-18 Ferranti Plc Radiation detecting apparatus
GB2130453A (en) * 1982-11-12 1984-05-31 Zumbach Electronic Ag Movement detection
GB2139036A (en) * 1983-04-27 1984-10-31 Nissan Motor Optical radar for vehicles
FR2565698A1 (en) * 1984-06-06 1985-12-13 Thomson Csf AIRBORNE SYSTEM FOR OPTOELECTRIC DETECTION, LOCATION AND OMNIDIRECTIONAL TARGET TRACKING
EP0167432A1 (en) * 1984-06-06 1986-01-08 Thomson-Csf Airborne optoelectrical target detection, localisation and omnidirectional tracking system
FR2569926A1 (en) * 1984-08-28 1986-03-07 Trt Telecom Radio Electr DEVICE FOR DETECTION AND REMOVAL OF PARASITE IMAGES CREATED BY IR PYRAMIDAL DOME
EP0176121A1 (en) * 1984-08-28 1986-04-02 Telecommunications Radioelectriques Et Telephoniques T.R.T. Method for detecting and eliminating parasitic pictures produced by a pyramidal IR dome
WO1988001041A1 (en) * 1986-08-04 1988-02-11 Hughes Aircraft Company Rosette scanning surveillance sensor
US4886330A (en) * 1986-08-07 1989-12-12 James Linick Infra red imaging system
WO1990007720A1 (en) * 1986-08-07 1990-07-12 James Linick Electro-optical scanning system for a hemispherical space
EP0307677A1 (en) * 1987-08-31 1989-03-22 Josef-Ferdinand Dipl.-Ing. Menke Method for target field clarification
EP0329540A1 (en) * 1988-02-12 1989-08-23 Matra Marconi Space France Optical position-measuring system for a space vehicle
FR2627290A1 (en) * 1988-02-12 1989-08-18 Matra OPTICAL TRACKING AND MEASUREMENT SYSTEM FOR A SPACE VEHICLE
EP0399862A1 (en) * 1989-05-23 1990-11-28 Thomson-Csf Apparatus for missile homing
FR2647540A1 (en) * 1989-05-23 1990-11-30 Thomson Csf MISSILE RALLY DEVICE
US5249157A (en) * 1990-08-22 1993-09-28 Kollmorgen Corporation Collision avoidance system
GB2248003A (en) * 1990-08-22 1992-03-18 Kollmorgen Corp Collision avoidance system
GB2248003B (en) * 1990-08-22 1995-02-01 Kollmorgen Corp Collision avoidance system
FR2671196A1 (en) * 1990-12-27 1992-07-03 Sopelem TELEMETRIC DEVICE FOR THE DETECTION AND LOCATION OF OBJECTS OR BACK-BROADCASTING SUBSTANCES.
EP0493247A1 (en) * 1990-12-27 1992-07-01 Sopelem-Sofretec Distance measuring device for detecting and localizing reflecting objects or substances
FR2714479A1 (en) * 1993-12-23 1995-06-30 Thomson Csf Infrared panoramic watch device with angular coverage orientable in site.
WO1996030778A1 (en) * 1995-03-28 1996-10-03 Hollandse Signaalapparaten B.V. Arrangement for the detection of targets
NL9500590A (en) * 1995-03-28 1996-11-01 Hollandse Signaalapparaten Bv Device for detecting targets.
AU699828B2 (en) * 1995-03-28 1998-12-17 Thales Nederland B.V. Arrangement for the detection of targets
US6031605A (en) * 1995-03-28 2000-02-29 Hollandse Signaalapparaten B.V. Arrangement for the detection of targets

Also Published As

Publication number Publication date
DE3005427A1 (en) 1981-08-20
FR2476325A1 (en) 1981-08-21
DE3005427C2 (en) 1982-11-04
GB2071957B (en) 1984-02-01
FR2476325B1 (en) 1984-07-13

Similar Documents

Publication Publication Date Title
GB2071957A (en) Panoramic locating apparatus
US5345304A (en) Integrated LADAR/FLIR sensor
JP3220179B2 (en) Three-dimensional color imaging method and apparatus
US7710545B2 (en) Scanned laser detection and ranging apparatus
US5249046A (en) Method and apparatus for three dimensional range resolving imaging
US5006721A (en) Lidar scanning system
US5134409A (en) Surveillance sensor which is provided with at least one surveillance radar antenna rotatable about at least one first axis of rotation
US4401886A (en) Electromagnetic beam acquisition and tracking system
EP0468474A2 (en) A method of compensating scattered characteristics of infrared detector elements
JPH0551840B2 (en)
US4234241A (en) Stereo line scanner
US4627724A (en) Radiation scanning and detection system
US4111383A (en) Laser beam transmitter system for laser beam rider guidance systems
US6204916B1 (en) Three dimensional information measurement method and apparatus
US4300160A (en) Thermal imaging device for detecting and identifying a thermal object
US5107117A (en) Optoelectronic viewing system
GB1400841A (en) Apparatus for determining the profile of a plane or cylindrical surface
US4910410A (en) Article orientation by sensing beam arrival times at plural detectors
US3143588A (en) Range measuring system
US2997595A (en) Target-seeking head for guided missile
US3787840A (en) Radar moving target processing method and apparatus
US4958077A (en) Method and apparatus for displaying moving objects
US4566788A (en) Detector array
GB2305573A (en) High-speed optronic panoramic surveillance system
US3471697A (en) Instrument for providing signals representative of the position of a moving target

Legal Events

Date Code Title Description
PCNP Patent ceased through non-payment of renewal fee