GB2511339A - Apparatus for locating a remote point of interest - Google Patents

Apparatus for locating a remote point of interest Download PDF

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Publication number
GB2511339A
GB2511339A GB1303601.7A GB201303601A GB2511339A GB 2511339 A GB2511339 A GB 2511339A GB 201303601 A GB201303601 A GB 201303601A GB 2511339 A GB2511339 A GB 2511339A
Authority
GB
United Kingdom
Prior art keywords
interest
baseline
measuring means
angle measuring
point
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.)
Withdrawn
Application number
GB1303601.7A
Other versions
GB201303601D0 (en
Inventor
Stuart David Palmer
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.)
Rockwell Collins UK Ltd
Original Assignee
Rockwell Collins UK Ltd
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 Rockwell Collins UK Ltd filed Critical Rockwell Collins UK Ltd
Priority to GB1303601.7A priority Critical patent/GB2511339A/en
Publication of GB201303601D0 publication Critical patent/GB201303601D0/en
Priority to GB1402383.2A priority patent/GB2511426B/en
Publication of GB2511339A publication Critical patent/GB2511339A/en
Withdrawn legal-status Critical Current

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
    • G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
    • G01S17/02—Systems using the reflection of electromagnetic waves other than radio waves
    • G01S17/06—Systems determining position data of a target
    • G01S17/46—Indirect determination of position data
    • G01S17/48—Active triangulation systems, i.e. using the transmission and reflection of electromagnetic waves other than radio waves
    • 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
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C15/00—Surveying instruments or accessories not provided for in groups G01C1/00 - G01C13/00
    • G01C15/002—Active optical surveying means
    • 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
    • G01C3/06—Use of electric means to obtain final indication
    • G01C3/08—Use of electric radiation detectors
    • 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
    • G01S17/02—Systems using the reflection of electromagnetic waves other than radio waves
    • G01S17/06—Systems determining position data of a target
    • G01S17/08—Systems determining position data of a target for measuring distance only
    • 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
    • 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
    • G01S19/43—Determining position using carrier phase measurements, e.g. kinematic positioning; using long or short baseline interferometry
    • 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
    • G01S19/38—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

Landscapes

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

Abstract

An apparatus for locating a remote point of interest, such as a military target, comprises a baseline providing means for providing a reference baseline formed between the position occupied by the apparatus itself and a remote, visible, mensurated reference position. The positions maybe determined and updated using a wireless Global Navigation Satellite System (GNSS) real-time kinematic means and the reference postion may be associated with a moving person or object. Delta angles to the remote point of interest relative to the reference baseline are generated through slewing between the reference baseline and the point of interest. The angle measuring means is a multi-axis Micro-electro-mechanical system (MEMS) angle measuring means and may comprise multiple sensors the output of which may be blended together in use. A laser range finder may be used to locate reference points and points of interest.

Description

I
APPARATUS FOR LOCATING A REMOTE POINT OF INTEREST
This invention relates to apparatus for locating a remote point of interest. The apparatus may be used for surveying, and especially military surveying. The military surveying may be such that the point of interest is a target.
It is well known in military surveying to use various types of apparatus for locating a remote point of interest. A first type of known apparatus is a laser range finder. The laser range finder is lightweight and in use it is held in a user's hand. The laser range finder is thus mobile apparatus which is able to locate a remote point of interest. The laser range finder requires a digital magnetic compass to calculate a heading. The digital magnetic compass is highly susceptible to local magnetic interference for example from nearby equipment, nearby vehicles, and watches. The susceptibility to the local magnetic interference renders the use of the laser range finder with the digital magnetic compass too unreliable for satisfactory use.
A second known apparatus improves on the above problem by replacing the digital magnetic compass with baseline-providingmeans for providing a reference bearing comprising two reference points. These two reference points may be visible, surveyed or known points, or they may be a base and rover global navigation satellite system (GNSS) real time kinematic (RTK) pair. A 2-axis rotary encoder is then used to measure delta angles to the point of interest. However, the apparatus is not satisfactory in that it is heavy, it needs to be static for operation, and it takes time for an operator to set up.
It is an aim of the present invention to obviate or reduce the above mentioned problems in the second mentioned known apparatus.
Accordingly, in one non-limiting embodiment of the present invention there is provided apparatus for locating a remote point of interest, which apparatus comprises: (i) baseline providing means for providing a reference baseline, the baseline providing means being a reference between an own position occupied by the baseline providing means and a remote, visible, mensurated position; (ii) angle measuring means for measuring delta angles to the remote point of interest, the measured delta angles being generated through slewing between the reference baseline and the point of interest; and (iii) position measuring means for measuring the own position; e * . * * * characterisedinthat: * 0 ** Ot * (iv) the angle measuring means is a multi-axis MEMS angle measuring means. ****
The apparatus of the present invention is advantageous in that the use of the multi-axis MEMS angle measuring means is much lighter than the previously used 2-axis rotary encoder. Thus the apparatus of the present invention is able to be produced to be lighter than the second known apparatus mentioned above. Still further, the multi-axis MEMS angle meaèuring means is not affected by local magnetic conditions. Thus the multi-axis MEMS angle measuring means is able to operate with an acceptable comparable accuracy to that of the 2-axis rotary encoder.
The apparatus of the present invention may be one in which the multi-axis MEMS angle measuring means is a 6-axis MEMS angle measuring means.
The multi-axis MEMS angle measuring means may comprise a plurality of sensors and blending means for causing the plurality of sensors to blend together in use. The blending means may comprise an algorithm for causing the plurality of sensors to blend together in use. Other types of blending means may be employed. Preferably, the algorithm is a Kalman filter-based program.
The multi-axis MEMS angle measuring means may comprise a rotary encoder. The rotary encoder may be housed with the other sensors, or as a separate modular device which is separate to the multi-axis MEMS.
The apparatus may be one in which the baseline providing means is a wireless GNSS real time kinematic means.
The baseline providing means may comprise mounting means for mounting the baseline providing means on moving people or objects. The t..
people may be members of a patrol. The apparatus is able to be used in a mobile manner, with the apparatus being such that a real time kinematic solution is able to be derived with greatly reduced set up times. If desired, the apparatus is also able to be used in a static manner.
The apparatus may include optical means for locating reference points and points of interest. The optical means may be a range finder. Preferably the range finder is a laser range finder. Other types of range finder may be employed.
An embodiment of the invention will now be described solely by way of example and with reference to the accompanying drawings in which: Figure 1 shows first known apparatus for locating a remote point of interest; Figure 2 shows second known apparatus for locating a remote point of interest; Figure 3 shows apparatus of the present invention for locating a remote point of interest; Figure 4 shows the apparatus of Figure 3 as used; Figure 5 shows control software for use with the apparatus shown in Figure 3; and Figure 6 shows an example of use of the apparatus of the present invention.
Referring to Figure 1, there is shown first known apparatus 2 for locating a remote point of interest. The apparatus 2 is in the form of a laser range finder. The apparatus 2 is able to be used on its own. More specifically, the apparatus 2 is able to be held in a user's hands using hand straps 4 located on a body 6 of the apparatus 2. The apparatus 2 has a viewing formation 8 through which the user looks. The body 6 has laser range finding optical equipment 10 opposite the viewing formation 8. The apparatus 2 is advantageous in that it is lightweight, it is able to b! held in a user's hand, and it is able to be used whilst the user is mobile. The apparatus 2 suffers from the disadvantage that it requires a digital magnetic compass (not shown) to calculate a heading. The digital magnetic compass is highly susceptible to local magnetic interference, such for example as that obtained from nearby equipment, vehicles, and watches. The susceptibility of the digital magnetic compass to local magnetic interference causes the apparatus 2 to be insufficiently accurate for military surveying a point of interest, especially where the point of interest is a military target.
Referring now to Figure 2, there is shown second known apparatus 12 for locating a remote point of interest. The apparatus 12 comprises baseline providing means 14 for providing a reference baseline. The baseline providing means 14 is a GNSS real time kinematic means. The baseline providing means 14 is basically the laser range finder apparatus 2 of Figure 1.
The apparatus 12 further comprises angle measuring means 16 for measuring delta angles to the remote point of interest. The measured delta angles are with reference to the reference baseline provided by means 23 and 24. The angle measuring means 16 is connected to the baseline providing means 23 and 24 by wires 18 and 22. The apparatus 12 further comprises an own position-determining means 23.
A wire 25 leads to the angle measuring means 16 and is for connection to a power source. The angle measuring means 16 is mounted on a tripod having three legs 26. Each leg 26 has a mounting foot 2& The angle measuring means 16 has a 2-axis angular orientation sensor which is used to measure the delta angles to the point of interest.
The entire apparatus 12 is heavy. Also, the entire apparatus 12 has to be static during operation, and appreciable time is taken for a user to set up the apparatus 12. In military situations such as the surveying of a point of interest such as a target, time may be of the essence and there may be insufficient time to set up the apparatus 12. With a point of interest such as a target, the required target data must often be determined very quickly, and sometimes without the luxury of local surveyed references. Thus whilst the apparatus 12 is able to provide high targeting accuracy for points of interest, its disadvantages are considerable. These disadvantages are often unacceptable in situations such for example as where soldiers are conducting close air support.
Referring now to Figure 3, there is shown apparatus 30 of the present invention. The apparatus 30 is for locating a remote point of interest. The apparatus 30 comprises baseline providing means 31. The baseline providing 0..: means 31 is a GNSS real time kinematic means. More specifically, the baseline providing means 31 is a wireless GNSS real time kinematic means 31. As can best be appreciated from Figure 4, the baseline providing means 31 comprises a laser range finder 34, a base antenna 37 for a user 38 of the apparatus 30, and a remote antenna 41 for a soldier 42. The two antennas 37, 41 are able to exchange real time kinematic data 44 using wireless transceivers 36; 40. The two antennas 37, 41 provide a wireless real time kinematic baseline, with the antenna 37 conforming to a fixed physical relationship with the laser range finder 34. The antenna 37 also provides own position information and thus the antenna 37 forms position measuring means for measuring the own position.
The apparatus 30 shown in Figure 3 also comprises angle measuring means 46 for measuring delta angles to the remote point interest. The measured delta angles are with reference to the reference baseline. The angle measuring means 46 is a multi-axis MEMS angle measuring means 46.
This multi-axis MEMS angle measuring means 46 is used instead of the angle measuring means 16 in the second known apparatus 12 and which is a 2-axis rotary encoder as mentioned above. The multi-axis MEMS angle measuring means 46 is a 6-axis MEMS angle measuring means.
As can be seen from Figure 3, the multi-axis MEMS angle measuring means 46 is attached to the underside of the laser range finder 34. The multi-axis MEMS angle measuring means 46 feeds sensor data into a computer, alongside data from augmentation unit 48 which houses a rotary encoder. A software program is then used to calculate the point of interest co-ordinates, using both the data from the augmentation unit 48 and the data from the multi-axis MEMS angle measuring means 46. An example of the software program is shown as control software 50 in Figure 5. In Figure 5, there is shown MEMS coordinate data 52 and augmentation unit co-brdinate data 54.
The multi-axis MEMS angle measuring means 46 comprises a plurality of sensors (not shown) and blending means for causing the plurality of sensors to blend together in use. The blending means comprises an algorithm for causing the plurality of sensors to blend together in use. The algorithm is a Kalman filter-based program.
Referring how to Figure 6, there is shown an example of the apparatus in use. The apparatus 30 is at a designated firing point 56. A point of interest 58 is shown. The point of interest 58 is indicated by line 60 to be approximately.2 kilometres from the firing point 56. The point of interest 58 may be a building or other point of interest. The point of interest 58 was targeted twenty times.
It is to be appreciated that the embodiment of the invention described above with reference to the accompanying drawings has been given by way of example only. Thus, for example, the apparatus 30 may use a different type of range finder and a different type of multi-axis MEMS angle measuring means. The baseline providing means 31 may use a GNSS-based RIK baseline, or other baseline-providing means such for example as surveyed references. The own position measuring means 37 may use GNSS-derived data, or other means such as triangulation and trilateration from known points. Individual components shown in the drawings are not limited to use in their drawings and they may be used in other drawings and in all aspects of the invention. 0e.*
* * * . * .

Claims (10)

  1. CLAIMS1. Apparatus for locating a remote point of interest, which apparatus comprises: (I) baseline providing means for providing a reference baseline, the baseline providing means being a reference between an own position occupied by the baseline providing means and a remote, visible, mensuratéd position; (ii) angle measuring means for measuring delta angles to the remote point of interest, the measured delta angles being generated through slewing between the reference baseline and the point of interest; and -(iii) position measuring means for measuring the own position; characterised in that: (iv) the angle measuring means is a multi-axis MEMS angle S. *S : measuring means.* S. *** *. *.
    *
  2. 2. Apparatus according to claim 1 in which the multi-axis MEMS angle measuring means is a 6-axis MEMS angle measuring means. **.* * ***
  3. 3. Apparatus according to claim 1 or claim 2 in which the multi-axis MEMS angle measuring means comprises a plurality of sensors and blending means for causing the plurality of sensors to blend together in use.
  4. 4. Apparatus according to claim 3 in which the blending means comprises an algorithm for causing the plurality of sensors to blend together in use.
  5. 5. Apparatus according to any one of the preceding claims in which the baseline providing means is a wireless GNSS real time kinematic means.
  6. 6. Apparatus according to any one of the preceding claims in which the baseline providing means comprises mounting means for mounting the baseline providing means on moving people or moving objects.
  7. 7. Apparatus according to any one of the preceding claims in which the apparatus comprises optical means for locating reference points and points of interest. * * * *
  8. 8. Apparatus according to claim 7 in which the optical means is a range finder.
  9. 9. Apparatus according to claim 8 in which the range finder is a laser range finder.
  10. 10. Apparatus for locating a remote point of interest, substantially as herein described with reference to Figures 3 -6 of the accompanying drawings. * . * * * a. * . a * * * a.
GB1303601.7A 2013-02-28 2013-02-28 Apparatus for locating a remote point of interest Withdrawn GB2511339A (en)

Priority Applications (2)

Application Number Priority Date Filing Date Title
GB1303601.7A GB2511339A (en) 2013-02-28 2013-02-28 Apparatus for locating a remote point of interest
GB1402383.2A GB2511426B (en) 2013-02-28 2014-02-11 Apparatus for locating a remote point of interest

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
GB1303601.7A GB2511339A (en) 2013-02-28 2013-02-28 Apparatus for locating a remote point of interest

Publications (2)

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GB201303601D0 GB201303601D0 (en) 2013-04-10
GB2511339A true GB2511339A (en) 2014-09-03

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GB1402383.2A Expired - Fee Related GB2511426B (en) 2013-02-28 2014-02-11 Apparatus for locating a remote point of interest

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Families Citing this family (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN110471031A (en) * 2019-08-28 2019-11-19 佛山市兴颂机器人科技有限公司 A kind of laser position localization method and system based on reflector

Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP1734378A2 (en) * 2005-06-10 2006-12-20 Honeywell International Inc. Methods and systems using relative sensing to locate targets
EP2176672A2 (en) * 2007-07-24 2010-04-21 Nxp B.V. Multi-axial sensor for determining displacement, velocity and acceleration of a linear or angular movement
EP2210123A1 (en) * 2007-11-14 2010-07-28 Raytheon Company System and method for precision collaborative targeting
US8464433B1 (en) * 2009-07-07 2013-06-18 Milli Sensor Systems & Actuators, Inc. Human-portable MEMS Azimuth sensing unit and method

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Publication number Priority date Publication date Assignee Title
US4886347A (en) * 1988-02-22 1989-12-12 Monroe John N Range-finding binocular
TWI274851B (en) * 2004-04-09 2007-03-01 Hon Hai Prec Ind Co Ltd Laser range finder
TW201243287A (en) * 2011-04-28 2012-11-01 Hon Hai Prec Ind Co Ltd Laser range finder

Patent Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP1734378A2 (en) * 2005-06-10 2006-12-20 Honeywell International Inc. Methods and systems using relative sensing to locate targets
EP2176672A2 (en) * 2007-07-24 2010-04-21 Nxp B.V. Multi-axial sensor for determining displacement, velocity and acceleration of a linear or angular movement
EP2210123A1 (en) * 2007-11-14 2010-07-28 Raytheon Company System and method for precision collaborative targeting
US8464433B1 (en) * 2009-07-07 2013-06-18 Milli Sensor Systems & Actuators, Inc. Human-portable MEMS Azimuth sensing unit and method

Also Published As

Publication number Publication date
GB201402383D0 (en) 2014-03-26
GB201303601D0 (en) 2013-04-10
GB2511426B (en) 2017-02-08
GB2511426A (en) 2014-09-03

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