KR101693007B1 - System For Measuring Target's Position Coordinates Using HMD and Method Using The Same - Google Patents

Abstract

The present invention relates to a target coordinate measuring system using an HMD and a method of measuring a target coordinate using the HMD. By making it possible to acquire position information of a ground fixed target using only an HMD (Helmet Mounted Display) without using other sensors, It is possible to operate the HMD as a data acquisition sensor.

An HMD target coordinate measurement system, an aircraft flight information value and an HMD orientation / altitude value processing unit, a target screen display unit, a target position deviation measurement unit, a target position coordinate processing unit,

Description

[0001] The present invention relates to a system for measuring a target coordinate using an HDM and a method for measuring a target coordinate using the HMM,

The present invention relates to a target coordinate measuring system using a helmet mounted display (hereinafter referred to as HMD) and a target coordinate measuring method using the target coordinate measuring apparatus. The present invention acquires position information on a ground target position using only an HMD (Helmet Mounted Display) And a target coordinate measuring method using the same.

In general, military aircraft, especially attack aircraft, are equipped with a HMD (Helmet Mounted Display) or a Forward Looking Infra-red (FLIR), which is a device capable of gazing at a point on the ground. You can build a system that can.

Currently, the HMD or the like displays important data to the aircraft pilot and operates in conjunction with other active sensors or weapons. That is, the HMD itself does not serve as a sensor but a sensor linked to the HMD operates together with the HMD to acquire ground target coordinates.

Thus, in order for a particular aircraft system to independently obtain coordinate information for a point on the ground, it must be equipped with a navigation device (e.g., GPS or INS) that can accurately know the current bearing and position of the aircraft, (Including, for example, Targeting FLIR, Radar, or Digital Map) capable of measuring the bearing and distance to a point on the ground.

At this time, the Targeting FLIR must be equipped with an LRF (Laser Range Finder) or a Radar to enable distance measurement.

However, the LRF or Radar is classified as an active sensor and is difficult to use in a mission requiring stealth.

In addition, if the Digital Map is used together, it is possible to measure a point on the ground relatively accurately, but it is difficult to track a point on a non-ground artificial structure or the like.

In addition, there is a problem that the above-mentioned Radar, Targeting FLIR, and Digital Map system may not be able to be mounted on a specific aircraft depending on the case.

The present invention has been proposed in order to solve the problems of the related art, and it is an objective coordinate measurement system using an HMD that can acquire position information of a ground fixed target using only an HMD (Helmet Mounted Display) And to provide a method of measuring a target coordinate using the same.

It is another object of the present invention to provide a target coordinate measuring system using an HMD capable of operating an HMD as a data acquisition sensor for target position coordinates and a method for measuring target coordinates using the same.

As a means for solving the above-mentioned problems, the target coordinate measuring system using the HMD according to the present invention is a system for measuring target coordinates using an HMD, as described in claim 1, A data processing unit for measuring and storing an Attitude (Heading, Pitch, Roll), a speed, an altitude and a coordinate value (Latitude / Longitude) of the HMD and a bearing and altitude value of the HMD in real time, And a deviation indicator indicating a degree of aim deviation with respect to the target position, a target position deviation measuring unit for measuring a deviation degree of the deviation indicator, a target position deviation measuring unit for measuring a deviation of the deviation indicator, At each time point when the degree of deviation measured in the data processing unit is stabilized within a predetermined range, And a target position coordinate processing unit for calculating target coordinates for the target position by a triangulation method using the target position coordinate processing unit.

Wherein the target position coordinate processing unit is provided with a Kalman filter so that the values measured and stored in the data processing unit are supplied to the Kalman filter to calculate target coordinates for the target position .

As a means for solving the above problems, a method for measuring target coordinates using an HMD according to the present invention is a method for triangulating target coordinates using an HMD as described in claim 3, comprising the steps of: (a) A ground position calculation step (S10) of calculating ground target coordinates based on current and previous position coordinates and current and previous bearing and altitude values of the HMD; (b) a solution existence judgment step (S20) of judging whether a solution of the ground position calculation step exists or not; (c) if the solution does not exist in the solution existence judgment step (S20), the ground target coordinate is initialized (S30) and then returns to the ground position calculation step (S10) A standard deviation calculation step (S40) of accumulating the ground target coordinate values calculated in the ground position calculation step (S10) and calculating a standard deviation; (d) adjusting a line of sight of the targeting reticle (reticle) based on the standard deviation calculated in the standard deviation calculating step (S40) (S50).

The system for measuring the target coordinates using the HMD according to the present invention having the above-described structure and the method for measuring the target coordinates using the HMD have the effect of acquiring position information on the terrestrial target position with only the HMD.

The terms and words used in the present specification and claims should not be construed as limited to ordinary or dictionary terms and the inventor may appropriately define the concept of the term in order to best describe its invention It should be construed as meaning and concept consistent with the technical idea of the present invention. In the following description of the present invention, the same reference numerals will be used to designate the same or similar components in order to explain the present invention clearly.

The basic principle of the target coordinate measurement system using the HMD according to the present invention is to calculate the coordinates of the terrestrial target position using the triangulation method.

The triangulation method is a principle in which the position of the target can be accurately known by knowing the distance between two observation points and the orientation to the target position measured at each observation point when one point is observed at two different places.

This triangulation method is used to find earthquake epicenters or to measure distances to distant stars.

The target coordinate measurement system using the HMD according to the present invention allows the measurement using the triangulation method to be continuously performed. That is, if an aircraft pilot is equipped with an HMD and is flying, and the target designation symbol of the HMD is fixed at one point on the ground, the coordinates of the point are automatically calculated so that the time (flight time) The measured values for the target coordinates are accumulated so that accurate measurement values can be calculated.

The HMD is worn for use by the aircraft pilot. In order to calculate the coordinates of the ground target position, the pilot must fix the head on which the HMD is worn to the ground target. At this time, it is not difficult to fix the head of the pilot to the ground target position while the pilot is changing the posture of the aircraft. Rather, it is almost impossible to continue pointing a point on the ground manually by using a cursor, such as a mouse, on the aircraft, which is continuously changing its posture, rather than the pilot's head.

When the pilot of the aircraft starts to watch a point on the ground through the HMD from a moment when the aircraft is in flight, a line from the pilot to the ground target position of Sight) are connected to each other and displayed on a continuous screen, a shape is formed as if the fan is spread out with the ground target position as the origin. At this time, when two points are calculated by triangulation method, Can be calculated.

In the target coordinate measurement system using the HMD according to the present invention, the flight information value of the aircraft, i.e., the attitude of the aircraft (including, for example, the heading, pitch and roll of the aircraft) Coordinates of the ground target position are calculated based on the altitude and coordinate values (Latitude / Longitude), azimuth, lambda, and elevation (φ) values of the HMD.

To obtain the terrestrial target position, the pilot fixes the terrestrial target position to a Targeting Reticle displayed on the HMD, and then maintains the terrestrial target position for a predetermined time. At this time, the target coordinates in the plane are obtained by using the triangulation method for the distance of the aircraft and the orientation value of the HMD moved for a given unit time, and converted into the earth coordinate system to obtain the target coordinates for the ground target position .

In addition, the altitude of the ground target coordinates can be corrected using the altitude of the aircraft and the altitude of the HMD.

In addition, since it is impossible for the aircraft pilot to always look at the ground target position accurately through the HMD and the accuracy is inversely proportional to the distance of the aircraft to the ground target position due to the characteristics of the triangulation method, Statistical techniques and / or Kalman filters may be applied for the accuracy of the coordinate information.

The Targeting Reticle used by the aircraft pilot for designating the terrestrial target position includes a line of sight 121 and a deviation indicator 122 that can indicate the current calculation precision while designating the terrestrial target position, .

The aircraft pilot aligns the Targeting Reticle to the ground target position using the line of sight 121 and the deviation indicator 122 and moves the Targeting Reticle until the line of sight 120 is stabilized to the position of the deviation indicator 122 You can track the terrestrial target location.

Hereinafter, the target coordinate calculation system using the HMD according to the present invention using the calculation principle of the terrestrial target position as described above will be described.

1 is a block diagram of a target coordinate measuring system using an HMD according to the present invention.

1, the target coordinate measuring system using the HMD of the present invention includes a data processing unit 110, a target screen display unit 120, a target positional deviation measuring unit 130, a target coordinate information storage unit 140, And a target position coordinate processing unit 150.

The target screen display unit 120 includes a line of sight 121 and a deviation indicator 122. The target position coordinate processor 150 further includes a Kalman filter 151. [

The data processing unit 110 receives the flight information value of the aircraft, that is, the Attitude of the aircraft (including the heading, pitch, and roll of the aircraft), the speed, the altitude, / Longitude), and the azimuth, lambda, and elevation (φ) values of the HMD in real time.

The target screen display unit 120 is constituted by a targeting reticle displayed on the HMD worn by the aircraft pilot and the targeting reticle is constituted by the sight line 121 and a deviation indicator 122. 3)

The line-of-sight 121 is a cross-shaped line of sight, and the aircraft pilot moves the head on which the HMD is mounted so that the ground target position is fixed at the center of the crosshatch of the line of sight 121.

At this time, the cross-hair length of the line-of-sight 121 is adjusted according to the degree of stabilization of the terrestrial target position being aimed on the line-of-sight 121. That is, if the target position on the line of sight 121 is stably fixed to a certain level or more, the length of the line of sight is shortened, and when the target position is unstable, it becomes long. When the line of sight is the shortest, the target position is most accurately stabilized, and the Targeting Reticle is as shown in FIG.

The target positional deviation measuring unit 130 may measure the positional deviation of the HMD by adjusting the length of the line of sight 121 in accordance with the degree to which the landing target position is stably fixed to the center of the line of sight 121, .

At this time, the target position deviation measuring unit 130 calculates the standard deviation based on the coordinate values of the above-mentioned ground target position which is continuously calculated by the target position coordinate processing unit 140, And is fed back to adjust the line of sight 121 and the deviation indicator 122 of the Targeting Reticle.

The target position coordinate processing unit 140 may calculate a position coordinate value for the terrestrial target position through a triangulation method based on the orientation and altitude value of the HMD measured in real time in the data processing unit 110 and the flight information value of the aircraft It performs the function of continuous calculation. In this case, the statistical technique and the Kalman filter 141 may be applied to stabilize the target information. Based on the positional coordinate values of the ground target position thus calculated and accumulated, the target position deviation is fed back to the target line 121 and the deviation indicator 122 of the Targeting Reticle through the target positional deviation measuring unit 130.

The target coordinate information storage unit 150 stores a coordinate value of the terrestrial target position calculated by the target position coordinate processing unit 140.

FIGS. 2 and 3 are exemplary views of the Targeting Reticle displayed in the HMD according to the present invention.

When the aircraft pilot moves the head so that the ground target position is located at the center of the line of sight of the HMD's targeting reticle and the accumulated results after the moment the ground target position is fixed at the center of the line of sight are stabilized, The length of the line of sight indicating < RTI ID = 0.0 >

When the line of sight and deviation indicator are stabilized, the pilot can store or use the coordinate information of the terrestrial target position.

While the pilot is gazing at a point on the ground using the Targeting Reticle as described above, based on the orientation and altitude value of the HMD and the flight information value of the aircraft at this time, The coordinate value is continuously calculated and accumulated to calculate the standard deviation, and the result is fed back to the target line and the deviation indicator of the Targeting Reticle.

4 is a flowchart of a method of measuring target coordinates using an HMD according to the present invention.

The target coordinate measurement method using the HMD according to the present invention is also based on the triangulation method.

First, as the ground position calculation step (S10), the ground target coordinates are calculated based on the current and previous position coordinates of the aircraft and the current and previous bearing and altitude values of the HMD.

Next, as a solution existence judgment step (S20), it is judged whether or not a solution exists in the ground position calculation step (S10).

Next, if the solution does not exist in the solution existence judgment step (S20), the process returns to the ground position calculation step (S10) after initializing the position value accumulation for the terrestrial target position (S30) In the presence of the solution, the standard deviation calculation step S40 for accumulating the terrestrial target coordinate values calculated in the terrestrial position calculation step S10 and calculating the standard deviation is performed.

Next, as a targeting reticle adjustment step (S50), the target line length of the targeting reticle is adjusted based on the standard deviation calculated in the standard deviation calculation step (S40).

The HMD can be used as a target acquisition sensor that plays a role as an independent sensor by the above-described configuration and method.

It will be apparent to those skilled in the art that various modifications and changes can be made in the present invention without departing from the spirit or scope of the present invention as defined by the appended claims. And all such modifications, changes, and the like should be considered to be within the scope of the following claims.

The present invention can be applied to all aircraft systems equipped with a device capable of gazing at a point on the ground (e.g., HMD, FLIR, etc.) and can acquire coordinate information of a specific point on the ground such as a forward controller, It can be applied to all types of aircraft systems that need it.

1 is a block diagram of a target coordinate measuring system using an HMD according to a preferred embodiment of the present invention

FIGS. 2 and 3 illustrate an example of the Targeting Reticle shown in the HMD.

4 is a flowchart illustrating a method of measuring a target coordinate using an HMD according to a preferred embodiment of the present invention

5 is an exemplary diagram showing a line of sight in a state where a target position is stabilized in the Targeting Reticle shown in the HMD

Description of the Related Art

100: HMD target coordinate measuring system 110: Data processing unit

120: Target screen display section 121: Crossover line

122: deviation indicator 130: target position deviation measuring unit

140: Target position coordinate processor 141: Kalman filter

150: Target coordinate information storage unit S10: Ground position calculation step

S20: Solution existence determination step S30: Position value accumulation initialization step

S40: standard deviation calculation step S50: targeting reticle adjustment step

Claims (3)

delete delete A method of measuring a target coordinate using an HMD, A first aircraft coordinate acquiring step of acquiring a first aircraft coordinate for the first point by watching a ground target position through the HMD from an aircraft located at a first point; A second aircraft coordinate acquiring step of acquiring second aircraft coordinates for the second point by watching the ground target position via the HMD at the aircraft located at the second point moved from the first point; Calculating ground target coordinates of the ground target position on the basis of the first aircraft coordinate and the second aircraft coordinate with the ground target position as an origin; The aircraft coordinate acquisition step, the second aircraft coordinate acquisition step, and the ground target coordinate calculation step while the aircraft is flying for a certain period of time while the aircraft is moving, while the ground target coordinates are accumulated, step; A standard deviation calculation step of calculating a standard deviation of the accumulated land target coordinates; Adjusting a length of a line of sight of the target reticle of the aircraft based on the standard deviation; Wherein the target coordinates are measured using an HMD.

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