WO1999053337A1

WO1999053337A1 - Position determination system

Info

Publication number: WO1999053337A1
Application number: PCT/BG1999/000010
Authority: WO
Inventors: Emil Ivanov Dimitrov
Original assignee: Emil Ivanov Dimitrov
Priority date: 1998-04-14
Filing date: 1999-04-08
Publication date: 1999-10-21
Also published as: AU3133299A

Abstract

The present invention has its applications in life-saving services, guarding services, in various human activities. Its embodiment provides possibility for stereo-observation and photographing in various scales, filing of object's coordinates - geographic latitude, longitude, altitude, observer's coordinates, distance between object and observer, hour and date, azimuth and measuring scale, by means of use of data, provided by a satellite navigation system. The camera can be of a non-reflex type or of mirror-reflex type, using photofilm or digital. In case the camera is digital, the photo and data can be transmitted to a satellite telecommunication system. In presented navigation system is achieved a high level of utilization ratio of composition elements; furthermore the system is constructed of a minimum number of building elements. Said system comprises a two-parted photographic lens (3), embodied in camera's body (1) and connected in parallel and movably to a camera sight (5). The connection between the two parts (2 and 4) of photographic lens (3) is provided by means of a dismountable joint (6), itself enabling the body (1) to work in three stable working positions.

Description

POSITION DETERMINATION SYSTEM

TECHNICAL FIELD

The present invention concerns a navigation system, applied in photographing of objects with their coordinates, defined by a satellite navigation system.

BACKGROUND ART

Radio-location navigation systems are known, based on radio-signal emitted by a transmitter, reflected by the object and received by a receiver, resulting into determination of the coordinates of the observed object.

The main disadvantage of radio-location systems is that due to their mode of exploitation, it is not possible to file (register) object's appearance (form). Radiolocation systems have a comparatively sophisticated structure, large dimensions and weight. The later require highly qualified staff.

DISCLOSURE OF INVENTION

The present solution aims to construct a navigation system, provided for defining and photographing the coordinates of the observed object, the coordinates of the observer, photographing of the object itself. The coordinates are defined in a computing unit, using data from a satellite navigation system, azimuth detector and vertical angle detector, range-finder and keyboard data.

Said aim is achieved by construction of a navigation system, comprising an optical and electronic part. Optical part is provide in two possible options. First option is based on an optical device, comprised of a non-reflex camera, providing photographing in various scales, furthermore used for a stereo-observation. The optical part consists of a camera sight, a photographic lens and a non-mirror reflex (non-reflex) camera. The photographic lens is constructed in two-parted mode, a fore-part and a back part. The image on the registration element can be provided in two scales when using conventional objectives and in various scales when using a zoom-objective. During photographing in a normal scale, light beams pass through the back part of the photographic lens and when photographing in a large scale, light beams pass through the fore-part and through the back part of the photographic lens. The photographic lens with its back part is embodied in the body of the camera and with its fore-part is connected in parallel and movably to the camera sight. The connection between the fore-part and the back part of the photographic lens is provided by a dismountable joint - for example a spring. The spring with an arrester, installed at the fore-part of the photographic lens, provide three stable positions of the camera body towards the fore-part of the photographic lens. The relative aperture of the two-parted photographic lens can be changed at two extends by an iris diaphragm, installed at the fore-part. At the fore-part of the photographic lens, a compass - azimuth detector is installed and a registration scale, which indications are projected on the registration element of the camera. When photographing in a large scale is provided, sight can be achieved by the means of a sight scale, mounted on the camera sight.

Electronic part of the both options for navigation system is of the same type. The electronic part comprises a satellite navigation equipment /SNE/, receiving radio- signals from navigation artificial satellites of Earth /NASE/. Said signals are processed by SNE and three-dimensional parameter of observer's situation is defined - the longitude, geographical latitude and altitude. During sighting with the camera to the observed object, data can be received, related to the azimuth and the vertical angle of the observation location. The above-mentioned data must be provided, about the location at least at one more point, thus making possible the application of trigonometric relations in defining the location of the observed object. The data about the longitudes, geographical latitudes, altitudes, azimuths and vertical angles at least at two points have to be processed in the computing unit and thus the longitude, geographical latitude and altitude of the observed object are computed. When a fast definition of the coordinates is required or when the object is mobile, two or more navigation systems, located at different points can exchange information between themselves via cable or radio-channel. When the process of defining the coordinates is concludes, they can be photographed with the observed object, they refer to. The photography, thus received, can be transmitted in an electronic way /for example GSM phone/ to a satellite telecommunication system /IRIDIUM, GLOBALSTAR/, in case the registration element is an electronic converter. ,

A second option of a navigation system is constructed on the bases of a mirror - reflex camera with SNE, computing unit, azimuth detector, detector for vertical angle, display for computing unit data. In case, the registration element is an electronic converter, computing unit data are recorded on the photography ^"in a programming way.

The main advantages of the invention are as follows : all the important coordinates of the observed object can be filed /three-dimensional parameters of the location/ and he coordinates of the observer's location with the precision of the navigation satellite system. The appearance of the observed object can be photographed in different scales.

Referred to the option of non-reflex camera, said navigation system further can be used for stereo-observation. Utilization of structural elements is enhanced, as a result of that their number is minimized. The system can work at each point of Earth, for it cooperates with two global satellite systems /GPS and IRIDIUM/. For system maintenance, no particular technical knowledge and skills are required from the staff.

DESCRIPTION OF ENCLOSED FIGURES.

Two embodiments of said navigation system are shown on Figures 1,2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12 and 13.

Figure 1 shows a general view of a navigation system, constructed of a non- reflex camera during photographing in a large scale.

Figure 2 is a general view of a navigation system during photographing in a normal scale and stereo-observation.

Figure 3 shows a general view of a navigation system during stereo- observation and transportation.

Figure 4 is a section of a navigation system, when photographing in a large scale.

Figure 5 shows an iris diaphragm, double-position, at the fore-part 4 of the photographic lens 3.

Figure 6 shows a sighting frame 32.

Figure 7 shows a section of a navigation system, constructed with a mirror- reflex camera.

Figure 8 is a scheme, illustrating photos of a remote object in a large scale, and further data for the location.

Figure 9 is a scheme, viewing a photo of a remote object in a normal scale and further data for the location. 4

Figure 10 is a scheme of an area, showing the location of an observer - p. A and p. B and the observed object - p. C.

Figure 11 is a sample configuration of a navigation system, where the directions of information flows are shown.

Figure 12 shows a general view of a navigation system, constructed with a non-reflex camera and a ranger adapter.

Figure 13 is a block diagram.

MODEL OF INVENTION

Referred to an embodiment of the first option, said navigation system consists of a body of a camera 1 , in which a back-part 2 of two-parted photographic lens 3 is embedded. The fore-part 4 of photographic lens is connected in parallel and movably to a camera sight 5. The connection between the fore-part 4 and the back- part 2 of a two-parted photographic lens 3 is provided by a dismountable joint 6, in said embodiment by strings - 2 pieces. On the fore-part 4 of the photographic lens 3 are mounted arresters 7. The camera sight 5 consists of a photographic lens 9 with a construction of an achromat and an ocular 10, by construction being an ocular of Erfl. The fore-part 4 of the photographic lens 3 comprises a photographic lens 11, with a construction of the type „Aplanat" and an ocular 12, by construction being an ocular of Erfl. The back-part 2 of the photographic lens 3 has a construction of the type Anastigmat - Triplet. Diameters /relative orifices/ of photographic lens 11 and ocular 12 are larger than the corresponding diameters of photographic lens 9 and ocular 10. The photographic lens 11 has relative aperture with higher value than the relative aperture of the photographic lens 9 and eliminates the aberrations to a greater extend, what is very important for the photographic lenses. The relative aperture of the photographic lens 11 can be controlled and regulated to two levels by means of an iris diaphragm 13. A pawl 15 is immovably attached to the mobile ring 16 of the diaphragm 13. In case, camera's body 1 is in contact with the body of the forepart 4, a pin 14 presses the pawl 15, the mobile ring 16 of diaphragm 13 swirls and the orifice 17 of the diaphragm is narrowing. In said position, the relative aperture of photographic lens 11 equals to the relative aperture of photographic lens 9. When the body of the camera 1 is not in contact with the side surface of fore-part 4, the string 18 pulls the mobile ring 16 of diaphragm 13 and the orifice 17 of diaphragm 13 is expanding. In said position, the relative aperture of photographic lens 11 is higher than the relative aperture of photographic lens 9, in case of a close-up photographing. Camera 1 furthermore comprises a camera sight 19. There is a compass, embedded at the fore-part 4 - an electronic detector for azimuth 20 and a measuring scale 21. Further, an electronic detector for vertical angle 38 is embedded. Said satellite navigation system /SNS/ /53/ and the computing unit /CU/ - 35 are installed in the body of the fore-part 4 and further in the body of the camera sight 5. Data from SNS and CU are transmitted to a display 22 of the camera 1 through the optical system of the two-parted photographic lens 3. In the fore-part 4 is installed an infrared emitter 33 and in the camera 1 is installed an infrared receiver 34. There is a window 36 on the surface of fore-part body 4 and a window 37 on the surface of camera's body 1 , through which the infrared rays are transmitted from the emitter 33 to the receiver 34, when photographing in a normal scale. A sight scale 32 is installed in camera sight 5. Photosensitive film 8 is set in front of the display 22, provided with light-emitting diodes /LEDs/. Indications of the LEDs are recorded on the photographic film, while they are emitting light. On device's photo can be found the following information : the observed object, geographic latitude of the observer 39, geographic latitude of the observed object, where only the digits that are different from geographic latitude of the observer 40, are filed, longitude of the observer 42, altitude of the observer 43, altitude of the observed object 44, projection of the compass 20, indication of azimuth detector 45, hour 46, date 47, distance between the observer and the observed object 48, measuring scale /range/ scale 21 , speed 57.

Second variant of said navigation system comprises a mirror-reflex camera 49 with a photographic lens 50. In said camera are embedded a SNA 53 and a CU 35, an azimuth detector 20 and a detector for vertical angle 38. Displays 22 for data are installed behind the photo film 8. The measuring scale is constructed by means of LEDs, arranged in cross form on the display 22, being lightened smoothly and being projected on the camera sight, on object's background. There are plugs, mounted on the CU for data exchange: port 51 via cable and port 52 via radio-channel (wireless).

Said navigation system possesses an option for connecting a range-finder - for, example a laser range-finder 56 - fig. 12, with a photographic lens 54 and a ocular 55. The laser ray is in parallel with the optical axis of the camera sight 5 and data from the range-finder input CU 35. A block diagram of said navigation system 60, exchanging data with another navigation system 58 via a radio-channel is shown on Figure 13. Both navigation systems are connected to each other directly or via a telecommunication satellite 59. In CU 35 data input is provided from : SNS 53 - geographic latitude φ, longitude λ, altitude h; azimuth detector 20 - azimuth α; the detector for vertical angle - the angle β; the range-finder - distance I; the keyboard 61 - dimensions of the observed object δ and number of marks n on scale 21. The result and the photo from a digital camera can be transferred at a distance by means of emitter 57, where the connection between the last and CU 35 is two-way.

APPLICATION OF INVENTION

In case of a close-up photographing (fig.4), the light beams pass through the fore-part 4 and through the back-part 2 of the two-parted photographing lens 3 and reach the photographing film 8, in such a way that sighting is accomplished through a camera sight 5 with a sighting scale 32 by the right eye of the photographer. The springs 6 (fig.1) provide fixed position of the two parts of the photographing lens 3 one towards the other. Stereo-observation is provided by observation with both eyes through a camera sight 5 and the fore-part 4. In case, photographing will not be executed but only transportation, the camera body 1 is fixed immovably (fig.3) by springs 6 and arresters 7. To provide stereo-observation and photographing in a normal scale (fig.2), the camera body 1 is to be fixed by the arresters 7. At this position (fig.2), the optical axis of the fore-part 4 and the back-part 2 of said two- parted photographic lens 3 are in parallel one to the other. When photographing in a normal scale without necessity of stereo-observation (fig.2), sighting is performed by left eye through a camera sight 19 of the camera 1. When the location of a static object has to be defined, it is enough to use a single navigation system, in a way that the observed object is being photographed from two different locations. Data about the first location p. A are provided on the input of CU 35 (fig.10) : geographic latitude φ_A , longitude λ_A, altitude h_A, azimuth of the observed object p.C from p.A, α,, vertical angle towards the object p.C from p.A, β To file said data and the observed object with them, a photo is made of the object from the first location p.A, where the above- mentioned parameters can be filed on a registration element /photofilm, electronic converter/. After this operation, the observer occupies a second location p.B (fig.10), executes the same operations as the above-mentioned and on CU 35 input come data about p. B : φ_B, λ_B, h_B, α₂, β₂. Computing in CU 35 is performed in the following manner (fig.10) :

1.Λ.ABC is projected intoΔAED, extending in a horizontal plane.

2. The length AE is calculated, being a projection of the length AB on the horizontal ΔAED. For this purpose, the coordinates of p.A (φ_A, λ_A) and of p.B (φ_B, λ_B) can be used. Further, the fact can be considered, that the coordinates of p.B and p.E are identical /latitude and longitude/.

3. The angle σ is calculated between the length AB /AE/ and the Northern Pole N.

4. The angled EAD is calculated as : * £ A D = 2 °<^ ~ $ ^

5. The angkHcAED is calculated as : 4 A E D = AS>0°- f ^2 ~ & )

6. The lengths of sides AD and ED of the Δ AED are calculated, where the length of the side AE and 2 adjacent angles are known.

7. Geographic coordinates of p.D are calculated, where the coordinates of p.A (Φ_A. λ_A), length AD and azimuth of p.D at p.A α, are known. Geographic coordinates φ and λ of p.D and p.C are identical.

8. Altitude of p.C, compared to p.D, is calculated. Length DC is calculated in ΔADC, where side AD and DAC = ^ are known. Altitude of p.C is : h_c = h_A + DC.

9. Length of the distance to the observed object AC = I is calculated, where a rectangular triangle Δ ADC, side AD#DAC = β, are known.

In second way for defining co-ordinates of point C the computation in CU 35 is done in the described sequence:

1. The distance AC= I is defined with a range-finder /for example laser range-finder/ / fig. 10 and fig. 13/.

2. In the rectangular triangle ACD, where AC and β, are known, side CD is calculated.

3. The altitude : h_c = h_A + CD

4. In the rectangular triangle ACD, where side AC and-): are known, side AD is calculated.

5. We compute the geographical co-ordinates φ and λ of point D when coordinates of point A /φ_A , λ_A /, length of segment AD and azimuth of point D in point A: α, are given. Points D and C have identical geographical latitudes and longitudes. In a third way co-ordinates of the observed object p.C are defined manually, without the application of CU 35.

I.The distance I to the observed object p.C / fig. 10/, l= AC, is defined where the its dimensions δ are known. On the photo, the number n of the marks of the measuring /range/ scale 21 can be indicated, which correspond to the observed object / fig.8/. The distance I is defined according to formulae, in which it is function of the number of marks n : t ^~ b ^ n where K is a coefficient. 2. The azimuth of the observed object can be indicated from the photo / fig. 8/: α,

3. The altitude of p.C in relation to p. A / fig. 10/ can be calculated, where the vertical angle β, and the distance I to the object are known : h_c = h_A + CD

4. The distance AD can be calculated, where < β, and distance AC=I are known.

5. The geographical co-ordinates φ and λ of p.D can be calculated, which are identical to the co-ordinates of the observed object p.C where the geographical coordinates of the place of observation φ_A and λ_A, the azimuth of the object p.C α₁ and the distance AD are known.

In a fourth way, co-ordinates of the observed object are computed in CU 35 where data δ and n are provided on the input of CU 35 by means of the key board 61. The sequence of calculations is as it is in the third way.

When the location of a mobile object have to be determined or when we need quick computing of the co-ordinates of a static object, at least two mutually connected navigation systems have to be used. In this case, on fig. 10 it have be to stated that the navigation systems are located simultaneously at point A and point B, and point C is static. The two observers, at point A and at point B, have to observe the mobile object C through their camera sights. Data about φ, λ, h, α, β are exchanged between navigation systems via a radio communication or via cable. Each of the navigation systems can define independently the co-ordinates of the mobile object C, using data from the second navigation system.

When a digital camera is used in the navigation system the photo of the^' object, including data: φ, λ, h, α, β can be transmitted at a distance through telecommunication satellites. For that reason, in the navigation system is installed a port for data 52 where a digital telephone is connected, for example system GSM, which transmit the photo and the co-ordinates to a satellite, for example IRIDIUM fig. 11.

Claims

10PATENT CLAIMS

1. Navigation system, comprising a camera sight, a photographic lens, a camera, an azimuth detector, a detector for vertical angle, a satellite navigation equipment, a computing unit, characterized in that the photographic lens /3/ is two- parted and its back-part 12/ is connected to the body of the camera IV and its forepart /4/ is connected in parallel and movably to the camera sight /5/, so that the connection between the fore-part /4/ and the back-part 12} of the photographic lens /3/ is provided by means of a dismountable joint 161, and said computing unit /35/ is processing data from said satellite navigation equipment /53/, said azimuth detector /20/, said detector for vertical angle /38/, a range-finder /56/ and the keyboard /61/.

2. Navigation system, according to claim 1, characterized in that on the registration element /8/ are being filed said observed object, geographic latitude and longitude of the observer, geographic latitude and longitude of the observed object, altitudes of the observer and the observed object, distance between them, hour and date, compass indications and indications of measuring scale, object's speed.

3. Navigation system, according to claim 1, characterized in that said dismountable joint 16/ comprises springs - 2 pieces, providing together with arresters 171, located at the fore-part /4/, three stable positions of camera body /1/ to the forepart 14/, where at first working position the optical axis of the fore-part /4/ coincides with the optical axis of the back-part and at the second working position the optical axis of the for-part /4/ is parallel to the optical axis of the back-part 12/ .

4. Navigation system, according to claim 1, characterized in that camera /49/ is of mirror-reflex type.

5. Navigation system, according to claim 1, characterized in that two or more navigation systems are capable to transmit data to each other when the coordinates of the observed object are computed, further if the camera is of digital type the photo and the computed data can be transmitted via a satellite system.

6. Navigation system, according to claim 1, characterized in that diaphragm /13/ provides equality of the relative aperture of photographic lens /11/ and the relative aperture of photographic lens /9/ in case of stereo-observation.