# US 10,121,248 B2 · Automated system and method for determining positional order through photometric and geospatial data

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- Number: US 10,121,248 B2
- Document ID: US10121248B2
- Status: Granted
- Kind: B2
- Application number: 15/242,384
- Filed: 2016-08-19
- Published: 2018-02-22
- Granted: 2018-11-06
- Earliest claimed: 2016-08-19
- Assignees: Raytheon BBN Technologies Corp.
- Applicants: Raytheon BBN Technologies, Corp.
- Inventors: Zachary Eric Leuschner; Joshua Nathaniel Edmison; Harrison Brownley; John-Francis Mergen
- Web page: https://patentgrep.com/patent/US10121248B2

## CPC

- G06T 7/73: using feature-based methods
- G01C 11/04: Interpretation of pictures
- G01C 21/005: {with correlation of navigation data from several sources, e.g. map or contour matching (G01C21/30 takes precedence)}
- G01C 21/203: {specially adapted for water-borne vessels}
- H04N 5/144: {Movement detection (for video coding H04N19/503; analysis of motion in general G06T7/20)}
- H04N 7/181: {for receiving images from a plurality of remote sources}
- H04N 23/60: Control of cameras or camera modules
- H04N 23/6811: {based on the image signal}
- H04N 23/683: {performed by a processor, e.g. controlling the readout of an image memory}
- G01C 11/06: by comparison of two or more pictures of the same area
- G06T: IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G01C: MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY (measuring liquid level G01F; radio navigation, determining distance or velocity by use of propagation effects, e.g. Doppler effects, propagation time, of radio waves, analogous arrangements using other waves G01S)
- H04N: PICTORIAL COMMUNICATION, e.g. TELEVISION

## Abstract

A system and method for determining positional order of vehicles across a threshold plane within a dynamic environment is provided. The system can include moving vehicles (e.g., boats) each having a GPS receiver. A reference object (e.g., an anchored boat) can have an image capturing device and a primary GPS receiver, and can be subject to movement induced by the dynamic environment. A fixed object having a known position (e.g., a government buoy) relative to the reference object define a threshold plane, which is subject to movement based on movement of the reference object. Photometric data gathered by the image capturing device and geospatial data gathered from the GPS receivers, the primary GPS receiver, and the fixed object is analyzed by a processor to determine a positional order at which each vehicle crossed the movable threshold plane.

## Claims

### Claim 1

A system for determining order of vehicles across a threshold plane within a dynamic environment, the system comprising:
a plurality of GPS receivers, each mounted on respective moving vehicles;
a reference object having an image capturing device and a primary GPS receiver, whereby the reference object is subject to movement induced by the dynamic environment;
a fixed object having a known position relative to the reference object, the primary GPS and the fixed object defining a threshold plane between them, whereby the threshold plane is subject to movements induced by movement of the reference object;
photometric data gathered by the image capturing device and geospatial data gathered by the GPS receivers, the primary GPS receiver, and the known location of the fixed object; and
a processor configured to receive the photometric data and geospatial data, and to decode super frame data and time delta data, to determine a positional order at which the vehicles cross the threshold plane by comparing the position of each vehicle relative to the threshold plane.

### Claim 2 (depends on 1)

The system of claim 1, wherein the vehicles each comprise water vehicles or air vehicles.

### Claim 3 (depends on 1)

The system of claim 1, wherein the fixed object either includes a GPS receiver to indicate the known position or includes a fixed mapping location having a latitude and longitude.

### Claim 4 (depends on 1)

The system of claim 1, wherein the primary GPS receiver is time synced with the image capturing device for determination of a reference time and a reference position of the reference object relative to the fixed object.

### Claim 5 (depends on 1)

The system of claim 1, wherein a distance of the threshold plane between the reference object and the fixed object is calculated based on the geospatial data gathered from the primary GPS receiver and the known location of the fixed object.

### Claim 6 (depends on 1)

The system of claim 1, wherein the processor is further configured to compare successive images gathered from the image capturing device to determine a displacement distance and a velocity of at least one of the vehicles.

### Claim 7 (depends on 1)

The system of claim 1, wherein the super frame data and the time delta data are decoded by the processor to interpolate a relative time and a relative position for each vehicle as it crosses the threshold plane.

### Claim 8 (depends on 1)

The system of claim 1, wherein the processor is configured to time-align data logs gathered from the geospatial data and photometric data to determine the positional order at which the vehicles cross the threshold plane.

### Claim 9 (depends on 1)

The system of claim 1, wherein the image recording device comprises a video recording device having a focal point directed toward the fixed object at least along the threshold plane.

### Claim 10 (depends on 1)

The system of claim 1, wherein the geospatial data comprises a relative time and a relative position logged by each GPS receiver of each vehicle as it crosses the threshold plane.

### Claim 11 (depends on 1)

The system of claim 1, wherein the fixed object comprises a buoy secured to a floor or subsurface of a body of water and positioned proximate a surface of the body of water, and wherein the reference object comprises a boat.

### Claim 12 (depends on 1)

The system of claim 1, wherein the plurality of vehicles comprise sailboats racing each other, and wherein the threshold plane comprises a finishing line for the racing sailboats.

### Claim 13 (depends on 1)

The system of claim 1, wherein the reference object or the fixed object comprises at least one of a boat, submarine, unmanned underwater vehicle, buoy, raft, drone, balloon, or helicopter.

### Claim 14

A method for determining order of vehicles crossing a threshold plane within a dynamic environment, the method comprising:
identifying one or more moving vehicles, each comprising a GPS receiver for determining a respective vehicle location;
positioning a reference object relative to a fixed object having a known position, the reference object having an image capturing device and a primary GPS receiver, whereby the reference object and the fixed object define a threshold plane between them, whereby the threshold plane is subject to movements induced by the movements of the reference object;
capturing images with the image capturing device of the vehicles crossing the threshold plane;
receiving geospatial data gathered from the GPS receivers, the primary GPS receiver, and the known position of the fixed object;
receiving photometric data gathered by the image capturing device;
comparing the position of each vehicle, with a processor, at a time each vehicle crosses the threshold plane by analyzing the photometric data and the geospatial data, and by decoding super frame data and time delta data to determine a positional order at which each vehicle crossed the threshold plane; and
indicating or displaying the positional order determined by the processor.

### Claim 15 (depends on 14)

The method of claim 14, wherein comparing the position includes aligning time of data logs gathered from the photometric data and the geospatial data.

### Claim 16 (depends on 14)

The method of claim 14, further comprising determining a reference time and a reference position of the reference object based on the data gathered from the primary GPS receiver and the known position of the fixed object.

### Claim 17 (depends on 14)

The method of claim 14, further comprising analyzing successive images gathered from the image capturing device as each vehicle is adjacent to or across the threshold plane to determine at least one of a displacement distance and a velocity of at least one of the vehicles.

### Claim 18 (depends on 14)

The method of claim 14, wherein decoding super frame data and time delta data comprises interpolating a relative time at which each vehicle crossed the threshold plane.

### Claim 19

A method for determining finishing order of boats crossing a finishing line, the method comprising:
identifying one or more boats in a race, each comprising a GPS receiver for determining a respective boat location;
positioning a reference boat relative to a fixed object having a known position, whereby the reference boat and the fixed object define a finishing line between them that is subject to movements induced by the movements of the reference boat;
indicating a positional order, as determined by a processor, at which each boat crossed the finishing line by analyzing photometric data gathered from an image recording device on the reference boat as compared to geospatial data gathered from the GPS receiver on each boat, a primary GPS receiver on the reference boat, and the known position of the fixed object, wherein the processor is configured decode super frame data and time delta data to interpolate a relative time at which each boat crosses the finishing line to determine the position order.

### Claim 20 (depends on 19)

The method of claim 19, further comprising allowing the reference boat to move due to environmental forces acting on the reference boat, thereby facilitating a dynamic finishing line, and accounting for the movement.

### Claim 21

A system for determining order of vehicles across a threshold plane within a dynamic environment, the system comprising:
a plurality of GPS receivers, each mounted on respective moving vehicles;
a reference object having an image capturing device and a primary GPS receiver, whereby the reference object is subject to movement induced by the dynamic environment;
a fixed object having a known position relative to the reference object, the primary GPS and the fixed object defining a threshold plane between them, whereby the threshold plane is subject to movements induced by movement of the reference object, wherein the image recording device has a focal point directed toward the fixed object at least along the threshold plane;
photometric data gathered by the image capturing device and geospatial data gathered by the GPS receivers, the primary GPS receiver, and the known location of the fixed object; and
a processor configured to receive the photometric data and geospatial data and to determine a positional order at which the vehicles cross the threshold plane by comparing the position of each vehicle relative to the threshold plane.