# US 10,455,197 B2 · Real-time moving platform management system > Agents: this data is available as JSON from the patentgrep API and MCP server — see https://patentgrep.com/llms.txt - Number: US 10,455,197 B2 - Document ID: US10455197B2 - Status: Granted - Kind: B2 - Application number: 13/730,140 - Filed: 2012-12-28 - Published: 2014-03-06 - Granted: 2019-10-22 - Earliest claimed: 2010-07-07 - Assignees: Pictometry International Corp. - Applicants: Pictometry International Corp. - Inventors: Frank D. Giuffrida; Mark A. Winkelbauer; Charles Mondello; Robert S. Bradacs; Craig D. Woodward; Stephen L. Schultz; Scott D. Lawrence; Matt Kusak; Kevin G. Willard - Web page: https://patentgrep.com/patent/US10455197B2 ## CPC - H04N 7/18: Closed-circuit television [CCTV] systems, i.e. systems in which the video signal is not broadcast - G01C 11/02: Picture taking arrangements specially adapted for photogrammetry or photographic surveying, e.g. controlling overlapping of pictures - G06T 17/05: Geographic models - G09G 5/377: for mixing or overlaying two or more graphic patterns (G09G5/02, G09G5/397 take precedence) - H04N 7/005: {using at least one opto-electrical conversion device} - H04N 7/181: {for receiving images from a plurality of remote sources} - H04W 4/027: {using movement velocity, acceleration information} - G01S 17/89: for mapping or imaging - H04B 7/18506: {Communications with or from aircraft, i.e. aeronautical mobile service} - H04B 7/18508: {with satellite system used as relay, i.e. aeronautical mobile satellite service} - H04W 4/40: for vehicles, e.g. vehicle-to-pedestrians [V2P] - H04N: PICTORIAL COMMUNICATION, e.g. TELEVISION - 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) - G06T: IMAGE DATA PROCESSING OR GENERATION, IN GENERAL - G09G: ARRANGEMENTS OR CIRCUITS FOR CONTROL OF INDICATING DEVICES USING STATIC MEANS TO PRESENT VARIABLE INFORMATION (arrangements for transferring data between digital computers and displays G06F3/14; static indicating arrangements comprising an association of a number of separate sources or light control cells G09F9/00; static indicating arrangements comprising integral associations of a number of light sources H01J, H01K, H10H, H05B33/12; scanning, transmission or reproduction of documents or the like, e.g. facsimile transmission, details thereof H04N1/00) - H04W: WIRELESS COMMUNICATION NETWORKS (broadcast communication H04H; communication systems using wireless links for non-selective communication, e.g. wireless extensions H04M1/72) - 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 - H04B: TRANSMISSION ## Abstract The present disclosure describes a method for transmitting sensor data and positional data for geo-referencing oblique images from a moving platform to a ground station system in real-time. The method involves the aid of a moving platform system to capture sensor data and positional data for the sensor data, save the sensor data and positional data to one or more directories of one or more computer readable medium, monitor the one or more directories of the one or more computer readable medium for sensor data and positional data, and transmit the sensor data and positional data from the moving platform system to the ground station system over a wireless communication link responsive to the sensor data and positional data being detected as within the one or more directories. ## Claims ### Claim 1 A method, comprising the steps of: with the aid of a moving platform system on a moving platform: capturing sensor data from a sensor in the moving platform system and positional data for the sensor data; saving the sensor data and positional data for the sensor data to one or more directories of one or more computer readable medium, wherein the positional data saved in the one or more directories is at least one of raw and geo-referenced using elevation data; transmitting the sensor data and positional data for the sensor data from the moving platform system to a ground station system through a non-line of sight communication link in real-time; and establishing a wireless communication link between the moving platform system and the ground station system based on the ground station system generating a sequence of past time-based position data for the moving platform system from the positional data for the sensor data, the past time-based position data indicative of positions of the moving platform system at times the sensor data were captured, to predict a new location of the moving platform system based on the past time-based position data. ### Claim 2 (depends on 1) The method of claim 1, wherein the positional data for geo-referencing the sensor data is calculated by a computer system of the moving platform system using a predetermined elevation value for each frame of oblique image data. ### Claim 3 (depends on 1) The method of claim 1, wherein the step of capturing sensor data is defined further as capturing elevation data, and wherein the captured elevation data is used to geo-reference oblique image data covering the same area as the elevation data. ### Claim 4 (depends on 1) The method of claim 1, wherein the moving platform is selected from a group consisting of an unmanned airplane, a manned airplane, an airship, a helicopter, a ground vehicle, a robotic device, and a boat. ### Claim 5 (depends on 1) The method of claim 1, further comprising the step of loading a flight plan while the moving platform is in motion. ### Claim 6 (depends on 1) The method of claim 1, wherein the sensor data in the step of transmitting the sensor data and positional data from the moving platform system to the ground station system is developed and compressed. ### Claim 7 (depends on 1) The method of claim 1, wherein the sensor data saved in the one or more directories is selected from the group consisting of raw sensor data and developed sensor data. ### Claim 8 (depends on 1) The method of claim 1, wherein all of the steps occur in real-time. ### Claim 9 A method, comprising the steps of: with the aid of a moving platform system and occurring on a moving platform: capturing sensor data from a sensor in the moving platform system and positional data for the sensor data; saving the sensor data and positional data for the sensor data to one or more directories of one or more computer readable medium, wherein the positional data saved in the one or more directories is at least one of raw and geo-referenced using elevation data; transmitting the sensor data and positional data for the sensor data from the moving platform system to a ground station system through a non-line of sight communication link in real-time; and establishing a wireless communication link between the moving platform system and the ground station system based on the ground station system generating a sequence of past time-based position data for the moving platform system from at least a portion of the positional data for the sensor data, the past time-based position data indicative of positions of the moving platform system at times the sensor data were captured, to predict a new location of the moving platform system based on the past time-based position data. ### Claim 10 (depends on 9) The method of claim 9, wherein all of the steps occur in real-time. ### Claim 11 (depends on 9) The method of claim 9, wherein the moving platform is selected from a group consisting of an unmanned airplane, a manned airplane, an airship, a helicopter, a ground vehicle, a robotic device, and a boat. ### Claim 12 A system, comprising: an unmanned airplane having a moving platform system, the moving platform system comprising: one or more sensors including one or more camera; a position system structured to monitor a location of the unmanned airplane; a non-line-of-sight communication system; a computer system having one or more non-transitory computer readable medium storing computer executable instructions which when executed by the computer system cause the computer system to: receive data from the one or more sensors and the position system; transmit, through the non-line-of-sight communication system, the data from the one or more sensors and the position system to a ground station system located on the ground; and set up a wireless communication link between the moving platform system on the unmanned airplane while airborne and the ground station system based on the ground station system generating a sequence of past time-based position data from at least a portion of positional data from the position system received through the non-line-of-sight communication system indicative of past positions of the moving platform system to predict a new location of the moving platform system based on the past time-based position data, wherein the positional data is at least one of raw and geo-referenced using elevation data. ### Claim 13 (depends on 12) The system of claim 12, wherein the data from the one or more sensors are images from the one or more camera. ### Claim 14 (depends on 13) The system of claim 13, wherein the images are geo-referenced. ### Claim 15 (depends on 9) The method of claim 9, wherein the sensor data comprises images from one or more camera. ### Claim 16 (depends on 9) The method of claim 9, further comprising the step of loading a flight plan while the moving platform is in motion. ### Claim 17 (depends on 12) The system of claim 12, further wherein the elevation data is a part of a digital elevation model. ### Claim 18 (depends on 12) The system of claim 12, wherein the one or more sensors include a lidar system configured to obtain the elevation data. ### Claim 19 (depends on 12) The system of claim 12, wherein the one or more sensors include a flash LADAR system configured to obtain the elevation data. ### Claim 20 (depends on 12) The system of claim 12, wherein the one or more sensors obtain elevation data and image data. ### Claim 21 (depends on 12) The system of claim 12, wherein the one or more sensors obtain the elevation data and image data in real-time. ### Claim 22 (depends on 12) The system of claim 12, wherein receiving data from the one or more sensors and the position system includes receiving elevation data, image data, and position data from the one or more sensors and the position system. ### Claim 23 (depends on 12) The system of claim 12, wherein the elevation data is indicative of a distance from the moving platform system to a surface.