Evaluating line-of-sight measurements
AssigneeUtah State University Research Foundation
InventorRyan Lamoreaux
Life of this patent
Estimating the term…
Abstract
For evaluating navigation information based on line-of-sight measurements, a method measures a line-of-sight measurement with an imager. The method further calculates an information metric based on the line-of-sight measurement. The information metric is a function of imager pixel measurement noise and a relative position vector for an imager frame aligned with a focal plane frame for the imager. The method evaluates navigation information using the information metric.
Claims17
A method comprising:
- measuring, by use of a processor, a line-of-sight measurement with an imager;
- calculating an information metric based on the line-of-sight measurement, wherein the information metric is a function of imager pixel measurement noise and a relative position vector for an imager frame aligned with a focal plane frame for the imager, the function calculated as
- IM
- =
- 1
- σ
- δ
-
-
- λ
- 2
-
- (
- r
- ^
- T
- ℱ
- ,
- d
- 𝒥
- +
- d
- 2
- (
- r
- ^
- T
- ℱ
- ,
- d
- 𝒥
- )
- 4
- )
- ,
- wherein σδλ is imager pixel measurement noise,
- r
- ^
- T
- ℱ
- ,
- d
- 𝒥
- is relative position vector in the down direction of an observed landmark with respect to a vehicle expressed in the imager frame, and d is a distance of the relative position vector;
- and
- evaluating navigation information using the information metric.
An apparatus comprising:
- a processor;
- a memory storing code executable by the processor to:
- measure a line-of-sight measurement with an imager;
- calculate an information metric based on the line-of-sight measurement, wherein the information metric is a function of imager pixel measurement noise and a relative position vector for an imager frame aligned with a focal plane frame for the imager, the function calculated as
- IM
- =
- 1
- σ
- δ
-
-
- λ
- 2
-
- (
- r
- ^
- T
- ℱ
- ,
- d
- 𝒥
- +
- d
- 2
- (
- r
- ^
- T
- ℱ
- ,
- d
- 𝒥
- )
- 4
- )
- ,
- wherein σδλ is imager pixel measurement noise,
- r
- ^
- T
- ℱ
- ,
- d
- 𝒥
- is relative position vector in the down direction of an observed landmark with respect to a vehicle expressed in the imager frame, and d is a distance of the relative position vector;
- and
- evaluate navigation information using the information metric.
A program product comprising a non-transitory computer-readable storage medium storing code executable by a processor to:
- measure a line-of-sight measurement with an imager;
- calculate an information metric based on the line-of-sight measurement, wherein the information metric is a function of imager pixel measurement noise and a relative position vector for an imager frame aligned with a focal plane frame for the imager, the function calculated as
- IM
- =
- 1
- σ
- δ
-
-
- λ
- 2
-
- (
- r
- ^
- T
- ℱ
- ,
- d
- 𝒥
- +
- d
- 2
- (
- r
- ^
- T
- ℱ
- ,
- d
- 𝒥
- )
- 4
- )
- ,
- wherein σδλ is imager pixel measurement noise,
- r
- ^
- T
- ℱ
- ,
- d
- 𝒥
- is relative position vector in the down direction of an observed landmark with respect to a vehicle expressed in the imager frame, and d is a distance of the relative position vector;
- and
- evaluate navigation information using the information metric.
Dependencies are inferred from the claim text.