Aerial vehicle imaging and targeting system

A method of imaging and tracking a moving object using a sensor payload mounted to a vehicle, the method comprising the steps of:

• generating, via an inertial measurement unit (IMU) operatively coupled with a processor, position data reflecting a position of the vehicle;
• generating light via a structured light source operatively coupled to the processor;
• steering the light from the structured light source toward the moving object via a mirror as a function of a mirror position, wherein the processor is configured to adjust the mirror position;
• modulating the structured light source, via the processor, with a signal synchronized to a stereo-vision system;
• capturing images of the moving object with the light and without the light at a refresh rate that is at least 800 Hz;
• comparing the images of the moving object to generate image data, wherein a background portion in the images is removed to identify the moving object;
• determining, via the stereo-vision system coupled to the processor, a three-dimensional position of the moving object as a function of the position data of the vehicle and the image data, wherein the stereo-vision system comprises a first camera and a second camera;
• and
• determining, via the processor, a predicted three-dimensional position for the moving object as a function of the position data and the three-dimensional position.

An aircraft to image and track a moving object, the aircraft comprising:

• an airframe;
• a structured light source mounted to the airframe and operatively coupled to a processor;
• an inertial measurement unit (IMU) operatively coupled with the processor, wherein the IMU is configured to generate position data representing a position of the aircraft;
• a mirror to steer light from the light source as a function of a mirror position, wherein the processor is configured to adjust the mirror position;
• and
• a stereo-vision system having a first camera and a second camera, the stereo-vision system being mounted to the airframe and operatively coupled to the processor,
• wherein stereo-vision system is configured to operate with a refresh rate that is at least 800 Hz,
• wherein stereo-vision system is configured to modulate, via the processor, the light source with a signal synchronized to the stereo-vision system to capture images of the moving object with the light and without light,
• wherein the stereo-vision system is configured to identify, via the processor, the moving object by comparing the images of the moving object and removing a background portion of the images,
• wherein the stereo-vision system is configured to determine a three-dimensional position of the moving object relative to the aircraft,
• wherein the processer is configured to determine a predicted three-dimensional position for the moving object as a function of the position data and the three-dimensional position.