Sensor positioning
AssigneeBAE SYSTEMS plc
InventorGeorge Morgan Mathews
Life of this patent
Estimating the term…
Abstract
A method and apparatus for determining positioning of a sensor relative to a target being tracked (e.g. in an urban environment) using the sensor, the sensor being mounted on a vehicle and being moveable with respect to the vehicle, the method including: for a certain time-step, measuring a state of the target using the sensor; for the certain time-step, estimating a state of the target using the measurements; determining instructions for movement of the sensor with respect to the vehicle, and instructions for the movement of the vehicle, using the estimated state; wherein determining movement instructions includes incorporating knowledge of how sensor line of sight is restricted, sensor line of sight being a path between the sensor and an object being measured using the sensor.
Claims15
A method of determining positioning of a sensor relative to a target being tracked using the sensor, the sensor being mounted on a vehicle, and the sensor being moveable with respect to the vehicle, the method comprising:
- for a certain time-step, measuring a state of the target using the sensor;
- for the certain time-step, estimating a state of the target using the measured target state;
- determining instructions for movement of the sensor with respect to the vehicle using the estimated state;
- and
- determining instructions for movement of the vehicle using the estimated state;
- wherein
- a step of determining instructions for movement includes incorporating knowledge of how a line of sight of the sensor is restricted, the line of sight of the sensor being a path between the sensor and an object being measured using the sensor.
Apparatus for determining positioning of a sensor relative to a target being tracked using the sensor, the sensor being mounted on a vehicle, and the sensor being moveable with respect to the vehicle (2), the apparatus comprising:
- a processor, wherein the processor is arranged configured to:
- for a certain time-step, measure a state of the target using the sensor;
- for the certain time-step, estimate a state of the target using the measured target state;
- determine instructions for movement of the sensor with respect to the vehicle using the estimated state;
- and
- determine instructions for the movement of the vehicle using the estimated state;
- wherein
- determining instructions for movement includes incorporating knowledge of how a line of sight of the sensor is restricted, the line of sight of the sensor being a path between the sensor and an object being measured using the sensor.
A non-transitory machine readable storage medium storing a program, or at least one of a plurality of programs, for executing a method of determining positioning of a sensor relative to a target being tracked using the sensor, the sensor being mounted on a vehicle, and the sensor being moveable with respect to the vehicle, the method comprising:
- for a certain time-step, measuring a state of the target using the sensor;
- for the certain time-step, estimating a state of the target using the measured target state;
- determining instructions for movement of the sensor with respect to the vehicle using the estimated state;
- and
- determining instructions for movement of the vehicle using the estimated state;
- wherein
- determining instructions for movement includes incorporating knowledge of how a line of sight of the sensor is restricted, the line of sight of the sensor being a path between the sensor and an object being measured using the sensor.
Dependencies are inferred from the claim text.