US 5,490,075 A · Global positioning system synchronized active light autonomous docking system

Abstract

A Global Positioning System Synchronized Active Light Autonomous Docking System (GPSSALADS) for automatically docking a chase vehicle with a target vehicle comprising at least one active light emitting target which is operatively attached to the target vehicle. The target includes a three-dimensional array of concomitantly flashing lights which flash at a controlled common frequency. The GPSSALADS further comprises a visual tracking sensor operatively attached to the chase vehicle for detecting and tracking the target vehicle. Its performance is synchronized with the flash frequency of the lights by a synchronization means which is comprised of first and second internal clocks operatively connected to the active light target and visual tracking sensor, respectively, for providing timing control signals thereto, respectively. The synchronization means further includes first and second Global Positioning System receivers operatively connected to the first and second internal clocks, respectively, for repeatedly providing simultaneous synchronization pulses to the internal clocks, respectively. In addition, the GPSSALADS includes a docking process controller means which is operatively attached to the chase vehicle and is responsive to the visual tracking sensor for producing commands for the guidance and propulsion system of the chase vehicle.

Claims25

Dependent claims

A synchronized target subsystem for use in automated docking systems wherein a chase vehicle is docked with a target vehicle, said synchronized target subsystem comprising:

(a) an active target operatively attached to said target vehicle, said target comprising an optical docking aid having light emission means mounted thereon for radiating light therefrom;
(b) a tracking sensor operatively attached to said chase vehicle for acquiring and tracking said active target throughout the docking of said chase vehicle with said target vehicle;
and
(c) synchronization means operatively connected to both said active target and said tracking sensor for synchronizing said optical docking aid with said tracking sensor.

1 more element

A synchronized autonomous docking system for docking a chase vehicle with a target vehicle, said docking system comprising:

(a) an active optical target operatively attached to said target vehicle, said target having illumination means mounted thereon for emitting light therefrom;
(b) a visual tracking sensor operatively attached to said chase vehicle for acquiring and tracking said target throughout the docking of said chase vehicle with said target vehicle, said active optical target and said visual tracking sensor operating in concert with one another;
and
(c) docking process controller operatively attached to said chase vehicle and responsive to said visual tracking sensor, for producing commands for the propulsion system of said chase vehicle.

1 more element

A synchronized active light docking system for automatically docking a chase vehicle with a target vehicle, said system comprising:

(a) at least one active light emitting target operatively attached to said target vehicle, said target comprising a base plane, a central post extending outwardly from said base plane, first and second flashing lights located on said base plane on opposite sides of said central post, a third flashing light located at the free end of said central post, said flashing lights concomitantly flashing at a common frequency;
(b) a visual tracking sensor operatively attached to said chase vehicle, said tracking sensor comprising a video camera operatively coupled to an image processing unit for detecting said flashing lights and for producing electrical output signals corresponding to the computed centroids thereof, respectively;
(c) synchronization means operatively connected to both said active light emitting target and said visual tracking sensor for synchronizing said video camera and said image processing unit with said common frequency of said flashing lights;
(d) signal processing means operatively connected to said image processing unit for processing said electrical output signals received therefrom and for producing, based thereon, output signals corresponding to the relative range, roll, pitch, yaw, azimuth and elevation between said chase vehicle and said target vehicle;
and
(e) docking process controller operatively attached to said chase vehicle and responsive to said output signals received from said signal processing means for producing commands for the thruster hardware of said chase vehicle.

3 more elements

Dependencies are inferred from the claim text.

Global positioning system synchronized active light autonomous docking system

Life of this patent

Global positioning system synchronized active light autonomous docking system

Life of this patent

Abstract

Claims25