Method and apparatus for acquiring digital maps

An apparatus for acquiring digital mapping information on an airborne environment comprising:

• a. a frame imaging device mounted in a vehicle which moves above the ground a substantial distance;
• b. a plurality of angle measuring devices attached to said frame imaging device for measuring a plurality of sets of angular orientations of a set of three world axes, a forward flight axis, a cross-track axis, a vertical axis, with respect to an "x" axis, a "y" axis, a "z" axis of an image coordinate system, and tagged with a first time mark;
• c. a positioning device attached to said moving vehicle for obtaining a plurality of sets of absolute geophysical coordinates and velocity of said frame imaging device and tagged with a second time mark;
• d. first processor means associated with said frame imaging device for initiating an exposure of said frame imaging device, tagging said exposure with a third time mark, and collecting data from said frame imaging device, said angle measuring devices, and said positioning device, including the set of said time marks;
• and
• e. second processor means associated with said first processor means for manipulating said data collected from said frame imaging device, said angle measuring devices, said positioning device, and said set of time marks, in accordance to at least one formula relating a spatial orientation relationship between said frame imaging device and a terrestrial object to obtain a set of absolute geophysical coordinates of said terrestrial object.

A method of displaying and querying pictorial images and map information of a plurality of terrestrial objects, comprising the steps of:

• a. using a data medium of contents containing at least one instantaneous pictorial images, at least one set of angles relating a spatial orientation relationships of an "x" axis, a "y" axis, and a "z" axis of an image coordinate system positioned at an exposure station, from which said pictorial images(s) were exposed, to a set of three world axes which include a forward flight axis, a cross-track axis and a vertical axis, a plurality of sets of absolute geophysical coordinates and velocity of said exposure stations, a plurality of sets of time marks which distinguish the occurrences of exposures of said pictorial images, measurement of said sets of angles, and measurement of said sets of absolute geophysical coordinates and velocity;
• b. using a data medium having recorded data containing said contents of step "a" while said contents were acquired on a vehicle moving above ground;
• c. retrieving said recorded data from said data medium of step "b";
• d. displaying said pictorial images on a display console as a discrete two dimensional matrix array of pixels of varying brightness;
• e. providing a means to indicate a pixel of interest and alter the location of said pixel of interest;
• and
• f. applying a set of formulas relating a spatial orientation relationship between said pixel of interest and a terrestrial object in said pictorial images obtaining and displaying a set of absolute geophysical coordinates of a terrestrial object indicated by said pixel of interest.

A data acquisition, information display and querying apparatus for acquiring instantaneous pictures of a terrestrial scene and a set of absolute geophysical coordinates of terrestrial objects in said picture simultaneously, displaying said pictures on a display console as a discrete two dimensional matrix array of pixels of varying brightness, querying from said pictures of a terrestrial object at which location a set of absolute geophysical coordinates is of interest, comprising:

• a. a frame imaging device mounted in a moving vehicle above the ground;
• b. a plurality of angle measuring devices attached to said frame imaging device for measuring a plurality of sets of angular orientations of a set of three world axes, a forward flight axis, a cross-track axis, a vertical axis, with respect to an "x" axis, a "y" axis, a "z" axis of an image coordinate system and tagged with a first time mark;
• c. a positioning device attached to said moving vehicle for obtaining a plurality of sets of absolute geophysical coordinates and velocity of said frame imaging device and tagged with a second time mark;
• d. first processor means associated with said exposure imaging device for initiating an exposure of said frame imaging device, tagging said exposure with a third time mark, collecting data from said frame imaging device, said angle measuring devices, and said positioning device, as well as the data set of said fist, second and third time marks;
• e. second processor means associated with said first processor means for manipulating said data collected from said frame imaging device, said angle measuring devices, said positioning device, and said set of time marks, in accordance to at least one formula relating a spatial orientation relationship between said frame imaging device and a terrestrial object to obtain a set of absolute geophysical coordinates of said terrestrial object;
• f. a data medium onto which data from said frame imaging device, said angle measuring devices, said positioning device, and said set of time marks are recorded;
• h. third processor means associated with said data medium for retrieving said written data from said data medium, displaying a pictorial image on a display console as a discrete, two dimensional matrix array of pixels of varying brightness, providing a means to indicate a pixel of interest, and providing a means to alter said pixel of interest;
• and
• g. fourth processor means associated with and utilizing said second processor means to obtain a set of absolute geophysical coordinates of a terrestrial object indicated by said pixel of interest, and displaying said set of absolute geophysical coordinates of a terrestrial object indicated by said pixel of interest.