Heliostat with integrated image-based tracking controller

A heliostat for directing incident light to a receiver, the heliostat comprising:

• a mirror for reflecting the incident light, the mirror having an optical axis substantially perpendicular to the mirror;
• an imager mounted to the mirror;
• and
• a tracking controller coupled to the imager;
• and
• one or more actuators connected to the tracking controller;
• wherein the tracking controller is configured to:
• i) locate image points corresponding to the sun and receiver based on image data from the imager;
• and
• ii) orient the optical axis of the mirror in a direction directly between the image points corresponding to the sun and receiver based on the image data from the imager.

A method of tracking the sun with a heliostat comprising an imager mounted to a mirror, the method comprising:

• aligning an optical axis of the imager with a vector normal to the mirror;
• capturing an image including the sun and a receiver with the imager;
• locating image points corresponding to the sun and receiver in the captured image;
• actuating the mirror toward an orientation at which the vector normal to the mirror is between the points corresponding to the sun and receiver in the captured image, i.e., said points appear substantially antipodal respective to the vector normal to the mirror;
• whereby the vector normal to the mirror is oriented at an angle bisecting a sun vector and receiver vector.