Coded aperture aided navigation and geolocation systems
AssigneeThe United States of America as represented by the Secretary of the Air Force
InventorsJamie R. Morrison, John F. Raquet, Michael J. Veth
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Abstract
A micro air vehicle having a navigation system with a single camera to determine position and attitude of the vehicle using changes the direction to the observed features. The difference between the expected directions to the observed features versus the measured direction to the observed features is used to correct a navigation solution.
Claims10
A method for measuring the flight path of a micro air vehicle having an inertial navigation system, comprising:
- providing a plurality of point spread functions, each function representing an observed source of light at a different predetermined distance;
- capturing an image with a single camera lens and a coded aperture;
- selecting a pixel from the captured image;
- comparing the selected pixel with the plurality of point spread functions;
- determining from the comparing step a depth measurement for the selected pixel;
- and
- measuring the flight path of the micro air vehicle using the determined depth measurement for the selected pixel.
A method for tracking feature locations along the flight path of a micro air vehicle having an inertial navigation system, comprising:
- providing a plurality of point spread functions, each function representing an observed source of light at a different predetermined distance;
- capturing an image with a single camera lens and a coded aperture;
- selecting a pixel from the captured image;
- comparing the selected pixel with the plurality of point spread functions;
- determining from the comparing step a depth measurement for the selected pixel;
- and
- measuring the location of tracked features using the determined depth measurement for the selected pixel.
A micro air vehicle comprising:
- a plurality of sensors;
- a navigation system coupled to the plurality of sensors;
- a single camera, including a coded aperture and a fixed focal length lens;
- a vision system coupled to the single camera;
- and
- a dynamic Bayesian network coupled to the vision system and the navigation system;
- the dynamic Bayesian network providing a plurality of signals to the navigation system, wherein the plurality of signals include updated information regarding a change in the range and direction of the vehicle.
Dependencies are inferred from the claim text.