Method and apparatus for estimating a position of a target

Details Method and apparatus for estimating a position of a target Method and apparatus for estimating a position of a target

1990-07-13

1992-07-14

Black, Thomas G.

Boots, shoes, and leggings

364559, 364459, G01S 1302

Patent

active

051309343

ABSTRACT:
A position estimation apparatus is adapted to estimate the position of a target in the steps as will be set forth below. The target is observed four or more times by an image sensor during a time period in which the target and movable body unit move in those directions not parallel to each other. Acceleration is applied to an accelerator at least once at a time between the observation times. Two-dimensional angle information of the target's azimuth and elevation angles is detected from the image information of the target acquired by the image sensor at the time of observation. A coordinate system of the movable body unit is found in accordance with the position and attitude information of the movable body unit, and the two-dimensional angle information of the target is plotted on the coordinate system. Simultaneous equations are prepared by sequentially substituting the two-dimensional angle information of the target obtained through the observation into an equation of motion representing a regulator motion of the target initially entered on a position estimation apparatus. Parameters in the equation of motion is found from the simultaneous equations. The position of the target at a given time is estimated by substituting the parameters into the equation of motion and the given time into the latter equation.

REFERENCES:
patent: 4320287 (1982-03-01), Rawicz
patent: 4626995 (1986-12-01), Lofgren et al.
patent: 4794235 (1988-12-01), Burke et al.
patent: 4942538 (1990-07-01), Yuan et al.
patent: 4959800 (1990-09-01), Woolley

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