Untitled record

Methods and Systems for Locating Targets

Background of the invention

The present invention relates generally to the location of a target and in particular to a method and system for determining the location of a target using multiple location estimates.

This invention was supported by the Government under the terms of Contract No. DAAB07-00-D-J607 awarded by Communications-Electronics Life Cycle Management Command of the United States Army. The US government has some rights to this invention.

When selecting targets for directing munitions, allocating resources, or reconnaissance, it is required to determine the location of the target as accurately as possible.

Existing remote target location methods and systems induce large measurement errors in target location calculations, due, in part, to inaccuracies in determining the bearing to the target.

Current technology necessitates achieving the highest accuracy and control using expensive SAR units which, in addition to costs, necessitate systems modifications to existing measurement platforms. As a result, significant improvements in accuracy are currently hampered by target location systems.

General description of the invention

The present invention provides a method and system for positioning a target that eliminates or substantially reduces at least some of the defects and problems associated with prior methods and systems for location of a target.

According to one embodiment of the present invention, a method for location of a target includes receiving from a first sensor, a first set of coordinates corresponding to the location of a first target estimated from the target. The method also includes receiving, from a second sensor, a second set of coordinates corresponding to the location of a second target estimated from the target. Further, the method includes, at a system controller, producing an estimated aggregate target location based on a first set of coordinates and a second set of coordinates. The method also includes verifying that each of the first set of coordinates and the second set of coordinates correspond to the same target.

According to another embodiment of the present invention, the target location system includes a first sensor capable of determining the location of a first estimated target from a target, and producing a first set of coordinates corresponding to the location of a first estimated target. The system also includes a second sensor capable of determining the location of a second estimated target, and producing a second set of coordinates corresponding to the location of a second estimated target. Additionally, the system includes a system controller capable of receiving a first set of coordinates from a first sensor and a second set of coordinates from a second sensor. The system controller is additionally capable of producing an estimated aggregate target location, based on the first set of coordinates and a second set of coordinates, and verifying that both the first set of coordinates and the second set of coordinates correspond to the same target.

Important technical features of certain aspects of the present invention include the use of multiple estimates of a target's location to determine a combined estimate of a target's location. The use of multiple sources of information can greatly increase the accuracy with which a target's location is determined. In addition, verifying that the estimated locations are from the same target can ensure that no calculation errors are introduced when determining the target location and that the combined estimates are a reasonable result. In addition, the use of multiple networked sensors can achieve improvements in target location accuracy without purchasing large equipment or modifications to existing measurement platforms.

Other technical advantages of the present invention are readily apparent to those skilled in the art from the following figures, description, and claims. Furthermore, where specific features are listed above, different models may include all, some, or none of the features listed.

Brief explanation of the drawings

For a more complete understanding of the present invention and its advantages, reference is now made to the following description, in conjunction with the accompanying drawings, in which:

Figure 1 is a box diagram showing a target location system, including a system controller, sensors, a network, and a display;

Figure 2 is a box diagram illustrating the system controller of Figure 1 in greater detail, incorporating features of one embodiment of the present invention;

Figure 3 is a flowchart illustrating a method for location of target according to one embodiment of the present invention, and

Figure 4 is a flowchart illustrating a method for location of a target according to one embodiment of the present invention.

Detailed description:

Figure 1 shows a particular embodiment of a target location system 10 for locating targets 30. The target location system 10 includes sensors 20, and a network 40 of a system controller 50. To facilitate accurate location of targets 30, the target location system 10 determines an estimated location of a selected target 30 from one or more sensors 20, and calculates the error associated with each of the estimated locations, It combines estimated locations, and compares the combined estimated locations to the estimated location from one or more of the 20 sensors.

Sensors 20a and 20b (which may be referred to individually as “sensor 20” or collectively as “sensors 20”) detect targets 30 and produce information related to detected targets 30.

The sensors 20 may be able to perform measurements to determine the location of target estimated target location (ETL) of the target 30, calculate the error in values associated with the ETL, and/or produce target location data (TLD). ) 25. Additionally, each sensor 20 in the target location system 10 may be capable of determining the same estimated location. For example, the sensors 20 can determine their positions and/or geographic spatial coordinates using integrated, surface, or coupled GPS receivers and transmitters. Determining the location of the sensor 20 can help the sensor 20 determine the estimated target location (ETL) of target 30 relative to sensor 20, or (ETL) of target 30 relative to the latitude and longitude coordinates of the military ground system.

For example, the sensor 20 can determine the estimated target location (ETL) of a given target 30 by measuring the distance or range of the target 30 relative to the sensor 20, the azimuth angle of the target 30 relative to the sensor 20, and/ or the elevation or gradient of the target 30 relative to the sensor 20, and the combination of one or more measurements to produce a two- or three-dimensional set of coordinates. For example, based on a set of targets 30 relative to the sensor (20) and the azimuth angle of the target 30 relative to the sensor 20, the sensor 20 can produce a set of (x, y) coordinates corresponding to the longitude and latitude of the target. and latitude of target 30. In particular embodiments, the sensor 20 can also serve to measure the height of the target 30 relative to the sensor 20 and can serve to produce a set of a set of three-dimensional coordinates (x, y, z), corresponding to the longitude, latitude, and height of the target to which Elevation of the detected target 30.

Additionally, for any given measurement the sensor 20 can calculate the error value associated with the measurement. For example, in special embodiments the sensor 20 can operate to calculate an error distribution such as a normal distribution, Gaussian distribution, or any appropriate statistical distribution based on a particular measurement taken by the sensor 20. Additionally, the sensor 20 can operate to Produce the error distribution associated with ETL. In particular embodiments, one or more of the error distributions calculated by the sensor 20 can include a multivariate distribution to calculate error along more than one axis.

In particular embodiments the sensor 20 can produce other types of error calculations and/or ETL-based measurements, such as circular error probability (CEP). The CEP can represent 50% of the ETL of the target 30 in the circle defined by a given radius, centered on the true location of target 30. For example, the sensor 20 can produce the ETL. For target 30 using a CEP of 50 metres. Thus, the ETL of the target has a 50% chance of settling within a 50 m radius centered on the true location of the target 30. In special embodiments the sensor 20 can estimate the two-dimensional location (i.e., range and azimuth angle) of the target. 30 using a CEP of 50 m, and a 3D position (i.e. range, azimuth angle, and elevation of the target 30 relative to the sensor 20) using a CEP of approximately 30 m. Range measurements to target 30 from sensor 20 can be more accurate than azimuth angle measurements in special models, and thus, the CEP can be shaped like an ellipse. In general, however, the sensor 20 can calculate and/or produce any appropriate error values associated with the measurements provided by the sensor 20 and/or (ETL) produced by the sensor 20. Furthermore, the sensor can use the ETL and any associated error values (such as the error distribution or circular error probability (CEP)) to produce the TLD25.

The sensors 20 can measure distances, loads, and/or other variables related to the target 30 using any suitable components and techniques. For example, in particular embodiments, the sensor 20 can determine the range to target 30 using a laser range finder or other suitable device or method for determining the distance to target 30 for the device. Sensor 20. The sensor 20 can determine the azimuth angle of the target 30 using the GPS Interferometer Subsystem (GPSIS) or other suitable device or technology to determine the azimuth angle of the target 30. The sensor 20 can determine the elevation Target 30 for the sensor 20 using an inclinometer with two pulleys at an axial distance or any other suitable device or method for measuring the height of the target 30. In particular embodiments of the target location system 10, the sensor 20 may obtain some, none, or all of these measurements, and may obtain additional measurements determining the location of target 30 and any associated error values.

In general, sensors 20 can represent or include any type of device suitable for determining the estimated target location (ETL) of a target 30, including, but not limited to, satellite-imaging systems, imaging systems Radar-imaging systems, infrared-imaging systems, sonar-imaging systems, x-ray-imaging systems, video cameras, and /or imaging systems featuring object recognition and identification technology. In particular embodiments, the 20 sensors may represent one or more long-range scouting surveillance systems. More generally, the sensors 20 may represent any suitable combination of hardware and/or software, including, but not limited to, logic encoded on a tangible storage medium operable when executed on a processor and/or other computer device to perform tasks mentioned.

The sensors 20 may be placed at any location suitable for determining the location of target 30, including but not limited to airborne sensors, vehicle-mounted sensors on vehicles, underwater sensors, Or extra-terrestrial sensors. In particular embodiments, sensors 20 communicate with other sensors 20 and/or a system controller 50 on a network 40. The sensor 20 may be coupled to other sensors 20 and/or the system control unit 50 through a dedicated link (wired or wireless), or it may communicate with other components of the target location system 10 only if necessary to transmit target location and data. Measurement error. Although Figure 1 shows for purposes of an exemplary target location system 10 comprising two sensors 20, alternative embodiments of the target location system 10 can include any suitable number and types of sensors 20. For example, in particular embodiments, sensors 20a and sensors 20b can represent a single sensor 20 that locates a target 30 from two different locations. In these embodiments, the sensor 20 can serve to determine the location of a target 30 as measured from a first location and then move to a second location. The sensor 20 can then serve to determine the location of the target 30 as measured from the second position. Thus, in these embodiments, sensor 20a represents a first location of sensor 20, and sensor 20b represents a second location of sensor 20.

Target location data (TLD) 25 represents data describing the estimated location of the target 30 and its associated error values. In particular embodiments, the TLD 25 can include 2D or 3D coordinates representing the ETL of the target 30. Additionally, the TLD can include one or more error values such as error distribution, circular error probability (CEP), or other appropriate error values associated with (ETL). The TLD 25 is produced by the sensors 20 and can be transmitted to other sensors 20 and/or a system controller 50 via a network 40. In special embodiments, the TLD can include a pictorial representation of the target 30 . Furthermore, depending on the design and capabilities of the sensors 20 and the target location system 10 in general, the TLD 25 can represent data sent from the sensors 20 as a file, in a data stream, as a string of one or more packages, in the form of written or verbal communication, or in the form of information designed in any other appropriate manner.

Targets 30a and 30b (which may be referred to individually as “target 30” or collectively as “targets 30”) represent any object suitable for detection, location, processing and/or analysis by a target location system 10. On a given run, several possible targets may exist 30 (e.g., a convoy of trucks, multiple aircraft on a runway, several buildings in a complex, or different sides of the same building). Therefore, special sensors 20 can inadvertently measure (ETL) of different targets 30, which may lead to significant calculation errors and errors in identifying the target 30. As a result, in the embodiment illustrated, the target 30a represents the intended target 30, While target 30b represents an unintended target 30. For purposes of this description, an intended target can refer to a target 30 at which the sensor 20 is intended to perform an ETL. An unintended target can refer to a target 30 in which an ETL is alternatively set unintentionally.

Additionally, targets 30 can represent any moving or stationary objects. For example, each of the 30 targets could represent a mobile or stationary ground-based transport, such as a tank, mobile troop transport, truck, tanker, car or other suitable vehicle. The targets 30 may also represent a fixed or moving vehicle carried on water or air. The targets 30 may also represent any fixed structural object, such as a building, wall, barrier, bridge, weapon assembly, and/or element of nature. Although Figure 1 shows for representation purposes two targets 30, alternative embodiments of the system 10 may include any suitable number and/or types of targets 30. For example, special embodiments of the target location system 10 may be designed to determine One, two, or multiple targets at once30.

Network 40 represents any form of communications network that supports communications that are operated over a circuit, or that rely on packet, chain, and/or other suitable type of communications. Network 40 can represent a communications network that operates via wired or wireless receivers and transmissions. In particular embodiments, the network 40 may represent a group of elements that transmit and/or receive over wireless and/or wired communications. Notwithstanding what is shown in Figure 1, as an individual element, the network 40 may represent one or more separate networks comprising all or parts of different networks that are separated and serve different sensors 20 and/or a system controller. system controller 50. The network 40 may include routers, hubs, switches, gates, call controllers, radio receivers, transmitters, antennas, serial cables, Ethernet cables, infrared transmitters, and/or any other suitable components at any Suitable shape or design. In general, network 40 can include any combination of public or private communications equipment such as elements of a public switched telephone network (PSTN), a global computer network such as the Internet, a local area network (LAN), a network wide area network (WAN), or other suitable communication equipment.

Network 40 can additionally represent human-human interaction via two-way radio, telephone, telegraph, written messages, and/or any suitable communication medium.

In addition, although Figure 1 shows a particular design of elements directly coupled to and/or interacting with network 40, network 40 may be directly or indirectly coupled to and/or interacting with any appropriate elements of the target location system. system 10. Thus, components of system (10) can be placed and designed in any way suitable to communicate with each other over network 40 and/or via direct connections between related elements.

The system controller 50 receives one or more combinations of TLDs 25 from each of the sensors 20a and 20b, couples the TLD 25 to produce a single ETL from the target 30, and determines a statistical probability where ( The associated ETL) is a reasonable estimate that matches the target 30 measured by each sensor 20. In particular embodiments of the target location system 10, the TLD system controller 25 receives from one or more of the sensors 20, an estimated subjective location measurement from one or more of the sensors 20, and error values associated with each measurement. As noted above, the TLD 25 may include data representing the ETL of a target 30, which may be represented by latitude and longitude coordinates, military ground coordinates, and/or measurements such as range, azimuth angle, and elevation of the target 30 relative to its intrinsic location. For the received sensor 20. In addition, as noted above, the TLD 25 can include a circular error probability (CEP) associated with the ETL. The system controller 50 can then combine the ETL present in each of the received TLDs 25 for a particular target 30 to calculate the associated ETL for the target 30. The system controller 50 may integrate the ETLs received by any statistical method, including, but not limited to, a linear Kalman filter, a linear Bayes filter, and a non-linear Kalman filter. linear Kalman filter.

The system controller 50 can additionally perform a health check to ensure that the ETLs received are from the same target 30. As noted above, in certain operating environments, sensors 20a and 20b can inadvertently measure Estimated location of different targets 30. Combining ETLs for target 30 without verifying that ETLs received from the same target can result in an ETL being incorrectly associated with an image of target 30. Thus, the system controller 50 can perform a validity test to ensure that the measurements received were for the same target 30.

The system controller 50 may perform a validity test using any appropriate statistical method, including, but not limited to, the Chi-squared function and the Mahalanobis distance test.

Additionally, the system controller 50 can represent an individual component, multiple components positioned at a central location within the target location system 10, and/or multiple components distributed throughout the target location system 10.

For example, the system controller 50 can represent components or modules of one or more sensors 20 capable of transmitting information between the sensors 20. In general, the system control unit 50 may represent any suitable combination of hardware and/or software, including, but not limited to, logic encoded on a tangible storage medium that is operable when executed on a processor and/or other computer device. To perform the aforementioned tasks, it may also include sensor-mounted components 20 or other elements suitable for the target location system 10. The display 60 receives information associated with the combined estimated target location (ETL) of the target 30 from the system controller 50 and displays this information. Additionally, the display 60 can also receive and display photographs of the target 30 from the system controller 50 and/or sensor 20. In special embodiments, the display 60 can display a textual description of the target's location 30. E.g. , the display screen 60 can display the longitude and latitude of the target 30 in text form. Additionally, the display 60 can determine the location of the target 30 relative to a map and can also display photographs of the target 30 on the map. Additionally the display 60 can be designed to switch between one or more types of target location displays 30, depending on the capabilities and design of the target location system 10. Furthermore, the display 60 can be coupled to the system controller 50, or it can be remote from the system controller 60 and communicate with the system controller 50 via a network 40 or a direct connection with the system controller 50. .

Examples of display 60 include, but are not limited to, a computer display, a laptop display, a television set, a radar imaging display, or

Any other device suitable for viewing electronic images. In general, the display 60 can be any suitable combination of hardware and/or software suitable for displaying an estimated location of a target 30 in a target location system 10. Although Figure 1 shows, for example, an embodiment of the system 10 includes a single display screen 60, and alternative embodiments of the target location system 10 can include any suitable number and types of displays 60.

When operational, the target location system 10 pairs estimated target location (ETL) produced by one or more sensors 20, calculates the associated ETL, and verifies that both ETL are for the same target 30 In particular embodiments the target location system 10 may include one or more sensors 20 that each determine the ETL of a target 30 and each determine error values associated with the ETL. By this combining one or more of the ETLs of a target 30, and verifying that one or more of the ETLs measurements received from the sensors 20 are from the same target 30, the target location system 10 can provide greatly increased accuracy. At the target location. This increased accuracy can be useful in directing munitions, artillery, and/or directing any resources to a specific target.

An example of this process as implemented by a special embodiment of the target location system 10 is illustrated in Figure 1.

As shown in Figure 1, sensors 20a and 20b can self-locate to facilitate target location 30.

As mentioned above, each of the sensors 20a and 20b may be equipped with GPS receivers that assist each sensor 20 in determining its position and/or coordinates. Determining the location of the sensor 20 can then assist sensors 20a and 20b in determining (ETL) the target 30 with respect to both sensors 20a and 20b. As noted above, the sensor 20 a can serve to determine (ETL) a target 30 by taking any appropriate measurements. For example, the sensor 20 a can determine (ETL) a target 30 by measuring the distance or range from the sensor 20 a to the target 30, the azimuth angle of the target 30 relative to the sensor 20 a, and/or the elevation of the target 30 For the sensor 20 A. The sensor 20 can then serve to produce a TLD 25, which includes an ETL and associated error calculations or measurements.

In particular embodiments the sensor 20 a can additionally include a photographic representation of a target 30 in the (TLD) 25. The sensor 20 a can then serve to transmit the (TLD) 25 to the sensor 20 b.

In particular embodiments, a photographic representation of a target 30 of the sensor 20a or a human operating the sensor 20b can help visually identify the target 30 and verify that the ETL in the TLD 25 received from the sensor 20a conforms to the target 30. With (ETL) measured from sensor 20b.

The sensor 20 b can then determine the ETL of the target 30 for the sensor 20 b, based on the ETL for the sensor 20a contained in the received TLD 25. As with the sensor 20 a, the sensor 20 b can perform an ETL of a target 30 by making appropriate measurements including, but not limited to, measuring the distance or range of the target 30 relative to the sensor 20 b, and the angle The azimuth angle of the target 30 relative to the sensor 20b, and/or the elevation of the target 30 relative to the sensor 20b. As noted above, in certain embodiments of the target location system 10, sensors 20a and 20b can represent the same sensor 20 that measures the target location 30 from two different locations. In these embodiments of the target location system 10, this sensor 20 estimates the location of the target 30 from a first location, moves to a second location, and determines the ETL of the target 30 from the second location. Thus, the advantages obtained from having two measurements from two sensors 20, each at an individual location, can be achieved by having a single sensor 20 estimate the location of the target 30 from two different locations.

Additionally, in certain embodiments of the target location system 10, the system controller 50 can serve to transmit to both sensors 20a and 20b information that identifies the target 30, and instruct the sensors 20a and 20b to determine (ETL) the target 30.

To produce instructions, to identify the target 30, the system controller 50 can serve to transmit to the sensors 20 and 20b the estimated latitude and longitude coordinates, a visual description, or other identification characteristics of the target 30 appropriate for identifying a particular target 30.

The system controller 50 can transmit information identifying a potential target 30 to one or more sensors 20 by electronically coupling to a network 40, by electronically communicating directly with the sensors 20, or by a human operating The system control unit 50 sends any written or verbal communication to a human operated sensor 20.

Once both sensors 20a and 20b have determined the ETL of the target 30, sensors 20a and 20b transmit the TLD 25, comprising the ETLs, to the system controller 50. Each sensor 20 can operate To transmit (TLD) 25 to the system control unit 50 by electronically associating with the network 40, by communicating electronically directly with the system control unit 50, or by the human operating the sensor 20 to transmit any written or verbal communication to the human operating the control unit. In system 50. Upon receiving TLDs 25 from one or more sensors 20, the system controller 50 couples the ETL information contained in each TLD 25 into the associated ETL of a target 30. As noted above, the Control the system 50 to pair the estimates using any appropriate statistical method including, but not limited to, a linear Kalman filter, a linear Bayes filter, and/or a non-linear Kalman filter. For example, the system controller 50 can couple one or more ETLs generated from the sensors 20 by using a Kalman filter, starting the Kalman filter with a first ETL and pairing a second ETL using the Kalman filter's updating equations. . In certain embodiments of the target location system 10, the system controller 50 couples more than two ETLs (i.e., ETLs generated by three or more sensors 20), and can frequently couple ( ETLs) by taking the previous Kalman filter and variance statement and updating it using (ETL) information from the next sensor 20. Once collected, the system controller 50 can also produce an error distribution or other error values associated with the coupled estimate. In particular embodiments, the system controller 50 can produce a circular error probability (CEP), which, as previously mentioned, can represent a 50% placement probability (ETL) of the target 30 in a circle defined by a given radius, centered On the true location of the target 30. In special embodiments, the error calculations or measurements may be the output of the statistical method used to pair (ETLs).

Additionally, the system controller 50 can perform a test to verify that each of the ETLs generated by the sensors 20 of the target 30 are from the same target 30. As noted above, in certain operating environments, it can The sensors 20a and 20b can inadvertently estimate the location of various targets 30. For example, sensor 20a can inadvertently produce an ETL of the intended target 30a, and sensor 20b can inadvertently produce (ETL) of unintended target 30b. Combining ETLs generated from the sensors 20 without verifying that the ETLs are from the same target can result in an ETL being falsely associated with the target 30. Therefore, validity testing can ensure that the measurements received are from the same target. 30.

Validity testing can include comparing each of the one or more ETLs received from the target 30 with the associated ETL and associated error calculations or associated ETL measurements. For example, if the received ETL falls within the wrong distribution of the associated ETL, then the system controller 50 can determine that the associated ETL is a reasonable solution that matches one or more of the ETLs ) that was received. If an ETL is received outside the error distribution range of the associated ETL, then the system controller 50 can determine that the associated ETL is a non-reasonable solution that matches one or more of the received ETLs.

Additionally, one or more of the target ETLs 30 generated by the sensors 20 and associated error calculations and corresponding measurements may be averaged before comparing them with an associated estimated measurement. Validity testing may be performed using any appropriate statistical method, including, but not limited to, the Chi-square test and the Mahalanobis distance test. If the system controller 50 determines that the ETLs generated by the sensors 20 are not from the same target 30 or is unable to validate the incoming ETLs, the system controller 50 can request one or more sensors to 20 To produce new ETLs, modify received ETLs, and/or take any appropriate remedial measures.

Once the associated ETLs of the target 30 have been received from the sensors 20 and verified, the system controller 50 can serve to transmit the associated ETL of the target 30 to another device, system, or operating human. The coupled ETL can be used to direct ordnance and artillery, and/or place a resource, or upon communication with a target 30. For example, the system controller 50 can transmit the coupled ETL of a target 30 to a display screen 60.

The display 60 can display the location of a target 60 by inserting coordinates of a target 30 in text form, by mapping the location of a target 30 on a topographical or political map, and/or by displaying photographs of the target 30. As an example Else, the system controller 50 can serve to transmit the location of a target 30 directly to another device or system, such as a weapons system capable of sending munitions on coordinates specified by the ETL associated with a target 30.

Thus, by using one or more sensors 20 to determine an estimated target location 30, and by using statistical methods and pairing and validating the estimated target locations, the system controller 50 facilitates increased accuracy in determining target locations 30. In embodiments In particular, the target location system 10 may be able to estimate the location of the target 30 using a circular error probability (CEP) of 25 meters or less at a distance of 10 kilometers. Furthermore, the increased accuracy of the target location system 10 results without the need for expensive north-facing modules. Additionally, the target location system 10 can facilitate significantly increased accuracy in target shifting between different sensors 30 in the target location system 10. For example, a group of users or sensors 20 can operate from the target location system 10 On verifying that each user returns to the same target 30 when a particular target 20 is passed between users of the sensors 20. As a result, the 10 target location system can provide numerous operational benefits. However, certain models may provide some, or none, or all of these operational benefits.

Figure 2 is a box diagram illustrating in more detail the contents and operation of a particular embodiment of the system controller 50 shown in Figure 1. In general, as discussed above in connection with Figure 1, the system controller 50 receives TLDs 25 that include estimated target locations (ETLs) from a target 30 from sensors 20, and associates the received ETLs using a method Statistical pairing, validation (ETL) is coupled using a statistical verification method, and transmission is coupled (ETL) to the display 60 and/or another device, system, or human-based operator. Furthermore, as discussed above, the system controller 50 can represent a single component, multiple components located at a central location within a target location system 10, and/or multiple components distributed throughout the target location system 10. For example For example, the system control module 50 can represent components or modules of one or more sensors 20 capable of communicating information between the sensors 20. As shown in Figure 2, the system control unit 50 may include a processor 70, memory 80, an interface module 90, a combination module 100, and a validation module 110.

The processor 70 may represent or include any form of processing component, including general purpose computers, dedicated microprocessors, or other processing devices capable of processing electronic information. Examples of processor 70 include digital signal processors (DSPs), application-specific integrated circuits (ASICs), field-programmable gate arrays (FPGAs), and any other suitable processors for a specific purpose or general. Although Figure 2 shows a particular embodiment of a system control unit 70 comprising a single processor 70, the system control unit 50 may, in general, include any appropriate number of processors 70.

The memory stores processor instructions 80, instructions to pair estimated target locations, instructions to verify the validity of estimated target locations, and/or any values and/or variables used by the system control unit 50 during operation. The memory 80 can include any combination and design of volatile and non-volatile components suitable for data storage. For example, memory can include random access memory (RAM) devices, read only memory (ROM) devices, magnetic storage devices, optical storage devices, or other suitable data storage devices. In particular embodiments, memory 80 can partly represent a computer-readable storage medium on which computer instructions and/or logic can be encoded. In these embodiments, some or all of the functions of the system controller 50 may be provided by a processor 70 executing instructions encoded on said medium. Notwithstanding as shown in Figure 2, as an individual component, memory 80 may represent any number of memory elements in, adjacent to, or accessible by a system controller 50. In addition, although as shown in Figure 2, where it is located within the system control unit 50 the memory 80 can represent storage components remote from the system control unit 50 such as items at a Network Attached Storage (NAS) unit, A Storage Area Network (SAN), or other type of remote storage component.

The interface module 90 couples the system control unit 50 with appropriate components of the target location system 10 to facilitate communication between the system control unit 50 and sensors 20, display 60, and/or other components suitable for the target location system 10. For example, the system controller 50 may serve to receive a TLD 25 from a sensor 20 through an interface module 90, or it may send instructions to estimate the location of a target 30 and information that identifies a target 30 to devices Sensors 20 through interface module 90. In particular embodiments the interface module 90 may include or represent one or more interface cards suitable for communication on network 40 or communication with an electronic bus. In addition, although Figure 2 shows an example of a system controller 50 that includes a single interface module 90, the system controller 50 can generally include any appropriate number of interface modules 90. For example, the system controller 50 may include an interface module 90 for each sensor 20 that is in communication with the network 40.

The combination module 100 couples the ETLs of a target 30 from one or more sensors 20 and pairs the ETLs of a target 30. As discussed above, the combination module 100 can couple estimates made Received from target site 30 through any appropriate statistical method.

In particular embodiments, the combination module 100 can couple estimates using a linear Kalman filter, a linear Bayes filter, and a non-linear Kalman filter.

In addition, the statistical method used to pair the received estimates can, depending on the method used, produce an error distribution, circular error probability (CEP), or other error values associated with the associated estimates.

The validation module 110 determines whether each of the ETLs received from a target 30 is from the same target 30. As mentioned above, the validation module 110 can serve to verify the associated ETL by How to perform a validity test. Validity testing can include comparing both one or more estimates received at target location 30 with the associated estimate and error values associated with the associated estimate. If the received ETL is contained in certain error variables associated with the associated ETL (such as within the range of the expected error distribution of the associated ETL), then the associated ETL is a plausible solution that matches one or more ETLs that She was received. If the received ETL is outside of certain error variables for the associated ETL, then the associated ETL is not a reasonable solution that matches one or more of the received ETLs. In addition, one or more ETLs of the target 30 generated by the sensors 20 and their associated error values may be averaged before comparing them with an associated estimated measurement. A validity test may be performed using any appropriate statistical method, including, but not limited to, the Chi-square test and the Mahalanobis distance test.

In general, each processor 70, memory 80, interface module 90, coupling unit 100 and verification unit 110 may represent any suitable combination of hardware and/or software, comprising logic encoded on a tangible medium and capable of being executed on A processor 70 and/or other computer hardware suitable to provide the functionality described. In addition, any two or more interface module 90, combination module 100 and validation module 110 may represent or have common elements. In particular embodiments, the interface module 90, the association module 100 and the verification module 110 can represent wholly or partly software applications executed by the processor 70.

Figure 3 is a flowchart illustrating the operation of a particular embodiment of a target location system 10 in estimating a target location 30. As shown below, Figure 3 shows a particular operation of a target location system 10 in which the system controller 50 issues instructions to one or more From 20 sensors to determine the estimated location of 30 targets. As shown below in relation to Figure 4, a target location system 10 can include additional embodiments in which one or more sensors 20 produce an ETL from a target 30 and transmit the ETL to a system controller 50.

The steps shown in Figure 3 can be combined, modified or deleted when necessary, and additional steps can also be added to those shown.

In addition, the steps may be performed in any convenient order without departing from the scope of the invention.

Operation, in the example shown, begins at step 300 with a system controller 50 informing a sensor 20 to estimate the location of a target 30. As noted above, a system controller may inform a sensor 20a by sending electronic instructions Through a network of 40, or through any written or verbal communication by the human operating the target location system 10. To identify a target 30, the system controller 50 can serve to transmit to sensors 20 and 20b estimated latitude and longitude coordinates, a photograph, a visual description, and/or other identification characteristics of a target 30 suitable for identifying a particular target 30.

At step 302, sensor 20a determines an estimated target location (ETL) of target 30. As noted above, at appropriate points during operation, sensors 20 or 20b can act on their corresponding intrinsic locations. Each of the sensors 20 or 20b may be equipped with or paired with GPS receivers that help each sensor 20 determine its location and/or geospatial coordinates. Sensors 20a and 20b can self-determine their corresponding positions at any point during operation, either before or after receiving instructions from system controller 50, and before or after changing locations. In particular embodiments, the positioning sensor 20 can assist sensors 20a and 20b to determine (ETL) a target 30 relative to both sensors 20a and 20b. As mentioned above, the sensor 20a can determine the ETL of a target 30 by taking any suitable measurements according to any suitable method.

For example, sensor 20a can determine (ETL) a target 30 by measuring the distance or range of a target 30 relative to sensor 20a, the azimuth angle of a target 30 relative to sensor 20, and/or the elevation of target 30 relative to a device. Sensor 20 A.

The sensor 20a can couple one or more measurements to produce a set of 2D or 3D coordinates.

At step 304 the sensor 20a can act to determine the location of an estimated target 30 relative to the sensor 20b, based on instructions and identification information received from the system control unit 50. As with the sensor 20a, the sensor 20b can act to Determine an estimated location of a target 30 by measuring the distance or range of the target 30 relative to the sensor 20b, the azimuth angle of the target 30 relative to the sensor 20b, and/or the elevation of the target 30 relative to the sensor 20b.

Furthermore, the sensor 20b can couple one or more measurements to produce a set of 2D or 3D coordinates. As noted above, in particular embodiments of the target location system 10, sensors 20a and 20b can represent the same sensor 20 measuring a target 30 from two different locations.

In these embodiments of the target location system 10 the sensor 20 may operate to identify (ETL) a target 30 from a first location, move to a second location, and locate (ETL) a second target from a second location. Thus, the advantages gained from having two measurements from two sensors 20, each at a single location, can also be achieved by having a single sensor 20 estimate the location of a target 30 from two different locations.

In step 306, sensors 20a and 20b can transmit the TLD 25 to the system controller 50.

As noted above, the TLD 25 can include an ETL generated at a corresponding sensor 20, an error measurement or calculation associated with the ETL, and a photographic representation of a target 30.

The sensors 20 may transmit a TLD 25 by electronically associating with a network 40, by electronically associating directly with the sensors 20, or by a human operating the sensor 20 transmitting any written or verbal communications to the human operating the sensor 20. Operating system control system 50. In embodiments of the target location system 10, the system control unit 50 represents components of a sensor 20, transmitting an estimated location of a target 30 to the system control unit 50 between one or more discrete components of the sensor 20.

Additionally, a particular sensor 20 can serve to transmit a TLD 25 to another sensor 20, which can then transmit two TLDs 25 to a system controller 50.

Upon receiving the TLD 25 from one or more of the sensors 20, the system controller 50 couples the ETL in each TLD 25 to the paired ETL of a target 30 in step 308. As noted above, it can The system controller 50 uses any appropriate statistical method to couple the received estimates, including but not limited to a linear Kalman filter, a linear Bayes filter, and/or a non-linear Kalman filter.

The system controller 50 can produce an error distribution, circular error probability (CEP), or other types of error values associated with the associated estimate.

In addition, as noted above, the control unit in system 50 can also produce CEP or other types of error calculations and/or measurements.

At step 310, the system controller 50 performs a validity test to verify that each of the ETLs for a target 30 received from sensors 20a and 20b were from the same target 30. As noted above, in certain operating environments, One or more of the sensors 20 can inadvertently estimate the location of various targets 30. For example, sensor 20a can inadvertently estimate the location of an intended target 30a, and sensor 20b can inadvertently estimate the location of an unintended target 30b. unintended. Pairing ETLs received from sensors 20a and 20b in this case without verifying that ETLs received from the same target 30 could result in an ETL being falsely associated with a target 30. Thus, validity testing can ensure That ETLs were received from the same target 30. Validity testing can include comparing both one or more estimates reported at the location of target 30 with the associated ETL and error values associated with the associated ETL. In addition, one or more of the estimated locations of the 30 target and their associated error values may be averaged before comparing them with the associated estimated measurement. A validity test may be performed using any appropriate statistical method, including, but not limited to, the Chi-square test and the Mahalanobis distance test.

At step 312, the system controller 50 can serve to transmit the estimated location of a target 30 to a display 60. As mentioned above, the display 60 can be coupled to a system controller 50 or can communicate with a system controller 50 via network 40. In particular embodiments, the display 60 can display a textual description of the location of the target 30. For example, the display 60 can display the coordinates of the target 30 in text form. Additionally, the display 60 can serve to map the location of a target 30 relative to a topographical or political map, and can display a photographic representation of a target 30. Additionally, the system controller can serve to transmit (ETL) a target 30 to any Another suitable device, system, or human-based operator. A capable target location can be used to direct munitions and artillery targets, and/or to place a resource in, on or in contact with a target 30.

Figure 4 is a flowchart illustrating the operation of a particular embodiment of a target location system 10 in estimating the location of a target 30. As shown below, Figure 4 shows a particular operation of a target location system 10 in which a sensor 20a estimates the location of a target 30 and then transmits Estimated location to target 30 The sensor 20b estimates the location of the target 30 and then sends each of the estimated locations to the system controller 50. The steps shown in Figure 4 can be paired, modified, or deleted as necessary, and additional steps can also be added to those shown. In addition, the steps may be performed in any convenient order without departing from the scope of the invention.

Actuation, in the example shown, begins at step 400 with the sensor 20 a working to determine the estimated target location (ETL) of the target 30. The sensor 20 a can initiate the target location in response to actuation-based human input and/or respond to a computer-generated input from the sensor 20a and/or the system controller 50. As mentioned above, the sensor 20a can perform an ETL of a target 30 by taking any suitable measurements according to any suitable method. For example, sensor 20a can determine an estimated location of a target 30 by measuring the distance or range of target 30 relative to sensor 20a, the azimuth angle of target 30 relative to sensor 20a, the elevation of target 30 relative to sensor 20a, and /or any other appropriate standards. In addition, sensors 20a can record photographs from a target 30.

In step 402, the sensor 20a transmits a TLD 25, comprising an ETL, one or more associated error values, and/or a photograph, to the sensor 20b. The sensor 20a may transmit a TLD 25 to the sensor 20a by electronically coupling to network 40, by communicating electronically directly with the sensor 20b, or by the human operating the sensor 20a to transmit any written or verbal communication to the human operating the sensor 20a. On the operation of the sensor 20B. A photographic representation of a target 30 can assist a human operating the sensor 20b to visually identify a target 30, and verify that the ETL received from the sensor 20a corresponds to the sensor 20b's identification of the ETL of a target 30.

In step 404, sensor 20b determines the ETL of a target 30 relative to sensor 20b, based on the ETL received from target 30 relative to sensor 20a. As with sensor 20a, sensor 20b can determine an estimated location of a target 30 by measuring the distance or range of target 30 relative to sensor 20b, the azimuth angle of target 30 relative to sensor 20b, and the elevation of target 30 relative to the sensor 20a. Sensor 20B, and/or other appropriate metrics.

In step 406, the sensors 20b learn to send a TLD 25 to the system controller 50. In this example, the TLD 25 can include an ETL and associated error values generated by the sensor 20a and an ETL. and the associated error values generated by sensor 20b. The sensor 20b may transmit a TLD 25 by electronically coupling to a network 40, directly coupling to a system controller 50, or by a human operating the sensor 20b to transmit any written or verbal communication to a human operating the controller. In system 50.

In step 408, the system controller 50 associates incoming ETLs at the received TLD 25 at the estimated location that it is associated with a target 30.

As noted above, the system controller 50 can perform ETLs pairings using any appropriate statistical method. For example, the system 50 controller may use a linear Kalman filter, a linear Bayes filter, and/or a non-linear Kalman filter. Once coupled, the system controller 50 can also produce error values (such as an error distribution or circular error probability (CEP)) associated with the associated ETL.

At step 410, the system controller 50 can perform a test to verify that each of the ETLs received from a target 30 is from the same target 30. As noted above, in certain operating environments, the sensors can operate Sensors 20a and 20b inadvertently estimate the location of different targets 30. Therefore, validity testing can ensure that the measurements received are from the same target 30. Validity testing can include comparing each of the one or more ETLs received from the target 30 with the associated ETL produced from the system controller 50 and error values from the associated ETL. Additionally, one or more of the ETLs of the target 30 and their corresponding error values may be averaged before comparing them with the associated ETL. Validity testing may be performed using any appropriate statistical method, including, but not limited to, the Chi-square test and the Mahalanobis distance test to determine whether the error values associated with the ETLs satisfy the particular error variables associated with the associated ETL.

At step 412, the system controller 50 can transmit the associated ETL of a target 30 to a display 60. As noted above, the display 60 can be coupled to the system controller 50, or it can communicate with the system controller 60 via a network 40. In particular embodiments, the display 60 can display a textual description of the target's location 30. For example, the display 60 can display the longitude and latitude of the target 30 in text form. Additionally, the display 60 can determine the location of the target 30 relative to a topographical or political map and can also display photographs of the target 30. Additionally, the system controller can serve to transmit the estimated location of the target 30 to any other suitable device, Or a system, or a human being based on operation. The estimated target location can be used to direct munitions and artillery targets, and/or to place a resource in, on or in contact with a target 30.

Although the present invention is described in many embodiments, it should be understood that many changes, substitutions, variations, modifications, conversions, and modifications may be suggested to those skilled in the art, and it is intended that the present invention includes such changes, substitutions, variations, and modifications, And transfers and amendments that fall within the spirit and scope of the attached protection elements.