SYSTEMS, DEVICES, AND METHODS FOR TRACKING MOVING TARGETS

摘要

A system for tracking a moving target having up to six degrees of freedom and rapidly determining positions of the target, said system includes an easy to locate precision optical target fixed to the target. This system includes at least two cameras positioned so as to view the optical camera from different directions with each of the at least two cameras being adapted to record two dimensional images of the precision optical target defining precise target point. A computer processor is programmed to determine the target position of x, y and z and pitch, roll and yaw. In an embodiment, the system can be configured to utilize an iteration procedure whereby an approximate first-order solution is proposed and tested against the identified precise target points to determine residual errors which can be divided by the local derivatives with respect to each component of rotation and translation, to determine an iterative correction.

主权项

1. A system for tracking a moving target having up to six degrees of freedom and rapidly determining positions of the moving target, said system comprising:
A) A precision optical target fixed to the moving target, B) at least two cameras positioned so as to view the optical target from different directions with each of the at least two cameras being adapted to record two dimensional images of the precision optical target defining a precise target point, C) a computer processor programmed to determine a target position in Cartesian coordinates of x, y, and z and pitch, roll and yaw utilizing an algorithm adapted to:
1) identify the precise target point on the precision optical target and the x, y and z displacement of the precise target point based on optical images collected by the at least two cameras,2) utilize an iteration procedure whereby an approximate first-order solution is proposed and tested against the identified precise target points to determine residual errors which are then divided by the local derivatives with respect to each component of rotation and translation, to determine an iterative correction,3) repeat step 2 until residual error becomes smaller than desired accuracy, and4) utilize the results of steps 1), 2) and 3) to determine the position of the target at rates of at least 100 times per second.