Classifications

• • G—PHYSICS
  • G01—MEASURING; TESTING
  • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
  • G01S5/00—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations
  • G01S5/16—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations using electromagnetic waves other than radio waves
• • G—PHYSICS
  • G01—MEASURING; TESTING
  • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
  • G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
  • G01S19/01—Satellite radio beacon positioning systems transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
  • G01S19/13—Receivers
  • G01S19/31—Acquisition or tracking of other signals for positioning
• • G—PHYSICS
  • G01—MEASURING; TESTING
  • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
  • G01C17/00—Compasses; Devices for ascertaining true or magnetic north for navigation or surveying purposes
  • G01C17/02—Magnetic compasses
  • G01C17/04—Magnetic compasses with north-seeking magnetic elements, e.g. needles
  • G01C17/10—Comparing observed direction with north indication
  • G01C17/12—Comparing observed direction with north indication by sighting means, e.g. for surveyors' compasses
• • G—PHYSICS
  • G01—MEASURING; TESTING
  • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
  • G01C17/00—Compasses; Devices for ascertaining true or magnetic north for navigation or surveying purposes
  • G01C17/38—Testing, calibrating, or compensating of compasses
• • G—PHYSICS
  • G01—MEASURING; TESTING
  • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
  • G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
  • G01C21/10—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration
  • G01C21/12—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning
  • G01C21/16—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning by integrating acceleration or speed, i.e. inertial navigation
  • G01C21/165—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning by integrating acceleration or speed, i.e. inertial navigation combined with non-inertial navigation instruments
  • G01C21/1654—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning by integrating acceleration or speed, i.e. inertial navigation combined with non-inertial navigation instruments with electromagnetic compass
• • G—PHYSICS
  • G01—MEASURING; TESTING
  • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
  • G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
  • G01C21/10—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration
  • G01C21/12—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning
  • G01C21/16—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning by integrating acceleration or speed, i.e. inertial navigation
  • G01C21/165—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning by integrating acceleration or speed, i.e. inertial navigation combined with non-inertial navigation instruments
  • G01C21/1656—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning by integrating acceleration or speed, i.e. inertial navigation combined with non-inertial navigation instruments with passive imaging devices, e.g. cameras
• • G—PHYSICS
  • G01—MEASURING; TESTING
  • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
  • G01C3/00—Measuring distances in line of sight; Optical rangefinders
  • G01C3/02—Details
  • G01C3/04—Adaptation of rangefinders for combination with telescopes or binoculars
• • G—PHYSICS
  • G01—MEASURING; TESTING
  • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
  • G01S11/00—Systems for determining distance or velocity not using reflection or reradiation
• • G—PHYSICS
  • G01—MEASURING; TESTING
  • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
  • G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
  • G01S19/38—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system
  • G01S19/39—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system the satellite radio beacon positioning system transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
• • G—PHYSICS
  • G01—MEASURING; TESTING
  • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
  • G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
  • G01S19/38—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system
  • G01S19/39—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system the satellite radio beacon positioning system transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
  • G01S19/42—Determining position
  • G01S19/48—Determining position by combining or switching between position solutions derived from the satellite radio beacon positioning system and position solutions derived from a further system
  • G01S19/485—Determining position by combining or switching between position solutions derived from the satellite radio beacon positioning system and position solutions derived from a further system whereby the further system is an optical system or imaging system
• • G—PHYSICS
  • G01—MEASURING; TESTING
  • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
  • G01S5/00—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations
  • G01S5/02—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations using radio waves
  • G01S5/0257—Hybrid positioning
  • G01S5/0258—Hybrid positioning by combining or switching between measurements derived from different systems
• • G—PHYSICS
  • G06—COMPUTING OR CALCULATING; COUNTING
  • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
  • G06T7/00—Image analysis
  • G06T7/70—Determining position or orientation of objects or cameras
• • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
  • F41—WEAPONS
  • F41G—WEAPON SIGHTS; AIMING
  • F41G3/00—Aiming or laying means
  • F41G3/02—Aiming or laying means using an independent line of sight
• • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
  • F41—WEAPONS
  • F41G—WEAPON SIGHTS; AIMING
  • F41G3/00—Aiming or laying means
  • F41G3/06—Aiming or laying means with rangefinder

Definitions

• TITLE Process for determining positions by an optronic system in a scene and associated optronic system
• the present invention relates to a method for determining at least one position by an optronic system in a scene.
• the present invention also relates to such an optronic system.
• GNSS signals are likely to be altered without the receiver or the operator being aware of this alteration, or even unavailable.
• the alterations of a GNSS signal are, for example, due to interference by spurious signals, masking by infrastructures or even multiple reflections of the GNSS signal.
• GNSS are also susceptible to being tricked by third parties.
• the subject of the invention is a method for determining at least one position by an optronic system in a scene, the scene comprising reference elements of known geographic coordinates, the optronic system comprising the following elements integrated into said optronic system:
• a measurement module comprising at least one element chosen from: a compass, a goniometer and a rangefinder,
• a data collection phase relating to at least one reference element of the scene comprising, for each reference element, the steps of: o pointing, by the digital imager, of the reference element in the scene, o acquisition, by the measurement module, of at least one measurement relating to the reference element pointed to in the scene following receipt of a first acquisition command, o pointing, on the element display, among the stored indicators, of an indicator representative of the reference element pointed in the scene, o acquisition, by the calculation unit, of the geographical coordinates associated with the indicator pointed following the reception of a second acquisition command, o storage of so-called reference data, comprising the at least one measurement acquired and the geographical coordinates acquired,
• the method comprises one or more of the following characteristics, taken in isolation or in all technically possible combinations:
• the indicators stored in the memory are geo-referenced points on geographical data, the geographical data comprising at least one element among: an ortho-image of the scene, a digital terrain model of the scene, a cartography of the scene and a digital elevation model of the scene, the memory preferably comprising, in addition to the indicators of the reference elements, indicators of all the geo-referenced points on the geographical data;
• the pointing step of an indicator comprises the display on the display element: o of the image of the scene comprising the reference element pointed by the digital imager, and o of the indicators stored in the memory ;
• the phase of determining the position of the optronic system comprises the selection, by the computing unit, of a technique for determining positions from among a set of techniques for determining positions according to the nature of the element(s) of the module of measurement having acquired the at least one measurement corresponding to the reference datum, the position of the optronic system being determined on the basis of the selected determination technique;
• each element of the measurement module is associated with a measurement uncertainty and each geographical coordinate is associated with an uncertainty on said geographical coordinate, the phase for determining the position of the optronic system comprising the determination of an uncertainty on the position determined in function of the corresponding uncertainties on the at least one element of the measurement module and on the geographic coordinates;
• the phase of determining the position of the optronic system comprises the calculation of an approximate position of the optronic system according to stored reference data and the calculation of an optimal position of the optronic system from the approximate position and the baseline data set;
• the phase of determining the position of the optronic system comprises the evaluation of the integrity of the reference data, and the determination of an honest position according to the only reference data evaluated as being honest, and of the calculated optimal position ;
• the optronic system comprises a receiver for geolocation and navigation by a satellite system, called GNSS receiver, the method comprising a phase of determining the position of the optronic system by the GNSS receiver, called GNSS position, and validation or not of the GNSS position as a function of a position of the optronic system determined via the reference data, advantageously when the GNSS position has been validated, the method comprises merging the GNSS position with the position of the optronic system determined via the reference data used for the comparison so as to obtain a definitive position for the optronic system;
• the measurement module comprises an odometric goniometer or an odometric compass, at least one acquired measurement relating to the reference elements being an orientation measurement
• the measurement acquisition step comprising: a. the acquisition of a series of images of the scene, the series of images comprising at least one image of the reference element, the images of the series of images overlapping two by two, and b. the determination, by the odometric goniometer or the odometric compass, of an orientation of the reference element with respect to the optronic system as a function of the series of images of the acquired scene;
• the method comprises a phase of determining the position of an object of the scene as a function of the determined position of the optronic system, of an orientation obtained from the object with respect to the optronic system and of a distance obtained between the object and the optronic system;
• the phase of determining the position of the object comprises the steps of: o acquisition of a series of images of the scene, the series of images comprising at least one image of the object, the images of the series of images overlapping two by two, and o determination of the orientation of the object with respect to the optronic system as a function of the series of images of the scene;
• the measurement module of the optronic system comprises at least one compass, the orientation of the object being obtained by a measurement acquired by the compass during pointing of the object by the digital imager;
• the distance between the object and the optronic system is obtained by a measurement acquired by the rangefinder during pointing of the object by the digital imager, where the distance between the object and the optronic system is the distance between the determined position of the optronic system and the intersection of a predetermined straight line with the ground of a digital terrain model, the predetermined straight line passing through the determined position of the optronic system and having for orientation the obtained orientation of the object with respect to the optronic system;
• the optronic system is chosen from: a pair of optronic binoculars and an optronic camera;
• the measurement module comprises a rangefinder and a goniometer, the determination of the approximate position of the optronic system comprising the automatic calibration of the bearing of the goniometer so that the goniometer functions as a compass, by means of measurements acquired with two reference elements, during pointing said reference elements by the digital imager.
• the measurement module comprises a rangefinder and an inclinometer, the determination of the approximate position of the optronic system being carried out by means of measurements acquired for three reference elements, during the pointing of said reference elements by the digital imager.
• the measurement module comprises a goniometer, the determination of the approximate position of the optronic system, as well as a determination of the bearing of the goniometer being carried out by means of measurements acquired for three reference elements, during the pointing of said reference elements by the digital imager.
• the invention further relates to an optronic system for determining at least one position by an optronic system in a scene, the scene comprising reference elements of known geographic coordinates, the optronic system comprising the following elements integrated into said system optronics:
• a measurement module comprising at least one element chosen from: a compass, a goniometer and a rangefinder,
• the optronic system being configured to implement a method as described above.
• FIG. 7 a schematic representation of a third example of determining the position of the optronic system.
• an absolute orientation is characterized by angles expressed with respect to a geographical reference. The most used are the azimuth angle which expresses the orientation in a locally horizontal plane (tangent to the ellipsoid associated with the geoid) with respect to the local geographic meridian and the elevation angle (or angle of inclination) which expresses the orientation in a vertical plane, with respect to the locally horizontal plane.
• a compass typically measures an azimuth.
• An inclinometer typically measures an elevation.
• a relative orientation is defined with respect to another orientation (i.e. an angular difference between two orientations), characterized by the bearing angles in the horizontal plane and the elevation angles in the vertical plane.
• a goniometer typically makes it possible to measure a bearing and a site.
• a scene 10 is illustrated by way of example in figure 1.
• a scene designates a theater of operations, that is to say the place where an action takes place.
• the stage is therefore an extended space with sufficient dimensions to allow an action to take place.
• the stage is typically an outdoor space.
• the scene 10 comprises reference elements 12, also called landmarks or reference structures, having known geographic coordinates.
• Scene 10 also includes elements with unknown coordinates, also called objects 14.
• an operator 16 provided with an optronic system 18 is located in the scene 10.
• the optronic system 18 is therefore also an object 14 of the scene 10.
• Each reference element 12 is a fixed and remarkable object of the scene 10.
• the coordinates (latitude, longitude) of each reference element 12 are known.
• the altitude of each reference element 12 is also known.
• the reference elements 12 are for example points belonging to the following elements: a construction (building, steeple, lighthouse, road, bridge, etc.) and a natural element (mountain, rock, top of a hill, vegetation, tree, etc.). In the example illustrated by FIG. 1, the reference elements 12 are constructions.
• Each other element of the scene 10 other than a landmark is an object 14 of unknown position.
• the objects 14 are trees, a vehicle, as well as the optronic system 18 itself.
• the term "object” is used in a broad sense, and also includes individuals present in the scene.
• the optronic system 18 is, for example, a system of the type:
• - optronic binoculars digital imaging, in any spectral band
• portable, tripod or turret-mounted or handheld or optronic camera (digital imaging, in any spectral band) installed on a vehicle or other support (mast, tripod, turret, building, etc.), orientable (controllable line of sight), or
• an omnidirectional optronic camera installed on a vehicle or any other fixed support (mast, building, etc.), or
• the optronic system 18 comprises elements integrated into said optronic system 18.
• integrated it is understood that the elements are physically and software incorporated into said optronic system 18. Such elements therefore form a single block in the optronic system 18.
• the optronic system 18 is thus, advantageously, compact and light (preferably less than three kilos).
• the elements integrated into the optronic system 18 include at least the following elements: a digital imager 20, a memory 22, a display element 24, a measurement module 26 and a calculation unit 28.
• the optronic system 18 comprises, in addition, one of the following additional elements: a GNSS receiver 29 and an inclinometer 30.
• the digital imager 20 is able to acquire images of the scene 10.
• the digital imager 20 is able to operate in several spectral bands, for example, in the visible and in the infrared.
• the digital imager 20 is, for example, a camera.
• Data is stored in the memory 22.
• the data includes in particular, for at least each reference point 12 of the scene 10, an indicator representative of said reference element 12 associated with the geographic coordinates of said element 12.
• the indicators are typically visual elements displayable on the display element 24 and making it possible to identify the corresponding reference elements 12 .
• the indicators are, for example, symbols, textual data (name of the reference element 12) or geographic data, also called geographic products.
• Geographic products include one or more of the elements following: a cartography, an ortho-image (of satellite or airborne origin), a digital terrain model (DTM) and a digital elevation model (DEM).
• DEM digital elevation model
• the DEM is an internal datum used to find the altitude of a point with known coordinates in latitude and longitude, or to measure a distance by ray casting.
• the optronic system 18 further comprises a geographic information system (GIS) which groups together these products (the data) and the software(s) enabling them to be exploited. (view, manipulate, etc).
• GIS geographic information system
• the geographic information system integrates functionalities making it possible to modify the display, for example, to: center an image displayed on a position (using an actuator, such as a button, a joystick, a mouse pointer, stylus, touch support, eye tracker, etc.), modify the data display zoom (increase or decrease the zoom) by any means (mouse wheel, touch support, joystick / buttons, eye tracker, etc.),
• the geographical coordinates of the reference elements 12 are, for example, in the form of metadata associated with said reference elements 12.
• the geographical coordinates are, for example, expressed by a latitude datum, a longitude datum and optionally a datum of altitude (provided by the digital terrain model for example).
• the precision errors associated with these data are also provided.
• the indicators of the reference elements 12 are stored in the memory 22, the set of indicators then forming a reference book.
• Such a reference book can be completed by the operator 16, for example, during a mission preparation phase.
• This mission preparation phase can be carried out: - either directly with the optronic system which makes it possible to create references and enter their coordinates,
• the optronic system has the means to import data (usb key, wifi, etc.).
• references are either predefined (in mission preparation), or developed in situ, by selecting them on the GIS or by entering their coordinates directly.
• the positions of the reference element 12 are noted by the operator 16 on a geographic product as defined previously and recorded in the form of a list (reference book) in the memory 22.
• the indicators stored in the memory 22 are geo-referenced points in the geographical information system, which provides latitude, longitude (and altitude data if the digital terrain model is on board for example ).
• the memory 22 comprises, in addition to the indicators of the reference elements 12, indicators of all the geo-referenced points on the stored geographical products.
• geo-referenced data (such as an ortho image or a map) is data in which each element (pixel, element) is associated with geographical coordinates.
• each element of a geographical product is a visual indicator representative of a point of the scene 10. This allows the operator to more easily find the visual indicator of the reference element 12 pointed to by viewing it in a environment presenting similarities with the observed scene.
• the display element 24 is capable of displaying images coming from the digital imager 20 and/or data stored in the memory 22, such as the indicators of the reference elements 12.
• the display element 24 is, for example, a display, such as an OLED screen.
• the measurement module 26 is able to perform measurements relating to the reference elements 12 or to the objects 14 of the scene 10.
• the measurement module 26 comprises at least one element, such as a sensor, chosen from: a compass, a goniometer and a rangefinder.
• the compass is, for example, a magnetic compass or an odometric compass.
• the term “odometric compass” is understood to mean a software tool suitable for carrying out absolute orientation measurements indirectly from images acquired from the scene 10.
• a calculation relating to the odometric compass is, for example, suitable for being executed by the calculation unit 28.
• the odometric compass is suitable for implementing a method for measuring orientation such as that described in application FR 3 034 553 A, and which will be described in more detail in the remainder of the description.
• the goniometer is, for example, a physical goniometer or an odometric goniometer.
• the term “odometric goniometer” is understood to mean a software tool suitable for carrying out relative orientation measurements indirectly from images acquired from the scene 10.
• a calculation program relating to the odometric goniometer is, for example, capable of being executed by the calculation unit 28.
• the odometric goniometer is capable of implementing an orientation measurement method such as that described in application FR 3 034 553 A, and which will be described in more detail in the remainder of the description.
• the rangefinder is, for example, a laser rangefinder.
• Calculation unit 28 is capable of receiving data from other elements integrated in optronic system 18, in particular images from imager 20, data stored in memory 22 and measurements made by the measures 26.
• the calculation unit 28 is, for example, a processor.
• the calculation unit 28 interacts with a computer program product which comprises an information carrier.
• the information medium is a medium readable by the calculation unit 28.
• the readable information carrier is a medium suitable for storing electronic instructions and capable of being coupled to a bus of a computer system.
• the readable information medium is a diskette or floppy disk (from the English name floppy disk), an optical disk, a CD-ROM, a magneto-optical disk, a ROM memory, a RAM memory, an EPROM memory, an EEPROM memory, a magnetic card, an optical card or a USB key.
• the computer program product comprising program instructions.
• the computer program can be loaded onto the calculation unit 28 and causes the implementation of a method for determining positions in a scene 10, when the computer program is implemented on the calculation unit 28 as will be described later in the description.
• the optronic system 18 and the objects 14 whose position it is desired to determine are fixed.
• the determination method comprises a phase 100 of collecting data relating to at least one reference point 12 of the scene 10.
• the data collected relate to reference elements 12 visible from the optronic system 18 (within range and not masked) .
• the collection phase 100 comprises, for each reference element 12 considered, the following steps.
• the collection phase 100 comprises a step 110 of pointing, by the digital imager 20, of the reference element 12 in the scene 10.
• pointing relative to the digital imager 20, it is understood the alignment of a reference, such as a reticle, of the digital imager 20 on the reference element 12 in the scene 10 targeted.
• the collection phase 100 then comprises a step 120 of acquisition, by the measurement module 26, of at least one measurement relating to the reference element 12 pointed to in the scene 10 following the reception of a first command from 'acquisition.
• the first acquisition command is a validation carried out by the operator 16 of the optronic system 18, for example, via an actuator.
• the actuator is; for example, a button, a joystick, a mouse pointer, a stylus, a touch support, an eye tracker, etc.
• a measurement taken by a compass makes it possible to obtain an azimuth angle for the reference element 12.
• a measurement taken by a goniometer makes it possible to obtain a elevation and bearing angle for the reference element 12, relative to another reference element 12.
• a measurement taken by a rangefinder typically makes it possible to obtain a distance for the reference element 12.
• the optronic system 18 comprises an inclinometer 30
• the measurement module 26 comprises an odometric goniometer or an odometric compass
• at least one acquired measurement relating to the reference elements 12 is an orientation measure.
• the acquisition step 120 comprises in this case: the acquisition of a series of images of the scene 10, the series of images comprising at least one image of the reference element 12, the images of the series overlapping two by two, and
• the series of images acquired allows: the change of field to zoom in on the target: in the series of images, the field of the camera is modified with each image (continuous zoom), so that for the small field, the target or the reference is imaged and pointed with maximum precision, and that moreover an image of the series has the field of view used during the calibration phase (generally a large field).
• the intermediate images are used to readjust the images relative to each other step by step.
• the acquisition of a target or reference outside the calibration panorama if the pointed object is outside the panorama established in calibration
• the series of images allows, by moving the camera during the acquisition of the series of images, to create an "image bridge" linking the target to the panoramic. both at the same time (zoom the target and point at a target outside the calibration pan)
• the position of the observer intervenes in two cases: for the absolute orientation of the calibration pan, in order to calibrate the odometric compass by exploiting minus an absolute orientation in reference (not done for the odometric goniometer which is relative).
• for the fine calibration of the goniometer when the calibration has not been carried out over 360° in the case of a calibration on a sector ⁇ 360°, it is necessary to have two reference orientations to re-estimate the focal length).
• fine calibration is not required initially because an approximate value of the focal length is available.
• the odometric compass cannot be used in first intention. we first use the odometric goniometer (without prior knowledge of the observer's position) to record relative orientations on references, which makes it possible to determine the position of the observer, thus making it possible to initialize the compass (which can then serve in particular to locate objects).
• the orientation of the reference element 12 is obtained by implementing a method for measuring orientations such as that described in application FR 3 034 553 A.
• the method comprises a learning phase and an operational phase.
• the learning phase includes the following steps:
• step A1 acquisition by circular scanning by means of the optronic system 18, of a series of partially superimposed optronic images, comprising an image or several images of the scene 10 (step A1),
• step B1 automatic extraction from the images of descriptors defined by their image coordinates and their radiometric characteristics, with at least one descriptor of unknown orientation in each image overlap
• step C1 automatic estimation of the relative rotation of the images and mapping of the descriptors extracted from the overlaps
• step D1 identification in the images of at least one known precise reference geographical direction compatible with the desired performance, and determination of the image coordinates of each reference (step D1),
• step E1 on the basis of the descriptors extracted from the overlaps and mapped, of the direction and of the image coordinates of each reference, automatic estimation of the attitude of each image, called the fine registration step (step E1), and
• step F1 From the attitude of each image, the position and the internal parameters of the first imaging device, and the image coordinates of each descriptor, calculation of the absolute directions of the descriptors according to a predetermined image capture model of the device imaging (step F1).
• the operation phase includes the following steps: - acquisition of at least one image of the object, in this case the pointed reference element 12, called the current image, from the optronic system 18 (step A2),
• step C2 mapping of the descriptors of each current image with the descriptors whose absolute direction was calculated during the learning phase, so as to determine the absolute direction of the descriptors of each current image
• step D2 estimation of the attitude of each current image
• step E2 from the image coordinates of the reference element 12 in each current image, the attitude of each current image, the position and predetermined internal parameters of the optronic system 18, calculation of the absolute direction of the element of reference 12 pointed, according to a predetermined image capture model of each current image (step E2).
• a fine pointing step is possible, consisting in aligning an alidade on a precise point of an image (among the series of acquired images) of the measured reference. This step makes it possible to precisely refine the point of the reference element 12 which corresponds to the geographical coordinates of the reference designated in step 130.
• the collection phase 100 comprises a pointing step 130, on the display element 24, among the indicators stored in the memory 22, of an indicator representative of the reference element 12 pointed to in the scene 10.
• pointing designates the alignment of a reference (digital pointer, stylus) on the indicator of the reference element 12 or the selection of the reference element 12 from a list (reference book).
• the pointing step 130 comprises the display on the display element 24, in parallel or successively or superimposed: a. of the image of the scene 10 comprising the reference element 12 pointed by the digital imager 20, and b. indicators stored in memory 22.
• part of the display element 24 displays the image of the scene 10
• another part displays the indicators.
• the image of the scene 10 on the one hand, and the indicators on the other hand are likely to be displayed on the whole of the display element 24.
• the indicators of the reference elements 12 are displayed superimposed (approximately) on the image of the scene (by projection in the space of the scene).
• the collection phase 100 then comprises a step 140 of acquisition, by the calculation unit 28, of the geographical coordinates associated with the pointed indicator following the reception of a second acquisition command.
• the second acquisition command is a validation carried out by the operator 16 of the optronic system 18, for example, via an actuator.
• steps 110 to 140 is given by way of example, steps 110-120 being interchangeable with steps 130-140 (it is possible to start by designating reference data, then make measurements on the corresponding object in the scene. Or do the reverse).
• the collection phase 100 then comprises a step 150 of storing a so-called reference datum, comprising the at least one measurement acquired and the geographical coordinates acquired.
• a so-called reference datum comprising the at least one measurement acquired and the geographical coordinates acquired.
• the method comprises a phase 200 of determining the position of the optronic system 18 according to the reference data stored for the at least one reference element 12.
• the determination phase 200 is implemented by the calculation unit 28.
• the determination phase 200 includes the determination of an uncertainty on the determined position of the optronic system 18 by exploiting uncertainties on the at least one element having acquired the measurements and on the stored geographical coordinates of the reference elements 12.
• the determination phase 200 comprises the selection, by the calculation unit 28, of at least one position determination technique from among a set of position determination techniques as a function of the nature of the elements of the measurement module 26 having acquired the at least one measurement corresponding to the reference datum.
• the selection is advantageously carried out automatically by the calculation unit 28.
• the position of the optronic system 18 is then determined on the basis of the or each determination technique selected.
• the calculation unit 28 is capable of selecting several different determination techniques. The results obtained following the implementation of these techniques are, for example, compared, averaged or weighted to obtain an optimized position (in precision) of the optronic system 18.
• - B Estimate an optimal position by minimizing a distance metric.
• the metric is typically written as the quadratic sum of the distances from the position to the places corresponding to the observations, each weighted according to the errors of the measurements of the instruments and the coordinates of the references.
• the estimator used delivers a position and its covariance with all the available observations.
• This estimator advantageously uses the a priori information carried by the approximate position and its covariance by adding two or three equations depending on the dimension of the space in which the position is calculated.
• o a sequential approach of the Kalman filter type, updated by aggregating the various measurements incrementally.
• - C Estimate an honest position. To eliminate biased observations that may contribute to the estimation of the previous step. The purpose of this step is to: o Detect if at least one of the observations is an aberrant, o If so, identify which observation(s) is an aberrant, o If identified, exclude the aberrant measurement(s) (s) of the observation batch to feed an estimator as in the previous step. - D) Calculation of a definitive position (if GNSS present).
• This step finalizes the position calculation as follows: a. Evaluation of the state of the GNSS receiver according to the position it delivers and the uncertainty it associates with it with regard to the complete position obtained and its covariance. b. Insofar as the state of the GNSS is judged to be correct, calculation of the final position obtained by merging the integral position with the GNSS position according to their respective covariance and calculation of the covariance of the final position.
• a position is estimated by triangulation as a locus minimizing the quadratic sum of 2 lines in space.
• ⁇ Approach 2 calculate the intersection of straight lines of the plane bearing on each landmark and adding TT to each of the two azimuth measurements. Then, the vertical position is calculated from the elevations on the landmarks and the planimetric position obtained.
• the measurement module 26 comprises a magnetic compass and a rangefinder.
• the magnetic compass makes it possible to measure the angle with respect to the north under which the optronic system 18 sees the reference element 12, and to draw an associated straight line.
• the rangefinder makes it possible to determine the distance between the optronic system 18 and the reference element 12. This distance is plotted on the line drawn, which makes it possible to deduce the position of the optronic system 18.
• the search for an optimal position makes it possible to obtain a better performance of localization. It is carried out as soon as one has: an overabundant number of landmarks in mono-modality, a minimum number of landmarks but multi-modalities, an overabundant number of landmarks and modality mixed.
• the search for an integrated solution is carried out as soon as possible and the search for an approximate solution as presented makes it possible to separately evaluate a level of integrity of the measurements, from the position calculation stage. approximate, that is to say without strong redundancy.
• approximate that is to say without strong redundancy.
• the difference of the 2 positions is compatible with their covariance, with a threshold r, set according to the desired consistency probability. If ⁇ T then the 2 positions obtained according to the modalities a and p are coherent.
• This characterization of integrity is considered minimal in terms of integrity control because it does not make it possible to detect an error in the coordinates of a landmark. For this we use a process in several layers: a redundancy of information where all the landmarks are used in mono or intra-modality,
• the procedure is as follows: o After estimation of an intact position P 26 at the end of the preceding steps and the calculation of its covariance A 26 with all the correct measurements on the reference elements 12 available, o After reception of the position P 29 and its covariance A 29 from the GNSS through the 'National Marine Electronics Association' (NMEA) standard messages, o A consistency test is carried out between the 2 previous distributions, and between the NMEA information and that of the GNSS receiver datasheet. The GNSS receiver is judged to be inoperative in the event of inconsistency and, on the contrary, to be operative in the event of coherence. In the latter case, the final position P i8 of the optronic system 18 is obtained as
• the phase of determining the position of the optronic system 18 comprises the determination of the position of the optronic system 18 by the GNSS receiver 29, called GNSS position, and the validation or otherwise of the GNSS position by comparison with a position previously obtained for the optronic system 18 via the reference data (preferably the position with integrity).
• GNSS position a definitive position is obtained for the optronic system 18 by merging the GNSS position with the last position obtained for the optronic system 18 via the reference data (preferably the intact position).
• the calculations carried out to obtain the position are nevertheless quite adaptable to a 3D or 2D approach depending on the need.
• a 2D planimetric position longitude and latitude
• the vertical component of the position is completed by interpolation in the DEM/DEM.
• the height of the structure is if necessary calculated by a specific measurement with l digital imager 20.
• the following measurements are likely to be obtained and used to determine the position of the optronic system 18: the absolute geographical orientation, measured by a compass, the angular deviation from another reference element 12, measured by a goniometer, and
• the fourth technique technique using measurements from sensors of a different nature, the fourth technique is based on a combination or a fusion of one or more previous techniques.
• the first technique only the absolute angular orientations of the landmarks, measured from the observation position (unknown, also called the position of the optronic system 18) are used.
• the first technique involves measurements made on at least two reference elements 12.
• each half-line D1, D2 has as its origin a reference element 12A, 12B (the origin corresponds to the geographical coordinates acquired for the reference element 12) and has as its direction the angular orientation (signed) measured by the magnetic compass .
• the references Az1 and Az2 designate the respective azimuths of the reference elements 12A, 12B considered.
• the reference N denotes north.
• the intersection of the half-lines D1, D2, D3 does not occur in one single point (taking into account the errors on the angles, and on the position of the reference elements).
• the position retained is, for example, the result of an optimization of nonlinear equations resulting from a problem describing the geometry of the example.
• only the distances of the reference elements 12, measured from the position of the optronic system 18, are used. In this example, the measurements are made on at least three reference elements 12.
• the position of the optronic system 18 is located at the intersection of circles C1, C2, C3.
• Each circle C1, C2, C3 is centered on a reference element 12A, 12B, 12C and has for radius the distance d1, d2, d3 measured for the reference element 12A, 12B, 12C.
• the intersection of circles C1, C2, C3 is not a single point (taking into account the errors on the distances, and on the position of the reference elements).
• the selected position is, for example, the result of an optimization of nonlinear equations resulting from a problem describing the geometry of the example.
• the third technique only the angular deviations between two reference elements 12 (pairs of reference elements), measured from the position of the optronic system 18, are used.
• the measurements are performed on at least two pairs of reference elements, i.e. at least three reference elements 12.
• the position of the optronic system 18 is located at the intersection of arcs of circles C1, C2.
• Each arc of a circle C1 , C2 passes through the two reference elements of a pair of reference elements, which form the extremities of the arc of a circle, and its radius is such that each point of the arc of circle C1 , C2 is the vertex of an angle (signed) 0AC, ⁇ C>AB equal to the angle measured between the two reference elements.
• the position of the optronic system 18 is determined by using measurements from different elements of the measurement module 26, the measurements being available for each reference element considered, or measurements (one per reference element) carried out by different elements between the reference elements 12.
• determining the position of the optronic system 18 amounts to determining the intersection of several geometric loci: - half-lines passing through the reference elements 12, characterized by an absolute angle (half-lines resulting from absolute orientation measurement of the reference elements 12), and/or
• intersection of these geometric figures is generally not concentrated in a single point but forms an intersection zone, taking into account the errors on the observations (errors on the angles, on the distances and on the position of the reference elements 12 ).
• the determination method comprises a phase 300 of determining the position of an object 14 (observed) of the scene 10 as a function of the determined position of the optronic system 18 (observer), of an absolute orientation obtained from the object 14 with respect to the optronic system 18 and a distance obtained between the object 14 and the optronic system 18.
• the object 14 considered is visible from the optronic system 18 (within range and not masked).
• the position of the object 14 is then obtained by calculation, by the calculation unit 28, of the geographical coordinate located at the end of the vector having as its origin the position of the optronic system 18, for orientation the absolute orientation of the object 14 and for length the distance between the optronic system 18 and the object 14.
• the precision on the position of the object 14 is calculated according to: - the precision on the position of the optronic system 18, the precision on the absolute orientation of the object 14, and
• the absolute orientation of the object 14 is obtained by a measurement acquired by the compass after pointing the object 14 by the digital imager 20, after automatic consideration of the magnetic declination (integrated into the device).
• the orientation of the object 14 is obtained by implementing a measurement method (odometric compass) such as that described in application FR 3 034 553 A.
• a measurement method comprises in particular the acquisition of a series of images of the scene 10, the series of images comprising at least one image of the object 14, the images overlapping two by two.
• Such a method also includes determining the orientation of the object relative to the optronic system as a function of the series of images of the scene.
• the distance between the object 14 and the optronic system 18 is obtained by a measurement acquired by the rangefinder during pointing of the object 14 by the digital imager 20.
• the distance between the object 14 and the optronic system 18 is obtained by a ray-tracing method from a digital terrain model of the scene 10. The distance obtained is then the distance between the determined position of the optronic system 18 and the intersection of a predetermined straight line with the ground of a digital terrain model. The predetermined half-line passes through the determined position of the optronic system 18 and has for orientation that obtained from the object 14 with respect to the optronic system 18.
• the method for determining positions makes it possible to determine, on the one hand, the position of the optronic system 18 (observer), and on the other hand, if desired, the position of an object 14 of the scene 10 of unknown coordinates (observed) by means only of elements integrated in an optronic system 18 provided that the scene 10 comprises at least one reference point 12 of known position (bitter).
• Such a method dispenses with the use of a GNSS receiver.
• the data collection phase by means only of elements integrated into the optronic system 18 is particularly ergonomic for the operator 16.
• the display element 24 makes it possible in particular to easily establish a correspondence between the reference element pointed to in the scene 10 and the corresponding indicator stored in the memory 22 of the optronic system 18. The risk of error is thus reduced.
• the fact that all the elements are integrated into the optronic system 18 makes it possible to determine the precision of the positions determined. Indeed, the details of the elements of the measurement module 26, of the geographical coordinates and any approximations in the calculations carried out are all centralized by the calculation unit 28.
• Integrity verification detection and rejection of an aberrant measurement or data, which reduces errors.
• At least one element of the measurement module 26 is a magnetic compass
• the method then comprises a phase of calibrating the magnetic compass (self-calibration) according to measurements acquired after positioning the optronic system (without GNSS) by means of : ideally at least two reference elements 12, even if only one could suffice with the rangefinder, in order to access a correct quality of position of the optronic system with an uncalibrated magnetic compass.
• “Position of correct quality” of the optronic system means quality equivalent to positioning with GNSS in standard mode. a set of orientations obtained from the attitude measurements of the images of the sector or panoramic acquired in the calibration phase and estimated by the odometric compass, dated by the clock of the optronic system. a set of orientations obtained from the magnetic azimuth and magnetic compass elevation orientation measurements dated by the optronic system clock. the time synchronization of the previous two sets of orientations.
• a magnetic measurement correction model for example, capable of implementing one of the following methods.
• a first method consists in estimating a simple bias in azimuth using a measurement modality (rangefinder or goniometer) delivering a quality solution, including on a small number of landmarks. For example of minimum configuration, with 2 landmarks subject to 2 telemetries and 2 magnetic compass measurements. Even biased, the compass measurements are sufficient to determine the correct position solution among the 2 intersections of the distance circles in the plane. The projection in the plane being done with the elevation measurements of the inclinometer integrated or not in the magnetic compass. With a good position of the optronic system, it is then easy to determine the bias of the magnetic compass. In practice, this bias integrates the lack of knowledge of local declination, from the mounting of the compass to the optronic system and the bias specific to the magnetic azimuth measurement. With an overabundant number of measurements, the compass bias can be estimated.
• a measurement modality rangefinder or goniometer
• a second method consists in solving only a corrective model in azimuth.
• the set of observations makes it possible to estimate the coefficients by solving a linear system; the transformation between the orientations of odometric azimuth ⁇ c and magnetic is then written as a function of coefficients ( ⁇ k , ⁇ k ):
• the magnetic azimuth can be compensated by an approximate value of the local magnetic declination to give the value ⁇ p m , the independent coefficient of the azimuth ⁇ 0 will at least integrate the residual error of declination and mounting of the DMC opposite of even imaging.
• a set of M measurement pairs leads to M equations from which the parameters are extracted as the least squares solution of a linear system with A a matrix M x (2 K + 1), and B a vector M x 1 .
• K 2 integrating the 'soft' and 'hard iron' effects
• the unknown coefficients ⁇ 0 , ⁇ 1, ⁇ 1, ⁇ 2 , ⁇ 2 are obtained with:
• This method does not require any particular knowledge of magnetic declination. This is integrated at the first order term fi 0 .
• This operation which amounts to estimating the mounting angles between the sensitive axes of the compass relative to the axes of the reference track of the optronic system, does not have to be carried out each time it is used, provided that the mounting of the compass to the optronic system is rigid over time.
• a third method estimates both the attitude of the magnetic compass and its similarity described by its attitude in the camera.
• the transformation between odometric V and magnetic orientations M is then written with the assembly defect matrix
• the use of an (approximate) value of the local magnetic declination is recommended as soon as it is available within the optronic system.
• the angle ⁇ s of vertical or azimuth mounting is not different from the coefficient ⁇ 0 to separate them more finely we add at least 1 equation to the previous 3M integrating at least one of the a priori information relating to the values a priori, resp. ip s0 and ⁇ 00 , and their associated standard deviation, resp. ⁇ s0 and ⁇ oo :
• the realization, the acquisition of a panoramic or a sector as in FR 3 034 553 A, and the use of at least two landmarks to position oneself without GNSS makes it possible to carry out in complete transparency for the user , and this by means of the joint measurements of the odometric orientations and the orientations of the compass on the images used for the construction of the odometric compass:
• the assembly between the different channels of the optronic system being predetermined.
• the process described makes it possible to assist in the selection of reference elements.
• An example of landmark point selections is described below.
• the user is optionally guided in his selection of reference elements 12 as soon as the optronic system 18 develops an approximate value of his position.
• the reference elements 12 are extracted and accessible in the following 3 modes:
• GIS mode when extracted from integrated geographic products Mixed notebook and GIS mode.
• the choice of landmark can be guided according to criteria of geographical proximity.
• the choice of landmark can be guided according to: o Its proximity zone to the position of the optronic system (geographical mask and zone query on the reference logbook to filter the reference elements 12 candidates according to their coordinates), o Its distance to the optronic system 18: a distance mask that can be predefined in terms of optical visibility and another in terms of telemetry range. o Its angular deviation from the current orientation of the optronic system 18, or from a particular orientation chosen by the user. The orientation of the reference elements 12 of the notebook allowing them to be found: ⁇ in the field of view (FOV) of the current channel used, within angular errors.
• FOV field of view
• the directions (azimuth, elevation) can be materialized in the imager.
• the choice of landmark can be guided as before by displaying the indices of the structures on the ortho-image in particular.
• a major aspect is to meet the following criteria, having an (approximate) position:
• the user In GIS mode, the user has great latitude in the choice of points, not known in advance rather than indicating a point to choose an area accessing the best performance by choosing 1 or even 2 new landmarks can be offered.
• the user can benefit from a preliminary preparation which consists in carrying out a semantic segmentation of the embedded ortho-images; embedded semantic information that can: o At least indicate the geological nature of the zones (forest, urban, river) of the zone o At best indicate the zones with a high probability of finding visible structures with vertical extension (buildings, trees);
• the reference structures can also benefit from filtering in terms of inter-visibility as soon as an approximate position of 18 is known and a DEM is ideally accessed in the absence of a DEM .
• the type of reference elements 12 chosen by the user includes point positions extracted from reference elements 12.
• the extraction can be limited to:
• a single point we then call the reference structure by landmark points after adding geographic coordinates to it - and their associated errors, this will be for example the top of a water tower or another type of building that is very tall and has a marked summit that can be telemetered if necessary, the corner of a building, the roughness of a rock or a prominent mountainous artificial structure,
• the user accesses enough remarkable points that are both discernible in the optronic image and in the digital reference image and can be extracted quickly and without ambiguity; then it works in reference point or landmark mode.
• the user does not access any point as above but distinguishes one or more linear structures in the scene 10 having at least a common part in the optronic image and in the digital reference image; then it privileges the segment which it designates by 2 extremities in the optronic image and 2 other extremities in the reference image.
• the extremities of the 2 segments thus extracted do not correspond two by two but the important thing is that these segments define the same spatial direction in 10.
• the user distinguishes at the same time one or more structures 12 at the same time point and linear; he can then designate the 2 types of structure, the processing in the calculation unit 28 being responsible for exploiting these 2 types of association of primitives for the calculation of the position of 18 and the attitude of its goniometer s' he has it.
• the calculation unit 28 is able to help with the choice among the instruments available in the measurement module 26 with a view to improving the performance by acquiring a specific reference element 12. This process allows the acquisition and filtering of the measurements with a view to their processing in the optronic system 18.
• the following criteria are preferably applied, namely criteria:
• instrumental availability, a visual or mechanical goniometer is not necessarily accessible on the optronic system 18, the first because it is in difficulty on a scene 10 appearing homogeneous in the images, the second because it adds a constraint mass to the system 18.
• expediency because the use of the magnetic compass and the rangefinder on a single structure 12 will provide a position error when the reference element 12 is located far (a few hundred meters) from the optronic system 18.
• the minimum number of structure 12 to acquire depends on the level of security that one wishes to bring to the position information.
• DoF the degree of freedom which corresponds to the number of observation equations reduced by the number of parameters to be estimated.
• a 2D position is estimated, using a DTM to deduce an altitude thereafter, the number of unknowns to be estimated is 2. It increases to 3 to estimate a spatial position. If a visual or mechanical goniometer is used, these numbers should be increased: by one unit if you also want to estimate the azimuth from the reading of its zero, by another 2 units if you want more estimate its attitude in order to determine the spatial attitude of the goniometer.
• the plane position of the optronic system 18 (x 0 ,y 0 ) belongs to a circle, place, under which two landmarks of plane coordinates ( ⁇ 1 ,y 1 ) and (x 2 ,y 2 ) are seen and measured under the 'angle 3 ⁇ 2 ⁇ ⁇
• the azimuth of the zero reading of the goniometer is obtained with 3 readings of angles L n , on 3 structure 12 of coordinates (x n ,y n ), the azimuth corresponding to the 'zero' reading of the goniometer, and allowing it to be transformed into an odometric compass, is obtained from the expression:
• the value of the bearing of the goniometer is determined in order to transform it into a compass and to be able to locate objects (14) of the scene (10) more precisely thereafter,
• the covariance on the approximate position is determined by means of the errors on the reference objects and the errors on the angular deviations of the goniometer in order to: o initialize the calculation of the optimal position of the optronic system by adding measurements on other elements of reference (12), o to implement integrity measurements between positions resulting from different modalities of the optronic system.

Landscapes

• Engineering & Computer Science (AREA)
• Radar, Positioning & Navigation (AREA)
• Remote Sensing (AREA)
• Physics & Mathematics (AREA)
• General Physics & Mathematics (AREA)
• Computer Networks & Wireless Communication (AREA)
• Electromagnetism (AREA)
• Automation & Control Theory (AREA)
• Computer Vision & Pattern Recognition (AREA)
• Theoretical Computer Science (AREA)
• Length Measuring Devices By Optical Means (AREA)
• Optical Radar Systems And Details Thereof (AREA)
• Navigation (AREA)
• Radar Systems Or Details Thereof (AREA)
• Position Fixing By Use Of Radio Waves (AREA)
• Length Measuring Devices With Unspecified Measuring Means (AREA)
• Testing Or Calibration Of Command Recording Devices (AREA)

Applications Claiming Priority (2)

Publications (1)

Family

ID=75953934

Family Applications (1)

Country Status (5)

Families Citing this family (5)

Family Cites Families (4)

• 2020
  • 2020-12-29 FR FR2014216A patent/FR3118523B1/fr active Active
• 2021
  • 2021-12-28 US US18/269,924 patent/US20240069211A1/en active Pending
  • 2021-12-28 WO PCT/EP2021/087745 patent/WO2022144366A1/fr not_active Ceased
  • 2021-12-28 EP EP21847711.5A patent/EP4272010A1/de active Pending
  • 2021-12-28 CA CA3203317A patent/CA3203317A1/fr active Pending

Also Published As

Similar Documents

Legal Events