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公开(公告)号：WO2015160288A1
公开(公告)日：2015-10-22
申请号：PCT/SE2014/050458
申请日：2014-04-14
Applicant: SAAB VRICON SYSTEMS AB
Inventor： HAGLUND, Leif , BEJERYD, Johan , CARLBOM, Per , SJANIC, Zoran
CPC classification number: G01C21/005 , G01S19/13 , G01S19/49 , G05D1/08 , G05D1/0808 , G06T7/207 , G06T7/32 , G06T7/74 , G06T2207/10032 , G06T2207/20016
Abstract: The invention relates to a method for navigation of an aerial vehicle. The method comprises providing a sensor image from an aerial vehicle sensor. The method also comprises to repeatedly, until at least one predetermined criterion is reached,perform the step of setting input data, where the input data comprises information related to pitch angle, roll angle, yaw angle and three-dimensional position of the aerial vehicle, the step of providing a two-dimensional image from a database based on the input data, where the database comprises three-dimensional geo-referenced information of the environment, and the step of comparing the sensor image and the two dimensional image from the database. The method further comprises using the input data for which the two images correspond best to each other for determining at least one of the following quantities pitch angle, roll angle, yaw angle and three-dimensional position of the aerial vehicle. The invention also relates to a system, a computer program and a computer program product.
Abstract translation: 本发明涉及一种用于航空器导航的方法。 该方法包括从飞行器传感器提供传感器图像。 该方法还包括重复地，直到达到至少一个预定标准，执行设置输入数据的步骤，其中输入数据包括与俯仰角，侧倾角，偏航角和飞行器的三维位置有关的信息， 基于输入数据从数据库提供二维图像的步骤，其中数据库包括环境的三维地理参考信息，以及从数据库比较传感器图像和二维图像的步骤。 该方法还包括使用两个图像彼此最佳对应的输入数据，以确定航空器的以下量的俯仰角，侧倾角，偏航角和三维位置中的至少一个。 本发明还涉及一种系统，计算机程序和计算机程序产品。
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公开(公告)号：WO2015160292A1
公开(公告)日：2015-10-22
申请号：PCT/SE2014/050463
申请日：2014-04-14
Applicant: SAAB VRICON SYSTEMS AB
Inventor： BEJERYD, Johan , ANLIOT, Manne , DEHLIN, Jonas , HAGLUND, Leif
CPC classification number: G01C15/002 , G01C3/00
Abstract: The present disclosure relates to a method (1) and system for determining the position of a target. The method comprises a step of measuring (110) with a range and direction measuring device the position of at least one reference object relative to the position of the range and direction measuring device. The method further comprises a step of marking (120) the at least one reference object in a geo-referenced three-dimensional map so as to obtain a geo-referenced position of the at least one reference object. The method further comprises a step of measuring (130) with the range and direction measuring device the position of the target relative to the position of the range and direction measuring device. The method further comprises a step of calculating (150) a position of the target based on the measured position of the at least one reference object relative to the position of the range and direction measuring device, based on the measured position of the target relative to the position of the range and direction measuring device, and based on the obtained geo-referenced position of the at least one reference object.
Abstract translation: 本公开涉及一种用于确定目标位置的方法（1）和系统。 该方法包括用范围和方向测量装置测量（110）相对于范围和方向测量装置的位置的至少一个参考对象的位置的步骤。 该方法还包括在地理参考的三维地图中标记（120）所述至少一个参考对象以便获得所述至少一个参考对象的地理参考位置的步骤。 该方法还包括用范围和方向测量装置测量（130）目标相对于范围和方向测量装置的位置的位置的步骤。 该方法还包括基于所测量的目标相对于所述距离和方向测量装置的位置的距离和方向测量装置的位置，基于所述至少一个参考对象的测量位置来计算（150）所述目标的位置的步骤 范围和方向测量装置的位置，并且基于所获得的至少一个参考对象的地理参考位置。
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公开(公告)号：WO2015160290A1
公开(公告)日：2015-10-22
申请号：PCT/SE2014/050460
申请日：2014-04-14
Applicant: SAAB VRICON SYSTEMS AB
Inventor： DEHLIN, Jonas , MOLLBRINK, Patrick
Abstract: The disclosure relates to a system for determining the position of a target. The system comprises a device for determining the position of an observer. The system further comprises a range and direction measuring device. The system even further comprises a coordinate determining module. The coordinate determining module is arranged to receive the position of the observer. The coordinate determining module is further arranged to receive information from the range and direction measuring device. The coordinate determining module is even further arranged to determine initial coordinates of the target based on the position of the observer and the received information from the range and direction measuring device. The system further comprises a wearable presentation device. The wearable presentation device is arranged to receive the determined initial coordinates of the target. The wearable presentation device is further arranged to present a geo-referenced three-dimensional map to the observer. The wearable presentation device is even further arranged to receive input from the observer so as to mark a new position of the target on the geo-referenced three-dimensional map. The wearable presentation device is also arranged to determine final coordinates of the target based on the marked new position of the target. The disclosure also relates to a method, a computer program and a computer program product for determining the position of a target. The disclosure also relates to a system, a method, a computer program and a computer program product for targeting.
Abstract translation: 本公开涉及一种用于确定目标的位置的系统。 该系统包括用于确定观察者的位置的装置。 该系统还包括范围和方向测量装置。 该系统还包括坐标确定模块。 坐标确定模块被布置成接收观察者的位置。 坐标确定模块还被布置成从范围和方向测量装置接收信息。 坐标确定模块还被进一步布置成基于观察者的位置和来自范围和方向测量装置的接收信息来确定目标的初始坐标。 该系统还包括可穿戴呈现装置。 穿戴式呈现装置被布置成接收所确定的目标的初始坐标。 穿戴式呈现装置还被布置成向观察者呈现地理参考的三维地图。 穿戴式呈现装置进一步被布置成从观察者接收输入，以便在地理参考的三维地图上标记目标的新位置。 穿戴式演示装置还被布置为基于目标的标记的新位置来确定目标的最终坐标。 本公开还涉及用于确定目标的位置的方法，计算机程序和计算机程序产品。 本公开还涉及用于瞄准的系统，方法，计算机程序和计算机程序产品。
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公开(公告)号：WO2015160289A1
公开(公告)日：2015-10-22
申请号：PCT/SE2014/050459
申请日：2014-04-14
Applicant: SAAB VRICON SYSTEMS AB
Inventor： CARLBOM, Per , TOSS, Tomas , DAMMERT, Patrik , HAGLUND, Leif
CPC classification number: G01S13/90 , G01S13/9035 , G01S13/9094 , G06T15/00 , G06T15/20 , G06T17/05
Abstract: The present disclosure relates to a method (100) for rendering a simulated Synthetic Aperture Radar, SAR, image. The method comprises providing (110) a digital surface model or the like comprising 3D coordinate data in a geo-referenced coordinate system, determining (120) a sub-section of the digital surface model, and obtaining (130) the simulated SAR image based on the subsection of the digital surface model, wherein substantially each point in the simulated SAR image being associated to a 3D coordinate in the geo-referenced coordinate system.
Abstract translation: 本公开涉及一种用于渲染模拟合成孔径雷达（SAR）图像的方法（100）。 该方法包括提供（110）在地理参考坐标系中包括3D坐标数据的数字表面模型等，确定（120）数字表面模型的子部分，并且获得（130）基于模拟的SAR图像 在数字表面模型的子部分上，其中模拟SAR图像中的实质上每个点与地理参考坐标系中的3D坐标相关联。
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15.发明申请A METHOD AND SYSTEM FOR ESTIMATING INFORMATION RELATED TO A VEHICLE PITCH AND/OR ROLL ANGLE 审中-公开用于估计与车辆倾斜角度和/或角度角相关的信息的方法和系统
公开(公告)号：WO2015160287A1
公开(公告)日：2015-10-22
申请号：PCT/SE2014/050457
申请日：2014-04-14
Applicant: SAAB VRICON SYSTEMS AB
Inventor： HAGLUND, Leif , ISAKSSON, Folke , FELSBERG, Michael , GRELSSON, Bertil
CPC classification number: G01S5/163 , B64C2201/00 , G01C9/06 , G01C11/00 , G01C15/14 , G01C21/005 , G01C21/20 , G01S17/06 , G06T7/80 , G06T2207/10016 , G06T2207/10024 , G06T2207/20061 , G06T2207/30244 , G06T2207/30252 , G09B9/48
Abstract: The present disclosure relates to a method (200) for estimating information related to a vehicle pitch and/or roll angle. The method comprises a step of obtaining (220) a first estimate of the information related to the pitch and/or roll angle. The method is characterized by the steps of capturing (210) an image of an area covering at least a part of the horizon using a camera mounted on the airborne vehicle, and determining (240) an improved estimate of the information related to the pitch and/or roll angle based on the first estimate of the information related to the pitch and/or roll angle, and a digital elevation model.
Abstract translation: 本公开涉及一种用于估计与车辆俯仰和/或侧倾角相关的信息的方法（200）。 该方法包括获得（220）与俯仰和/或倾斜角相关的信息的第一估计的步骤。 该方法的特征在于以下步骤：使用安装在机载车上的照相机捕获（210）覆盖至少一部分水平线的区域的图像，并且确定（240）对与音高有关的信息的改进估计， /或基于与俯仰角和/或侧倾角相关的信息的第一估计的滚角，以及数字高程模型。
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Patent Agency Ranking16.发明公开Navigation based on at least one sensor and a 3d map 审中-公开NAVIGATION AUF基于VIS MINDESTENS EINEM SENSOR UND EINER 3D-KARTE
公开(公告)号：EP2933603A1
公开(公告)日：2015-10-21
申请号：EP15163511.7
申请日：2015-04-14
Applicant: Saab Vricon Systems AB
Inventor： Haglund, Leif , Bejeryd, Johan , Carlbom, Per , SJANIC, Zoran , Sjanic, Zoran
IPC: G01C21/00
Abstract: The invention relates to a method (100) for navigation of an aerial vehicle. The method comprises providing (110) a sensor image from an aerial vehicle sensor. The method also comprises to repeatedly, until at least one predetermined criterion is reached (150), perform the step of setting input data (120), where the input data comprises information related to pitch angle, roll angle, yaw angle and three-dimensional position of the aerial vehicle, the step of providing (130) a two-dimensional image from a database based on the input data, where the database comprises three-dimensional geo-referenced information of the environment, and the step of comparing (140) the sensor image and the two dimensional image from the database. The method further comprises using the input data for which the two images correspond best to each other for determining (160) at least one of the following quantities pitch angle, roll angle, yaw angle and three-dimensional position of the aerial vehicle. The invention also relates to a system, a computer program and a computer program product.
Abstract translation: 本发明涉及一种用于航空器导航的方法（100）。 该方法包括从飞行器传感器提供（110）传感器图像。 该方法还包括重复地直到达到至少一个预定准则（150），执行设置输入数据（120）的步骤，其中输入数据包括与俯仰角，侧倾角，偏航角和三维相关的信息 所述飞行器的位置，基于所述输入数据从数据库提供（130）二维图像的步骤，其中所述数据库包括所述环境的三维地理参考信息，以及比较步骤（140） 传感器图像和来自数据库的二维图像。 该方法还包括使用两个图像彼此最佳对应的输入数据来确定（160）下列量中的俯仰角，侧倾角，偏航角和飞行器的三维位置中的至少一个。 本发明还涉及一种系统，计算机程序和计算机程序产品。
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公开(公告)号：EP2987145A1
公开(公告)日：2016-02-24
申请号：EP13882584.9
申请日：2013-04-19
Applicant: Saab Vricon Systems AB
Inventor： BEJERYD, Johan , BORG, Johan , ISAKSSON, Folke , HAGLUND, Leif , CARLBOM, Per , NYGREN, Ola , ANDERSSON, Ingmar
CPC classification number: G01C11/12 , G06T7/55 , G06T17/05 , G06T2207/10016 , G06T2207/10032
Abstract: The invention relates to a method for analysing images generated from at least one imaging system on at least one satellite. The method comprises providing at least three images of an area of interest from the at least one imaging system, where the at least three provided images are provided from at least three different angles,establishing point correspondence between the at least three provided images,generating at least two sets of three-dimensional information based on the at least three provided images, wherein the at least two sets of three-dimensional information are generated based on at least two different combinations of at least two of the at least three provided images of the area of interest,and comparing the at least two sets of three-dimensional information so as to determine discrepancies and providing information related to the imaging system and/or errors in the images based on the determined discrepancies. The invention also relates to a method for image correction, a system, a computer program and a computer program product.
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18.发明公开METHOD AND SYSTEM FOR GEO-REFERENCING AT LEAST ONE SENSOR IMAGE 审中-公开VERFAHREN UND SYSTEM ZUR GEOREFERENZIERUNG MINESESES EINES SENSORBILDES
公开(公告)号：EP2946366A1
公开(公告)日：2015-11-25
申请号：EP13871515.6
申请日：2013-01-21
Applicant: Saab Vricon Systems AB
Inventor： ISAKSSON, Folke , BEJERYD, Johan , CARLBOM, Per , ANDERSSON, Ingmar , BORG, Johan , HAGLUND, Leif
CPC classification number: G01C11/06 , G01C11/025 , G06F17/30241 , G06K9/00208 , G06K9/0063 , G06K9/00664 , G06K9/6203 , G06K9/6289 , G06T7/30 , G06T17/05 , G06T2207/30184
Abstract: The present invention relates to a method (700) and system for geo-referencing at least one sensor image. The method comprises the steps of -generating (701 )said at least one sensor image of a first scene with at least one sensor, -accessing (702) a 3D model of the environment comprising geo-coded 3D coordinate data and related to at least one second scene, said second scene encompassing said first scene, -matching (703) the sensor image with the 3D model find a section of the 3D model where there is a match between the first and the second scenes, -geo-referencing (704 )the sensor image based on the geo-coded 3D coordinate data of the found section of the 3D model, and -determining (705) a measure related to an uncertainty in the matching between the sensor image and the 3D model.
Abstract translation: 各种实施例涉及用于对至少一个传感器图像进行地理参考的方法（700）和系统。 该方法包括以下步骤：利用至少一个传感器生成第一场景的至少一个传感器图像，访问包括地理编码的3D坐标数据并与至少一个第二场景相关的环境的3D模型，所述第二场景包括 说第一个场景，将传感器图像与3D模型相匹配，找到3D模型的一部分，其中在第一和第二场景之间存在匹配，基于所找到的地理编码的3D坐标数据来对传感器图像进行地理参考 并且确定与传感器图像和3D模型之间的匹配中的不确定性相关的度量。
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公开(公告)号：EP3132284A4
公开(公告)日：2017-12-27
申请号：EP14889553
申请日：2014-04-14
Applicant: SAAB VRICON SYSTEMS AB
Inventor： DEHLIN JONAS , MOLLBRINK PATRICK
Abstract: The disclosure relates to a system for determining the position of a target. The system comprises a device for determining the position of an observer. The system further comprises a range and direction measuring device. The system even further comprises a coordinate determining module. The coordinate determining module is arranged to receive the position of the observer. The coordinate determining module is further arranged to receive information from the range and direction measuring device. The coordinate determining module is even further arranged to determine initial coordinates of the target based on the position of the observer and the received information from the range and direction measuring device. The system further comprises a wearable presentation device. The wearable presentation device is arranged to receive the determined initial coordinates of the target. The wearable presentation device is further arranged to present a geo-referenced three-dimensional map to the observer. The wearable presentation device is even further arranged to receive input from the observer so as to mark a new position of the target on the geo-referenced three-dimensional map. The wearable presentation device is also arranged to determine final coordinates of the target based on the marked new position of the target. The disclosure also relates to a method, a computer program and a computer program product for determining the position of a target. The disclosure also relates to a system, a method, a computer program and a computer program product for targeting.
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公开(公告)号：EP3132284A1
公开(公告)日：2017-02-22
申请号：EP14889553.5
申请日：2014-04-14
Applicant: Saab Vricon Systems AB
Inventor： DEHLIN, Jonas , MOLLBRINK, Patrick
Abstract: The disclosure relates to a system for determining the position of a target. The system comprises a device for determining the position of an observer. The system further comprises a range and direction measuring device. The system even further comprises a coordinate determining module. The coordinate determining module is arranged to receive the position of the observer. The coordinate determining module is further arranged to receive information from the range and direction measuring device. The coordinate determining module is even further arranged to determine initial coordinates of the target based on the position of the observer and the received information from the range and direction measuring device. The system further comprises a wearable presentation device. The wearable presentation device is arranged to receive the determined initial coordinates of the target. The wearable presentation device is further arranged to present a geo-referenced three-dimensional map to the observer. The wearable presentation device is even further arranged to receive input from the observer so as to mark a new position of the target on the geo-referenced three-dimensional map. The wearable presentation device is also arranged to determine final coordinates of the target based on the marked new position of the target. The disclosure also relates to a method, a computer program and a computer program product for determining the position of a target. The disclosure also relates to a system, a method, a computer program and a computer program product for targeting.
Abstract translation: 本公开涉及一种用于确定目标的位置的系统。 该系统包括用于确定观察者的位置的装置。 该系统还包括范围和方向测量装置。 该系统还包括坐标确定模块。 坐标确定模块被布置成接收观察者的位置。 坐标确定模块还被布置成从范围和方向测量装置接收信息。 坐标确定模块还被进一步布置成基于观察者的位置和来自范围和方向测量装置的接收信息来确定目标的初始坐标。 该系统还包括可穿戴式呈现装置。 穿戴式呈现装置被布置成接收所确定的目标的初始坐标。 穿戴式呈现装置还被布置成向观察者呈现地理参考的三维地图。 穿戴式呈现装置还被进一步布置成从观察者接收输入，以便在地理参考的三维地图上标记目标的新位置。 穿戴式演示装置还被布置成基于目标的标记的新位置来确定目标的最终坐标。 本公开还涉及用于确定目标位置的方法，计算机程序和计算机程序产品。 本公开还涉及用于瞄准的系统，方法，计算机程序和计算机程序产品。
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