G - Physics – 01 – S
Patent
G - Physics
01
S
354/163, 343/34
G01S 5/06 (2006.01) G01C 21/14 (2006.01) G01C 21/24 (2006.01) G01S 5/14 (2006.01) G01S 5/16 (2006.01) G01S 7/10 (2006.01)
Patent
CA 2021182
Abstract of the Disclosure A position estimation apparatus is adapted to estimate the position of a target in the steps as will be set forth below. The target is observed four or more times by an image sensor during a lime period in which the target and movable body unit move in those directions not parallel to each other. Acceleration is applied to an accelerator at least once at a time between the observation times. Two-dimensional angle information of the target's azimuth and elevation angles is detected from the image information of the target acquired by the image sensor at the time of observation. A coordinate system of the movable body unit is found in accordance with the position and attitude information of the movable body unit, and the two-dimensional angle information of the target is plotted on the coordinate system. Simultaneous equations are prepared by sequen- tially substituting the two-dimensional angle informa- tion of the target obtained through the observation into an equation of motion representing a regular motion of the target initially entered on a position estimation apparatus. Parameters in the equation of motion is found from the simultaneous equations. The position of the target at a given time is estimated by substituting the parameters into the equation of motion and the given time into the latter equation.
Marks & Clerk
Nec Toshiba Space Systems Ltd.
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