Patent ID: 9223007
Filing Date: 2015-12-29
Classification: F41G,G01C,G01S

Abstract:
1. A method for determining from a mobile platform connecting at least one radiation sensor of radiation from a remote emitter and a motion sensing device, a precise indication of a location of the remote emitter, the method comprising: calculating an initial estimate of a location of the remote emitter; receiving by the at least one radiation sensor, a respective plurality of sequential sensor data samples, each sensor data sample indicative of a sequential detected emission from the remote emitter; determining for the at least one sensor a respective indication of radiation sensor noise corresponding to each sensor data sample; receiving from the motion sensing device a plurality of sequential mobile platform position and motion data samples over a predetermined time span that includes and precedes the sampling time of said sensor data samples, including one or more motion parameters; determining position and motion values at the sampling time associated with each sensor data sample, based on the plurality of sequential mobile platform position and motion data samples; determining a best-fit line or other fitting function for the plurality of motion values that reduces rapid data fluctuations that are not well conducted by a structure connecting the motion sensing device and the radiation sensor; determining for the motion sensing device a respective indication of motion sensor noise corresponding to each motion data sample; determining for each motion value a respective shake noise, based on differences between one or more of the motion data samples and one or more corresponding best-fit line or other fitting function; combining for each of the sensor data samples, the respective indications of radiation sensor noise, motion sensor noise, and shake motion noise; predicting radiation sensor values at the sampling time associated with each radiation sensor data sample, based on the position and motion values for an estimated emitter location; determining an error value for each radiation sensor data sample, as a difference between the measured radiation sensor data value and the predicted radiation sensor value; and determining through coordinate transformation and iteration a Kalman filtered estimate of the precise indication of a location of the remote emitter that is responsive to the corresponding pluralities of sequential determined error values and combined noise values.