Abstract:
A compact momentum-balanced internal optical scanning mechanism is provided for a wide angle camera used in photo reconnaissance and the like, in which a large high resolution but not fully populated array is used to provide full scene coverage with high pixel densities, in which sharpness is maintained and in which the image can be scanned without vibration due to momentum compensation so that the image may be shifted on the focal plane array in such a manner that images focused on a dark portion of the array will move to an active portion of the array, with the sequential read out of the information concatenated into high resolution full scene image data.

Description:
RELATED APPLICATIONS 
       [0001]    This Application claims rights under 35 USC §119(e) from U.S. Application Ser. No. 61/328,290 filed Nov. Apr. 27, 2010, the contents of which are incorporated herein by reference. 
     
    
     FIELD OF THE INVENTION 
       [0002]    This invention relates to optical systems and more particularly to a momentum balance scanning system for use with wide field of view optical sensors. 
       BACKGROUND OF THE INVENTION 
       [0003]    In aerial reconnaissance, in order to cover a large amount of area in a single exposure a wide angle camera is required. Not only must wide angle optics be used, in order to resolve small objects, an extremely large focal plane array is required to capture the full scene shot by the wide angle camera. Thus, wide field of view optical systems or cameras require extremely large focal plane detector arrays. 
         [0004]    It is noted that extremely large focal plane detector arrays cannot be fabricated monolithically to capture the entire field of view in one exposure. The result is that one must use a mosaic of limited size focal plane detector arrays. 
         [0005]    For instance, a wide angle high resolution camera might have a lens which is 20″ in diameter and would require a focal plane array of between 20 and 40 inches on a side. Moreover, the high resolution involved in capturing motion oftentimes requires at least a half billion pixels. This high resolution pixel density can only be provided through the use of a mosaic of smaller high pixel density focal plane array detectors. 
         [0006]    The mosaic however has gaps or dark stripes between the small detector arrays. It is in these gaps that image data is lost because there are no active detectors in the gap. When a point on the image is focused onto a gap or stripe between adjacent detector arrays the image data is lost. 
         [0007]    High resolution is required in reconnaissance where one wants to capture all terrain features as well as to be able to detect motion of individuals or vehicles. This scenario requires at least a half billion pixel resolution as well as a wide field of view camera to be able to surveil large areas. For instance, it is desirable to take a single picture with a wide angle camera having a field of view between 40° and 60° and simultaneously capture the full scene on the pixels of a large focal plane array. 
         [0008]    Thus, it is important to be able to fabricate a focal plane array with multiple smaller detector arrays, in one case having 5 million detector pixels per array. If one combines 90 of these smaller detector arrays into a mosaic, then the combined array will have as many as 450 million pixels. 
         [0009]    This type of resolution is adequate to detect motion of human beings on the ground, but suffers a number of problems, not the least of which are the gaps between the individual detector arrays. The gaps between any two of the adjacent focal plane arrays effectively results in a region or stripe where there are no photo detectors. The result is a checkerboard cut-out of the imaged terrain due to the gaps between the smaller detector arrays. With such a mosaic one can lose one quarter of the image. 
         [0010]    Losing one quarter of the information in an image is clearly unacceptable. In the past there have been solutions involving scanning the image across the photo detector array mosaic so that image information is available for the entire full scene, although not simultaneously. Rather, during a scan of the image on the focal plane array, in the past one sequentially samples the array at intervals and uses available image data to fill in the lost data in a concatenation process. The scanning involves moving the image periodically back and forth across the mosaic in a reciprocating scanning fashion. 
         [0011]    For full motion capture it is important to have a frame rate of between 5 and 30 frames per second. This means that, without a fully monolithic focal plane array, the scanning must toggle the image on the focal plane array back and forth at least 10 to 60 times per second. The image is scanned or toggled back and forth across the focal plane detector mosaic, such that the image moves for instance by 1° or 2°. This assures that information in the image is not lost because while at one instant of time the focused image may fall on a dark or non-light detecting portion of the array, at another time this same image will have been scanned onto an adjacent active detector chip. 
         [0012]    Thus, in order to make a planar photo detector mosaic one must use a number of smaller detector chips which leave dark spaces between the chips where light is not detected. By scanning the image back and forth or up and down across the array mosaic, while simultaneous image detection is not possible, sequential image detection captures all of the available pixels. 
         [0013]    In the past, in order to avoid the problem of having focused energy impinge on the dark regions between the small detector arrays, one can utilize two separate cameras having optical axes offset or skewed one with respect to the other. Thus, with two detector arrays having stripes of detectors and two cameras one can simultaneously detect full scene pixel information. 
         [0014]    It is thus possible to utilize identical cameras with identical focal plane arrays, with the cameras tilted slightly differently in two dimensions. If for instance the checkerboard arrays were located behind these cameras, then for one direction one would need two separate cameras skewed one with respect to the other to cause an offset in their centerlines of for instance 1°. For orthogonally running gaps or stripes one would need another pair of offset cameras. Thus, four separately tilted cameras would be required. In summary, while simultaneous collection would be possible in this scenario one would need either 2 or 4 times the amount of equipment. 
         [0015]    Thus while multiple cameras can provide simultaneous image capture, such a system suffers a cost and weight penalty. 
         [0016]    A second way to solve the problem of the dark areas on the checkerboard array is to scan the image across the planar focal plane array by moving the entire camera. The camera must be moved 1° at the very least and sometimes as much as 20° depending on the array utilized. However, the camera and its assembly is a massive assembly requiring the entire payload to be moved in order to provide for the scanning. 
         [0017]    While the above technique is effective in obtaining all of the pixilated information from the wide angle camera by taking the data at different times from slightly different angles, there are problems not only due to the mass of the camera but also due to the power necessary to move the camera and the large motors involved. Moreover, when the camera is moved there is a finite settling time such that it takes longer before one can take the next picture. 
         [0018]    If one needs to provide frame rates of 5 to 30 frames per second, one can see that moving the camera this fast with the attendant settling time is challenging. Depending on how many snapshots are required to make one frame and assuming a frame rate of for instance 10 frames per second, if one needs 4 exposures to make each picture to eliminate the problem of the array gaps, one would need 40 snapshots per second. Moving a massive assembly to accommodate 40 snapshots per second adds mechanical complexity and weight and power penalties. 
         [0019]    Another way to scan the image on a planar focal plane array mosaic is to utilize a scanning mirror. However, while scanning mirrors provide acceptable performance there is an issue having to do with the difficulty of packaging such a scanning mirror assembly given mirror reflections. Further, if one has a large aperture camera one would need a mirror larger than the aperture to capture the full range of fields of view. 
         [0020]    For instance, if one has a 12″ diameter lens one might require a large 16″ to 20″ scanning mirror. Add to this the requirement to fold the optical path and size becomes a major issue. 
         [0021]    Therefore in order to accommodate mosaic focal planes with a single lens/camera assembly, what one essentially has to do is scan the image across the focal plane array mosaic and take sequential readings so that data which may be lost due to a image being focused on a dark area is now recaptured moments later because it is focused on an active area. 
         [0022]    In summary, in typical scanning apparatus, an optical element such as a scan mirror or a Risley prism assembly is placed in front of an optical sensor to re-point the sensor to a new field of regard. However, as mentioned above, such systems add size and weight to the optical system and if one is not simultaneously using multiple cameras or if one is not utilizing a movable camera to scan the wide field of view between two or more discrete fields of regard, then one must come up with a compact economic arrangement, which does not vibrate the camera package or destroy the sharpness of the camera image. 
       SUMMARY OF INVENTION 
       [0023]    In the subject invention a stable compact method is provided within the lens assembly of the camera to scan the field of regard of the optical sensor to take care of the problem of focal plane arrays that are not fully populated with image sensing detectors. The use of arrays that have dark areas for which no pixilated information is obtainable requires scanning. In the subject invention this is provided by displacing one or more optical elements in the camera from positions along the optical centerline of the camera, with the movement of the optical element causing the image to be shifted on the focal plane array. In one embodiment this movement is called decentering. Decentering occurs when the optical element is moved away from the optical centerline of the camera in one direction to a fixed decenter position, where it either hits a stop or is decelerated in a controlled manner, and then is moved back in an opposite direction until it reaches a symmetric position relative to the optical axis. The result of this movement is that the image on the focal plane array is translated in a cyclic manner. The result is that the focused image falls on at least one active detector array during a scanning cycle such that image information is not lost. 
         [0024]    In order to eliminate vibration associated with moving the internal lenses of the camera, two optical elements are decentered in opposite directions for momentum balancing. Oppositely moving two optical elements with appropriate masses and accelerations in concert allows the transition to be made while imparting zero momentum to the camera. This is important to avoid disturbing the stabilization and/or control system operative in the camera. 
         [0025]    It is noted that the movable optical elements and their mounts have ascertainable masses, moments of inertia, and positions relative to the sensor Center of Gravity, and that the optical elements are decentered with appropriate relative accelerations such that no net torque is imparted to the camera during a transition or scan. 
         [0026]    The optical design is such that the lens decenter displaces the field of view of the optical sensor by a discrete amount in one or two field of regard directions while maintaining the optical quality of the image. 
         [0027]    The subject system is compact and is deployed solely within the optical system of the camera to scan the field of regard of the sensor. 
         [0028]    The scanning mechanism described above may be used to move the field of view either in discrete steps or continuously such that the concatenation of multiple images captures the full field of view with no gaps. 
         [0029]    In one embodiment, the subject invention requires one or two dimensional linear motion devices driving the lens decentering. In another embodiment with two dimensional lens motion, the motion devices are commanded from a servo controller using inertial feedback from gyroscopes to stabilize the optical line of sight of the optical sensor. 
         [0030]    While the optical elements envisioned for the subject invention may be either a pair of positive lenses or a pair of negative lenses, in one embodiment a positive lens is paired with a negative lens to create a near net zero power. Thus, in one embodiment one uses a weak powered pair of lenses. When coupled with focusing lenses to either side of this momentum-compensated assembly, the focused image is toggled from one position to another across the focal plane array without aberration or distortion. Since there is weak power in the two toggling lenses, decentering of the momentum-compensated assembly has minimal impact on the overall image quality or sharpness. 
         [0031]    In the above embodiment for momentum-balancing the positive lens is displaced or decentered in one direction, whereas the negative lens is displaced or decentered in an opposite direction. 
         [0032]    In summary, the utilization of the positive and negative lenses is for aberration control due to the weak optical power of the momentum-balanced assembly desensitizing the aberrations due to decentering the optical elements. 
         [0033]    By controlling the aberrations, one maintains a sufficiently sharp image on the focal plane array, while at the same time being able to scan the image across the focal plane array in a reciprocative or toggled fashion either in the longitudinal direction or the lateral direction, or both, so as to prevent data loss due to array gaps. 
         [0034]    In summary, what is provided is a compact momentum-balanced internal optical scanning mechanism for a wide angle camera used in photo reconnaissance and the like, in which a large high resolution but not fully populated array is used to provide full scene coverage with high pixel densities, in which sharpness is maintained and in which the image can be scanned without vibration due to momentum compensation so that the image may be shifted on the focal plane array in such a manner that images focused on a dark portion of the array will move to an active portion of the array, with the sequential read out of the information concatenated into high resolution full scene image data. 
     
    
     
       BRIEF DESCRIPTION OF THE DRAWINGS 
         [0035]    These and other features of the subject invention will be better understood in connection with the Detailed Description, in conjunction with the Drawings, of which: 
           [0036]      FIG. 1  is a diagrammatic illustration of a scene surveilled by a wide angle camera in which it is desirable to detect small objects in the scene and to detect the motion thereof; 
           [0037]      FIG. 2  is a diagrammatic illustration of an extremely large focal plane array made up of a mosaic of individual smaller focal plane arrays, illustrating gaps between the smaller focal plane arrays; 
           [0038]      FIG. 3  is a diagrammatic illustration of the utilization of scanning to move an object across a mosaiced focal plane array in which a pixel on the object is moved from a dark gap area to an active device area followed by the storage of the data to be able to reconstruct an image of the full scene without gaps; 
           [0039]      FIG. 4  is a diagrammatic illustration of the scanning of a image on a focal plane array by decentering a lens so as to move a focused image on the focal plane array; 
           [0040]      FIG. 5  is a diagrammatic illustration of the utilization of a positive and negative lens to scan an image on a focal plane array by moving the lenses in opposite directions for momentum balancing; 
           [0041]      FIG. 6  is a diagrammatic illustration of the movement of the positive and negative lenses of  FIG. 5  showing the movement of the image from an optical centerline which falls on a dark region or gap between the smaller focal plane arrays to an active focal plane array; 
           [0042]      FIG. 7  is a ray diagram of one embodiment of the subject invention in which positive and negative lenses and surrounding optics focus an image on a focal plane array, and the change in camera Field of View in object space is illustrated; 
           [0043]      FIG. 8  is a diagrammatic illustration of the lens system of  FIG. 7  in which displacement of the positive and negative lenses in opposite directions displaces the image on the focal plane array for common object points; and, 
           [0044]      FIG. 9  is a diagrammatic illustration of the decentering of the lenses of  FIG. 7  utilizing linear motors to oppositely displace the lenses to toggle the resulting image on a focal plane array. 
       
    
    
     DETAILED DESCRIPTION 
       [0045]    Referring now to  FIG. 1 , a scene  10  is surveilled by an overflying wide angle camera which may have a field of view of between 40° and 60°. Depending on the height of the camera the amount of geography or terrain that can be captured in a single exposure may be on the order of tens of square miles. 
         [0046]    The surveilled area  10  in the illustrated embodiment includes an aircraft runway  12  in which individuals  14 ,  16  and  18  are captured as they move in the directions indicated by the arrows. 
         [0047]    In order to capture such a scene from 10,000 to 20,000 feet with sufficient resolution utilizing a wide angle camera, pixel densities for the focal plane array need to exceed half a billion pixels in order to resolve objects as small as a human being. 
         [0048]    While it is possible with narrow angle field of view cameras to resolve objects as small as a human being, when one wishes to surveil a very large area in a single exposure, wide angle cameras must be used and must be provided with an exceptionally large focal plane array. As mentioned above, such extremely large focal plane arrays are not easily fabricated monolithically and as a result as shown in  FIG. 2 , a mosaic  20  of individual smaller focal plane arrays  22  provide the required extent for the focal plane array. 
         [0049]    While the number of pixels in a given smaller focal plane array  22  may be on the order of 5 million pixels or greater, when arrayed as illustrated in a checkerboard arrangement with for instance 90 or more of such side-by-side focal plane arrays, the resulting array becomes a half a billion pixel array. 
         [0050]    As can be seen from  FIG. 2 , the individual smaller focal plane arrays  22  are placed side by side. However, inherently in the manufacturing process there is a gap or dark area  24  corresponding to unpopulated areas of the array between for instance focal plane arrays  22 ′ and  22 ″. Likewise, there is a gap between focal plane arrays  22 ′ and  22 ′. 
         [0051]    As a result, across the focal plane array there are longitudinal regions  24  which are dark in the sense that there are no active photo detectors in these regions. Likewise there are laterally running regions  26  which are dark in that they also do not have active photo detectors in these regions. 
         [0052]    As mentioned above, the problem with such a checkerboard mosaic is that up to 25% of the area of the focal plane array is unpopulated or dark. 
         [0053]    It is the purpose of the subject invention to solve the problem of an image point landing on a dark or unpopulated area to scan the image back and forth across the focal plane array such that during this scan cycle an image point on a dark unpopulated region is moved to an active detector region. 
         [0054]    This is shown in  FIG. 3  in which a mosaic or checkerboard array  20  has an image point  30  landing on an unpopulated region  32  at time t 1 , whereas the same image point is displaced as illustrated at  30 ′ at time t 2  such that it lands an active device. 
         [0055]    The image capture and reconstruction process can be illustrated by the case of a focal plane consisting of parallel stripes of detector arrays. A single image for one position of the toggling lenses  62  and  64  will therefore capture approximately 50% of the field of view, with some oversizing built in for overlapping of subimages. This image will be stored in storage  34 . As shown in  FIG. 8 , image points  93 ,  95 , and  97  will be collected in this exposure. The lenses  62  and  64  will then be toggled in a momentum-compensating manner to the second image position, and the camera elements are allowed to stabilize. A second time-sequential image will be collected capturing the complementary portion of the field of view, including Image points  93 ′,  95 ′, and  97 ′. Referring back to  FIG. 3 , this image will also be stored in Storage  34 . The two images in Storage  34  will be concatenated at  36  so that the reconstructed image  38  can be rendered because the image data lost when an image point falls on an unpopulated area is recaptured. 
         [0056]    This can be accomplished simply by reading out the data during a scan. Note there will be no data when the image falls on an unpopulated region, whereas there will be data when an image falls onto an active region. 
         [0057]    Referring now to  FIG. 4  in order to scan an image in the subject invention, a lens  40  focuses a point  42  on an image  44  onto a focal plane array  46  such that image point  42  is focused on the focal plane array at a point  48 , here shown on the optical centerline of lens  40 . 
         [0058]    When lens  40  is shifted to a position  40 ′, the same point  42  is now focused on focal plane array  46  as illustrated by point  50  such that the image is shifted as illustrated by arrow  52 . 
         [0059]    While such an image shifting mechanism is possible utilizing a single lens by rotating an entire camera, it will be appreciated that due to the mass of the camera and the movement thereof vibration can cause the camera to move resulting in blurring of the image on the focal plane array. 
         [0060]    This vibration is canceled or at least minimized in the momentum-balanced arrangement shown in  FIG. 5  in which a lens  60  is moved in a direction  62 , whereas a lens  64  is moved in an opposite direction as shown by arrow  66 . 
         [0061]    Here it will be seen that the lenses involved are positive and a negative lens. The utilization of the positive and negative lens if properly constructed results in nearly neutral magnification to improve aberration control. The result is that the images formed on focal plane array  46  and processed by processor  66  result in a reconstructed image which captures all of the image information regardless of whether or not an image point falls on a gap or unpopulated area in the array. 
         [0062]    As illustrated in  FIG. 6 , the movement of lenses  62  and  64  is depicted by dotted lines  62 ′ and  64 ′ such that an image originally at  70  on focal plane array  46  is moved to a position  72  on this focal plane array. What is illustrated is the fact that image point  70  falls on an unpopulated area  74  of focal plane array  46 , whereas image point  72  lands on an active area  76 . 
         [0063]    In one embodiment and referring now to  FIG. 7 , positive lens  62  is combined with negative lens  64  such that with other focusing optics  80 ,  82 ,  86  and  88  various points on an image are focused on focal plane  90  at points  92 ,  94  and  96 . 
         [0064]    Referring now to  FIG. 8 , when for instance positive lens  62  is moved in the direction of arrow  98  such that the top portion of the lens  100  rests against a stop  102 , and with negative lens  64  being moved downwardly as shown at  99  such that edge of lens  104  rests on stop  106 , then as indicated by the ray tracing a point on the image moves from a point  93  to a point  93 ′, from a point  95  to a point  95 ′ and from a point  97  to a point  97 ′, all of which movements being centered about the centerline  120  of the camera. 
         [0065]    The optical prescription for the lens illustrated in  FIG. 7  and Bare illustrated in the following table. 
         [0000]    
       
         
               
             
               
               
               
               
             
               
             
               
               
               
             
               
             
               
               
               
             
               
             
               
               
               
               
               
             
               
             
               
               
               
             
           
               
                   
               
               
                 Optical Prescription (dimensions in inches): 
               
               
                   
               
             
             
               
                   
               
             
          
           
               
                   
                 RDY 
                 THI 
                 GLA 
               
               
                   
               
               
                 OBJ: 
                 INFINITY 
                 INFINITY 
                   
               
               
                 &gt;STO: 
                 INFINITY 
                 −1.099379  
                   
               
               
                  2: 
                 INFINITY 
                 −2.000000  
                   
               
               
                  3: 
                 INFINITY 
                 2.000000 
                   
               
               
                  4: 
                 8.53228 
                 0.950000 
                 Germanium 
               
               
                  5: 
                 7.96488 
                 1.365659 
                   
               
               
                  6: 
                 76.44090 
                 0.945627 
                 Germanium 
               
               
                  7: 
                 −247.26200 
                 2.172534 
                   
               
               
                  8: 
                 402.54492 
                 0.550000 
                 Germanium 
               
               
                  9: 
                 35.33914 
                 1.801646 
                   
               
               
                 10: 
                 192.14492 
                 1.136238 
                 Germanium 
               
               
                 11: 
                 −33.60870 
                 7.002439 
                   
               
               
                 12: 
                 44.47671 
                 0.750000 
                 ZNSE 
               
               
                 13: 
                 258.98955 
                 1.675857 
                   
               
               
                 14: 
                 −7.01467 
                 0.650000 
                 AMTIR-1 
               
               
                 15: 
                 −9.84121 
                 1.000000 
                   
               
               
                 IMG: 
                 INFINITY 
                 0.000000 
                   
               
               
                   
               
             
          
           
               
                 Decenters (Position 1): 
               
             
          
           
               
                 6: 
                 YDE: 
                 +0.052786 
               
               
                 7: 
                 YDE: 
                 +0.052786 
               
               
                 8: 
                 YDE: 
                 −0.250000 
               
               
                 9: 
                 YDE: 
                 −0.250000 
               
             
          
           
               
                 Decenters (Position 2): 
               
             
          
           
               
                 6: 
                 YDE: 
                 −0.052786 
               
               
                 7: 
                 YDE: 
                 −0.052786 
               
               
                 8: 
                 YDE: 
                 +0.250000 
               
               
                 9: 
                 YDE: 
                 +0.250000 
               
               
                   
               
             
          
           
               
                 Aspheric Parameters 
               
               
                 (conic constant K = 0 for all elements): 
               
               
                   
               
             
          
           
               
                  4: 
                 A:  
                 −.287722E−03 
                 B: 
                 −.245264E−05 
               
               
                   
                 C: 
                 0.241947E−07 
                 D: 
                 0.321959E−09 
               
               
                  5: 
                 A: 
                 −.459854E−03 
                 B: 
                 −.390205E−05 
               
               
                   
                 C: 
                 0.467075E−07 
                 D: 
                 0.464323E−09 
               
               
                  6: 
                 A: 
                 −.912873E−03 
                 B: 
                 −.135059E−04 
               
               
                   
                 C: 
                 0.936309E−07 
                 D: 
                 0.516527E−08 
               
               
                  7: 
                 A: 
                 −.860803E−03 
                 B: 
                 −.859696E−05 
               
               
                   
                 C: 
                 0.285087E−06 
                 D: 
                 −.161033E−08 
               
               
                  8: 
                 A: 
                 −.173144E−03 
                 B: 
                 0.721890E−05 
               
               
                   
                 C: 
                 −.167682E−06 
                 D: 
                 0.284356E−08 
               
               
                  9: 
                 A: 
                 −.185500E−03 
                 B: 
                 0.774038E−05 
               
               
                   
                 C: 
                 −.173500E−06 
                 D: 
                 0.274467E−08 
               
               
                 10: 
                 A: 
                 −.220295E−03 
                 B: 
                 −.197884E−05 
               
               
                   
                 C: 
                 0.618507E−07 
                 D: 
                 −.693479E−09 
               
               
                 11: 
                 A: 
                 −.198968E−03 
                 B: 
                 −.194511E−05 
               
               
                   
                 C: 
                 0.454704E−07 
                 D: 
                 −.534386E−09 
               
               
                 12: 
                 A: 
                 −.897634E−03 
                 B: 
                 −.958370E−05 
               
               
                   
                 C: 
                 0.000000E+00 
                 D: 
                 0.000000E+00 
               
               
                 13: 
                 A: 
                 −.106086E−02 
                 B: 
                 −.487198E−05 
               
               
                   
                 C: 
                 0.000000E+00 
                 D: 
                 0.000000E+00 
               
               
                 14: 
                 A: 
                 −.578390E−03 
                 B: 
                 0.596623E−04 
               
               
                   
                 C: 
                 −.182034E−05 
                 D: 
                 0.183406E−07 
               
               
                 15: 
                 A: 
                 −.870309E−03 
                 B: 
                 0.441625E−04 
               
               
                   
                 C: 
                 −.119020E−05 
                 D: 
                 0.946878E−08 
               
               
                   
               
             
          
           
               
                 Diffractive Optical Elements: 
               
               
                   
               
             
          
           
               
                 10: 
                 DOE: 
                   
               
               
                   
                 HOR: 1.000000 
                 HCT: R 
               
               
                   
                 HWL: 10000.00 
                 BLT: IDEAL 
               
               
                   
                 HCO/HCC 
                   
               
               
                   
                 Cl: −1.1017E−04 
                   
               
               
                   
                 Cl: 0 
                   
               
               
                 14: 
                 DOE: 
                   
               
               
                   
                 HOR: 1.000000 
                 HCT: R 
               
               
                   
                 HWL: 10000.00 
                 BLT: IDEAL 
               
               
                   
                 HCO/HCC 
                   
               
               
                   
                 Cl: −7.5013E−04 
                   
               
               
                   
                 Cl: 0 
               
               
                   
               
             
          
         
       
     
         [0066]    Referring now to  FIG. 9 , a first lens  130  is carried in a frame  132  which is driven by linear actuators or motors  134  in the direction of arrow  136 , whereas a second lens  140  carried by a frame  142  is driven by linear actuators motors  144  and  146  in the direction of arrow  148 . 
         [0067]    It will be appreciated that the lenses are driven simultaneously in opposite directions at the appropriate relative velocities to accomplish momentum balancing. 
         [0068]    The result is a toggling of the image about the centerline of the camera such that if for instance an image point exists at an unpopulated area on the focal plane array, a moment later it will be imaged onto an active portion of the focal plane array. 
         [0069]    The result of the above is an internally-carried lens system which moves the image in discrete steps backwards and forwards across the focal plane array utilizing the principal of momentum balancing such that extremely sharp images are maintained on the focal plane array while at the same time permitting gapless reconstruction. Utilizing the weak powered positive and negative lens pair as described in  FIGS. 7 and 8 , it is possible to minimize lens aberrations. 
         [0070]    While the present invention has been described in connection with the preferred embodiments of the various figures, it is to be understood that other similar embodiments may be used or modifications or additions may be made to the described embodiment for performing the same function of the present invention without deviating therefrom. Therefore, the present invention should not be limited to any single embodiment, but rather construed in breadth and scope in accordance with the recitation of the appended claims.