Abstract:
The subject of the invention relates to a positioning system having a control that integrates a GPS receiver for determining the system&#39;s operating coordinates. The control can interface with either radio or cellular telephone transceivers, or receivers for receiving GPS coordinate data via remote radio or cellular transceivers or senders, in order to process the local GPS coordinate data using logarithms for solving triangles with various geometrical propositions to establish and control the sensor positioner and to automatically maintain a sensor fix on remote objects or vehicles transmitting their GPS coordinates. The positions control is configured with a target operating mode that permits an operator to manually steer the positioner to desired positions at which information is desired, and to engage the control to make use of, at targeted time, positioner angular data stemming from the positions dive assemblies encoders to automatically maintain a sensor fix on desired targeted positions. In addition, the positions control is configured with a coordinate entry mode that permits an operator to engage the controller to automatically position the positioner in order to maintain a sensor fix on the entered coordinates. The positioning system functions to either maintain a sensor fix on stationary or moving objects from either a stationary position or a moving object or vehicle.

Description:
RELATED APPLICATIONS 
     This application claims the benefit of U.S. Provisional application Ser. No. 60/092,221, filed Jul. 8, 1998, hereby incorporated by reference, now abandoned. 
     CROSS-REFERENCE TO RELATED PATENTS 
     U.S. Pat. No. 5,617,762 entitled “Miniature Positioning Device” issued Apr. 8, 1997, of common assignee herewith, incorporated herein by reference. 
    
    
     TECHNICAL FIELD 
     The subject of the invention relates to a sensor positioning system that makes use of GPS coordinate data for controlling the positioning device while operating from a moving vehicle. Sensors, such as cameras and light emitters, gather information from operator entered coordinates, and from moving objects or vehicles transmitting their GPS coordinates. 
     BACKGROUND ART 
     Present remote camera positioners are manually controlled to position via a joy stick giving an operator the ability to tilt and pan to desired locations. Some remote camera positioners permit making use of a joy stick to teach the positioner to automatically move between programmed points for gathering information. Present camera positioners are not sensitive to compensate for vehicle movement, or mast sway due to wind conditions, nor are they responsive to GPS coordinate signals for establishing and keeping a camera fix on moving objects and vehicles. 
     SUMMARY OF THE INVENTION AND ADVANTAGES 
     The sensor positioning system of the present invention is comprised of a two axis positioner having a mounting base adapted for coupling with a gimbaled platform which supports and maintains the positioner in a relationship with that of the horizon. A system control processor permits setting various operating modes. A manual mode permits an operator to make use of a joy stick to manually control the camera positioner, a gimbaled platform, and a mast for elevating the positioner. In the “Remote GPS coordinate” mode, the system interfaces with a GPS receiver for discerning coordinates from which the system is operating and a radio or telephone transceiver for receiving GPS coordinates transmitted from remote objects and vehicles. Remote GPS receiver coordinates received via the systems transceiver and the operating systems GPS coordinates are processed with calculations using logarithms for solving triangles with various geometrical propositions to establish and maintain a sensor fix on objects or vehicles transmitting their GPS coordinates. An “enter coordinates” mode, permits an operator to enter coordinates from which image information is desired. System GPS coordinate data and operator entered coordinates are processed for steering the positioner to establish and maintain a sensor fix on entered coordinates. A “Target” mode can be used in cases where the latitude and longitude are unknown. This operating mode permits an operator to make use of the joy stick to point a video camera or light emitter to visually, establish a target from which information is desired. Once targeted, the operator can depress a button to capture and store vector data in computer memory. (At time targeted data) is comprised of information such as; GPS coordinate, operating height, and positioner yaw and pitch angles. Target data stored in memory is used for processing trigonometric functions with succeeding system GPS coordinates. The sensor positioners pitch and yaw drive assemblies are driven in accordance with processed data for keeping the sensor positioner aimed at the targeted coordinate. 
     In addition the system can interface with various sensors and instruments, making the system sensitive to various applications such as, operating from an aircraft. 
     Some of the advantages of the present invention over the prior art is the ability to control an object positioner based on GPS coordinates received while operating from a moving vehicle, and to automatically and accurately position sensors for gathering information from desired fixed coordinates, as well as moving objects and vehicles transmitting their GPS coordinates. The invention can be applied in search in rescue operations for making and maintaining visual contact with vessels or persons in distress. The system can automatically position a camera having a zoom lens to make visual contact from distances extending beyond human visual capability. The system makes it possible for vessels and persons in life jackets equipped with transmitters integrated with GPS receivers to transmit their GPS coordinates, giving rescuers the ability to illuminate and maintain a magnified camera fix on those in distress, to more safely and efficiently approach them 
     The system provides a means for gathering imaged information in land surveying, and construction monitoring applications, were areas and object coordinates can be automatically established and recorded for future visual reference. 
    
    
     FIGURES IN THE DRAWINGS 
     Other advantages of the present art will be readily appreciated as the same becomes better understood by reference to the following detailed description when considered in connection with the accompanying drawings-and diagrams wherein: 
     FIG. 1 is a plan view of two axis camera positioner; 
     FIG. 2 is a cross of the positioner extending from port to starboard; 
     FIG. 3 is a cross section extending from aft to forward of the positioner; 
     FIG. 4 is a cross section extending through the positioners pitch drive assembly; 
     FIG. 5 is a partial cross section and front elevation; 
     FIG. 6 is a cross section extending through the positioners yaw drive assembly; 
     FIG. 7 is a cross section extending from forward to aft of a gimbaled platform; 
     FIG. 8 is a cross section extending from port to starboard of the gimbaled platform; 
     FIG. 9 is a port side elevation of the gimbaled platform; 
     FIG. 10 is an aft elevation of the gimbaled platform; 
     FIG. 11 is a cross section extending horizontally through the platform gimbal; 
     FIG. 12 is a section through the upper portion or the elevating mast; 
     FIG. 13 is a section through the masts upper roller guide assembly; 
     FIG. 14 is a horizontal section through the masts lower guide assembly; 
     FIG. 15 is a section through the masts lower guide assembly; 
     FIG. 16 is a starboard side elevation of the masts lower guide assembly; 
     FIG. 17 is a port to starboard section through the masts drive assembly; 
     FIG. 18 is a horizontal section through the masts drive assembly; 
     FIG. 19 is a partial elevation of the masts drive assembly; 
     FIG. 20 is a block diagram of the system components and interfaces; and 
     FIGS. 21 through 30 are charts depicting various positioner movements and related to coordinates. 
     FIGS. 31 through 32 are cross sections extending from aft to forward of the entire positioning system. 
     FIG. 33 is a chart representative of the performance capability of the camera lens in the present invention. 
    
    
     DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENT 
     Referring to FIG. 1, camera positioner  101  is comprised of a spherical shaped pitch wheel  103  which houses camera  104 . Protective camera lens and access covers  120  and  111  conform with the wheels shape. Camera  104  is attached to gather information from within positioners pitch wheel  103 . The centerlines of the cameras array are located in alignment with axis PPA and PYA. 
     Referring to FIG. 2, pitch drive assembly  109  imparts movement to pitch wheel  103  for tilting camera  104  about the positioners pitch axis PPA. Optical encoders  108  of both pitch and yaw drive assembly motors are used for controlling yaw and pitch angles, and positioning speeds. Preferably the positioner is with the capabilities covered in patent &#39;762, giving the ability to pitch and yaw a sensor about a center point formed by the pitch and yaw axis, making programming easier than with positioners having offset joints. Pulleys  34  and  35  and timing belt  131  connect with pitch wheel  103 , rotably coupled to pitch support  113  via bearings  114 . Mounting plate  112  supports drive assembly  109  to work from a position within yaw table  36 . Yaw table  36  is rotably coupled to yaw mounting base  105  via yaw bearing  116 . Mounting base  105  employs a flange  106  that permits the positioner to be quickly connected to the gimbaled platform of the invention. Yaw pulley  122  couples with mounting base  105 , giving traction for yawing drive assembly via timing belt  130 . Camera  104  is coupled to bracket  121  in alignment with the positioners yaw axis “PYA” and Pitch axis “PPA” Opening  38  permits camera cables to extend from wheel  103 , and on into mounting base cavity  115 . Dynamic O-ring seals  117 , and  118 , and static seals  119 ,  120  are used for weather proofing the positioner. 
     Referring to FIG. 3 Yaw table  36  has a taper  33  that extends the cameras downward viewing range when pitched downward about axis PPA. 
     Referring to FIGS. 4 and 5, sensors  124  and  125  are used for detecting maximum pitch movement. As pulley flange  110  revolves about axis PPA, notches  126  and  127  trigger sensors  124  and  125 , detecting the limits. Yaw drive assembly  107  couples with yaw base  36 , and drive assembly  107  imparts yaw movement via its associated pulleys and timing belt  130 , traverses with the yaw table  36  about PYA. 
     Referring to FIG. 6, yaw optical sensors  128  and  129  are coupled to yaw table for detecting maximum yaw movement. 
     Referring to FIG. 7, gimbaled platform  102  is driven to offset vehicle movements to maintain positioner  101  in a horizontal relationship with that of the horizon. Platform  102  is comprised of a “U” shaped positioner mounting base retainer  201  attached to gimbaled platform  202 , permitting camera positioner flange  6  to slideably mate with retainer  201 , and locked into position by bracket  204  with knobs  205 . Platform  202  is adapted for coupling with pitch gimbal frame  203 . Yaw frame  206  is rotably coupled via bearings  207  to gimbal support flanges  208  and  209  attached to gimbal table  212 , allowing yaw movement about gimbal yaw axis GYP. Gimbal clamping plate  211  is slideably held in position by guide pins  213  and bushings  210 . A fluid powered locking clamp  216 , and clamp rod extension  214  are coupled to clamping plate  211 . Power clamp  216  can be energized to vertically move the clamping plate upward to engage with the pitch and yaw gimbal frames. Clamp  216  is housed in slot  217  of riser  215  allowing for vertical movement in alignment with the intersection formed by PPA and GYA axis. Clamp  219  permits locking the platform during system shut down. Riser  215  can be coupled to an elevating mast system  3  via mast connecting adapter  218 . 
     FIG. 8 illustrates how pitch gimbal frame  203  is rotably coupled to yaw gimbal frame  206 . Yaw drive assembly  219  is attached at its lower end to pivot bracket  220  for mounting to flange  221  extending from connecting adapter  218 . Platform pitch and yaw drive assemblies are comprised of a linear fluid power cylinder with position feedback for controlling linear displacement and speed. Drive assembly rod end clevis  222  rotably couples with yaw frame pivot  223 , allowing the drive assembly to impart yaw movement extending to angles depicted with phantom lines at  224  and  225 . 
     Referring to FIG. 9, Platform pitch drive assembly  226  is clevis mounted to flange  231  of pitch frame extension  229 . Flange  231  is supported by strut  230 . Pitch clevis link  227  is shaped to prevent surface  228  from making contact with gimbal yaw frame  206  when pitched to aft. 
     FIG. 10 illustrates angular movement of pitch drive assembly  226  as related to changing yaw gimbal angles depicted with phantom lines at  232  and  233 . 
     FIG. 11 is a cross section illustrating how drive assemblies are coupled to their respective gimbal framework. 
     Referring to FIG. 12, elevating mast  103  permits elevating gimbaled platform  102  and camera positioner  101 , for extending viewing capabilities. Tubular mast  302  is comprised of mounting adapter plug  303  at its upper end. Gimbaled platform  102  can be attached to the mast via plug  303 . Mast support tube  301  employs an upper flange  304  for attaching roller mast guide assembly  308 . Roller guide protective cover  305  and “O”-ring, seal  306  seal the upper portion of the elevating mast assembly. 
     Referring to FIG. 13, mast guide rollers  307  are held in position by roller pins  310  extending through flanges  309  of roller assembly  308 . Rollers  307  act to guide elevating mast  302  at its outside diameter. 
     Referring to FIG. 14, elevating mast lower guide is comprised of roller block  311  and rollers  312 . Rollers are held in position by pins  313  and bushing  314  for making contact with the inner walls of mast support tube  301 . 
     Referring to FIGS. 15 and 16, lower elevating mast tube riser  315  attaches to elevating mast  302  for coupling the mast with lower guide block  311 . Lead screw  316  and lead nut  317  are used for imparting vertical linear mast movement. Lead nut  317  is held in position by retainer  318  coupled to the lower end of lower guide block  311 . 
     Referring to FIG. 17, drive assembly  321  is coupled to mounting block  322  having thrust bearing  323 . Drive assembly  321  imparts movement for elevating the mast via pulleys  331 ,  322 , timing belt  325 , and lead screw  316 . Pulley risers  324  are coupled to bearings  326 . Risers  333  and  334  couple with the outer races of bearings  326 , keeping the pulley and lead screw in alignment with the elevating masts centerline. Lead screw retainer  327  and pin  328  are used for retaining lead screw  316  to upper pulley riser  324 . 
     Main mounting plate  320  provides means for attaching mast support tube  301 , drive assembly protective cover  330 , side covers  337  and  338 , and lower mounting plate  329 , and risers  335  and  336 . Like the camera positioner  101 , optical sensors can be employed to sense maximum linear mast positions. 
     Referring to FIG. 18, lower riser  333 , has slots  339  giving passage for timing belt  325 . 
     The block diagram of FIG. 20 shows sensor positioning system control processor  400  and PC  401  interfacing with various system components. PC  401  connects with monitor  402 , keyboard  403 , and joy stick  404 , allowing for the operator to enter coordinates, and to manually control positioner  101 . Positioner  101  permits coupling a video camera  104  for gathering imaged information, as well as other types of sensors such as light emitters, and laser range finders/data scopes  425 . Laser range finders/data scopes can be used to accurately determine secant distances to desired targets. Camera  104 , is of a type that is comprised of a X 12  optical zoom with electronic imaging stabilizing capabilities, electronic X 24  digital zoom, highspeed auto focus lens, and a RS232C serial control interface  405 . Sony&#39;s EVI-300/331/T model has these capabilities. 
     Sensor positioner  101  drive assemblies optical encoders  108  give processor  400  the capability of controlling position angles and speed of positioner  101 . Drive assemblies employ diffuse sensors  124  and  129  for calibrating movements when initializing the system 
     Gimbaled platform  102  pitch and yaw drive assemblies interface with the control processor via interface  407 . 
     Position control sensors  408  can be comprised of accelerometers and or inclinometers for measuring acceleration and angles placed on the vehicle from which the system operates. Sensor data can be outputted via interface  409  for servo positioning gimbaled platform  102 , keeping it in horizontal relationship, or to output the data to computer memory for storing sensor measurement data, and to make use of stored data for processing to adaptively control the gimbaled platform  102 . In addition measurements can be used to either servo adjust, or in calculations for controlling positioner  101 , i.e. positioners pitch angles are adjusted in conformance with readings of the vehicles vertical accelerations While FIG. 5 depicts the gimbaled sensor positioner  102  as being driven by fluid powered linear drive assemblies having feedback capabilities, electric motor driven lead screw drive assemblies can be used to impart movement to the platform  102 . 
     Operating systems GPS receiver  410  and interface  411  permits coordinates at which the system is operating to being delivered to control processor  400 . 
     Transceiver  412  can be comprised of either or both a radio and cellular telephone transceiver for connecting with remote transmitters and transceivers  414 . Interface  413  is comprised of a modem for modulating transmitted signals. Transceiver  412  permits receiving coordinates from remote locations  414  transmitting with transceivers interfaced with a GPS receiver. GPS coordinates received from remote transmitters or transceivers  414 , are processed with GPS coordinate data received via GPS receiver  410  for steering positioner  101  to point and keep camera  104  fixed on coordinates in conformance with signals of GPS receivers  410  and  414 . Operator transceiver hand-set  415  provides the means for an operator to connect with remote transceivers  414 . Corrupted GPS signals received either via the operating systems interface GPS, or relayed via remote transceivers can be discarded and replaced with processed coordinates using previously received and stored coordinates in calculations for filling the voids due to corruption. 
     GPS supports a broad spectrum of users with different requirements. PPS, precise positioning service, intended for the military, and SPS, standard positioning service, less accurate and available to all. In marine applications, transceiver  412  can receive coordinates from remote objects or vessels transmitting coordinates received via a differential GPS connection. Differential connected signals can be received from the U.S. Coast Guard on 300 kHz marine radio beacon band, and a DBR that plugs into the GPS receiver giving positioning accuracy of approximately 10 feet. 
     Altimeter  416  and interface  417  can be used for gathering altitudes of an aircraft from which the positioning system is operating. This feature can also be employed to maintain a fix on aircraft transmitting their GPS and altitude coordinates. In addition, transceiver  412  can be used for transmitting processed coordinate data that include way points to remote transceivers for setting courses for steering remote vehicles to desired coordinates. 
     Auto pilot interface  419  can be used for delivering positioning commands to a vehicles steering mechanism  418 , making it possible to automatically steer the vehicle in accordance with a continuous stream of way points generated with coordinate data streaming from two GPS receivers. In addition, control data can also be transmitted to remote vehicles giving the operating systems processor control over remote vehicles steering mechanisms. 
     Positioner  101  can employ an electric slip ring for making utility connections to the positioner, giving the ability to impart continuos yaw movement. To avoid the costs and size associated with electric slip rings, optical sensors can be used to detect maximum port and starboard yaw movement to avoid damaging utility cables such as wires and cables connecting with camera  104 . Optical limits provide the means to discern the maximum port and yaw movement, giving the processor the ability to calibrate and set software limits. When yaw movement takes place to position either to port or starboard of the vehicle from which the system operates, and either the port or starboard software limits are made, commands are delivered to the positioners yaw drive assembly to swiftly yaw in the opposite direction of the moving target, re-engaging the target while regaining yaw positioning freedom 
     Positioner elevating mast  103  can be elevated to various positions via joy stick  338  for gathering information with camera  104  at extend heights. Interface  421  couples control processor  400  for controlling elevating mast  102  drive assembly. Drive assembly encoder  340  is used to determine mast elevated positions for calculating pitch angle adjustments required to maintain the positioner fixed on the desired coordinate. 
     The operator may make use of joy stick to manually override the system control to manually manipulate positioner  101 , and to return to the mode from which it was manually diverted. 
     While GPS receivers compute the fix in coordinate terms, latitude, longitude, and altitude, the accuracy/resolution for altitude is approximately one half that of the horizontal coordinate. In applications where the system is operating form an aircraft, higher accuracy can be achieved with system control  400  interfaced with an altimeter  416  for gathering altitudes used in calculating the pitch angles necessary for establishing and maintaining a fix. Laser range finders/data scopes  425  permit establishing secants used in computing (at time targeted heights) from which the operating is functioning. 
     Referring to FIG. 21, (OS) A, depicts the GPS coordinate of the operating system when an operator entered a longitude and latitude to establish coordinate (EC-  1 ) from which information is desired. In the course of the operating systems vehicle moving form (OS) A to (OS) B, the system makes use of the entered coordinate, and coordinates arriving via the systems interfaced GPS receiver, in calculating and making angular changes to the positioners yaw drive assembly, maintaining a yaw and pitch axis sensor fix on entered coordinate (EC-  1 ). 
     Referring to FIG. 22, adding to coordinates of FIG. 21, (EC- 2 ) depicts another operator coordinate entry during the course of the operating vehicle moving from (OS) A and (OS) B. When gathering information from multiple coordinates, positioner dwell, times can be attached to each entered coordinate, or to being set to gather information at each coordinate for a defaulted period of time. 
     Referring to FIG. 23, (OS) A depicts the systems GPS coordinate when connecting with a moving vehicle transmitting its GPS coordinates at (TVI). Dotted lines depict angular yaw changes to the systems positioner while the operating systems vehicle traverses between (OS) A and (OS) B. 
     Referring to FIG. 24, adding to coordinates of FIG. 23, point B depicts a coordinate in which the system forms a connection with another moving vehicle (N 2 ) at coordinate at point B while traversing between (OS-A) and point C. Dotted lines depict angular changes to yaw the positioner in sweeping the sensor and maintain a fix on both vehicles transmitting their GPS coordinates, while moving between B, C, and (OS-D). 
     FIG. 25 depicts how positioner  101  pitch angles are controlled to maintain a fix on remote coordinates (C 2 ) and (C 3 ) when changing heights or altitudes H 1  and HZ from which the system functions over the operating systems GPS coordinate. 
     FIG. 26 depicts how the camera zoom can be controlled to expand and contract the cameras field of view in accordance with GPS resolutions/accuracy. 
     While gimbaled platform  102  maintains the positioner in a horizontal relationship, the positioners yaw axis PYA can experience changes in its parallel and longitude position due to vehicle movements. Position control sensors  408  output, can be used to compensate for such movement. FIG. 27 depicts how yaw and pitch drive assemblies are driven to compensate for vehicle movements mentioned above. 
     Referring to FIG. 28, TC is a coordinate from which a vehicle transmits its GPS coordinates. Operating system coordinates (OS) 1 ,  2 , and  3  represent changes in the systems coordinates and associated changes in heights H, from which the sensor functions to gather information. Data is processed for changing the positioners pitch angles to maintain a fix on coordinate TC. Changes in heights are measured. 
     FIG. 29, depicts how the positioners pitch angles compensate for movements due vertical forces place on the vehicle.