GB2165714A - Electro-optical aiming device - Google Patents
Electro-optical aiming device Download PDFInfo
- Publication number
- GB2165714A GB2165714A GB08522130A GB8522130A GB2165714A GB 2165714 A GB2165714 A GB 2165714A GB 08522130 A GB08522130 A GB 08522130A GB 8522130 A GB8522130 A GB 8522130A GB 2165714 A GB2165714 A GB 2165714A
- Authority
- GB
- United Kingdom
- Prior art keywords
- image
- sensor
- image information
- patterns
- target
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
- 230000000087 stabilizing effect Effects 0.000 abstract description 6
- 230000002596 correlated effect Effects 0.000 abstract description 2
- 238000001514 detection method Methods 0.000 description 8
- 238000011156 evaluation Methods 0.000 description 8
- 238000004891 communication Methods 0.000 description 5
- 238000012545 processing Methods 0.000 description 4
- 230000000007 visual effect Effects 0.000 description 3
- 238000006243 chemical reaction Methods 0.000 description 2
- 238000010586 diagram Methods 0.000 description 2
- 238000000034 method Methods 0.000 description 2
- 230000009466 transformation Effects 0.000 description 2
- 101100440696 Caenorhabditis elegans cor-1 gene Proteins 0.000 description 1
- 241001060384 Mallotus <angiosperm> Species 0.000 description 1
- 230000003044 adaptive effect Effects 0.000 description 1
- 238000010276 construction Methods 0.000 description 1
- 238000005259 measurement Methods 0.000 description 1
- 230000003287 optical effect Effects 0.000 description 1
- 238000000926 separation method Methods 0.000 description 1
- 238000012546 transfer Methods 0.000 description 1
Classifications
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S3/00—Direction-finders for determining the direction from which infrasonic, sonic, ultrasonic, or electromagnetic waves, or particle emission, not having a directional significance, are being received
- G01S3/78—Direction-finders for determining the direction from which infrasonic, sonic, ultrasonic, or electromagnetic waves, or particle emission, not having a directional significance, are being received using electromagnetic waves other than radio waves
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
- G01S17/86—Combinations of lidar systems with systems other than lidar, radar or sonar, e.g. with direction finders
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
- G01S17/88—Lidar systems specially adapted for specific applications
- G01S17/89—Lidar systems specially adapted for specific applications for mapping or imaging
Landscapes
- Physics & Mathematics (AREA)
- Engineering & Computer Science (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Electromagnetism (AREA)
- General Physics & Mathematics (AREA)
- Computer Networks & Wireless Communication (AREA)
- Closed-Circuit Television Systems (AREA)
- Length Measuring Devices By Optical Means (AREA)
- Radar Systems Or Details Thereof (AREA)
Abstract
An electro-optical device for automatically seeking, detecting and recognizing targets comprises an image sensor 10 such as an IR TV camera, which is disposed on a stabilizing platform 11 of a combat aircraft. It supplies image information which is converted into binary data by means of an adjustable amplitude threshold device and which is then correlated at 15 with digital representation of potential targets. <IMAGE>
Description
SPECIFICATION
Electro-optical aiming device
The invention relates to an electro-opticai aiming device suitableforthe automated seeking, detecting and surveying oftargets, and more particularly to a device having an image sensor disposed on a pivotable stabilizing platform and an image-evaluating and display device which is controlled therebyand in which correlators process the sensor image data with stored statistical image data.
During the observation of operational areas and in order to detecttarget objects, it is known to fly over the areas in question, for example with aircraft, and to scan them with image sensors. The image data obtained during such operations can then be transmit- ted to a comman post on the ground, for example, and can be reproduced on monitorsthere, afterappropriate processing. By observation ofthe monitors by a supervisor, it is possible to evaluate the image data of the operational areas covered and to determine objects as described, for example, in De-OS 25 19241.
The means previously described for detecting targets and determining objects are unsatisfactory, however, because the use of a supervisor in the command post represents an uncertaintyfactor. In addition, such an observation system is unsuitable for the automatic observation and target detection at great distances, for example beyond the visual range and overwide angular ranges.
The present invention seeks to provide an electrooptical aiming device of the type mentioned in the introduction which renders possible automated target detection and object determination on board carrier aircraft. In addition,the present invention seeks to render possible automated target detection and object determination at great distances and verwide angular ranges.
According to a first aspect ofthe present invention there is provided an automatic electro-optical target detection device having an image sensor and an image-evaluation device which is responsive thereto and comprises adjustable amplitude threshold means receiving sensor image information and producing therefrom digital image information, and correlation means for processing said digital image information with selectable object patterns formed from stored statistical image information.
According to a second aspect ofthe present invention there is provided a method of automatically seeking, detecting and/or surveying target objects comprising sensing an image, producing image information,feeding the image information through adjustable amplitude threshold means and producing digital image information, and correlating the digital image information with selectable object patterns formed from stored statistical image information.
The device can be operated with a passing image sensor, for example an infra-red image sensor or a microwave radiometer. It is also possible, however, to use an active sensor, for example a radarsensor,for this. In this case, the stabilizing platform offers the possibility of scanning a large angular range within the observation area by pivoting the platform.
Triangular, sinusoidal, sawtooth or helical movements may be used for the pivotal movements, according to requirements, while the speed of the pivotal movement may appropriately be selected, depending on the direction of view and the flying speed ofthe carrier aircraft, for example a combat aircraft, so that sufficient overlapping of image occurs within a pivoting cycle to ensure high probabilities of object detection and apportionment. In addition, if an infra-red image sensor is used,-itis advisable to changethis sensor overfrom the usual CCIR standard eitherto continuous orto field scanning.The images or portions of images ofthe operational area under observation which are detected by such a sensor are than utilized forthetarget detection and object determination in the manner described further on.
A preferred embodiment ofthe present invention will now be described, byway of example only, with reference to the accompanying drawings, of which:
Figure 1 shows a block circuit diagram of an entire electro-optical aiming device;
Figure 2 shows a block circuit diagram of the switching stages for automatic target acquisition; Figure 3a shows the reference structure of an abstract object pattern; and
Figure 3b shows the splitting up of a reference pattern into search patterns.
The electro-optical aiming device illustrated in
Figure 1 consists of an infra-red image camera 10 which is disposed on a pivotable stabilizing platform 11.
Further mounted on this platform 11 is a laser range finder 12 which, like the infra-red camera 10, is in mutual operational communication with a data bus 13. By this means, the range of detected objects can be determined and the field of view ofthe camera can be adjusted. The output data of the infra-red camera 10 are first applied to an analtgue-digital converter 14 which outputs digital image data to circuit stages 15 for automatictarget acquisition and a switching stage 1 6for image improvement. The stage 16 produces an image-content adaptive transfer characteristic (polygon characteristic) by histogram evaluation and so ensures an optimum quality of image display. The analogue-digital converter 1 4and the switching stage 16forth image improvement are likewise controlled by data from the data bus 13.For this purpose, the data bus 13 is in appropriate mutual operational communication with a central computer 17 and a store 18.
In addition, a clock-pulse generator 19 delivers its clock signals two the data bus 13 and the data ofthe carrier aircraft, for example a combat aircraft, such as flying speed, flying altitude etc. are fed into the data bus from a symbolically indicated block 20.
From the switching stage 1 6for image improvement, the digital image data pass to a digital-analogue converter 21 which is influenced bythe data bus 13 and which passes on the reconverted image data through an image mixer 22 to a touch-input image display device 23. This image display device 23 is also in communication with a change-over switch 24for the field of view which is in appropriate operational communication with the data bus 13 that certain objects can be displayed enlarged by means of simple touch inputs.By means of a symbol generator 25, which is associated with the image mixer 22 and can be controlled by data ofthe data bus 13, itis possible to blend certain symbols into the image data and to fade or mixthem in on the image dísplaydevice23. In
addition, these image symbols can be reproduced on
a spot projector 26 as a result of which the direction of the object position is represented inside the cockpit.
Inthiscase, a second image display device 27, which is actuated via a computersymbol generator 28, forexampleacross-wiregenerator,in mutualoper- ational communication with the data bus 13, offersthe
possibility of aligning the longitudinal axis ofthe aircraft on the selected object.
Figure 2 shows details ofthe circuit stages 15 for the
automatic detection oftargets within the whole
electro-optical aiming device. The purpose ofthese circuit stages, which are interconnected, is to auto magically seek, practically in real time, special objects
in the picture taken bythe infra-red camera 10, to which their position in the picture and to interruptthe pivotal operation of the stabilizing platform 11 after a
successful search for an object.In addition,the
infra-red camera 10 mustthen be aligned so that a visual identification ofthe objectis possible by means
of an enlargement ofthe image by switching overthe field ofview.The basisforthe automatictarget recognition is a correlation ofthe picture taken and
converted into binary data with an abstracted object
pattern.
In Figu.-e2the abbreviations havethefollowing meanings: I.S. -imagestores B.i.s. - Bipolar image store
Cor3 - CorrelatorforPattern3 Cor - CorrelatorforPattern2 Cor 1 - CorrelatorforPattern 1
C.a.c - Comparatorarnplitudecriterion O.r.s. - Object reference store
A.g. address generator A.s -Address store S.c. - Sequence Control
S.comp - Summation comparator
Proc -Processor A.c -- Add ress com pa rison A.t - Address transformation to target centre
S.g - Symbolism generator
S.s - Symbolism store
V.m - Video mixer
The conversion of each picture of the infra-red
camera 10 into binary data is effected in the
comparatorwith an amplitude.thrnshold which is
determined individually for each picture by suitable
combinations of statistical image parameters (histo
gram evaluation) depending on the class oftarget to
be expected. In orderto avoid excessive false
actuation, forexample in the eventofunfavourable statistics ofthe picture taken, an evaluation is
dispensed with.
Forthe purpose of a rapid and simple correlation,
apartfrom the conversion ofthe image into binary
data (1 grey-scale value definition), target-rotation invariantobjeX patterns are used which with the
infra-red camera 10 aligned obiiquely, are adapted to the correctsizefrom the upper edge ofthe image to
the lower edge. By incorporating the syseh data ofthe carrier aircraft and the camera, as indicated by block 20 in Figure 1, the reference patterns can be calculated by means oftheflying altitude, the sensor resolution and direction ofviewandthetype of object to be determined.In this case, rotaton invariant object patterns are distinguished buy a 100% coincidence within thesmallesttarget dimension and a certain coincidence, for example 66% withinthelargest target dimension. In addition, a satisfactory object determination requires that the coincidence must be 0% in an outer region (background separation).
A typical structure of an abstract object pattern for vertical and oblique sensoralignmentis illustrated in
Figure 3a, wherein the dimensions ofthe individual part ofthe--pattern should be selected depending on the target dimensions and the flight and sensor parameters. The letters L and H here indicate "low" and "high" respectively; min is the minimum target dimension and max is the maximumtargetdimen- sion. In orderto effectthe correlation simply and rapidly, this abstract reference pattern is split up into three component patterns which are each correlated independently of one anotherin one of the three correlators.Figure 3b shows the division selected with the three rest ining correltion patterns and three different mask patterns which, together with information aboutthe height ofthe object, are fed into the object reference store as store contour information.
The width ofthe correlation pattern is proportional to the objectwidth xmax and can assume values between 10 and 64 image points. The unused picture points should be covered bythe mask information.
In orderto carry outthe correlation, the data ofthe infra-red picture converted into binary data and temporarily stored are fed line by line into the parallel shift registers ofthe correlatorsforthe patterns 1 to 3.
If the correlations for the patterns 2 and 3 exceed a preset degree of correlation,the column addresses of this image point are stored. 16 addresses can be fed into the address store in this manner. On running through the next line, when the preset degree of correlation is reached, addresses are again produced and compared with the stored addresses. If the deviation between the two addresses is not greater than +1-1 image point (oblique position of object in the picture),the compared address is stored together with a number n. This number n expresses the number of lines compared. In the event of a greater deviation, the last address is stored as the first The result ofthe correlatorforthe pattern 2 is also written into a summation store of a summation comparator. This summation store is likewise checked and when,for example, 66% of all the image points ofthisframe are "high",the evaluation is discontinued. The evaluation ofthe summation store is then carried out in a tolerance line M which occurs when the number n has reached the preset number of lines M to be expected. In addition, an address windowiscalculated inthistoleranceline M and in thefollowing line,the "low" condition is checked inside this address window by the correlatorforthe pattern 1. If a preset degree of correlation also appears here, the object is defined as recol ized.The column and line addresses of this image point are thentemporarilystored andfed into a symbolism tre via an address transformation circuit which then calculates the address of the centre of the object.
The circuitry in Figure 2 which, as already mentioned, shows a general viewofthe construction and mode of operation of the circuit stages for automatic target detection, is designed with some of its stages in triplicate, in parallel, and can carry outthe picture evaluation in quasi real time operation in a period of 40 ms. Ifthe picture evaluation time can amount two 120 ms, it is possible to dispense with parallel processing.
The target coordinates of a detected target object, which have been calculated in the manner previously
described, serve to align the infra-red camera 10
(nearest coordinate in relation to the instantaneous
position ofthe stabilizing platform) and for the target marking. As soon as objects have been found in a
picture, this picture, including mixed-in markings, can be represented on the image display device 23 while the attention of a supervisor can be attracted by an acoustic message. Since the optical sensor axis is aligned on the nearest object,the visual target recognition is c-Hected by simple switching over of the field of view. Target marking by means of the symbol generator 25 is also possible in this case.
In orderto obtain an indication of the target position in relation to the position ofthe carrier aircraft, either an angle measurement may be mixed intotheimage represented or .hetarget marking is reproduced at a suitable position in the cockpit through the spot projector. Further airborne computers are available in a cornbat aircraft forth further processing of ek@ the target objects detected in this manner.
In this case, the laser range finder 12 sarves to calculate precisely the dimensions of the reference image orthe positions of objects.
Claims (26)
1. An automatic electro-optical target detection device having an image sensor and an imageevaluation device which is responsive thereto and comprises adjustable amplitude threshold means receiving sensor image information and producing therefrom digital image information, and correlation means for processing said digital range information with selectable object patterns formed from stored statistical image information.
2. A device as claimed in Claim 1, wherein the adjustable amplitude threshold is determined for each image in a comparator by combining statistical image parameters depending on the classes of target to be expected.
3. A device as claimed in Claim 1 or 2, wherein target-rotation-invarient patterns are used for the object patterns and, with the sensor aligned facing obliquelylFonNard, are adapted in sizefrom the upper edge of the image to the lower edge.
4. A device as claimed in any preceding claim and comprising means for receiving system data such as flying altitude, sensor resolution and direction of view of sensor in addition to the type of object to be detected and means for calculating reference pattern forthe object patterns from these.
5. A device as claimed in any preceding claim, wherein the digital image information is correlated with data of target-rotation-invariant object patterns.
6. A device as claimed in any preceding claim, wherein abstract object patterns are split up into three component patterns, the data of each which are correlated with the digital image information in a respective one ofthree parallel correlators.
7. A device as claimed in any preceding claim, wherein a passive image sensor is used.
8. A device as claimed in claim 7, wherein the sensor is an infra-red camera.
9. A device as claimed in Claim 7, wherein the sensor is a microwave radiometer.
10. A device as claimed in any of Claims 1 to 6, wherein an active image sensor is used.
11. A device as claimed in Claim 10, wherein the sensor is a radar sensor.
12. A device as claimed in any preceding claim, wherein the sensor is disposed on a pivotable stabilizing platform.
13. A device as claimed in Claim 12, wherein the pivoting of the stablizing platform is effected with a triangular movement.
14. A device as claimed in Claim 12, wherein the pivoting of the stabilizing platform is effected with a sinusoidal movement.
15. A device as claimed in Claim 12, wherein the pivoting ofthe stabilizing platform is effected with a sawtooth movement.
16. A device as claimed in Claim 12, wherein the pivoting of the stabilizing platform is effected heli cally.
17. A device as claimed in any of Claims 1 2to 16, wherein a laser range-finder is associated with the stabilizii19 platform.
a. A device as claimed in any preceding claim, wherein the original image information is fed to an image-improving unit which produces an imagecontent adoptive transfer characteristic by histogram evaluation.
s 9. A device as claimed in Claim 118, wherein the transfer characteristic is a polygonal characteristic.
20. A device as claimed in any of claims 1 to 19, wherein the image-evaluation device comprises image display means.
21. An automatic electro-optical target detection device substantially as herein described with reference to the accompanying drawings.
22. An aircraft having a device as claimed in any preceding claim.
23. An aircraft as claimed in Claim 22, wherein the relative position of a discovered object is made visible by spot projection inside the cockpit of the aircraft.
24. A method of automatically seeking detecting and/or surveying target objects comprising sensing an image, producing image information, feeding the image information through adjustable amplitude threshold means and producing digital image information, and correlating the digital image information with selectable object patterns formed from stored statistical image information.
25. A method according to claim 24, wherein the image is sensed by a sensor on a movable mounting and wherein, after successful object location, the mounting is moved to aiign on the located object.
26. A method of automatically seeking, detecting andlorsurveying target objects substantially as herein described with reference to the accompanying drawings.
27 As an independent invention the additional feature of any of claims 2to 20, 23 or25
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| DE19843432892 DE3432892A1 (en) | 1984-09-07 | 1984-09-07 | ELECTROOPTICAL TARGET |
Publications (3)
| Publication Number | Publication Date |
|---|---|
| GB8522130D0 GB8522130D0 (en) | 1985-10-09 |
| GB2165714A true GB2165714A (en) | 1986-04-16 |
| GB2165714B GB2165714B (en) | 1988-07-13 |
Family
ID=6244860
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| GB08522130A Expired GB2165714B (en) | 1984-09-07 | 1985-09-06 | Electro-optical aiming device |
Country Status (3)
| Country | Link |
|---|---|
| DE (1) | DE3432892A1 (en) |
| FR (1) | FR2570195B1 (en) |
| GB (1) | GB2165714B (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| GB2228642A (en) * | 1988-11-14 | 1990-08-29 | Smiths Industries Plc | Object location using TV camera |
| EP0427431A3 (en) * | 1989-11-08 | 1992-11-25 | Smiths Industries Public Limited Company | Navigation systems |
| EP1348101A4 (en) * | 2000-10-17 | 2005-04-20 | Electro Optic Systems Pty Ltd | AUTONOMOUS WEAPON SYSTEM |
Families Citing this family (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| DE3446975A1 (en) * | 1984-12-21 | 1986-07-03 | Industrieanlagen-Betriebsgesellschaft Mbh, 8012 Ottobrunn | Method and device for battlefield observation and tactical command |
| FR2627290B1 (en) * | 1988-02-12 | 1991-01-25 | Matra | OPTICAL TRACKING AND MEASUREMENT SYSTEM FOR A SPACE VEHICLE |
| JPH04373371A (en) * | 1991-06-24 | 1992-12-25 | Matsushita Electric Ind Co Ltd | Video camera system with thermal picture detecting means |
| DE4320485B4 (en) * | 1993-06-21 | 2007-04-19 | Eads Deutschland Gmbh | Object measuring method by means of intelligent distance image camera |
| DE4413916A1 (en) | 1994-04-21 | 1995-11-02 | Bodenseewerk Geraetetech | Passive friend / foe discrimination facility |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| GB2007455A (en) * | 1977-11-02 | 1979-05-16 | Hughes Aircraft Co | Video correleation tracker |
| GB1553607A (en) * | 1975-10-11 | 1979-09-26 | Basf Ag | 1-chloro-prop-2-ene-3-sulphonic acid compounds and their manufacture |
| EP0015844A1 (en) * | 1979-03-08 | 1980-09-17 | Alain Dominique Virnot | Method and apparatus for automatically taking bearings on board a vehicle fitted with radar |
| GB2060306A (en) * | 1979-09-26 | 1981-04-29 | Ver Flugtechnische Werke | A surface navigation system for aircraft |
| GB1590950A (en) * | 1976-12-11 | 1981-06-10 | Emi Ltd | System for comparing representations of a scene |
| EP0039263A1 (en) * | 1980-04-25 | 1981-11-04 | Thomson-Csf | Two-dimensional correlator device |
| GB2094088A (en) * | 1979-01-09 | 1982-09-08 | Emi Ltd | Correlation arrangements |
| GB2116000A (en) * | 1982-03-02 | 1983-09-14 | Elliott Bros | Guidance system |
| WO1985001794A1 (en) * | 1983-10-14 | 1985-04-25 | Navigation Sciences, Inc. | Navigation system including an integrated electronic chart display |
Family Cites Families (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| SE351302B (en) * | 1970-02-11 | 1972-11-20 | S Ahlbom | |
| DE2842684C2 (en) * | 1978-09-30 | 1982-12-30 | Licentia Patent-Verwaltungs-Gmbh, 6000 Frankfurt | Device for recognizing and tracking a target |
| GB2067744B (en) * | 1980-01-09 | 1983-11-16 | Goodyear Aerospace Corp | Digital video correlator |
| DE3214725A1 (en) * | 1982-04-21 | 1983-10-27 | Philips Patentverwaltung Gmbh, 2000 Hamburg | Method and arrangement for allocating the grey scale values of an image to other grey scale values |
-
1984
- 1984-09-07 DE DE19843432892 patent/DE3432892A1/en active Granted
-
1985
- 1985-09-06 GB GB08522130A patent/GB2165714B/en not_active Expired
- 1985-09-09 FR FR858513348A patent/FR2570195B1/en not_active Expired - Lifetime
Patent Citations (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| GB1553607A (en) * | 1975-10-11 | 1979-09-26 | Basf Ag | 1-chloro-prop-2-ene-3-sulphonic acid compounds and their manufacture |
| GB1590950A (en) * | 1976-12-11 | 1981-06-10 | Emi Ltd | System for comparing representations of a scene |
| GB2007455A (en) * | 1977-11-02 | 1979-05-16 | Hughes Aircraft Co | Video correleation tracker |
| GB2094088A (en) * | 1979-01-09 | 1982-09-08 | Emi Ltd | Correlation arrangements |
| EP0015844A1 (en) * | 1979-03-08 | 1980-09-17 | Alain Dominique Virnot | Method and apparatus for automatically taking bearings on board a vehicle fitted with radar |
| GB2060306A (en) * | 1979-09-26 | 1981-04-29 | Ver Flugtechnische Werke | A surface navigation system for aircraft |
| EP0039263A1 (en) * | 1980-04-25 | 1981-11-04 | Thomson-Csf | Two-dimensional correlator device |
| GB2116000A (en) * | 1982-03-02 | 1983-09-14 | Elliott Bros | Guidance system |
| WO1985001794A1 (en) * | 1983-10-14 | 1985-04-25 | Navigation Sciences, Inc. | Navigation system including an integrated electronic chart display |
Cited By (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| GB2228642A (en) * | 1988-11-14 | 1990-08-29 | Smiths Industries Plc | Object location using TV camera |
| US5034812A (en) * | 1988-11-14 | 1991-07-23 | Smiths Industries Public Limited Company | Image processing utilizing an object data store to determine information about a viewed object |
| GB2243740A (en) * | 1988-11-14 | 1991-11-06 | Smiths Industries Plc | Passive object location |
| GB2243741A (en) * | 1988-11-14 | 1991-11-06 | Smiths Industries Plc | Passive object ranging and sizing |
| GB2243741B (en) * | 1988-11-14 | 1993-06-23 | Smiths Industries Plc | Image processing apparatus and methods |
| GB2243740B (en) * | 1988-11-14 | 1993-06-23 | Smiths Industries Plc | Image processing apparatus and methods |
| GB2228642B (en) * | 1988-11-14 | 1993-06-23 | Smiths Industries Plc | Image processing apparatus and methods |
| EP0427431A3 (en) * | 1989-11-08 | 1992-11-25 | Smiths Industries Public Limited Company | Navigation systems |
| EP1348101A4 (en) * | 2000-10-17 | 2005-04-20 | Electro Optic Systems Pty Ltd | AUTONOMOUS WEAPON SYSTEM |
Also Published As
| Publication number | Publication date |
|---|---|
| GB8522130D0 (en) | 1985-10-09 |
| FR2570195A1 (en) | 1986-03-14 |
| DE3432892A1 (en) | 1986-03-20 |
| FR2570195B1 (en) | 1990-02-02 |
| GB2165714B (en) | 1988-07-13 |
| DE3432892C2 (en) | 1992-12-17 |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| 732E | Amendments to the register in respect of changes of name or changes affecting rights (sect. 32/1977) | ||
| PCNP | Patent ceased through non-payment of renewal fee |
Effective date: 19940906 |