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1. 发明授权

US08159387B1 Multi-transmitter interferometry 失效
标题翻译：多发射干涉测量
公开(公告)号：US08159387B1
公开(公告)日：2012-04-17
申请号：US12798170
申请日：2010-03-15
申请人： Jose Fernandez , Richard Rikoski , John Stroud
发明人： Jose Fernandez , Richard Rikoski , John Stroud
IPC分类号： G01S13/42 , G01S3/80
CPC分类号： G01S15/46 , G01S13/48
摘要： Systems and methods for obtaining target elevation information are disclosed. The systems and methods use multiple vertical transmitters and one or more receivers to infer changes in the elevation plane and the height of objects. Changes in elevation and heights of objects are inferred from path length differences between the transmitters and a particular backscattering point. Using known geometric information regarding the configuration of the transmitters, propagation time differences can be estimated via time delay estimation methods in either the time or frequency domain. Appropriate modulation schemes are used such that the multiple signals transmitted are separable upon reception.
摘要翻译：公开了用于获得目标高程信息的系统和方法。系统和方法使用多个垂直发射器和一个或多个接收器来推断仰角平面中的变化和物体的高度。物体高程和高度的变化由发射机与特定的后向散射点之间的路径长度差异推断出来。使用关于发射机的配置的已知几何信息，可以通过时域或频域中的时间延迟估计方法估计传播时间差。使用适当的调制方案，使得发送的多个信号在接收时是可分离的。

2. 发明授权

US08213740B1 Coherent image correlation 有权
标题翻译：相干图像相关
公开(公告)号：US08213740B1
公开(公告)日：2012-07-03
申请号：US12454485
申请日：2009-05-18
申请人： Richard Rikoski
发明人： Richard Rikoski
IPC分类号： G06K9/64
CPC分类号： G01S15/8904
摘要： Systems and methods for coherent image correlation are provided. The systems include sonars with overlapping frequencies that observe terrain from overlapping aspects to form sonar images. First and second sonar images are formed and are grazing angle compensated. The first image is formed using the open or closed aperture theorem. Forming the second image using the open or closed aperture theorem constraint is optional. If the first and second images are not aligned, a range of possible rotations can be defined and image pairs can be created for a sampling of rotational angles. In addition, the images can be aspect compensated to remove windowing and beam pattern effects, if necessary. Once both images are grazing angle compensated and aligned, values are calculated for each possible image shift. To obtain a correlation image, the correlation coefficient for each possible image shift is calculated.
摘要翻译：提供了相干图像相关的系统和方法。这些系统包括具有重叠频率的声纳，从重叠的方面观察地形以形成声呐图像。形成第一和第二声纳图像并进行掠角补偿。第一个图像使用开放或闭合孔径定理形成。使用开放或闭合孔径定理约束形成第二个图像是可选的。如果第一和第二图像不对准，则可以定义可能旋转的范围，并且可以为旋转角度的采样创建图像对。此外，如果需要，可以对图像进行纵向补偿以消除窗口和波束图案效果。一旦两幅图像都进行了放角补偿和对准，则为每个可能的图像偏移计算值。为了获得相关图像，计算每个可能的图像偏移的相关系数。

3. 发明授权

US08639475B1 System and method for spatially invariant signal detection 有权
标题翻译：用于空间不变信号检测的系统和方法
公开(公告)号：US08639475B1
公开(公告)日：2014-01-28
申请号：US12454486
申请日：2009-05-18
申请人： Richard Rikoski
发明人： Richard Rikoski
IPC分类号： H04B15/00
CPC分类号： G01S15/8904 , G01S13/9035
摘要： A system and method of signal detection from a given point, in which a radiative aperture, such as a sonar sensor, radar antenna, acoustic sensor, or the like, receives radiation from the point at more than one range. At each range, the signal incident on each point within the aperture is weighted by the cosine of the angle between a surface normal at the point on the aperture, and a vector from the point on the aperture to the given point. The physical size and shape of the aperture may also be changed to cause the aperture to subtend the same solid angle having the given point as the vertex, at each range. In this manner, the signal from the given point becomes aperture shape independent, facilitating object recognition and imaging.
摘要翻译：从给定点的信号检测的系统和方法，其中诸如声纳传感器，雷达天线，声传感器等的辐射孔从多于一个范围的点接收辐射。在每个范围内，入射在孔径内的每个点上的信号由孔径上的点处的表面法线与从孔径上的点到给定点的矢量之间的角度的余弦加权。孔径的物理尺寸和形状也可以改变，以使得孔径在每个范围上对准具有给定点的相同立体角作为顶点。以这种方式，来自给定点的信号变得与孔形状无关，便于物体识别和成像。

4. 发明授权

US08326081B1 Correlation image detector 有权
标题翻译：相关图像检测器
公开(公告)号：US08326081B1
公开(公告)日：2012-12-04
申请号：US12454484
申请日：2009-05-18
申请人： Richard Rikoski
发明人： Richard Rikoski
IPC分类号： G06K9/64
CPC分类号： G06K9/6277 , G06K9/6201 , G06K2209/21
摘要： A correlation image detector is provided that co-registers sonar images by finding peaks in correlation images. To obtain the peaks, the mean of the absolute values of the correlation coefficients in the correlation image is found and the Rayleigh parameter is determined from the mean. Based on the Rayleigh parameter, an appropriate threshold can be determined using a desired probability of false detection. The threshold can be chosen such that the probability of a single false detection over the expected life of the mission for which correlation detection is being performed is extremely low, e.g., one in a million. The peak value in the image is determined and a correlation is considered detected when the peak value is greater than the product of the threshold and the Rayleigh parameter. If a detection occurs, the correlation image detector returns the transformation that co-registers the two images.
摘要翻译：提供了一种相关图像检测器，其通过在相关图像中发现峰值来共同记录声纳图像。为了获得峰值，找到相关图像中的相关系数的绝对值的平均值，并从平均值确定瑞利参数。基于瑞利参数，可以使用期望的错误检测概率来确定适当的阈值。可以选择阈值，使得在执行相关检测的任务的预期寿命期间的单个错误检测的概率非常低，例如百万分之一。当峰值大于阈值和瑞利参数的乘积时，确定图像中的峰值，并考虑检测相关性。如果发生检测，则相关图像检测器返回共同对两个图像进行注册的变换。

5. 发明授权

US08379087B1 Attitude estimation using ground imagery 有权
标题翻译：使用地面图像的态度估计
公开(公告)号：US08379087B1
公开(公告)日：2013-02-19
申请号：US11890099
申请日：2007-07-16
申请人： Richard Rikoski
发明人： Richard Rikoski
IPC分类号： H04N7/18
CPC分类号： G01S13/605 , G01S13/89 , G01S15/60 , G01S15/89
摘要： Vehicle attitude is estimated relative to a ground surface over which the vehicle is traveling. An actual image of the ground surface over which the vehicle is traveling is compared with stored or predicted model images of the ground surface. The model images have corresponding known vehicle attitudes associated therewith. For one of the model images that most closely matches the actual image, the known vehicle attitude associated therewith is an estimate of an actual vehicle attitude relative to the ground surface over which the vehicle is traveling.
摘要翻译：相对于车辆行驶的地面估计车辆姿态。将车辆行驶的地面的实际图像与地面的存储或预测的模型图像进行比较。模型图像具有与其相关联的对应的已知车辆姿态。对于与实际图像最接近匹配的模型图像之一，与其相关联的已知车辆姿态是相对于车辆行驶的地面的实际车辆姿态的估计。

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