Carrier tracking system

Abstract

An infrared tracker for tracking a carrier in clutter comprises a pyrotechnically heated emitter, a beam concentrator, and a blanking means all of which are mounted on the carrier, and a command link, a thermal detector, a display signal storage means, a display, and a comparator all of which are located remotely to the carrier, said command link operative to provide an emitter start-up signal and a blanking command signal, said emitter and blanking means operative in response to the command signals sent to the carrier when there is clutter present that might be confused with the carrier, respectively, to actuate the emitter and blanking means, said display storage means operative to store a first video frame of the carrier while the emitter is blanked out, and said comparator for comparing the first video frame without the emitter to a subsequent video frame including the emitter to distinguish between the clutter and the carrier.

What is claimed is: 
     
       1. A carrier tracking method for detecting, tracking, and guiding a missile having a beacon thereon comprising: (a) establishing an image of a first selected scene including only clutter;   (b) establishing the peaks of a second scene including clutter and the beacon;   (c) stabilizing the second scene with respect to the first scene;   (d) comparing the stabilized image of the second scene with the peaks of the first scene;   (e) eliminating the peaks in both scenes which correspond to each other;   (f) if more than one peak remains, selectively activating a blanking means to remove the peak produced by the beacon;   (g) identifying as clutter any remaining peaks in the scene; and   (h) activating the blanking means to return the beacon to the scene.   
     
     
       2. A carrier tracking method for detecting, tracking, and guiding a missile having a beacon thereon .Iadd.with a system which tracks the missile within a field of view, the method .Iaddend.comprising: (a) issuing a command signal to launch the missile and activate the beacon;   (b) issuing a command signal to acquire the missile for tracking;   (c) determining whether the .[.missile.]. tracking system has lost the missile and is in hand off;   (d) determining whether the missile is in the .[.missile.]. tracking system field-of-view;   (e) establishing an image of a first selected scene including only clutter to form a clutter map reference;   (f) establishing the peaks of a second scene including clutter and the beacon;   (g) stabilizing the second scene with respect to the first scene;   (h) comparing the clutter map reference with the established peaks of the first scene and .[.update.]. .Iadd.updating .Iaddend.the clutter map;   (i) eliminating the peaks in both scenes which correspond to each other;   (j) if more than one peak remains, selectively activating a shutter to remove the beacon from the scene;   (k) identifying the remaining peaks as clutter; and   (l) activiating the shutter to return the beacon to the scene.   
     
     
       3. A carrier tracking system for detecting, tracking and guiding a carrier to a destination comprising: (a) guidance means mounted on the carrier for guiding the carrier;   (b) guidance control means positioned off the carrier, said guidance control means operative to provide guidance signals to the guidance means;   (c) a beacon system, said beacon system including a beacon subsystem mounted on the carrier and a beacon detector and control subsystem positioned off the carrier, said beacon subsystem mounted on the carrier includes a beacon and means for blanking out said beacon and said beacon detector and control subsystem includes a thermal detector for mapping thermal energy emanating from a scene which includes clutter and said beacon, means for establishing thermal peaks in the scene corresponding to the clutter and the beacon, comparator means for comparing the map of thermal energy with the thermal peaks, means for selectively operating the blanking means to blank out the beacon to determine clutter and beacon identification; and   (d) means for determining guidance signals from the beacon detector and control subsystem for the guidance control means.   
     
     
       4. A carrier tracking system according to claim 3 wherein the beacon is a pyrotechnic heater. 
     
     
       5. A carrier tracking system according to claim 3 wherein the beacon is a laser. 
     
     
       6. A carrier tracking system according to claim 5 wherein the laser is a CO 2  laser. 
     
     
       7. A carrier tracking system according to claim 3 wherein the beacon is a pyrotechnic heater and the means for blanking out said beacon includes a shutter for selectively interrupting beacon emission. 
     
     
       8. A carrier tracking system according to claim 3 wherein the beacon is a laser and the means for blanking includes a means for selectively turning the laser on and off. 
     
     
       9. A carrier tracking system according to claim 4 wherein the beacon subsystem further includes an emitter mounted on a major surface of the pyrotechnic heater. 
     
     
       10. A carrier tracking system for detecting, tracking and guiding a carrier to a destination comprising: guidance means mounted on the carrier for guiding the carrier,   guidance control means positioned off the carrier, said guidance control means operative to provide guidance signals to the guidance means,   a beacon system, said beacon system including a beacon subsystem mounted on the carrier and a beacon detector and control subsystem positioned off the carrier, said beacon subsystem comprising a beacon and means for blanking out the beacon and said beacon detector and control subsystem including a thermal detector for sensing the thermal energy emanating from a scene which includes clutter and said beacon, means for selectively operating the blanking means to blank out the beacon such that the thermal detector senses only the clutter from such scene, comparison means for comparing the scene with clutter only to the scene with clutter and the beacon to distinguish the beacon from the clutter, and   means for determining guidance signals from the beacon detector and control subsystem for the guidance control means.   
     
     
       11. A carrier tracking system according to claim 10 wherein the beacon is a pyrotechnic heater. 
     
     
       12. A carrier tracking system according to claim 10 wherein the beacon is a laser. 
     
     
       13. A carrier tracking system according to claim 10 wherein said beacon is a pyrotechnic heater and said means for blanking is a shutter for selectively interrupting beacon emission. .Iadd. 
     
     
       14.  A carrier tracking method for detecting, tracking, and guiding a missile having a beacon thereon comprising: (a) establishing an image of a first selected scene including only clutter;   (b) establishing the peaks of a second scene including clutter and the beacon;   (c) eliminating the peaks in both scenes which correspond to each other;   (d) if more than one peak remains, selectively activating a blanking means to remove the peak produced by the beacon;   (e) identifying as clutter any remaining peaks in the scene; and   (f) activating the blanking means to return the beacon to the scene. .Iaddend. .Iadd.   
     
     
       15.  A carrier tracking method for detecting, tracking, and guiding a missile having a beacon thereon with a system which tracks the missile within a field of view, the method comprising: (a) issuing a command signal to launch the missile and activate the beacon;   (b) issuing a command signal to acquire the missile for tracking;   (c) establishing an image of a first selected scene including only clutter to form a clutter map reference;   (d) establishing the peaks of a second scene including clutter and the beacon;   (e) comparing the clutter map reference with the established peaks in the first scene and updating the clutter map;   (f) eliminating the peaks in both scenes which correspond to each other;   (g) if more than one peak remains, selectively activating a shutter to remove the beacon from the scene;   (h) identifying the remaining peaks as clutter; and   (i) activating the shutter to return the beacon to the scene. .Iaddend. .Iadd.   
     
     
       16.  A system for detecting and tracking a carrier on route to a destination wherein a radiation transmitting system mounted on the carrier includes a beacon and means for blanking out the beacon in order to selectively transmit radiation to a radiation detector positioned to map energy emanating from a scene which includes the carrier and provide frames of video data corresponding to the scene, said system for detecting and tracking comprising: input circuitry for receiving video data;   output circuitry to provide control data to the carrier;   means, coupled to the input circuitry, for identifying peaks in a first frame of video data which correspond to the beacon and clutter present in the scene;   means, coupled to the output circuitry, for blanking out beacon radiation in order for the input circuitry to receive video data from a second frame that does not include a peak corresponding to the beacon; and   means for comparing the first and second video frames and identifying peaks in the second frame as clutter. .Iaddend. .Iadd.17. The system of claim 16 further including means, coupled to the output circuitry, for providing carrier guidance signals based on a comparison of the first and second video frames. .Iaddend. .Iadd.18. The system of claim 16 wherein peaks identifiable in the first and second frames correspond to thermal energy detectable with an infrared night sight. .Iaddend. .Iadd.19. The system of claim 16 wherein the blanking means provides control signals for mechanically shuttering a beacon formed with a pyrotechnic heater.   
     
     
        .Iaddend. .Iadd.20.  The system of claim 16 further including means for defining a track gate about the beacon image in a segment of video data as the carrier approaches the destination and wherein said track gate serves to isolate the beacon image from clutter. .Iaddend. .Iadd.21. The system of claim 16 formed as: an electronics package comprising a microprocessor and adapted for coupling to a radiation detector; and   a controller which controls launching of the carrier, activation of the detector and activation of said means for comparing the first and second   
     
     
        video frames. .Iaddend. .Iadd.22.  A guidance processing and control system for tracking a carrier in the presence of clutter, said carrier including a beacon system for selectively transmitting radiation based on remote control signals, said processing and control system capable of tracking the carrier in conjunction with a sight and electronics of the type which outputs frames of video data based on energy emanating from a scene that includes the carrier, said system comprising: processing circuitry positioned off the carrier for tracking and guiding the carrier and for selectively controlling transmission of radiation from the beacon system to the sight; and   a storage medium containing information to correlate signal peaks in different frames of the video data and criteria for selectively controlling transmission of radiation from the beacon system to the sight,   said processing circuitry coupled to receive said information from the storage medium to   (a) generate a reference map based on the video data,   (b) compare peaks in a second frame of the video data with peaks in the reference map, and   (c) selectively control transmission of radiation to the sight. .Iaddend. .Iadd.23. The system of claim 22 wherein the sight is a thermal night sight responsive to infrared radiation. .Iaddend. .Iadd.24. The system of claim 22 wherein said processing circuitry comprises digitally based semiconductor electronics which provides signals for tracking the carrier. .Iaddend. .Iadd.25. The system of claim 22 wherein said processing circuitry is formed as:   an electronics package comprising a microprocessor and adapted for coupling to the sight; and   a controller which controls launching of the carrier, activation of the   
     
     
        sight and comparison of peaks. .Iaddend. .Iadd.26.  The processing and control system of claim 22 operable with a beacon system of the type which includes a radiation source in combination with a mechanical shutter and wherein transmission of radiation to the sight is controlled by providing signals which effect movement of the mechanical shutter. .Iaddend. .Iadd.27. The processing and control system of claim 22 wherein said processing circuitry operates to distinguish clutter from radiation transmitted from the beacon system by identifying clutter in a segment of video data acquired during a period when radiation is not transmitted from the carrier to the sight. .Iaddend. .Iadd.28. The processing and control system of claim 22 wherein said processing circuitry, when operating in conjunction with said storage medium, serves to define a track gate about an image corresponding to beacon radiation, said gate formed in segments of video data as the carrier approaches the destination to isolate the 
     
     
        beacon image from clutter. .Iaddend. .Iadd.29.  A digital processing system for tracking and guiding a carrier which includes a beacon system for transmitting radiation, based on remote control signals, to instrumentation of the type which outputs frames of video data indicative of a scene, said processing system comprising: input circuitry for receiving frames of video data output by the instrumentation and corresponding to imaged scenes containing the carrier;   output circuitry for providing control signals to the beacon system in order to transmit radiation to the instrumentation; and   data processing circuitry coupled to said input and output circuitry for (a) selectively providing the control signals to transmit radiation from the beacon system to the instrumentation and (b) comparing peaks in different frames of video data to identify data in a video frame which corresponds to the carrier. .Iaddend. .Iadd.30. The system of claim 29 wherein said selective provision of control signals by said data processing circuitry is based on identification of a predetermined condition discernable from the video data. .Iaddend. .Iadd.31. The system of claim 30 wherein the predetermined condition corresponds to identification of more than one peak in a frame of video data which results after comparing or eliminating peaks in the different video frames which correspond to one another. .Iaddend. .Iadd.32. The system of claim 29 wherein said data processing circuitry includes decision-making criteria, representable in the form of digital information, for selectively transmitting radiation from the beacon system to the   
     
     
        instrumentation. .Iaddend. .Iadd.33.  The system of claim 29 wherein said data processing circuitry includes instructional information for correlating a peak in a segment of data with the carrier by first identifying, as clutter, one or more peaks in a second segment of data acquired during a period when the instrumentation is not receiving radiation from the beacon system. .Iaddend. .Iadd.34. The system of claim 29 wherein said data processing circuitry is responsive to the presence of a clutter ambiguity in one of the scenes, said circuitry providing said output circuitry with a control signal for interrupting transmission of radiation from the beacon system to the instrumentation. .Iaddend. .Iadd.35. The system of claim 34 wherein said processing circuitry stores a segment of video data acquired during a period when radiation from the beacon system to the instrumentation is interrupted in order to compare peaks in said segment of data with peaks in a segment of data associated 
     
     
        with a different video frame. .Iaddend. .Iadd.36.  A guidance processing and control system for tracking a carrier in the presence of clutter, wherein the carrier includes a beacon system for selectively transmitting and not transmitting radiation based on remote control signals, said processing and control system capable of tracking the carrier in conjunction with a sight and electronics of the type which outputs frames of video data based on energy emanating from a scene that includes the carrier, said processing and control system positioned off the carrier and comprising: input circuitry adapted to receive segments of video data for tracking the carrier;   output circuitry adapted to provide guidance signals and control signals for the carrier;   a storage medium containing instructional information in the form of binary data; and   processing circuitry, connected to said input circuitry, said output circuitry and said storage medium, for operating on segments of video data with instructional information derived from the binary data to   (a) eliminate peaks in a first segment of data which correspond to peaks present in a second segment of data based on an initial comparison between segments, and   (b) provide a control signal to said output circuitry for selectively transmitting radiation from the beacon system to the sight in order to track the carrier. .Iaddend. .Iadd.37. The system of claim 36 wherein selective transmission of radiation from the beacon system to the sight is effected with an interrupt signal to prevent transmission and thereby prevent a frame of video data from including a peak which corresponds to the carrier. .Iaddend. .Iadd.38. The system of claim 36 wherein each segment of video data corresponds to a portion of a different frame.   
     
     
        .Iaddend. .Iadd.39.  The system of claim 36 wherein the processing circuitry, in cooperation with the instructional information, provides signals to control the beacon system for selectively not transmitting radiation to the sight in order to identify as clutter a peak remaining in the first segment of data after one or more other peaks are eliminated on the basis of the initial comparison. .Iaddend. .Iadd.40. The system of claim 36 formed as: an electronics package comprising a microprocessor and adapted for coupling to the sight; and   a controller which controls launching of the carrier, activation of the sight and the initial comparison between segments of data. .Iaddend.   
     
     
        .Iadd.1.  In a carrier tracking system for detecting, tracking and guiding a carrier to a destination, a beacon control system positionable on the carrier for receiving control commands from a remote source, said beacon control system comprising: input circuitry responsive to control signals originating off the carrier for selectively transmitting and not transmitting radiation to a location off the carrier. .Iaddend. .Iadd.42. The system of claim 41 further including an electromechanical shutter system operatively coupled to the input circuitry for effecting selective transmission of the radiation in response to the control signals. .Iaddend. .Iadd.43. The system of claim 42 wherein the shutter system, when mounted on the carrier, is responsive to the control signals to blank out the radiation with respect to the location off the carrier. .Iaddend. .Iadd.44. In a carrier tracking system for detecting, tracking and guiding a carrier, of the type which includes input circuitry for receiving guidance commands from a remote source, a beacon system positionable on the carrier and responsive to control signals originating off the carrier for selectively varying transmission   
     
     
        of radiation to a location off the carrier. .Iaddend. .Iadd.45.  The system of claim 44 wherein the beacon system comprises an electromechanical shutter system operatively coupled to the input circuitry for alternately transmitting radiation in response to the control signals. .Iaddend. .Iadd.46. In a carrier tracking system for detecting, tracking and guiding a carrier to a destination, a carrier comprising: input circuitry for receiving control signals from a remote source; and   a beacon system responsive to said control signals for selectively varying transmission of radiation to a location off the carrier. .Iaddend. .Iadd.47. The carrier of claim 46 wherein the beacon system includes a laser responsive to said control signals to alternately transmit radiation to said location. .Iaddend. .Iadd.48. In a system for detecting, tracking and guiding a carrier to a destination, a carrier comprising:   input circuitry adapted to receive guidance commands for guiding the carrier and control signals from a remote source; and   a beacon system in electrical communication with said input circuitry and responsive to receipt of said control signals by said input circuitry to selectively vary transmission of radiation to a location off the carrier.   
     
     
        .Iaddend. .Iadd.49.  The carrier of claim 48 wherein the beacon system operates to provide information to said remote source which distinguishes the carrier from clutter. .Iaddend. .Iadd.50. The carrier of claim 48 wherein said remote source operates in conjunction with a thermal night sight for viewing the carrier and wherein the beacon system provides information through the night sight to said remote source to distinguish the carrier from clutter. .Iaddend. .Iadd.51. The carrier of claim 48 wherein the carrier is a guided missile. .Iaddend.