US 12,260,634 B2
Attitude error observations from image relative motions
Andrew Michael Beard, Healdsburg, CA (US); and James Suriano, Windsor, CA (US)
Assigned to L3Harris Technologies, Inc., Melbourne, FL (US)
Filed by L3Harris Technologies, Inc., Melbourne, FL (US)
Filed on Mar. 1, 2023, as Appl. No. 18/176,820.
Prior Publication US 2024/0296672 A1, Sep. 5, 2024
Int. Cl. G06V 20/17 (2022.01); G05D 1/00 (2024.01); G08G 5/00 (2006.01)
CPC G06V 20/17 (2022.01) [G05D 1/0094 (2013.01); G05D 1/0808 (2013.01); G05D 1/101 (2013.01); G08G 5/003 (2013.01)] 17 Claims
OG exemplary drawing
 
1. A method comprising:
determining a target in a line of sight of an imaging device mounted to an aircraft;
acquiring a plurality of images from the imaging device while steering the aircraft through a trajectory about the target;
determining a first mapping of a first fixed reference feature in the plurality of images;
determining a second mapping of a second fixed reference feature in the plurality of images; and
determining an error in an orientation of the imaging device by comparing a common feature of the first mapping and the second mapping to the target.