Compound eye laser tracking device
The Compound Eye Laser Illumination Seeker (CELIS) is a tracking system used to guide items to point at a laser-illuminated target, with the illumination being either pulsed or modulated at either a specific rate or within a range of rates. The CELIS, comprising a multiaperture compound receiver optics (MACRO) to collect the signal, a set of light guides to combine the received light into light representing individual angular sectors and redirect it to detectors whose output represents the illumination signal in that quadrant, a spectral filter, an angle filter, the set of detectors, and processing electronics. The output is an electronic signal indicating the angular difference between the pointing direction of the signal and the pointing direction of the tracking device.
1. A method for tracking an object, comprising:
(a) providing a tracking system having at least two optical trackers, each optical tracker having a lens array;
(b) collecting a signal with the lens array of each optical tracker;
(c) filtering each signal, selecting specific wavelengths or wavelength ranges, and limiting the angular field of view of each lens for each optical tracker;
(d) directing each filtered signal to one or more photodetectors-for each optical tracker;
(e) processing the output of the one or more photodetectors for each optical tracker so that a correction signal is produced, which describes an angular difference between a pointing direction of the correction signal and a pointing direction of a tracking device;
(f) sending the correction signals to a direction control system for implementation, wherein the optical trackers are separated by a known distance, and have a known value of relative alignment; and
(g) using parallax to determine the distance to the object and thereby locating the object in three dimensions.
2. The method of claim 1 wherein the lens array is mounted to a curved surface.
3. The method of claim 1 wherein the filtering step comprises utilizing two holographic optical elements integrated on a flat glass substrate.
4. The method of claim 1 wherein the step of directing the signal to one or more photodetectors utilizes an optical fiber bundle.
5. The method of claim 1 wherein the step of directing the signal to one or more photodetectors utilizes a light guide.
6. The method of claim 1 wherein filtering the signal to limit angular field of view is with the light guide.
7. The method of claim 1 wherein filtering the signal to select specific wavelengths is with one or more optical bandpass filters.
8. The method of claim 7 wherein each optical bandpass filter is formed from a combination of a shortpass filter and a longpass filter.
9. The method of claim 1 wherein the one photodetector comprises a single detector whose output indicates the position of a light on the detector.
10. A method for tracking an object, utilizing a compound eye laser illumination seeker system, said system comprising at least two multi aperture compound receiver optics, each optic having a lens array, the lens array being aligned with a light guide array, a spectral and angle filter for eliminating extraneous light and sending a signal to a set of detectors for each receiver optic; a processor for processing the output to calculate a correction signal for each receiver optic separately, said spectral and angle filter comprising a holographic optical lens integrated on a flat transparent substrate and a direction control system for receiving the correction signal and implementing the correction signal, knowing a value of relative alignment with the other optic, using parallax to determine the distance to the object and thereby locating the object in three dimensions.
11. The compound eye laser illumination seeker of claim 10 wherein each set of detectors comprise four photo detectors.
12. The illumination seeker of claim 10 including the step of filtering the signal with a substrate guided holographic relay utilizes a combined angular and spectral filter.
13. The method of claim 10 , including the steps of
interpreting the signals describing the angles between each optical tracker and a target as angles;
knowing the distance between each optic;
interpreting the combination of the angles and known distances between the optical trackers as a parallax measurement;
and using the parallax measurement to determine the distance to the target.
14. The method of claim 13 which the distances and angles are combined to define a target location in three dimensions.
15. The method of claim 13 in which the distance to the target is used to control the distance between the tracking device and a target.
16. The method of claim 14 in which the target is moving.
17. The method of claim 13 used for situational awareness to prevent a collision between the tracking device and the target.
18. The method of claim 13 used for situational awareness to keep two or more targets in constant positions relative to each other.