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US-RE50889-E1 - System and method for tracking an object

Abstract

A mobile tracking system including an antenna, gimbal, and GPS subsystem. The mobile tracking system is operable with a plurality of models of gimbal and can automatically determine gimbal parameters based upon a detected model. This allows for plug and play of several gimbal models without the need for further input provided by a user. The mobile tracking system can also identify positional information for the system itself as well as for a tracked node, and can provide gimbal pan/tilt instructions based upon both. This allows for accurate tracking in an environment where the MTS itself is moving.

Inventors

  • Marcus Tooker
  • Travis Worrick
  • Chris Kluckhuhn
  • John Patrick Farrell
  • Ryan Kowalske

Assignees

  • TECHNOLOGY SERVICE CORPORATION

Dates

Publication Date
20260512
Application Date
20241120

Claims (15)

  1. 1 . A mobile tracking system, comprising: an antenna configured to track an object; a gimbal comprising a gimbal motor and configured to control at least one of a pan or tilt associated with the antenna; a GPS module configured to identify a position of the mobile tracking system; a processor configured to determine a model type of the gimbal and, responsive to the determined model type, determine a plurality of gimbal parameters specific to the determined model type, the plurality of gimbal parameters comprising a number of positions per degree associated with a gimbal motor and automatic stabilization parameters; wherein the antenna is moved, via the gimbal, at least partially based on the processor sending at least one of a pan or tilt position to the gimbal calculated at least partially from mobile tracking system position information and the plurality of gimbal parameters, whereby the processor has used a quantity of pan or tilt positions per degree corresponding to the plurality of gimbal parameters for the model type of the gimbal that controls the antenna; and Cursor on Target (COT) subsystem configured to receive position updates of the tracked object.
  2. 2 . The system of claim 1 , wherein the antenna comprises a dish or satellite dish.
  3. 3 . The system of claim 1 , further comprising a radio.
  4. 4 . The system of claim 1 , wherein the gimbal comprises one of a first gimbal unit or a second gimbal unit, the first gimbal unit having gimbal parameters that are distinct from the second gimbal unit.
  5. 5 . The system of claim 4 , wherein the first gimbal unit or the second gimbal unit can be swapped in the mobile tracking system without further user input.
  6. 6 . The system of claim 1 , further comprising a frame configured to receive at least one of the antenna, gimbal, GPS module, or processor.
  7. 7 . The system of claim 6 , wherein the frame is mounted to a mounting object, comprising at least one of a stationary mounting object or a moving mounting object.
  8. 8 . The system of claim 1 , wherein the object comprises at least one of a helicopter, airplane, or unmanned aerial vehicle.
  9. 9 . The system of claim 1 , wherein the plurality of gimbal parameters comprise control parameters that control speed and acceleration of the gimbal.
  10. 10 . The system of claim 1 , wherein the position updates of the 2 tracked object are received by the COT subsystem at a frequency of 1 Hz.
  11. 11 . A method of tracking an object using a mobile tracking system, comprising: receiving a position information for an object to be tracked, comprising at least one of GPS coordinate or heading; determining position information for the mobile tracking system, comprising at least one of GPS coordinate or heading corresponding to the mobile tracking system; determining a type of gimbal associated with the mobile tracking system; determining at least parameter plurality of gimbal parameters corresponding to the determined gimbal type, the plurality of gimbal parameters comprising a number of positions per degree of a gimbal motor and automatic stabilization parameters; moving an antenna, via the gimbal, based upon the position information for the object, the position information for the mobile tracking system, and the plurality of gimbal parameters; and operating a Cursor on Target (COT) subsystem that receives position updates of the tracked object.
  12. 12 . The method of claim 11 , wherein the gimbal comprises one of a first gimbal unit or a second gimbal unit, the first gimbal unit having gimbal parameters that are distinct from the second gimbal unit.
  13. 13 . The method of claim 11 , wherein the mobile tracking system is mounted to a moving object.
  14. 14 . The method of claim 12 , further comprising swapping the first gimbal unit with the second gimbal unit without further user input to the mobile tracking system.
  15. 15 . The method of claim 12 , wherein the object comprises at least one of a helicopter, airplane, or unmanned aerial vehicle.

Description

More than one reissue application has been filed for the reissue of U.S. Pat. No. 11,538,348. The reissue applications are application Ser. No. 18/953,961 (the present application); and application Ser. No. 19/400,355, which is a divisional reissue of U.S. Pat. No. 11,538,348. FIELD OF THE INVENTION The present disclosure relates to a system and method for tracking an object. BACKGROUND OF THE INVENTION Certain prior art systems suffer three main disadvantages: setup location, complexity of components and overall assembly time. First, a tracking system is rarely set up in proximity to where the received data's final destination. Often, a tracking system goes on top of a nearby mountain or on the roof of the highest nearby building, and the data is routed down to a lower location where the end user ultimately receives the live data. These locations are usually difficult to get to, whether it be hiking up a hillside or climbing up an enclosed ladder. Tracking antennas will always perform better at these types of locations with a higher vantage. If the overall size of the tracking system were to be smaller and more manageable, setup would be simpler and ultimately faster for the end user. Second, the number of components associated with older and larger tracking systems was a huge source of frustration. There are roughly 60 individual parts including nuts, bolts and critical items like RF cables, feedhorns and a parabolic dish that all break down into multiple pieces. Finally, overall assembly time was a huge limiting factor, especially in an ever changing environment. By design, MANETs are rapidly deployed to support highly dynamic mission requirements. Current tracking systems take 1 to 2 people roughly 30-45 minutes to set up. This was often unacceptable or unrealistic given mission requirements. SUMMARY OF THE INVENTION The present disclosure overcomes the disadvantages of the prior art by providing a mobile tracking system (MTS) that successfully enables Mobile Ad Hoc Networking (MANET) radios to carry 1 Mbps out to 132 miles. With proper radio settings and a clean RF environment, up to 30 Mbps at 30 miles and 15 Mbps at 60 miles are achievable. Further, the present system is modular and includes as few as 2 pieces out of the box. This provides unparalleled value to an end user. Finally, initialization of the present system takes only approximately 3 minutes to initialize and is fully operational. Advantageously, the MTS can be lightweight and have a small form factor. The MTS needs only minimal mechanical setup required, can provide automatic heading calculation, and has a radio agnostic, modular design; allowing for hot-swapping of radios in seconds. The MTS can include an integrated Inertial Navigation System (INS), built-in gimbal stabilization, and can be Cursor on Target (CoT) compatible. The MTS can include a web-based Graphical User Interface (GUI) and can be compatible with Single Input, Single Output (SISO) and Multiple Input, Multiple Output (MIMO) networks. Further, the MTS need not be static like tracking systems of the prior art. With the INS and Gimbal Stabilization, the MTS has the capability to be used in maritime and vehicular environments without RF degradation or attenuation during pitch and rolls. One aspect of the disclosure provides a mobile tracking system, comprising: an antenna configured to track an object; a gimbal configured to control at least one of a pan or tilt associated with the antenna; a GPS module configured to identify a position of the mobile tracking system; a processor configured to determine a model type of the gimbal and, responsive to the determined model type, determine one or more gimbal parameters specific to the determined model type. In one example, the antenna comprises a dish or satellite dish. In one example, the system further includes a radio. In one example, the gimbal comprises one of a first gimbal unit or a second gimbal unit, the first gimbal unit having gimbal parameters that are distinct from the second gimbal unit. In one example, the gimbal parameters are a number of positions per degree. In one example, the first gimbal unit or the second gimbal unit can be swapped in the mobile tracking system without further user input. In one example, the system further includes a frame configured to receive at least one of the antenna, gimbal, GPS module, or processor. In one example, the frame is mounted to a mounting object, comprising at least one of a stationary mounting object or a moving mounting object. In one example, the object comprises at least one of a helicopter, airplane, or unmanned aerial vehicle. Another aspect of the disclosure provides a method of tracking an object using a mobile tracking system, comprising: receiving a position information for an object to be tracked, comprising at least one of GPS coordinate or heading; determining position information for the mobile tracking system, comprising at least one of GPS coordinate or head