Three-dimensional mapping using LIDAR-equipped spin projectile

Abstract

A method of three-dimensional mapping using a projectile equipped with LIDAR, the method comprising: transmitting a signal to a light source to cause the light source to emit a plurality of light pulses, the light source being located on a spin projectile advancing along a predetermined path; receiving a plurality of reflected light pulses at the spin projectile, the plurality of reflected light pulses being responsive to the plurality of light pulses reflected from the object or terrain portion; determining a distance of the object or terrain portion from the light source; and generating a three-dimensional map of the object based on the determined distance of the object or terrain portion from the light source.

Description

priority

[0001] This application claims priority to U.S. Provisional Patent Application No. 63 / 542,576, filed on October 5, 2023, the contents of which are incorporated herein by reference in their entirety. Technical Field

[0002] This disclosure relates to the three-dimensional mapping of landscapes and structures using projectiles. Background Technology

[0003] In some applications, it is necessary to map the landscape, including objects and obstacles, where the observer does not have a direct line of sight to the landscape, or may have difficulty utilizing such a line of sight. For example, in military applications, soldiers may want to know the landscape and obstacles in front of them in order to locate the enemy, identify weapons, and detect defensive structures. In industrial applications, another example may involve interior spaces, such as large pipelines, where internal obstructions and cracks will be located and identified.

[0004] 3D mapping can be challenging if random obstacles obstruct the view and the gaps are narrow enough to provide sufficient useful data. Existing systems use cameras to photograph the environment and then construct a 3D photogrammetric reconstruction. Cameras mounted at the end of cables have limited range and can be carried by vehicles. Drones can carry cameras, but they tend to be large, slow, expensive (especially if lost), and noisy. Therefore, there is a need for 3D mapping of landscapes and structures that may be difficult to traverse. Summary of the Invention

[0005] Various methods and systems are provided for 3D mapping using a projectile equipped with LiDAR. The method includes: transmitting a signal to a light source to cause the light source to emit a plurality of light pulses, the light source being located on a spin projectile advancing along a predetermined path; receiving a plurality of reflected light pulses at the spin projectile, the plurality of reflected light pulses being responsive to the plurality of light pulses reflected from an object or terrain portion; determining the distance of the object or terrain portion from the light source; and generating a 3D map of the object or terrain portion based on the determined distance from the light source.

[0006] A projectile includes: a LIDAR scanner; a LIDAR sensor; and control circuitry for: emitting light pulses via the LIDAR scanner; receiving reflected light pulses via the LIDAR sensor, wherein the reflected light pulses are in response to light pulses reflected from an object or terrain portion; recording a first time of emitting the light pulses; and recording a second time of receiving the reflected light pulses.

[0007] A system comprising control circuitry configured to: receive from a light source mounted on a projectile a plurality of first time signals instructing the light source to emit a plurality of light pulses; receive from a light source mounted on a projectile a plurality of second time signals instructing the receipt of a plurality of reflected light pulses at the projectile, wherein the plurality of reflected light pulses are in response to the plurality of light pulses reflected from an object or terrain portion; determine the distance of the object from the light source; and generate a three-dimensional map of the object or terrain portion. Attached Figure Description

[0008] Example aspects of this disclosure are described below with reference to the accompanying drawings, in which:

[0009] Figure 1 A block diagram of a system for three-dimensional mapping using a spin projectile equipped with a LiDAR is shown.

[0010] Figure 2 A block diagram of a system for three-dimensional mapping using a spin projectile equipped with a LiDAR is shown, the system having a single basic unit;

[0011] Figure 3 Is Figure 1 or Figure 2 A perspective view of the projectile used in the system;

[0012] Figure 4 An example is illustrated of a method for providing three-dimensional mapping, executed by control circuitry used in a spin projectile; and

[0013] Figure 5 An example is given of a method for providing three-dimensional mapping, executed by control circuitry used in a projection device or basic unit.

[0014] Reference numerals for any illustrated element appearing in multiple different figures have the same meaning in all figures, and any reference or discussion of any illustrated element in the context of any particular figure also applies to every other figure (if any) in which the same illustrated element is shown. Detailed Implementation

[0015] According to one aspect, the projectile may be equipped with a light detection and ranging (LIDAR) device, a gravity axis sensor, and a radio frequency (RF) transmitter. The base station may have an RF receiver, control circuitry, and a display. A gun or other projection device can propel the projectile into flight and cause it to spin throughout its flight, such that any point radially deviating from the projectile's longitudinal axis follows a helical path. The projection device can be aimed at a target direction to project the projectile along a desired flight path. The projectile can penetrate narrow spaces, and data collected by the LIDAR device can be used to provide a three-dimensional area mapping.

[0016] Figure 1 A block diagram illustrating a system for three-dimensional mapping using a spin projectile equipped with a LiDAR is shown. System 100 includes a projection device 110 and a projectile 120. The projection device 110 can be any device for firing, projecting, or otherwise propelling the projectile 120. The projection device 110 causes the projectile 120 to spin about its longitudinal axis as it is in flight, such that any point radially deviating from the longitudinal axis of the projectile 120 can follow a helical path. For example, the projection device 110 may have an internally rifled barrel through which the projectile 120 is forced to induce spin flight of the projectile 120. Alternatively, the projection device 110 may have a smooth-bore barrel, and the projectile 120 may be equipped with fins or wings to cause the projectile 120 to spin during flight, such as relative to... Figure 3 A more detailed description.

[0017] The projection device 110 may include a display 130, control circuitry 140, and an RF receiver 150. The display 130 may be used to display a three-dimensional map or image of the environment (e.g., terrain) and objects along the flight path of the projectile 120. The display may be a liquid crystal display (LCD), a light-emitting diode (LED) display, a plasma display, an organic light-emitting diode (OLED) display, or any other suitable display.

[0018] The control circuit 140 can be implemented using any suitable combination of analog and digital circuitry, such as a suitable microprocessor, microcontroller, control board, or other computing device with input and output interfaces for communication with other devices, as well as memory or other storage devices for program logic / instructions. The control circuit 140 executes this program logic / instructions to transmit and receive signals and process data. The control circuit 140 can receive data from the projectile 120, process the data, and generate a three-dimensional map or image of the area surveyed by the projectile 120 on the display 130, such as relative to... Figure 5 A more detailed description.

[0019] RF receiver 150 may include an antenna and receiver circuitry (not explicitly shown) to receive wireless transmissions from projectile 120. RF receiver 150 may communicate using any suitable wireless communication RF protocol. The RF protocol may have data encryption or no data encryption when low latency may be desired. In some examples, RF receiver 150 may use a peer-to-peer network to communicate with projectile 120.

[0020] Projectile 120 may be a single-use or multi-use device. Projectile 120 may include a LiDAR device 160, a gravity axis sensor 170, an RF transmitter 180, a beacon 190, and a Global Navigation Satellite System (GNSS) receiver 195. GNSS receiver 195 may be a Global Positioning Satellite (GPS) receiver.

[0021] LIDAR device 160 may include LIDAR scanner 162, LIDAR sensor 164, control circuitry 166, and memory 168. LIDAR scanner 162 is a light source that emits rapid pulses of ultraviolet, visible, or near-infrared laser light into the environment surrounding projectile 120. These pulses, traveling at the speed of light, bounce off surrounding objects or terrain features, and the reflected light pulses return to LIDAR sensor 164. LIDAR sensor 164 detects and collects data about the returning reflected light pulses, including but not limited to the amount of time elapsed between the LIDAR scanner 162 sending a corresponding light pulse and receiving the reflected light energy in response to the corresponding light pulse. Although only a single LIDAR sensor 164 is shown, this is not intended to limit the scope in any way. In some examples, multiple LIDAR sensors 164 are provided. The control circuit 166 can be implemented using any suitable combination of analog and digital circuitry, such as a suitable microprocessor, microcontroller, control board, or other computing device with input and output interfaces for communication with other devices, and memory 168 or other storage devices for program logic / instructions. The control circuit 166 executes this program logic / instructions to transmit and receive signals and process data. Memory 168 can be random access memory (RAM), read-only memory (ROM), volatile memory, non-volatile memory, registers, or any other suitable memory.

[0022] Control circuitry 166 can measure the difference between the emission time of a corresponding light pulse of the LIDAR scanner 162 and the reception time of the reflected light energy in response to the corresponding light pulse for some or all of the pulses, and can calculate the distance traveled by each pulse to compile a dataset called a LIDAR point cloud. Because the speed of the laser is constant, control circuitry 166 can use the "time of flight" to calculate very precise distances to surrounding objects or terrain features. These distances can be used to create a 3D map of the surrounding objects or terrain features along the flight path of projectile 120. In some examples, data about the emitted and reflected light pulses can be transmitted by control circuitry 166 to projection device 110 using RF transmitter 180, and this data can be processed by control circuitry 140 to create the LIDAR point cloud and 3D map.

[0023] The LIDAR scanner 162 can be positioned relative to the projectile 120 such that it emits a beam of light or infrared light at an angle substantially perpendicular to the flight path of the projectile 120 (i.e., to the longitudinal axis of the projectile 120). For example, the LIDAR scanner 162 can be positioned on the side of the projectile 120. Similarly, the LIDAR sensor 164 can also be positioned on the side of the projectile 120, adjacent to or opposite the LIDAR scanner 162, or positioned relative to the LIDAR scanner at any suitable location. As the projectile 120 spins in the air along its generally horizontal flight path, the beam emitted by the LIDAR scanner 162 sweeps across the terrain in a direction substantially perpendicular to the flight path of the projectile 120.

[0024] The gravity axis sensor 170 can be a sensor for determining the direction of gravity, such that the three-dimensional map generated by the control circuit 140 can be oriented with reference to the Earth's surface. The gravity axis sensor 170 can be an accelerometer or any other suitable sensor for detecting the direction of Earth's gravity.

[0025] RF transmitter 180 is used to transmit information from LIDAR device 160 to RF receiver 150 on projection device 110. For example, RF transmitter 180 can transmit data from LIDAR device 160, gravity axis sensor 170, and GNSS receiver 195 to projection device 110. RF transmitter 180 can use any suitable RF or peer-to-peer protocol to communicate with RF receiver 150. Due to the potential expectation of low latency, the RF protocol may not require data encryption. In some examples, RF transmitter 180 may use a peer-to-peer network to communicate with projection device 110.

[0026] Beacon 190 may be included in projectile 120 to help the user locate and retrieve projectile 120 after use. Beacon 190 may be a radar reflector, radio, sound or visual beacon, or any other suitable device for locating projectile 120.

[0027] In addition to or as a replacement for beacon 190, a GNSS receiver 195 may be included in projectile 120 to assist the user in locating and retrieving projectile 120 after use. The GNSS receiver 195 can locate global navigation satellites, determine the distance to each satellite, and use the distance information to determine the position of projectile 120. An RF transmitter 180 can be used to transmit the position information back to projection device 110. Therefore, in some examples, beacon 190 may not be provided. In another example, information received from the GNSS receiver 195 may be transmitted to projection device 110, which can determine the distance to each satellite and use the distance information to determine the position of projectile 120.

[0028] Figure 2 This is a block diagram of a system for 3D mapping using a spin projectile equipped with a LiDAR, the system having individual basic units. In some examples, Figure 1 One or more of the display 130, control circuitry 140, and RF receiver 150 shown may be located in a device separate from the projection device 110, such as Figure 2 As shown.

[0029] System 200 includes a basic unit 215 separate from the projectile device 210. The similarity between the projectile device 210 and the projectile device 110 may be that the projectile device 210 is any device for firing or projecting a projectile 220. The projectile device 210 may cause the projectile 220 to spin during flight, such that any point radially deviating from the longitudinal axis of the projectile 220 may follow a helical path. For example, the projectile device 210 may have an internally rifled barrel through which the projectile 220 is forced to induce a spin flight of the projectile 220. Alternatively, the projectile device 210 may have a smooth-bore barrel, and the projectile 220 may be equipped with fins or wings to cause the projectile 220 to spin during flight. The projectile 220 may be similar to... Figure 1 The projectile 120 is described.

[0030] The basic unit 215 performs RF data reception and processing and can be separate from the projection device 210. The basic unit 215 may include a display 230, control circuitry 240, and RF receiver 250. The display 230, control circuitry 240, and RF receiver 250 may be respectively analogous to those relative to… Figure 1 The described components include a display 130, control circuitry 140, and RF receiver 150. In some examples, the basic unit 215 may be a personal computer, a handheld computer, or a wearable device.

[0031] Figure 3 Is Figure 1 or Figure 2 A perspective view of the projectile used in the system. The projectile 320 can be similar to the projectiles relative to each other. Figure 1 and Figure 2 The projectile 120 or projectile 220 is described. Projectile 320 includes a LIDAR device 360, which can be analogous to... Figure 1The described LIDAR device 160. As indicated above, although the LIDAR device 360 ​​is illustrated in a single location on the outer portion of the projectile 320, the LIDAR device 360 ​​may include a plurality of LIDAR sensors 164 positioned circumferentially equidistantly around the projectile body so as to detect reflections regardless of the rotational positioning of the projectile body when a reflection is received. In other examples, a plurality of pairs of LIDAR scanners 162 and LIDAR sensors 164 may be provided, circumferentially equidistantly around the projectile body, to emit light pulses and detect light reflections regardless of the rotational positioning of the projectile body when a pulse is emitted. One or more control circuits 166 may be provided for the plurality of LIDAR sensors 164 or for a plurality of pairs of LIDAR scanners 162 and LIDAR sensors 164.

[0032] During flight, the projectile 320 spins about its longitudinal axis 330 in direction 305. The velocity of the projectile 320 can be subsonic (less than about 340 m / s in dry air at sea level). In some examples, the projectile 320 may begin to spin upon being launched from a projectile device with an internally rifled barrel. Alternatively or otherwise, the projectile 320 may spin due to fins 325 on its outer surface. The fins 325 may be arranged in a helical configuration such that the fins cause the projectile 320 to spin about its longitudinal axis 330 as air flows around them. The fins 325 may also provide additional in-flight stability as the projectile 320 travels along its flight path.

[0033] The LIDAR device 360 ​​can be positioned on the longitudinal side of the projectile 320 such that it emits a beam or infrared beam at an angle substantially perpendicular to the flight path of the projectile 320. Therefore, as the projectile 320 spins in the air along its normally horizontal flight path, the beam emitted by the LIDAR device 360 ​​sweeps across the terrain in a direction substantially perpendicular to the flight path of the projectile 320.

[0034] Figure 4 An example is illustrated of a method for providing a three-dimensional mapping, executed by control circuitry used in a spin projectile. Method 400 can be implemented using control circuitry (such as control circuitry 166 communicating with control circuitry 140) or any other system operable to implement method 500. Although examples have been described above, other variations and examples may be made according to this disclosure without departing from the spirit and scope of these disclosed examples. Thus, portions of the method may be executed by control circuitry 166, and portions of the method may be executed by control circuitry 140 or control circuitry 240, but are not limited thereto.

[0035] Method 400 begins at block 405, where control circuitry (e.g., control circuitry 166) signals a light source to cause the light source to emit multiple light pulses. The light source can be a LiDAR scanner, such as... Figure 1 The LIDAR scanner 162 shown can emit rapid pulses of ultraviolet, visible, or near-infrared laser light into the environment surrounding the light source.

[0036] At block 410, control circuitry (e.g., control circuitry 166) detects the reception of multiple reflected light pulses. At block 405, pulses emitted by the light source may bounce off parts of objects or terrain in the environment surrounding the light source, and the reflected light pulses return to the sensor, such as... Figure 1 The LIDAR sensor 164 shown is shown.

[0037] At block 412, a control circuit (e.g., control circuit 166) can transmit the time of transmitting at least one of the plurality of light pulses and the time of receiving at least one of the plurality of reflected light pulses. The control circuit can use an RF transmitter (such as RF transmitter 180) to transmit these times to a projection device or base unit, such as projection device 110 or 210 or base unit 215. The control circuit can also record the times in a memory, for example... Figure 1 The memory shown is 168.

[0038] At box 415, control circuitry (e.g., control circuitry 140 or 240) determines the distance of the object from the light source. The control circuitry measures the difference between the emission time of a pulse emitted at box 405 and the return time of a reflected pulse detected at box 410, and calculates the distance traveled by each pulse to compile a dataset called a LIDAR point cloud. Because the speed of the laser is constant, the control circuitry can use the "time of flight" to calculate a very precise distance to the object or terrain as the projectile travels along its flight path. At box 420, the control circuitry can generate a 3D map of the object or terrain based on the distance determined at box 415. In some examples, control circuitry 140 or 240 may execute box 420 after receiving data transmitted from control circuitry 166 via RF transmitter 180 (box 412) and received by RF receiver 150 or RF receiver 250.

[0039] At box 425, control circuitry (e.g., control circuitry 140 or control circuitry 240) may receive a gravity axis signal indicating the orientation of the Earth's surface. In some examples, information about the gravity axis signal block may be transmitted via RF transmitter 180 and received by RF receiver 150 or RF receiver 250. The gravity axis signal may originate from a gravity axis sensor, such as... Figure 1The gravity axis sensor 170 is shown. At box 430, control circuitry can use the gravity axis signal received at box 425 relative to the Earth's surface to orient the 3D map generated at box 420. In some examples, box 430 may be executed by control circuitry 140 or 240. In another example, one or more of boxes 415 through 430 may be executed by control circuitry 166 (i.e., by the projectile), wherein the resulting information is sent to control circuitry 140 or 240. Thus, for example, the control circuitry of the projectile can determine the distance of the object from the LiDAR scanner; and generate a 3D map of the object or terrain portion.

[0040] At box 435, the control circuitry sends the 3D mapping image to a display. The display can be located on a projection device, such as... Figure 1 The display 130 shown, or located on the basic unit, such as Figure 2 The display 230 is shown. The display allows the user to interact with the map. Box 430 can be implemented by control circuitry 140 or control circuitry 240. In some examples, the control circuitry may use a peer-to-peer communication link to send the 3D map.

[0041] At block 440, control circuitry can transmit a signal to activate a beacon. The beacon can be positioned on the projectile to aid in its positioning and retrieval. In some examples, block 440 can be implemented by control circuitry 140 or 240, thereby sending a signal via RF receiver 150 to control circuitry 166 for reception by a receiver in projectile 120. Upon receiving this signal, control circuitry 166 can activate beacon 190.

[0042] At box 445, control circuitry (e.g., control circuitry 166) can receive GNSS signals. The GNSS signals can originate from a GNSS receiver on the projectile, such as... Figure 1 The GNSS receiver 195 is shown. At block 450, using a GNSS signal, control circuitry (e.g., control circuitry 166) can determine the position of the projectile. At block 455, control circuitry (e.g., control circuitry 166) can transmit the position determined at block 450 to the projection device or base unit to aid in locating and retrieving the projectile. In one example, information from the GNSS receiver is transmitted to control circuitry 140 or 240, and control circuitry 140 or 240 can determine the position of the projectile at least in part in response to the information from the GNSS receiver. In such an example, block 450 can be executed by control circuitry 140 or 240 in response to transmitted data about the received GNSS signal, and block 455 may include transmitting the determined position of the projectile to a display.

[0043] although Figure 4A specific number of operations related to method 400 are disclosed, but method 400 is available in more... Figure 4 The number of operations described is increased or decreased to perform. In addition, although... Figure 4 The specific order of operations to be used relative to method 400 is disclosed, but the operations including method 400 can be performed in any suitable order.

[0044] Figure 5 A method for providing three-dimensional mapping is illustrated, executed by control circuitry used in a projection device or basic unit. Method 500 can be implemented using control circuitry (such as control circuitry 140, control circuitry 240) or any other system operable to implement method 500. Although examples have been described above, other variations and examples may be made according to this disclosure without departing from the spirit and scope of these disclosed examples.

[0045] Method 500 begins at block 505, in which control circuitry can receive signals from the light source instructing the light source to emit multiple first-time signals of multiple light pulses. The light source may be a LIDAR scanner, such as... Figure 1 The LIDAR scanner 162 shown has a light source that emits rapid pulses of near-infrared laser light into the environment surrounding it.

[0046] At block 510, the control circuitry can receive signals indicating multiple second times that multiple reflected light pulses are received by the sensor. Pulses emitted by the light source can bounce off objects in the environment surrounding the light source, and the reflected light pulses return to the sensor, such as… Figure 1 The LIDAR sensor 164 shown is shown.

[0047] At box 515, the control circuitry determines the distance of the object from the light source. The control circuitry measures the difference between the emission time of the pulse (received at box 505) and the return time of the reflected pulse (received at box 510), and calculates the distance traveled by each pulse to compile a dataset called a LiDAR point cloud. Because the speed of the laser is constant, the control circuitry can use the "time of flight" to calculate very precise distances to surrounding objects or terrain features approaching the projectile. At box 520, the control circuitry generates a 3D map of the object based on the distance determined at box 515.

[0048] At box 525, the control circuitry can receive a gravity axis signal indicating the orientation of the Earth's surface. The gravity axis signal can originate from a gravity axis sensor on the projectile, such as... Figure 1 The gravity axis sensor 170 is shown. At box 530, the control circuitry can use the gravity axis signal received at box 525 relative to the Earth's surface to orient the three-dimensional map generated at box 520.

[0049] At box 535, the control circuitry sends the 3D mapping image to a display. The display can be located on a projection device, such as... Figure 1 The display 130 shown, or located on the basic unit, such as Figure 2 The display shown is 230. The display allows the user to interact with the map.

[0050] At box 540, the control circuitry can receive beacon signals from the projectile. These beacon signals can be used to help locate and retrieve the projectile.

[0051] At box 545, the control circuitry can receive GNSS position data from the projectile. A GNSS receiver (such as one mounted on the projectile) can be used. Figure 1 The GNSS receiver 195 shown uses GNSS signals to determine the GNSS position at the projectile, thus determining the projectile's location. Control circuitry can use the GNSS position to aid in locating and retrieving the projectile. In another example, information from a GNSS receiver on the projectile can be received, and this GNSS information can be used to determine the projectile's location.

[0052] although Figure 5 A specific number of operations related to method 500 are disclosed, but method 500 is available in more... Figure 5 The number of operations described is increased or decreased to perform. In addition, although... Figure 5 The specific order of operations to be used relative to method 500 is disclosed, but the operations including method 500 can be performed in any suitable order.

[0053] Examples of this disclosure may include a method. The method may include: signaling a light source to emit a plurality of light pulses, the light source being located on a spin projectile advancing along a predetermined path. The method may include: receiving a plurality of reflected light pulses at the spin projectile, the plurality of reflected light pulses being responsive to light pulses reflected from an object or terrain portion. The method may include: determining a distance of the object or terrain portion from the light source. The method may include: generating a three-dimensional map of the object or terrain portion based on the determined distance of the object from the light source.

[0054] In conjunction with any of the examples above, the method may include: receiving a gravity axis signal from a projectile, and orienting a three-dimensional map based on the gravity axis signal.

[0055] Combining any of the examples above, the method may include: transmitting a signal to activate the beacon.

[0056] In conjunction with any of the examples above, the method may include: receiving a GNSS signal, and determining the position of the projectile based on the received GNSS signal.

[0057] Combining any of the examples above, the method may include sending a 3D map to a display.

[0058] In conjunction with any of the examples above, the method may include: sending the time for emitting at least one of the plurality of light pulses and the time for receiving at least one of the plurality of reflected light pulses, wherein determining the distance of an object or terrain portion from the light source is performed in response to the time of emitting at least one of the plurality of light pulses and the time of receiving at least one of the plurality of reflected light pulses.

[0059] Examples of this disclosure may include a projectile. The projectile may include a LIDAR scanner, a LIDAR sensor, and control circuitry. The control circuitry may: emit light pulses via the LIDAR scanner; receive reflected light pulses via the LIDAR sensor, wherein the reflected light pulses are in response to light pulses reflected from an object or terrain feature; transmit a first time of emitting the light pulses; and transmit a second time of receiving the reflected light pulses.

[0060] By combining any of the examples above, the control circuitry can determine the distance of an object from the LIDAR scanner and generate a 3D map of the object or terrain portion.

[0061] In conjunction with any of the examples above, the projectile may include a gravity axis sensor, wherein control circuitry sends information about the direction of gravity.

[0062] In conjunction with any of the examples above, the projectile may include a beacon, wherein control circuitry causes the beacon to emit a beacon signal to position the projectile.

[0063] In conjunction with any of the examples above, the projectile may include a GNSS receiver, wherein control circuitry enables the GNSS receiver to determine the position of the projectile.

[0064] In conjunction with any of the examples above, the projectile may include an RF transmitter, wherein control circuitry causes the RF transmitter to transmit at a first time and a second time.

[0065] In combination with any of the examples above, the projectile may include a winglet for causing the projectile to spin during flight.

[0066] Combining any of the examples above, the LIDAR scanner and LIDAR sensor can be positioned on the longitudinal side of the projectile, and the LIDAR scanner can emit light pulses perpendicular to the longitudinal axis of the projectile.

[0067] Examples of this disclosure may include a system. The system may include control circuitry configured to: receive signals from a light source mounted on a projectile indicating a plurality of first times that the light source emits a plurality of light pulses; receive signals indicating a plurality of second times that a plurality of reflected light pulses are received at the projectile, wherein the plurality of reflected light pulses are in response to light pulses reflected from an object or terrain portion; determine the distance of the object or terrain portion from the light source; and generate a three-dimensional map of the object or terrain portion.

[0068] Combining any of the examples above, the control circuit can receive beacon signals from the projectile and locate the projectile based on the beacon signals.

[0069] Combining any of the examples above, the control circuitry can receive information about the GNSS location from the projectile.

[0070] Combining any of the examples above, the control circuit can receive a gravity axis signal from the projectile and orient the three-dimensional map based on the gravity axis signal.

[0071] By combining any of the examples above, the control circuit can send an image of the 3D mapping to a display.

[0072] Combining any of the examples above, the control circuitry can transmit images via a peer-to-peer communication link.

[0073] Although examples have been described above, other variations and examples may be made in accordance with this disclosure without departing from the substance and scope of these disclosed examples.

Claims

1. A method, the method comprising: A signal is transmitted to a light source to cause the light source to emit multiple light pulses, the light source being located on a spin projectile moving along a predetermined path; Multiple reflected light pulses are received at the spin projectile, the multiple reflected light pulses being responsive to light pulses reflected from an object or terrain portion; Determine the distance between the object or the terrain feature and the light source; as well as A three-dimensional map of the object or the terrain portion is generated based on a determined distance between the object and the light source.

2. The method according to claim 1, wherein the method comprises: Receive gravity axis signal from the projectile; as well as The orientation of the three-dimensional mapping is based on the gravity axis signal.

3. The method according to any one of claims 1 to 2, wherein the method comprises: Transmit a signal to activate the beacon.

4. The method according to any one of claims 1 to 3, wherein the method comprises: Receive GNSS signals; as well as The position of the projectile is determined based on the received GNSS signals.

5. The method according to any one of claims 1 to 4, wherein the method comprises: The 3D mapping is sent to the display.

6. The method according to any one of claims 1 to 5, wherein the method comprises: The timing of transmitting at least one of the plurality of light pulses and receiving at least one of the plurality of reflected light pulses, wherein determining the distance of the object or the terrain portion from the light source is performed in response to the timing of transmitting at least one of the plurality of light pulses and receiving at least one of the plurality of reflected light pulses.

7. A projectile, the projectile comprising: LIDAR scanner; LIDAR sensor; and Control circuit, the control circuit being used for: Light pulses are emitted via the LIDAR scanner; The reflected light pulses are received via the LIDAR sensor, wherein the reflected light pulses are in response to light pulses reflected from an object or terrain feature; The first moment of transmitting the light pulse; as well as The second time after receiving the reflected light pulse is sent.

8. The projectile according to claim 7, wherein the control circuit is used for: Determine the distance between the object and the LIDAR scanner; and Generate a 3D mapping of the object or the terrain portion.

9. The projectile according to any one of claims 7 to 8, wherein the projectile comprises: Gravity axis sensor; The control circuit mentioned above sends information about the direction of gravity.

10. The projectile according to any one of claims 7 to 9, wherein the projectile comprises: beacon; The control circuit described therein is used to cause the beacon to emit a beacon signal to locate the projectile.

11. The projectile according to any one of claims 7 to 10, wherein the projectile comprises: GNSS receiver; The control circuit described therein is used to enable the GNSS receiver to determine the position of the projectile.

12. The projectile according to any one of claims 7 to 11, wherein the projectile comprises: RF transmitter; The control circuit is used to enable the RF transmitter to transmit the first time and the second time.

13. The projectile according to any one of claims 7 to 12, wherein the projectile comprises: A winglet, the winglet being used to cause the projectile to spin during flight.

14. The projectile according to any one of claims 7 to 13, wherein: The LIDAR scanner and the LIDAR sensor are positioned on the longitudinal side of the projectile; and The LIDAR scanner is used to emit the light pulses in a manner perpendicular to the longitudinal axis of the projectile.

15. A system comprising: Control circuit, the control circuit being used for: Receive signals from a light source mounted on the projectile, instructing the light source to emit multiple light pulses at multiple times; Receive signals indicating that a plurality of reflected light pulses are received at the projectile, wherein the plurality of reflected light pulses are in response to the plurality of light pulses reflected from an object or terrain portion; Determine the distance between the object or the terrain feature and the light source; and Generate a 3D mapping of the object or the terrain portion.

16. The system of claim 15, wherein the control circuit is configured to: Receive beacon signals from the projectile; and The projectile is located based on the beacon signal.

17. The system according to any one of claims 15 to 16, wherein the control circuit is used for: Receive information about the GNSS location from the projectile.

18. The system according to any one of claims 15 to 17, wherein the control circuit is used for: Receive gravity axis signal from the projectile; and The orientation of the three-dimensional mapping is based on the gravity axis signal.

19. The system according to any one of claims 15 to 18, wherein the control circuit is used for: The image of the three-dimensional map is sent to the display.

20. The system of claim 19, wherein the transmission of the image is performed via a peer-to-peer communication link.

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