Precise localization and mapping of altitudinal systems over dynamic surfaces

Abstract

To provide a method for identifying a precise localization and mapping of an altitudinal system with respect to dynamic surfaces by one or more computing devices.SOLUTION: A time-dependent map of a patch (206) of a dynamic surface is received. The time-dependent map is captured by a first altitudinal system (202), such as a satellite, having a known location with respect to the dynamic surface. Next, a terrain map of various terrain features (210) of the patch of the dynamic surface is received. The terrain map is captured by a second altitudinal system (208), such as an airplane, having an approximate location with respect to the dynamic surface. Next, the terrain features are compared to various terrain features stored in a database, and then, based on the comparison of these terrain features, a precise location of the second altitudinal system with respect to the dynamic surface is identified.SELECTED DRAWING: Figure 2A-2C

Description

Technical Field

[0001] The present disclosure (the present invention) generally relates to altitudinal systems, and more particularly to the accurate localization and mapping of altitudinal systems on dynamic surfaces.

Background Art

[0002] A Positioning, Navigation, and Timing (PNT) system may generally include three separate systems suitable for positioning and tracking various mobile components and systems. For example, a PNT system may include a positioning system that can be said to be suitable for accurately and precisely identifying the location and orientation of one or more mobile components and systems. Similarly, a PNT system may include a navigation system that can be said to be suitable for accurately and precisely identifying the current position of one or more mobile components and systems and directing one or more mobile components and systems to a desired position. Finally, a PNT system may include a timing system that can be said to be suitable for maintaining accurate and precise time associated with one or more mobile components and systems.

Summary of the Invention

Problems to be Solved by the Invention

[0003] However, traditional PNT systems rely on either fixed terrestrial objects or recognizable terrain features, objects existing on celestial bodies, or signals from constellations of navigation satellites as a reference. Such reliance has certain drawbacks. For example, some of these dependencies are not available under all-weather conditions or in areas lacking fixed objects for reference. Furthermore, the dependence on satellite systems may be subject to operational regulations. Finally, inertial-based systems are not suitable for long-distance navigation where errors increase over time and are not corrected periodically.

Means for Solving the Problem

[0004] According to the present invention, a method for identifying the precise location and mapping of an altitude-related system with respect to a dynamic surface by one or more computing devices includes receiving a time-dependent map of patches of the dynamic surface. The time-dependent map is captured by a first altitude-related system whose location is known with respect to the dynamic surface. The method includes receiving a terrain map of terrain features forming a first set of patches of the dynamic surface. The terrain map is captured by a second altitude-related system approximately located with respect to the dynamic surface. The method includes comparing the terrain features forming the first set with terrain features forming a second set stored in a database associated with one or more computing devices, and determining the precise location of the second altitude-related system with respect to the dynamic surface based on the comparison of the terrain features forming the first set and the terrain features forming the second set.

Brief Description of the Drawings

[0005]

Figure 1

Figures 2A - 2C

Figure 3

Figure 4

[0006] Overview This embodiment relates to a method for identifying the precise location and mapping of an altitude-related system with respect to a dynamic surface by one or more computing devices. In certain embodiments, the one or more computing devices may receive a time-dependent map of patches of the dynamic surface. For example, in one embodiment, the time-dependent map may be captured by a first altitude-related system whose location is known with respect to the dynamic surface. In certain embodiments, the first altitude-related system may include a satellite configured to utilize synthetic aperture radar (SAR) to capture a time-dependent terrain map of patches of the dynamic surface. In certain embodiments, the time-dependent map may include a time-dependent topography map of an area of the dynamic surface where a second altitude-related system is expected to be moving overhead.

[0007] In certain embodiments, the one or more computing devices may receive a terrain map of topographical features forming a first set of patches of the dynamic surface. For example, in one embodiment, the terrain map may be captured by a second altitude-related system that is approximately located with respect to the dynamic surface. In certain embodiments, the second altitude-related system may include a guided projectile configured to measure topographical features forming a first set of patches of the dynamic surface while moving over an area of the dynamic surface or while traversing over an area of the dynamic surface. In certain embodiments, the terrain map may be captured and measured using improved terrain contour matching (TERCOM) technology. In certain embodiments, the dynamic surface may include an ocean surface, the upper surface of a cloud, the lower surface of a cloud, a desert surface, a beach surface, the upper surface of a forest, or an ice surface.

[0008] In certain embodiments, one or more computing devices may compare a first set of topographical features to a second set of topographical features stored in a database associated with the one or more computing devices. In certain embodiments, prior to comparing the first set of topographical features to the second set of topographical features, the one or more computing devices may store the second set of topographical features in the database. For example, in one embodiment, the second set of topographical features may include a plurality of micro-topographical features of a dynamic surface captured over a period of time. In certain embodiments, the one or more computing devices may then determine the precise location of a second altitude-related system relative to the dynamic surface based on the comparison of the first set of topographical features to the second set of topographical features.

[0009] For example, in certain embodiments, the one or more computing devices may further determine a match between the first set of topographical features and the second set of topographical features based on the comparison of the first set of topographical features to the second set of topographical features, and in response to determining the match, may determine the precise location of a second altitude-related system relative to the dynamic surface by determining the precise location of the second altitude-related system relative to the dynamic surface. In certain embodiments, the one or more computing devices may determine a match between the first set of topographical features and the second set of topographical features by determining a match of at least one subset of the first set of topographical features and the second set of topographical features.

[0010] The technical advantages of certain embodiments of the present invention can include one or more of the following. Some of the systems and methods described herein provide a dynamic position navigation timing (PNT) system that enables accurate localization and navigation on dynamic transient surfaces (e.g., ocean surfaces, cloud tops) when a navigation system using GPS or a similar satellite or constellation is not available. Specifically, a first altitude-related system, such as a terrestrial or extraterrestrial satellite, whose location is accurate and known, is utilized as an anchor point (e.g., a reference point). A first altitude-related system using synthetic aperture radar (SAR) or other imaging systems captures a high-resolution time-dependent topographic map of a patch of an area of a dynamic and smooth surface (e.g., an ocean surface, a cloud top). The time-dependent topographic map of a patch of an area of such a surface corresponds to an area that a second altitude-related system (e.g., an airplane, a jet, an unmanned aerial vehicle (UAV), a balloon, a flyer, a guided flyer, etc.) is expected to be flying over or crossing in a different manner currently.

[0011] In certain embodiments, a second altitude-related system, which has at least some knowledge about its approximate location relative to the dynamic surface, then measures (using improved terrain contour matching (TERCOM) technology) local topographic features (microtopographic features) directly below the second altitude-related system. For example, the local topographic features (microtopographic features) to be measured can include, for example, laser altimeter readings for local wave height or local wave patterns. Next, the measured local topographic features (microtopographic features) are compared with pre-captured microtopographic features stored in a database. Next, by matching the measured local topographic features (microtopographic features) with at least a subset of the pre-captured microtopographic features stored in the database, it is advisable to determine an accurate location (e.g., its accurate location relative to a specific area of an ocean or cloud path).

[0012] Thus, the present technology can identify the precise location and mapping of a second altitude-related system even when the second altitude-related system can pass over a dynamic surface, such as a vast ocean or moving above clouds. Specifically, since ocean and cloud features are dynamically transient, in this embodiment, an improved TERCOM technology can be utilized to generate precise location identification, mapping, and a temporary map of these dynamically transient surfaces that can be used for navigation purposes.

[0013] Other technical advantages will become apparent to those skilled in the art from the following figures, description, and claims. Further, while specific advantages have been listed above, various embodiments can include all, some, or none of the listed advantages.

[0014] FIG. 1 shows an exemplary altitude-related system-dynamic surface environment 100 as an embodiment disclosed at present. In a specific embodiment, the exemplary altitude-related system-dynamic surface environment 100 may include a dynamic surface 102 and an altitude-related system 104 that can fly along a flight path 106 on the surface 102. In a specific embodiment, examples of the dynamic surface 102 include, for example, an ocean surface, the upper surface of a cloud, the lower surface of a cloud, a desert surface, a beach surface, the upper surface of a forest, or another dynamically transient surface where a global positioning system (GPS) or a similar satellite or constellation-based navigation system is inappropriate for location identification and mapping of the altitude-related system 104 due to the dynamic nature of the dynamic surface 102. In a specific embodiment, examples of the altitude-related system 104 include, for example, an airplane, a jet, a helicopter, a glider, an unmanned aerial vehicle (UAV), a balloon, a flying object, a guided flying object, or another altitude-related system that can be said to be suitable for flying along the flight path 106 on the dynamic surface 102.

[0015] Figures 2A - 2C show examples 200A, 200B, 200C that identify the precise location and mapping of altitude - related systems during flight on a dynamic surface in accordance with the presently disclosed embodiments. As shown in FIGS. 2A - 2C, in certain examples, a first altitude - related system 202 having a precise known location, such as a terrestrial or extraterrestrial satellite, can be used as an anchor point (e.g., a reference point) relative to a dynamic surface 204. In certain embodiments, the first altitude - related system 202 may utilize a synthetic aperture radar (SAR) or a similar imaging system to capture a high - resolution time - dependent topographical map of a patch 206 of the dynamic surface 204 (e.g., an ocean surface, the upper surface of a cloud, the lower surface of a cloud, a desert surface, a beach surface, the upper surface of a forest, an ice surface). In certain embodiments, the time - dependent topographical map of the patch 206 of the dynamic surface 204 captured by the first altitude - related system 202 may correspond to an area where a second altitude - related system 208 (e.g., an airplane, a jet, a helicopter, a glider, a UAV, a balloon, a flying object, a guided flying object, etc.) is expected to fly or move overhead at a given point in time in a different manner.

[0016] In certain embodiments, the second altitude - related system 208 may have at least some knowledge about its approximate location relative to the dynamic surface 204. For example, in certain embodiments, even if there may be some minimal drift error, the second altitude - related system 208 can have an inaccurate but at least some indication of its approximate location relative to the dynamic surface 204, based, for example, on the planned flight path 106 of the second altitude - related system 208. In certain embodiments, the second altitude - related system 208 may, in this case, utilize an improved terrain - contour matching (TERCOM) technique to capture and measure local topographical features 210 (e.g., micro - topographical features) directly below the second altitude - related system 208 when the second altitude - related system 208 is flying over the dynamic surface 204, or more precisely, over the patch 206 of the dynamic surface 204.

[0017] For example, in certain embodiments, local topographic features 210 (e.g., micro-topographic features) captured and measured by the second altitude-related system 208 include, for example, laser altimeter readings or transceiver detection values for local wave height, local wave patterns, local cloud patterns, local cloud features, local sand patterns, local ice features, and the like. In certain embodiments, the locally captured and measured topographic features 210 (e.g., micro-topographic features) are then preferably compared to a historical dataset of pre-captured micro-topographic features. For example, in one embodiment, the historical dataset of pre-captured micro-topographic features is captured over some period (e.g., minutes, hours, days, months, years) and preferably includes improved TERCOM data stored in a database associated with one or more of, for example, the first altitude-related system 202 or the second altitude-related system 208.

[0018] According to the embodiments disclosed herein, the precise location, position, and orientation of the second altitude-related system 208 at a given time T are then preferably identified by collating the locally captured and measured topographic features 210 (e.g., micro-topographic features) with at least one subset of the historical dataset of pre-captured micro-topographic features stored in the database. Specifically, according to the embodiments disclosed herein, a computing system (e.g., computing system 400 described below with reference to FIG. 4) can identify the precise location, position, and orientation of the second altitude-related system 208 with respect to a particular region or patch of the dynamic surface 204 represented by its XYZ coordinates in three-dimensional (3D) space at a given time T.

[0019] Thus, the present technology can identify the precise location and mapping of the second altitude-related system 208 even when the second altitude-related system 208 is over a dynamic surface, such as over a vast ocean or above clouds where the second flight system 208 can pass. Specifically, since ocean and cloud features have dynamic transience, in this embodiment, an improved TERCOM technology can be utilized to generate a temporary map of these dynamic transient surfaces that can be used for precise location identification, mapping, and navigation purposes.

[0020] FIG. 3 is a flowchart of a method 300 for identifying the precise location and mapping of an altitude-related system with respect to a dynamic surface in accordance with the presently disclosed embodiments. The method 300 is preferably implemented using one or more computing devices (e.g., computing system 400) including one or more processors (e.g., processor 402), and the one or more processors may include hardware (e.g., a general-purpose processor, a graphics processing unit (GPU), an application-specific integrated circuit (ASIC), a system-on-chip (SOC), a microcontroller, a field-programmable gate array (FPGA), or any other processing device that can be said to be suitable for processing intended and / or desired states), software (e.g., instructions that run / executed on one or more processors), firmware (e.g., microcode), or any combination thereof. In certain embodiments, the one or more computing devices (e.g., computing system 400) may be mounted on the first altitude-related system 202, or may be mounted on the second altitude-related system 208, or alternatively, may be included as part of one or more centralized or distributed servers located remotely from the first altitude-related system 202 and the second altitude-related system 208 in a different manner.

[0021] Method 300 preferably begins at block 302, where one or more computing devices receive a patch-dependent map of a dynamic surface. In certain embodiments, the time-dependent map may be captured by a first highly correlated system 202 whose location with respect to the dynamic surface is known. Method 300 preferably continues to block 304, where one or more computing devices receive a topographic map of topographic features forming a first set of patches of the dynamic surface. In certain embodiments, the topographic map may be captured by a second highly correlated system that is approximately located with respect to the dynamic surface.

[0022] Method 300 preferably continues to block 306, where one or more computing devices compare the topographic features forming the first set with topographic features forming a second set stored in a database associated with the one or more computing devices. For example, in certain embodiments, prior to comparing the topographic features forming the first set with the topographic features forming the second set, one or more computing devices may preferably store the topographic features forming the second set in the database, where the topographic features forming the second set may include a plurality of micro-topographic features of the dynamic surface captured over a period of time. Method 300 preferably then ends at block 308, where one or more computing devices determine the precise location of the second highly correlated system with respect to the dynamic surface based on the comparison of the topographic features forming the first set with the topographic features forming the second set.

[0023] For example, in certain embodiments, one or more computing devices may further determine a match between a first set of topographical features and a second set of topographical features based on a comparison of the first set of topographical features and the second set of topographical features, and in response to the determination of the match, determine the precise location of a second altitude-related system relative to a dynamic surface by determining the precise location of the second altitude-related system relative to the dynamic surface. In certain embodiments, one or more computing devices may determine a match between a first set of topographical features and a second set of topographical features by determining a match of at least one subset of the first set of topographical features and the second set of topographical features.

[0024] FIG. 4 shows an exemplary computer system 400 that may be useful for identifying the precise location and mapping of an altitude-related system relative to a dynamic surface, in accordance with embodiments disclosed herein. In certain embodiments, one or more computer systems 400 perform one or more steps of one or more of the methods described or illustrated herein. In certain embodiments, one or more computer systems 400 perform the functions described or illustrated herein. In certain embodiments, software running on one or more computer systems 400 performs one or more steps of one or more of the methods described or illustrated herein, or performs the functions described or illustrated herein. Certain embodiments include one or more portions of one or more computer systems 400. As used herein, the term computer system may, where appropriate, include a computing device, and vice versa. Further, as used herein, the term computer system may, where appropriate, include one or more computer systems.

[0025] The present invention contemplates any suitable number of computer systems 400. The present invention contemplates a computer system 400 in any suitable physical form. By way of example and not limitation, computer system 400 may be an embedded computer system, a system-on-chip (SOC), a single-board computer system (SBC) (e.g., a computer-on-module (COM) or a system-on-module (SOM)), a desktop computer system, a laptop or notebook computer system, an interactive kiosk, a mainframe, a computer system network, a cellular phone, a personal digital assistant (PDA), a server, a tablet computer system, an augmented / virtual reality device, or a combination of two or more of these. Computer system 400 may optionally include one or more computer systems 400, may be unitary or distributed, may span multiple locations, may span multiple machines, may span multiple data centers, or may reside in the cloud, which may optionally include one or more cloud components within one or more networks. Optionally, one or more computer systems 400 may perform one or more steps of one or more of the methods described or illustrated herein without substantial spatial or temporal constraints.

[0026] As an example, without limiting the present invention, one or more computer systems 400 can execute one or more steps of one or more of the methods described or illustrated herein, either in real time or in batch mode. One or more computer systems 400 can, as appropriate, execute one or more steps of one or more of the methods described or illustrated herein at different times or in different locations relative to each other. In certain embodiments, computer system 400 includes a processor 402, a memory 404, a storage device 406, an input / output (I / O) interface 408, a communication interface 410, and a bus 412. Although the present disclosure describes and illustrates a particular computer system including a particular number of particular components in a particular arrangement, the present disclosure contemplates any suitable computer system including any suitable number of any suitable components in any suitable arrangement.

[0027] In certain embodiments, processor 402 includes hardware for executing instructions, such as instructions that make up a computer program. As an example, without limiting the present invention, for executing instructions, processor 402 may preferably retrieve (or fetch) these instructions from an internal register, an internal cache, memory 404, or storage device 406, may preferably execute these instructions by combining them, and may then preferably write one or more results to an internal register, an internal cache, memory 404, or storage device 406. In certain embodiments, processor 402 may preferably include one or more internal caches for data, instructions, or addresses. The present disclosure contemplates processor 402 including any suitable number of any suitable internal caches, as appropriate. As an example, without limiting the present invention, processor 402 may preferably include one or more instruction caches, one or more data caches, and one or more translation lookaside buffers (TLBs). The instructions in the instruction cache may preferably be copies of instructions in memory 404 or storage device 406, and the instruction cache can speed up the retrieval of these instructions by processor 1032.

[0028] The data in the data cache is preferably a copy of the data in the memory 404 or the storage device 406 to enable the instructions being executed by the processor 402 to work, and may be the result of the previous instructions executed by the processor 1032 that can be accessed by the next instruction being executed by the processor 402 or written to the memory 404 or the storage device 406, or may be other appropriate data. The data cache can speed up the read or write operations by the processor 402. The TLB can speed up the virtual address translation for the processor 1032. In certain embodiments, the processor 402 may include one or more internal registers for data, instructions, or addresses. The present invention contemplates, as appropriate, a processor 402 that includes any appropriate number of any appropriate internal registers. The processor 402 may, as appropriate, include an arithmetic logic unit (ALU), may be a multi-core type processor, or may include one or more processors 402. Although the present disclosure describes and illustrates a particular processor, the present disclosure contemplates any appropriate processor.

[0029] In certain embodiments, memory 404 includes a main memory that stores instructions for causing processor 402 to execute or data for operating processor 402. By way of example, and not limitation, computer system 400 can load instructions from storage device 406 or another source (e.g., another computer system 400) into memory 404. Processor 402 can then load the instructions from memory 404 into internal registers or an internal cache. To execute the instructions, processor 402 may retrieve the instructions from the internal registers or internal cache and then decode these instructions. During or after execution of the instructions, processor 402 can write one or more results (which may be intermediate results or final results) to the internal registers or internal cache. Processor 402 can then write one or more of these results to memory 404. In certain embodiments, processor 402 executes only instructions within one or more internal registers or internal cache or memory 404 (as opposed to storage device 406 or some other location) and operates only on data within one or more internal registers or internal cache or memory 404 (as opposed to storage device 406 or some other location).

[0030] One or more memory buses (each of these buses may include an address bus and a data bus) can couple the processor 402 to the memory 404. The bus 412 may include one or more memory buses, as described below. In certain embodiments, one or more memory management units (MMUs) reside between the processor 402 and the memory 404 and facilitate access to the memory 404 requested by the processor 402. In certain embodiments, the memory 404 includes random access memory (RAM). This RAM may be volatile memory, as appropriate. This RAM may be dynamic RAM (DRAM) or static RAM (SRAM), as appropriate. Further, this RAM may be single-port RAM, as appropriate, or multi-port RAM. The present disclosure contemplates any suitable RAM. The memory 404 may include one or more memories 404, as appropriate. The present disclosure describes and illustrates specific memories, but the present disclosure contemplates any suitable memory.

[0031] In certain embodiments, the storage device 406 includes a mass storage device for data or instructions. By way of example, and not limitation of the present invention, the storage device 406 can include a hard disk drive (HDD), a floppy disk drive, flash memory, an optical disk, a magneto-optical disk, magnetic tape, or a universal serial bus (USB) drive or a combination of two or more of these. The storage device 406 can optionally include removable or non-removable (or fixed) media. The storage device 406 can optionally be located inside or outside of the computer system 400. In certain embodiments, the storage device 406 is non-volatile solid state memory. In certain embodiments, the storage device 406 includes read-only memory (ROM). This ROM can optionally be mask-programmed ROM, programmable ROM (PROM), erasable PROM (EPROM), electrically erasable PROM (EEPROM), electrically erasable rewriteable ROM (EAROM), or flash memory or a combination of two or more of these. The present disclosure contemplates a mass storage device 406 in any suitable physical form. The storage device 406 can optionally include one or more storage device control units that facilitate communication between the processor 402 and the storage device 406. The storage device 406 can optionally include one or more storage devices 406. Although the present disclosure describes and illustrates particular storage devices, the present disclosure contemplates any suitable storage device.

[0032] In certain embodiments, I / O interface 408 includes hardware, software, or both that provide one or more interfaces for communication between computer system 400 and one or more I / O devices. Computer system 406 may optionally include one or more of these I / O devices. One or more of these I / O devices enable communication between a person and computer system 400. By way of example, and not limitation, I / O devices can include a keyboard, keypad, microphone, monitor, mouse, printer, scanner, speaker, still camera, stylus, tablet, touch screen, trackball, video camera, another suitable I / O port, or a combination of two or more of these. The I / O devices may optionally include one or more sensors. The present disclosure contemplates any suitable I / O devices and any suitable I / O interface for these I / O devices at interface 408. I / O interface 408 may optionally include one or more devices or software drivers that enable processor 402 to drive one or more of these I / O devices. I / O interface 408 may optionally include one or more I / O interfaces 408. The present disclosure describes and illustrates specific I / O interfaces, but the present disclosure contemplates any suitable I / O interface.

[0033] In certain embodiments, communication interface 410 includes hardware, software, or both to provide one or more interfaces for communication (e.g., packet-based communication) between computer system 400 and one or more other computer systems 400 or one or more networks. By way of example, and not limitation, communication interface 410 can include a network interface controller (NIC) or network adapter that communicates with an Ethernet or other wire-based network or wireless NIC (WNIC), or a wireless adapter that communicates with a wireless network, such as a Wi-Fi network. The present disclosure contemplates any suitable network and any suitable communication interface 410 therefor.

[0034] As an example, and not by way of limitation of the present invention, computer system 400 can include one or more portions of an ad hoc network, a personal area network (PAN), a local area network (LAN), a wide area network (WAN), a metropolitan area network (MAN), or the Internet, or a combination of two or more of these. One or more portions of these networks can be wired or wireless. As an example, and not by way of limitation of the present invention, computer system 400 can communicate with a wireless PAN (WPAN) (e.g., a BLUETOOTH® WPAN), a Wi-Fi network, a Wi-MAX network, a cellular network (e.g., a global system for mobile communications (GSM) network for mobile communications), or other suitable wireless network, or a combination of two or more of these. Computer system 400 can optionally include any suitable communication interface 410 for any of these networks. Communication interface 410 can optionally include one or more communication interfaces 410. Although the present disclosure describes and illustrates particular communication interfaces, the present disclosure contemplates any suitable communication interface.

[0035] In certain embodiments, bus 412 includes hardware, software, or both that couple components of computer system 400 to each other. By way of example and not limitation, bus 412 can include an Accelerated Graphics Port (AGP) or other graphics bus, an Enhanced Industry Standard Architecture (EISA) bus, a Front Side Bus (FSB), a HyperTransport (HT) interconnect, an Industry Standard (ISA) bus, an InfiniBand interconnect, a Low Pin Count (LPC) bus, a memory bus, a MicroChannel Architecture (MCA) bus, a Peripheral Component Interconnect (PCI) bus, a PCI Express (PCIe) bus, a Serial Advanced Technology Attachment (SATA) bus, a Video Electronics Standards Association (VESA) Local Bus (VLB), or another suitable bus, or a combination of two or more of these. Bus 412 can optionally include one or more buses 412. Although the present disclosure describes and illustrates particular buses, the present disclosure contemplates any suitable bus or interconnect.

[0036] As used herein, one or more computer-readable non-transitory storage media can optionally include one or more semiconductor-based or other integrated circuits (ICs) (e.g., a Field Programmable Gate Array (FPGA) or an Application Specific IC (ASIC)), a hard disk drive (HDD), a hybrid hard drive (HHD), an optical disk, an optical disk drive (ODD), a magneto-optical disk, a magneto-optical drive, a floppy disk, a floppy disk drive (FDD), magnetic tape, a solid state drive (SSD), a RAM drive, a Secure Digital card or drive, any other suitable computer-readable non-transitory storage media, or any suitable combination of two or more of these. The computer-readable non-transitory storage media can optionally be volatile, non-volatile, or a combination of volatile and non-volatile.

[0037] In this specification, "or" is inclusive and not exclusive unless otherwise expressly indicated or unless the context otherwise requires. Accordingly, in this specification, "A or B" means "A, B, or both" unless otherwise expressly indicated or unless the context otherwise requires. Further, "and" is a word that expresses both joint and several unless otherwise expressly indicated or unless the context otherwise requires. Accordingly, in this specification, "A and (or) B" means "A and (or) B, jointly or severally" unless otherwise expressly indicated or unless the context otherwise requires.

[0038] The scope of the present invention includes all changes, substitutions, variations, alternatives, and modifications to the exemplary embodiments described or illustrated herein, which will be understood by those skilled in the art. The scope of the present invention is not limited to the exemplary embodiments described or illustrated herein. Further, while each embodiment of the present invention is described and illustrated herein as including a particular component, element, feature, function, operation, or step, any one of these embodiments can include any combination or rearrangement of any of the components, elements, features, functions, operations, or steps described or illustrated elsewhere herein, which will be included within the understanding of those skilled in the art. Further, in the appended claims, the recitation that an apparatus or system, or a component of an apparatus or system, is adapted to, arranged to, capable of, configured to, realizable to, operative to, or operative for performing a particular function includes the apparatus, system, or component whether or not the particular function is actually implemented, operative, or performed, so long as the apparatus, system, or component is so adapted, arranged, capable, configured, realizable, operative, or operative. Additionally, while the present disclosure describes or illustrates particular embodiments as providing particular advantages, a particular embodiment may not provide any of these advantages, or may provide some or all of these advantages.

Explanation of Reference Numerals

[0039] 100 Altitude-Related System · Dynamic Surface Environment 102, 204 Dynamic Surface 104 Altitude-Related System 106 Flight Path 202 First Altitude Flight System 206 Patch 208 Second Altitude Flight System 210 Local Topographic Feature

Claims

1. 1. A method for identifying, by one or more computing devices, precise location and mapping of a highly associated system to a dynamic surface, comprising: receiving a time-dependent map of a patch of a dynamic surface, the time-dependent map being captured by a first highly correlated system whose location relative to the dynamic surface is known; receiving a terrain map of a first set of terrain features of the patch of the dynamic surface, the terrain map being captured by a second altitude associated system in approximate location relative to the dynamic surface; comparing the first set of topographical features to a second set of topographical features stored in a database associated with the one or more computing devices; determining a precise location of the second highly correlated system relative to the dynamic surface based on the comparison of the first set of topographical features to the second set of topographical features.

2. 2. The method of claim 1, further comprising the step of storing the second set of topographical features in the database prior to comparing the first set of topographical features to the second set of topographical features, the second set of topographical features including a plurality of micro topographical features of the dynamic surface captured over a period of time.

3. The method of claim 1 , wherein the time-dependent map comprises a time-dependent topography map of a region of the dynamic surface over which the second highly correlated system is expected to travel.

4. The method of claim 1 , wherein the terrain map is captured and measured using Improved Terrain Matching (TERCOM) technology.

5. The step of determining the precise location of the second highly correlated system relative to the dynamic surface comprises: determining a match between the first set of topographical features and the second set of topographical features based on the comparison of the first set of topographical features and the second set of topographical features; and determining the precise location of the second highly correlated system relative to the dynamic surface in response to determining the match.

6. 6. The method of claim 5, wherein the step of determining a match between the first set of topographical features and the second set of topographical features includes the optional step of determining a match between at least a subset of the first set of topographical features and the second set of topographical features.

7. 2. The method of claim 1, wherein the first altitude-related system comprises a satellite configured to capture the time-dependent terrain map of the patch of the dynamic surface using a synthetic aperture radar (SAR), and the second altitude-related system comprises a system configured to measure the first set of topographical features of the patch of the dynamic surface while moving over or across the area of ​​the dynamic surface.

8. The method of claim 1 , wherein the dynamic surface comprises an ocean surface, a cloud top surface, a cloud bottom surface, a desert surface, a beach surface, a forest top surface, or an ice surface.

9. 1. A computing system comprising: one or more non-transitory computer readable media having instructions stored thereon; and one or more processors coupled to the storage medium, the one or more processors executing the instructions to receiving a time-dependent map of a patch of a dynamic surface, the time-dependent map being captured by a first highly correlated system whose location is known relative to the dynamic surface; receiving a terrain map of a first set of terrain features of the patch of the dynamic surface, the terrain map being captured by a second altitude associated system in approximate location relative to the dynamic surface; comparing the first set of topographical features to a second set of topographical features stored in a database associated with the one or more computing devices; a computing system configured to determine a precise location of the second highly associated system relative to the dynamic surface based on the comparison of the first set of topographical features to the second set of topographical features.

10. 10. The computing system of claim 9, wherein the instructions further comprise instructions for storing the second set of topographical features in the database prior to comparing the first set of topographical features to the second set of topographical features, the second set of topographical features comprising a plurality of micro topographical features of the dynamic surface captured over a period of time.

11. 10. The computing system of claim 9, wherein the time-dependent map comprises a time-dependent topography map of a region of the dynamic surface over which the second highly associated system is expected to be moving.

12. 10. The computing system of claim 9, wherein the terrain map is captured and measured using Improved Terrain Matching (TERCOM) technology.

13. The instructions for locating the precise location of the second highly correlated system relative to the dynamic surface include: instructions for determining a match between the first set of topographical features and the second set of topographical features based on the comparison of the first set of topographical features and the second set of topographical features; and instructions for locating the precise location of the second highly correlated system relative to the dynamic surface in response to determining the match.

14. 14. The computing system of claim 13, wherein the instructions for determining a match of the first set of topographical features to the second set of topographical features further comprise instructions for determining a match of at least a subset of the first set of topographical features to the second set of topographical features.

15. 10. The computing system of claim 9, wherein the first altitude-associated system comprises a satellite configured to capture the time-dependent terrain map of the patch of the dynamic surface using a synthetic aperture radar (SAR), and the second altitude-associated system comprises any system configured to measure the first set of topographical features of the patch of the dynamic surface while moving over or across the area of ​​the dynamic surface.

16. The computing system of claim 9 , wherein the dynamic surface comprises an ocean surface, a cloud top surface, a cloud bottom surface, a desert surface, a beach surface, a forest top surface, or an ice surface.

17. A non-transitory computer-readable medium having stored thereon instructions that, when executed by one or more processors of a computing system, cause the one or more processors to: receiving a time-dependent map of a patch of a dynamic surface, the time-dependent map being captured by a first highly correlated system whose location is known relative to the dynamic surface; receiving a terrain map of a first set of terrain features of the patch of the dynamic surface, the terrain map being captured by a second altitude associated system in approximate location relative to the dynamic surface; comparing the first set of topographical features to a second set of topographical features stored in a database associated with the one or more computing devices; a non-transitory computer-readable medium configured to determine a precise location of the second highly associated system relative to the dynamic surface based on the comparison of the first set of topographical features to the second set of topographical features.

18. 20. The non-transitory computer-readable medium of claim 17, wherein the instructions further comprise instructions for storing the second set of topographical features in the database prior to comparing the first set of topographical features to the second set of topographical features, the second set of topographical features comprising a plurality of micro topographical features of the dynamic surface captured over a period of time.

19. 20. The non-transitory computer-readable medium of claim 17, wherein the time-dependent map comprises a time-dependent topography map of a region of the dynamic surface over which the second highly associated system is expected to be traveling.

20. 20. The non-transitory computer-readable medium of claim 17, wherein the dynamic surface comprises an ocean surface, a cloud top surface, a cloud bottom surface, a desert surface, a beach surface, a forest top surface, or an ice surface.

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