Method, system and satellite for ranging

Abstract

The present disclosure relates to a method and system for ranging a target region for use in earth detection and ranging, and a satellite comprising such ranging system. The method for ranging mainly comprises a step of imaging a second region, categorising the region according to predetermined set of target regions, and operating a laser transmitter responsive to the categorisation. The predetermined set of target region may include forests, clouds, or other applicable categories. The system for ranging a target region comprises a laser transmitter, a scanner, an imager, and a controller. The controller is adapted to determine a categorisation of the image captured based on predetermined region categories, adjust the power setting of the laser transmitter, and cause the laser transmitter to operate. The satellite further comprises a communications module wherein the communications module is adapted to transmit range data to a remote system.

Description

METHOD, SYSTEM AND SATELLITE FOR RANGINGField of the Invention

[0001] The present invention relates to a method, system and satellite for ranging.

[0002] The invention has been developed primarily for use in earth detection and ranging from a satellite, and will be described hereinafter with reference to this application. It will, however, be appreciated that the invention is not limited to this particular field of use.Background of the Invention

[0003] Light detecting and ranging (LiDAR) systems are remote sensing systems which work by emitting light pulses and receiving through a sensor the light reflected from the surface. Typical applications include aerial detection, vehicle automation, ocean surveying, and terrestrial mapping.

[0004] LiDAR systems are effective in terrestrial mapping since they are configured to range, measure, and map a target area quickly as compared to deploying human surveyors to the area. Moreover, LiDAR system can be equipped to devices such as satellites and robots, and be remotely controlled and monitored at a base station.

[0005] Satellite LiDAR systems require high power consumption to operate. These LiDAR systems require high-powered lasers which are continuously activated during operation to reach distant surfaces of a target area for ranging.

[0006] Any discussion of the background art throughout the specification should in no way be considered as an admission that such background art is prior art, nor that such background art is widely known or forms part of the common general knowledge in the field in Australia or any other country.Summary of the Invention

[0007] The present invention seeks to provide a method, system and satellite for ranging a target region which will overcome or substantially ameliorate at least some of the deficiencies of the prior art, or to at least provide an alternative.

[0008] According to a first aspect of the present invention, a method for ranging a target region is provided, the method comprising the steps of: a. imaging a first region of the target region to receive a first region image; b. categorising the first region according to a predetermined set of target regions;c. operating a laser transmitter, responsive to the categorisation of the first region, to: i. disable laser transmission; or ii. select a first laser power setting, responsive to the categorization of the first region; activate the laser transmitter according to the selected first laser power setting; and receive a first laser return signal to range the first region.

[0009] In prior art LiDAR systems, light pulses transmitted can be disrupted by natural obstructions such as clouds or forest canopies. Transmitted light may be scattered or absorbed by the obstructions and consequently not returned to the detector, leading to loss of return light signals and wasted power. This, in turn, results in the LiDAR being unable to collect data during the entire period of time that the laser is activated.

[0010] According to this aspect of the present invention, since the laser transmitter can be automatically deactivated when it is determined, based on the categorization of the image, that it would be unable to return a clear signal, power consumption can be reduced. When activated, the laser power setting of the laser transmitter can be automatically set to emit a laser at only a necessary power level depending on the categorization of the image of the region being ranged, thus reducing power consumption further.

[0011] In one embodiment, the method for ranging a target region further comprises the steps of: a. Imaging a second region of the target region to receive a second region image after the step of operating the laser transmitter; b. Categorising the second region according to the predetermined set of target regions; c. Again operating the laser transmitter, responsive to the categorization of the second region, to: i. Disable laser transmission; or ii. Select a second laser power setting, responsive to the categorization of the second region;Activate the laser transmitter according to the selected laser power setting; andReceive a second laser return signal to range the second region.

[0012] In one embodiment, imaging the first region is carried out using a first imager; and the laser return signal is received by the first imager.

[0013] In one embodiment, imaging the first region is carried out using a first imager; and the laser return signal is received by a second imager.

[0014] In one embodiment, the predetermined set of target regions comprises: a. forest; b. cloud; and c. other, such that the first region is categorised as forest if the first region image includes a forest, the first region is categorised as cloud if the first region image includes a cloud and the first region is categorised as other if the first region image does not include a forest or cloud.

[0015] In one embodiment, the laser transmitter power setting selected is maximum power when the first region image is categorised as forest.

[0016] Advantageously, the laser emitted by the laser transmitter at maximum power level can pierce through forestry and tree canopies to range the target region.

[0017] In one embodiment, the laser transmitter is disabled when the first region image is categorised as cloud.

[0018] Advantageously, automatically disabling the laser transmitter when the categorization of the first region is cloud reduces power consumption and improves overall efficiency since, when the laser transmitter is otherwise activated, clouds can absorb or scatter the laser pulse emitted by the laser transmitter, resulting in a partial or complete loss of return signal.

[0019] In one embodiment, the laser transmitter power setting selected is minimum power when the first region image is categorised as the other.

[0020] Advantageously, if obstructions are minimal or even nonexistent or if the target region is highly reflective, less power is required for the system to range the target region. Thus, automatically adjusting the laser transmitter at lower power when the categorization requires minimum power will save energy and reduce power consumption.

[0021] In one embodiment, the step of selecting a first laser power setting comprises selecting a pulse energy or pulse rate for the laser transmitter.

[0022] Advantageously, the pulse rate can be automatically adjusted based on the target region categorisation such that the speed of ranging the target region or penetration of canopy (where relevant) can be optimized.

[0023] In one embodiment, the laser pulse energy setting selected is independent of the laser pulse rate setting, and vice versa.

[0024] In another embodiment, the laser pulse energy setting selected is dependent on the laser pulse rate setting, and vice versa.

[0025] In one embodiment, a computer implemented method for ranging a target region comprises the steps of: a. instructing at least one imager to image a first region of the target region to receive a first region image; b. storing the first region image in memory; c. analysing the first region image using machine learning to categorise the first region according to a predetermined set of target regions and to store the categorisation of the first region in memory; d. responsive to the categorisation of the first region, either: i. cause a laser transmitter not to operate; or ii. select a laser power setting, responsive to the categorisation of the first region stored in memory; activate the laser transmitter according to the selected laser power setting; and record data associated with a laser return signal received by the at least one imager corresponding to the range of the first region.

[0026] According to this aspect of the present invention, since the laser transmitter can be automatically deactivated when it is determined, based on the categorization of the image, that it would be unable to return a clear signal, power consumption can be reduced. When activated, the laser power setting of the laser transmitter can be automatically set to emit a laser at only a necessary power level depending on the categorization of the image of the region being ranged, thus reducing power consumption further.

[0027] In one embodiment, a first imager is instructed to image the first region of the target region; and a second imager is adapted to receive the laser return signal.

[0028] In one embodiment, the step of selecting a first laser power setting comprises selecting a pulse energy or pulse rate for the laser transmitter.

[0029] Advantageously, the pulse rate can be automatically adjusted based on the target region categorisation such that the speed of ranging the target region or penetration of canopy (where relevant) can be optimized.

[0030] In one embodiment, the laser pulse energy setting selected is independent of the laser pulse rate setting, and vice versa.

[0031] In another embodiment, the laser pulse energy setting selected is dependent on the laser pulse rate setting, and vice versa.

[0032] In one embodiment, a method and system for ranging a target region is provided, the system comprises: a. a laser transmitter; b. a scanner for directing laser pulses from the laser transmitter toward the target region; c. an imager adapted for: i. taking an image of the target region; and ii. detecting a plurality of received laser return signals from the target region; d. a controller adapted to: i. determine a categorisation of the image according to predetermined region categories; ii. adjust the power setting of the laser transmitter responsive to the categorisation of the image; iii. cause the laser transmitter and scanner to operate, if the power setting is non-zero, in order to determine range data for the target region based on the received laser return signals.

[0033] According to this aspect of the present invention, since the laser transmitter can be automatically deactivated when it is determined, based on the categorization of the image, that it would be unable to return a clear signal, power consumption can be reduced. When activated, the laser power setting of the laser transmitter can be automatically set to emit a laser at only a necessary power level depending on the categorization of the image of the region being ranged, thus reducing power consumption further.

[0034] In one embodiment, the predetermined region categories comprise: a. forest; b. cloud; and c. other, and the controller determines a categorisation of the region as forest if the region image includes a forest, a categorisation of the region as cloud if the regionimage includes a cloud and a categorisation of the region as other if the region image does not include a forest or cloud.

[0035] In one embodiment, the power setting of the laser transmitter is selected as maximum power when the region image is categorised as forest.

[0036] In one embodiment, the power setting of the laser transmitter is selected as minimum power when the region image is categorised as other.

[0037] In one embodiment, the power setting of the laser transmitter is selected as zero when the region image is categorised as cloud.

[0038] In one embodiment, the adjustment of the power setting of the laser transmitter comprises adjustment of a pulse energy or pulse rate of the laser transmitter.

[0039] In one embodiment, the laser pulse energy setting selected is independent of the laser pulse rate setting, and vice versa.

[0040] In another embodiment, the laser pulse energy setting selected is dependent on the laser pulse rate setting, and vice versa.

[0041] In one embodiment, the controller is a computer and the computer comprises: a. memory storing at least computer executable instructions; and b. a processor operably connected to the memory such that on execution of the computer executable instructions by the processor, the processor: i. determines a categorisation of the image according to predetermined region categories using a machine learning algorithm; ii. causes the power setting of the laser transmitter to be adjusted responsive to the categorisation of the image; iii. instructs the laser transmitter and scanner to operate, if the power setting is non-zero, in order to determine range data for the region based on the received laser return signals; and iv. stores the range data in memory.

[0042] In one embodiment, a satellite comprises the ranging system described above and a communications module; the communications module being adapted to transmit the range data to a remote system.

[0043] Advantageously, the foregoing system provides improved overall efficiency and reduced power consumption to a satellite purposed for detecting and ranging.

[0044] In one embodiment, a method and system for ranging a target region is provided, the system comprises: a. a laser transmitter;b. a scanner for directing laser pulses from the laser transmitter toward the target region; c. a first imager adapted for taking an image of the target region; d. a second imager adapted for detecting a plurality of received laser return signals from the target region; e. a controller adapted to: i. determine a categorisation of the image according to predetermined region categories; ii. adjust the power setting of the laser transmitter responsive to the categorisation of the image; iii. cause the laser transmitter and scanner to operate, if the power setting is non-zero, in order to determine range data for the target region based on the received laser return signals.

[0045] According to this aspect of the present invention, since the laser transmitter can be automatically deactivated when it is determined, based on the categorization of the image, that it would be unable to return a clear signal, power consumption can be reduced. When activated, the laser power setting of the laser transmitter can be automatically set to emit a laser at only a necessary power level depending on the categorization of the image of the region being ranged, thus reducing power consumption further.

[0046] In one embodiment, the predetermined region categories comprise: a. forest; b. cloud; and c. other, and the controller determines a categorisation of the region as forest if the region image includes a forest, a categorisation of the region as cloud if the region image includes a cloud and a categorisation of the region as other if the region image does not include a forest or cloud.

[0047] In one embodiment, the power setting of the laser transmitter is selected as maximum power when the region image is categorised as forest.

[0048] In one embodiment, the power setting of the laser transmitter is selected as minimum power when the region image is categorised as other.

[0049] In one embodiment, the power setting of the laser transmitter is selected as zero when the region image is categorised as cloud.

[0050] In one embedment, the adjustment of the power setting of the laser transmitter comprises adjustment of a pulse energy or pulse rate of the laser transmitter.

[0051] In one embodiment, the laser pulse energy setting selected is independent of the laser pulse rate setting, and vice versa.

[0052] In another embodiment, the laser pulse energy setting selected is dependent on the laser pulse rate setting, and vice versa.

[0053] In one embodiment, the controller is a computer and the computer comprises: a. memory storing at least computer executable instructions; and b. a processor operably connected to the memory such that on execution of the computer executable instructions by the processor, the processor: i. determines a categorisation of the image according to predetermined region categories using a machine learning algorithm; ii. causes the power setting of the laser transmitter to be adjusted responsive to the categorization of the image; iii. instructs the laser transmitter and scanner to operate, if the power setting is non-zero, in order to determine range data for the region based on the received laser return signals; and iv. stores the range data in memory.

[0054] In one embodiment, a satellite comprises the ranging system above and a communications module; the communications module being adapted to transmit the range data to a remote system.

[0055] It should be noted that the web server, client computing device and the computer readable storage medium provide the same or similar advantages as the advantages provided by the corresponding computer implemented method, some of which are described herein. Additionally, the web server and / or client computing device provides the advantage of deployment across a computer network, such as the Internet, providing distribution, access and economy of scale advantages. Furthermore, the computer readable storage medium provides further advantages, such as allowing the deployment of computer instructions for installation and execution by one or more computing devices.

[0056] Other aspects of the invention are also disclosed.Brief Description of the Drawings

[0057] Notwithstanding any other forms which may fall within the scope of the present invention, a preferred embodiment / preferred embodiments of the invention will now bedescribed, by way of example only, with reference to the accompanying drawings in which:

[0058] Fig. 1 shows a ranging system for ranging a target region in accordance with an embodiment of the present invention;

[0059] Fig. 2 shows an embodiment of the ranging system of Fig. 1 ;

[0060] Fig. 3 shows a flow chart method of ranging a target region in accordance with an embodiment of the present invention;

[0061] Fig. 4 shows an embodiment of the method of ranging a target region of Fig. 3;

[0062] Fig. 5 shows a tabular chart of a target region image categorization in accordance with an embodiment of the present invention; and

[0063] Fig. 6 shows an embodiment of the target region image categorization of Fig. 5.Description of Embodiments

[0064] It should be noted in the following description that like or the same reference numerals in different embodiments denote the same or similar features.

[0065] Figure 1 shows a ranging system 100 adapted for modulating a power setting of laser transmission based on an image captured of a target region 101.

[0066] The system 100 comprises an imager 102, a processor 103, a memory 104, a laser transmitter 105, a scanner 106, a detector 107, a data communication device 108, and a remote server 109.

[0067] The imager 102 is adapted for capturing an image of a target region 101 and is operably connected to the processor 103. The processor 103 is adapted for processing the data from the captured image. The memory 104 is stored with digital data related to pre-determined region categories 110 and computer-executable instructions 111. The pre-determined region categories 110 comprises data related to images of various regions. When categorising the image data, the processor 103, through a machine learning algorithm, analyses the captured image data with reference to the predetermined region categories 110. In an embodiment, the categorization of the image data is pixel basis. In another embodiment, the categorization of the image data is window basis. In an embodiment, the images captured by the imager are stored in the memory and compiled with the pre-determined region categories 110 such that the captured image data are processed to further improve the algorithm of the system using machine learning. Based on the categorization of the image data, the processor 103 will execute a set of instructions 111 to send a laser power setting signal to the laser transmitter 105.

[0068] The signal transmitted by the processor is configured for changing a laser power setting, such as a laser pulse rate or a laser pulse energy of the laser transmitter 105. Responsive to the received signal, the laser transmitter 105 is either activated or deactivated. If not deactivated, the laser power setting of the laser transmitter 105 is adjusted to a certain level and the laser transmitter is subsequently activated. This configuration of the system allows power consumption to be reduced since the laser transmitter is automatically deactivated when not needed. When activated, the laser power setting of the laser transmitter can be automatically set to emit a laser at only a necessary power level depending on the categorization of the image of the region being ranged, thus reducing power consumption further.

[0069] The scanner 106 is operably connected to the laser transmitter for directing the laser pulses towards the target region 101. Once the laser pulses reach the surface of the target region 101 , reflected light from the surface is detected by the detector 107. In another embodiment as shown in Fig. 2, the detector 107 is integrated into the imager 102 and the imager is configured for detecting the reflected light.

[0070] The detector 107 is operably connected to the processor 103 such that the processor, based on the computer-executable instructions 111 , can process the information from the detector 107 to a range data. The data communication device 108 operably connected to the processor wirelessly transmits the range data to a remote server 109. In another embodiment, the range data can be stored in the memory 104.

[0071] In another embodiment of the present invention, the ranging system 100 is powered by a power supply. The power source can be a battery equipped to the device. In another embodiment, the battery is powered by energy drawn through solar panels installed on the device.

[0072] Figs. 3 shows a method 200 of ranging a target region 101. The method comprises a first step 201 of imaging a region of a target region using the imager 102. The second step 202 is categorising the target region image according to the pre-determined region categories 110. The third step 203 is operating a laser transmitter responsive to the categorization of the target region image. Based on the categorization of the target region image, the method branches out to two alternative steps.

[0073] The first alternative fourth step 204 is disabling the laser transmitter 105. Overall power consumption is reduced since the laser transmitter at this step is deactivated.

[0074] The second alternative series of steps starts with a second alternative fourth step 204’ of selecting a laser power setting responsive to the categorization of the target region image. In another embodiment, a laser pulse rate is also selected based on thecategorization of the target region image. In another embodiment, a laser pulse energy is also selected based on the categorization of the target region image. In another embodiment, the laser pulse energy setting selected is independent of the laser pulse rate setting, and vice versa. Having a higher laser pulse rate means that the target region can be ranged in less time than a normal laser pulse rate. Being able to automatically adjust laser pulse rate is significant when the method is implemented by a moving device such as an aircraft or a satellite. Alternatively, a higher level of laser pulse energy can be set whilst laser pulse rate is held constant to increase the laser power. In another embodiment, the laser pulse energy setting selected is dependent on the laser pulse rate setting, and vice versa. This means that the laser pulse energy is automatically adjusted when a laser pulse rate setting is selected, and vice versa, to set an optimal laser power setting. Second alternative fifth step 205’ is activating the laser transmitter 105. Second alternative sixth step 206’ is receiving of a laser return signal from the surface of the target region through the detector 107. In an embodiment, the detector 107 is the imager 102 and the imager 102 is adapted for detecting the laser return signal in addition to capturing images of the target region 101.

[0075] The method as described above can then be repeated at a set or variable frequency in order to provide range signals over time. In another embodiment, the step of capturing an image of the subsequent target region is ongoing while the laser is still being transmitted to the first target region.

[0076] As shown in Fig. 4, the method 200 may further include additional step 207’ of processing the laser return signal to a range data and step 208’ of storing the range data in the memory 104 or transmitting the range data to a remote server 109 using a data communication device 108. In another embodiment, the step of capturing an image of the subsequent target region is ongoing while the range data is being transmitted to the remote server 109.

[0077] Fig. 5 is a tabular chart of the laser power setting based on the target region image categorization. When the target region image is categorized as having forests, the laser power setting is activated and set at 100% power. At this power level, the laser can pierce through heavy forest canopies to range the target region underneath the canopies. When the target region image is categorized as having clouds, the laser transmitter is deactivated. This reduces power consumption and saves energy since, when the laser transmitter is otherwise activated, the clouds will just scatter or absorb the light of the laser pulses, leading to unusable data or worse, loss of data. When the target region image is categorized as having a certain percentage of open land or being open land, thelaser power setting is activated and set between 5% - 20% power. If minimal obstructions are minimal or even nonexistent, less power is required for the system to range the target region. Thus, setting the laser transmitter at lower power will save energy and reduce power consumption.

[0078] In another embodiment as shown in Fig. 6, the target region image may be recognized as additional categories. When the target region image is categorized as having smoke, the laser power setting is activated and set at 100% power. When the target region image is categorized as having dense foliage, the laser power setting is activated and set at 50% power. When the target region image is categorized as having mainly tree trunks, the laser power setting is activated and set at 10%. When the target region is categorized as having mainly a crowd of people, the laser power setting is deactivated.

[0079] The foregoing system and method can be implemented on a satellite deployed aerially within the Earth’s atmosphere, or in outer space. When the satellite is implemented with the ranging system 100, the imager 101 will be able to take an aerial image of a target region of the earth’s surface. The aerial image will be processed by the processor 103 to categorise the target region image based on a pre-determined set of region categories 110. In an embodiment, the aerial images captured are likewise stored in the memory 104 and categorised by the processor 103 according to the pre-determined set of region categories 110, also stored in memory 104. Based on the categorization of the aerial image, the laser transmitter 105 will either be activated or deactivated. The categorizations are shown in Fig. 5 when the system and method is implemented on a satellite. When activated, a laser pulse will be transmitted from the transmitter to the target region. A laser return signal will then be detected by the detector. The laser return signal will be processed by the processor 103 to determine range data. Based on set instructions, the range data can be stored in the memory 104 or transmitted through a data communication device 108 to a remote server 109.

[0080] The foregoing system and method can likewise be implemented on an unmanned vehicle or robot traversing across a surface. In this embodiment, the categorizations of the target regions are shown in Fig. 6.

[0081] In another embodiment, the satellite can also implement the system and method when surveying another planet.

[0082] The computer program code instructions may be divided into one or more computer-program-code-instruction libraries, such as dynamic link libraries (DLL), wherein each of the libraries performs a one or more steps of the method. Additionally, asubset of the one or more of the libraries may perform graphical user interface tasks relating to the steps of the method.

[0083] The computing device preferably comprises semiconductor memory comprising volatile memory such as random access memory (RAM) or read only memory (ROM). The memory may comprise either RAM or ROM or a combination of RAM and ROM.

[0084] The computing device comprises a computer program code storage medium reader for reading the computer program code instructions from computer program code storage media.

[0085] The device comprises an arithmetic logic unit or processor for performing the computer program code instructions. The processor may be a reduced instruction set computer (RISC) or complex instruction set computer (CISC) processor or the like. The computing device further comprises a storage device, such as a magnetic disk hard drive or a solid-state disk drive for storing data and / or software instructions.

[0086] Computer program code instructions may be loaded into the storage device from the storage media using the storage medium reader or from the network using network interface. Alternatively, computer program code instructions may be loaded into the storage device from an online resource via the network and network interface.

[0087] During the bootstrap phase, an operating system and one or more software applications are loaded from the storage device into the memory. During the fetch- decode-execute cycle, the processor fetches computer program code instructions from memory, decodes the instructions into machine code, executes the instructions and stores one or more intermediate results in memory.

[0088] In this manner, the instructions stored in the memory, when retrieved and executed by the processor, configures the computing device as a special-purpose machine that may perform the functions described herein.

[0089] The device preferably includes a communication bus subsystem for interconnecting the various devices described above. The bus subsystem may offer parallel connectivity such as Industry Standard Architecture (ISA), conventional Peripheral Component Interconnect (PCI) and the like or serial connectivity such as PCI Express (PCIe), Serial Advanced Technology Attachment (Serial ATA) and the like. The computing device can also include a clock device configured for providing accurate time stamps for use by the processor.Functionality

[0090] The functionality of the various embodiments described above will now be explained with reference to the flowcharts shown in Figures 3-4. In a discussion of thefunctionality below, communications between parties are preferably over a secure communication network.Interpretation

[0091] Unless otherwise defined, all terms (including technical and scientific terms) used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs. It will be further understood that terms used herein should be interpreted as having a meaning that is consistent with their meaning in the context of this specification and the relevant art and will not be interpreted in an idealized or overly formal sense unless expressly so defined herein. For the purposes of the present invention, additional terms are defined below. Furthermore, all definitions, as defined and used herein, should be understood to control over dictionary definitions, definitions in documents incorporated by reference, and / or ordinary meanings of the defined terms unless there is doubt as to the meaning of a particular term, in which case the common dictionary definition and / or common usage of the term will prevail.

[0092] The terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention. As used herein, the singular articles “a”, “an”, and “the” are intended to include the plural forms as well, unless the context clearly indicates otherwise and thus are used herein to refer to one or to more than one (i.e. to “at least one”) of the grammatical object of the article. By way of example, the phrase “an element” refers to one element or more than one element.

[0093] The term “about” is used herein to refer to quantities that vary by as much as 30%, preferably by as much as 20%, and more preferably by as much as 10% to a reference quantity. The use of the word ’’about” to qualify a number is merely an express indication that the number is not to be construed as a precise value.

[0094] Throughout this specification, unless the context requires otherwise, the words “comprise”, “comprises”, and “comprising” will be understood to imply the inclusion of a stated step or element or group of steps or elements but not the exclusion of any other step or element or group of steps or elements.

[0095] The term “real-time” for example “displaying real-time data,” refers to the display of the data without intentional delay, given the processing limitations of the system and the time required to accurately measure the data.

[0096] As used herein, the term “exemplary” is used in the sense of providing examples, as opposed to indicating quality. That is, an “exemplary embodiment” is an embodimentprovided as an example, as opposed to necessarily being an embodiment of exemplary quality for example serving as a desirable model or representing the best of its kind.

[0097] The phrase “and / or,” as used herein in the specification and in the claims, should be understood to mean “either or both” of the elements so conjoined, i.e., elements that are conjunctively present in some cases and disjunctively present in other cases. Multiple elements listed with “and / or” should be construed in the same fashion, i.e., “one or more” of the elements so conjoined. Other elements may optionally be present other than the elements specifically identified by the “and / or” clause, whether related or unrelated to those elements specifically identified. Thus, as a non-limiting example, a reference to “A and / or B”, when used in conjunction with open-ended language such as “comprising” can refer, in one embodiment, to A only (optionally including elements other than B); in another embodiment, to B only (optionally including elements other than A); in yet another embodiment, to both A and B (optionally including other elements); etc.

[0098] As used herein in the specification and in the claims, “or” should be understood to have the same meaning as “and / or” as defined above. For example, when separating items in a list, “or” or “and / or” shall be interpreted as being inclusive, i.e., the inclusion of at least one, but also including more than one, of a number or list of elements, and, optionally, additional unlisted items.

[0099] As used herein in the specification and in the claims, the phrase “at least one,” in reference to a list of one or more elements, should be understood to mean at least one element selected from any one or more of the elements in the list of elements, but not necessarily including at least one of each and every element specifically listed within the list of elements and not excluding any combinations of elements in the list of elements. This definition also allows that elements may optionally be present other than the elements specifically identified within the list of elements to which the phrase “at least one” refers, whether related or unrelated to those elements specifically identified. Thus, as a non-limiting example, “at least one of A and B” (or, equivalently, “at least one of A or B,” or, equivalently “at least one of A and / or B”) can refer, in one embodiment, to at least one, optionally including more than one, A, with no B present (and optionally including elements other than B); in another embodiment, to at least one, optionally including more than one, B, with no A present (and optionally including elements other than A); in yet another embodiment, to at least one, optionally including more than one, A, and at least one, optionally including more than one, B (and optionally including other elements); etc.Bus

[0100] In the context of this document, the term “bus” and its derivatives, while being described in a preferred embodiment as being a communication bus subsystem for interconnecting various devices including by way of parallel connectivity such as Industry Standard Architecture (ISA), conventional Peripheral Component Interconnect (PCI) and the like or serial connectivity such as PCI Express (PCIe), Serial Advanced Technology Attachment (Serial ATA) and the like, should be construed broadly herein as any system for communicating data.In accordance with:

[0101] As described herein, ”in accordance with” may also mean ”as a function of” and is not necessarily limited to the integers specified in relation thereto.Composite items

[0102] As described herein, ”a computer implemented method” should not necessarily be inferred as being performed by a single computing device such that the steps of the method may be performed by more than one cooperating computing devices.

[0103] Similarly objects as used herein such as ‘web server’, ‘server’, ‘client computing device’, ‘computer readable medium’ and the like should not necessarily be construed as being a single object, and may be implemented as a two or more objects in cooperation, such as, for example, a web server being construed as two or more web servers in a server farm cooperating to achieve a desired goal or a computer readable medium being distributed in a composite manner, such as program code being provided on a compact disk activatable by a license key downloadable from a computer network.Database:

[0104] In the context of this document, the term “database” and its derivatives may be used to describe a single database, a set of databases, a system of databases or the like. The system of databases may comprise a set of databases wherein the set of databases may be stored on a single implementation or span across multiple implementations. The term “database” is also not limited to refer to a certain database format rather may refer to any database format. For example, database formats may include MySQL, MySQLi , XML or the like.Processes:

[0105] Unless specifically stated otherwise, as apparent from the following discussions, it is appreciated that throughout the specification discussions utilizing terms such as “processing”, “computing”, “calculating”, “determining”, “analysing” or the like, refer to theaction and / or processes of a computer or computing system, or similar electronic computing device, that manipulate and / or transform data represented as physical, such as electronic, quantities into other data similarly represented as physical quantities.Processor:

[0106] In a similar manner, the term “processor” may refer to any device or portion of a device that processes data, e.g., from registers and / or memory to transform that data into other data that, e.g., may be stored in registers and / or memory. A “computer” or a “computing device” or a “computing machine” or a “computing platform” may include one or more processors.

[0107] The methodologies described herein are, in one embodiment, performable by one or more processors that accept computer-readable (also called machine-readable) code containing a set of instructions that when executed by one or more of the processors carry out at least one of the methods described herein. Any processor capable of executing a set of instructions (sequential or otherwise) that specify actions to be taken are included. Thus, one example is a typical processing system that includes one or more processors. The processing system further may include a memory subsystem including main RAM and / or a static RAM, and / or ROM.Computer-Readable Medium:

[0108] Furthermore, a computer-readable carrier medium may form, or be included in a computer program product. A computer program product can be stored on a computer usable carrier medium, the computer program product comprising a computer readable program means for causing a processor to perform a method as described herein.Networked or Multiple Processors:

[0109] In alternative embodiments, the one or more processors operate as a standalone device or may be connected, e.g., networked to other processor(s), in a networked deployment, the one or more processors may operate in the capacity of a server or a client machine in server-client network environment, or as a peer machine in a peer-to- peer or distributed network environment. The one or more processors may form a web appliance, a network router, switch or bridge, or any machine capable of executing a set of instructions (sequential or otherwise) that specify actions to be taken by that machine.

[0110] Note that while some diagram(s) only show(s) a single processor and a single memory that carries the computer-readable code, those in the art will understand that many of the components described above are included, but not explicitly shown or described in order not to obscure the inventive aspect. For example, while only a singlemachine is illustrated, the term “machine” shall also be taken to include any collection of machines that individually or jointly execute a set (or multiple sets) of instructions to perform any one or more of the methodologies discussed herein.Additional Embodiments:

[0111] Thus, one embodiment of each of the methods described herein is in the form of a computer-readable carrier medium carrying a set of instructions, e.g., a computer program that are for execution on one or more processors. Thus, as will be appreciated by those skilled in the art, embodiments of the present invention may be embodied as a method, an apparatus such as a special purpose apparatus, an apparatus such as a data processing system, or a computer-readable carrier medium. The computer-readable carrier medium carries computer readable code including a set of instructions that when executed on one or more processors cause a processor or processors to implement a method. Accordingly, aspects of the present invention may take the form of a method, an entirely hardware embodiment, an entirely software embodiment or an embodiment combining software and hardware aspects. Furthermore, the present invention may take the form of carrier medium (e.g., a computer program product on a computer-readable storage medium) carrying computer-readable program code embodied in the medium.Implementation:

[0112] It will be understood that the steps of methods discussed are performed in one embodiment by an appropriate processor (or processors) of a processing (i.e., computer) system executing instructions (computer-readable code) stored in storage. It will also be understood that the invention is not limited to any particular implementation or programming technique and that the invention may be implemented using any appropriate techniques for implementing the functionality described herein. The invention is not limited to any particular programming language or operating system.Means For Carrying out a Method or Function

[0113] Furthermore, some of the embodiments are described herein as a method or combination of elements of a method that can be implemented by a processor of a processor device, computer system, or by other means of carrying out the function. Thus, a processor with the necessary instructions for carrying out such a method or element of a method forms a means for carrying out the method or element of a method. Furthermore, an element described herein of an apparatus embodiment is an example of a means for carrying out the function performed by the element for the purpose of carrying out the invention.Connected

[0114] Similarly, it is to be noticed that the term connected, when used in the claims, should not be interpreted as being limitative to direct connections only. Thus, the scope of the expression a device A connected to a device B should not be limited to devices or systems wherein an output of device A is directly connected to an input of device B. It means that there exists a path between an output of A and an input of B which may be a path including other devices or means. “Connected” may mean that two or more elements are either in direct physical or electrical contact, or that two or more elements are not in direct contact with each other but yet still co-operate or interact with each other.Embodiments:

[0115] Reference throughout this specification to “one embodiment” or “an embodiment” means that a particular feature, structure or characteristic described in connection with the embodiment is included in at least one embodiment of the present invention. Thus, appearances of the phrases “in one embodiment” or “in an embodiment” in various places throughout this specification are not necessarily all referring to the same embodiment, but may. Furthermore, the particular features, structures or characteristics may be combined in any suitable manner, as would be apparent to one of ordinary skill in the art from this disclosure, in one or more embodiments.

[0116] Similarly it should be appreciated that in the above description of example embodiments of the invention, various features of the invention are sometimes grouped together in a single embodiment, figure, or description thereof for the purpose of streamlining the disclosure and aiding in the understanding of one or more of the various inventive aspects. This method of disclosure, however, is not to be interpreted as reflecting an intention that the claimed invention requires more features than are expressly recited in each claim. Rather, as the following claims reflect, inventive aspects lie in less than all features of a single foregoing disclosed embodiment. Thus, the claims following the Description of Embodiments are hereby expressly incorporated into this Description of Embodiments, with each claim standing on its own as a separate embodiment of this invention.

[0117] Furthermore, while some embodiments described herein include some, but not other features included in other embodiments, combinations of features of different embodiments are meant to be within the scope of the invention, and form different embodiments, as would be understood by those in the art. For example, in the following claims, any of the claimed embodiments can be used in any combination.Comprising and Including

[0118] In the claims which follow and in the preceding description of the invention, except where the context requires otherwise due to express language or necessary implication, the word “comprise” or variations such as “comprises” or “comprising” are used in an inclusive sense, i.e., to specify the presence of the stated features but not to preclude the presence or addition of further features in various embodiments of the invention.

[0119] Any one of the terms: including or which includes or that includes as used herein is also an open term that also means including at least the elements / features that follow the term, but not excluding others. Thus, including is synonymous with and means comprising.Scope of Invention

[0120] Thus, while there has been described what are believed to be the preferred embodiments of the invention, those skilled in the art will recognize that other and further modifications may be made thereto without departing from the spirit of the invention, and it is intended to claim all such changes and modifications as fall within the scope of the invention. For example, any formulas given above are merely representative of procedures that may be used. Functionality may be added or deleted from the block diagrams and operations may be interchanged among functional blocks. Steps may be added or deleted to methods described within the scope of the present invention.

[0121] Although the invention has been described with reference to specific examples, it will be appreciated by those skilled in the art that the invention may be embodied in many other forms.Industrial Applicability

[0122] It is apparent from the above, that the arrangements described are applicable to the surveying, mapping and space industries.

Claims

ClaimsThe claims defining the invention are as follows:

1. A method for ranging a target region, comprising the steps of: imaging a first region of the target region to receive a first region image; categorising the first region according to a predetermined set of target regions; operating a laser transmitter, responsive to the categorisation of the first region, to: i. disable laser transmission; or ii. select a first laser power setting, responsive to the categorisation of the first region; activate the laser transmitter according to the selected first laser power setting; and receive a first laser return signal to range the first region.

2. The method for ranging a target region as claimed in claim 1, further comprising the steps of: imaging a second region of the target region to receive a second region image after the step of operating the laser transmitter; categorising the second region according to the predetermined set of target regions; again operating the laser transmitter, responsive to the categorisation of the second region, to: i. disable laser transmission; or ii. select a second laser power setting, responsive to the categorisation of the second region; activate the laser transmitter according to the selected second laser power setting; and receive a second laser return signal to range the second region.

3. The method for ranging a target region as claimed in claim 1 , wherein imaging the first region is carried out using a first imager; and the laser return signal is received by the first imager.

4. The method for ranging a target region as claimed in claim 1 , wherein imaging the first region is carried out using a first imager; and the laser return signal is received by a second imager.

5. The method for ranging a target region as claimed in claim 1 , wherein the predetermined set of target regions comprises: a. forest; b. cloud; and c. other, such that the first region is categorised as forest if the first region image includes a forest, the first region is categorised as cloud if the first region image includes a cloud and the first region is categorised as other if the first region image does not include a forest or cloud.

6. The method for ranging a target region as claimed in claim 5, wherein the laser transmitter power setting selected is maximum power when the first region image is categorised as forest.

7. The method for ranging a target region as claimed in claim 5, wherein the laser transmitter is disabled when the first region image is categorised as cloud.

8. The method for ranging a target region as claimed in claim 5, wherein the laser transmitter power setting selected is minimum power when the first region image is categorised as the other.

9. The method for ranging a target region as claimed in claim 1 , wherein the step of selecting a first laser power setting comprises selecting a pulse energy or pulse rate for the laser transmitter.

10. A computer implemented method for ranging a target region, comprising the steps of:instructing at least one imager to image a first region of the target region to receive a first region image; storing the first region image in memory; analysing the first region image using machine learning to categorise the first region according to a predetermined set of target regions and to store the categorisation of the first region in memory; responsive to the categorisation of the first region, either: i. cause a laser transmitter not to operate; or ii. select a laser power setting, responsive to the categorisation of the first region stored in memory; activate the laser transmitter according to the selected laser power setting; and record data associated with a laser return signal received by the at least one imager corresponding to the range of the first region.

11. The computer implemented method as claimed in claim 10, wherein a first imager is instructed to image the first region of the target region; and a second imager is adapted to receive the laser return signal.

12. The computer implemented method as claimed in claim 10, wherein the step of selecting a first laser power setting comprises selecting a pulse energy or pulse rate for the laser transmitter.

13. A ranging system for ranging a target region, comprising: a. a laser transmitter; b. a scanner for directing laser pulses from the laser transmitter toward the target region; c. an imager adapted for: i. taking an image of the target region; and ii. detecting a plurality of received laser return signals from the target region; d. a controller adapted to: i. determine a categorisation of the image according to predetermined region categories;ii. adjust the power setting of the laser transmitter responsive to the categorisation of the image; iii. cause the laser transmitter and scanner to operate, if the power setting is non-zero, in order to determine range data for the target region based on the received laser return signals.

14. The ranging system as claimed in claim 13, wherein the predetermined region categories comprise: a. forest; b. cloud; and c. other, and the controller determines a categorisation of the region as forest if the region image includes a forest, a categorisation of the region as cloud if the region image includes a cloud and a categorisation of the region as other if the region image does not include a forest or cloud.

15. The ranging system as claimed in claim 14, wherein the power setting of the laser transmitter is selected as maximum power when the region image is categorised as forest.

16. The ranging system as claimed in claim 14, wherein the power setting of the laser transmitter is selected as minimum power when the region image is categorised as other.

17. The ranging system according to claim 14, wherein the power setting of the laser transmitter is selected as zero when the region image is categorised as cloud.

18. The ranging system as claimed in claim 13, wherein adjustment of the power setting of the laser transmitter comprises adjustment of a pulse energy or pulse rate of the laser transmitter.

19. The ranging system as claimed in claim 13, wherein the controller is a computer and the computer comprises: a. memory storing at least computer executable instructions; and b. a processor operably connected to the memory such that on execution of the computer executable instructions by the processor, the processor:i. determines a categorisation of the image according to predetermined region categories using a machine learning algorithm; ii. causes the power setting of the laser transmitter to be adjusted responsive to the categorisation of the image; iii. instructs the laser transmitter and scanner to operate, if the power setting is non-zero, in order to determine range data for the region based on the received laser return signals; and iv. stores the range data in memory.

20. A satellite comprising the ranging system of claim 19 and a communications module; the communications module being adapted to transmit the range data to a remote system.

21. A ranging system for ranging a target region, comprising: a. a laser transmitter; b. a scanner for directing laser pulses from the laser transmitter toward the target region; c. a first imager adapted for taking an image of the target region; d. a second imager adapted for detecting a plurality of received laser return signals from the target region; e. a controller adapted to: i. determine a categorisation of the image according to predetermined region categories; ii. adjust the power setting of the laser transmitter responsive to the categorisation of the image; iii. cause the laser transmitter and scanner to operate, if the power setting is non-zero, in order to determine range data for the target region based on the received laser return signals.

22. The ranging system as claimed in claim 21 , wherein the predetermined region categories comprise: a. forest; b. cloud; and c. other,and the controller determines a categorisation of the region as forest if the region image includes a forest, a categorisation of the region as cloud if the region image includes a cloud and a categorisation of the region as other if the region image does not include a forest or cloud.

23. The ranging system as claimed in claim 22, wherein the power setting of the laser transmitted is selected as maximum power when the region image is categorised as forest.

24. The ranging system as claimed in claim 22, wherein the power setting of the laser transmitted is selected as minimum power when the region image is categorised as other.

25. The ranging system according to claim 22, wherein the power setting of the laser transmitted is selected as zero when the region image is categorised as cloud.

26. The ranging system as claimed in claim 21 , wherein adjustment of the power setting of the laser transmitter comprises adjustment of a pulse energy or pulse rate of the laser transmitter.

27. The ranging system as claimed in claim 21 , wherein the controller is a computer and the computer comprises: a. memory storing at least computer executable instructions; and b. a processor operably connected to the memory such that on execution of the computer executable instructions by the processor, the processor: i. determines a categorisation of the image according to predetermined region categories using a machine learning algorithm; ii. causes the power setting of the laser transmitter to be adjusted responsive to the categorization of the image; iii. instructs the laser transmitter and scanner to operate, if the power setting is non-zero, in order to determine range data for the region based on the received laser return signals; and iv. stores the range data in memory.

28. A satellite comprising the ranging system of claim 27 and a communications module; the communications module being adapted to transmit the range data to a remote system.

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