Abstract: A method and apparatus for surveying ground terrain from an airborne vehicle is disclosed. According to the method and apparatus, an inertial measurement unit, a position tracking device, and a terrain altimeter are carried by the airborne vehicle in a known vector relationship to one another. The inertial measurement unit provides continuous accelerometer data from which a first determination of vehicle position can be made. Simultaneously, data from the tracking device representative of the position of the tracking device relative to cooperating reflection means on the ground, if within sight of the airborne vehicle, provides, in combination with gimbal angle sensor outputs from the inertial measurement unit, an independent determination of the position of the vehicle. The two position measurements, when available, are continuously compared in real time on board the vehicle and error corrections are generated therefrom by estimation theory.

Abstract: A system for determining the range between a reference point and a target by transmitting a pulse toward the target and measuring the time until receipt of a pulse reflected by the target. In an airborne laser altimeter configuration, the reference point may be located on an aircraft and a pulsed laser is directed along a vertical path to the ground. The system measures the duration of a pulse sequence including a first (or start) pulse, representing a pulse transmitted from the reference point, and the last of one or more associated subsequent return pulses, where the return pulses represent reflections of the transmitted pulse from both the ground and interfering objects located between the reference point and the ground. The system generates a replica of the start pulse and subsequent pulses, with the replica being delayed by a predetermined period from the start pulse and associated subsequent return pulses.