Repositioning of an aerial pursuit system between launches of projectiles

Abstract

An air pursuit system may include an unmanned aerial vehicle (UAV), a launcher mounted to the UAV, and a magazine coupled to the launcher. The magazine may be configured to receive and hold a plurality of projectiles. The UAV and the launcher may be configured to cooperate in performing the operation of the air pursuit system. The air pursuit system may determine a first position on a target. The air pursuit system may launch a first projectile of the plurality of projectiles toward the first position. The air pursuit system may reposition the UAV based on movement caused by the recoil force exerted by launching the first projectile. The air pursuit system may launch the next projectile of the plurality of projectiles toward the next position on the target. The next position may be different from the first position.

Description

Technical Field

[0001] An embodiment of the present invention relates to an aerial pursuit system. Prior Technology

[0002] Projectile launchers can be mounted on a platform. A projectile launcher can fire one or more projectiles toward a target. Conducted electronic weapons ("CEWs") are a type of projectile launcher. A CEW delivers an electric current through the target's tissues. The current can interfere with the target's voluntary movements, such as walking, running, or moving. The current can cause pain or other discomfort that promotes the cessation of voluntary movement in the target. The current can cause neuromuscular dysfunction by stiffening, locking, and / or freezing the target's skeletal muscles, thereby interrupting the voluntary control of the muscles. This dysfunction impairs the target's voluntary movement. A typical CEW fires two or more projectiles (e.g., electrodes) to remotely deliver an electric current through the target's tissues. Summary of the Invention

[0003] In various embodiments, an air pursuit system is disclosed. The air pursuit system may include: an unmanned aerial vehicle (UAV); a launcher mounted to the UAV; and a magazine coupled to the launcher. The magazine may be configured to receive a plurality of projectiles. The UAV and the launcher may be configured to cooperate in performing operations. Operations may include determining a first position on a target. Operations may include launching a first projectile of the plurality of projectiles toward the first position. Operations may include repositioning the UAV based on movement caused by recoil from launching the first projectile. Operations may include launching the next projectile of the plurality of projectiles toward a next position on the target. The next position may be different from the first position.

[0004] In various embodiments of the above-described air pursuit system, the operation may further include providing a stimulus signal through the first and second projectiles. The transmitter may further include a signal generator, and the signal generator may be configured to provide the stimulus signal. The operation of launching the next projectile may be based on the deployment distance between the UAV and the target. The operation of launching the first projectile and the operation of launching the next projectile may be separated by a deployment time interval, and the duration of the deployment time may be configured to provide an appropriate spacing between the first and second projectiles on the target. The operation of launching the first projectile and the operation of launching the next projectile may be separated by a deployment time interval, and the deployment time may be based on the deployment distance between the UAV and the target. The deployment time may include an inverse relationship with the deployment distance. The operation may further include receiving the deployment distance from the operation controller via the UAV. The UAV may further include UAV accessories, and the operation may further include using the UAV accessories to calculate the deployment distance. The deployment distance includes a distance range.

[0005] In various embodiments, a method for launching a projectile from a platform toward a target is disclosed. The method may include one or more steps, including: determining a first position on the target; launching a first projectile toward the first position; repositioning the platform based on movement caused by recoil force exerted from launching the first projectile; and launching a next projectile toward a next position on the target, wherein the next position is different from the first position.

[0006] In various embodiments of the above method, the step of launching the next projectile may be during the repositioning of the platform. The step of launching the next projectile may be after the repositioning of the platform. The step of launching the next projectile may be based on the deployment distance between the platform and the target. The steps of launching the first projectile and launching the next projectile may be separated by a deployment time. The deployment time may be based on the deployment distance between the platform and the target. The steps of launching the first projectile and launching the next projectile may be in response to a trigger signal. The step may further include: receiving a next trigger signal; and launching the second next projectile toward a second next position on the target. The step of launching the second next projectile may be in response to the next trigger signal. The step may further include performing a next repositioning of the platform based on a next movement caused by the next recoil force exerted by launching the next projectile before receiving the next trigger signal. The movement caused by the recoil force may include vertical movement of the platform along the pitch axis. The movement caused by the recoil force may further include horizontal movement of the platform along at least one of the deflection axis or the roll axis.

[0007] The foregoing features and elements can be combined in various combinations unless otherwise expressly indicated herein as mutually exclusive. The operation of these features and elements, as well as the disclosed embodiments, will become more apparent in the following description and figures. Simple Explanation of the Diagram

[0008] The subject matter of this invention is specifically pointed out and explicitly claimed in the concluding section of the specification. However, for a more complete understanding of the invention, it is best to consider the embodiments and the scope of the claims with reference to the following schematic diagrams. In the following figures, similar element symbols represent similar elements and steps throughout the figures.

[0009] [Figure 1A] is a perspective view of an aerial pursuit system according to various embodiments;

[0010] [Figure 1B] is a schematic diagram of an aerial pursuit system according to various embodiments;

[0011] Figures 2A to 2E illustrate the stages of positioning, aiming, and launching the projectile toward the target according to various embodiments of the air pursuit system;

[0012] [Figure 3] is a flowchart illustrating a method for launching a projectile toward a distant target according to various embodiments;

[0013] [Figure 4] is a flowchart illustrating a method for launching a projectile toward a distant target according to various embodiments; and

[0014] [Figure 5] is a block diagram illustrating the components of a computer system according to various embodiments.

[0015] The elements and steps in the drawings are for simplicity and clarity and are not necessarily presented in any particular order. For example, steps that can be performed simultaneously or in different orders are shown in the drawings to help improve the understanding of embodiments of the invention. Implementation

[0016] The implementation of exemplary embodiments herein is illustrated with reference to the accompanying drawings, which demonstrate exemplary embodiments by way of example. While the description of these embodiments is sufficient to enable those skilled in the art to practice what has been disclosed, it should be understood that other embodiments may also be implemented, and logical changes and adjustments may be made to the design and construction based on this disclosure and the teachings herein. Therefore, the embodiments described herein are for illustrative purposes only and are not intended to be limiting.

[0017] The scope of this disclosure is defined by the appended claims and their legal equivalents, and not merely by the examples described. For instance, the steps enumerated in any method or procedure description may be performed in any order and are not necessarily limited to the order presented. Furthermore, any reference referring to the singular includes the plural embodiments, and any reference referring to the plural of components or steps may include the singular embodiments or steps. Similarly, any reference referring to attachment, fixing, coupling, connection, or the like may include permanent, removable, temporary, partial, complete, and / or any other possible additional options. Surface shading in the figures may be used to indicate different parts, but is not necessarily used to indicate the same or different materials.

[0018] In various embodiments, a projectile launcher may be configured to launch one or more projectiles toward a target. The projectile launcher may include any platform, device, weapon, gun, system, and / or the like configured to deploy (or cause to deploy) projectiles. For example, a projectile launcher may include one or more electronic devices configured to deploy projectiles. As a further example, a projectile launcher may include a conducted electronic weapon (CEW), a modular conducted electronic weapon (MCEW), a payload launcher, a projectile device configured to deploy entangled projectiles, a paintball gun, and / or the like. In this regard, a projectile launcher may include a standalone device, a device mounted on or communicating with a second device, a platform, a device, or a system electronically communicating with a second electronic device, and / or the like.

[0019] In various embodiments, the projectile launcher may be configured to be held and operated by a human user. For example, the projectile launcher may include a handle, grip, barrel, stock, and / or the like, configured to be held in the single hand of a human user.

[0020] In various embodiments, the projectile launcher may be mounted on or near a platform. In this respect, the projectile launcher can be remotely operated. For example, a human user can remotely operate the projectile launcher. The platform may include any suitable object, structure, or such.

[0021] For example, in some embodiments, the platform may include a remote vehicle. The remote vehicle may include any object capable of movement by ground (e.g., surface), water, or air. The remote vehicle may be operated by a human user. The remote vehicle may include an autonomous vehicle. The remote vehicle may include an unmanned aerial vehicle (UAV) (e.g., a drone), an unmanned ground vehicle (UGV), an unmanned surface vessel (USV) (e.g., an unmanned surface vehicle, an autonomous surface vehicle, etc.), a robot, a car, or the like. A ground vehicle may include one or more wheels, continuous tracks (e.g., tank tracks, tracks, etc.), functional outriggers, or the like, configured to enable movement of the vehicle on ground-based terrain. The remote vehicle may be operated via a separate control interface (e.g., a user controller). The remote vehicle may be operated via short-range electronic communication and / or long-range electronic communication. In various embodiments, the decision to deploy a projectile launcher from a remote end of the platform may be received directly from a human operator.

[0022] The projectile launcher can be configured to launch any suitable type of projectile. The projectile may comprise any object, payload, capsule, and / or similar object configured to be deployed from the projectile launcher. For example, and according to various embodiments, the projectile may include non-lethal or low-lethal projectiles. In this regard, the projectile may include or be configured to deploy darts, paintballs, rubber projectiles (e.g., rubber bullets), conducted electronic weapon (CEW) electrodes, modular conducted electronic weapon (MCEW) electrodes or payloads, entanglement projectiles configured to entangle targets (e.g., chain-based entanglement projectiles, nets, etc.), odor-based projectiles, liquid-based projectiles, gas-based projectiles, pepper spray or pepper spray projectiles (e.g., capsaicin, OC spray), tear gas or tear gas canisters or projectiles (e.g., o-chlorophenylmethylene malononitrile, CS spray), flashbang projectiles, window-breaking projectiles, and / or any other non-lethal or low-lethal projectile.

[0023] In various embodiments, the electrode of the CEW may include a spear portion designed to pierce or adhere to the target tissue to provide a conductive path between the electrode and the tissue. For example, the electrode may be electrically coupled to the grip of the projectile launcher via a conductive filament. The grip can provide current through the filament, the electrode, the spear, and to the target.

[0024] In some embodiments, the projectile may be configured to deliver an inhibitory substance (e.g., to at least partially inhibit a target). In some embodiments, the projectile may be configured to deliver a marking substance (e.g., to mark or calibrate a target).

[0025] In various embodiments, the projectile launcher can be used to interfere with the autonomous movement of a target (e.g., walking, running, moving, etc.). For example, the projectile launcher may include a CEW. A CEW can be used to deliver an electric current (e.g., a stimulation signal, a pulse of current, a pulse of charge, etc.) through the tissues of a human or animal target. Although commonly referred to as a conducted electronic weapon, as described herein, "CEW" can refer to a conducted electronic weapon, a conducted energy weapon (or "energy weapon"), an electronic control device, an electric shock weapon, and / or any other similar device or apparatus configured to deliver a stimulation signal through one or more deployed projectiles (e.g., electrodes), such as those provided by Axon Enterprise under its trademark TASER®.

[0026] A CEW can be configured to deliver a stimulus signal to a target. This stimulus signal carries an electrical charge into the target tissue. The stimulus signal can interfere with the target's voluntary movement. The stimulus signal can cause pain. Pain can also be used to induce the target to stop moving. The stimulus signal can cause the target's skeletal muscles to stiffen (e.g., lock up, freeze, etc.). Muscle stiffness in response to a stimulus signal is called neuromuscular inertia ("NMI"). NMI disrupts the target's voluntary control of its muscles. The target's loss of control over its muscles impairs its mobility.

[0027] Stimulation signals can be transmitted through the target via terminals coupled to the CEW. Transmission via terminals can be referred to as localized delivery (e.g., localized shock, induced shock, etc.). During localized delivery, the terminals are brought close to the target by positioning the CEW close to it. The stimulation signal is then transmitted through the target tissue via the terminals. To provide localized delivery, the user of the CEW is typically positioned within arm reach of the target and the terminals of the CEW are in contact with or close to the target.

[0028] Stimulation signals can be transmitted through a target via one or more (typically at least two) lead-attached electrodes. Transmission via lead-attached electrodes can be referred to as telemetry (e.g., tele-electro-shock). During telemetry, the CEW can be separated from the target by the length of the lead tether (e.g., 15 feet, 20 feet, 30 feet, etc.). The CEW emits electrodes toward the target. As the electrodes travel toward the target, their respective lead tethers are deployed behind the electrodes. The lead tethers electrically couple the CEW to the electrodes. The electrodes can be electrically coupled to the target, thereby coupling the CEW to the target. In response to the electrode connection, application, or positioning in proximity to the target tissue, current can be supplied through the electrodes through the target (e.g., forming a circuit through a first tether and a first electrode, target tissue, and a second electrode and a second tether).

[0029] Electrodes that contact or approach the target tissue transmit stimulation signals through the target. Contact between the electrode and the target tissue establishes electrical coupling (e.g., a circuit). The electrode may contain a spear that can pierce the target tissue to make contact with the target. Electrodes approaching the target tissue may use ionization to establish electrical coupling with the target tissue. Ionization is also known as arc discharge.

[0030] During use (e.g., during deployment), the electrodes can be isolated from the target tissue by clothing or air gaps. In various embodiments, the CEW's signal generator can provide a stimulation signal (e.g., current, current pulses, etc.) at a high voltage (e.g., in the range of 40,000 to 100,000 volts) to ionize the air in the clothing or gaps separating the electrodes from the target tissue. Ionizing the air establishes a low-impedance ionization path from the electrodes to the target tissue, through which the stimulation signal can be transmitted to the target tissue. As long as the pulsed current of the stimulation signal is provided via the ionization path, the ionization path persists (e.g., remains present, continues, etc.). When the current stops or is reduced below a threshold value (e.g., amperes, voltage), the ionization path collapses (e.g., ceases to exist) and the electrodes are no longer electrically coupled to the target tissue. Without an ionization path, the impedance between the electrodes and the target tissue becomes high. High voltages in the range of approximately 50,000 volts can ionize air in gaps up to approximately 1 inch in size.

[0031] The CEW can provide a stimulation signal as a series of current pulses. Each current pulse may include a high-voltage portion (e.g., 40,000 to 100,000 volts) and a low-voltage portion (e.g., 500 to 6,000 volts). The high-voltage portion of the stimulation signal pulse ionizes the air in the gap between the electrode and the target to electrically couple the electrode to the target. In response to the electrode being electrically coupled to the target, the low-voltage portion of the pulse transfers a charge to the target tissue via an ionization path. In response to the electrode being electrically coupled to the target by contact (e.g., touching, a spear embedded in the tissue, etc.), both the high and low portions of the pulse transfer charge to the target tissue. Generally, the low-voltage portion of the pulse transfers the majority of the pulse charge to the target tissue. In various embodiments, the high-voltage portion of the stimulation signal pulse may be referred to as an electric spark or ionization portion. The low-voltage portion of the pulse may be referred to as a muscle portion.

[0032] In various embodiments, the signal generator of the CEW can provide a stimulation signal (e.g., current, current pulse, etc.) at a low voltage (e.g., less than 2,000 volts). A low-voltage stimulation signal may not ionize air in clothing or gaps separating the electrode from the target tissue. A CEW having a signal generator that provides stimulation signals only at low voltages (e.g., a low-voltage signal generator) may require the electrode to be electrically coupled to the target by contact (e.g., touching, a spear embedded in the tissue, etc.).

[0033] The likelihood of a stimulation signal causing NMI increases when the electrodes transmitting the stimulation signal are spaced at least 6 inches (15.24 cm) apart, allowing current from the stimulation signal to flow through at least 6 inches of the target tissue. In various embodiments, the electrodes are preferably spaced at least 12 inches (30.48 cm) apart on the target.

[0034] A series of pulses may consist of two or more pulses spaced out in time. Each pulse delivers a charge to the target tissue. The likelihood of NMI increases when the electrodes are properly spaced (as discussed above) because each pulse delivers a charge ranging from 55 to 71 microcoulombs per pulse. The likelihood of NMI increases when the pulse delivery rate (e.g., rate, pulse rate, repetition rate, etc.) is between 11 pulses per second (“pps”) and 50 pps. Pulses delivered at higher rates can deliver less charge per pulse to induce NMI. Pulses delivering more charge per pulse can be delivered at lower rates to induce NMI.

[0035] In various embodiments, the CEW can use a battery to provide pulses of stimulation signals. In response to a high charge per pulse and a high pulse rate, the CEW can use more energy than is required to induce NMI. Using more energy than required will deplete the battery more quickly. Experimental tests have shown that a pulse rate of less than 44 pps and a charge per pulse of approximately 63 microcoulombs conserve battery power and have a high probability of inducing NMI. Experimental tests have shown that when the electrode spacing is at least 12 inches (30.48 cm), a pulse rate of 22 pps and a pulse of 63 microcoulombs per pulse via a pair of electrodes will induce NMI.

[0036] In various embodiments, the air pursuit system may include a platform and a projectile launcher mounted on the platform. The platform may include a UAV. The projectile launcher may include a CEW capable of deploying electrodes and / or other types of projectiles. The CEW may include a launcher, a magazine, and one or more cartridge cases. The launcher may be mounted to the UAV. The UAV may communicate electrically and / or electronically with the launcher. The magazine is removably inserted into the launcher. The magazine may include one or more bores. Each bore may be configured to receive a cartridge case. The cartridge case may include one or more projectiles.

[0037] A UAV can carry a CEW (Constant Energy Receiver) a distance away from the user (e.g., the user operating the UAV) toward the target. The UAV can carry the CEW a distance much greater than the length of the lead tether providing the stimulus signal through the target (e.g., compared to a handheld CEW) to distance it from the user. In various embodiments, the UAV can be operated to position the CEW within close proximity to the target. For example, in one embodiment, the UAV (telescopic or partial operative) can be positioned closer to the target than a human could safely position it at. In one embodiment, the UAV can be positioned 5 feet (1.524 meters) or 10 feet (3.048 meters) from the target. In yet another embodiment, the UAV can be positioned more than 100 feet (30.48 meters) from the target and even as high as 400 feet (121.92 meters). Those skilled in the art will understand that these distances are merely illustrative and other distances, higher or lower than those indicated, can be implemented in accordance with the teachings herein.

[0038] In various embodiments, the decision to launch the projectile from the transmitter installed in the UAV can be received by a human operator. In this respect, although the UAV carrying the CEW can be at least partially automated, the decision to launch the projectile may involve human intervention.

[0039] In various embodiments, other systems or accessories for controlling and / or guiding the flight or movement of the UAV (e.g., cameras, guidance systems, global positioning systems (GPS), object detection, communications, speakers, microphones, etc.) may be used to keep the UAV within range of a target, to aim the launcher toward the target, and / or to control the launch of projectiles from the launcher.

[0040] In various embodiments, and with reference to Figures 1A and 1B, an air pursuit system 100 is disclosed. Those skilled in the art will understand that Figure 1B is a schematic representation of the air pursuit system 100, and one or more components of the air pursuit system 100 may be located in any suitable location, either within or outside the components of the air pursuit system 100. The air pursuit system 100 may share similar components with or similar to any other air pursuit system, platform, projectile launcher, and / or the like disclosed herein. The air pursuit system 100 may include a UAV 110, a launcher 130, and / or a magazine 140. In some embodiments, the air pursuit system 100 may further include an operation controller 103.

[0041] In various embodiments, UAV 110 may include any suitable UAV capable of aerial travel, such as a drone. UAV 110 may be similar to any other UAV, drone, remotely operated vehicle, or the like disclosed herein. UAV 110 may include an autonomous vehicle or be remotely controlled by operator 101, as further discussed herein. UAV 110 may include one or more software and / or hardware components that can cooperate to control the operation of UAV 110. UAV 110 may include a frame defining the body outside UAV 110. The frame may accommodate and / or implement the mounting of one or more components of UAV 110. UAV 110 may include one or more software, hardware, electrical, electronic, and / or mechanical components that can cooperate to control the operation of UAV 110. For example, UAV 110 may include one or more of processing circuitry 112, memory 114, power supply 116, UAV communication interface 118, flight system 120, and / or UAV accessories 124.

[0042] In various embodiments, power source 116 may be configured to provide power (e.g., energy, electricity, etc.) to various components of air pursuit system 100, including UAV 110, launcher 130, and / or magazine 140. For example, power source 116 may provide power for operating electronic and / or electrical components (e.g., parts, subsystems, circuits, etc.) of UAV 110, launcher 130, and / or magazine 140. Power source 116 may be electrically coupled to processing circuitry 112, memory 114, UAV communication interface, flight system 120, and / or UAV accessories 124. Power source 116 may provide current at a voltage. Power from power source 116 may be direct current (“DC”). Power from power source 116 may be alternating current (“AC”). Power source 116 may include a battery. The energy of power source 116 may be renewable or depletable, and / or replaceable. For example, power source 116 may include one or more rechargeable and / or disposable batteries. In various embodiments, energy from power source 116 may be converted from one form (e.g., electrical, magnetic, thermal) to another to perform the functions of the system.

[0043] Power source 116 can provide energy to perform the functions of the projectile launcher. For example, power source 116 can provide current to launcher 130 and / or magazine 140. Power source 116 can provide current to a signal generator in launcher 130. This signal generator can provide current through the target to inhibit the target's autonomous movement. Power source 116 can provide energy for stimulation signals. Power source 116 can provide energy for other signals, including ignition signals, as discussed further herein.

[0044] In various embodiments, the processing circuitry 112 may include any circuitry, electrical components, electronic components, software, and / or the like configured to perform the various operations and functions discussed herein. For example, the processing circuitry 112 may include processing circuitry, a processor, a digital signal processor, a microcontroller, a microprocessor, an application-specific integrated circuit (ASIC), a programmable logic device, logic circuitry, a state machine, a microelectromechanical system (MEMS) device, signal conditioning circuitry, communication circuitry, a computer, a computer-based system, radio, network appliances, data buses, address buses, and / or any combination thereof. In various embodiments, the processing circuitry 112 may include passive electronics (e.g., resistors, capacitors, inductors, etc.) and / or active electronics (e.g., operational amplifiers, comparators, analog-to-digital converters, digital-to-analog converters, programmable logic, state relay control (SRC), transistors, etc.). In various embodiments, the processing circuit 112 may include a data bus, an output port, an input port, a timer, a memory, an arithmetic unit, and / or the like.

[0045] In various embodiments, the processing circuit 112 may include signal conditioning circuitry. The signal conditioning circuitry may include a level changer to alter (e.g., increase, decrease) the magnitude of a voltage (e.g., a signal) or to change the magnitude of a voltage provided by the processing circuit 112 before it is received by the processing circuit 112.

[0046] In various embodiments, the processing circuit 112 may be configured to control and / or coordinate the operation of some or all of the states of the air pursuit system 100. For example, the processing circuit 112 may be configured to control and / or coordinate the operation of components of the UAV 110. As a further embodiment, the processing circuit 112 may be configured to control and / or coordinate the operation of components of the launcher 130 and / or magazine 140.

[0047] In various embodiments, processing circuitry 112 may include (or communicate with) memory 114. Memory 114 is configured to store data, programs, and / or instructions. Memory 114 may include tangible, non-transitory computer-readable memory. Instructions stored in tangible, non-transitory memory may allow processing circuitry 112 to perform various operations, functions, and / or steps as described herein.

[0048] As used herein, the term "non-transitory" is understood to mean only removing the transmission of transient signals from the scope of the patent application, but not relinquishing the rights to all standard computer-readable media that transmit more than just transient signals. In other words, the terms "non-transitory computer-readable memory," "non-transitory memory," and similar terms should be interpreted as excluding only those types of transient computer-readable media found in the case of In re Nuijten, which is governed by Section 101 of the U.S. Patent Act.

[0049] In various embodiments, memory 114 may include any hardware, software, and / or database components capable of storing and maintaining data. For example, memory 114 may include a database, data structure, memory components, etc. Memory 114 may include any suitable non-transitory memory known in the art, such as internal memory (e.g., random access memory (RAM), read-only memory (ROM), solid-state drive (SSD), etc.), removable memory (e.g., SD card, xD card, CompactFlash card, etc.), or the like.

[0050] Processing circuitry 112 can be configured to provide and / or receive electrical signals, whether digital or analog in form. Processing circuitry 112 can provide and / or receive digital information via data buses using any protocol. Processing circuitry 112 can receive information, manipulate received information, and provide such manipulation information. Processing circuitry 112 can store information and retrieve stored information. Information received, stored, and / or manipulated by processing circuitry 112 can be used to perform functions, control functions, and / or perform operations or execute stored programs.

[0051] Processing circuitry 112 can control the operation and / or functions of other circuits and / or components of the air pursuit system 100. Processing circuitry 112 can receive or determine status information regarding the operation of other components, perform calculations based on that status information, and provide commands (e.g., instructions) to one or more other components. Processing circuitry 112 can command another component to start operation, continue operation, change operation, pause operation, stop operation, etc. Commands and / or status can be communicated between processing circuitry 112 and other circuits and / or components via any suitable electrical signal or electronic communication. Commands and / or status can be communicated between processing circuitry 112 and other circuits and / or components via any type of bus (e.g., SPI bus) containing any type of data / address bus.

[0052] In various embodiments, the processing circuitry 112 may include a flight controller. The flight controller may be configured to process data from one or more sensors of the UAV 110, transmit signals to control the flight maneuvers of the UAV 110, adjust the power supplied to one or more motors of the UAV 110, and / or the like. The processing circuitry 112 may include any suitable type of flight controller.

[0053] In various embodiments, the processing circuitry 112 may include or electronically communicate with a UAV communication interface 118. The UAV communication interface 118 may resemble or include similar components having any other communication interface, communication unit, short-range communication unit, long-range communication unit, or similar elements disclosed herein. The UAV communication interface 118 enables electronic communication between a device and a system. For example, the UAV communication interface 118 may be configured to enable electronic communication between the air pursuit system 100 and an operator 101 operating a communication device (e.g., an operation controller 103). The UAV communication interface 118 may communicate via a network. For example, the UAV communication interface 118 may include a modem, a network interface (such as an Ethernet card), a communication port, or the like. Data may be transmitted via the UAV communication interface 118 in the form of signals, which may be electronic, electromagnetic, optical, or other signals that can be transmitted or received by a communication interface. UAV communication interface 118 can be configured to transmit information via any wireless protocol or other protocol capable of transmitting information via a wireless connection. In various embodiments, UAV communication interface 118 can be configured to enable short-range communication between devices. In various embodiments, UAV communication interface 118 can be configured to enable long-range communication between devices. In various embodiments, UAV communication interface 118 can be configured to enable both short-range and long-range communication between devices.

[0054] In various embodiments, flight system 120 may communicate electronically and / or electrically with processing circuitry 112. Processing circuitry 112 may be configured to transmit commands to and / or receive responses from flight system 120. Processing circuitry 112 may be configured to control the power supply from power source 116 to flight system 120. In this regard, processing circuitry 112 may at least partially or completely control the operation of flight system 120. Flight system 120 may include one or more software, hardware, electrical, electronic, and / or mechanical components that cooperate to assist UAV 110 in flight and / or perform other operations disclosed herein. Flight system 120 may include components configured to generate thrust and manipulate that thrust to directionally control the movement (e.g., yaw, pitch, roll) of UAV 110. For example, flight system 120 may include one or more motors and one or more propellers 122 (e.g., rotors). One or more propellers 122 may be coupled to one or more motors. Flight system 120 may include electronic speed controllers (ESCs) configured to control one or more motors. In operation, the ESCs may be configured to adjust the speed and direction of the motors. These motors may be configured to apply force to propellers 122 to cause each propeller 122 to rotate (e.g., spin) to generate lift. The ESCs may be configured to vary the speed and spacing of the individual motors to produce movement of the UAV 110 in the forward, rearward, and lateral directions along yaw, pitch, and / or roll axes.

[0055] In various embodiments, the flight system 120 may further include one or more sensors configured to aid in the operation of the UAV 110. These sensors may be configured to help the UAV 110 maintain stability and / or positioning. For example, the sensors may include accelerometers, gyroscopes, barometers, magnetometers, and / or the like. An accelerometer may include any suitable accelerometer and may be configured to measure and / or provide data on the acceleration of the UAV 110 in one or more directions. A gyroscope may include any suitable gyroscope and may be configured to measure and / or provide data on the rotation of the UAV 110 along one or more axes. A barometer may include any suitable barometer and may be configured to measure and / or provide data for determining the altitude of the UAV 110. A magnetometer may include any suitable magnetometer and may be configured to measure and / or provide data to help the UAV 110 maintain orientation.

[0056] In various embodiments, the UAV accessory 124 may communicate electronically and / or electrically with the processing circuitry 112. The processing circuitry 112 may be configured to transmit instructions to and / or receive responses from the UAV accessory 124. The processing circuitry 112 may be configured to control the supply of power from the power source 116 to the UAV accessory 124. In this regard, the processing circuitry 112 may at least partially or completely control the operation of the UAV accessory 124. The UAV accessory 124 may include one or more software, hardware, electrical, electronic, and / or mechanical components.

[0057] In embodiments where the UAV accessory 124 includes electrical or electronic components, the UAV accessory 124 may be electrically connected to the power supply 116.

[0058] For example, and according to various embodiments, UAV accessory 124 may include recording devices (e.g., camera, video input component, audio input component, microphone, etc.) configured to capture audio and / or video data. UAV accessory 124 may further include a mount (e.g., gimbal) configured to stabilize the recording device during the movement (e.g., flight) of UAV 110.

[0059] As a further example and according to various embodiments, UAV accessory 124 may include an audio output component (e.g., a speaker) configured to output audio data, a visual output component (e.g., an LCD screen, a projector, etc.) configured to output video data, and / or the like.

[0060] As a further example and according to various embodiments, UAV accessory 124 may include one or more location services. Location services may include software and / or hardware components. Location services may be configured to provide location details of UAV 110. For example, the location service may include an onboard Global Positioning System (GPS), GPS receiver, or the like configured to provide the location (e.g., coordinates) of UAV 110. Location services may include a compass providing the UAV 110's field of view or movement. Location services may include an accelerometer capable of detecting the speed and / or acceleration of UAV 110's movement. Generally, information collected through location services may be referred to as "location information." Location services may also include tools, software, and / or the like configured to collect, associate, store, and / or transmit location information. The location service may be used in processing circuitry 112 to track the location of UAV 110, control and / or orient flight of UAV 110, follow pre-programmed flight paths, and / or similar objects.

[0061] As a further example and according to various embodiments, UAV accessory 124 may include one or more object detection systems. The object detection system may include one or more sensors, video capture systems (e.g., cameras), and / or artificial intelligence-based software systems. Components of the object detection system may cooperate to (e.g., using sensors, video capture systems, etc.) acquire object data, examine the data, and determine objects and flight paths based on the data.

[0062] As another example and according to various embodiments, UAV accessory 124 may include one or more environmental detection systems. The environmental detection system may include one or more sensors, software systems, and / or the like. For example, the environmental detection system may include one or more environmental sensors. Environmental sensors may include temperature sensors, humidity sensors, pressure sensors, light sensors, rain sensors, wind speed sensors, and / or the like. The environmental sensors may be configured to collect environmental data and cooperate with the components of UAV 110 to determine environmental conditions and / or make determinations about such environmental conditions.

[0063] As a further example and according to various embodiments, UAV accessory 124 may include a rangefinder. The rangefinder may be configured to calculate (e.g., measure, determine, etc.) the deployment distance between UAV 110 and target 105. The rangefinder may include any suitable device, hardware, software, and / or the like capable of calculating the distance between two objects. For example, the rangefinder may include a laser rangefinder, a laser telemetry device, and / or the like.

[0064] In various embodiments, transmitter 130 may be mounted to UAV 110. Transmitter 130 may be coupled to UAV 110. Transmitter 130 may be mechanically, electrically, and / or electronically coupled to UAV 110. Transmitter 130 may be electronically communicated with processing circuitry 112. In this regard, processing circuitry 112 may be configured to communicate with transmitter 130, including components for transmitting and receiving signals to transmitter 130. Transmitter 130 may be electrically connected to power supply 116. In this regard, power supply 116 may be configured to provide power to components of transmitter 130.

[0065] In various embodiments, the launcher 130 may be similar to any other launcher disclosed herein. The launcher 130 may include a housing (e.g., a launcher housing) configured to house one or more components of the launcher 130. The launcher 130 may include a compartment 132. The compartment 132 may be sized and shaped to receive a magazine 140. The launcher 130 may be configured to house various components configured to deploy projectiles from the magazine 140, provide current to the magazine 140 and / or the projectiles of the magazine 140, and / or otherwise assist the operation of the air pursuit system 100, as further discussed herein. The launcher 130 may include one or more software, hardware, electrical, electronic, and / or mechanical components. For example, the launcher 130 may include one or more of a signal generator 135, a launcher accessory 134, and / or the like.

[0066] In various embodiments, the signal generator 135 may be configured to provide an electrical signal. This electrical signal may include an electric current. The electrical signal may include an ignition signal configured to induce the deployment (e.g., propulsion, launch, etc.) of one or more projectiles. The electrical signal may include a stimulus signal provided through one or more deployed projectiles.

[0067] In various embodiments, the signal generator 135 may communicate with the processing circuitry 112. In various embodiments, the processing circuitry 112 may be electrically and / or electronically coupled to the signal generator 135. The processing circuitry 112 may be configured to transmit or provide control signals to the signal generator 135 in response to detecting and / or receiving a start event. Multiple control signals may be sequentially provided from the processing circuitry 112 to the signal generator 135. In response to receiving control signals, the signal generator 135 may be configured to perform various functions and / or operations, as further discussed herein. In some embodiments, the control signals from the processing circuitry 112 to the signal generator 135 may include signals from the processing circuitry 112 to provide power to or remove power from the signal generator 135 (e.g., an electrical signal to a control switch between the power supply 1116 and the signal generator 135).

[0068] In various embodiments, signal generator 135 may be configured to receive one or more control signals from processing circuitry 112. Signal generator 135 may provide an electrical signal to magazine 140 based on the control signals. Signal generator 135 may be electrically and / or electronically coupled to processing circuitry 112 and / or magazine 140. Signal generator 135 may be electrically coupled to power supply 116. Signal generator 135 may use power received from power supply 116 to generate an electrical signal. For example, signal generator 135 may receive current from power supply 116 having a first current and voltage value. Signal generator 135 may convert the current into an electrical signal having a second current and voltage value. The converted second current and / or the converted second voltage value may be different from the first current and / or the first voltage value. The converted second current and / or the converted second voltage value may be the same as the first current and / or the first voltage value. Signal generator 135 may temporarily store power from power source 116 and rely entirely or partially on the stored power to provide electrical signals. Signal generator 135 may also rely entirely or partially on power received from power source 116 to provide electrical signals without temporarily storing power.

[0069] Signal generator 135 can be controlled by a control signal to generate an electrical signal having one or more predetermined current values. For example, signal generator 135 may include a current source. A control signal can be received by signal generator 135 to activate the current source at its current value. Additional control signals can be received to reduce the current of the current source. For example, signal generator 135 may include a pulse width modulation circuit coupled between the current source and the output of signal generator 135. A second control signal can be received by signal generator 135 to activate the pulse width modulation circuit, thereby reducing the non-zero period of the signal generated by the current source and the total current of the ignition signal subsequently output by signal generator 135. The pulse width modulation circuit may be separate from or integrated into the circuitry of the current source. Alternatively or additionally, various forms of signal generator 135 may be employed, including those that apply voltages through one or more different resistors to generate signals with different currents.

[0070] In various embodiments, the signal generator 135 may include a high-voltage module configured to deliver a current having a high voltage.

[0071] In various embodiments, the signal generator 135 may include a low-voltage module configured to deliver a current having a low voltage (such as, for example, 2000 volts).

[0072] In response to receiving a control signal indicating an activation event, signal generator 135 provides an ignition signal to magazine 140 (or one or more cartridges within magazine 140). For example, signal generator 135 may provide an electrical signal as an ignition signal to magazine 140 in response to receiving a control signal from processing circuitry 112. In various embodiments, the ignition signal may be a separate and distinct stimulus signal. For example, the stimulus signal may be provided by signal generator 135 to a different circuit within magazine 140, relative to the circuit providing the ignition signal. Signal generator 135 may be configured to generate a stimulus signal. In various embodiments, a second, separate signal generator, component, or circuitry (not shown) within transmitter 130 may be configured to generate a stimulus signal. Signal generator 135 may also provide a ground signal path for magazine 140, thereby completing the circuitry of the electrical signal provided to magazine 140 by signal generator 135. The grounding signal path can also be provided to the magazine 140 via other components in the air pursuit system 100 (including power supply 116).

[0073] In various embodiments, compartment 132 may be configured to receive one or more magazines 140. Compartment 132 may include an opening in the launcher 130, the size and shape of which are designed to receive one or more magazines 140. Compartment 132 may include one or more mechanical features configured to removably couple one or more magazines 140 within compartment 132. Compartment 132 may be configured to receive a single magazine, two magazines, three magazines, nine magazines, or any other number of magazines.

[0074] In various embodiments, the magazine 140 may include a housing sized and shaped to be inserted into the compartment 132. The housing may define one or more bores 142. Each bore 142 may define an opening (e.g., a chamber) through the housing. Each bore 142 may be configured to receive a projectile or a cartridge containing a projectile. Each bore 142 may be sized and shaped accordingly to receive and accommodate a projectile or a cartridge containing a projectile before and during the deployment of a projectile from the magazine 140. Each bore 142 may include any suitable deployment angle. One or more bores 142 may include similar deployment angles. One or more bores 142 may include different deployment angles. The housing may include any suitable or desired number of bores 142, such as, for example, three bores (e.g., as depicted), five bores, eight bores, ten bores, and / or the like.

[0075] In various embodiments, the magazine 140 may be configured to receive one or more cartridges 156, such as, for example, a first cartridge 156-0, a second cartridge 156-1, an "N"th cartridge 156-n, and / or the like. The magazine 140 may be configured to receive a number of cartridges 156 equal to the number of bores 142 in the magazine 140. Each cartridge 156 may include a body configured to receive a projectile and one or more components required to deploy the projectile from the body. The projectile may be similar to any other electrode, projectile, or like disclosed herein. The propulsion module may be similar to any other propulsion module, fuse, or like disclosed herein. For example, the first cartridge 156-0 may include a first projectile P0 and a first propulsion module 155-0, the second cartridge 156-1 may include a second projectile P1 and a second propulsion module 155-1, and the Nth cartridge 156-n may include an Nth projectile Pn and an Nth propulsion module 155-n, etc.

[0076] As mentioned in this article, the cartridge cases 156-0, 156-1, and 156-n can be individually referred to as a "cartridge case 156" or collectively as "cartridge case 156". As mentioned in this article, the projectiles P0, P1, and Pn can be individually referred to as a "projectile P" or collectively as "projectile P". As mentioned in this article, the propulsion modules 155-0, 155-1, and 155-n can be individually referred to as a "propulsion module 155" or collectively as "propulsion module 155".

[0077] In various embodiments, each propulsion module 155 may be coupled to or communicate with a particular electrode in the projectile 156. For example, the first propulsion module 155-0 may communicate with the first projectile P0 (e.g., electrical communication, fluid communication, etc.), the second propulsion module 155-1 may communicate with the second projectile P1 (e.g., electrical communication, fluid communication, etc.), and the Nth propulsion module 155-n may communicate with the Nth projectile Pn (e.g., electrical communication, fluid communication, etc.).

[0078] The propulsion module 155 may include any means, propellant (e.g., air, gas, etc.), fuse, or the like, capable of providing propulsion. Propulsion may comprise an increase in pressure caused by the rapid expansion of gas within a region or chamber (e.g., inside the cartridge case body). Propulsion may be applied to one or more projectiles P to induce their deployment. The propulsion module 155 may provide propulsion in response to individual cartridge cases receiving an ignition signal, as previously discussed.

[0079] In various embodiments, propulsion force can be applied directly to one or more projectiles P. For example, propulsion force from propulsion module 155-0 can be directly provided to a first projectile P0, propulsion force from propulsion module 155-1 can be directly provided to a second projectile P1, propulsion force from propulsion module 155-n can be directly provided to an Nth projectile Pn, and so on. Propulsion module 155 can be in fluid communication with one or more projectiles P to provide propulsion force. For example, propulsion force from propulsion module 155 can travel to projectile P within the housing or channel of each projectile cartridge 156. Propulsion force can travel via manifolds in each projectile cartridge 156.

[0080] In various embodiments, propulsion can be indirectly provided to one or more projectiles P. For example, propulsion can be provided to an auxiliary propellant source within propulsion module 155. The propulsion can launch the auxiliary propellant source within propulsion module 155, causing the auxiliary propellant source to release propellant. The force associated with the release of propellant can then provide force to one or more projectiles P. The force generated by the auxiliary propellant source can cause one or more projectiles P to be deployed from their respective cartridge cases 156.

[0081] In various embodiments, each projectile P0, P1, Pn may comprise any suitable type of projectile. For example, one or more projectiles P may be or may comprise a projectile, an electrode (e.g., an electrode dart), a entangled projectile (e.g., a chain-based entangled projectile, a net, etc.), a payload projectile (e.g., comprising a liquid or gaseous substance), or the like. The electrode may comprise a spear portion designed to pierce or adhere closely to the vicinity of target tissue to provide a conductive path between the electrode and the tissue, as discussed previously herein.

[0082] In various embodiments, the signal generator 135 may include one or more cartridges 156 received by the magazine 140 or electrically connected in series therewith. For example, the signal generator 135 may include one or more electrical contacts 137 (e.g., first electrical contact 137-0, second electrical contact 137-1, "N"th electrical contact 137-n, etc.) or electrically connected in series therewith (e.g., grip contact, grip electrical contact, signal generator contact, etc.). The electrical contacts 137 may be at least partially exposed within the compartment 132. In response to the magazine 140 being inserted into the compartment 132, the electrical contacts 137 may engage one or more cartridges 156 loaded within the magazine 140 (e.g., as illustrated in FIG. 1B). Each electrical contact 137 may be configured to be electrically connected in series with one or more cartridges 156 (including the same cartridge 156 or separate cartridges 156). For example, the first electrical contact 137-0 can be connected in series with the signal generator 135 and the first cartridge 156-0, the second electrical contact 137-1 can be connected in series with the signal generator 135 and the second cartridge 156-1, and the Nth electrical contact 137-n can be connected in series with the signal generator 135 and the Nth cartridge 156-n.

[0083] Signal generator 135 may be configured to provide one or more electrical signals to one or more cartridges 156 via one or more electrical contacts 137. For example, signal generator 135 and / or processing circuitry 112 may control the provision of electrical signals to electrical contacts 137. Signal generator 135 and / or processing circuitry 112 may control the provision of electrical signals by enabling and / or disabling electrical connections (e.g., a first electrical connection, a second electrical connection, a next electrical connection, etc.). Electrical connections define the electrical coupling between signal generator 135 and one or more respective electrical contacts 137. Signal generator 135 and / or processing circuitry 112 may enable and / or disable electrical connections using any suitable techniques or procedures (e.g., by selectively providing electrical signals, turning circuits or switches on and / or off, and / or such devices). In some embodiments, providing electrical signals may include providing a low-voltage detection signal, an ignition signal, a stimulation signal, and / or the like.

[0084] In various embodiments, the cartridge 156 may include an electrical contact 157 (e.g., cartridge contact, cartridge electrical contact, etc.) at one end of each of its respective cartridge bodies. For example, the first cartridge 156-0 may include a first electrical contact 157-0, the second cartridge 156-1 may include a second electrical contact 157-1, the Nth cartridge 156-n may include an "Nth" electrical contact 157-n and / or the like.

[0085] Electrical contact 157 may be configured to allow each individual cartridge 156 to receive an electrical signal from signal generator 135 via individual electrical contact 137. For example, electrical contact 157 may be configured to complete the circuit between cartridge 156 and signal generator 135. In this regard, electrical contact 157 may be configured to transmit (or provide) a stimulus signal from signal generator 135 to each individual cartridge P via electrical contact 137. As a further example, electrical contact 157 may be configured to transmit (or provide) an electrical signal (e.g., an ignition signal) from signal generator 135 to each individual propulsion module 155 via electrical contact 137. For example, electrical contact 157 may be configured to transmit (or provide) an electrical signal to a conductor of propulsion module 155, thereby causing the conductor to heat up and ignite pyrotechnic material inside the propulsion module. Ignition of the pyrotechnic material can cause the propulsion module 155 to be deployed from the cartridge 156 (e.g., directly or indirectly) to its respective projectile P.

[0086] For example, the first cartridge 156-0 may be electrically coupled to the signal generator 135 via the first cartridge electrical contact 157-0 and the first grip electrical contact 137-0; the second cartridge 156-1 may be electrically coupled to the signal generator 135 via the second cartridge electrical contact 157-1 and the second grip electrical contact 137-1; the Nth cartridge 156-n may be electrically coupled to the signal generator 135 via the Nth cartridge electrical contact 157-n and the Nth grip electrical contact 137-n; and / or similar.

[0087] In various embodiments, the cartridge electrical contact 157 may include one or more electrical components configured to be electrically coupled to one or more individual grip electrical contacts 137 in response to insertion of the magazine 140 into the chamber 132. As previously discussed, the cartridge electrical contact 157 may be configured to provide electrical signals to individual cartridges 156. The grip electrical contact 137 may include one or more electrical connectors, such as spring-loaded pins, electrical contacts, electrical probes, and / or the like. For example, one or more grip electrical contacts 137 may include signal pins. These signal pins may be positioned and configured to provide electrical signals to the cartridge electrical contacts 157 electrically coupled to the individual grip electrical contacts 137. The signal pins may be configured to be electrically coupled to the cartridge electrical contact 157 at a center point at the end of the cartridge 156.

[0088] As a further example, one or more grip contacts 137 may include a grounding pin. In some embodiments, the grounding pin may be positioned and configured to provide an electrical signal to a cartridge contact 157 electrically coupled to the grip contact 137. In some embodiments, the grounding pin may be positioned and configured to provide an electrical ground. The grounding pin may be positioned radially outward from the signal pin and may be configured to contact the cartridge contact 157 at a location different from that of the signal pin.

[0089] In various embodiments, a signal pin may be configured to contact a cartridge electrical contact 157 at a first position on the cartridge 156, and a ground pin may be configured to contact the cartridge electrical contact 157 at a second position on the cartridge 156. The first position may be radially inward from the second position. The first position may include a generally central location on one end of the cartridge 156. The second position may include the outer edge of one end of the cartridge 156. In various embodiments, the signal pin and / or the ground pin may be electrically coupled (directly or in series) to one or more components of the grip 110, such as, for example, processing circuitry 112, signal generator 135, and / or power supply 116.

[0090] In various embodiments, transmitter accessory 134 may be in electronic and / or electrical communication with processing circuitry 112. Processing circuitry 112 may be configured to transmit instructions to and / or receive responses from transmitter accessory 134. Processing circuitry 112 may be configured to control the supply of power from power source 116 to transmitter accessory 134. In this regard, processing circuitry 112 may at least partially or completely control the operation of transmitter accessory 134. In embodiments where transmitter accessory 134 includes electrical or electronic components, transmitter accessory 134 may be electrically connected to power source 116. Transmitter accessory 134 may include one or more software, hardware, electrical, electronic, and / or mechanical components.

[0091] For example, and according to various embodiments, launcher accessory 134 may include aiming equipment configured to at least partially assist the air pursuit system 100 in accurately deploying a projectile. For example, the aiming equipment may include visual, laser vision, and / or any other suitable or desired system or device for assisting aiming. The aiming equipment may be positioned and configured to at least partially mimic the trajectory of a projectile launched by launcher 130. Accessories may include light-emitting components, such as flashlights, tactical flashlights, strobe lights, or any other light-emitting components.

[0092] In various embodiments, UAV accessory 124 and transmitter accessory 134 may include the same accessory. For example, UAV accessory 124 may include a first accessory and transmitter accessory 134 may include a second accessory. The first accessory may be the same as the second accessory.

[0093] In various embodiments, UAV accessory 124 and transmitter accessory 134 may include different accessories. For example, UAV accessory 124 may include a first accessory and transmitter accessory 134 may include a second accessory. The first accessory may be different from the second accessory.

[0094] In various embodiments, UAV accessory 124 and transmitter accessory 134 may include overlapping accessories. For example, UAV accessory 124 may include a first accessory and a second accessory, and transmitter accessory 134 may include a third accessory. The first accessory may be the same as the third accessory. The second accessory may be different from the third accessory. As a further example, UAV accessory 124 may include a first accessory, and transmitter accessory 134 may include a second accessory and a third accessory. The first accessory may be the same as the second accessory. The first accessory may be different from the third accessory.

[0095] In various embodiments, the air pursuit system 100 may be configured to receive input, control, operation, or the like. For example, the air pursuit system 100 may be configured to receive input, control, operation, or the like from operator 101. Operator 101 may access, operate, or deploy projectiles, wholly or partially, from or otherwise with the air pursuit system 100. For example, operator 101 may operate a UAV 110, an armed and / or disarmed launcher 130, launch projectiles and / or such projectiles from launcher 130 and magazine 140. Operator 101 may access the air pursuit system 100 directly via an operation controller 103 and / or via any other access mechanism. In some embodiments, operator 101 may provide authentication input before operating the air pursuit system 100.

[0096] In various embodiments, the operation controller 103 may be configured to enable communication between the operator 101 and other components of the air pursuit system 100. The operation controller 103 may be configured to transmit signals to the UAV 110. The operation controller 103 may be configured to receive signals from the UAV 110. The operation controller 103 may be configured to receive input from the operator 101. The operation controller 103 may be configured to provide output to the operator 101.

[0097] In various embodiments, the operation controller 103 may include a user interface 107 (e.g., a controller user interface). The user interface 107 may be configured to receive input from the operator 101. The user interface 107 may be configured to provide output to the operator 101. The user interface 107 may be part of or be a control interface. The user interface 107 may be located on or in any suitable location within the operation controller 103. For example, the user interface 107 may be coupled to an outer surface of the operation controller 103, or at least partially extend through an outer surface of the operation controller 103. The user interface 107 may be electrically, mechanically, and / or electronically coupled to the processing circuitry of the operation controller 103. In various embodiments, in response to a user interface 107 including electronic or electrical properties or components, the user interface 107 may be electrically coupled to a power source of the operation controller 103. The user interface 107 may receive power (e.g., current) from the power source to power the electronic properties or components.

[0098] In various embodiments, the user interface 107 may include one or more components configured to receive input from the operator 101. For example, the user interface 107 may include one or more of the following: an audio capture module (e.g., a microphone) configured to receive audio input; a visual display (e.g., a touch screen, LCD, LED, etc.) configured to receive manual input; a mechanical interface (e.g., a button, switch, joystick, dial pad, trigger, etc.) configured to receive manual input; and / or one or more of these.

[0099] In various embodiments, the user interface 107 may include one or more components configured to transmit, provide, and / or generate outputs. For example, the user interface 107 may include one or more of the following: an audio output module (e.g., an audio speaker) configured to output audio; a light-emitting component (e.g., a flashlight, laser guide, LED, etc.) configured to output light; a visual display (e.g., a touch screen, LCD, LED, etc.) configured to output visual information; and / or the like.

[0100] In various embodiments, the user interface 107 may include a flight interface. The flight interface may be configured to control the operation of the UAV 110, including movement of the UAV 110 in the forward, backward, and lateral directions and along yaw, pitch, and / or roll axes, acceleration or deceleration of the UAV 110, and / or the like. For example, as further discussed herein, operation of the flight interface may cause the operation controller 103 to generate a flight signal and transmit the flight signal to the UAV 110. In response to receiving the flight signal, the UAV 110 (e.g., processing circuitry 112, flight system 120, etc.) may perform operations in response to the flight signal.

[0101] In various embodiments, the user interface 107 may include a control interface. The control interface may be configured to control the selection of firing modes in the air pursuit system 100 via the user interface 107. For example, as further discussed herein, operation of the control interface may cause the operation controller 103 to generate and transmit control signals to the UAV 110. In response to receiving the control signals, the UAV 110 (e.g., processing circuitry 112) may perform operations in response to the control signals (e.g., controlling the selection of firing modes). Controlling the selection of firing modes in the air pursuit system 100 may include loading the launcher 130, unloading the launcher 130, disabling deployment from the launcher 130, enabling deployment from the launcher 130, controlling deployment from the launcher 130, and / or similar operations, as further discussed herein. Disabling components or features of the air pursuit system 100 may include operating the air pursuit system 100 and / or the launcher 130 into a safe mode (e.g., a deactivated mode, a neutralized mode, a disarmed mode, etc.). The activation components or features of the air pursuit system 100 may include operating the air pursuit system 100 and / or the launcher 130 into firing mode (e.g., action mode, heating mode, arming mode, etc.).

[0102] In various embodiments, the control interface may also be configured to perform (or cause to perform) one or more operations that do not include a firing mode selection. For example, the control interface may be configured to enable selection of an operating mode for the air pursuit system 100 and / or the launcher 130, selection of options within an operating mode, or similar selection or scrolling operations, as further discussed herein. As a further example, the control interface may be configured to allow input of a deployment distance. The deployment distance may define the distance between the UAV 110 (and / or the launcher 130) and the target 105. The deployment distance may include digital distances (e.g., 5 feet (1.52 meters), 10 feet (3.05 meters) etc.), distance ranges (e.g., 0 feet to 10 feet (0 meters to 3.05 meters), 10 feet to 20 feet (3.05 meters to 6.10 meters) etc.) and / or the like. This deployment distance may be directly input by the user, selected from available options and / or the like.

[0103] In various embodiments, the user interface and / or control interface may include an aiming interface. The aiming interface may be configured to provide (e.g., output) a visual display. The visual display may include flight feedback. The visual display may be based on data received from transmitter accessory 134 and / or UAV accessory 124. For example, transmitter accessory 134 and / or UAV accessory 124 may include a recording device, and the visual display may include data captured by the recording device (e.g., video data). As a further example, transmitter accessory 134 and / or UAV accessory 124 may include one or more sensors, and the visual display may include data captured by the recording device (e.g., sensor data).

[0104] In various embodiments, the visual display can be further expanded with additional data and displays. For example, the visual display can depict a virtual representation of crosshairs, optical vision, aiming devices, and / or the like (collectively, the "aiming display"). The aiming display can be combined (e.g., overlaid) with data received from transmitter accessory 134 and / or UAV accessory 124. For example, the aiming display can be overlaid (e.g., combined) with data captured by recording devices (e.g., video data). In this regard, the aiming interface can reflect a virtual representation of the position at which the user of operating controller 103 is aiming at UAV 110 and / or transmitter 130.

[0105] In various embodiments, the aiming display may be configured to indicate the launch position of the projectile from launcher 130. For example, the launch position may indicate or approximate the deployment position or orientation of the projectile. As a further example, the launch position may indicate or approximate the position where the projectile can impact the target.

[0106] The aiming display can be calculated (e.g., determined) by the processing circuitry of the operation controller 103. This aiming display can be calculated by the processing circuitry 112. The aiming display can be based on data from the operation controller 103, the UAV 110, and / or the launcher 130. For example, the aiming display can be calculated based on the target, selected deployment distance, flight feedback, position information, environmental data, cartridge characteristics, projectile characteristics, selected bore, and / or similar calculated deployment distances. As a further example, the aiming display can be calculated based on the position on the target as further discussed herein (e.g., referring to step 302 in FIG. 3, step 402 in FIG. 4, etc.). As a further example, the aiming display can be calculated based on the position of the launcher 130 relative to the recording device of the launcher accessory 134 and / or the UAV accessory 124.

[0107] In various embodiments, the aiming display may include a static aiming display. The static aiming display remains consistent regardless of the operation of UAV 110 and / or transmitter 130. Operation controller 103 may display the static aiming display in response to UAV 110 being powered on (e.g., operation starting). Operation controller 103 may stop displaying the static aiming display in response to UAV 110 being powered off (e.g., operation ending).

[0108] In various embodiments, the aiming display may include a dynamic aiming display. This dynamic aiming display may be updated (e.g., changed, altered, etc.) based on the operation of UAV 110 and / or transmitter 130. The dynamic aiming display may be updated based on operations and / or inputs from the operation controller 103. The dynamic aiming display may be updated via processing circuitry of the operation controller 103. The dynamic aiming display may be updated via processing circuitry 112. In this regard, processing circuitry 112 may transmit updates to the operation controller 103 for displaying the dynamic aiming display.

[0109] For example, the dynamic aiming display can be updated based on calculations of the aiming display (e.g., the processing circuitry can recalculate the aiming display). In this regard, changes in the calculated deployment distance to the target, selected deployment distance, flight feedback, position information, environmental data, cartridge characteristics, projectile characteristics, selected bore, and / or similar factors can cause the processing circuitry to recalculate the aiming display.

[0110] As a further example, the dynamic aiming display can be updated based on the operation of UAV 110 and / or launcher 130. The operation controller 103 can display the dynamic aiming display in response to the launcher 130 being armed. The operation controller 103 can stop displaying the dynamic aiming display in response to the launcher 130 being disarmed.

[0111] In various embodiments, the dynamic aiming display may include a plurality of aiming displays. For example, the dynamic aiming display may include a first aiming display configured to indicate a first launch position from a first projectile of launcher 130 and a second aiming display configured to indicate a second launch position from a second projectile of launcher 130. The first aiming display may differ from the second aiming display. The first aiming display may be offset from the second aiming display. As further discussed herein, the second aiming display may be configured to indicate a second launch position after repositioning of UAV 110. In this regard, the calculation of the second aiming display may be based on the calculation of the second launch position, as further discussed herein.

[0112] In various embodiments, multiple aiming displays may be displayed differently on the operation controller 103 based on the operation of the operation controller 103, UAV 110, and / or launcher 130. For example, before the first firing of the first projectile, the operation controller 103 may display multiple aiming displays, such as a first aiming display and a second aiming display. After the firing of the first and second projectiles, the operation controller 103 may display a single aiming display, such as an aiming display indicating the next firing position of the next projectile from the launcher 130.

[0113] In various embodiments, an aiming display can be calculated even when the UAV launcher is not aligned with a position indicated by the aiming display. The aiming display can indicate a predicted position where a projectile can be deployed after repositioning the UAV coupled to the launcher. The launcher and UAV may be misaligned to deploy the projectile toward that position at one of the moments when the aiming display identifies that position. The aiming display can indicate a anticipated alignment between the launcher and a second position on the target after deploying another projectile. The alignment to be made may differ from the current alignment between the target and the UAV coupled to the launcher. The aiming display can be determined when the projectile is aligned with a different position on the target. The aiming display can be calculated before repositioning the launcher of the UAV to be aligned with the position indicated by the aiming display. For example, the launcher 130 of UAV 110 may be aligned with target 105 at a first moment such that a first projectile P0 is aligned with a first position on target 105. A first aiming display can be generated based on the alignment of the first projectile P0 with the first position to indicate the first position on target 105. Based on this alignment, the second projectile P1 may not be aligned with a second position on the target 105 where the second projectile P1 is subsequently deployed. For example, the second projectile P2 may be deployed from the magazine 140 in a direction parallel to the first projectile P0. With this configuration, when the first projectile P0 is aligned with the first position, the second projectile may also be substantially aligned with the first position. At the first moment, the position on the target 105 where the second projectile P1 can be aligned may be less than two inches away from the first position oriented for deployment of the first projectile P0. However, according to an embodiment of the invention, a second aiming indication associated with the second position where the second projectile P1 can be subsequently deployed may be generated at the first moment. The second position may differ from the position oriented by the second projectile P1 at the first moment. The second aiming indication may be calculated based on a predetermined repositioning amount that can be applied to the launcher 130 after the deployment of the first projectile P0. The distance along the target 105 between the first position indicated by the first aiming indication and the second position indicated by the second aiming indication may be greater than 6 inches or greater than 12 inches. The second aiming display can be determined before the launcher 130 aligns with the second position at a second time point after the first time point. The second aiming display can be generated at the first time point before the UAV 110 is repositioned. The second aiming display can be displayed before the UAV 110 is repositioned. After the repositioning, the launcher 130 can align with the second position at the second time point. By calculating the aiming display for the projectile before aligning it, multiple positions for deployable projectiles can be provided simultaneously, even though these projectiles are deployed sequentially from the repositioned air-to-ground tracking system between deployments.

[0114] In various embodiments, the user interface 107 may include a trigger interface. The trigger interface may be configured to control the deployment of projectiles from the launcher 130. For example, operation of the trigger interface may cause the operation controller 103 to generate and transmit a deployment signal to the UAV 110, as further discussed herein. In response to receiving the deployment signal, the UAV 110 (e.g., processing circuitry 112) may instruct or cause the launcher 130 to deploy one or more projectiles from the magazine 140.

[0115] In various embodiments, the user interface 107 may include a repower interface. This repower interface may be configured to control the additional supply of a stimulus signal from the transmitter 130 (e.g., signal generator 135) to a previously deployed projectile. For example, as further discussed herein, operation of the repower interface may cause the operation controller 103 to generate and transmit a repower signal to the UAV 110. In response to receiving the repower signal, the UAV 110 (e.g., processing circuitry 112) may instruct or cause the transmitter 130 (e.g., signal generator 135) to provide a next stimulus signal through the previously deployed projectile.

[0116] In various embodiments, the controller communication interface 109 may resemble or include similar components to any other communication interface, communication unit, short-range communication unit, long-range communication unit, or the like disclosed herein. The controller communication interface 109 may be configured to enable electronic communication between the operating controller 103 and the UAV 110 (e.g., UAV communication interface 118). The controller communication interface 109 may communicate via a network. For example, the controller communication interface 109 may include a modem, network interface (such as an Ethernet card), communication port, or the like. Data may be transmitted via the controller communication interface 109 in the form of signals (e.g., flight signals, control signals, deployment signals, etc.), which may be electronic, electromagnetic, optical, or other signals that can be transmitted or received by the communication interface. The controller communication interface 109 may be configured to transmit via any wireless protocol or other protocol capable of transmitting information via a wireless connection. In various embodiments, the controller communication interface 109 may be configured to enable short-range communication between devices. In various embodiments, the controller communication interface 109 can be configured to enable long-distance communication between devices. In various embodiments, the controller communication interface 109 can be configured to enable both short-distance and long-distance communication between devices.

[0117] In the operation of the air pursuit system, and according to various embodiments, one or more cartridges may be loaded into one or more bores of a magazine. The magazine with the loaded cartridges may be inserted into a compartment mounted to the launcher of the UAV. An operator may interact with an operations controller to control the operation of the UAV. For example, the operations controller may transmit signals to and receive signals from the UAV. An operator may interact with the operations controller to fly the UAV (e.g., the operations controller transmits flight signals to the UAV). The operator may fly and maneuver the UAV within range of the target. The operator may aim the UAV toward a first position on the target. The aiming UAV may include an operations controller displaying one or more aiming displays.

[0118] In some embodiments, the UAV can calculate the deployment distance to a first location of the target. The deployment distance to the target can be transmitted to the operations controller and provided to the operator. In some embodiments, the operator can interact with the operations controller to input the deployment distance.

[0119] The operator can interact with the operation controller to arm the launcher (e.g., the operation controller transmits control signals to the UAV). The operator can interact with the operation controller to launch one or more projectiles from the launcher toward a first position on the target (e.g., the operation controller transmits a trigger signal to the UAV). In response to two or more projectiles electrically coupled to the target, the launcher can provide a stimulus signal through the two or more projectiles and the target. The operator can continue to interact with the operation controller to re-energize the two or more projectiles to provide a next stimulus signal through the projectiles and the target (e.g., the operation controller transmits a re-energizing signal to the UAV). The operator can continue to interact with the operation controller to launch one or more next projectiles from the launcher toward the next position on the target (e.g., the operation controller transmits a next trigger signal to the UAV).

[0120] In various embodiments, and referring to Figures 2A through 2E and continuing to Figures 1A and 1B, the air pursuit system 100 is depicted at multiple stages of operation. One or more cartridges 156 may be loaded into their respective bores 142 of a magazine 140. The magazine 140 may be inserted into the compartment 132 of a launcher 130 to electrically couple each cartridge 156 to the launcher 130. Electrically coupling each cartridge 156 to the launcher 130 may electrically couple each cartridge 156 to a signal generator 135. The launcher 130 may be mechanically and / or electrically coupled to a UAV 110.

[0121] Operator 101 can interact with operation controller 103 to control the operation of UAV 110. For example, operator 101 can interface with user interface 107 to provide input and receive output. Controller communication interface 109 can wirelessly transmit signals (e.g., inputs, commands, etc.) to UAV communication interface 118. Controller communication interface 109 can wirelessly receive signals (e.g., outputs, responses, etc.) from UAV communication interface 118.

[0122] Operator 101 can interact with operation controller 103 to fly UAV 110. For example, operator 101 can interface with user interface 107 to provide flight input, movement input, and / or the like. Operation controller 103 can generate flight signals. Controller communication interface 109 can transmit flight signals to UAV communication interface 118. In response to receiving flight signals, processing circuitry 112 can instruct flight system 120 to operate, causing movement and flight of UAV 110. Processing circuitry 112 can acquire, generate, and provide flight feedback to operation controller 103 via UAV communication interface 118 and controller communication interface 109. For example, flight feedback may include flight data (e.g., speed, altitude, acceleration, orientation, etc.) from flight system 120, visual data from UAV accessory 124, sensor data from UAV accessory 124, and / or the like. Flight feedback may be displayed on operation controller 103 via user interface 107. The operation controller 103 can display the aiming display.

[0123] In various embodiments, and specifically referring to FIG2A, operator 101 can fly and manipulate UAV 110 within the range of target 105. Operator 101 can aim transmitter 130 toward a first position L0 on target 105 via user interface 107. UAV accessory 124 and / or transmitter accessory 134 can at least partially assist operator 101 in aiming transmitter 130 toward the first position L0. The aiming display of operation controller 103 can also at least partially assist operator 101 in aiming transmitter 130 toward the first position L0. Aiming transmitter 130 toward the first position L0 may include moving UAV 110 via flight system 120.

[0124] In various embodiments, UAV 110 can determine the deployment distance of a first position L0. The deployment distance can be defined between UAV 110 (or transmitter 130) and the first position L0 on target 105. The deployment distance can include a digital distance, a distance range, and / or the like. In some embodiments, the deployment distance can be input by operator 101. For example, operator 101 can interact with operation controller 103 to input the deployment distance. Inputting the deployment distance can include inputting a deployment distance, selecting a deployment distance, and / or the like. In some embodiments, UAV 110 can calculate the deployment distance. For example, UAV 110 can use UAV accessory 124 (such as a rangefinder) to calculate the deployment distance.

[0125] In various embodiments, and specifically referring to FIG. 2B, UAV 110 may fire a first projectile P0 toward a first position L0 on target 105. For example, operator 101 may interact with operation controller 103 to arm launcher 130. Operation controller 103 may transmit control signals to UAV 110. Control signals may include instructions to arm launcher 130. In response to receiving the control signal, UAV 110 may arm launcher 130 to cause projectile to be fired from launcher 130. Arming launcher 130 may occur at any suitable time before projectile firing. In some embodiments, arming launcher 130 may cause operation controller 103 to begin displaying an aiming display.

[0126] Operator 101 can interact with operation controller 103 to launch a first projectile P0. Operation controller 103 can transmit a trigger signal (e.g., a first trigger signal) to UAV 110. The trigger signal may include an instruction to launch the first projectile P0. In response to receiving the trigger signal, UAV 110 can instruct or cause launcher 130 to launch the first projectile P0. For example, processing circuitry 112 can instruct or cause signal generator 135 to transmit an ignition signal (e.g., a first ignition signal) to first cartridge 156-0. The ignition signal can cause first propulsion module 155-0 to activate from first cartridge 156-0 and launch the first projectile P0. The first projectile P0 may bounce and be electrically coupled to target 105. The first projectile P0 may bounce and be electrically coupled to target 105 approaching a first position L0.

[0127] In various embodiments, two projectiles, including a first projectile P0 and a second projectile P1, can be deployed from a first launch (e.g., a first trigger signal) from launcher 130. The launch positions of the first projectile P0 and / or the second projectile P1 can be provided to the operation controller 103 via a plurality of aiming displays (e.g., a first aiming display corresponding to the first projectile P0 and a second aiming display corresponding to the second projectile P1). A single projectile, such as an Nth projectile Pn, can be deployed from an additional launch from launcher 130 (e.g., a next trigger signal). For example, the first launch may include two projectiles, the second launch may include one projectile, the third launch may include one projectile, and so on. As further discussed herein, the launch of the first projectile P0 and the second projectile P1 during the first launch can be time-separated. For example, the first projectile P0 can be deployed and the second projectile P0 can be deployed after the deployment time. During the deployment time, UAV 110 can be repositioned to aim at different positions on target 105.

[0128] As previously discussed, the likelihood of a stimulus signal causing an NMI increases when projectiles delivering a stimulus signal are spaced at least 6 inches (15.24 cm) and preferably at least 12 inches (30.48 cm) apart on the target. In this regard, during the first firing, the launcher 130 may deploy the first projectile P0 and reposition itself to aim at a second position L1 on the target 105 before deploying the second projectile P1. The second position L1 can be separated from the first position L0 by deployment dispersion. Deployment dispersion can be configured to increase the likelihood of the stimulus signal causing an NMI. The first firing can be separated from the second firing by deployment time. Deployment time can be configured to allow the UAV 110 and the launcher 130 to reposition themselves to aim at the second position L1 before deploying the second projectile P1.

[0129] In various embodiments, and specifically referring to FIG2C, UAV 110 may be repositioned (e.g., a first repositioning) to aim at a second position L1. The second position L1 may be different from the first position L0. UAV 110 may be repositioned between launches using any suitable procedure.

[0130] UAV 110 can be repositioned based on the recoil force applied by the launch of the projectile P0. For example, the first propulsion module 155-0 (e.g., from the propulsion force of activation) to the activation of the launching projectile P0 can apply recoil force to the magazine 140, launcher 130, and / or UAV 110. The recoil force can move within UAV 110, thereby causing UAV 110 to be repositioned. Repositioning may include a tilting movement of UAV 110 such that UAV 110 is no longer aimed at a first position L0 on target 105. Repositioning may include a tilting movement of UAV 110 such that UAV 110 is now aimed at a different position on target 105. Repositioning may include a tilting movement of UAV 110 such that UAV 110 is now aimed at a second position L1 on target 105.

[0131] In various embodiments, movement (e.g., vertical, lateral, displacement, etc.) during the repositioning of UAV 110 may be influenced by the position of UAV 110 prior to the launch of the first projectile P0 (e.g., a pre-position). For example, UAV 110 may be in a first position (e.g., an initial position, etc.) prior to the launch of the first projectile P0. In the first position, UAV 110 may be neutral (e.g., stationary, relative to the ground) or rotated along one or more of the pitch, yaw, and roll axes. In response to UAV 110 being in a neutral position across all axes (or rotating along the pitch axis), recoil may cause vertical displacement of UAV 110, repositioning UAV 110 to aim at different vertical positions on target 105. In response to UAV 110 rotating across the yaw and / or roll axes, recoil may cause vertical and horizontal displacement of UAV 110, repositioning UAV 110 to aim at different vertical and horizontal positions on target 105. Therefore, and in various embodiments, UAV 110 may be prepositioned along one or more of the pitch, roll and yaw axes before launching the first projectile P0 to influence and / or control the position and determine the second position L1 on the target 105.

[0132] In various embodiments, movement (e.g., vertical, horizontal, etc.) during repositioning of UAV 110 can be affected by the operation of UAV 110's flight system 120. For example, propeller 122 can be enabled or disabled, the speed of propeller 122 can be changed, and / or similar. In this regard, disabling propeller 122 during repositioning can be configured to allow recoil to cause greater movement in UAV 110. Enabling propeller 122 during repositioning can be configured to counteract recoil or change recoil to cause less movement in UAV 110. Therefore, and in various embodiments, flight system 120 can operate during repositioning (e.g., after the launch of the first projectile P0) to influence and / or control the position and determine the second position L1 on target 105.

[0133] In some embodiments, flight system 120 may alter its operation throughout the repositioning process. For example, in response to the launch of the first projectile P0, flight system 120 may deactivate (or reduce) propeller 122 to allow the recoil force to generate greater movement within UAV 110. After a period such as deployment time and before the launch of the second projectile P1, flight system 120 may enable (or increase its speed) propeller 122 to stabilize and stop movement of UAV 110 before the launch of the second projectile P1. In other embodiments, repositioning UAV 110 may include maintaining the operation of flight system 120. In these embodiments, UAV 110 may be repositioned solely based on the recoil force applied to UAV 110 by the deployment of the projectile. In further embodiments, repositioning of UAV 110 may be performed independently of the operation of flight system 120. In these embodiments, the magnitude of the recoil force may be substantially greater than the magnitude of the propulsion force provided by flight system 120. Based on the magnitude difference, the recoil force can reposition the UAV 110, although it can be simultaneously applied to one of the corresponding or opposite thrust forces of the UAV 110 via the thrust provided by the flight system 120. In some embodiments, the recoil force may exceed the thrust force applied by the flight system 120 while the UAV 110 is being repositioned.

[0134] In various embodiments, UAV 110 can be repositioned solely based on the recoil force applied to UAV 110 by the deployment of the projectile. In this respect, UAV 110 can be repositioned based on recoil force. UAV 110 can be repositioned in response to recoil force. UAV 110 can be repositioned based on movement caused by the recoil force applied from the launch of the projectile.

[0135] In some embodiments, the orientation of transmitter 130 relative to UAV 110 may remain constant during repositioning of 110. For example, transmitter 130 may be fixedly coupled to UAV 110. Repositioning of UAV 110 may correspondingly reposition transmitter 130 according to transmitter 130 fixedly coupled to UAV 110. Transmitter 130 may be repositioned without independence from repositioning of UAV 110. In some further embodiments, transmitter 130 may be repositioned before or after repositioning of UAV 110. Depending on how transmitter 130 is mounted to UAV 110, the force used for repositioning UAV 110 may generally be applied to both the housing of UAV 110 and transmitter 130.

[0136] In various embodiments, and specifically referring to FIG2D, UAV 110 may fire (e.g., a second firing) a second projectile P1 toward a second position L1 on target 105. The second position L1 may differ from the first position L0. The second position L1 may be vertically and / or horizontally offset from the first position L0. The second position L1 may be based on the repositioning of UAV 110. The second firing may be based on a first trigger signal as previously discussed. In this regard, the first trigger signal may result in a plurality of firings time-separated by the repositioning of UAV 110, including the firing of the first projectile P0 and the firing of the second projectile P1.

[0137] UAV 110 may instruct or cause launcher 130 to launch the second projectile P1. For example, processing circuitry 112 may instruct or cause signal generator 135 to transmit an ignition signal (e.g., a second ignition signal) to second cartridge 156-1. The ignition signal may cause second propulsion module 155-1 to activate and launch the second projectile P1 from second cartridge 156-1. The second projectile P1 may bounce and be electrically coupled to target 105. The second projectile P1 may bounce and be electrically coupled to target 105 near second position L1.

[0138] A second launch can occur at any suitable time after the first launch. For example, and according to various embodiments, a second launch can occur after the UAV 110 has been repositioned. In this regard, after the UAV 110 has been repositioned to aim at the second position L1, the UAV 110 can instruct and / or cause the launcher 130 to launch the second projectile P1 for the second time. As a further example, and according to various embodiments, the second launch can occur during the repositioning of the UAV 110. In this regard, the second launch can occur before the recoil causes the UAV 110 to stop moving.

[0139] In various embodiments, the second launch may be separated from the first launch by a deployment time. The deployment time may be configured (e.g., the duration of the deployment time may be configured) to allow the UAV 110 to be repositioned between the first and second launches such that the first position L0 on target 105 at the first launch is different from the second position L1 on target 105 at the second launch. The deployment time may be configured to provide an appropriate spacing (e.g., dispersion) between the first projectile P0 and the second projectile P1 on target 105 to at least partially ensure or increase the likelihood that the stimulus signal will cause NMI on target 105.

[0140] In various embodiments, the deployment time may include any suitable or desired duration. For example, the deployment time may be less than one second. The deployment time may be less than 500 milliseconds (ms). The deployment time may be less than 300 ms. The deployment time may be less than 100 ms. The deployment time may be less than 50 ms. The deployment time may be greater than 10 ms. The deployment time may be between 10 ms and 20 ms, 20 ms and 30 ms, 30 ms and 40 ms, 40 ms and 50 ms, 50 ms and 60 ms and / or the like.

[0141] In various embodiments, deployment time may be based on deployment distance. In this regard, UAV 110 may calculate deployment time based on deployment distance. Calculating deployment time may include determining the deployment time from memory 114 based on the deployment distance (e.g., via a lookup table or the like). In some embodiments, deployment time may include an inverse relationship with deployment distance. In this regard, a larger deployment distance results in a smaller deployment time (e.g., an increased deployment distance leads to a smaller deployment time). A smaller deployment distance results in a larger deployment time (e.g., a decreased deployment distance leads to a larger deployment time).

[0142] In various embodiments, UAV 110 may provide stimulation signals through the first projectile P0 and the second projectile P1. For example, processing circuitry 112 may instruct or cause signal generator 135 to provide stimulation signals through the first projectile P0 and the second projectile P1.

[0143] In various embodiments, and specifically with reference to FIG2E, UAV 110 may be repositioned (e.g., next repositioning) to target the next position Ln. The next position Ln may differ from the first position L0 and the second position L1. UAV 110 may be repositioned between launches using any suitable procedure, as previously discussed with reference to FIG2C.

[0144] In various embodiments, operator 101 can continue to interact with operation controller 103 to control the state of air pursuit system 100. For example, operator 101 can interact with operation controller 103 to recharge the stimulus signal already provided to the projectiles (e.g., first projectile P0 and second projectile P1). In this regard, operation controller 103 can transmit a recharge signal to UAV 110. UAV 110 can instruct or cause signal generator 135 to provide the next stimulus signal through the projectile via processing circuitry 112.

[0145] As a further example, operator 101 can interact with operation controller 103 to launch the next projectile. Operation controller 103 can display an indication of the next projectile's next launch position and next aiming display. Operation controller 103 can transmit the next trigger signal to UAV 110. In response to receiving the next trigger signal, UAV 110 can instruct or cause launcher 130 to launch the next projectile Pn. For example, processing circuitry 112 can instruct or cause signal generator 135 to transmit an ignition signal (e.g., the next ignition signal) to the Nth cartridge 156-n. The ignition signal can cause the Nth propulsion module 155-n to activate and launch the Nth projectile Pn from the Nth cartridge 156-n. The Nth projectile Pn bounces and is electrically coupled to target 105. The Nth projectile Pn bounces and is electrically coupled to target 105 as it approaches the next position Ln. The launch of the Nth projectile can cause the UAV 110 to be repositioned (e.g., the next repositioning), as discussed earlier in this article.

[0146] As a further example, operator 101 can interact with operation controller 103 to operate, move, and / or fly UAV 110. Operation controller 103 can transmit a next flight signal to UAV 110. In response to receiving the flight signal, UAV 110 can command or cause flight system 120 to operate via processing circuitry 112 to cause UAV 110 to move and fly.

[0147] As a further example, operator 101 can interact with operation controller 103 to disarm launcher 130. Operation controller 103 can transmit control signals to UAV 110. Control signals may include instructions to disarm launcher 130. In response to receiving a control signal, UAV 110 can disarm launcher 130 to prevent the firing of projectiles from launcher 130. In some embodiments, disarming launcher 130 may cause operation controller 103 to stop displaying the aiming display.

[0148] In various embodiments, the position of the projectile on the target 105 can be determined or calculated before the first projectile P0 is launched. For example, before launching the first projectile P0, the UAV 110 can determine and / or calculate a first position L0, a second position L1, and / or a next position Ln. The UAV 110 can determine and / or calculate the positions using any suitable procedure discussed herein. As previously discussed, the operation controller 103 can be configured to display one or more aiming displays based on the determined and / or calculated positions.

[0149] In various embodiments, UAV 110 uses computer-aided aiming ("CAA") functionality to aim at the position on target 105, determine and / or calculate the position on target 105, launch a projectile toward the position on target 105, and / or reposition UAV 110 between projectile launches. For example, CAA may include one or more operations performed by UAV 110. UAV 110 may utilize one or more components, systems, sensors, and / or the like of UAV 110 and / or air pursuit system 100 to perform the operations.

[0150] For example, and according to various embodiments, operation may include providing image, video, and / or audio data to operator 101. UAV accessory 124 may be configured to capture image, video, and / or audio data. UAV 110 may transmit such image, video, and / or audio data to operation controller 103. Operator 101 may view the image, video, and / or audio data via operation controller 103 (and / or via external electronic devices). Operator 101 may interact with operation controller 103 to identify locations on targets or provide other inputs. Operation controller 103 may transmit the identified locations or other inputs to UAV 110.

[0151] As a further example and according to various embodiments, operation may include determining an optimal position on the target. UAV accessory 124 may be configured to at least partially determine or provide data indicating the optimal position on target 105. A plurality of optimal positions may be determined. For example, a first optimal position may be determined in conjunction with determining a second optimal position and / or the next optimal position. As a further example, the optimal position may be based on the position and the expected distance between the projectiles to ensure appropriate NMI within target 105.

[0152] As a further example and according to various embodiments, operation may include analyzing target 105. UAV accessory 124 may be configured to at least partially analyze or provide data on target 105. Analyzing target 105 may include detecting obstacles or clothing on target 105 to determine inappropriate or undesirable locations on target 105. Detecting clothing on target 105 may include analyzing target 105 to determine clothing density, clothing type, and / or such items.

[0153] As a further example and according to various embodiments, operation may include determining the flight system characteristics of UAV 110. Flight system 120 may be configured to determine and / or collect or provide flight system characteristics. Flight system characteristics may include the acceleration or velocity of UAV 110, the rotation of UAV 110 along one or more axes, the altitude of UAV 110, and / or the like. As a further example, rotation along one or more axes may include vertical movement and / or horizontal (e.g., lateral movement). Rotation along one or more axes may include movement along one or more pitch, roll, and / or yaw axes. In some embodiments, flight system characteristics may also include a yaw angle measured in response to acceleration of the deployed projectile.

[0154] As a further example and according to various embodiments, operation may include determining the location information of UAV 110. UAV accessory 124 may be configured to at least partially determine or provide data indicating the location information of UAV 110.

[0155] As a further example and according to various embodiments, operation may include determining environmental data near UAV 110. UAV accessory 124 may be configured to at least partially determine or provide data indicating environmental data.

[0156] As a further example and according to various embodiments, operation may include determining the deployment distance between UAV 110 and target 105. UAV accessory 124 may be configured to at least partially determine or provide data indicating the deployment distance.

[0157] As a further example and according to various embodiments, operation may include determining the characteristics of a projectile loaded in magazine 140. Magazine 156 may be associated with one or more projectile characteristics. Magazine 156 may include identifiers indicating one or more projectile characteristics. Processing circuitry 112 may determine the projectile characteristics. Projectile characteristics may include information about magazine 156 and / or the projectile stored within magazine 156. For example, projectile characteristics may include magazine type, projectile type, propulsion module type, propulsion module characteristics, length of the projectile's guide wire chain, projectile type, deployment velocity, known recoil force applied upon launch, and / or the like.

[0158] As a further example and according to various embodiments, operation may include analyzing video data from the recording device of UAV accessory 124 and / or launcher accessory 134. The video data may be analyzed to determine the characteristics of targets, obstacles, and / or obstructions approaching the target and / or such objects. The video data may also be analyzed to determine the movement of UAV 110, including in response to the movement of the UAV 110 deploying the projectile.

[0159] UAV 110 may autonomously or semi-autonomously assist in the following by using data aggregated by one or more operations: aiming at the position on target 105, determining and / or calculating the position on target 105, launching projectiles toward the position on target 105, and / or repositioning UAV 110 between projectile launches. UAV 110 may utilize data aggregated by one or more operations to analyze the data, make decisions or inferences based on the data, present the data to operator 101 (e.g., via operation controller 103) and / or the like.

[0160] Referring now to Figures 3 and 4, the depicted process flow is merely an embodiment and is not intended to limit the scope of the invention. For example, the steps described in any of the methods or procedures can be performed in any order, and are not limited to the order presented. As a further example, one or more steps in any of the methods or procedures may be omitted. It should be understood that the following description refers not only appropriately to the steps depicted in Figures 3 and 4, but also appropriately to the various systems, UAVs, transmitters, and similar components previously discussed herein, including the discussion with respect to Figures 1A through 2E. Although the following description relates to an air pursuit system and / or UAV performing the steps depicted in Figures 3 and 4, one or more steps in each process flow may be performed by components of the air pursuit system and / or UAV (e.g., processing circuitry), computer-based systems, smart devices, servers, and / or the like.

[0161] In various embodiments, and particularly with reference to FIG3, a method 301 for launching a projectile toward a distant target is disclosed. An air pursuit system may determine a first position on the target (step 302). For example, an operator may interact with an operations controller to control the operation of the air pursuit system's UAV. The UAV may include an installed launcher. The launcher may include a magazine configured to receive one or more cartridges. The operator may interact with the operations controller to fly the UAV (e.g., the operations controller transmits flight signals to the UAV). The operator may fly and maneuver the UAV within range of the target.

[0162] In various embodiments, any suitable procedure can be used to determine the first position on the target. For example, an operator can manually aim the UAV toward the first position. Aiming toward the first position may involve at least partially aligning the launcher such that the first projectile is configured to impact the target near the first position upon launch from the launcher. As a further example, the UAV may autonomously or semi-autonomously determine the first position on the target and aim toward it. In this regard, the UAV may provide computer-aided aiming ("CAA") functionality.

[0163] In various embodiments, the UAV can determine the deployment distance to a first location. The deployment distance can be defined between the UAV (or transmitter) and the first location on the target. The deployment distance can include digital distance, distance range, and / or the like. The deployment distance can be directly input by the user, selected from available options, and / or the like. In various embodiments, an operator can interact with an operation controller to input the deployment distance. For example, the operator can input the deployment distance, select a deployment distance, and / or the like via a user interface of the operation controller. In various embodiments, the UAV can calculate the deployment distance. For example, the UAV can use UAV accessories (such as a rangefinder) to calculate the deployment distance to the first location.

[0164] In various embodiments, the operation controller may display an aiming display. This aiming display may include a static aiming display. The aiming display may include a dynamic aiming display. The aiming display may include a plurality of aiming displays, such as a first aiming display corresponding to a first position and a next aiming display corresponding to the next position (e.g., based on a calculated repositioning of the UAV after the first deployment).

[0165] The air-to-ground tracking system may fire (e.g., first firing) a first projectile toward a first location (step 304). For example, an operator may interact with the operations controller to arm the UAV's launcher. The operations controller may transmit control signals to the UAV. In response to receiving the control signals, the UAV may arm the launcher to be able to deploy the projectile from the launcher. The operator may interact with the operations controller to fire the first projectile. For example, the operator may aim at the UAV using a aiming display on the operations controller. The operations controller may transmit a trigger signal (e.g., a first trigger signal) to the UAV. In response to receiving the trigger signal, the UAV may instruct or cause the launcher to fire the first projectile.

[0166] In various embodiments, the first projectile can bounce and be electrically coupled to the target at or near a first position.

[0167] The air-to-air pursuit system can be repositioned (e.g., first repositioning) based on the recoil force applied by launch (e.g., the first launch) (step 306). For example, the launch of the first projectile can apply recoil force to the launcher and the UAV. The propulsion force causing the launch of the projectile can apply recoil force to the launcher and the UAV. Receiving the recoil force can cause the UAV to reposition. Repositioning can include tilting movement of the UAV so that the UAV is no longer aimed at a first position on the target. Repositioning can include tilting movement of the UAV so that the UAV aims at a different position on the target.

[0168] For example, the UAV may be in a first position (e.g., initial position, etc.) before the first launch. In the first position, the UAV may be positioned above the target. To aim toward the first position, the launcher and / or the UAV may be rotated or tilted vertically downward toward the target along the pitch axis (e.g., as depicted in Figure 2A). The UAV may be fixed along the yaw and roll axes.

[0169] The first firing of the first projectile can apply recoil force to the launcher and the UAV. When the UAV and / or launcher has already rotated or tilted vertically downwards along the pitch axis to the first position, the recoil force can cause the UAV and / or launcher to continue rotating vertically downwards along the pitch axis. Vertical downward rotation along the pitch axis can cause the UAV to no longer be aimed at the target from the first position. Vertical downward rotation along the pitch axis can cause the UAV to be aimed at different positions on the target, vertically downwards from the first position.

[0170] In some embodiments, in the first position, the UAV may also be offset (e.g., rotated) along the deflection axis and / or roll axis. In this regard, the recoil force may also cause the UAV and / or transmitter to continue rotating along the deflection axis and / or roll axis, respectively. Rotation along the respective deflection axis and / or roll axis can similarly affect the UAV's repositioning and aiming at different positions on the target.

[0171] The air-to-ground tracking system may launch the next projectile toward the next location above the target (e.g., the next launch) (step 308). The next location may be different from the first location. The next location may be based on the repositioning of the UAV. The next launch may be based on a first trigger signal. In this regard, the first trigger signal may result in multiple launches that are temporally separated by the repositioning of the UAV.

[0172] The next launch can occur at any suitable time after the first launch. For example, and according to various embodiments, the next launch can be performed after the UAV has been repositioned. In this regard, after the UAV has been repositioned so that the UAV and / or the launcher is aiming at the next position, the UAV can command and / or cause the launcher to launch the next projectile. As a further example, and according to various embodiments, the next launch can occur during the repositioning of the UAV. In this regard, the next launch can occur before the UAV and / or the launcher stops moving due to the first recoil force.

[0173] In various embodiments, the next launch may be separated from the first launch by a deployment time. The deployment time may be configured (e.g., the duration of the deployment time may be configured) to allow the UAV to reposition itself between the first and next launches such that the first position on the target at the first launch is different from the next position on the target at the next launch. The deployment time may be configured to provide an appropriate spacing (e.g., dispersion) between the first and second projectiles on the target to at least partially ensure or increase the likelihood that the stimulus signal will cause NMI at the target.

[0174] In various embodiments, the deployment time may include any suitable or desired duration. For example, the deployment time may be less than one second. The deployment time may be less than 500 milliseconds (ms). The deployment time may be less than 300 ms. The deployment time may be less than 100 ms. The deployment time may be less than 50 ms. The deployment time may be greater than 10 ms. The deployment time may be between 10 ms and 20 ms, 20 ms and 30 ms, 30 ms and 40 ms, 40 ms and 50 ms, 50 ms and 60 ms and / or the like.

[0175] In various embodiments, deployment time may be based on deployment distance. In this regard, the UAV may calculate deployment time based on deployment distance. Calculating deployment time may include determining the deployment time from memory based on the deployment distance (e.g., via a lookup table or the like). In some embodiments, deployment time may include an inverse relationship with deployment distance. In this regard, a larger deployment distance results in a smaller deployment time (e.g., an increased deployment distance leads to a smaller deployment time). A smaller deployment distance results in a larger deployment time (e.g., a decreased deployment distance leads to a larger deployment time).

[0176] In various embodiments, the next projectile may bounce and be electrically coupled to the target at or near the next position.

[0177] The air pursuit system can provide stimulation signals through the first and next projectiles (step 310). For example, the UAV can instruct or cause the transmitter's signal generator to provide stimulation signals through the first and next projectiles.

[0178] In various embodiments, the aerial pursuit system may repeat one or more of steps 306, 308 and 310 as needed.

[0179] For example, the air pursuit system can reposition itself (e.g., the next repositioning) based on the recoil applied by a second launch (e.g., repeating step 306). The launch of the next projectile can apply recoil to the launcher and the UAV. Receiving the recoil can cause the UAV to perform a next repositioning. Repositioning may include a tilting movement of the UAV such that the UAV is no longer aiming at a next position on the target. Repositioning may include a tilting movement of the UAV such that the UAV aims at a different position on the target. The different position may differ from either the first position or the next position. In some embodiments, the next repositioning may further include movement of the UAV caused by the flight system 120. The operation controller can display a next aiming display based on the different position on the target (e.g., a second next position).

[0180] The air-to-ground tracking system can launch (e.g., a second next launch) a second next projectile toward a second next location on the target (e.g., repeating step 308). The second next location may differ from the first and next locations. The second next location may be based on a subsequent repositioning of the UAV. The second next launch may be based on a second trigger signal. In this regard, the operator can interact with the operation controller to transmit the second trigger signal to the UAV. The second trigger signal can be configured to cause the launch of a single projectile (e.g., a second next projectile). In this regard, the second trigger signal may differ from the first trigger signal. The second trigger signal can be configured to cause the deployment of a number of projectiles different from the first trigger signal. The second trigger signal can be configured to deploy a single projectile, while the first trigger signal can be configured to deploy multiple projectiles.

[0181] In various embodiments, the second next projectile may bounce and be electrically coupled to the target at or near the second next position.

[0182] The air pursuit system can provide a stimulus signal following at least two of the first projectile, the next projectile, and the second next projectile (e.g., repeating step 310). For example, the UAV can instruct or cause the transmitter's signal generator to provide a stimulus signal following at least two of the first projectile, the next projectile, and the second next projectile.

[0183] The UAV can instruct or cause the signal generator to provide the next stimulus signal in response to the next transmission. The UAV can also instruct or cause the signal generator to provide the next stimulus signal upon receiving a recharge signal. In this regard, the operator can interact with the operation controller to transmit a recharge signal to cause the provision of the next stimulus signal.

[0184] In various embodiments, the operator can interact with the operations controller to transmit control signals to the UAV to disarm the launcher. In some embodiments, disarming the launcher may cause the operations controller to stop displaying the aiming display. The operator can interact with the operations controller to stop the UAV's flight. In some embodiments, stopping the UAV's flight may cause the operations controller to stop displaying the aiming display.

[0185] In various embodiments, and particularly with reference to FIG4, a method 401 for launching a projectile toward a distant target is disclosed. An air pursuit system may determine a first position on the target (step 402). For example, an operator may interact with an operations controller to control the operation of a UAV of the air pursuit system. The UAV may include an installed launcher. The launcher may include a magazine configured to receive one or more cartridges. The operator may interact with the operations controller to fly the UAV (e.g., the operations controller transmits flight signals to the UAV). The operator may fly and maneuver the UAV within range of the target. The operator may interact with the operations controller to arm the launcher of the UAV. The operations controller may transmit control signals to the UAV. In response to receiving the control signals, the UAV may arm the launcher to be able to deploy a projectile from the launcher.

[0186] In various embodiments, any suitable procedure can be used to determine the first position on the target. For example, an operator can manually aim the UAV toward the first position. Aiming toward the first position may involve at least partially aligning the launcher such that the launch of a first projectile from the launcher is configured to impact the target near the first position. As a further example, the UAV can autonomously or semi-autonomously determine the first position on the target and aim toward it. In this regard, the UAV may provide computer-aided aiming ("CAA") functionality.

[0187] For example, and according to various embodiments, the CAA function for determining a first position on a target may include one or more operations. These one or more operations may be performed by a UAV using an airborne flight system or one or more components, systems, sensors, or the like of the UAV.

[0188] The operation may include providing image or video data to an operator via an operation controller for selecting a first position. The operation may include determining the optimal position on a target toward which a first projectile will be launched. The operation may include determining the optimal positions toward which multiple projectiles will be launched. For example, the first optimal position may be determined in conjunction with determining a second optimal position and / or a next optimal position. As a further example, the optimal position may be based on the position and the expected distance between the projectiles to ensure proper NMI (Neutral Minimum Interference) within the target. The operation may include analyzing the target. For example, target analysis may include detecting obstacles or clothing on the target to determine inappropriate or undesirable positions on the target toward which the first projectile will be launched. As a further example, detecting clothing on the target may include target analysis to determine clothing density, clothing type, and / or similar items.

[0189] The operation may include determining the flight system characteristics of the UAV. For example, flight system characteristics may include the UAV's acceleration or velocity, rotation of the UAV along one or more axes, altitude of the UAV, and / or similar parameters. As a further example, rotation along one or more axes may include vertical movement and / or horizontal movement (e.g., lateral movement). Rotation along one or more axes may include movement along one or more pitch, roll, and / or yaw axes. The operation may include determining the UAV's position information. The operation may include determining environmental data surrounding the UAV. The operation may include determining the deployment distance between the UAV on the target and a first location.

[0190] The operation may include determining the projectile characteristics of a first projectile configured to be launched toward a first position. These projectile characteristics may include information about the cartridge case and / or the projectile stored within it. For example, projectile characteristics may include the type of cartridge case, the type of projectile, the type of propulsion module, propulsion module characteristics, the length of the projectile's guide wire chain, the projectile type, the deployment velocity, the known recoil force applied upon launch, and / or the like.

[0191] Based on the operation, the UAV can determine and locate the first position to aim at the target.

[0192] The air pursuit system can calculate a second position on the target (step 404). For example, the UAV can calculate the second position on the target. The second position can be based on the first position. The second position can be based on the future movement (e.g., repositioning) of the UAV in response to the launch of the first projectile (e.g., recoil from the launch, movement using the flight system, etc.).

[0193] Any suitable procedure can be used to calculate the second position. For example, and in various embodiments, the UAV can calculate the second position based on the deployment distance and the known recoil force exerted by the first projectile to be launched. In this regard, the UAV can calculate the deployment time between the first and second launches to ensure that the second projectile is launched toward the second position.

[0194] As a further example, and in various embodiments, the UAV can autonomously or semi-autonomously determine a second position on the target. In this regard, and as previously discussed, the UAV can provide CAA (Computational Ability Calculation) functionality. For example, the CAA functionality for calculating the second position on the target may include one or more operations. These operations may be performed by the UAV using an airborne flight system or one or more components, systems, sensors, or the like. The operations may be similar to those performed in determining the first position.

[0195] The operation may include providing image or video data to the operator via an operations controller for selecting a second position. The operation may include determining the optimal second position on the target for launching a second projectile. The operation may include analyzing the target. The operation may include determining the flight system characteristics of the UAV. The operation may include determining the UAV's position information. The operation may include determining environmental data near the UAV. The operation may include determining the deployment distance between the UAV on the target and the second position. The operation may include determining the projectile characteristics of the second projectile configured to launch towards the second position. Based on this operation, the UAV can calculate the second position on the target.

[0196] In various embodiments, the operation controller may display an aiming display. This aiming display may include a static aiming display. The aiming display may include a dynamic aiming display. The aiming display may include a plurality of aiming displays, such as a first aiming display corresponding to a first position and a second aiming.

[0197] The air pursuit system can launch a first projectile toward a first location (e.g., a first launch) (step 406). The operator can interact with the operation controller to launch the first projectile. The operation controller can transmit a trigger signal (e.g., a first trigger signal) to the UAV. In response to receiving the trigger signal, the UAV can command or cause the launcher to launch the first projectile.

[0198] In various embodiments, the first projectile may bounce and be electrically coupled to the target at or near the first position.

[0199] The air pursuit system can reposition itself to aim at a second position (step 408). The UAV can reposition itself to aim at a second position on the target. The UAV can reposition itself using movement (or non-movement) from the flight system. For example, the UAV can activate or deactivate the propellers of the flight system to aid in repositioning. The UAV can reposition itself using movement caused by the launcher applied during the initial launch and the recoil of the UAV, as discussed earlier herein. Repositioning may involve tilting the UAV so that it is no longer aiming at a first position on the target. Repositioning may involve tilting the UAV so that it aims at a second position on the target.

[0200] The air pursuit system may launch a second projectile toward a second location (e.g., a second launch) (step 410). The second launch may be based on a first trigger signal. In this regard, the first trigger signal may result in multiple launches that are time-separated by the repositioning of the UAV.

[0201] A second launch can occur at any suitable time after the first launch. For example, and according to various embodiments, a second launch can occur after the UAV has been repositioned. In this regard, after the UAV has been repositioned so that the UAV and / or launcher are aimed at the second position, the UAV can command and / or cause the launcher to launch the second projectile a second time. As a further example, and according to various embodiments, a second launch can occur during the repositioning of the UAV. In this regard, a second launch can occur before the UAV and / or launcher stops moving and while the UAV and / or launcher are aimed at the second position. As a further example, and according to various embodiments, the next launch can be separated from the first launch by deployment time, as previously discussed and calculated.

[0202] In various embodiments, the second projectile can bounce and electrically couple to the target at or near the second position. The airborne pursuit system can provide a stimulus signal through the first and second projectiles. For example, a UAV can instruct or cause a signal generator of the transmitter to provide the stimulus signal through the first and second projectiles.

[0203] The air pursuit system can determine the next position above the target (step 412). For example, the UAV can determine the next position above the target. The next position can be based on the first position and / or the second position. The next position can be based on the movement of the UAV in response to the second launch of the second projectile (e.g., recoil from the second launch, movement using the flight system, etc.) (e.g., the next repositioning). The next position can be based on the movement of the UAV caused by operator control.

[0204] As a further example, and in various embodiments, the UAV can autonomously or semi-autonomously determine the next position above the target. In this regard, and as previously discussed, the UAV can provide CAA functionality. For example, CAA functionality for calculating the next position above the target may include one or more operations. One or more operations can be performed by the UAV using one or more components, systems, sensors, or such of the airborne flight system or the UAV. The operations may be similar to those performed in determining the first position and / or calculating the second position.

[0205] The operation may include providing image or video data to the operator via an operations controller for selecting the next position. The operation may include determining the optimal next position on the target for launching the next projectile toward it. The operation may include analyzing the target. The operation may include determining the flight system characteristics of the UAV. The operation may include determining the UAV's position information. The operation may include determining environmental data near the UAV. The operation may include determining the deployment distance between the UAV and the next position on the target. The operation may include determining the characteristics of the projectile configured to launch the next projectile toward the next position.

[0206] In various embodiments, the operation may include determining the electrical connection of the first projectile and / or the second projectile. For example, the first projectile and / or the second projectile may be electrically tested (e.g., sampling, polling, determining, etc.) to determine whether the first projectile and / or the second projectile are electrically coupled to the target. As a further example, the first projectile and the second projectile may be tested to determine whether the first projectile and the second projectile form a circuit with the target.

[0207] Based on the operation, the UAV can determine the next position above the target.

[0208] The air pursuit system can reposition itself to aim at the next position (step 414). The UAV can reposition itself to aim at the next position above the target. The UAV can reposition itself using movement (or non-movement) from the flight system. For example, the UAV can activate or deactivate the propellers of the flight system to assist in repositioning. The UAV can reposition itself using movement caused by the recoil applied to the launcher and the UAV by the second launch, as discussed earlier herein. Repositioning may involve tilting the UAV so that the UAV is no longer aiming at the second position above the target. Repositioning may involve tilting the UAV so that the UAV aims at the next position above the target.

[0209] In various embodiments, the operation controller may update the target display to show the next target display corresponding to the next location.

[0210] The air pursuit system can fire the next projectile toward the next location (e.g., the third launch, the next launch, etc.) (step 416). The operator can interact with the operations controller to fire the next projectile. The operations controller can transmit the next trigger signal (e.g., the second trigger signal, the next trigger signal, etc.) to the UAV. In response to receiving the next trigger signal, the UAV can command or cause the launcher to fire the next projectile.

[0211] In various embodiments, the next projectile may bounce and electrically couple to the target at or near the next location. The air-to-ground tracking system may provide the next stimulus signal via at least two of the first, second, and next projectiles. For example, a UAV may instruct or cause the transmitter's signal generator to provide the next stimulus signal via at least two of the first, second, and next projectiles.

[0212] The UAV can respond to the next transmit command or cause the signal generator to provide the next stimulus signal. The UAV can also respond to receiving a recharge signal by commanding or causing the signal generator to provide the next stimulus signal. In this regard, the operator can interact with the operation controller to transmit a recharge signal to induce the provision of the next stimulus signal.

[0213] In various embodiments, the air pursuit system may repeat one or more of steps 412, 414, and 416 as needed. The air pursuit system may also provide additional stimulus signals as needed and in response to additional repower signals transmitted from the operation controller.

[0214] In various embodiments, the operator can interact with the operations controller to transmit control signals to the UAV to disarm the launcher. In some embodiments, disarming the launcher can cause the operations controller to stop displaying the aiming display. The operator can interact with the operations controller to stop the UAV from flying. In some embodiments, stopping the UAV from flying can cause the operations controller to stop displaying the aiming display.

[0215] In various embodiments, and with reference to FIG5, an exemplary computer-based system 501 is disclosed. The computer-based system 501 may be adapted for use according to embodiments of this disclosure. The accompanying description of the computer-based system 501 is applicable to servers, personal computers, mobile phones, smartphones, tablets, embedded computing devices, and other currently available or developing devices that may be used according to embodiments of this disclosure.

[0216] The computer system 501 may include a processor 502 and system memory 504 connected by a communication bus 506. Depending on the exact configuration and type of the computer system, the system memory 504 may be volatile or non-volatile memory, such as read-only memory ("ROM"), random access memory ("RAM"), EEPROM, flash memory, or other memory technologies. Those skilled in the art will recognize that the system memory 504 typically stores data and / or program modules that are readily accessible and / or currently being operated on by the processor 502. In this respect, the processor 502 may serve as the computing center of the computer system 501 by supporting instruction execution. The processor 502 may include one or more processing units, as further discussed herein. The system memory 504 may include one or more memory units, as further discussed herein.

[0217] The computer system 501 may include a network interface 510, which includes one or more components for communicating with other devices and systems via a network. Embodiments disclosed herein can access basic services for performing communications using public network protocols via the network interface 510. The network interface 510 may include communication units, as further discussed herein.

[0218] The computer system 501 may also include storage medium 508. However, the service can be accessed using a computer system that does not include means for persistently storing data in itself. Therefore, the storage medium 508 shown in Figure 5 is optional. The storage medium 508 may be volatile or non-volatile, removable or non-removable, and may be implemented using any technology capable of storing information, such as, but not limited to, hard disks, solid-state drives, CD-ROMs, DVDs or other disc storage devices, magnetic tapes, magnetic disk storage devices, and / or the like. The storage medium 508 may include one or more memory units, as discussed further herein.

[0219] As used herein, the term "computer-readable media" includes volatile and non-volatile, removable and non-removable media implemented by any method or technique capable of storing information such as computer-readable instructions, data structures, program modules or other data. In this regard, the system memory 504 and storage media 508 depicted in Figure 5 are examples of computer-readable media.

[0220] For ease of illustration and because it is not essential for understanding the requested subject matter, Figure 5 does not show many typical components of a computer-based system. In this regard, the computer-based system 501 may include input devices such as a keyboard, keypad, mouse, trackball, microphone, camera, touchpad, touchscreen, electronic pen, stylus, and / or any other input device described herein. Such input devices may be coupled to the computer-based system 501 via wired or wireless connections, including RF, infrared, serial, parallel, Bluetooth (BLUETOOTH®), USB, or other suitable connectivity protocols using wireless or physical connections.

[0221] In any of the described examples, data may be captured and transmitted or stored by an input device for future processing. This processing may include encoding the data stream, which may then be decoded for presentation by an output device. Media data may be captured by a multimedia input device and stored as a file on a computer-readable storage medium (e.g., in memory or persistent storage on a client device, server, administrator device, or some other device). The input device may be independent of and communicatively coupled to a computer-based system 501 (e.g., a client device), or it may be an integrated component of the computer-based system 501. In some embodiments, multiple input devices may be combined into a single, multi-functional input device (e.g., a camera with an integrated microphone).

[0222] The computer system 501 may also include output devices, such as a display, speakers, a printer, and / or any other output devices described herein. Output devices may include video output devices, such as a display or touchscreen. Output devices may also include audio output devices, such as external speakers or headphones. Output devices may be independent of and communicatively coupled to the computer system 501, or they may be integrated components of the computer system 501. Input and output functions may be integrated into the same input / output device (e.g., a touchscreen). Any suitable input device, output device, or combination of input / output devices currently known or developed in the future may be used with the described system.

[0223] In various embodiments, the "processing unit" described herein may include any suitable hardware and / or software-based processing components. For example, a processing unit may include processing circuitry, a processor, an application-specific integrated circuit (ASIC), a controller, a microcontroller, a microprocessor, a programmable logic device, logic circuitry, and / or one or more of the like.

[0224] In various embodiments, the "communication unit" described herein may include any suitable hardware and / or software components capable of transmitting and / or receiving data. The communication unit enables electronic communication between devices and systems. The communication unit enables communication over a network. Examples of communication units may include modems, network interfaces (such as Ethernet cards), communication ports, etc. Data may be transmitted via the communication unit in the form of signals, which may be electronic, electromagnetic, optical, or other signals that can be transmitted or received by the communication unit. The communication unit can be configured to communicate via any wired or wireless protocol, such as CAN bus protocol, Ethernet physical layer protocol (e.g., those using 10BASE-T, 100BASE-T, 1000BASE-T, etc.), IEEE 1394 interface (e.g., FireWire), Integrated Services for Digital Network (ISDN), digital subscriber line (DSL), 502.11a / b / g / n / ac signals (e.g., Wi-Fi), wireless communication protocols using short-wavelength UHF radio waves and at least partially defined by IEEE 502.15.1 (e.g., the BLUETOOTH® protocol maintained by the Bluetooth SIG), wireless communication protocols at least partially defined by IEEE 502.15.4 (e.g., the ZigBee® protocol maintained by the ZigBee Alliance), cellular protocol, infrared protocol, optical protocol, or any other protocol capable of transmitting information via wired or wireless connection.

[0225] Two or more system components can communicate electronically via a network. As used herein, the term "network" can further include any cloud, cloud computing system, or electronic communication system or method that incorporates hardware and / or software components. Communication between devices and systems over a network can be achieved through any suitable communication channel, such as, for example, telephone networks, extranets, intranets, the Internet, wireless communications, local area networks (LANs), wide area networks (WANs), virtual private networks (VPNs), and / or the like.

[0226] Electronic communication between systems and devices may be insecure. Networks may be insecure. The electronic communication disclosed herein can utilize data encryption. Encryption can be performed using any technology currently available in the art or that may become available—for example, Twofish, RSA, El Gamal, Schorr signature, DSA, PGP, PM, GPG (GnuPG), HPE Format-Preserving Encryption (FPE)), voltage, triple DES, Blowfish, AES, MD5, HMAC, IDEA, RC6, and symmetric and asymmetric encryption systems. Network communication can also incorporate SHA-series cryptographic methods, elliptic curve cryptography (e.g., ECC, ECDH, ECDSA, etc.), and / or other post-quantum cryptographic algorithms under development.

[0227] For the sake of brevity, traditional data networks, application development, and other functional aspects of the system may not be described in detail herein. Furthermore, the connecting lines shown in the various figures included herein are intended to illustrate exemplary functional relationships and / or electronic communications between the components. It should be noted that many alternative or additional functional relationships or electronic communications may exist in actual systems.

[0228] In various embodiments, the term "memory" or "memory unit" discussed herein may include any hardware, software, and / or database component capable of storing and maintaining data. For example, a memory unit may include a database, data structure, memory component, or the like. A memory unit may include any suitable non-transitory memory known in the art, such as internal memory (e.g., random access memory (RAM), read-only memory (ROM), solid-state drive (SSD), etc.), removable memory (e.g., SD card, xD card, compact flash memory card, etc.), or the like.

[0229] Unless otherwise stated, any database discussed herein may contain relational, hierarchical, graphical, distributed ledger, blockchain, object-oriented structures, and / or any other database configuration. Any database may also contain a general file structure, where data is stored in a single file in a row-and-column format, without an indexing structure and without structural relationships between records. For example, a general file structure may contain delimited text files, CSV (comma-separated value) files, and / or any other suitable general file structure. Furthermore, a database may be organized in any suitable manner, such as as a data table or lookup table. Each record stored in a database may be a single file, a series of files, a linked series of data files, and / or any other data structure or schema.

[0230] Any database, system, device, server, or other component of the system described herein may consist of any combination of such databases located in a single location or multiple locations. For example, any database described herein may include a single database or multiple databases (virtual partitions or physically distinct databases). Each database or system may contain any suitable security features, such as firewalls, access keys, encryption, decryption, compression, decompression, and / or the like.

[0231] In various embodiments, the "input device" discussed herein may include hardware and / or software for providing data, input, control signals, and the like to computer-based systems, software applications, etc. For example, an input device may include pointing devices (e.g., mice, joysticks, pointers, etc.), keyboards (e.g., virtual or physical), touchpads or touchscreen interfaces, video input devices (e.g., cameras, scanners, multi-camera systems, etc.), virtual reality systems, audio input devices (e.g., microphones, digital musical instruments, etc.), biometric measurement input devices (e.g., fingerprint scanners, iris scanners, etc.), composite devices (e.g., devices having a plurality of different forms of input), and / or any other input device.

[0232] In various embodiments, the "output device" discussed herein may include hardware and / or software configured to convert information into a human-accessible form for display, projection, or physical reproduction. For example, an output device may include a display device (e.g., a monitor, monochrome display, color display, CRT, LCD, LED, projector, graphics card, etc.), an audio output device (e.g., a speaker, headphones, sound card, etc.), a location service system (e.g., a global positioning system (GPS)), a printer (e.g., a dot matrix printer, inkjet printer, laser printer, 3D printer, wide-format printer, etc.), a Braille reader, a composite device (e.g., a device having a plurality of different forms of output) and / or any other output device.

[0233] In various embodiments, an air pursuit system is disclosed. The air pursuit system may include: an unmanned aerial vehicle (UAV); a launcher mounted to the UAV; and a magazine coupled to the launcher. The magazine may be configured to receive a plurality of projectiles. The UAV and the launcher may be configured to cooperate in performing operations. Operations may include determining a first position on a target. Operations may include launching a first projectile of the plurality of projectiles toward the first position. Operations may include repositioning the UAV based on movement caused by recoil from launching the first projectile. Operations may include launching the next projectile of the plurality of projectiles toward a next position on the target. The next position may be different from the first position.

[0234] In various embodiments of the above-described air pursuit system, the operation may further include providing a stimulus signal through the first and second projectiles. The transmitter may further include a signal generator, and the signal generator may be configured to provide the stimulus signal. The operation of launching the next projectile may be based on the deployment distance between the UAV and the target. The operation of launching the first projectile and the operation of launching the next projectile may be separated by a deployment time interval, and the duration of the deployment time may be configured to provide an appropriate spacing between the first and second projectiles on the target. The operation of launching the first projectile and the operation of launching the next projectile may be separated by a deployment time interval, and the deployment time may be based on the deployment distance between the UAV and the target. The deployment time may include an inverse relationship with the deployment distance. The operation may further include receiving the deployment distance from the operation controller via the UAV. The UAV may further include UAV accessories, and the operation may further include using the UAV accessories to calculate the deployment distance. The deployment distance includes a distance range.

[0235] In various embodiments, a method for launching a projectile from a platform toward a target is disclosed. The method may include one or more steps, including: determining a first position on the target; launching a first projectile toward the first position; repositioning the platform based on movement caused by recoil force exerted from launching the first projectile; and launching a next projectile toward a next position on the target, wherein the next position is different from the first position.

[0236] In various embodiments of the above method, the step of launching the next projectile may be during the repositioning of the platform. The step of launching the next projectile may be after the repositioning of the platform. The step of launching the next projectile may be based on the deployment distance between the platform and the target. The steps of launching the first projectile and launching the next projectile may be separated by a deployment time. The deployment time may be based on the deployment distance between the platform and the target. The steps of launching the first projectile and launching the next projectile may be in response to a trigger signal. The step may further include: receiving a next trigger signal; and launching the second next projectile toward a second next position on the target. The step of launching the second next projectile may be in response to the next trigger signal. The step may further include performing a next repositioning of the platform based on a next movement caused by the next recoil force exerted by launching the next projectile before receiving the next trigger signal. The movement caused by the recoil force may include vertical movement of the platform along the pitch axis. The movement caused by the recoil force may further include horizontal movement of the platform along at least one of the deflection axis or the roll axis.

[0237] In various embodiments, a method for launching a projectile from a platform toward a target is disclosed. The method may include one or more steps, comprising: determining a first position on the target for deploying a first projectile; calculating a second position for deploying a second projectile on the target, wherein the first position differs from the second position, and wherein the second position is based on the recoil force exerted by launching the first projectile; and displaying an aiming display via an operation controller of the platform, wherein the aiming display includes a first aiming display corresponding to the first position and a second aiming display corresponding to the second position.

[0238] In several embodiments of the above method, the steps may further include: firing a first projectile toward a first position; repositioning the platform based on movement caused by the recoil force exerted by firing the first projectile; and firing a second projectile toward a second position. The steps may further include repositioning the platform to aim at the next position above the target. This step may further include updating the target display via the platform's operation controller to include a target display corresponding to the next position. A second aiming display may be displayed before repositioning the platform based on the movement caused by the recoil force.

[0239] This document has described benefits, other advantages, and solutions to problems with respect to specific embodiments. Furthermore, the connecting lines shown in the various figures contained herein are intended to represent exemplary functional relationships and / or physical couplings between various elements. It should be noted that many alternative or additional functional relationships or physical connections may exist in actual systems. However, the benefits, advantages, solutions to problems, and any elements that may lead to or make more apparent any benefits, advantages, or solutions should not be construed as critical, essential, or fundamental features or elements of these disclosures. Therefore, the scope of this disclosure is limited only to the appended claims and their legal equivalents, wherein elements referred to in the singular, unless expressly stated, are not intended to mean "one and only one," but rather "one or more." Furthermore, when terms such as "at least one of A, B, or C" are used in the claims, such terms are intended to be interpreted as indicating that A may exist alone in an embodiment, B may exist alone in an embodiment, C may exist alone in an embodiment, or any combination of elements A, B, and C may exist in a single embodiment; for example, A and B, A and C, B and C, or A and B and C.

[0240] This document provides systems, methods, and apparatus. In the detailed description herein, references to "various embodiments," "some embodiments," "one embodiment," "embodiment," "example embodiment," etc., describe embodiments that may include specific features, structures, or characteristics, but each embodiment does not necessarily include specific features, structures, or characteristics. Furthermore, such terms do not necessarily refer to the same embodiments. Further, when a specific feature, structure, or characteristic is described with respect to an embodiment, whether or not it is explicitly described, features, structures, or characteristics affecting such a type in other embodiments are within the knowledge of those skilled in the art. After reading this description, those skilled in the art will understand how to implement this disclosure in alternative embodiments. Moreover, in this disclosure, no element, component, or method step is intended to be made public, whether or not it is explicitly stated in the claims. Unless an element is explicitly referenced using the term "means for," no element in the claims is intended to invoke U.S. Regulation 35 USC 112(f). As used herein, the terms "comprises," "comprising," or any other variation thereof are intended to cover non-exclusive inclusion, such that a program, method, article, or apparatus that includes a list of elements does not contain only those elements, but may contain other elements not expressly listed or elements inherent to such a program, method, article, or apparatus.

[0241] 100: Aerial Pursuit System 101: Operator 103: Operation Controller 105: Target 107: User Interface 109: Controller Communication Interface 110: Unmanned Aerial Vehicles (UAVs) 112: Processing Circuit 114: Memory 116: Power supply 118: UAV Communication Interface 120: Flight System 122: Propeller 124: UAV accessories 130: Launcher 132: Cabin 134: Launcher Accessories 135: Signal Generator 137: Electrical Contact 140: Magazine 142: Boring Hole 155: First Propulsion Module 156: Magazine 157: Electrical Contact 301: Method 302: Steps 304: Steps 306: Steps 308: Steps 310: Steps 401: Method 402: Steps 404: Steps 406: Steps 408: Steps 410: Steps 412: Steps 414: Steps 416: Steps 501: Based on computer system 502: Processor 504: System Memory Error 506: Communication Bus 508: Storage Media 510: Network Interface P0: First projectile P1: Projectile L0: First position L1: Second position Ln: Next position

Claims

1. An aerial pursuit system, comprising: Unmanned aerial vehicles (UAVs); The transmitter is installed on the UAV; and a magazine coupled to the launcher, wherein the magazine is configured to receive a plurality of projectiles, and wherein the UAV and the launcher are configured to cooperate in performing operations including: determining a first position on a target; firing a first projectile of the plurality of projectiles toward the first position; repositioning the UAV based on displacement caused by recoil force exerted by firing the first projectile; and firing the next projectile of the plurality of projectiles toward a next position on the target, wherein the next position is different from the first position.

2. As in request item 1, the air pursuit system, wherein, The operation further includes providing a stimulus signal through the first projectile and the next projectile.

3. As in request item 2, the air pursuit system, wherein, The transmitter further includes a signal generator, wherein the signal generator is configured to provide the stimulation signal.

4. The air pursuit system as requested in item 1, wherein the launch of the next missile is based on the deployment distance between the UAV and the target.

5. As in request item 1, the air pursuit system, wherein, The launch of the first projectile and the launch of the next projectile are separated by a deployment time interval, wherein the duration of the deployment time is configured to provide an appropriate spacing between the first projectile and the next projectile on the target.

6. As in request item 1, the air pursuit system, wherein, The launch of the first missile and the launch of the next missile are separated by a deployment time interval, wherein the deployment time is based on the deployment distance between the UAV and the target.

7. As in request item 6, the air pursuit system, wherein, The deployment time includes the inverse relationship with the deployment distance.

8. As in request item 6, the air pursuit system, wherein, The operation further includes receiving the deployment distance from the operation controller via the UAV.

9. As in request item 6, the air pursuit system, wherein, The UAV further includes UAV accessories, and the operation further includes using the UAV accessories to calculate the deployment distance.

10. As in request item 6, the air pursuit system, wherein, The deployment distance includes a distance range.

11. A method for launching a projectile from a projectile launch platform toward a target, the method comprising: Determine the first position on the target; The first part of the projectile is launched toward the first position; The projectile launch platform is repositioned based on the displacement caused by the recoil force exerted by the launch of the first projectile; and the next projectile is launched toward the next position on the target, wherein the next position is different from the first position.

12. As in request item 11, wherein, The launch of the next projectile takes place during the repositioning of the projectile launch platform.

13. As in request item 11, wherein, The next missile is launched after the missile launch platform has been repositioned.

14. The method of claim 11, wherein the launch of the next projectile is based on the deployment distance between the projectile launch platform and the target.

15. As in request item 11, wherein, The launch of the first missile and the launch of the next missile are separated by a deployment time interval, wherein the deployment time is based on the deployment distance between the missile launch platform and the target.

16. The method of claim 11, further comprising receiving a trigger signal, wherein, The launch of the first projectile and the launch of the next projectile are in response to the trigger signal.

17. The method of claim 16, further comprising: Receive the next trigger signal; And to fire the second next projectile toward the second next position on the target, wherein the firing of the second next projectile is in response to the next trigger signal.

18. The method of claim 17, further comprising, prior to receiving the next trigger signal, performing a next repositioning of the projectile launch platform based on the next displacement caused by the next recoil force exerted from the launch of the next projectile.

19. As in request item 11, wherein, The displacement caused by the recoil force includes the vertical movement of the missile launch platform along the pitch axis.

20. The method as described in request item 19, wherein, The displacement caused by the recoil force further includes the horizontal displacement of the projectile launch platform along at least one of the deflection axis or the roll axis.

21. As in request item 1, the air pursuit system, wherein, The displacement caused by the recoil force includes the vertical movement of the UAV along the pitch axis.

22. The air pursuit system of claim 21, wherein the displacement caused by the recoil further includes the horizontal displacement of the UAV along the pitch axis.

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