System and methods of detecting an intruding object in a relative navigation system
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a technology of relative navigation system and intruder, applied in surveying and navigation, navigation instruments, instruments, etc., can solve the problems of uav control, limiting the flexibility of uav, and uavs being susceptible to intruders in the landing zon
Active Publication Date: 2016-09-01
GE AVIATION SYST LLC
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UAVs have become increasingly popular but the logistical complexity of UAV control makes their use burdensome.
However, it is often desirable to launch and land UAVs at locations where the infrastructure for traditional landing aids is not available, which limits the flexibility of the UAV.
With or without an onboard pilot, UAVs can be susceptible to an object intruding into the landing zone, especially temporary intrusions that occur during the act of landing.
Current relative navigation systems are not able to detect such intrusions.
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[0012]The embodiments of the present invention are related to methods and apparatus for projecting a grid from a grid generator of a relative navigation system and detecting intruding objects within the projected grid. The relative navigation system can be used for a variety of applications including landing any type of aircraft and is particularly well suited for landing UAVs. FIG. 1 illustrates an embodiment of a grid generator 10, which can project a grid, such as a set of intersecting lines, into space within a field such as a field of transmission or field of regard (FOR) 14. More specifically, the grid generator 10 repeatedly projects the grid into three-dimensional space to define the FOR 14. The general details of how to project the grid are known in the art, which include the disclosure in U.S. Pat. No. 7,681,839, issued Mar. 23, 2010, entitled Optical Tracking System For Refueling, and U.S. Pat. No. 8,386,096, issued Feb. 26, 2013, entitled Relative Navigation System, both...
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Abstract
A relative navigation system and methods of intrusion detection for such a relative navigation system where the method includes repeatedly projecting from a grid generator a set of lines defining a grid into three dimensional space to define a field bounded by the grid and encoded with grid data configured to identify predetermined points on the grid and determining a presence of an intruding object within the field.
Description
BACKGROUND OF THE INVENTION[0001]Relative navigation systems are useful for various applications such as autonomous vehicle navigation in a warehouse or factory environment, mid-air refueling, and space docking In some applications, only the relative positions (Px, Py, Pz, or Azimuth, Elevation, Slant Range) between two objects is required. In other applications, the relative range, as well as the relative velocity (Vx, Vy, Vz, or Azimuth Rate, Elevation Rate, Slant Range Rate) and the relative attitudes (pitch, roll, and yaw) between two objects are required. Further, statistics that quantify the overall Actual Navigation Performance (ANP), in terms of Continuity, Integrity, Availability, and Accuracy (CIAA) of the relative navigation solutions, above, can be developed to allow determination of whether the ANP meets the Required Navigation Performance (RNP) for the navigation operation being conducted. In total, the relative navigation information plus the ANP statistics constitute...
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Patent Type & Authority Applications(United States)
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