System and methods of detecting an intruding object in a relative navigation system

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...

AI Technical Summary

Benefits of technology

The invention is about a method and system for detecting intruding objects in a relative navigation system. This is done by repeatedly projecting lines from a grid generator into space to create a grid-defined field. The lines are encoded with data to identify specific points on the grid. The system also includes a detector module that can identify objects that are not intended as receivers of the relative navigation grid and output a signal related to their presence. This invention helps to improve the accuracy and safety of the relative navigation system, especially in situations where there are no pre-defined markers or waypoints.

Problems solved by technology

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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