Acceleration Profile Navigation for GPS-Denied Uncrewed Vehicles
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Solution Overview
Problem
Uncrewed vehicles face challenges in accurately navigating without GPS signals due to interference or spoofing, as onboard sensors may not reliably measure vehicle velocity, leading to inaccurate navigation.
Innovation Solution
A navigation system using onboard accelerometers and gyroscopes generates acceleration profiles and trajectory profiles to guide uncrewed vehicles to target locations, adjusting for vehicle parameters and environmental factors like wind or terrain, and can execute multiple acceleration profiles to obscure the vehicle's path or reduce noise.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If GPS navigation is used, then navigation accuracy is improved, but the system becomes vulnerable to interference and spoofing
Solution Approach 1:
The patent introduces an intermediary inertial measurement unit (IMU) system with accelerometers and gyroscopes that mediates between GPS signals and the vehicle's navigation system. This intermediary provides backup navigation capability when GPS is compromised, using sensor fusion to combine GPS data with inertial sensor data for continued accurate navigation in GPS-denied environments
Solution Approach 2:
The system dynamically changes operational parameters by switching between GPS-dependent and GPS-independent navigation modes. When GPS interference or spoofing is detected, the system transitions to using inertial navigation parameters, adjusting the weighting and fusion of sensor data to maintain navigation accuracy under varying threat conditions
2Reliability
If onboard sensors are used for navigation, then GPS vulnerability is reduced, but navigation accuracy deteriorates due to inability to accurately measure vehicle velocity
Solution Approach 1:
The patent merges multiple sensor types (accelerometers, gyroscopes, and other onboard sensors) into a unified inertial navigation system. By combining the strengths of different sensors through sensor fusion algorithms, the system compensates for individual sensor limitations and achieves accurate velocity and position measurements without relying on GPS
Solution Approach 2:
The system implements feedback mechanisms where navigation data from inertial sensors is continuously processed and used to adjust vehicle control commands. The navigation system uses feedback from accelerometer and gyroscope measurements to correct for drift and maintain accurate velocity and position estimates over time
3Measurement precision
If acceleration profiles are generated based on vehicle parameters, then navigation precision is improved, but computational complexity increases
Solution Approach 1:
The system performs preliminary actions by pre-generating acceleration profiles based on vehicle parameters before navigation tasks are executed. These pre-computed profiles store expected acceleration patterns for various vehicle types and conditions, allowing the navigation system to quickly reference and apply appropriate profiles without performing complex real-time calculations during actual navigation
Solution Approach 2:
The system dynamically adapts acceleration profiles based on real-time vehicle parameters and environmental conditions. The navigation system adjusts profile parameters on-the-fly to match actual vehicle performance characteristics, balancing computational complexity with navigation precision by using dynamic parameter adjustment rather than exhaustive real-time simulation
Applied Scientific Principles
This section explains which scientific principles are used to turn an abstract innovation direction into a practical engineering solution.
Function Achieved in This Case
Enables precise navigation of uncrewed vehicles in GPS-denied environments by ensuring accurate distance and direction tracking, allowing for mission objectives like image recording while concealing the target location or reducing detectability.
Implementation Method 1
an uncrewed vehicle may have an installed accelerometer and/or a gyroscope for measuring acceleration changes and direction changes
Implementation Method 2
an uncrewed vehicle may have an installed accelerometer and/or a gyroscope for measuring acceleration changes and direction changes
Data Source
AI summary
Methods and systems are described herein for navigating a vehicle. A target location may be received, and based on the target location and vehicle parameters, an acceleration profile for the vehicle may be generated. The acceleration profile may include a first duration for accelerating the vehicle and a second duration for not accelerating the vehicle. When the acceleration profile is generated, a trajectory profile for travelling to the target location may be generated using the acceleration profile. The trajectory profile may include multiple instances of the acceleration profile. When the trajectory profile is being executed, a distance travelled by the vehicle after each instance of the acceleration profile is executed may be calculated. Based on the distance travelled after each instance of the acceleration profile is executed, an instance of when the target location is reached may be determined.