Distributed Munition Formation Control Without GPS
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Solution Overview
Problem
Existing munition systems face challenges in maintaining flight formation without GPS, as they rely on inertial measurement units (IMUs) which can drift due to biases, and centralized control nodes that may fail or be compromised, leading to potential collisions and loss of coordination.
Innovation Solution
A distributed autonomous control method where each munition in a salvo communicates through a datalink system to share navigation data, calculate guidance commands, and adjust its flight path to maintain formation constraints, using IMU data and theoretical spring forces to optimize position relative to other munitions, allowing for independent navigation and target tracking.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If GPS is used for navigation, then navigation accuracy is improved, but cost and device complexity increase
Solution Approach 1:
The patent replaces GPS (electromagnetic signal-based system) with an inertial navigation system using IMUs and formation-relative positioning. Each munition uses its IMU to calculate position relative to other munitions in the salvo, eliminating dependence on external GPS signals while maintaining navigation capability through mechanical/inertial means.
2Ease of operation
If centralized control node is used, then coordination is improved, but reliability decreases due to single point of failure
Solution Approach 1:
The patent divides the centralized control function into distributed autonomous decision-making capabilities across all munitions. Each munition independently calculates its own navigation solution and formation maintenance commands using its own IMU data and data from other munitions, eliminating the single point of failure while maintaining coordinated control through segmented autonomy.
3Ease of operation
If enhanced centralized node is used, then control capability is improved, but expense and data bandwidth consumption increase
Solution Approach 1:
The patent enables each munition to serve itself by independently calculating its navigation solution and formation control commands using its own IMU data and formation constraints. This self-service capability eliminates the need for an enhanced centralized node that would otherwise need to process and distribute control commands, reducing data bandwidth consumption while maintaining full control capability.
Data Source
AI summary
A method including obtaining at each of a plurality of nodes navigation data of the node, communicating at each node its navigation data to the other nodes via each node's datalink communication system, receiving at each node navigation data communicated from the other nodes, determining at each node distance range of the node relative to the other nodes for which navigation data was received, determining at each node a constellation of the nodes as a function of the navigation data of the node, the navigation data received from the other nodes, and the distance range of the node relative to the other nodes, accessing formation constraints to form the constellation at each node, calculating at each node first guidance commands to maneuver the node to adjust the constellation to be in compliance with the formation constraints; and navigating each node to execute a maneuver based on the first guidance commands.