초록 ▼

One embodiment of a reusable gas grenade canister comprises a body defining an interior space. The body has a plate which is removable so that a gas grenade may be placed into an interior space of the body. A spike extends from the body, the spike defining a flow path for gas to flow from the interi

One embodiment of a reusable gas grenade canister comprises a body defining an interior space. The body has a plate which is removable so that a gas grenade may be placed into an interior space of the body. A spike extends from the body, the spike defining a flow path for gas to flow from the interior space to a point remote from the body. In one embodiment, a baffle is located inside the body over an opening leading to a passage through the spike which defines the flow path. A swing arm is connected to the body, as is a ram pad.

대표청구항 ▼

One embodiment of a reusable gas grenade canister comprises a body defining an interior space. The body has a plate which is removable so that a gas grenade may be placed into an interior space of the body. A spike extends from the body, the spike defining a flow path for gas to flow from the interi

One embodiment of a reusable gas grenade canister comprises a body defining an interior space. The body has a plate which is removable so that a gas grenade may be placed into an interior space of the body. A spike extends from the body, the spike defining a flow path for gas to flow from the interior space to a point remote from the body. In one embodiment, a baffle is located inside the body over an opening leading to a passage through the spike which defines the flow path. A swing arm is connected to the body, as is a ram pad. for a navigation platform based on radio navigation data transmitted by external terminals comprising: a radio navigation data receiver for receiving and amplifying said radio navigation data embedded in noise; a bank of correlators for extracting said radio navigation data from said noise over a range of delay error, said correlators processing said radio navigation data and said noise to generate correlator output functions indicative of a degree of correlation for each correlator between said radio navigation data and a known internal replica signal, said correlator output functions being non-triangular M code correlator output functions; an estimator for estimating the radio navigation data signal power and noise power from the correlator output functions; and a measurement update unit including a nonlinear filter, said measurement update unit for updating the navigation state based on conditional moments of the navigation state calculated as a function of the estimated radio navigation data signal power and noise power, and the correlator outputs. 2. The system of claim 1 further comprising an inertial sensor unit for generating inertial data indicative of the inertial behavior of the platform and wherein the conditional moments of the navigation state are further calculated as a function of the inertial data.3. The system of claim 1 wherein the radio navigation data comprises Global Positioning System (GPS) data, and wherein the radio navigation data receiver comprises a GPS receiver.4. The system of claim 1 further comprising a propagator for applying sensed inertial data to a dynamic model based on a recently updated navigation state to generate updated inertial data provided to said measurement update unit.5. The system of claim 1 wherein the multidimensional navigation state includes information selected from the group consisting of position, velocity, attitude, receiver clock errors, inertial sensor errors, propagation delays, and satellite errors.6. The system of claim 1 wherein the conditional moments are calculated using a set of correlator moments which are calculated with said nonlinear filter, and which represent statistical expectations of nonlinear functions of line-of-sight position error.7. The system of claim 1 wherein the conditional moments are calculated to include measurement non-linearities in the correlator output functions.8. The system of claim 1 wherein the bank of correlators comprises an extended-range bank of correlators for extracting said radio navigation data from said noise over an extended range of delay error, said correlators processing said radio navigation data and said noise to generate correlator output functions indicative of degree of correlation for each correlator in the extended-range bank between said radio navigation data and a known internal replica signal.9. The system of claim 1 wherein said estimator comprises: a signal power estimator for determining radio navigation data signal power based on correlator moments; and a noise power estimator for estimating noise power based on the correlator moments and said signal power estimate. 10. An estimator for estimating signal and noise power in a system for determining a multidimensional navigation state for a navigation platform based on radio navigation data embedded in noise, said radio navigation data signal being received by a radio navigation data receiver including a bank of correlators for extracting said radio navigation data from said noise over a range of delay error, said correlators processing said radio navigation data and said noise to generate correlator output function indicative of degree of correlation for each correlator between said radio navigation data and a known replica signal, said estimator comprising: a signal power estimator for determining radio navigation data signal power based on correlator moments; a noise power estimator for estimating noise power based on the correlator m