IPC분류정보
국가/구분 |
United States(US) Patent
등록
|
국제특허분류(IPC7판) |
|
출원번호 |
US-0193985
(2008-08-19)
|
등록번호 |
US-8165728
(2012-04-24)
|
발명자
/ 주소 |
|
출원인 / 주소 |
- The United States of America as represented by the Secretary of the Navy
|
대리인 / 주소 |
|
인용정보 |
피인용 횟수 :
2 인용 특허 :
18 |
초록
▼
A cooperative engagement group-position determining system employs a group of at least three cooperative units, for example a group of unmanned aerial vehicles (UAV's), with each unit including a GPS system for determining a GPS-based position, an inter-distance measurement module for measuring a di
A cooperative engagement group-position determining system employs a group of at least three cooperative units, for example a group of unmanned aerial vehicles (UAV's), with each unit including a GPS system for determining a GPS-based position, an inter-distance measurement module for measuring a distance of the unit relative to at least one other unit, and a computer having a computer-readable storage medium encoded with a program algorithm for correcting the GPS-based position based on at least one relative distance between two units, providing an improved GPS-based position for the unit and for the group. The system can also include a ground controller, for example, for providing flight control for UAV's.
대표청구항
▼
1. A cooperative engagement group-position determining system, comprising: a group of at least three cooperative units, wherein each said unit comprises: i) a GPS system for determining a GPS-based position;ii) an inter-distance measurement module for measuring a distance of the unit relative to at
1. A cooperative engagement group-position determining system, comprising: a group of at least three cooperative units, wherein each said unit comprises: i) a GPS system for determining a GPS-based position;ii) an inter-distance measurement module for measuring a distance of the unit relative to at least one other unit; andiii) a computer including a computer-readable storage medium encoded with a program algorithm that includes instructions for correcting the GPS-based position based on at least one relative distance between two units to thereby provide an improved GPS-based position for the unit and for the group; andwherein the algorithm comprises an iterative process for i) generating a set of position vectors for each unit to thereby obtain a set of computed positional data and inter-distances for each unit and ii) minimizing a mean square error between the inter-distances and the GPS-based position, thereby correcting the GPS-based position and providing the improved GPS-based position, and repeating steps i) and ii) until a desired degree of convergence and a final converged estimate of positions of units is obtained, and wherein the GPS errors over all units in the cluster are averaged by applying a rigid body transformation of space to the final converged estimate of positions of units to thereby minimize an objective function of the type given by E=D(A(n), A)+D(B(n), B)+D(C(n), C), where A(n), B(n) and C(n) are the final converged estimate of positions of units. 2. A group-position determining system as in claim 1, wherein the group has at least four cooperative units. 3. A group-position determining system as in claim 2, wherein the units are unmanned aerial vehicles (UAV's). 4. A group-position determining system as in claim 3, further comprising a ground controller for flight-controlling the UAV's. 5. A radar system, comprising: a plurality of at least four unmanned airborne platforms, each comprising: i) a synthetic aperture radar system configured to exchange radar data with at least one of the other unmanned airborne platforms;ii) an on-board GPS system for linking with a satellite-based GPS system to compute an individual GPS-based position;iii) an inter-distance computing module for measuring an inter-distance to at least one other platform; andiv) a computer including a computer-readable storage medium encoded with a program algorithm that includes instructions for a) applying the inter-distance measurement to at least one individual GPS-based position to thereby provide an improved GPS-based group position, and b) constructing an improved SAR radar image based on the improved GPS-based group position; andwherein the algorithm comprises an iterative process for i) generating a set of position vectors for each unit to thereby obtain a set of computed positional data and inter-distances for each unit and ii) minimizing a mean square error between the inter-distances and the GPS-based position, thereby correcting the GPS-based position and providing the improved GPS-based position, and repeating steps and ii) until a desired degree of convergence and a final converged estimate of positions of units is obtained, and wherein the GPS errors over all units in the cluster are averaged by applying a rigid body transformation of space to the final converged estimate of positions of units to thereby minimize an objective function of the type given by E=D(A(n), A)+D(B(n), B)+D(C(n), C), where A(n), B(n) and C(n) are the final converged estimate of positions of units. 6. A radar system as in claim 5, wherein the unmanned airborne platforms are UAV's. 7. A radar system as in claim 6, further comprising a ground controller for flight-controlling the UAV's. 8. A method of correcting a GPS-based position for a cooperative engagement group, comprising: deploying a group of at least three cooperative units, wherein each said unit comprises: i) a GPS system for determining a GPS-based position;ii) an inter-distance measurement module for measuring a distance of the unit relative to at least one other unit; andiii) a computer including a computer-readable storage medium encoded with a program algorithm that includes instructions for correcting the GPS-based position based on at least one relative distance between two units; andwherein the algorithm comprises an iterative process for i) generating a set of position vectors for each unit to thereby obtain a set of computed positional data and inter-distances for each unit and ii) minimizing a mean square error between the inter-distances and the GPS-based position, thereby correcting the GPS-based position and providing the improved GPS-based position, and repeating steps i) and ii) until a desired degree of convergence and a final converged estimate of positions of units is obtained, and wherein the GPS errors over all units in the cluster are averaged by applying a rigid body transformation of space to the final converged estimate of positions of units to thereby minimize an objective function of the type given by E=D(A(n), A)+D(B(n), B)+D(C(n), C), where A(n), B(n) and C(n) are the final converged estimate of positions of units;obtaining an initial GPS-based position for each of the units;measuring an inter-distance between at least two of the units; andcorrecting the initial GPS-based position for each unit based on at least one relative distance between two units to thereby provide an improved GPS-based position for the unit and for the group. 9. A method as in claim 8, wherein the inter-distance is measured between each unit and each remaining unit and the GPS-based position is corrected based on all inter-distance measurements thus obtained. 10. A method as in claim 9, wherein each of the units is a UAV having an onboard SAR for obtaining an SAR radar image, and further comprising the step of constructing an improved SAR radar image based on the improved GPS-based group position. 11. A method as in claim 10, further comprising flight-controlling the UAV's using a ground control system.
※ AI-Helper는 부적절한 답변을 할 수 있습니다.