IPC분류정보
국가/구분 |
United States(US) Patent
등록
|
국제특허분류(IPC7판) |
|
출원번호 |
US-0128892
(2009-11-11)
|
등록번호 |
US-8588998
(2013-11-19)
|
우선권정보 |
EP-08168902 (2008-11-12) |
국제출원번호 |
PCT/SE2009/051289
(2009-11-11)
|
§371/§102 date |
20110630
(20110630)
|
국제공개번호 |
WO2010/056192
(2010-05-20)
|
발명자
/ 주소 |
- Molander, Sören
- Petrini, Erik
- Sundqvist, Bengt-Göran
|
출원인 / 주소 |
|
대리인 / 주소 |
|
인용정보 |
피인용 횟수 :
1 인용 특허 :
2 |
초록
▼
A range estimation device for use in an aerial platform including at least one passive sensor, a trajectory determination unit and a control system. A control unit is arranged to indicate to the control system to perform own-ship maneuvering of the aerial platform such that characteristics of passiv
A range estimation device for use in an aerial platform including at least one passive sensor, a trajectory determination unit and a control system. A control unit is arranged to indicate to the control system to perform own-ship maneuvering of the aerial platform such that characteristics of passive sensor measurements from the at least one passive sensor enable a range estimation to a target to be determined. The control unit is arranged to determine characteristics of the own-ship maneuvering based on the range uncertainty estimations to the target. A method and a computer program product for use in range estimation device.
대표청구항
▼
1. A range estimation device for use in an aerial platform, the aerial platform comprising at least one passive sensor and a trajectory determination unit, said range estimation device comprising: a control system configured to generate commands to maneuver the aerial platform; anda control unit arr
1. A range estimation device for use in an aerial platform, the aerial platform comprising at least one passive sensor and a trajectory determination unit, said range estimation device comprising: a control system configured to generate commands to maneuver the aerial platform; anda control unit arranged to indicate to said control system to perform own-ship maneuvering of said aerial platform such that characteristics of passive sensor measurements from said at least one passive sensor enable a range estimation to a target to be determined, wherein said control unit is further arranged to determine characteristics of said own-ship maneuvering based on range uncertainty estimations to said target,wherein the control system generates commands to perform own-ship maneuvering if the range uncertainty estimations are above a predetermined acceptance level and if an azimuth angular change rate and an elevation angular change rate of the target are below an angular rate limit set in view of a minimum estimated range to the target. 2. The range estimation device according to claim 1, wherein said control unit is arranged to indicate to said control system, if the range uncertainty estimation is above the predetermined acceptance level for the range uncertainty, to perform a continuous own-ship maneuvering of the aerial platform wherein at least one of repeated sideways or climb-sink maneuvers are performed. 3. The range estimation device according to claim 2, wherein said at least one of repeated sideways or climb-sink maneuvers of the continuous own-ship maneuvering of the aerial platform is combined with a rolling motion and/or interlaced with a falling turn motion. 4. The range estimation device according to claim 2, wherein said at least one of repeated sideways or climb-sink maneuvers of the continuous own-ship maneuvering of the aerial platform uses the basic flight lateral and/or longitudinal modes of the aerial platform. 5. The range estimation device according to claim 1, wherein said control unit is arranged to indicate to said control system if the range uncertainty estimation is above the predetermined acceptance level for the range uncertainty and if the rate of change of the range uncertainty estimation is below the predetermined acceptable level for the rate of change, wherein if the range uncertainty estimation is above the predetermined acceptance level and if the rate of change of the range uncertainty estimation is below the predetermined acceptable level, an acceleration of said continuous own-ship maneuvering of the aerial platform is increased. 6. The range estimation device according to claim 5, wherein said increase of the motion acceleration of said own-ship maneuvering is indicated by said control unit until the range uncertainty estimation is below at least one of the predetermined acceptance level for the range uncertainty; or the rate of change of the range uncertainty is above the predetermined acceptable level for the rate of change; or a limit value for the acceleration of said idle own-ship maneuvering is reached. 7. A collision avoidance system, comprising: a range estimation device according to claim 1. 8. An aerial platform, comprising: a range estimation device according to claim 1. 9. An aerial platform, comprising: a collision avoidance system according to claim 7. 10. A method for use in a range estimation device in an aerial platform, the aerial platform comprising at least one passive sensor, a trajectory determination unit and a control system, wherein said range estimation device comprises a control unit arranged to cause said control system to perform own-ship maneuvering of said aerial platform such that characteristics of passive sensor measurements from said at least one passive sensor enable a range estimation to a target to be determined, said method comprising: determining the characteristics of said own-ship maneuvering of an aerial platform based on range uncertainty estimations of said range estimation to said target; andgenerating commands with the control system to perform own-ship maneuvering if the range uncertainty estimations are above a predetermined acceptance level and if an azimuth angular change rate and an elevation angular change rate of the target are below an angular rate limit set in view of a minimum estimated range to the target. 11. The method according to claim 10, further comprising: if the range uncertainty is above the predetermined acceptance level for the range uncertainty, indicating to said control system to perform a continuous own-ship maneuvering of the aerial platform. 12. The method according to claim 10, further comprising: if the range uncertainty is above the predetermined acceptance level for the range uncertainty, and if the rate of change of the range uncertainty is below the predetermined acceptable level for the rate of change, indicating to said control system that an acceleration of said continuous idle own-ship maneuvering of the aerial platform should be increased. 13. The method according to claim 12, further comprising: indicating to said control system to increase the acceleration of said idle own-ship maneuvering until:at least one ofthe range uncertainty estimation is below the predetermined acceptance level for the range uncertainty;the rate of change of the range uncertainty is above the predetermined acceptable level for the rate of change; ora limit value for the motion acceleration of said own-ship maneuvering is reached. 14. The method according to claim 10, further comprising: if the range uncertainty is above the predetermined acceptance level for the range uncertainty, indicating to said control system to perform a own-ship maneuvering of the aerial platform which produces a kinematical acceleration of the aerial platform. 15. The method according to claim 14, further comprising: performing said kinematical acceleration of the own-ship maneuvering such that the target remains within the area covered by the field of regard of the at least one passive sensor. 16. The method according to claim 14, further comprising: performing said kinematical acceleration of the own-ship maneuvering substantially in a direction opposite of the azimuth angular change rate and elevation angular change rate of the target, when projected onto a plane which has the line-of-sight vector to the target as a normal, when the target is in a forward facing sector of the field of regard of the at least one passive sensor. 17. The method according to claim 14, further comprising: rotating said kinematical acceleration of said own-ship maneuvering such that said kinematical acceleration is parallel to the upper and lower limits of the field of regard of said at least one passive sensor, if said significant kinematical acceleration of said own-ship maneuvering will cause the target to leave the field of regard of the at least one passive sensor. 18. The method according to claim 14, further comprising: performing said kinematical acceleration of the own-ship maneuvering such that, if the target is in the vicinity of the aerial platform, the risk of colliding with the target is not increased as compared to if the kinematical acceleration had not been performed. 19. A computer program product for use in a range estimation device, the computer program product comprising: a non-transitory computer readable medium;computer readable code stored on the computer readable medium, wherein the computer readable code when run in a control unit in said range estimation device causes said range estimation device to perform a method including:determining the characteristics of an own-ship maneuvering of an aerial platform based on range uncertainty estimations of said range estimation to said target; andgenerating commands with the control system to perform own-ship maneuvering if the range uncertainty estimations are above a predetermined acceptance level and if an azimuth annular change rate and elevation angular change rate of the target are below an angular rate limit set in view of a minimum estimated range to the target.
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