대표
청구항
▼
1. A system for controlling an aerial vehicle to a target, the system comprising: an acquisition sensor including an optical receiver for detecting a target;a navigation system including an inertial measurement system for detecting pitch, roll, and yaw of the aerial vehicle, and an inertial navigational system to determine position, orientation, and velocity of the aerial vehicle, said navigation system further comprises an autopilot system storing a flight path for said aerial vehicle, said autopilot is adapted to utilize said position, orientation, and...
1. A system for controlling an aerial vehicle to a target, the system comprising: an acquisition sensor including an optical receiver for detecting a target;a navigation system including an inertial measurement system for detecting pitch, roll, and yaw of the aerial vehicle, and an inertial navigational system to determine position, orientation, and velocity of the aerial vehicle, said navigation system further comprises an autopilot system storing a flight path for said aerial vehicle, said autopilot is adapted to utilize said position, orientation, and velocity to navigate said aerial vehicle along a flight path to a search area;a trigger sensor comprising a plurality of signal emitters adapted to emit a plurality of target detection signals in a plurality of directions over a portion of a spherical area forward of said aerial vehicle and a plurality of signal receivers adapted to receive one or more of said plurality of target detection signals upon reflection from the target, said trigger sensor is configured to generate a signal in response to a predefined stimulus comprising detection of at least one of said plurality of target detection signals reflected from said target that are above a predetermined signal strength threshold that is detected by at least one of said plurality of signal receivers;a video processor coupled to an output of said acquisition sensor, wherein said acquisition sensor is further adapted to capture and route a plurality of images to said video processor, wherein said video processor is further adapted to autonomously select said target based on a first and second target comparison and substantial match determination, wherein said first target comparison and substantial match determination is based on a comparison and substantial match of said output of said plurality of images with one of a plurality of first filter data by said video processor, said plurality of first filter data comprises a plurality of images respectively associated with a plurality of desired targets, said second filter data library comprises a plurality of mask forms and pattern recognition elements associated with each of said plurality of desired targets, said plurality of mask forms or pattern recognition elements including a plurality of heat mask data associated with one or more said desired targets; anda controller including a flight control system for adjusting flight control surfaces and guiding the aerial vehicle, the controller is in communication with a plurality of systems comprising the acquisition sensor, the video processor, the navigation system, and the trigger sensor, wherein the controller activates a search mode directing the acquisition sensor to commence said detecting the target upon reaching said search area as determined by the navigation system, the controller causes the aerial vehicle to navigate according to a search route upon activation of the search mode, the controller further adjusts the flight control surfaces to reposition the detected and selected target within the center of the collector grid of the acquisition sensor after detection and selection of the target. 2. The system of claim 1, wherein the controller operates in the search mode of operation when the acquisition sensor searches for the target and causes the flight control surfaces to direct the aerial vehicle in said search route comprising a downward spiral flight path, a terminal mode of operation when the acquisition sensor detects and selects the target based on a predefined target associated with one of said plurality of first filter data and causes the flight control surfaces to direct the body toward the target, and an activation mode of operation when the trigger sensor detects the predefined stimulus. 3. The system of claim 1, wherein the optical receiver of the acquisition sensor comprises an infrared optical sensor. 4. The system of claim 1, further comprising: a first actuator in electrical communication with the flight control system of the controller;wherein the flight control surfaces include a first flight control surface configured to control pitch of the vehicle, the first actuator operably coupled to the first flight control surface;a second actuator in electrical communication with the flight control system of the controller;wherein the flight control surfaces include a second flight control surface configured to control yaw of the vehicle, the second actuator operably coupled to the second flight control surface;a third actuator in electrical communication with the flight control system of the controller; andwherein the flight control surfaces include a third flight control surface configured to control roll of the vehicle, the third actuator operably coupled to the third flight control surface. 5. The system of claim 1, further comprising: a responder in electrical communication with the controller; anda safe and arm device configured to enable said controller to activate the trigger sensor and arm the responder at a predetermined distance from launch. 6. The system of claim 5, wherein the safe and arm device includes a fiber optics cable releasably coupled to the controller in an unarmed condition. 7. The system of claim 1, wherein said plurality of signal emitters and said plurality of signal receivers respectively includes a light emitting diode and a receiver configured to receive light from the light emitting diode and in electrical communication with the controller. 8. The system of claim 5, wherein the responder comprises an explosive detonated by the controller in response to a signal from the trigger sensor. 9. The system as in claim 1, wherein said trigger sensor is adapted to detect said target substantially within a predetermined distance and orientation from at least one said plurality of signal emitters based on said at least one of said plurality of target detection signals. 10. The system as in claim 1, wherein said plurality of signal emitters comprise a light receiving apparatus adapted to emit a plurality of diffuse light signals. 11. The system as in claim 1, wherein said plurality of first filter data comprises a plurality of temperature data and patterns each associated with an object expected to be related to one of said plurality of desired targets. 12. The system as in claim 1, wherein said controller adjusts the flight control surfaces to reposition the target within the center of the collector grid of the acquisition sensor so as to guide said aerial vehicle towards said detected and selected target upon determining said substantial match between said at least two said first filter data and at least one said plurality of images. 13. The system as in claim 1, further comprising: a responder in electrical communication with the controller; anda safe and arm device configured to enable said controller to activate the trigger sensor and arm the responder if multiple conditions are met comprising a determination by said controller that the aerial vehicle is travelling on said flight path, the trigger sensor has been armed, and the aerial vehicle has traveled a first predetermined distance from a launch point. 14. The system of claim 13, said system for controlling the aerial vehicle further comprises a propulsion system adapted to provide propulsive forces to said aerial vehicle, said propulsion system is adapted to be activated when the controller detects that the aerial vehicle has traveled a second predetermined distance from the launch point that is shorter than said first predetermined distance based on operation of a delay initiator adapted to operate upon reading said second predetermined distance. 15. The system of claim 13, wherein the safe and arm device includes a fiber optics cable releasably coupled to the controller in an unarmed condition. 16. The system of claim 14, wherein the safe and arm device includes a fiber optics cable releasably coupled to the controller in an unarmed condition and a tether releasable coupled to the aerial vehicle prior to activation of said propulsion device, wherein said propulsion device is activated upon detachment of said tether from said aerial vehicle. 17. A system for controlling an aerial vehicle to a target, the system comprising: an acquisition sensor including an optical receiver for detecting a target;a navigation system including an inertial measurement system for detecting pitch, roll, and yaw of the aerial vehicle, and an inertial navigational system to determine position, orientation, and velocity of the aerial vehicle, said navigation system further comprises an autopilot system storing a flight path for said aerial vehicle, said autopilot is adapted to utilize said position, orientation, and velocity to navigate said aerial vehicle along a flight path to a search area;a trigger sensor comprising a plurality of signal emitters adapted to emit a plurality of target detection signals and a plurality of signal receivers adapted to receive said plurality of target detection signals, said trigger sensor is configured to generate a signal in response to a predefined stimulus comprising at least one of said plurality of target detection signals above a predetermined signal strength threshold that is detected by at least one of said plurality of signal receivers;a video processor coupled to an output of said acquisition sensor, wherein said acquisition sensor is further adapted to capture and route a plurality of images to said video processor; anda controller including a flight control system for adjusting flight control surfaces and guiding the aerial vehicle, the controller is in communication with a plurality of systems comprising the acquisition sensor, the video processor, the navigation system, and the trigger sensor, wherein the controller activates a search mode directing the acquisition sensor to commence said detecting the target upon reaching said search area as determined by the navigation system, the controller causes the aerial vehicle to navigate according to a search route upon activation of the search mode, the controller further adjusts the flight control surfaces to reposition the target within the center of the collector grid of the acquisition sensor after detection of the target;a filter library comprising a plurality of different target filter data;wherein said video processor is further adapted to compare said plurality of images with at least one stored image of a desired said target and make a first determination comprising determining a substantial match between said at least one stored image of said desired said target and said at least one of said plurality of images;wherein upon said first determination, said video processor compares said plurality of images to said plurality of different filter data and makes a second determination, wherein said second determination comprises determining a match exists between at least two said filter data and at least one said plurality of images;wherein said plurality of filter data comprises a temperature data and an image pattern associated with an object expected to be related to said target;wherein said controller adjusts the flight control surfaces to reposition the target within the center of the collector grid of the video processor so as to guide said aerial vehicle towards said target upon determining said match between said at least two said filter data and at least one said plurality of images;wherein said trigger sensor is adapted to detect said target substantially within a predetermined distance and orientation from at least one said plurality of signal emitters based on said at least one of said plurality of target detection signals;wherein said plurality of signal emitters comprise a light receiving apparatus adapted to emit a plurality of diffuse light signals. 18. The system of claim 17, wherein the controller operates in said search mode of operation when the acquisition sensor searches for the target and causes the flight control surfaces to direct the aerial vehicle in a downward spiral flight path, a terminal mode of operation when the acquisition sensor detects a predefined target and causes the flight control surfaces to direct the body toward the target, and an activation mode of operation when the trigger sensor detects the predefined stimulus. 19. The system of claim 17, wherein the optical receiver of the acquisition sensor comprises an infrared optical sensor. 20. The system of claim 17, further comprising: a first actuator in electrical communication with the flight control system of the controller;wherein the flight control surfaces include a first flight control surface configured to control pitch of the vehicle, the first actuator operably coupled to the first flight control surface;a second actuator in electrical communication with the flight control system of the controller;wherein the flight control surfaces include a second flight control surface configured to control yaw of the vehicle, the second actuator operably coupled to the second flight control surface;a third actuator in electrical communication with the flight control system of the controller; andwherein the flight control surfaces include a third flight control surface configured to control roll of the vehicle, the third actuator operably coupled to the third flight control surface. 21. The system of claim 17, further comprising: a responder in electrical communication with the controller; anda safe and arm device configured to arm the responder at a predetermined distance from launch. 22. The system of claim 21, wherein the safe and arm device includes a fiber optics cable releasably coupled to the controller in an unarmed condition. 23. The system of claim 17, wherein said plurality of signal emitters and said plurality of signal receivers respectively includes a light emitting diode and a receiver configured to receive light from the light emitting diode and in electrical communication with the controller. 24. The system of claim 21, wherein the responder comprises an explosive detonated by the controller in response to a signal from the trigger sensor. 25. A system for controlling an aerial vehicle to a target, the system comprising: an acquisition sensor including an optical receiver for detecting a target;a navigation system including an inertial measurement system for detecting pitch, roll, and yaw of the aerial vehicle, and an inertial navigational system to determine position, orientation, and velocity of the aerial vehicle;a trigger sensor comprising a plurality of signal emitters adapted to emit a plurality of target detection signals in a plurality of directions over a portion of a spherical area forward of said aerial vehicle and a plurality of signal receivers adapted to receive one or more of said plurality of target detection signals upon reflection from the target, said trigger sensor is configured to generate a signal in response to a predefined stimulus comprising at least one of said plurality of target detection signals reflected from said target that are above a predetermined signal strength threshold that is detected by at least one of said plurality of signal receivers;a video processor coupled to an output of said acquisition sensor, wherein said acquisition sensor is further adapted to capture and route a plurality of images to said video processor;a filter library comprising a plurality of different target filter data; anda controller including a flight control system for adjusting flight control surfaces and guiding the aerial vehicle, the controller in communication with a plurality of systems comprising the acquisition sensor, the video processor, the navigation system, and the trigger sensor, wherein the controller activates a search mode directing the acquisition sensor to commence said detecting the target upon reaching a search area as determined by the navigation system, the controller causes the aerial vehicle to navigate according to a search route upon activation of the search mode, the controller further adjusts the flight control surfaces to guide the aerial vehicle towards said target and reposition the target within the center of the collector grid of the acquisition sensor based on a plurality of target determinations, wherein said plurality of target determinations comprises an initial selection and a final selection, wherein said initial selection comprises substantially matching at least one stored desired target image with at least one of said plurality of images, said final selection comprises substantially matching said plurality of images to said plurality of different filter data and determining a match exists between at least two said filter data and at least one said plurality of images, wherein said plurality of filter data comprises a temperature data and an image pattern associated with an object expected to be related to said target;wherein said trigger sensor is adapted to detect said target substantially within a predetermined distance based on said predetermined signal strength threshold and orientation from at least one said plurality of signal emitters based on said at least one of said plurality of target detection signals. 26. The system of claim 25, wherein the controller operates in said search mode of operation when the acquisition sensor searches for the target and causes the flight control surfaces to direct the aerial vehicle in a downward spiral flight path, a terminal mode of operation when the acquisition sensor detects a predefined target and causes the flight control surfaces to direct the body toward the target, and an activation mode of operation when the trigger sensor detects the predefined stimulus. 27. The system of claim 25, wherein the optical receiver of the acquisition sensor comprises an infrared optical sensor. 28. The system of claim 25, further comprising: a first actuator in electrical communication with the flight control system of the controller;wherein the flight control surfaces include a first flight control surface configured to control pitch of the vehicle, the first actuator operably coupled to the first flight control surface;a second actuator in electrical communication with the flight control system of the controller;wherein the flight control surfaces include a second flight control surface configured to control yaw of the vehicle, the second actuator operably coupled to the second flight control surface;a third actuator in electrical communication with the flight control system of the controller; andwherein the flight control surfaces include a third flight control surface configured to control roll of the vehicle, the third actuator operably coupled to the third flight control surface. 29. The system of claim 25, further comprising: a responder in electrical communication with the controller; anda safe and arm device configured to arm the responder at a predetermined distance from launch. 30. The system of claim 29, wherein the safe and arm device includes a fiber optics cable releasably coupled to the controller in an unarmed condition. 31. The system of claim 25, wherein said plurality of signal emitters and said plurality of signal receivers respectively includes a light emitting diode and a receiver configured to receive light from the light emitting diode and in electrical communication with the controller. 32. The system of claim 29, wherein said responder comprises an equipment item activated by the controller in response to a signal from said trigger sensor.
