A method and apparatus for managing separation between vehicles. A closest point of approach between a first vehicle traveling along a first path and a second vehicle traveling along a second path is predicted. A number of compensation commands for altering the first path of the first vehicle are ge
A method and apparatus for managing separation between vehicles. A closest point of approach between a first vehicle traveling along a first path and a second vehicle traveling along a second path is predicted. A number of compensation commands for altering the first path of the first vehicle are generated using the closest point of approach and a desired level of separation between the first vehicle and the second vehicle. The number of compensation commands is integrated with a number of control commands for the first vehicle to form a final number of control commands configured to maneuver the first vehicle to substantially maintain the desired level of separation between the first vehicle and the second vehicle. A response of the first vehicle to the final number of control commands is a desired response.
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1. A method for managing separation between vehicles, the method comprising: a computer predicting a closest point of approach between a first vehicle traveling along a first path and a second vehicle traveling along a second path, a predicted closest point of approach being formed;the computer gene
1. A method for managing separation between vehicles, the method comprising: a computer predicting a closest point of approach between a first vehicle traveling along a first path and a second vehicle traveling along a second path, a predicted closest point of approach being formed;the computer generating a number of compensation commands for altering the first path of the first vehicle using the closest point of approach and a predetermined level of separation between the first vehicle and the second vehicle, the predetermined level of separation comprising a three-dimensional separation perimeter layer, each dimension in the three-dimensional separation perimeter layer corresponding to a respective control direction having a respective avoidance gain; andthe computer integrating the number of compensation commands with a number of control commands for the first vehicle to form a final number of control commands configured to maneuver the first vehicle to maintain the predetermined level of separation between the first vehicle and the second vehicle, the number of control commands having a magnitude that includes a respective gain contribution from the respective avoidance gain of the respective control dimension when the predicted closest point of approach breaches the three-dimensional separation perimeter layer. 2. The method of claim 1 further comprising: the computer predicting a time to the closest point of approach, wherein the closest point of approach is predicted to occur when a distance between the first vehicle and the second vehicle has a minimum value if the first vehicle continues traveling along the first path and the second vehicle continues traveling along the second path. 3. The method of claim 2, wherein the step of predicting the closest point of approach comprises: the computer predicting the distance between the first vehicle and the second vehicle when the distance has the minimum value if the first vehicle continues traveling along the first path and the second vehicle continues traveling along the second path; andthe computer predicting a direction of the second vehicle with respect to the first vehicle when the distance has the minimum value. 4. The method of claim 2, wherein the step of generating the number of compensation commands comprises: the computer generating the number of compensation commands for altering the first path of the first vehicle using the closest point of approach, the predetermined level of separation between the first vehicle and the second vehicle, and the time to the closest point of approach. 5. The method of claim 1, wherein the first vehicle is a first aircraft and the second vehicle is a second aircraft and wherein the number of control commands is generated using a flight control module in the first aircraft and further comprising: the computer applying a first set of limit functions to the number of control commands; andthe computer applying a second set of limit functions to the number of compensation commands, wherein the first set of limit functions and the second set of limit functions are configured to reduce a possibility of the first aircraft flying in a manner inconsistent with at least one of safety, passenger comfort, and economy in fuel usage. 6. The method of claim 1 further comprising: the computer selecting a number of parameters for generating the number of compensation commands. 7. The method of claim 1, wherein the predetermined level of separation is selected from one of a required level of separation, a safe level of separation, and an imposed level of separation. 8. The method of claim 1, wherein the first vehicle is a first aircraft, the second vehicle is a second aircraft, the first path is a first flight path, and the second path is a second flight path and further comprising: the computer maneuvering the first aircraft to alter the first flight path of the first aircraft to form an altered flight path for the first aircraft in response to the final number of control commands, wherein the altered flight path provides the predetermined level of separation at the closest point of approach between the first aircraft and the second aircraft. 9. The method of claim 8, wherein the maneuvering step comprises: the computer changing at least one of a speed, an acceleration, and a direction of travel for the first aircraft to form the altered flight path in response to the final number of control commands, wherein the altered flight path provides the predetermined level of separation at the closest point of approach between the first aircraft and the second aircraft. 10. The method of claim 1, wherein the response of the first vehicle to the final number of control command further comprises at least one of a predetermined ride quality, a predetermined-range of acceleration, a predetermined response time, and a predetermined turning rate. 11. The method of claim 1, wherein the step of generating the number of compensation commands comprises: the computer identifying the predetermined level of separation between the first vehicle and the second vehicle using an uncertainty in a prediction of the closest point of approach. 12. The method claim 1, wherein the first vehicle and the second vehicle are selected from at least one of an unmanned aerial vehicle, a helicopter, a submarine, a surface ship, a missile, a spacecraft, and a ground vehicle. 13. A system comprising: a separation management module configured to: predict a closest point of approach between a first vehicle traveling along a first path and a second vehicle traveling along a second path using the first path and the second path, a predicted closest point of approach being formed;generate a number of compensation commands for altering the first path of the first vehicle using the closest point of approach and a predetermined level of separation between the first vehicle and the second vehicle, the predetermined level of separation comprising a three-dimensional separation perimeter layer, each dimension in the three-dimensional separation perimeter layer corresponding to a respective control direction having a respective avoidance gain; andintegrate the number of compensation commands with a number of control commands for the first vehicle to form a final number of control commands configured to maneuver the first vehicle to maintain the predetermined level of separation between the first vehicle and the second vehicle, the number of control commands having a magnitude that includes a respective gain contribution from the respective avoidance gain of the respective control dimension when the predicted closest point of approach breaches the three-dimensional separation perimeter layer. 14. The system of claim 13, wherein the separation management module is further configured to predict a time to the closest point of approach, wherein the closest point of approach is predicted to occur when a distance between the first vehicle and the second vehicle has a minimum value if the first vehicle continues traveling along the first path and the second vehicle continues traveling along the second path. 15. The system of claim 14, wherein in being configured to predict the closest point of approach, the separation management module is configured to predict the distance between the first vehicle and the second vehicle when the distance has the minimum value while the first vehicle travels along the first path and the second vehicle travels along the second path; and predict a direction of the second vehicle with respect to the first vehicle when the distance has the minimum value. 16. The system of claim 14, wherein in being configured to generate the number of compensation commands, the separation management module is configured to generate the number of compensation commands for altering the first path of the first vehicle using the closest point of approach, the predetermined level of separation between the first vehicle and the second vehicle, and the time to the closest point of approach. 17. The system of claim 13, wherein the first vehicle is a first aircraft and the second vehicle is a second aircraft and further comprising: a flight control module in communication with the separation management module, wherein the flight control module is configured to generate the number of control commands and apply a first set of limit functions to the number of control commands and the separation management module is configured to apply a second set of limit functions to the number of compensation commands, wherein the first set of limit functions and the second set of limit functions are configured to reduce a possibility of the first aircraft flying in a manner inconsistent with at least one of safety, passenger comfort, and economy in fuel usage. 18. The system of claim 13, wherein the predetermined level of separation is selected from one of a required level of separation, a safe level of separation, and an imposed level of separation. 19. The system of claim 13, wherein in being configured to generate the number of compensation commands, the separation management module is configured to generate the number of compensation commands using a number of parameters. 20. The system of claim 19, wherein the response is further directed to at least one of a predetermined ride quality, a predetermined range of acceleration, a predetermined response time, and a predetermined turning rate.
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