Methods for autonomous tracking and surveillance
원문보기
IPC분류정보
국가/구분
United States(US) Patent
등록
국제특허분류(IPC7판)
G01C-023/00
G05D-001/00
G05D-003/00
G06F-007/00
G06F-017/00
G01S-003/786
G01S-013/72
출원번호
US-0334325
(2008-12-12)
등록번호
US-9026272
(2015-05-05)
발명자
/ 주소
Kokkeby, Kristen L.
Lutter, Robert P.
Munoz, Michael L.
Cathey, Frederick W.
Hilliard, David J.
Olson, Trevor L.
출원인 / 주소
The Boeing Company
대리인 / 주소
Yee & Associates, P.C.
인용정보
피인용 횟수 :
10인용 특허 :
4
초록▼
A system and methods for autonomously tracking and simultaneously providing surveillance of a target from air vehicles. In one embodiment the system receives inputs from outside sources, creates tracks, identifies the targets and generates flight plans for unmanned air vehicles (UAVs) and camera con
A system and methods for autonomously tracking and simultaneously providing surveillance of a target from air vehicles. In one embodiment the system receives inputs from outside sources, creates tracks, identifies the targets and generates flight plans for unmanned air vehicles (UAVs) and camera controls for surveillance of the targets. The system uses predictive algorithms and aircraft control laws. The system comprises a plurality of modules configured to accomplish these tasks. One embodiment comprises an automatic target recognition (ATR) module configured to receive video information, process the video information, and produce ATR information including target information. The embodiment further comprises a multisensor integrator (MSI) module configured to receive the ATR information, an air vehicle state input and a target state input, process the inputs and produce track information for the target. The embodiment further comprises a target module configured to receive the track information, process the track information, and produce predicted future state target information. The embodiment further comprises an ownship module configured to receive the track information, process the track information, and produce predicted future state air vehicle information. The embodiment further comprises a planner module configured to receive the predicted future state target information and the predicted future state air vehicle information and generate travel path information including flight and camera steering commands for the air vehicle.
대표청구항▼
1. A method of providing communication between a first individual or group and a second individual or group, where the first individual or group and the second individual or group cannot communicate directly with one another, the method comprising the steps of: deploying a first unmanned vehicle and
1. A method of providing communication between a first individual or group and a second individual or group, where the first individual or group and the second individual or group cannot communicate directly with one another, the method comprising the steps of: deploying a first unmanned vehicle and a second unmanned vehicle to a location in a vicinity of both the first individual or group and the second individual or group, wherein the first individual or group and the second individual or group cannot communicate directly with one another;receiving air vehicle state information for the first unmanned vehicle and the second unmanned vehicle;receiving target state information for the first individual or group and the second individual or group;relaying communications between the first individual or group and the second individual or group sequentially through both the first unmanned vehicle and the second unmanned vehicle; andthe first unmanned vehicle autonomously tracking the first individual or group and predicting a first future state of the first individual or group based on the target state information;predicting a future state of the first unmanned vehicle based on the air vehicle state information;generating a travel path for the first unmanned vehicle based on predicted future states of the first unmanned vehicle and the first individual or group, the travel path comprising a constrained random travel path commanded by a computer implemented module, that avoids making a position of the first individual or group apparent to third parties, and maintains the communications between the first individual or group and the second individual or group through both the first unmanned vehicle and the second unmanned vehicle; andthe first unmanned vehicle and the second unmanned vehicle following the constrained random travel path by following a plurality of headings selected at random, by changing from one heading in the plurality of headings to a next heading in the plurality of headings at random intervals, by maintaining the first unmanned vehicle within a first radio range of the first individual or group such that the first individual or group is capable of communicating directly with the first unmanned vehicle, and by maintaining the second unmanned vehicle within a second radio range of the second individual or group such that the second individual or group is capable of communicating directly with the second unmanned vehicle. 2. The method of claim 1, further comprising generating a weave plan for the first unmanned vehicle, the weave plan being designed to maintain a desired distance between the first unmanned vehicle and the first individual or group while the first individual or group is moving and while maintaining the first unmanned vehicle within an airspace boundary. 3. The method of claim 1, further comprising the step of maintaining an offset between the first unmanned vehicle and the first individual or group in order to avoid making the position of the first individual or group apparent to third parties. 4. The method of claim 1, further comprising the step of the first unmanned vehicle following the constrained random travel path that nevertheless maintains a desired distance between the vehicle and the first individual or group. 5. The method of claim 1, wherein the first unmanned vehicle and the second unmanned vehicle are unmanned aircraft. 6. The method of claim 1, further comprising generating a loiter plan for the first unmanned vehicle, the loiter plan being designed to maintain a desired distance between the first unmanned vehicle and the first individual or group while the first individual or group is stationary. 7. The method of claim 1, further comprising analyzing an anticipated path of travel for the first unmanned vehicle and the second unmanned vehicle and determining whether the path crosses into any restricted airspace or intersects any obstructions. 8. The method of claim 1, wherein the travel path for the first unmanned vehicle and the second unmanned vehicle is configured to maintain the first unmanned vehicle and the second unmanned vehicle within a predetermined boundary. 9. The method of claim 1, wherein the first individual or group is sea based. 10. The method of claim 1, wherein generating the travel path comprises developing the travel path such that the travel path comprises a plurality of boundaries around the first individual or group. 11. The method of claim 1 further comprising tracking movement of the second individual or group and generating a flight path to maintain a desired distance between the first individual or group and the second individual or group. 12. The method of claim 1, wherein the second unmanned vehicle and the second individual or group comprise unmanned airborne vehicles. 13. A method of providing communication between a first asset in motion and a second asset in motion, where the first asset and the second asset cannot communicate directly with one another, the method comprising the steps of: deploying a vehicle, the vehicle comprising an unmanned airborne vehicle, to a location in a vicinity of both the first asset and the second asset, the first asset in continuous communication with the vehicle and the second asset in continuous communication with the vehicle;receiving vehicle state information for the vehicle;receiving target state information for the first asset and the second asset;relaying communications between the first asset and the second asset through the vehicle;the vehicle autonomously tracking the motion of the first asset and the second asset;predicting a first future position of the first asset and a second future position of the second asset based on the target state information;generating a travel path for the vehicle based on the vehicle state information, the travel path comprising a constrained random travel path commanded by a computer implemented module and configured to avoid making the position of the first asset and the position of the second asset apparent to third parties; andfollowing, by the unmanned airborne vehicle, the constrained random travel path by following a plurality of headings selected at random, by changing from one heading in the plurality of headings to a next heading in the plurality of headings at random intervals, and by maintaining the vehicle within a radio range of the first asset and the second asset such that the first asset is capable of continuously communicating directly with the vehicle and the second asset is capable of continuously communicating directly with the vehicle. 14. The method of claim 13 further comprising the step of maintaining an offset between the unmanned vehicle and the first asset in order to avoid making the position of the first individual or group apparent to third parties. 15. The method of claim 13, further comprising the step of the vehicle following the constrained random travel path that maintains a desired distance between the vehicle and the first asset. 16. The method of claim 13, further comprising generating a loiter plan for the vehicle, the loiter plan configured to maintain a desired distance between the vehicle and the first asset. 17. The method of claim 13, further comprising analyzing an anticipated path of travel for the vehicle and determining whether the path crosses into any restricted airspace or intersects any obstructions. 18. The method of claim 13, wherein the travel path for the vehicle is configured to maintain the vehicle within a predetermined boundary. 19. The method of claim 13, further comprising generating a weave plan for the vehicle, the weave plan configured to maintain a desired distance between the vehicle and the first asset and to maintain the vehicle within an airspace boundary. 20. A method comprising: deploying a vehicle, the vehicle comprising an unmanned airborne vehicle, to a location in a vicinity of both a first asset in motion and a second asset in motion, the first asset in motion in communication with the vehicle and the second asset in motion in communication with the vehicle;receiving air vehicle state information for the vehicle;receiving target state information for the first asset and the second asset;relaying communications between the first asset in motion and the second asset in motion through the vehicle;the vehicle autonomously tracking the motion of the first asset in motion and the second asset in motion;predicting a first future position of the first asset in motion and a second future position of the second asset in motion, the predicting based on the target state information; andgenerating, by a computer implemented module, a travel path for the vehicle based on the air vehicle state information, the travel path comprising one of a random travel path configured to avoid making the position of the first asset in motion and the position of the second asset in motion apparent to third parties and a weave plan configured to maintain a desired distance between the vehicle and the future position of the first asset in motion and between the vehicle and the future position of the second asset in motion, wherein the travel path is configured to maintain the vehicle within a radio range of both the first asset in motion and the second asset in motion such that the first asset in motion is capable of communicating directly with the vehicle and the second asset in motion is capable of communicating directly with the vehicle.
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이 특허에 인용된 특허 (4)
Trudeau, Tim K., Collision avoidance using limited range gated video.
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