A system comprising an unmanned aerial vehicle (UAV) having wing elements and tail elements configured to roll to angularly orient the UAV by rolling so as to align a longitudinal plane of the UAV, in its late terminal phase, with a target. A method of UAV body re-orientation comprising: (a) determi
A system comprising an unmanned aerial vehicle (UAV) having wing elements and tail elements configured to roll to angularly orient the UAV by rolling so as to align a longitudinal plane of the UAV, in its late terminal phase, with a target. A method of UAV body re-orientation comprising: (a) determining by a processor a boresight angle error correction value bases on distance between a target point and a boresight point of a body-fixed frame; and (b) effecting a UAV maneuver comprising an angular role rate component translating the target point to a re-oriented target point in the body-fixed frame, to maintain the offset angle via the offset angle correction value.
대표청구항▼
1. An unmanned aerial vehicle (UAV) comprising: a processor having addressable memory, the processor configured to: determine a body roll angle error based on a target location in a body reference frame and an orientation of the UAV in the body reference frame; anddetermine one or more aileron actua
1. An unmanned aerial vehicle (UAV) comprising: a processor having addressable memory, the processor configured to: determine a body roll angle error based on a target location in a body reference frame and an orientation of the UAV in the body reference frame; anddetermine one or more aileron actuator commands based on the determined body roll angle error;wherein the processor of the UAV is further configured to bank-to-turn, and to transition to reorient in attitude based on an estimated range-to-go and an angular position of the target relative to the UAV. 2. The UAV of claim 1 where the body roll angle error is further based on at least one of: a GPS location of the UAV, a crosswind estimation, and a crosswind measurement. 3. The UAV of claim 1 where the target location is determined by a guidance sensor suite. 4. The UAV of claim 3 where the guidance sensor suite comprises at least one of: a passive radar subsystem, an active radar subsystem, an infrared detection subsystem, an infrared imaging subsystem, a visible light imaging subsystem, and an ultraviolet light detection subsystem. 5. The UAV of claim 1 where the target location is received, by an antenna of the UAV, post-launch of the UAV by a third-party. 6. The UAV of claim 1 where the target location is modified, by an antenna of the UAV, post-launch of the UAV by a third-party. 7. An unmanned aerial vehicle (UAV) comprising: a processor having addressable memory, the processor configured to: determine a body roll angle error based on a target location in a body reference frame and an orientation of the UAV in the body reference frame; anddetermine one or more aileron actuator commands based on the determined body roll angle error;wherein the processor of the UAV is further configured to skid-to-turn, and to transition to reorient in attitude based on an estimated range-to-go and an angular position of the target relative to the UAV. 8. The UAV of claim 7 where the body roll angle error is further based on at least one of: a GPS location of the UAV, a crosswind estimation, and a crosswind measurement. 9. The UAV of claim 7 where the target location is determined by a guidance sensor suite. 10. The UAV of claim 9 where the guidance sensor suite comprises at least one of: a passive radar subsystem, an active radar subsystem, an infrared detection subsystem, an infrared imaging subsystem, a visible light imaging subsystem, and an ultraviolet light detection subsystem. 11. The UAV of claim 7 where the target location is received, by an antenna of the UAV, post-launch of the UAV by a third-party. 12. The UAV of claim 7 where the target location is modified, by an antenna of the UAV, post-launch of the UAV by a third-party. 13. An unmanned aerial vehicle (UAV) comprising: a processor having addressable memory, the processor configured to: determine a body roll angle error based on a target location in a body reference frame and an orientation of the UAV in the body reference frame; anddetermine one or more aileron actuator commands based on the determined body roll angle error;wherein the processor of the UAV is further configured to: receive, by an antenna, a mode control signal, wherein the mode control signal is configured to effect a transition of a current mode to a new mode, wherein if the current mode is a terminal homing mode then the new mode is a target search mode,else the new mode is a terminal homing mode. 14. The UAV of claim 13 where the body roll angle error is further based on at least one of: a GPS location of the UAV, a crosswind estimation, and a crosswind measurement. 15. The UAV of claim 13 where the target location is determined by a guidance sensor suite. 16. The UAV of claim 15 where the guidance sensor suite comprises at least one of: a passive radar subsystem, an active radar subsystem, an infrared detection subsystem, an infrared imaging subsystem, a visible light imaging subsystem, and an ultraviolet light detection subsystem. 17. The UAV of claim 13 where the target location is received, by an antenna of the UAV, post-launch of the UAV by a third-party.
Tribe Alex E. (Thousand Oaks CA) Bottorff Marion R. (Ventura CA) Cottrell Ronald G. (Thousand Oaks CA) Ranes Richard L. (Simi Valley CA) Whistler William B. (Thousand Oaks CA), Aircraft.
Bodin, William Kress; Redman, Jesse J. W.; Thorson, Derral C., Navigating a UAV under remote control and manual control with three dimensional flight depiction.
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