Bezier curve flightpath guidance using moving waypoints
First Claim
1. A guidance system, comprising:
- a processing element for defining;
a path defined by a series of waypoints;
a current position relative to the path; and
a target position along the path, wherein the processing element generates a guidance command for directing a vehicle towards the target position, wherein the guidance command is capable of accounting for movement of at least one of the waypoints.
1 Assignment
0 Petitions
Accused Products
Abstract
A flightpath guidance system and method is disclosed for using moving waypoints for a curved route plan such as a Bezier curve. The actual location of a vehicle and a leading target point along the path are used to provide commanded guidance of the vehicle along the path and to correct for disturbances from the intended route. Waypoints along the path may be moving with respect to the reference frame in which the vehicle is measured. Curved flightpath guidance using moving waypoints may be used for aerial rendezvous and refueling, multiple vehicle applications such as formation flying and battlefield formation grouping, and carrier landing. Further application includes air traffic control and commercial flight guidance systems.
-
Citations
48 Claims
-
1. A guidance system, comprising:
a processing element for defining;
a path defined by a series of waypoints;
a current position relative to the path; and
a target position along the path, wherein the processing element generates a guidance command for directing a vehicle towards the target position, wherein the guidance command is capable of accounting for movement of at least one of the waypoints. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10, 11)
-
12. A guidance system, comprising:
a processing element for defining;
a path defined by a series of waypoints, wherein at least one of the waypoints is moving, and wherein the path is defined by a Bezier curve;
a current position relative to the path; and
a target position along the path, wherein the processing element generates a guidance command towards the target position. - View Dependent Claims (13, 14, 15, 16, 17, 18, 19, 20)
-
21. A method of controlling a vehicle, comprising:
-
defining a path by a series of waypoints;
determining a current position of the vehicle relative to the path;
establishing a target position along the path; and
commanding guidance of the vehicle towards the target position, wherein the step of commanding guidance is capable of accounting for movement of at least one of the waypoints. - View Dependent Claims (22, 23, 24, 25, 26, 27, 28, 29, 30, 31, 32)
-
-
33. A method of controlling a vehicle, comprising:
-
defining a path by a series of waypoints, wherein at least one of the waypoints is moving, and wherein the path is defined by a Bezier curve;
determining a current position of the vehicle relative to the path;
establishing a target position along the path; and
commanding guidance of the vehicle towards the target position. - View Dependent Claims (34, 35, 36, 37, 38, 39, 40, 41, 42, 43)
-
-
44. A method of navigating a vehicle, comprising:
-
defining an intended path by a series of waypoints, wherein at least one of the waypoints is moving;
commanding guidance of the vehicle from a previous waypoint to a current waypoint, wherein departure from the previous waypoint is controlled by guidance commands based at least on the previous waypoint and approach to the current waypoint is controlled by guidance commands based at least on the current waypoint; and
commanding guidance of the vehicle to reduce divergence from an intended position on the intended path based at least on a target distance along the intended path ahead of the intended position, wherein said target distance ahead of the vehicle is constant.
-
-
45. A method of navigating a vehicle in flight, comprising:
-
defining an intended flight path by a series of waypoints;
crabbing into wind during flight to maintain an course of flight of the vehicle;
determining guidance commands of a navigational controller using a Bezier curve navigation process using the waypoints of the intended flight path; and
periodically adjusting navigation of the course of flight in response to the guidance commands of the navigational controller.
-
-
46. A vehicle, comprising:
-
a guidance system for controlling movement of the vehicle;
a navigation processor that provides commanded navigation adjustments to said guidance system by defining;
a path defined by a series of waypoints;
a current position relative to the path;
a target position along the path; and
a guidance command for directing the vehicle towards the target position, wherein the guidance command is capable of accounting for movement of at least one of the waypoints; and
a waypoint movement system for obtaining data of movement of at least one waypoint. - View Dependent Claims (47, 48)
-
Specification