APPARATUS FOR AN AUTOMATED AERIAL REFUELING BOOM USING MULTIPLE TYPES OF SENSORS
First Claim
1. A system for automated control of a refueling boom coupled to a tanker aircraft, comprising:
- a first inertial measurement unit (IMU) providing inertial measurements for the tanker aircraft;
a first GPS receiver providing a GPS location for a GPS antenna attached to the tanker aircraft; and
a processor adapted to calculate a first inertial navigation state for the tanker aircraft through integration of the inertial measurements, the processor being further adapted to calculate a first inertial navigation state error relative to the GPS location and to filter the first inertial navigation state error and the first inertial navigation state based upon noise characteristics of the first IMU and the first GPS receiver to provide an updated inertial navigation state for the tanker aircraft, the processor being further adapted to control the refueling boom relative to a receiver aircraft based upon the first and updated inertial navigation states.
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Accused Products
Abstract
A system for automated control of a refueling boom coupled to a tanker aircraft is provided. The system includes: a first inertial measurement unit (IMU) providing inertial measurements for the tanker aircraft; a first GPS receiver providing a GPS location for a GPS antenna attached to the tanker aircraft; and a processor adapted to calculate a first inertial navigation state for the tanker aircraft through integration of the inertial measurements, the processor being further adapted to calculate a first inertial navigation state error relative to the GPS location and to filter the first inertial navigation state error and the first inertial navigation state based upon noise characteristics of the first IMU and the first GPS receiver to provide an updated inertial navigation state for the tanker aircraft, the processor being further adapted to control the refueling boom relative to a receiver aircraft based upon the first and updated inertial navigation states.
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Citations
20 Claims
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1. A system for automated control of a refueling boom coupled to a tanker aircraft, comprising:
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a first inertial measurement unit (IMU) providing inertial measurements for the tanker aircraft; a first GPS receiver providing a GPS location for a GPS antenna attached to the tanker aircraft; and a processor adapted to calculate a first inertial navigation state for the tanker aircraft through integration of the inertial measurements, the processor being further adapted to calculate a first inertial navigation state error relative to the GPS location and to filter the first inertial navigation state error and the first inertial navigation state based upon noise characteristics of the first IMU and the first GPS receiver to provide an updated inertial navigation state for the tanker aircraft, the processor being further adapted to control the refueling boom relative to a receiver aircraft based upon the first and updated inertial navigation states. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10)
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11. A system for control of a refueling boom coupled to a tanker aircraft, comprising:
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an IMU providing tanker inertial measurements for the tanker aircraft; an IMU providing receiver inertial measurement for a receiver aircraft; and means for controlling the refueling boom so as to automatically mate with the receiver aircraft, wherein the means is adapted to control the refueling boom by filtering the tanker and receiver inertial measurements relative to measurements from a sensor selected from the group consisting of a GPS receiver and an EO sensor. - View Dependent Claims (12, 13, 14)
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15. A method of controlling a refueling boom relative to a tanker aircraft and a receiver aircraft, comprising:
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deriving an inertial navigation state for the tanker aircraft; deriving an inertial navigation state for the receiver aircraft; comparing the inertial navigation states to additional sensor measurements to derive an inertial navigation state error for the tanker aircraft and an inertial navigation state error for the receiver aircraft; filtering the inertial navigation states and the inertial navigation state errors to provide an updated inertial navigation state for the receiver aircraft and an updated inertial navigation state for the tanker aircraft; and controlling the refueling boom based upon the updated inertial navigations states so as to automatically mate with the receiver aircraft. - View Dependent Claims (16, 17, 18, 19, 20)
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Specification