COLLISION AVOIDANCE FOR VEHICLE CONTROL SYSTEMS
First Claim
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1. A method for autonomously controlling an aircraft so as to avoid collisions, the method comprising:
- (a) utilizing a sensor to scan an area proximate the aircraft for a potential object of collision;
(b) utilizing data collected from the sensor to generate a moving object track for the potential object of collision, the moving object track including an elevation direction finding angle and an azimuth direction finding angle for the potential object of collision, the elevation and the azimuth direction finding angles being relative to the sensor;
(c) utilizing an inertial guidance system to determine the position and velocity of the aircraft;
(d) utilizing the elevation direction finding angle, the azimuth direction finding angle, the aircraft position, and the aircraft velocity to estimate a relative range vector ( R), a relative range rate vector ( {dot over (R)}), a line-of-sight angle vector ( λ
), a line-of-sight rate vector ( {dot over (λ
)}), a range magnitude (R), and a range rate ({dot over (R)}) between the potential object of collision and the aircraft;
(e) performing a calculation so as to determine whether the aircraft is on a course to enter within a predetermined distance relative to the potential object of collision, wherein the calculation utilizes the equations;
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Abstract
A method and apparatus for at least semi-autonomously controlling a vehicle so as to avoid collisions are provided. A sensor is utilized to scan an area proximate the vehicle for a potential object of collision. The apparatus calculates navigational states of the potential object of collision relative to the vehicle to determine that the vehicle is on a course to enter within a predetermined miss distance relative to the potential object of collision. The apparatus alters the course of the vehicle based on the calculated navigational states.
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Citations
42 Claims
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1. A method for autonomously controlling an aircraft so as to avoid collisions, the method comprising:
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(a) utilizing a sensor to scan an area proximate the aircraft for a potential object of collision; (b) utilizing data collected from the sensor to generate a moving object track for the potential object of collision, the moving object track including an elevation direction finding angle and an azimuth direction finding angle for the potential object of collision, the elevation and the azimuth direction finding angles being relative to the sensor; (c) utilizing an inertial guidance system to determine the position and velocity of the aircraft; (d) utilizing the elevation direction finding angle, the azimuth direction finding angle, the aircraft position, and the aircraft velocity to estimate a relative range vector ( R ), a relative range rate vector ({dot over (R)} ), a line-of-sight angle vector (λ ), a line-of-sight rate vector ({dot over (λ ), a range magnitude (R), and a range rate ({dot over (R)}) between the potential object of collision and the aircraft;
)}(e) performing a calculation so as to determine whether the aircraft is on a course to enter within a predetermined distance relative to the potential object of collision, wherein the calculation utilizes the equations; - View Dependent Claims (2, 3, 4, 7, 8, 9, 10, 27, 28, 29, 30, 32, 33)
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5-6. -6. (canceled)
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11-26. -26. (canceled)
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31. (canceled)
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34-36. -36. (canceled)
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37. A method for autonomously controlling an aircraft so as to avoid collisions, the method comprising:
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utilizing a sensor to scan an area proximate the aircraft for a potential object of collision; utilizing data collected from the sensor to generate a moving object track for the potential object of collision; determining the position and velocity of the aircraft; generating a best estimate of the position and velocity of the potential object of collision based at least in part on the moving object track and on the position and velocity of the aircraft; performing a calculation so as to determine whether the aircraft is on a course to enter within a predetermined distance relative to the potential object of collision, wherein the calculation utilizes the equation;
ZEM={dot over (λ VCtgo2
)}where ZEM is a closest point of approach vector that the aircraft will be with respect to the potential object of collision, {dot over (λ is a line-of-sight rate vector, VC is a closing velocity, and tgo is a time-to-go; and
)}altering the course of the aircraft based at least in part on the calculation. - View Dependent Claims (38, 39, 40, 41, 42)
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Specification