Robust uninhabited air vehicle active missions

• US 20100256961A1
• Filed: 01/12/2007
• Published: 10/07/2010
• Est. Priority Date: 11/27/2001
• Status: Abandoned Application

• Current Assignee: Lockheed Martin Corporation (Martin Marietta Corporation)
• Original Assignee: Lockheed Martin Corporation (Martin Marietta Corporation)
• Inventors: Bush, Stephen Francis
• Application Number:
  US11/653,122
• Publication Number:
  US 20100256961A1
• Time in Patent Office: Days
• US Class Current: 703/8
• CPC Class Codes: B64U 2201/10 autonomous, i.e. by navigating independently from ground or air stations, e.g. by using inertial navigation systems [INS]
• CPC Class Codes: G01C 23/00 Combined instruments indicating more than one navigational value, e.g. for aircraft; Combined measuring devices for measuring two or more variables of movement, e.g. distance, speed or acceleration
• CPC Class Codes: G05D 1/0088 characterized by the autonomous decision making process, e.g. artificial intelligence, predefined behaviours using knowledge based models G06N5/00

Abstract

A command sequence for an autonomous UAV mission is optimized by simulating the performance of a mission in a model environment. Using a genetic algorithm, neural net, or other suitable technique this command sequence is then optimized, to improve the outcome of the mission. A factor in selecting an optimal command sequence will be its compressability. A set of one or more optimal command sequences is compiled. Each optimal command sequence is encoded into an algorithmic active packet of minimum size for uploaded to the UAV, which then executes the mission. To track the UAV in its performance of the mission without compromising its location, the active packets are executed in the simulated environment. The simulated environment is continually updated with the most current available information. The simulation results are an approximation of the current state of the UAV.

Claims

1. A method of tracking an autonomous UAV during a performance of a pre-programmed active mission, comprising:

receiving data about an operating environment for an active UAV performing an active mission;

pre-programming the received data into the active UAV before the active mission;

simulating the performance of the active UAV performing the active mission using the received data for the active mission in a current simulation of the operating environment of the active UAV while the active UAV is performing the active mission;

estimating a present position of the active UAV using results of the simulation while the active UAV is performing the active mission; and

simulating an approximate present position of the active UAV based on the estimation of the present position for tracking the active UAV during the performance of the pre-programmed active mission.

2. The method of claim 1, further including after the step of simulating the performance:

modifying the current simulation of the operating environment to produce a modified simulation of the performance a plurality of times producing a plurality of simulation data; and

estimating the present position of the active UAV using the plurality of simulation data.

4. The method of claim 2, wherein the step of estimating the present position of the active UAV uses the plurality of simulation data to produce a plurality of estimated present positions of the active UAV, and at least in part based on the plurality of estimated present positions specifying an approximate present position of the active UAV.

5. The method of claim 1, further comprising, after the step of estimating the present position:

modifying the current simulation of the operating environment;

simulating the performance of the active mission programmed into the active UAV with the modified current simulation of the operating environment of the active UAV producing the modified simulation;

estimating another present position of the active UAV using the modified simulation;

iteratively performing the steps of modifying the current simulation through estimating another present position of the active UAV providing a plurality of estimate present positions to optimize the present position; and

specifying the approximate present position of the active UAV based on the optimized present position.

6. The method of claim 1, further comprising, after the step of estimating the present position:

modifying the current simulation of the operating environment;

simulating the performance of the active mission programmed into the active UAV with the modified current simulation of the operating environment of the active UAV producing a modified simulation;

iteratively performing the steps of modifying the current simulation through simulating the performance producing the modified simulation to optimize the modified simulation;

estimating another present position of the active UAV using an optimized modified simulation; and

specifying the approximate present position of the active UAV based on the another present position.

12. The method of claim 1, further comprising:

operating the active UAV autonomously by maintaining a lack of communication between the active UAV and the simulation of the performance of the active UAV.

3. (canceled)

7. A method of optimizing tracking of an autonomous UAV during a performance of a pre-programmed active mission, comprising:

receiving data about an operating environment for an active UAV performing an active mission;

preprogramming the received data into the active UAV before the active mission;

simulating the performance of the active UAV performing the active mission using the received data for the active mission in a current simulation using parameters of an operating environment of the active UAV while the active UAV is performing the active mission;

estimating a present position of the active UAV using results of the simulation while the active UAV is performing the active mission;

modifying the parameters of the operating environment of the active UAV producing a modified current simulation;

simulating the performance of the active mission programmed into the active UAV with the modified current simulation producing a modified simulation;

estimating a modified present position of the active UAV using results of the modified simulation while the active UAV is performing the active mission;

iteratively performing the steps of modifying the parameters through estimating the modified present position to optimize the present position of the active UAV; and

simulating an approximate present position of the active UAV based on the optimized present position for tracking the active UAV during the performance of a pre-programmed active mission.

8. The method of claim 7, further comprising after estimating a present position:

receiving data during the performance of the pre-programmed active mission; and

modifying the current simulation of the operating environment parameters based on the data.

9. The method of claim 8, wherein the data is received from the active UAV.

10. The method of claim 7, further comprising after estimating a present position:

receiving data during the performance of the pre-programmed active mission; and

modifying the parameters of the operating environment.

11. The method of claim 7, further comprising before the step of iteratively performing the steps of modifying the parameters through estimating the modified present position:

iteratively performing the steps of modifying the parameters through simulating the performance of the active mission producing the modified simulation to optimize the modified simulation.