AUTONOMOUS COLLISION AVOIDANCE SYSTEM FOR UNMANNED AERIAL VEHICLES
First Claim
1. An autonomous collision avoidance system for an unmanned aerial vehicle comprising:
- a detect and track module that senses a potential object of collision and that generates a moving object track for the potential object of collision;
an inertial navigation system that provides information indicative of a position and a velocity of the unmanned aerial vehicle; and
an auto avoidance module that receives the moving object track for the potential object of collision and the information indicative of the position and the velocity of the unmanned aerial vehicle, the auto avoidance system utilizing the moving object track of the potential object of collision and the information indicative of the position and the velocity of the unmanned aerial vehicle to generate a guidance maneuver command that facilitates the unmanned aerial vehicle avoiding the potential object of collision.
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Accused Products
Abstract
Autonomous collision avoidance systems for unmanned aerial vehicles are disclosed. Systems illustratively include a detect and track module, an inertial navigation system, and an auto avoidance module. The detect and track module senses a potential object of collision and generates a moving object track for the potential object of collision. The inertial navigation system provides information indicative of a position and a velocity of the unmanned aerial vehicle. The auto avoidance module receives the moving object track for the potential object of collision and the information indicative of the position and the velocity of the unmanned aerial vehicle. The auto avoidance module utilizes the information to generate a guidance maneuver that facilitates the unmanned aerial vehicle avoiding the potential object of collision.
146 Citations
20 Claims
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1. An autonomous collision avoidance system for an unmanned aerial vehicle comprising:
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a detect and track module that senses a potential object of collision and that generates a moving object track for the potential object of collision; an inertial navigation system that provides information indicative of a position and a velocity of the unmanned aerial vehicle; and an auto avoidance module that receives the moving object track for the potential object of collision and the information indicative of the position and the velocity of the unmanned aerial vehicle, the auto avoidance system utilizing the moving object track of the potential object of collision and the information indicative of the position and the velocity of the unmanned aerial vehicle to generate a guidance maneuver command that facilitates the unmanned aerial vehicle avoiding the potential object of collision. - View Dependent Claims (2, 3, 4, 5, 6)
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7. A method for autonomously controlling an unmanned aerial vehicle comprising:
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utilizing a sensor to scan 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 a position and a velocity of the unmanned aerial vehicle; generating an estimate of a position and a 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 unmanned aerial vehicle; performing a calculation so as to determine whether the unmanned aerial vehicle is on a course to enter within a predetermined distance relative to the potential object of collision; and altering the course of the unmanned aerial vehicle based at least in part on the calculation. - View Dependent Claims (8, 9, 10, 11, 12)
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13. An autonomous collision avoidance system for an unmanned aerial vehicle comprising:
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a sensor that detects an elevation angle and an azimuth angle of a potential object of collision; an inertial navigation system that provides information indicative of a velocity, a position, and an angular position of the unmanned aerial vehicle; and a track state estimator that receives information indicative of the potential object of collision elevation angle, the potential object of collision azimuth angle, the unmanned aerial vehicle velocity, the unmanned aerial vehicle position, and the unmanned aerial vehicle angular position, the track state estimator utilizing the received information to determine a line of sight rate vector, a relative range magnitude, and a relative range rate of the unmanned aerial vehicle relative to the potential object of collision. - View Dependent Claims (14, 15, 16, 17, 18, 19, 20)
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Specification