Ballistic projectile trajectory determining system
First Claim
1. A ballistic projectile three-dimensional trajectory determining apparatus comprising:
- an estimator communicatively coupled to receive predicted state parameters of a ballistic projectile and for estimating first trajectory characteristics of said ballistic projectile using said predicted state parameters;
a single stationary monocular sensor for observing said first trajectory characteristics of said ballistic projectile;
a comparator coupled to said single stationary monocular sensor and said estimator, said comparator adapted for determining a difference between said observed first trajectory characteristics received from said single stationary monocular sensor and said estimated first trajectory characteristics received from said estimator, and for generating an error based on said difference;
an estimator adjuster for receiving said error value from said comparator provided said error value is above a selected limit, said estimator adjuster further for adjusting said predicted state parameters of said ballistic projectile causing said estimator to re-estimate said first trajectory characteristics of said ballistic projectile using said adjusted predictions of said state parameters; and
a ballistic projectile trajectory calculator coupled to said comparator for determining second trajectory characteristics of said ballistic projectile provided said error value is at or below said selected limit.
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Abstract
A computer controlled system determines the three-dimensional trajectory of a ballistic projectile. To initialize the system, predictions of state parameters for a ballistic projectile are received at an estimator. The estimator uses the predictions of the state parameters to estimate first trajectory characteristics of the ballistic projectile. A single stationary monocular sensor then observes the actual first trajectory characteristics of the ballistic projectile. A comparator generates an error value related to the predicted state parameters by comparing the estimated first trajectory characteristics of the ballistic projectile with the observed first trajectory characteristics of the ballistic projectile. If the error value is equal to or greater than a selected limit, the predictions of the state parameters are adjusted. New estimates for the trajectory characteristics of the ballistic projectile are made and are then compared with actual observed trajectory characteristics. This process is repeated until the error value is less than the selected limit. Once the error value is less than the selected limit, a calculator calculates trajectory characteristics such a the origin and destination of the ballistic projectile.
130 Citations
20 Claims
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1. A ballistic projectile three-dimensional trajectory determining apparatus comprising:
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an estimator communicatively coupled to receive predicted state parameters of a ballistic projectile and for estimating first trajectory characteristics of said ballistic projectile using said predicted state parameters; a single stationary monocular sensor for observing said first trajectory characteristics of said ballistic projectile; a comparator coupled to said single stationary monocular sensor and said estimator, said comparator adapted for determining a difference between said observed first trajectory characteristics received from said single stationary monocular sensor and said estimated first trajectory characteristics received from said estimator, and for generating an error based on said difference; an estimator adjuster for receiving said error value from said comparator provided said error value is above a selected limit, said estimator adjuster further for adjusting said predicted state parameters of said ballistic projectile causing said estimator to re-estimate said first trajectory characteristics of said ballistic projectile using said adjusted predictions of said state parameters; and a ballistic projectile trajectory calculator coupled to said comparator for determining second trajectory characteristics of said ballistic projectile provided said error value is at or below said selected limit. - View Dependent Claims (2, 3, 4)
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5. In a computer controlled ballistic projectile three-dimensional trajectory determining system including a processor coupled to a bus, a memory unit coupled to said bus for storing information, and a single stationary projectile sensor, a method for determining trajectory characteristics of said projectile, said method comprising the computer implemented steps of:
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a) receiving, at an estimator, a prediction of state parameters for a ballistic projectile; b) estimating first trajectory characteristics of said ballistic projectile using said predictions of said state parameters; c) observing said first trajectory characteristics of said ballistic projectile using a single stationary monocular sensor; d) generating an error value of said predicted state parameters based on a comparison between said estimated first trajectory characteristics of said ballistic projectile and said observed first trajectory characteristics of said ballistic projectile; e) adjusting said predictions of said state parameters of said ballistic projectile provided said error value is equal to or greater than a selected limit and repeating steps b) through e) until said error value is less than said selected limit; and f) calculating second trajectory characteristics of said ballistic projectile provided said error value is less than said selected limit. - View Dependent Claims (6, 7, 8, 9, 10, 11, 12, 13, 14, 15)
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16. A ballistic projectile three-dimensional trajectory determining system comprising:
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an estimator receiving predicted state parameters of a ballistic projectile for estimating first trajectory characteristics of said ballistic projectile using said predicted state parameters; a single stationary monocular sensor for observing said first trajectory characteristics of said ballistic projectile; a comparator coupled to said single stationary monocular sensor and said estimator for comparing said observed first trajectory characteristics received from said single stationary monocular sensor with said estimated first trajectory characteristics received from said estimator, said comparator generating an error value indicative of a difference between said observed first trajectory characteristics and said estimated first trajectory characteristics;
p1 an estimator adjuster receiving said error value from said comparator when said error value is above a selected limit for adjusting said predicted state parameters of said ballistic projectile and causing said estimator to re-estimate said first trajectory characteristics of said ballistic projectile using said adjusted predictions of said state parameters; anda ballistic projectile trajectory calculator coupled to said comparator for determining second trajectory characteristics of said ballistic projectile when said error value is at or below said selected limit. - View Dependent Claims (17, 18, 19, 20)
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Specification