Vehicular trajectory collision conflict prediction method

• US 6,820,006 B2
• Filed: 07/30/2002
• Issued: 11/16/2004
• Est. Priority Date: 07/30/2002
• Status: Active Grant

• Current Assignee: Aerospace Corporation
• Original Assignee: Aerospace Corporation
• Inventors: Patera, Russell Paul
• Primary Examiner(s): Zanelli, Michael J.
• Application Number:
  US10/208,140
• Publication Number:
  US 20040024527A1
• Time in Patent Office: 840 Days
• Field of Search: 701/301, 701/120, 342/29
• US Class Current: 701/301
• CPC Class Codes: G08G 5/045 Navigation or guidance aids, e.g. determination of anti-collision manoeuvers radar or analogous systems specially adapted for anti-collision between aircraft G01S13/933

Abstract

A collision prediction and maneuver method determines which ones of many potential target objects have a close conjunction within a gross miss distance with a subject object by trajectory propagation, then determines which one of the conjunctive objects have a high collision probability within a critical miss distance, and then determines an optimum vehicle maneuver to reduce the probability of colliding with another colliding object by determining the maneuver direction, magnitude, and time so that the least amount of propellant is consumed while avoiding potential collisions within miss distance margins. The method includes computational efficiencies in collision probability calculations using trajectory propagations and contour integrations and efficiencies in optimum avoidance maneuvering using gradient and searching computations.

Claims

1. A method for determining a collision probability between a subject object and a target object, the method comprising the steps of,

propagating initial positions and initial velocities and initial error covariances of the subject object and the target object over a propagated trajectory duration having propagated trajectory time steps for providing respective propagated positions and propagated velocities and propagated error covariances in respective initial reference frames,

transforming the propagated error covariances of the target object and subject object into scaled error covariances in a scaled reference frame for each of the propagated trajectory time steps,

transforming the propagated positions and propagated velocities and a conflict volume into scaled positions and scaled velocities and scaled conflict volume in the scaled reference frame, the scaled velocities are relative velocities between the subject object and target object,

aligning the scaled positions and scaled velocities and scaled error covariances and scaled conflict volume into an encounter reference frame having an encounter plane orthogonal to the relative velocities, the scaled conflict volume becoming a keep-out box in the encounter plane, and

computing a conflict probability using contour integration over an integration path about the keep-out box and over a probability density.

2. The method of claim 1 wherein the transforming step for transforming the propagated error covariances comprises the steps of,

combining the propagated error covariances into combined error covariances in a common reference frame,

rotating the combined error covariances into diagonal error covariances in a diagonal reference frame, and

scaling the diagonal error covariances into scaled error covariances into the scaled reference frame.

3. The method of claim 1 wherein,

the propagated trajectory duration extends from a current time to a closest approach time, and

the subject object and target object each have propagated positions and propagated velocities and propagated error covariances for each of the propagated trajectory time steps.

4. The method of claim 1 wherein,

the target object is an orbital body having an orbital period,

the propagated trajectory duration extends from a current time,

the propagated trajectory duration exceeds an orbital period, and

the subject object and target object each have propagated positions and propagated velocities and propagated error covariance for each of the propagated trajectory time steps.

5. The method of claim 1 wherein,

the propagated trajectory duration extends from a current time to a time of closet approach, and

the subject object and target object each have propagated positions and propagated velocities and propagated error covariances for each of the propagated trajectory time steps, and

the method further comprising the steps of,

computing a separation distance between the subject object and the target object for each of the propagated trajectory time steps, and

conjunction determining when the separate distance is less than a critical distance at any one of the trajectory propagated time steps for indicating that a collision is possible.

6. The method of claim 1 wherein the computing step comprises the steps of,

determining an approach trajectory duration having approach trajectory duration time steps, and

computing incremental conflict probabilities computed at each of the approach trajectory duration time steps, and

accumulating the incremental conflict probabilities into the conflict probability as an accumulative conflict probability.

7. The method of claim 1 wherein the computing step comprises the steps of,

determining an approach trajectory duration having approach trajectory duration time steps, and

computing incremental conflict probabilities computed at each of the approach trajectory duration time steps,

accumulating the incremental conflict probabilities into the conflict probability as an accumulative conflict probability, and

collision determining that a collision is probable when the accumulative conflict probability is above a predetermined collision probability threshold.

8. The method of claim 1 further comprising the step of,

screening the target object to indicate that a closest approach distance is greater than a predetermined screening distance indicating that a collision between the subject object and the target object is impossible.

9. The method of claim 1 wherein,

the probability density is a three-dimensional Gaussian function centered on the encounter plane, the probability density is a function of the radial distances along the encounter plane from the center of the encounter plane, and the probability density value in the encounter plane is independent of polar angles, the polar angles and the radial distances forming polar coordinates, and

the contour integration is a one dimensional integration around the conflict volume is a path defined by changing polar coordinates, the contour integration integrates the probability density over polar angles and radial distances.

10. The method of claim 1 wherein the subject object is a spacecraft.

11. The method of claim 1 wherein the subject object is an aircraft having a predetermined flight path.

12. The method of claim 1 wherein the subject object is a launch vehicle having a predetermined flight path.

13. The method of claim 1 wherein,

the subject object is a maneuverable orbital spacecraft having an orbital period,

the propagated trajectory duration extends from a current time,

the propagated trajectory duration exceeds a plurality of orbital periods, and

the subject object and target object each have propagated positions and propagated velocities and propagated error covariance for each of the propagated trajectory time steps.