Frequency hopping data link approach to autonomous GPS denied relative navigation determination

• US 8,010,287 B1
• Filed: 08/14/2007
• Issued: 08/30/2011
• Est. Priority Date: 08/14/2007
• Status: Active Grant

• Current Assignee: Rockwell Collins, Inc. (Raytheon Technologies Corporation d/b/a RTX)
• Original Assignee: Rockwell Collins, Inc. (Raytheon Technologies Corporation d/b/a RTX)
• Inventors: McGraw, Gary A., Schnaufer, Bernard A., Zogg, Scott J., Frank, Robert J., Jensen, Dana J.
• Primary Examiner(s): NGUYEN, TAN QUANG
• Application Number:
  US11/891,922
• Time in Patent Office: 1,477 Days
• Field of Search: 701/200, 701/213, 701/300, 701/226, 701/209, 701/21, 244/181, 244/135.A
• US Class Current: 701/213
• CPC Class Codes: B64D 39/00 Refuelling during flight filling or emptying fuel tanks B64D37/14
• CPC Class Codes: G01S 19/18 Military applications
• CPC Class Codes: G01S 2205/07 Military
• CPC Class Codes: G01S 5/02585 at least one of the measurements being a non-radio measurement
• CPC Class Codes: G01S 5/0284 Relative positioning
• CPC Class Codes: G01S 5/12 by co-ordinating position lines of different shape, e.g. hyperbolic, circular, elliptical or radial

Abstract

The present invention is directed to accurate GPS (global positioning system)-free relative navigation between an unmanned aerial vehicle (UAV) and a tanker aircraft. The UAV transmits a signal which is received by an antenna array at the tanker aircraft. Horizontal relative position of the UAV is determined by calculating range and bearing based on time and phase differences in the received signal. Vertical relative position of the UAV is determined by comparing the altitude of the UAV with the altitude of the tanker aircraft. The tanker aircraft then transmits a navigation solution based on the relative position of the UAV which is received by the UAV. The UAV may utilize the navigation solution transmitted by the tanker aircraft as a backup to a GPS determined navigation solution, in a GPS denied scenario, or in combination with an INS (inertial navigation system) determined navigation solution.

Claims

1. A method of providing a relative navigation solution between a first vehicle and a second vehicle, the method comprising the steps of:

receiving a first signal, as transmitted by a second vehicle transceiver, at the first vehicle utilizing a first vehicle antenna array including at least three spatially separated antenna elements operably connected to a first vehicle transceiver;

calculating a relative position of the second vehicle based upon time, altitude, and phase differences included in the first signal received by the first vehicle transceiver;

determining a relative navigation solution for the second vehicle based on the relative position of the second vehicle;

transmitting a second signal from the first vehicle transceiver, the signal including the relative navigation solution for the second vehicle;

wherein the first vehicle transceiver is configured to transmit and receive via synchronized frequency hopping communication, the first vehicle transceiver frequency being time synchronized with the second vehicle transceiver frequency.

2. The method of claim 1, wherein the first signal includes the altitude of the second vehicle and the step of calculating the relative position of the second vehicle includes the steps of:

determining the altitude of the first vehicle;

calculating a vertical component of the relative position of the second vehicle based on the difference between the altitude of the first vehicle and the altitude of the second vehicle.

3. The method of claim 2, wherein the altitude of the first vehicle is barometric altitude and the altitude of the second vehicle is barometric altitude.

4. The method of claim 1, wherein the antenna array is coupled to an antenna interface unit and the antenna array comprises a set of two longitudinal antennas and a set of two lateral antennas.

5. The method of claim 4, wherein the first signal comprises a first frequency dwell and a second frequency dwell and the step of calculating the relative position of the second vehicle comprises the steps of:

calculating a range based on the difference between a transmission timestamp of the first signal and a reception timestamp of the first signal;

determining the first frequency dwell based on the first signal received by the longitudinal antennas;

determining the second frequency dwell based on the first signal received by the lateral antennas;

calculating a longitudinal phase difference based on the first frequency dwell;

calculating a lateral phase difference based on the second frequency dwell; and

calculating a bearing of the second vehicle based on the longitudinal phase difference and the lateral phase difference.

6. The method of claim 1, wherein the synchronized frequency hopping communication comprises tactical targeting network technology (TINT).

7. The method of claim 1, wherein the second vehicle utilizes the navigation solution as a backup to a global positioning system (GPS) determined navigation solution.

8. The method of claim 1, wherein the second vehicle combines the navigation solution with an inertial navigation system (INS) determined navigation solution.

9. The method of claim 1, wherein the antenna array is flush mounted on the underside of the first vehicle.

10. The method of claim 1, wherein the antenna array provides three-hundred and sixty degree azimuth coverage.

11. A system for providing a relative navigation solution between a first vehicle and a second vehicle, comprising:

a transceiver operably mounted on a first vehicle, the transceiver including;

an antenna array comprising at least three spatially separated antenna elements;

a processing unit operably coupled to the antenna array; and

wherein the first vehicle transceiver receives a first signal as transmitted by a second vehicle transceiver, the processing unit calculates the relative position of the second vehicle based upon time, altitude, and phase differences included in the first signal the processing unit determines the relative navigation solution based on the relative position of the second vehicle, and the first vehicle transceiver transmits a second signal including the navigation solution to the second vehicle transceiver, the first vehicle transceiver being configured to transmit and receive via synchronized frequency hopping communication, and the first vehicle transceiver frequency is time synchronized with the second vehicle transceiver frequency.

12. The system of claim 11, wherein providing a relative navigation solution further includes a first vehicle altimeter operably coupled to the processing unit, the first signal, as transmitted by the second vehicle transceiver and received by the first vehicle transceiver, includes an altitude of the second vehicle, the processing unit calculates a vertical component of the relative position of the second vehicle based on the difference between the altitude of the first vehicle and the altitude of the second vehicle.

13. The system of claim 12, wherein the first vehicle altimeter is a barometric altimeter and the altitude of the second vehicle included in the first signal is barometric.

14. The system of claim 11, wherein the processing unit is operably coupled to the antenna array via an antenna interface unit and the antenna array comprises a set of two longitudinal antennas and a set of two lateral antennas.

15. The system of claim 14, wherein the first signal comprises a first frequency dwell and a second frequency dwell, the processing unit calculates a bearing of the second vehicle based on a longitudinal phase difference and a lateral phase difference, the processing unit calculates the longitudinal phase difference based on the first frequency dwell, the processing unit calculates the lateral phase difference based on the second frequency dwell, the processing unit determines the first frequency dwell based on the first signal received by the longitudinal antennas, the processing unit determines the second frequency dwell based on the first signal received by the lateral antennas, the first signal includes a transmission timestamp and a reception timestamp, and the processing unit calculates a range based on the difference between the transmission timestamp and the reception timestamp.

16. The system of claim 11, wherein the synchronized frequency hopping communication comprises tactical targeting network technology (TINT).

17. The system of claim 11, wherein the antenna array is flush mounted on the underside of the first vehicle.

18. The system of claim 11, wherein the antenna array provides three-hundred and sixty degree azimuth coverage.