Collaborative Engagement for Target Identification and Tracking

• US 20120290152A1
• Filed: 07/11/2012
• Published: 11/15/2012
• Est. Priority Date: 03/16/2008
• Status: Abandoned Application

• Current Assignee: Flir Detection, Inc. (Teledyne Technologies Incorporated)
• Original Assignee: Flir Detection, Inc. (Teledyne Technologies Incorporated)
• Inventors: Cheung, Carol Carlin, Yamauchi, Brian Masao, Jones, Christopher Vernon, Moseley, Mark Bourne, Singh, Sanjiv, Geyer, Christopher Michael, Grocholsky, Benjamin Peter, Cox, Earl Clyde
• Application Number:
  US13/546,787
• Publication Number:
  US 20120290152A1
• Time in Patent Office: Days
• US Class Current: 701/2
• CPC Class Codes: G01S 7/003 Transmission of data between radar, sonar or lidar systems and remote stations
• CPC Class Codes: G05D 1/0038 by providing the operator with simple or augmented images from one or more cameras located onboard the vehicle, e.g. tele-operation images analyzed by a computer and used for automatic navigation G05D1/0246
• 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
• CPC Class Codes: G05D 1/0094 involving pointing a payload, e.g. camera, weapon, sensor, towards a fixed or moving target
• CPC Class Codes: G05D 1/024 in combination with a laser lasers per se H01S
• CPC Class Codes: G05D 1/0242 using non-visible light signals, e.g. IR or UV signals
• CPC Class Codes: G05D 1/0246 using a video camera in combination with image processing means
• CPC Class Codes: G05D 1/027 comprising intertial navigation means, e.g. azimuth detector inertial navigation G01C21/16; inertial navigation combined with non-inertial navigation instruments G01C21/165
• CPC Class Codes: G05D 1/0272 comprising means for registering the travel distance, e.g. revolutions of wheels measuring distance traversed on the ground by vehicles, e.g. using odometers G01C22/00
• CPC Class Codes: G05D 1/0274 using mapping information stored in a memory device navigation using map-matching G01C21/30
• CPC Class Codes: G05D 1/0278 using satellite positioning signals, e.g. GPS
• CPC Class Codes: G05D 1/104 involving a plurality of aircrafts, e.g. formation flying traffic control systems for aircraft G08G5/00

Abstract

A method for controlling unmanned vehicles to maintain line-of-sight between a predetermined target and at least one unmanned vehicle. The method comprises: providing an unmanned air vehicle including sensors configured to locate a target and an unmanned ground vehicle including sensors configured to locate and track the target; communicating and exchanging data to and among the unmanned ground vehicles; controlling the unmanned air vehicle and the unmanned ground vehicle to maintain line-of-sight between a predetermined target and at least one of the unmanned air vehicles; geolocating the predetermined target with the unmanned air vehicle using information regarding a position of the unmanned air vehicle and information regarding a position of the target relative to the unmanned air vehicle; and transmitting information defining the geolocation of the predetermined target to the unmanned ground vehicle so that the unmanned ground vehicle can perform path planning based on the geolocation.

Claims

1. A method for controlling unmanned vehicles to maintain line-of-sight between a predetermined target and at least one of the unmanned vehicles, the method comprising:

providing at least one unmanned air vehicle including sensors configured to locate a target and at least one unmanned ground vehicle including sensors configured to locate and track a target;

communicating and exchanging data, using a controller, to and among the at least one unmanned air vehicle and the at least one unmanned ground vehicle;

controlling, using a controller, the at least one unmanned air vehicle and the at least one unmanned ground vehicle to maintain line-of-sight between the predetermined target and at least one of the unmanned air vehicles;

geolocating the predetermined target with the unmanned air vehicle using information regarding a position of the unmanned air vehicle and information regarding a position of the predetermined target relative to the unmanned air vehicle; and

transmitting information defining the geolocation of the predetermined target to the unmanned ground vehicle so that the unmanned ground vehicle can perform path planning based on the geolocation.

2. The method of claim 1, wherein the controller is an operator control unit.

3. The method of claim 2, wherein an operator identifies the predetermined target via the operator control unit.

4. The method of claim 1, wherein, when a first unmanned vehicle has line-of-sight to the predetermined target, another unmanned vehicle utilizes information regarding the position of the first unmanned vehicle and information regarding a position of the predetermined target relative to the first unmanned vehicle to plan a path to reach a position that has or will have line-of-sight to the predetermined target.

5. The method of claim 4, wherein the position that has or will have line-of-sight to the predetermined target takes into account a projected path of the predetermined target.

6. The method of claim 1, further comprising geolocating the predetermined target with the unmanned air vehicle and transmitting information regarding the position of the unmanned air vehicle and information regarding a position of the predetermined target relative to the unmanned air vehicle to the unmanned ground vehicle so that the unmanned ground vehicle can do path planning based on a geolocation of the predetermined target.

7. The method of claim 6, further comprising sending updated information regarding a position of the predetermined target to the unmanned ground vehicle at predetermined intervals.

8. The method of claim 1, wherein the unmanned air vehicle orbits a building containing the predetermined target and determines if the predetermined target exits the building.

9. The method of claim 8, further comprising the unmanned air vehicle sending information regarding predetermined target building entry and exit to one or more unmanned ground vehicles that can surround and/or enter the building to follow the predetermined target.

10. The method of claim 1, further comprising controlling the unmanned vehicles to obtain or maintain line-of-sight using waypoint navigation.

11. The method of claim 1, further comprising controlling the unmanned vehicles to obtain or maintain line-of-sight using path planning.

12. The method of claim 1, further comprising controlling the unmanned vehicles to obtain or maintain line-of-sight using an object avoidance behavior.

13. The method of claim 1, further comprising controlling the unmanned vehicles to obtain or maintain line-of-sight using.

14. The method of claim 1, further comprising allowing an operator override to control the unmanned vehicles.

15. The method of claim 14, further comprising allowing an operator to override waypoint navigation.

16. The method of claim 14, further comprising controlling the unmanned vehicles to assist the operator in searching for a target.

17. The method of claim 16, further comprising the operator designating an area in which the unmanned vehicles navigate to assist the operator in searching for a target.

18. The method of claim 16, further comprising the operator designating an area in which the unmanned vehicles do not navigate to assist the operator in searching for a target or maintain line-of-sight with a target.

19. A collaborative engagement system comprising:

at least one unmanned air vehicle including sensors configured to locate a target and at least one unmanned ground vehicle including sensors configured to locate and track a target; and

a controller facilitating control of, and communication and exchange of data to and among the unmanned vehicles,

wherein the collaborative engagement system controls the unmanned vehicles to maintain line-of-sight between a predetermined target and at least one of the unmanned vehicles, geolocating the predetermined target with the unmanned air vehicle and transmitting information defining the geolocation of the predetermined target to the unmanned ground vehicle so that the unmanned ground vehicle can perform path planning based on the geolocation.

20. The method of claim 19, wherein an operator identifies the predetermined target via the controller.