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公开(公告)号：US11920899B2
公开(公告)日：2024-03-05
申请号：US17578322
申请日：2022-01-18
Applicant: Rosemount Aerospace Inc.
Inventor： Guy Squillace , Gary Willenbring , Todd A. Ell
CPC classification number: F41G7/2253 , F41G7/2233 , F41G7/2293 , G01C21/005 , G06T7/70
Abstract: A method for collaboration of a plurality of nodes includes determining at each node SLAM data for the node, the SLAM data including estimated position of features and/or targets observed and processed by the node using SLAM algorithms and covariance associated with the estimated positions, communicating at each node the node's SLAM data to the other nodes via each nodes' datalink communication system, receiving at each node SLAM data communicated from the other nodes via each node's datalink communication system, combining at each node the node's SLAM data and the SLAM data received from the other nodes based on features or targets included in SLAM data from the other nodes, refining at each node estimated positions of features and/or targets based on results of the combining, and navigating each node to a target at the target destination as a function of at least one of the refined estimated positions.
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公开(公告)号：US11913757B2
公开(公告)日：2024-02-27
申请号：US17578006
申请日：2022-01-18
Applicant: Rosemount Aerospace Inc.
Inventor： Guy Squillace , Gary Willenbring , Todd A. Ell
CPC classification number: F41G7/36 , F41G7/2253
Abstract: A method and system for constraining navigational drift in a munition caused by Inertial Measurement Unit (IMU) bias error during flight of the munition in a constellation of a plurality of munitions in a Global Positioning System (GPS) denied attack. Each munition is provided with a datalink communication system to communicate with other munitions in the constellation and a navigation system having an IMU for guiding the munition in flight. An estimated position and covariance of the estimated position is determined for each munition via each munitions' navigation system. A range of each munition relative to at least one other munition in the munition constellation is determined via each munitions' datalink communication system. The estimated position and range to at least one other munition in the munition constellation is shared by each munition via each munitions' datalink communication system. Navigational drift for each munition is determined utilizing the estimated position of at least one other munition and the range to that at least one other munition in the munition constellation. And navigational drift in each munition is constrained by compensating for IMU bias error in each munition utilizing the determined navigational drift for each respective munition in the munition constellation.
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Patent Agency Ranking
公开(公告)号：US20230228527A1
公开(公告)日：2023-07-20
申请号：US17578322
申请日：2022-01-18
Applicant: Rosemount Aerospace Inc.
Inventor： Guy Squillace , Gary Willenbring , Todd A. Ell
IPC: F41G7/22
CPC classification number: F41G7/2253 , F41G7/2293 , F41G7/2233
Abstract: A method for collaboration of a plurality of nodes includes determining at each node SLAM data for the node, the SLAM data including estimated position of features and/or targets observed and processed by the node using SLAM algorithms and covariance associated with the estimated positions, communicating at each node the node's SLAM data to the other nodes via each nodes' datalink communication system, receiving at each node SLAM data communicated from the other nodes via each node's datalink communication system, combining at each node the node's SLAM data and the SLAM data received from the other nodes based on features or targets included in SLAM data from the other nodes, refining at each node estimated positions of features and/or targets based on results of the combining, and navigating each node to a target at the target destination as a function of at least one of the refined estimated positions.
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公开(公告)号：US20230229175A1
公开(公告)日：2023-07-20
申请号：US17577992
申请日：2022-01-18
Applicant: Rosemount Aerospace Inc.
Inventor： Guy Squillace , Gary Willenbring , Todd A. Ell
CPC classification number: G05D1/107 , F41G7/2233 , F41G7/2206 , F41G7/2246 , F41G7/346
Abstract: A method and system for coordinating munitions in a salvo to form a constellation in a Global Positioning System (GPS) denied attack of a plurality of targets. Each munition is provided with a datalink communication system to communicate with other munitions and a navigation system for guiding the munition in flight. An estimated position of each munition is determined relative to the other munitions in the salvo via each munitions' datalink communication system. Two-Way Timing and Ranging (TRTW) techniques are utilized to determine positioning of each munition relative to one another. A distance range of each munition relative to the other munitions in the salvo is determined via each munitions' datalink communication system. A constellation formation of the plurality of munitions in the salvo is determined based upon the determined relative position and distance range of each munition relative to one another. A target seeker basket coordinate respectively for each munition in the constellation formation is determined relative to an array of targets. Each munition in the constellation is then navigated in flight to its respective target seeker basket coordinate via its navigation system, wherein navigating to a respective target seeker basket includes coordinating a flight path of each munition in the constellation relative to one another to its respective determined target seeker basket. And coordinating the flight path of each munition includes determining an Estimated Time of Arrival (ETA) for each munition relative to its determined target seeker basket.
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公开(公告)号：US20230228528A1
公开(公告)日：2023-07-20
申请号：US17578190
申请日：2022-01-18
Applicant: Rosemount Aerospace Inc.
Inventor： Guy Squillace , Gary Willenbring , Todd A. Ell
IPC: F41G7/22
CPC classification number: F41G7/226 , F41G7/2213 , F41G7/2206
Abstract: A method including obtaining at each of a plurality of nodes navigation data of the node, communicating at each node its navigation data to the other nodes via each node's datalink communication system, receiving at each node navigation data communicated from the other nodes, determining at each node distance range of the node relative to the other nodes for which navigation data was received, determining at each node a constellation of the nodes as a function of the navigation data of the node, the navigation data received from the other nodes, and the distance range of the node relative to the other nodes, accessing formation constraints to form the constellation at each node, calculating at each node first guidance commands to maneuver the node to adjust the constellation to be in compliance with the formation constraints; and navigating each node to execute a maneuver based on the first guidance commands.
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公开(公告)号：US11971731B2
公开(公告)日：2024-04-30
申请号：US17577992
申请日：2022-01-18
Applicant: Rosemount Aerospace Inc.
Inventor： Guy Squillace , Gary Willenbring , Todd A. Ell
CPC classification number: G05D1/107 , F41G7/2206 , F41G7/2233 , F41G7/2246 , F41G7/346
Abstract: A method and system for coordination of a plurality of munitions in a Global Positioning System (GPS) denied attack of a plurality of ground targets. A relative position of each munition is determined relative to the other munitions in the salvo and a distance range is determined of each munition relative to the other munitions in the salvo. A constellation formation is determined for the plurality of munitions in the salvo relative to a target seeker basket such that each munition in the constellation formation is navigated to its respective target seeker basket, whereby a change in navigation for each munition is caused when necessary such that each munition arrives at its determined seeker basket at an approximate same time.
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公开(公告)号：US20230228529A1
公开(公告)日：2023-07-20
申请号：US17578006
申请日：2022-01-18
Applicant: Rosemount Aerospace Inc.
Inventor： Guy Squillace , Gary Willenbring , Todd A. Ell
IPC: F41G7/36
CPC classification number: F41G7/36 , F41G7/2253
Abstract: A method and system for constraining navigational drift in a munition caused by Inertial Measurement Unit (IMU) bias error during flight of the munition in a constellation of a plurality of munitions in a Global Positioning System (GPS) denied attack. Each munition is provided with a datalink communication system to communicate with other munitions in the constellation and a navigation system having an IMU for guiding the munition in flight. An estimated position and covariance of the estimated position is determined for each munition via each munitions’ navigation system. A range of each munition relative to at least one other munition in the munition constellation is determined via each munitions’ datalink communication system. The estimated position and range to at least one other munition in the munition constellation is shared by each munition via each munitions’ datalink communication system. Navigational drift for each munition is determined utilizing the estimated position of at least one other munition and the range to that at least one other munition in the munition constellation. And navigational drift in each munition is constrained by compensating for IMU bias error in each munition utilizing the determined navigational drift for each respective munition in the munition constellation.
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