Unmanned or optionally manned vehicle, system and methods for determining positional information of unmanned or optionally manned vehicles

An unmanned vehicle for use with a companion unmanned vehicle, the companion unmanned vehicle including an unmanned second controller, the unmanned vehicle comprising:

• a first controller that is different from the second controller located on the unmanned vehicle, the first controller including the same structure components as the unmanned second controller, wherein the first controller includes a location unit, a path planning unit, a communication unit, a position unit, a control unit and the detection unit, wherein the first controller and said unmanned second controller are configured to communicate, control various operations, including coordinating movement, and interface with each other independent of a specific one of the unmanned vehicles and the companion unmanned vehicle being a primary vehicle to communicate and control with the other unmanned vehicle,
• wherein the location unit includes at least one of a satellite navigation module, a camera, an inertial navigation unit, accelerometers and gyroscopes, configured to determine a current position of the unmanned vehicle,
• wherein the path planning unit is configured to generate a planned path of the unmanned vehicle,
• wherein the communication unit includes at least one of a VHF radio, UHF radio and satellite communication radio configured to wirelessly communicate with the companion unmanned vehicle, the communication unit further configured to receive and share a planned path of the companion unmanned vehicle and a current position of the companion unmanned vehicle for enhanced estimation of distances between the two unmanned vehicles,
• wherein the position unit includes at least one of ranging tones, and point-to-point communication technology configured to determine a relative position between the unmanned vehicle and the companion unmanned vehicle based on at least the planned path of the unmanned vehicle, the planned path of the companion unmanned vehicle, the current position of the unmanned vehicle and the current position of the companion unmanned vehicle,
• wherein the control unit is configured to control a movement of the unmanned vehicle based on at least the relative position between the unmanned vehicle and the companion unmanned vehicle,
• wherein the detection unit includes at least one of an imaging unit, an infrared detector, RADAR, an object sensor and a proximity sensor configured to detect an obstacle,
• wherein the position unit is further configured to estimate a potential collision of the obstacle with at least one of the unmanned vehicle and the companion unmanned based on the current position and the planned path of each of the unmanned vehicles and the companion unmanned vehicle,
• wherein the control unit is further configured to control the movement of the unmanned vehicle in order to impede the potential collision, and
• wherein the planned path includes a speed profile of the path, an altitude profile of the path, horizontal profile of the path, and a fully calculated path trajectory.

A system, comprising:

• a plurality of unmanned vehicles spaced from each other, each of the plurality of unmanned vehicles including:
• a location unit that includes at least one of a satellite navigation module, a camera, an inertial navigation unit, accelerometers and gyroscopes, configured to determine a current position of the unmanned vehicle;
• and
• a path planning unit that is connected to the location unit and is configured to generate a planned path of the unmanned vehicle;
• and
• a controller that is connected to the location unit and the path planning unit and is disposed in communication with the plurality of unmanned vehicles, the controller configured to:
• receive and share the planned path of each of the plurality of unmanned vehicles and the current position of each of the plurality of unmanned vehicles for enhanced estimation of distances among the plurality of unmanned vehicles;
• determine relative positions of the plurality of unmanned vehicles with respect to each other based on the planned path and the current position of each of the plurality of unmanned vehicles;
• and
• control a movement of the corresponding unmanned vehicle based at least on the relative positions of the unmanned vehicles, where:
• the controller of each of the plurality of unmanned vehicles communicating, controlling various operations, including coordinating movement, and interfacing with other of the unmanned vehicles of the plurality of unmanned vehicles independent of a specific one of the plurality of the unmanned vehicles being a primary unmanned vehicle to communicate and control the other of the unmanned vehicles,
• the controller includes a location unit, a path planning unit, a communication unit, a position unit, a control unit and the detection unit,
• the detection unit includes at least one of an imaging unit, an infrared detector, RADAR, an object sensor and a proximity sensor configured to detect an obstacle,
• the position unit is further configured to estimate a potential collision of the obstacle with at least one of the plurality of the unmanned vehicle based on the current position and the planned path of each of the plurality of unmanned vehicles, and
• the control unit is further configured to control the movement of the unmanned vehicle in order to impede the potential collision,
• wherein the planned path includes a speed profile of the path, an altitude profile of the path, horizontal profile of the path, and a fully calculated path trajectory.