Back to results
US 12,031,800 B2Granted
Method of controlling self-propelled flying devices
AssigneeMbda UK Limited
InventorSean O' Sullivan
Life of this patent
Estimating the term…
Abstract
A method of controlling a self-propelled flying device that seeks a target. A desired time to reach the target is obtained. The position of the target is acquired. A bias value is calculated, and the flight of the device towards the target is adjusted for a period of time using the bias value. The bias value is calculated so that the device reaches the target at the desired time.
Claims22
A method of controlling a self-propelled flying device that seeks a target, the method comprising the steps of:
- obtaining a desired arrival time for the self-propelled flying device to reach the target, the desired arrival time being set prior to launch;
- acquiring a position of the target;
- determining a bias value based on the desired arrival time and the position;
- and
- adjusting a direction of flight of the self-propelled flying device towards the target for a period of time using the bias value,
- wherein the bias value is calculated so that the self-propelled flying device reaches the target at the desired arrival time, and
- wherein the determining comprises:
- providing an initial candidate for the bias value;
- estimating an arrival time at the target using the initial candidate as the bias value;
- determining a difference between the estimated arrival time and the desired arrival time;
- and
- setting the initial candidate as the bias value when the difference is less than a threshold, otherwise, repeating the estimating the arrival time with a new candidate for the bias value and determining the bias value using a Newton-Raphson method.
9 more elements
A method of controlling a plurality of self-propelled flying devices that seek a target, the method comprising the steps of:
- for each self-propelled flying device of the plurality of self-propelled flying devices,
- acquiring a position of a target after the self-propelled flying device is launched;
- determining an earliest time the self-propelled flying device could reach the target and a latest time the self-propelled flying device could reach the target, wherein the earliest time for a self-propelled flying device is an estimated time to reach the target when no bias value is used for the self-propelled flying device and wherein the latest time for a self-propelled flying device is the estimated time to reach the target when a maximum bias value is used, for which maximum bias value the self-propelled flying device is able to maintain sight of the target, and where the maximum bias value is also based on a freedom of movement of the self-propelled flying device;
- transmitting the determined earliest time and the determined latest time to the other self-propelled flying devices and receiving the determined earliest time and the determined latest time from the other self-propelled flying devices;
- determining a desired arrival time for the device to reach the target, wherein the desired arrival time is between the earliest possible arrival time and latest possible arrival time among the self-propelled flying devices;
- determining a bias value based on the desired arrival time and the position of the target;
- and
- adjusting the direction of flight of the self-propelled flying device towards the target for a period of time using the bias value
- wherein each respective bias value is determined such that each of the self-propelled flying devices reaches the target at the respective desired arrival time.
6 more elements
Dependencies are inferred from the claim text.