Adaptive trajectory selection apparatus and method

An adaptive trajectory apparatus for providing vehicle control commands to steer an underwater vehicle launched from a platform towards a contact, comprising:

• interrogation means for receiving a plurality of measured/estimated parameters associated with the contact, wherein each contact parameter received includes information on the parameter's quality according to predetermined quality standards and a contact alertment status;
• means for comparing the received contact parameters with an information matrix that defines a plurality of trajectory strategies and data parameters required to effect each of the trajectory strategies, wherein a trajectory strategy is defined as a candidate trajectory strategy when the required data parameters are included in the received contact parameters;
• expert system means for selecting a candidate trajectory strategy based upon a predetermined set of rules that utilize the received contact parameters, quality thereof, contact alertment status and information received from the underwater vehicle, wherein the information received from the underwater vehicle includes at least a position of the underwater vehicle;
• and
• means for generating the vehicle control commands using the selected candidate trajectory strategy and the information received from the underwater vehicle.

A method for providing vehicle control commands to steer an underwater vehicle launched from a platform towards a contact, comprising the steps of:

• receiving a plurality of measured/estimated parameters associated with the contact, wherein each contact parameter received includes information on the parameter's quality according to predetermined quality standards and contact alertment status;
• comparing the received contact parameters with an information matrix that defines a plurality of trajectory strategies and data parameters required to effect each of the trajectory strategies, wherein a trajectory strategy is defined as a candidate trajectory strategy when the required data parameters are included in the received contact parameters;
• periodically selecting a candidate trajectory strategy based upon a predetermined set of rules that utilize the received contact parameters, quality thereof, contact alertment status and information received from the underwater vehicle, wherein the information received from the underwater vehicle includes at least a position of the underwater vehicle;
• and
• generating the vehicle control commands using the selected one candidate trajectory strategy and the information received from the underwater vehicle.