Unmanned vehicle

A method for a surveillance vehicle tracking a convoy, the convoy comprising at least one convoy vehicle, the method comprising:

• (a) obtaining a first location and velocity information of the surveillance vehicle;
• (b) obtaining a second location and velocity information of the convoy;
• (c) determining at least one path parameter corresponding to a first desired curvilinear path of the surveillance vehicle;
• and
• (d) determining a value of at least one control variable for the first desired curvilinear path, the at least one control variable including an altitude command and a roll angle command, further comprising:
• (i) determining a roll angle by:
• Φ−=a tan{Va·Vr/(g∥Pr∥)},
• wherein Va is an aircraft true velocity, Vr is a relative velocity, and Pr is a relative position.

An apparatus for controlling a satellite vehicle, comprising:

• a communications interface that communicates with the satellite vehicle over a wireless communications channel;
• a global positioning system (GPS) receiver for receiving GPS information;
• and
• a processor that obtains a first position and first velocity information from the communications interface, wherein the first position and first velocity information are associated with the satellite vehicle, and that determines a second position and second velocity information from the GPS information, wherein the second position and second velocity information correspond to the apparatus, the processor configured to perform the steps of:
• (a) receiving the first location and first velocity information of the satellite vehicle;
• (b) obtaining the second location and second velocity information of the apparatus;
• (c) determining at least one path parameter corresponding to a desired curvilinear path of the satellite vehicle;
• and
• (d) determining a value of at least one control variable for the desired curvilinear path, the at least one control variable comprising an altitude command for dynamically controlling an altitude of the satellite vehicle;
• and
• (e) sending the value of the at least one control variable for the desired curvilinear path to the satellite vehicle.

An apparatus for controlling a satellite vehicle, comprising:

• a communications interface that communicates with the satellite vehicle over a wireless communications channel;
• a global positioning system (GPS) receiver for receiving GPS information;
• and
• a processor that obtains a first position and first velocity information from the communications interface, wherein the first position and first velocity information are associated with the satellite vehicle, and that determines a second position and second velocity information from the GPS information, wherein the second position and second velocity information correspond to the apparatus, the processor configured to perform the steps of:
• (a) receiving the first location and first velocity information of the satellite vehicle;
• (b) obtaining the second location and second velocity information of the apparatus;
• (c) determining at least one path parameter corresponding to a desired curvilinear path of the satellite vehicle;
• and
• (d) determining a value of at least one control variable for the desired curvilinear path, wherein the at least one control variable comprises a roll angle;
• (e) sending the value of the at least one control variable for the desired curvilinear path to the satellite vehicle;
• and
• (f) determining the roll angle by:
• Φ−=a tan{Va·Nr/(g∥Pr∥)},
• wherein Va is an aircraft true velocity, Vr is a relative velocity, and Pr is a relative position.

An apparatus for providing surveillance for a convoy vehicle, comprising:

• a communications interface that communicates with the convoy vehicle over a wireless communications channel;
• a propulsion system that propels the apparatus;
• a guidance system that guides the propulsion system;
• and
• a processor that obtains position and velocity information, that transmits the position and velocity information through the communications channel, that receives a value of at least one control variable from the communications interface, and that provides the value of the at least one control variable to the guidance system in order to maintain a desired curvilinear path of the apparatus, the at least one control variable comprising an altitude command for dynamically controlling an altitude of a surveillance vehicle.