Unmanned aircraft turn and approach system

Patent metadata

Field	Value
Publication number	US-10768624-B2
Application number	US-201816051481-A
Country	US
Kind code	B2
Filing date	Jul 31, 2018
Priority date	Nov 18, 2015
Publication date	Sep 8, 2020
Grant date	Sep 8, 2020

Abstract

An aircraft including a wing system, a plurality of control surfaces, a camera mounted on a camera pod, and a control system. The camera pod is configured to vary the orientation of the camera field of view only in yaw, relative to the aircraft, between a directly forward-looking orientation and a side-looking orientation. The control system controls the control surfaces such that they induce a significant aircraft yaw causing an identified target to be within the field of view of the camera with the camera in the directly forward-looking orientation.

First claim

What is claimed is:

1. An unmanned aircraft system including an aircraft, comprising:
a wing system configured to carry the majority of the aircraft weight when in flight;
a plurality of control surfaces configured to control aircraft pitch, aircraft roll and aircraft yaw in flight;
a camera characterized by a field of view, the camera being mounted on a camera pod, wherein the camera pod is only provided with actuators that vary the orientation of the camera field of view in yaw, relative to the aircraft, between a forward-looking orientation defining a forward-looking field of view and a side-looking orientation defining a side-looking field of view; and
a control system programmed to control the control surfaces, and further programmed to control the camera pod actuators to change the camera orientation in yaw, relative to the aircraft;
wherein the control system is programmed with a commit function for use when the camera is observing an identified target that is not in the forward-looking field of view; and
wherein, with the identified target in a camera field of view that is not the forward-looking field of view, the commit function controls the control surfaces and the camera orientation such that the aircraft changes its orientation to bring the identified target into the forward-looking field of view, and the camera continuously maintains the identified target within its field of view.

2. The unmanned aircraft system of claim 1 , wherein the control system is programmed to control the control surfaces to bring the aircraft to the target, and to control the camera orientation such that the camera continuously maintains the identified target within its field of view.

3. The unmanned aircraft system of claim 2 , and further comprising an integrated explosive that detonates upon the aircraft reaching the identified target, and that damages the aircraft and the identified target upon detonation.

4. An unmanned aircraft system including an aircraft, comprising:
a wing system configured to carry the majority of the aircraft weight when in flight;
a plurality of control surfaces configured to control aircraft pitch, aircraft roll and aircraft yaw in flight;
a camera characterized by a field of view, the camera being mounted on a camera pod, wherein the camera pod is only provided with actuators that vary the orientation of the camera field of view in a single degree of freedom, relative to the aircraft, between a forward-looking orientation defining a forward-looking field of view and a side-looking orientation defining a side-looking field of view; and
a control system programmed to control the control surfaces, and further programmed to control the camera pod actuators to change the camera orientation in the single degree of freedom relative to the aircraft;
wherein the control system is programmed with a commit function that controls the aircraft flight and the camera single degree of freedom to guide the aircraft toward the target when an identified target is not in the forward-looking field of view and the camera is observing the identified target;
wherein the commit function controls the control surfaces such that they induce aircraft yaw that causes the identified target to be within the forward-looking field of view; and
wherein the commit function controls the camera orientation in the single degree of freedom such that the camera continuously maintains the identified target within its field of view.

5. The unmanned aircraft system of claim 4 , wherein the commit function further controls the control surfaces such that they induce an aircraft roll that causes the identified target to be within the field of view of the camera with the camera not being in the forward-looking orientation and with the aircraft not flying directly toward the identified target.

6. The unmanned aircraft system of claim 5 , wherein the camera is characterized by a field of view that is larger in a vertical dimension than in a lateral dimension.

7. The unmanned aircraft system of claim 4 , wherein the camera pod actuators can vary the orientation of the camera field of view, relative to the aircraft, between an orientation 45 degrees aft of a side-looking orientation and a forward-looking orientation.

8. The unmanned aircraft system of claim 4 , wherein the commit function further controls the control surfaces such that they induce an aircraft roll that causes the identified target to be within the field of view of the camera with the camera not being in the forward-looking orientation and with the aircraft not flying directly toward the identified target.

9. The unmanned aircraft system of claim 4 , wherein the camera pod actuators can vary the orientation of the camera field of view, relative to the aircraft, between an orientation 45 degrees aft of a side-looking orientation and a forward-looking orientation.

10. The unmanned aircraft system of claim 4 , wherein the single degree of freedom is a rotation in yaw.

11. The unmanned aircraft system of claim 4 , wherein the control system is programmed to control the control surfaces to bring the aircraft to the target, and to control the camera orientation such that the camera continuously maintains the identified target within its field of view.

12. The unmanned aircraft system of claim 11 , and further comprising an integrated explosive that detonates upon the aircraft reaching the identified target, and that damages the aircraft and the identified target upon detonation.

Assignees

• Aerovironment Inc

Inventors

• Nicoloff William J
• Sornborger Eric M
• Cremean Lars B

Classifications

• B64U2201/00

  UAVs characterised by their flight controls · CPC title

• B64U2101/30

  for imaging, photography or videography · CPC title

• B64D47/08

  Arrangements of cameras · CPC title

• B64C39/024

  of the remote controlled vehicle type, i.e. RPV · CPC title

• B64U2101/15

  for conventional or electronic warfare · CPC title