SYSTEM AND METHOD FOR GUIDING A VEHICLE ALONG A TRAVEL PATH

A vehicle guidance system is provided. The vehicle guidance system includes a vehicle trajectory management system, a position reference system, and a vehicle. The vehicle trajectory management system is configured to generate a vehicle travel path including a plurality of waypoints including a departure location, a destination location, and at least one vehicle re-energization location positioned therebetween. The position reference system includes a transmitter configured to emit a transmission signal including location information associated with a coordinate system relative to the transmitter. The vehicle includes a receiver configured to receive the transmission signal, an energy storage device including a first amount of energy for propelling the vehicle along a vehicle travel path, and a control device including a control system in communication with the position reference system and the vehicle trajectory management system. The control device is configured to control the vehicle along the vehicle travel path.

BACKGROUND

The field of the disclosure relates generally to vehicle guidance systems and, more particularly, to a system and method for generating a multi-dimensional vehicle travel path and guiding a vehicle along the vehicle travel path using at least one vehicle re-energization location.

Vehicles may include manned, unmanned, autonomous, and non-autonomous vehicles. The vehicles may be aerial-based, water-based, and/or land-based vehicles, for example. Many vehicles include onboard navigational systems. These systems may use inertial navigation sensors such as accelerometers and gyroscopes for flight positioning and maneuvering and satellite-based navigation for general positioning and wayfinding. Satellite-based navigation systems compensate for location error caused by accelerometer and gyroscope bias, drift, and other errors. However, manmade structures and natural features may interfere with satellite-based navigation systems, thereby interfering with accurate positioning and control of the vehicle as it travels through a given medium. Additionally, there is not established infrastructure and systems to manage operations of low-altitude autonomous vehicle traffic, for example, and to schedule and queue re-energization of autonomous and non-autonomous vehicles throughout their travel paths in low altitude (below 4000 feet above ground level) airspace.

BRIEF DESCRIPTION

In one aspect, a vehicle guidance system is provided. The vehicle guidance system includes a vehicle trajectory management system, a position reference system, and a vehicle. The vehicle trajectory management system is configured to generate a vehicle travel path including a plurality of waypoints including a departure location, a destination location, and at least one vehicle re-energization location positioned between the departure location and the destination location. The position reference system includes a transmitter configured to emit a transmission signal including location information associated with a coordinate system. The vehicle includes a receiver configured to receive the transmission signal, an energy storage device, and a control device. The energy storage device is configured to store energy for propelling the vehicle along the vehicle travel path, wherein the at least one vehicle re-energization location is configured to add an amount of energy to the energy storage device. The control device includes a control system in communication with the position reference system and the vehicle trajectory management system. The control device is configured to control the vehicle along the vehicle travel path based on the location information received from the position reference system.

In another aspect, a vehicle guidance system is provided. The vehicle guidance system includes a vehicle trajectory management system, a position reference system, and a vehicle. The vehicle trajectory management system is configured to generate a vehicle travel path including a plurality of waypoints including a departure location, a destination location, and at least one vehicle re-energization location positioned between the departure location and the destination location. The position reference system includes a scanning electromagnetic radiation transmitter configured to modulate a transmission signal to encode location information associated with a coordinate system. The vehicle includes an electromagnetic radiation receiver configured to receive the transmission signal, a control device, and an energy storage device. The control device includes a control system in communication with the position reference system and the vehicle trajectory management system. The control device is configured to control the vehicle along the vehicle travel path based on the location information received from the position reference system, wherein at least one of the vehicle trajectory management system and the control system determines the at least one vehicle re-energization location based at least on the location information received by the electromagnetic radiation receiver. The energy storage device is configured to store energy for propelling the vehicle along the vehicle travel path, wherein the at least one vehicle re-energization location is configured to add energy to the energy storage device.

In yet another aspect, a method for guiding a vehicle is provided. The method includes generating, using a vehicle trajectory management system, a vehicle travel path including a plurality of waypoints including a departure location, a destination location, and at least one vehicle re-energization location positioned between the departure location and the destination location. The method also includes transmitting, using a position reference system including a transmitter, a transmission signal including location information associated with a coordinate system. The method further includes receiving, using a receiver of the vehicle, the transmission signal. Finally, the method includes controlling, using a control device of the vehicle, the vehicle along the vehicle travel path based on the location information received from the position reference system.

DETAILED DESCRIPTION

Further, as used herein, the terms “software” and “firmware” are interchangeable, and include any computer program stored in memory for execution by personal computers, workstations, clients and servers.

As used herein, the term “real-time commands” is intended to be representative of instructions formatted to control a control system and related components that are received and then executed in order. These activities occur substantially instantaneously. Real-time commands are not stored for execution at a substantially later time or execution in an order other than the order in which the commands are received.

The vehicle guidance systems and methods described herein provide for enhanced vehicle travel path planning, vehicle travel scheduling, vehicle positioning, vehicle guidance, vehicle re-energization scheduling and reservation, and vehicle re-energization along a vehicle travel path for a plurality of vehicles. Furthermore, the systems and methods described herein allow for enhanced in-transit real-time vehicle travel path updates including being directed to vehicle re-energization locations based on changing energization states of the vehicles and re-energization priorities of the vehicles in transit along similar vehicle travel paths. Additionally, the system and methods described herein facilitate rapid and efficient re-energization of the vehicle by maintaining the vehicle at a stationary location and directing the vehicle to a specific re-energization location more precisely and efficiently. By accurately establishing a position of a vehicle relative to a fixed or moving position reference system and scheduling a re-energization location(s) in real-time in response to current energization status and the vehicle travel path of the vehicle, the vehicle is capable of enhanced operational capability, availability, and more efficient operation.

FIG. 1is a schematic view of an exemplary vehicle guidance system100including a vehicle102, a vehicle trajectory management system103, and a position reference system104.FIG. 2is a schematic view of a vehicle travel path101generated by vehicle trajectory management system103including a plurality of waypoints111and two vehicle re-energization locations107. In the exemplary embodiment, vehicle102is an unmanned aerial vehicle (UAV) configured to operate aerially and is capable of flight without an onboard pilot (autonomously or substantially autonomously). For example, and without limitation, vehicle102is a fixed wing aircraft, a tilt-rotor aircraft, a helicopter, a multirotor drone aircraft such as a quadcopter, a blimp, a dirigible, or other aircraft. In alternative embodiments, vehicle guidance system100includes a land-based vehicle (not shown) and/or a water-based vehicle (not shown). For example, and without limitation, the land-based vehicle is a wheeled vehicle such as car or truck type vehicle, a tracked vehicle, or other ground vehicle of any size. In further alternative embodiments, vehicle guidance system100includes a water-based vehicle. For example, and without limitation, the water-based vehicle is a surface vehicle such as a boat or a submersible vehicle such as a submarine. In yet further alternative embodiments, vehicle102may be operated by an operator onboard vehicle102or positioned remotely to vehicle102.

Vehicle102includes at least one control device105. Control device105produces a controlled force and maintains or changes a position, orientation, or location of vehicle102. Control device105is a thrust device or a control surface. A thrust device is a device that provides propulsion or thrust to vehicle102. For example, and without limitation, a thrust device is a motor driven propeller, jet engine, or other source of propulsion. A control surface is a controllable surface or other device that provides a force due to deflection of an air stream passing over the control surface. For example, and without limitation, a control surface is an elevator, rudder, aileron, spoiler, flap, slat, air brake, or trim device. Control device105may also be a mechanism configured to change a pitch angle of a propeller or rotor blade or a mechanism configured to change a tilt angle of a rotor blade.

Vehicle102is controlled by systems described herein including, without limitation, an onboard control system (shown inFIG. 5), a re-energization location (not shown inFIG. 1), at least one control device105, vehicle trajectory management system103, and a position reference system104. Vehicle102may be controlled by, for example, and without limitation, real-time commands received by vehicle102from vehicle re-energization location107, a set of pre-programmed instructions received by vehicle102from the re-energization location, a set of instructions and/or programming stored in the onboard control system, or a combination of these control schemes.

Real-time commands control at least one control device105. For example, and without limitation, real-time commands include instructions that, when executed by the onboard control system, cause a throttle adjustment, flap adjustment, aileron adjustment, rudder adjustment, or other control surface or thrust device adjustment. In some embodiments, real-time commands further control additional components of vehicle102. For example, and without limitation, real-time commands include instruction that when executed by the onboard control system cause a wireless charging receiver (shown inFIG. 5) to change a power source (shown inFIG. 5).

A set of predetermined instructions received from position reference system104, vehicle trajectory management system103, and/or vehicle re-energization location107are formatted to control vehicle102when executed by the onboard control system. For example, and without limitation, a set of instructions is a sequence of two or more instructions formatted to control at least one control device105, two or more instructions formatted to control at least one control device105to reduce movement of vehicle102away from a predetermined point, a sequence of two or more instructions formatted to control at least one control device105to move vehicle102to a predetermined position, a sequence of two or more instructions formatted to control at least one control device105to move vehicle102to a predetermined location, or a sequence of two or more instructions formatted to control at least one control device105to execute a maneuver to change the position of vehicle102. A maneuver is for example, and without limitation, a roll, a yaw, a climb, a dive, a slip turn, a banked turn, a standard rate turn, or other maneuver. In some embodiments, a set of instructions received from the re-energization location further controls additional components of vehicle102. For example, and without limitation, the set of instructions when executed by the onboard control system cause a wireless charging receiver to change a power source.

A set of instructions and/or programming stored in the onboard control system and executed by the onboard control system may control vehicle102. The set of instructions or programming are stored in memory of vehicle102and are provided to the memory. For example, and without limitation, the set of instructions or programming is transmitted, through a wireless or wired connection to the onboard control system, and stored in memory. The set of instructions or programming may be general or task specific. General instructions or programming is, for example, and without limitation, formatted to control at least one control device105to perform a specific maneuver, control at least one control device105to perform a specific set of maneuvers, control at least one control device105to operate vehicle102in a specific mode such as a station-keeping mode to reduce movement of vehicle102relative to a specific position, or a wireless charging receiver to change a power source.

In some embodiments, vehicle102is controlled by a combination of real-time commands, a set of instructions received from the vehicle re-energization location107, and a set of instructions and/or programming stored in the onboard control system. For example, and without limitation, real-time commands are used to initiate a specific task such as positioning vehicle102for re-energization at a vehicle re-energization location107. A set of instructions received by vehicle102from the re-energization location causes vehicle102to travel to a series of waypoints111and ultimately to destination location119. A set of instructions and/or programming stored in the onboard control system are executed to perform maneuvers using control devices105to cause vehicle102to travel to each waypoint111and vehicle re-energization location107.

Vehicle guidance system100includes vehicle trajectory management system103configured to generate vehicle travel paths101. Each vehicle travel path101is generated for a specific vehicle102and a specific trip includes a plurality of waypoints111. Vehicle guidance system100plots each vehicle travel path101in four dimensions including, with reference to coordinate system117, a Z-direction, a X-direction, a Y-direction, and a time dimension such that a calculated location of each vehicle102may be determined at any given time during each vehicle travel path101. Plurality of waypoints111includes a departure location113, a destination location119, and at least one vehicle re-energization location107positioned at a waypoint111between departure location113and destination location119along each vehicle travel path101. In the example embodiment, vehicle trajectory management system103is configured to determine at least one vehicle re-energization location107from a plurality of vehicle re-energization locations107based on at least one of a vehicle travel path101length, an operational availability of at least one vehicle re-energization location107of plurality of vehicle re-energization locations107, weather conditions along vehicle travel path101, a first amount of energy stored by energy storage device420, and a priority of vehicle102among a plurality of vehicles102having a plurality of priorities, for example.

In the example embodiment, the operational availability of each vehicle re-energization location107may be determined from a plurality of factors including an amount of stored energy available at each vehicle re-energization location107, an ability of each vehicle re-energization location107to re-energize more one or more than one vehicle102, and vehicles102already scheduled to utilize each re-energization location107by vehicle trajectory management system103, for example. The priority of a vehicle102may be determined by a plurality of factors including energization level of vehicle102, vehicle travel path101length, weather conditions in the area of vehicle102, criticality of cargo aboard vehicle102(for instance, organ transplants), for example. Based on the above mentioned factors, a specific re-energization location107, and/or multiple re-energization locations107, are scheduled and/or reserved for each vehicle102along each vehicle travel path101.

Vehicle guidance system100includes a position reference system104in communication with vehicle trajectory management system103to improve the positioning of vehicle102. For example, and without limitation, satellite-based navigation systems and other systems may be less precise than position reference system104and/or be negatively impacted by interference due structures or natural features. Position reference system104transmits a transmission signal106. Transmission signal106is encoded with location information. The location information is associated with and relative to position reference system104. Position reference system104transmits transmission signal106, within a field of transmission108, using an electromagnetic radiation transmitter109. Electromagnetic radiation transmitter109is configured to transmit transmission signal106in a pattern. The pattern produces, within an upper bound110and a lower bound112, a first grid114and a second grid116. For example, electromagnetic radiation transmitter109scans a beam emitted by electromagnetic radiation transmitter109in a raster pattern, and transmission signal106is encoded onto the beam using modulation when the beam is scanning across a specific point within the raster pattern. This creates the points at the intersecting lines of each of first grid114and second grid116. Location data information included in transmission signal106corresponds to a location of the beam transmitted by electromagnetic radiation transmitter109within the raster pattern.

First grid114and second grid116result from transmission of transmission signal106in the pattern which projects intersecting lines substantially in the Y-direction of a coordinate system117. The projection of intersecting lines, viewed in the Z-X plane at some distance R2away from the position reference system104, appears as first grid114. The same projection of intersecting lines, viewed at a distance R3which is greater than the first distance R2in the Z-X plane, appears as second grid116, which appears relatively larger than first grid114.

First grid114at distance R2away from the position reference system104is spatially bound in the horizontal direction by a first vertical line120and a last vertical line122. A plurality of vertical lines spatially and temporally generated between first vertical line120and last vertical line122results from the timing of transmission of transmission signal106by position reference system104as electromagnetic radiation transmitter109moves within the raster pattern. First grid114at a distance R2away from position reference system104is spatially bound in the vertical direction by a first horizontal line118and a last horizontal line124. A plurality of horizontal lines spatially and temporally generated between first horizontal line118and last horizontal line124results from the timing of transmission of transmission signal106by position reference system104as electromagnetic radiation transmitter109moves within the raster pattern.

The distance R2can be any distance between first grid114and position reference system104. For convenience, the distance is determined between a point126on first grid114and position reference system104as shown.

The vertical and horizontal lines may be formed in any suitable manner by position reference system104. In the exemplary embodiment, the vertical and horizontal lines are formed as a result of a raster pattern traveled electronically or mechanically by electromagnetic radiation transmitter109and the timing of the transmission of transmission signal106as electromagnetic radiation transmitter109travels along the raster pattern. In other embodiments, the vertical and horizontal lines result from other transmission schemes. For example, all of the lines may be formed sequentially or all at once. One of the vertical lines or the horizontal lines may be formed before the other. Position reference system104may alternate between forming vertical and horizontal lines through transmission of transmission signal106. Position reference system104may use a scanning laser to form the vertical and the horizontal lines, the laser sequentially forming all of one of the vertical and horizontal lines, followed by the sequential forming of the other of the vertical and horizontal lines. The rate at which the lines are sequentially formed may be so fast that for practical purposes, it is as if all of the lines were simultaneously formed.

Second grid116at distance R3away from position reference system104is the same as the first grid114in terms of the number of horizontal and vertical lines and the number of transmission signals106, but at further distance from position reference system104than first grid114. Second grid116is spatially bound in the horizontal direction by a first vertical line130of second grid116and a last vertical line132of second grid116. A plurality of vertical lines spatially and temporally generated in between first vertical line130of second grid116and last vertical line132of second grid116results from the timing of transmission of transmission signal106by position reference system104as electromagnetic radiation transmitter109moves within the raster pattern. Second grid116at a distance R3away from position reference system104is spatially bound in the vertical direction by a first horizontal line128of second grid116and a last horizontal line134of second grid116.

A plurality of horizontal lines spatially and temporally between first horizontal line128of second grid116and last horizontal line134of second grid116results from the timing of transmission of transmission signal106by position reference system104as electromagnetic radiation transmitter109moves within the raster pattern. The distance R3can be any distance between second grid116and position reference system104, distance R3greater than distance R2. For convenience, the distance R3is determined between a point136on second grid116and position reference system104as shown.

The similarity of first grid114and second grid116becomes apparent in the case of projected grid lines, where second grid116is formed by the same lines forming first grid114, except second grid116is observed at a further distance from position reference system104, making second grid116appear larger than first grid114. Second grid116is the appearance of the grid lines generated by position reference system104at distance R3and first grid114is the appearance of the grid lines at distance R2. The spacing between each horizontal line and the spacing between each vertical line increases as the distance from position reference system104increases. Point126and point136are at corresponding locations within first grid114and second grid116, respectively. The spatial portion of the location information encoded on transmission signal106passing through points126and136is the same. The transmission signal is also encoded with temporal location information such as a time stamp at transmission of the transmission signal106.

The time stamp allows for a determination of the distance from position reference system104when transmission signal106is received by electromagnetic radiation receiver115of vehicle102. The difference in the time transmission signal106is transmitted and received is used to calculate the distance between vehicle102and position reference system104. This allows for a determination of a position vehicle102in the Y-direction. The time difference also allows for a determination of the spacing between each horizontal line and the spacing between each vertical line at the distance from position reference system104where vehicle102receives transmission signal106. The spatial location information encoded on transmission signal106, along with the known distance between each horizontal line and the spacing between each vertical line, allows for a determination of a position of vehicle102within the Z-X plane. These determinations are made by a control system (shown inFIG. 5) of vehicle102.

First grid114and second grid116may include any number of vertical lines and any number of horizontal lines. The number of vertical lines and the number of horizontal lines is a function of the speed at which electromagnetic radiation transmitter109traverses the raster pattern and the frequency with which transmission signal106is transmitted. As illustrated, they each include ten vertical lines and ten horizontal lines. A greater number of intersecting lines may result in improved detection and angular resolution for a fixed field of transmission108and distance from position reference system104in comparison to a fewer number of intersecting lines. First grid114and second grid116are depicted as having a square shape, but in alternative embodiments first grid114and second grid116have other shapes. For example, and without limitation, first grid114and second grid116are rectangular, oval, trapezoidal, or circular. The intersecting lines of first grid114and second grid116are orthogonal, but in alternative embodiments the intersecting lines of first grid114and second grid116intersect at other angles. For example, and without limitation the angles between the intersecting lines may be right angles, acute angles, or obtuse angles in different parts of the grid.

Vehicle guidance system100and position reference system104use a Cartesian coordinate system. In alternative embodiments, other coordinate systems are used by vehicle guidance system100and position reference system104. For example, and without limitation, vehicle guidance system100and position reference system104use a polar coordinate system, cylindrical coordinate system, or spherical coordinate system. Position reference system104transmits transmission signal106using an altered raster pattern or other transmission pattern when vehicle guidance system100and position reference system104use a coordinate system other than a Cartesian coordinate system. For example, and without limitation, to form first grid114and second grid116in a polar coordinate system, position reference system104projects transmission signal106in field of transmission108using a transmission pattern which generates a series of concentric circles and lines radiating out from the center of the circles. Transmission signal106is projected along a series of points along the concentric circles and lines radiating out from the center of the circles.

First grid114and second grid116of intersecting projected lines are generated by raster scanning each of the lines or by projecting and scanning an elongated radiation beam. Position reference system104, using electromagnetic radiation transmitter109, raster scans horizontally to generate a first horizontal line.

The grid generator then steps to the next horizontal line location and raster scans a subsequent horizontal line. This process is repeated for subsequent horizontal lines until all the horizontal lines are generated. The vertical lines are scanned in a similar manner with a first vertical line generated followed by stepping and repeating the process for a next vertical line and all other subsequent vertical lines until all the vertical lines are generated. In an alternative embodiment, position reference system104raster scans in only one direction (e.g., horizontally or vertically) and controls the timing of transmission signal106such that transmission signal106passes through the points at which the horizontal and vertical lines intersect in first grid114and second grid116. In further alternative embodiments, position reference system104uses other techniques to transmit transmission signal106encoded with location information to form a coordinate system.

In the exemplary embodiment, field of transmission108is limited. Field of transmission108is bounded by upper bound110and lower bound112. Upper bound110and lower bound112are fixed based on physical limitations of electromagnetic transmitter109. Position reference system104and/or electromagnetic radiation transmitter109are positioned such that an object of interest (not shown), flight path, or other navigational interest falls within or near field of transmission108. An object of interest further includes, for example, and without limitation, a vehicle re-energization location107, wireless re-energization device (shown inFIG. 8), or a line of sight transceiver (shown inFIG. 5).

In alternative embodiments, field of transmission108is not limited or is substantially not limited. Position reference system104and/or electromagnetic transmitter109transmit transmission signal106in all directions radiating from position reference system104. For example, and without limitation, electromagnetic transmitter109is mounted in a spherical mounting system, includes a plurality of electromagnetic transmitters109, or is otherwise configured to transmit transmission signal106in all directions. In some embodiments, field of transmission is substantially not limited but has at least some bounds resulting from a mounting system coupling electromagnetic transmitter109to position reference system104.

In the exemplary embodiment, electromagnetic radiation transmitter109transmits a coherent beam of electromagnetic radiation. Electromagnetic transmitter is, for example, and without limitation, a laser, maser, or other source of electromagnetic radiation. In alternative embodiments, electromagnetic transmitter109transmits electromagnetic radiation having a different beam pattern. For example, and without limitation, electromagnetic radiation transmitter109transmits an incoherent beam of electromagnetic radiation. In the exemplary embodiment, electromagnetic radiation transmitter109transmits electromagnetic radiation at a wavelength falling outside of the visible light spectrum. For example, and without limitation, electromagnetic radiation transmitter109transmits electromagnetic radiation falling within the infrared or ultraviolet spectrums. In alternative embodiments, electromagnetic radiation transmitter109transmits electromagnetic radiation within the visible light spectrum.

Electromagnetic radiation receiver115is configured to receive transmission signal106. Electromagnetic radiation receiver115is any sensor or combination of sensors configured to measure electromagnetic radiation. For example, and without limitation, electromagnetic radiation receiver115is one or more active-pixel sensors, bolometers, charge-coupled devices (CCD) sensors, photodiodes, complementary metal-oxide-semiconductor (CMOS) sensors, or other photodetectors. In some embodiments, electromagnetic radiation receiver115is an array of a plurality of sensors (shown inFIG. 4). Electromagnetic radiation receiver115is coupled to the control system of vehicle102.

Vehicle102uses the control system to process transmission signals106to determine the location of vehicle102based on the location information included in transmission signals106. For example, and without limitation, the control system determines a distance between vehicle102and position reference system104based on the transmission time included in transmission signals106and a time when transmissions signals106are received. The control system determines the location of vehicle102in the Z-X plane based on the location information encoded on transmission signal106. For example, and without limitation, the location information includes the point in the raster pattern at which transmission signal106is transmitted, an angle of transmission relative to position reference system104, and/or other information. The control system determines the location of vehicle102in the Z-X plane based on the point in the raster pattern at which transmission signal106is transmitted.

Based on the location in the Z-X plane and the distance in the Y-direction from position reference system104, the control system determines the location of vehicle102relative to position reference system104and vehicle travel path101. In some embodiments, transmission signal106includes information about the location of position reference system104and vehicle travel path101. For example, and without limitation, transmission signal106includes global position reference system information corresponding to the location of position reference system104, map coordinates, altitude, and/or other information. Based on the absolute location of position reference system104and the relative location of vehicle102to position reference system104and vehicle travel path101, the control system determines the absolute location of vehicle102. In alternative embodiments, the control system does not determine the absolute location of vehicle102and only determines the location of vehicle102relative to position reference system104and vehicle travel path101.

In some alternative embodiments, the control system does not determine the location of vehicle102. Rather, the control system identifies the time at which transmission signals106are received and transmits this information to a remote system such as re-energization location107using a communications system (shown inFIG. 5). The remote system, e.g., re-energization location107, determines the location of vehicle102and transmits the location of vehicle102to the communications system of vehicle102. Vehicle102uses the location of vehicle102received from the remote system in controlling, for example, and without limitation, at least one control device105to maintain or change a position or location of vehicle102, and to stay on course along vehicle travel path101, for example.

FIG. 3is a graphical view200of transmission signal106(shown inFIG. 1) encoded with location information and transmitted by position reference system104(shown inFIG. 1). In the exemplary embodiment, transmission signal106is encoded with location information using an amplitude modulation scheme. Graph200includes an X-axis202defining a time in seconds. Graph200includes a Y-axis204defining a normalized amplitude. Each time period of Tscorresponds to a bit of information. For example, the time between the origin and point206corresponds to one bit. Transmission signal106with an amplitude of zero corresponds to a logical “0” bit. For example, bit212between point206and point208is a logical “0” bit. Transmission signal106with an amplitude of “A” corresponds to a logical “1” bit. For example, bit214between point208and point210is a logical “1” bit. Some bits are data bits for encoding location information corresponding to first grid114and second grid116the grid (both shown inFIG. 1). Some bits are start or stop indicators, error checking bits, time stamp bits, or header bits.

Electromagnetic radiation receiver115(shown inFIG. 1) detects the amplitude of the transmission signal106over time and passes this information to a control system (shown inFIG. 5). The control system uses the encoded information as described herein to control vehicle102(shown inFIG. 1). Upon detection of these bits by electromagnetic radiation receiver115and processing by the control system, the location within the grid can be determined. In some embodiments, transmission signals106are also used to communicate between position reference system104and vehicle102using messages including information other than just information on locations within first grid114and second grid116.

In alternative embodiments, transmission signal106is encoded using other modulation schemes. For example, and without limitation, transmission signal106is encoded using frequency modulation, sideband modulation, phase modulation, phase-shift keying, frequency-shift keying, amplitude-shift keying, or quadrature amplitude modulation. In still further embodiments, two or more modulation schemes are used to encode transmission signal106with location information.

FIG. 4is a schematic view300of transmission signals106(shown inFIG. 1) transmitted and projected into space by position reference system104(shown inFIG. 1). View300shows first grid114projected in the Z-X plane of coordinate system117. First grid114is bound by first vertical line120and last vertical line122. First grid114is also bound by first horizontal line118and last horizontal line124. Electromagnetic radiation receiver115(shown inFIG. 1) receives transmission signals106forming first grid114. Electromagnetic radiation receiver115includes a plurality of receiver components including first receiver component302, second receiver component304, third receiver component306, and fourth receiver component308. In alternative embodiments, electromagnetic radiation receiver115includes a different number of receiver components. Each of the vertical and horizontal lines formed by transmission signals106are encoded such that each of the regions within the grid, 1 through 100, can be identified. The four receiver components302,304,306,308are in a non-coplanar configuration resulting from the orientation of vehicle102(shown inFIG. 1). Each circle inFIG. 4is illustrated with a different size because the non-coplanar spacing of the detectors will yield a different area in intersection with first grid114.

Each receiver component302,304,306,308produces an output signal when it receives transmission signal106in first grid114. When a receiver component302,304,306,308crosses an intersection of a vertical line and a horizontal line, the receiver component302,304,306,308receives transmission signal106encoded with location information specific to that intersection. The output signals of each receiver component302,304,306,308, resulting from reception of transmission signals106, are demodulated and processed, using the control system of vehicle102, to determine the location of each receiver component302,304,306,308within first grid114and the distance of each receiver component302,304,306,308from position reference system104.

FIG. 5is a block diagram illustrating vehicle102and position reference system104. Position reference system104includes power source402and electromagnetic radiation transmitter109. Power source provides power to electromagnetic radiation transmitter109which electromagnetic radiation transmitter109uses to transmit transmission signal106(shown inFIG. 1). Power source402is, for example, and without limitation, one or more of a battery, solar cell, connection to a power grid, generator, or other source of electrical energy. In some embodiments, position reference system104includes further components. For example, and without limitation, position reference system104includes a control system, a communications system, or other components. In some embodiments, position reference system104is always on and transmits transmission signal106continuously. In alternative embodiments, position reference system104transmits transmission signal106on a scheduled basis.

For example, and without limitation, position reference system104transmits transmission signal106during daylight hours, during a fixed work schedule, or other scheduled time periods. In still further embodiments, position reference system104receives a communication from re-energization location107, vehicle102, vehicle trajectory management system103, and/or any other system which controls transmission of transmission signal106by position reference system104. For example, and without limitation, position reference system104is in a listen or standby mode and when position reference system104receives a communication from vehicle102or vehicle re-energization location107, position reference system104begins transmitting transmission signal106. Position reference system104facilitates at least one of: positioning vehicle102for line of sight communication of data to vehicle re-energization location107(show inFIG. 6), positioning vehicle102for wireless re-energization, and positioning vehicle102for other re-energization.

Vehicle102includes electromagnetic radiation receiver115. Electromagnetic radiation receiver115receives transmission signals106from electromagnetic radiation transmitter109of position reference system104. Electromagnetic radiation receiver115is coupled to control system404. Electromagnetic radiation receiver115outputs a signal to control system404which reflects received transmission signal106. For example, and without limitation, electromagnetic radiation receiver115outputs a voltage corresponding to the logical bits encoded on transmissions signal106. Control system404processes the signal from electromagnetic radiation receiver115as described herein to determine the location of vehicle102.

Control system404is a real-time controller that includes any suitable processor-based or microprocessor-based system, such as a computer system, that includes microcontrollers, reduced instruction set circuits (RISC), application-specific integrated circuits (ASICs), logic circuits, and/or any other circuit or processor that is capable of executing the functions described herein. In one embodiment, control system404may be a microprocessor that includes read-only memory (ROM) and/or random access memory (RAM), such as, for example, a 32 bit microcomputer with 2 Mbit ROM and 64 Kbit RAM. In the exemplary embodiment, control system404also includes a memory device (not shown) that stores executable instructions for performing the functions described herein. For example, in the exemplary embodiment, the memory device stores instructions executed by a signal processor406subsystem and flight control system408subsystem of control system404.

Signal processor406subsystem and flight control system408subsystem may be software subsystems, hardware subsystems, or a combination of hardware and software. Control system404, signal processor406, and/or flight control system408may include one or more processing units (not shown), such as, without limitation, an integrated circuit (IC), an application specific integrated circuit (ASIC), a microcomputer, a programmable logic controller (PLC), and/or any other programmable circuit. The processor(s) may include multiple processing units (e.g., in a multi-core configuration). The processor(s) execute instructions to which perform the functions described herein. The above examples are exemplary only, and thus are not intended to limit in any way the definition and/or meaning of the term “processor.”

Signal processor406is configured to process the signal(s) received from electromagnetic radiation receiver(s)115at control system404. Signal processor406is configured to process transmission signal106. Signal processor406demodulates transmission signal106and retrieves location information from transmission signal106. Based on the location information, signal processor406determines the location of vehicle102relative to position reference system104as described herein. For example, and without limitation, signal processor406determines the location of vehicle102in Z-X plane relative to position reference system104(shown inFIG. 1) based on a spatial portion of the location information encoded on transmission signal106. The spatial portion of the location information identifies wherein in first grid114and second grid116transmission signal106is located. This information identifies where in the Z-X plane vehicle102is located. Signal processor406determines the location of vehicle102in the Y-direction relative to position reference system104(shown inFIG. 1) and vehicle trajectory management system103based on temporal location encoded on transmission signal106.

Transmission signal106includes a time stamp corresponding to when transmission signal106is transmitted. Using the time stamp and the time at which transmission signal106is received, signal processor406determines the distance between position reference system104and vehicle102. In embodiments where first grid114and second grid116are diverging, e.g., the distance between vertical and/or horizontal lines are spaced further apart in second grid116than in first grid114, signal processor406uses the spatial portion and temporal location of transmission signal106in combination to determine the location of vehicle in the Z-X plane (shown inFIG. 1).

In embodiments where electromagnetic radiation receiver115includes multiple components302,304,306,308(shown inFIG. 4), signal processor406uses location information received by each component302,304,306,308to determine the location of vehicle102. For example, and without limitation, signal processor406uses a known geometric relationship between each component302,304,306,308and the location information provided by each component302,304,306,308to determine the location of vehicle102in the Z-X plane (shown inFIG. 1) and in the Y-direction relative to position reference system104(shown inFIG. 1) and vehicle travel path101.

In some embodiments, signal processor406receives position information from position reference system410. Position information is information regarding the position of vehicle102at a specific location. For example, and without limitation, position information includes a roll angle, a yaw angle, a pitch angle, an airspeed, an altitude, and/or other position information. Control system404uses position information to control at least one control device105to control the flight of vehicle102. In some embodiments, control system404is configured to control vehicle102along vehicle travel path101without using satellite-based navigation system data. Position reference system410includes at least one of a gyroscope, accelerometer, inclinometer, and/or other sensors. In some embodiments, position reference system410includes a satellite-based navigation system receiver, e.g., a global position reference system receiver, a radio frequency navigation system, and/or other navigation system. In some embodiments, signal processor406combines location information with position information using, for example, and without limitation, a Kalman filter. Control system404uses the combined information to determine a location of vehicle102.

Flight control system408is configured to process at least information from signal processor406and to control at least one control device105based on the received information. Flight control system408controls at least one control device105to maintain and/or stabilize vehicle102at a current location as determined by signal processor406. Flight control system408, for example, and without limitation, uses a control feedback loop to maintain vehicle102at a location based on the location of vehicle102determined by signal processor406.

Flight control system408is further configured to change a location of vehicle102. Flight control system408controls at least one control device105to change a location of vehicle102. For example, and without limitation, flight control system408controls at least one control device105to execute a maneuver such as forward flight, transitioning to or from a hover, a roll, a yaw, a climb, a dive, a slip turn, a banked turn, a standard rate turn, or other maneuver. Flight control system408may change the location of vehicle102from one location to another based on instructions stored locally on vehicle102. For example, and without limitation, flight control system408controls at least one control device105to change the location of vehicle102from a first location to another location using location information from position reference system410, e.g., and without limitation, location information from a global position reference system. This allows flight control system408to move vehicle102between locations such as waypoints111, destination locations119, and/or other defined locations. In some embodiments, flight control system408travels from one location to another using position reference system410and when vehicle102receives transmission signal106from position reference system104, flight control system408controls vehicle102to maintain the location of vehicle102based on transmission signal106.

Flight control system408may also control at least one control device105based on information or instructions received at control system404from communications system414. For example, communications system414receives instructions from vehicle re-energization location107which when executed by flight control system408cause flight control system408to control at least one control device105to change the location of vehicle102and/or execute a maneuver. Communications system414may also receive instructions from vehicle re-energization location107corresponding to manual control of one or more control devices105. This allows an operator to manually control vehicle102in real time using vehicle re-energization location107. In some embodiments, flight control system408assumes a default state in the absence of instructions received by communications system414. For example, and without limitation, the default state is to continue flight towards a waypoint111or destination location119, maintain a location using transmission signals106received from position reference system104, maintain a location using information received from position reference system410, and/or otherwise resume a default state.

Communications system414is a wireless communication transceiver configured to communicate using a wireless communication standard such as Bluetooth™ or Z-Wave™, through a wireless local area network (WLAN) implemented pursuant to an IEEE (Institute of Electrical and Electronics Engineers) 802.11 standard (i.e., WiFi), and/or through a mobile phone (i.e., cellular) network (e.g., Global System for Mobile communications (GSM), 3G, 4G) or other mobile data network (e.g., Worldwide Interoperability for Microwave Access (WIMAX)), or a wired connection (i.e., one or more conductors for transmitting electrical signals).

Vehicle102further includes line of sight transceiver416. Line of sight transceiver416is configured to communicate with an additional line of sight transceiver416(shown inFIG. 6) using a line of sight communication technique. For example, and without limitation, line of sight transceiver416is configured to transmit and receive a coherent beam of laser light, microwaves, infrared light, and/or other electromagnetic energy. Line of sight transceiver416is or includes, for example, and without limitation, a laser, maser, infrared emitter, active-pixel sensor, bolometers, charge-coupled devices (CCD) sensors, photodiodes, or complementary metal-oxide-semiconductor (CMOS) sensors.

In this embodiment, vehicle102further includes re-energization device418. Re-energization device418is configured to receive electromagnetic energy wirelessly and use the received electromagnetic energy to re-energize an energy storage device420. For example, and without limitation, re-energization device418is configured to receive electromagnetic energy wirelessly by at least one of inductive coupling, resonant inductive coupling, capacitive coupling, magnetodynamic coupling, microwaves, or light transmission to transmit electromagnetic energy. Re-energization device418includes one or more antenna devices configured to receiver electromagnetic energy. For example, and without limitation, re-energization device418includes wire coils, tuned wire coils, lumped element resonators, electrodes, rotating magnets, parabolic dishes, phased array antennas, lasers, photocells, lenses, and/or other devices for receiving electromagnetic radiation. Energy storage device420includes a first amount of energy for propelling vehicle102along vehicle travel path101. In this embodiment, energy storage device420is configured to store electrical energy using at least one of a battery, capacitor, fuel cell, and/or other device for storing electrical energy. In alternative embodiments, vehicle102is powered by liquid and/or solid fuel. In further alternative embodiments, vehicle102energy storage device420is a fuel tank or storage device and includes a refueling port (e.g., a probe configured to receive fuel from a drogue or other fuel source).

In this embodiment, the control device105controls vehicle102to at least one vehicle re-energization location107configured to add a second amount of energy to the energy storage device420. More specifically, control device105determines a vehicle re-energization location107from a plurality of vehicle re-energization locations107based at least on the location information in transmission signal106received by the electromagnetic radiation receiver115and directs vehicle102to the re-energization location. In some embodiments, control device105determines a vehicle re-energization location107based on an operational availability of the vehicle re-energization location107. The operational availability of the vehicle re-energization location107may be determined by a plurality of factors including a number of vehicles102being re-energized at the vehicle re-energization location107, an amount of energy stored at vehicle re-energization location107, and/or a priority of vehicles102currently being re-energized or inbound to the vehicle re-energization location107.

In this embodiment, position reference system104is used to position vehicle102relative to a refueling device and/or fuel source (e.g., in a station keeping mode) for refueling/re-energizing by vehicle re-energization location107.

FIG. 6is a block diagram illustrating vehicle re-energization location107for use with vehicle102and position reference system104(both shown inFIGS. 1 and 4). Re-energization location107includes communications system414. Communication system414is configured to communicate with communications system414of vehicle102. As described herein, vehicle re-energization location107sends instructions for controlling vehicle102to vehicle102using communications system414to facilitate directing vehicle to re-energizing location107along vehicle travel path101. Commands from an operator are received by vehicle re-energization location107through a user interface504. These commands are then sent to vehicle102as instructions using communications system414. In some embodiments, communications system414is further configured for wireless and/or wired communication with other devices such as a personal computer, workstation, network, mobile computing device, and/or other device.

User interface504is configured to receive operator inputs and provide outputs to an operator. For example, and without limitation, user interface includes input devices including a keyboard, mouse, touchscreen, joystick(s), throttle(s), buttons, switches, and/or other input devices. For example, and without limitation, user interface includes output devices including a display (e.g., a liquid crystal display (LCD), or an organic light emitting diode (OLED) display), speakers, indicator lights, flight instruments, and/or other output devices.

Re-energization location107further includes a re-energization device502(e.g., a wireless power transceiver) configured to add a second amount of energy to energy storage device420. For example, and without limitation, re-energization device502uses one or more of inductive coupling, resonant inductive coupling, capacitive coupling, magnetodynamic coupling, microwaves, or light transmission to transmit electromagnetic energy. Re-energization device502includes one or more antenna devices configured to transmit electromagnetic energy. For example, and without limitation, re-energization device502includes wire coils, tuned wire coils, lumped element resonators, electrodes, rotating magnets, parabolic dishes, phased array antennas, lasers, photocells, lenses, and/or other devices for transmitting electromagnetic radiation. Re-energization device502draws power from energy storage device506. Energy storage device506includes one or more of a battery, fuel cell, connection to a power grid, generator, solar panel, and/or other source of electrical energy. In some alternative embodiments, re-energization device502and a separate energy storage device506dedicated to wireless power transceiver are separate from vehicle re-energization location107. In alternative embodiments, re-energization device502is a refueling device configured to refuel vehicle102with liquid or solid fuel through a refueling port of vehicle102. In yet further alternative embodiments, re-energization device502is configured to re-energize vehicle102using a second amount of energy in the form of at least one of mechanical energy, electrical energy, magnetic energy, gravitational energy, chemical energy, nuclear energy, and thermal energy.

Re-energization location107further includes line of sight transceiver416. For example, and without limitation, line of sight transceiver416is configured to transmit and receive a coherent beam of laser light, microwaves, infrared light, and/or other electromagnetic energy. Line of sight transceiver416is or includes, for example, and without limitation, a laser, maser, infrared emitter, active-pixel sensor, bolometers, charge-coupled devices (CCD) sensors, photodiodes, or complementary metal-oxide-semiconductor (CMOS) sensors. In alternative embodiments, line of sight transceiver416is separate from re-energization location and is included in a data hub with communication connections to additional remote computing devices. The high band width available through line of sight transceiver416allows for vehicle102to transmit large amounts of data to vehicle re-energization location107and/or other computer devices for processing off board of vehicle102. This minimizes the computing requirements and weight of vehicle102increasing range and flight time. High bandwidth provided by line of sight transceiver416allows for real time off board processing of data transmitted by vehicle102.

In some embodiments, vehicle re-energization location107is partially or entirely handheld. In other embodiments, vehicle re-energization location107is otherwise mobile, e.g., included in a vehicle. Further, in some embodiments, vehicle re-energization location107is fixed. Re-energization location107may further include a control system, processor, and/or memory (not shown) which executes one or more instructions, programs, or functions to provide the functions of vehicle re-energization location107described herein.

FIG. 7is a schematic view of position reference system104and vehicle102with vehicle102positioned for line of sight communication with vehicle re-energization location107. Vehicle102is held in a stationary location relative to position reference system104using the techniques described herein. Vehicle102holds its location using location information from position reference system104transmitted in transmission signal106in field of transmission108which forms first grid114and second grid116. Re-energization location107and vehicle102communicate using a line of sight transmission602transmitted between vehicle102and vehicle re-energization location107. As vehicle102is stationary at a fixed location relative to position reference system104, vehicle re-energization location107does not require active control of line of sight transceiver416(shown inFIG. 6) of vehicle re-energization location107to transmit a coherent beam to line of sight transceiver416of vehicle102. For example, and without limitation, vehicle re-energization location107does not include a pointing and tracking system. Rather, an operator of vehicle re-energization location107aims vehicle re-energization location107at stationary vehicle102to establish line of sight communication between vehicle102and vehicle re-energization location107. In alternative embodiments, vehicle re-energization location107receives a location of vehicle102from communications system414of vehicle102(shown inFIG. 5) and transmits line of sight transmission602to vehicle102with line of sight transmission602aimed based on the known location of vehicle102and a known location of vehicle re-energization location107.

FIG. 8is a schematic view of vehicle102positioned for wireless charging by re-energization device502. Vehicle102is positioned at a stationary location relative to position reference system104and/or re-energization device502using the techniques described herein. Vehicle102holds its location using location information from position reference system104transmitted in transmission signal106in field of transmission108which forms first grid114and second grid116. Vehicle102controls one or more control devices105based on the received location information from position reference system104to maintain the stationary location. In some embodiments, position reference system104is attached to or included in re-energization device502. In alternative embodiments, position reference system104is remote from re-energization device502. In some embodiments, re-energization device502is included in re-energization location107(shown inFIG. 6). In alternative embodiments, re-energization device502is separate from re-energization location107. Vehicle102is positioned in the air at a stationary location relative to re-energization device502. In alternative embodiments, vehicle102uses location information from position reference system104to land on a platform (not shown) which positions vehicle102for wireless charging. In further alternative embodiments, vehicle102is positioned as described herein for refueling by a refueling device.

Re-energization device502includes first inductive coils702coupled to energy storage device420(shown inFIG. 5) through terminals704. Alternating current flows through first inductive coils702which produces magnetic field708. Magnetic field708encompasses re-energization device418of vehicle102due to the location of vehicle102. Re-energization device418includes second inductive coils706. Magnetic field708passing across second inductive coils706generates a current in second inductive coils706which charges vehicle102. In alternative embodiments, re-energization device502uses other wireless charging techniques and components to wirelessly charge vehicle102. For example, and without limitation, re-energization device502uses one or more of inductive coupling, resonant inductive coupling, capacitive coupling, magnetodynamic coupling, microwaves, or light transmission to transmit electromagnetic energy. Re-energization device502includes one or more antenna devices configured to transmit electromagnetic energy. For example, and without limitation, re-energization device502includes wire coils, tuned wire coils, lumped element resonators, electrodes, rotating magnets, parabolic dishes, phased array antennas, lasers, photocells, lenses, and/or other devices for transmitting electromagnetic radiation In alternative embodiments, recharging or refueling device502includes a refueling component, for example, and without limitation, a drogue, boom, hose, or other component configured to refuel vehicle102through a refueling port included in vehicle102.

As vehicle102is stationary at a fixed location relative to re-energization device502, vehicle re-energization location107does not require active control of re-energization device502to transmit wireless energy to line of re-energization device418of vehicle102. For example, and without limitation, vehicle re-energization location107does not include a pointing and tracking system.

FIG. 9is a flow chart of an exemplary process800of positioning vehicle102(shown inFIG. 1). Position reference system104(shown inFIG. 1) scans802electromagnetic radiation transmitter109(shown inFIG. 1) along a raster pattern. For example, and without limitation, the raster pattern corresponds to first grid114and second grid116(both shown inFIG. 1). Position reference system104transmits804transmission signal106(shown inFIG. 1) encoded with location information associated with a position of electromagnetic radiation transmitter109in the raster pattern when transmission signal106is transmitted. For example, and without limitation, transmission signal106is encoded using amplitude modulation as shown inFIG. 3. Electromagnetic radiation receiver115(shown inFIG. 1) of vehicle102receives806transmission signal106. Control system404(shown inFIG. 5) of vehicle102controls808at least one control device105(shown inFIG. 1) based at least on the received transmission signal106. For example, and without limitation, control system404processes the received transmission signal106using signal processor406(shown inFIG. 5) and controls control device105using flight control system408(shown inFIG. 5).

Signal processor406determines the location of vehicle102using the location information encoded in transmission signal106. The location is relative to position reference system104or absolute if the location of position reference system104is known. In some embodiments, signal processor406uses position information, e.g., pitch angle, roll angle, yaw angle, altitude, and/or other position information, from position reference system410(shown inFIG. 5) in determining the position and/or location of vehicle102along vehicle travel path101. For example, and without limitation, signal processor406combines location information and position information using a Kalman filter.

In the example embodiment, control system404positions814vehicle102at a location stationary to vehicle re-energization location107. For example, vehicle102is positioned at a location stationary relative to position reference system104which allows vehicle re-energization location107to be located or moved to a stationary or substantially stationary, e.g., while hand-held, location relative to vehicle102. In alternative embodiments, vehicle re-energization location107is in communication with vehicle102and/or vehicle re-energization location107and provides information corresponding to the location of vehicle re-energization location107. Using this information and location information from position reference system104, control system404positions vehicle102at a specific stationary location relative to vehicle re-energization location107.

When in the stationary location, vehicle re-energization location107transmits818electromagnetic energy from re-energization device502(shown inFIG. 6). For example, and without limitation, re-energization device502uses one or more of inductive coupling, resonant inductive coupling, capacitive coupling, magnetodynamic coupling, microwaves, or light transmission to transmit electromagnetic energy. Vehicle102receives820the transmitted electromagnetic energy using re-energization device418(shown inFIG. 5). Holding vehicle102at a stationary location using control system404and position reference system104facilitates reception of electromagnetic energy by reducing uncoupling of re-energization device502and re-energization device418due to movement of vehicle102. Holding vehicle102at a stationary location using control system404and position reference system104further facilitates reception of electromagnetic energy by enabling wireless charging techniques using coherent beams such as charging by reception of laser light or microwaves.

FIG. 10is a flow chart of an exemplary process900of changing the location of vehicle102(shown inFIG. 1). Control system404(shown inFIG. 5) of vehicle102receives902location information from position reference system104(shown inFIG. 1) using electromagnetic radiation receiver115(shown inFIG. 1). For example, and without limitation, location information includes information about the location of vehicle102relative to position reference system104. In some embodiments, vehicle102further receives additional location information from position reference system410(shown inFIG. 5) of vehicle102. For example, and without limitation, the additional location information is or includes coordinated from a global position reference system. Control system404(shown inFIG. 5) receives904position information from inertial sensors. For example, and without limitation, control system404receives position information, e.g., a roll angle, a yaw angle, a pitch angle, an airspeed, an altitude, and/or other position information, from sensors of position reference system410such as a gyroscope, accelerometer, inclinometer, and/or other sensors.

Vehicle102processes906the location information and position information. For example, and without limitation, vehicle102processes the location information and position information using signal processor406(shown inFIG. 5) and a Kalman filter or other function. In alternative embodiments, the location information and position information is processed remotely from vehicle102and results are transmitted to vehicle102. For example, and without limitation, vehicle102transmits location information and position information to vehicle re-energization location107(shown inFIG. 6) using communications system414(shown inFIG. 5). Re-energization location107processes the location information and position information and transmits the result to communications system414of vehicle102.

Based on the processed location information and position information, control system404adjusts908the position and/or location of vehicle102to stabilize vehicle102at a specific location. For example, and without limitation, control system404holds vehicle102at its current location using flight control system408(shown inFIG. 5) and control of at least one control device105(shown inFIG. 5). Vehicle102iteratively receives location information, receives position information, processes the location and position information, and adjusts the position of vehicle102to stabilize of maintain vehicle102at the location, for instance, in a queue of vehicles102waiting to re-energize at a re-energization location107.

Control system404of vehicle102executes910a command to change the location of vehicle102. For example, and without limitation, vehicle102receives a command to change location from vehicle re-energization location107using communications system414. The command to change location is executed by control system404and at least one control device105is controlled to change the location of vehicle102. The command to change location may be a command to travel to a specific waypoint111or destination location119, a command to actuate a specific control device105in a specific way, or another command to otherwise change the location of vehicle102. Once the location of vehicle102has been changed by executing a command to change location, vehicle102receives location information from position reference system104and any vehicle travel path101updates received from vehicle trajectory management system103at the new location. For example, and without limitation, vehicle102maintains position at a first location based on location data from position reference system104, executes a command to change location and travels to a second location. At the second location, vehicle102receives location information from the same or a different position reference system104. Using the location information from position reference system104, vehicle102maintains its location and/or position.

FIG. 11is a flow chart illustrating a method1000for guiding a vehicle102. Referring toFIGS. 1-10, method1000includes generating1002, using a vehicle trajectory management system103, a vehicle travel path101including a plurality of waypoints111including a departure location113, a destination location119, and at least one vehicle re-energization location107positioned between the departure location and the destination location. Method1000also includes transmitting1004, using a position reference system104including a transmitter109, a transmission signal including location information associated with a coordinate system. Method1000further includes receiving1006, using a receiver115of vehicle102, the transmission signal. Finally, method1000includes controlling1008, using a control device105of vehicle102, vehicle102along vehicle travel path101based on the location information received from position reference system104.

The above-described methods and systems provide for enhanced vehicle travel path planning, vehicle travel scheduling, vehicle positioning, vehicle guidance, and vehicle re-energization along a vehicle travel path for a plurality of vehicles. Furthermore, the systems and methods described herein allow for enhanced in-transit real-time vehicle travel path updates including being directed to vehicle re-energization locations based on changing energization states of the vehicles and re-energization priorities of the vehicles in transit along similar vehicle travel paths. Additionally, the system and methods described herein facilitate rapid and efficient re-energization of the vehicle by maintaining the vehicle at a stationary location and directing the vehicle to a specific re-energization location more precisely and efficiently. By accurately establishing a position of a vehicle relative to a fixed or moving position reference system and scheduling a re-energization location(s) in real-time in response to current energization status and the vehicle travel path of the vehicle, the vehicle is capable of enhanced operational capability, availability, and more efficient operation.

An exemplary technical effect of the methods, systems, and apparatus described herein includes at least one of: (a) generating a plurality of multi-dimensional vehicle travel paths using a vehicle trajectory management system and a position reference system; (b) guiding a plurality of vehicles along the plurality of vehicle travel paths; (c) scheduling a plurality of vehicles at a plurality of vehicle re-energization locations; (d) guiding and maintaining a plurality of vehicles in a stationary position at the plurality of vehicle re-energization locations; (e) re-energizing the plurality of vehicles at the plurality of vehicle re-energization locations along the plurality of generated vehicle travel paths.

Exemplary embodiments of method and systems for guiding a vehicle along a travel path including at least one re-energization location are described above in detail. The method and systems described herein are not limited to the specific embodiments described herein, but rather, components of systems or steps of the methods may be utilized independently and separately from other components or steps described herein. For example, the methods may also be used in combination with multiple vehicles and/or position reference systems, and are not limited to practice with only the vehicle types and position reference systems as described herein. Additionally, the methods may also be used with other components of devices, and are not limited to practice with only the components as described herein. Rather, the exemplary embodiments may be implemented and utilized in connection with many other vehicles and position reference systems.

Although specific features of various embodiments may be shown in some drawings and not in others, this is for convenience only. In accordance with the principles of the systems and methods described herein, any feature of a drawing may be referenced or claimed in combination with any feature of any other drawing.