Guidance, navigation and control for ballistic projectiles

A system and method to aid in guidance, navigation and control of a guided projectile including a precision guidance munition assembly. The system and method receive position estimates of the guided projectile from a guiding sensor, determine predicted impact points of the guided projectile relative to a target based on the position estimates, determine miss distances of the guided projectile relative to the target, determine smoothed miss distances based, at least in part, on the determined miss distances, and process updated steering commands to steer the guided projectile based on the smoothed miss distances.

BACKGROUND

Technical Field

The present disclosure relates generally to guiding projectiles. More particularly, the present disclosure relates to providing a predicted impact point and a smoothed miss distance of a guided projectile relative to a target. Specifically, the present disclosure relates to guiding a projectile based, at least in part, on a predicted impact point and a smoothed miss distance of the guided projectile relative to a target via an update steering command.

Background Information

Guided projectiles are typically limited in how much they can maneuver. Thus, the maneuver authority of a guided projectile is an important component in launching the guided projectile. When the guided projectile is launched from a launch assembly, such as a barrel or gun tube, the guided projectile may travel along a trajectory, and, if no corrective action is taken, the guided projectile may impact an impact point that is a distance away from the target. In order for the guided projectile to more precisely hit the target, the trajectory of the guided projectile may need to be modified. An accurate estimate of a miss distance is typically required to correct the trajectory of the guided projectile so that the guided projectile will impact an area proximate the target.

SUMMARY

Issues continue to exist with methods for providing an accurate predicted impact point and a smoothed miss distance. The present disclosure provides a system and method to predict impact points of a guided projectile, including a precision guidance munition assembly relative to a target. The system and method determine miss distances of the guided projectile relative to the target, smooth the miss distances of the guided projectile relative to the target, and process updated steering commands to steer the guided projectile based on the smoothed miss distances.

In one aspect, the present disclosure provides a precision guidance munition assembly for a guided projectile, comprising a canard assembly including at least one canard that is moveable, at least one guiding sensor coupled to the precision guidance munition assembly, and at least one non-transitory computer-readable storage medium carried by the precision guidance munition assembly having a instructions encoded thereon that when executed by at least one processor operates to aid in guidance, navigation and control of the guided projectile.

The instructions in one example include receiving a first position estimate of the guided projectile from the guiding sensor. Determining a first predicted impact point of the guided projectile relative to a target based on the first position estimate. Determining a first miss distance of the guided projectile relative to the target. Receiving a second position estimate of the guided projectile from the guiding sensor. Determining a second predicted impact point of the guided projectile relative to the target based on the second position estimate. Determining a second miss distance of the guided projectile relative to the target. Determining a smoothed miss distance based, at least in part, on the first determined miss distance and the second determined miss distance. Additionally the instructions may include processing an updated steering command to command the at least one canard on the canard assembly to steer the guided projectile based on the smoothed miss distance.

In one example, the at least one canard includes a first lift canard, a second lift canard, a first roll canard and a second roll canard.

The first predicted impact point and the second predicted impact point of the guided projectile in one example are predicted by utilizing a projectile dynamics model. The projectile dynamics model in one example is a three degree-of-freedom (DOF) model including, at least in part, a Jacobian reference, a drag profile, or a steering Jacobian reference accounting for, at least in part, steering applied to the guided projectile. Further, a five DOF model, a six DOF model, or a seven DOF model may be utilized. Although particular projectile dynamics models have been described, other suitable projectile dynamics model may be utilized.

In one example, the smoothed miss distance is a weighted miss distance determined by, at least in part, a weighted sum of the first determined miss distance and the second determined miss distance. In another example, a low pass filter is utilized to determine the smoothed miss distance by filtering the determined miss distances. Although methods of determining the smoothed miss distances have been described, the smoothed miss distances may be determined in other suitable manners.

In another aspect, the present disclosure provides a method for guiding a guided projectile wherein the method comprises the following elements. Receiving a first position estimate of a guided projectile including a precision guidance munition assembly from a guiding sensor, wherein the precision guidance munition assembly includes a canard assembly including at least one canard that is moveable. Determining a first predicted impact point of the guided projectile relative to a target based on the first position estimate. Determining a first miss distance of the guided projectile relative to the target. Receiving, a second position estimate of the guided projectile from the guiding sensor. Determining a second predicted impact point of the guided projectile relative to the target based on the second position estimate. Determining a second miss distance of the guided projectile relative to the target. Determining a smoothed miss distance based, at least in part, on the first determined miss distance and the second determined miss distance. Additionally the method may include processing an updated steering command to command the at least one canard on the canard assembly to steer the guided projectile based on the smoothed miss distance.

In one example, the at least one canard includes a first lift canard, a second lift canard, a first roll canard and a second roll canard.

In one example, the smoothed miss distance is a weighted miss distance determined by, at least in part, a weighted sum of the first determined miss distance and the second determined miss distance. In another example, a low pass filter is utilized to determine the smoothed miss distance by filtering the determined miss distances. Although methods of determining the smoothed miss distances have been described, the smoothed miss distances may be determined in other suitable manners.

The first predicted impact point and the second predicted impact point of the guided projectile may be predicted by utilizing a projectile dynamics model.

In one example, the projectile dynamics model may be a three DOF model including, at least in part, a Jacobian reference and a drag profile. In this example, the first predicted impact point and the second predicted impact point is based, at least in part, on an unsteered trajectory of the guided projectile.

In another example, the projectile dynamics model may be a three DOF model including, at least in part, a steering Jacobian reference. In this example, the first predicted impact point and the second predicted impact point is based, at least in part, on a steered trajectory of the guided projectile.

In yet another example, the at least one projectile dynamics model is at least one of a five DOF model, a six DOF model, and a seven DOF model.

In one example, the smoothed miss distance is a weighted miss distance determined by, at least in part, a weighted sum of the first determined miss distance and the second determined miss distance. In another example, a low pass filter is utilized to determine the smoothed miss distance by filtering the determined miss distances. Although methods of determining the smoothed miss distances have been described, the smoothed miss distances may be determined in other suitable manners.

In another aspect, the present disclosure provides a system and method to aid in guidance, navigation and control of a guided projectile including a precision guidance munition assembly. The system and method receive position estimates of the guided projectile from a guiding sensor, determine predicted impact points of the guided projectile relative to a target based on the position estimates, determine miss distances of the guided projectile relative to the target, determine smoothed miss distances based, at least in part, on the determined miss distances, and process updated steering commands to command the at least one canard on the canard assembly to steer the guided projectile based on the smoothed miss distances.

DETAILED DESCRIPTION

A precision guidance munition assembly (PGMA), also referred to as a precision guidance kit or PGK in the art, in accordance with the present disclosure is shown generally at10. As shown inFIG. 1, the PGMA10may be operatively coupled with a munition body12, which may also be referred to as a projectile, to create a guided projectile14. In one example, the PGMA10is connected to the munition body12via a threaded connection; however, the PGMA10may also be connected to the munition body12in any suitable manner. The PGMA10can be fastened to the munition body as part of the manufacturing process or afterwards. In one example, such as the APWKS precision guided kit, the PGMA is coupled between the munition body and front end assembly thereby turning an unguided projectile into a precision guided projectile.

FIG. 1depicts that the munition body12includes a front end16and an opposite tail or rear end18defining a longitudinal direction therebetween. The munition body12includes a first annular edge20(FIG. 1A), which, in one particular embodiment, is a leading edge on the munition body12such that the first annular edge20is a leading annular edge that is positioned at the front end16of the munition body12. The munition body12may define a cylindrical cavity22(FIG. 1A) extending rearward from the first annular edge20longitudinally centrally along a center of the munition body12. The munition body12is typically formed from material, such as metal, that is structurally sufficient to carry an explosive charge configured to detonate or explode at, or near, a target24(FIG. 3). The munition body12may include tail flights (not shown) which help stabilize the munition body12during flight.

FIG. 1andFIG. 1Adepict the PGMA10in one example, which may also be referred to as a despun assembly, and includes a fuze setter26, a canard assembly28having one or more canards28a,28b, a control actuation system (CAS)30, a guidance, navigation and control (GNC) section32having a guiding sensor32a, such as a global positioning system (GPS), at least one GPS antenna32b, a magnetometer32c, a microelectromechanical systems (MEMS) gyroscope32d, an MEMS accelerometer32e, and a rotation sensor32f, at least one bearing34, a battery36, at least one non-transitory computer-readable storage medium38, and at least one processor or microprocessor40.

Although the GNC section32has been described inFIG. 1Aas having particular sensors, it should be noted that in other examples the GNC section32may include other sensors, including, but not limited to, laser guided sensors, electro-optical sensors, imaging sensors, inertial navigation systems (INSs), inertial measurement units (IMUs), or other suitable sensors. In one example, the GNC section32may include an electro-optical and/or imaging sensor positioned on a forward portion of the PGMA10. In another example, there may be multiple sensors employed such that the guided projectile14can operate in a GPS-denied environment and for highly accurate targeting. The projectile in one example has multiple sensors and switches from one sensor to another during flight. For example, the projectile can employ GPS while it is available but then switch to another sensor for greater accuracy or if the GPS signal is unreliable or no longer available. For example, it may switch to an imaging sensor to hone in to a precise target.

The at least one computer-readable storage medium38may include instructions encoded thereon that when executed by the at least one processor40carried by the PGMA10implements operations to aid in guidance, navigation and control (GNC) of the guided projectile14.

The PGMA10includes a nose or front end42and an opposite tail or rear end44. When the PGMA10is connected to the munition body12, a longitudinal axis X1extends centrally from the rear end18of the munition body to the front end42of the PGMA10.FIG. 1Adepicts one embodiment of the PGMA10as generally cone-shaped and defines the nose42of the PGMA10. The one or more canards28a,28bof the canard assembly28are controlled via the CAS30. The PGMA10further includes a forward tip46and an annular edge48. In one embodiment, the second annular edge48is a trailing annular edge48positioned rearward from the tip46. The second annular edge48is oriented centrally around the longitudinal axis X1. The second annular edge48on the canard PGMA10is positioned forwardly from the first annular edge20on the munition body12. The PGMA assembly10further includes a central cylindrical extension50that extends rearward and is received within the cylindrical cavity22via a threaded connection.

The second annular edge48is shaped and sized complementary to the leading edge20. In one particular embodiment, a gap52is defined between the second annular edge48and the first annular edge20. The gap52may be an annular gap surrounding the extension50that is void and free of any objects so as to effectuate the free rotation of the PGMA10relative to the munition body12.

FIG. 2depicts an embodiment of the precision guidance munition assembly, wherein the PGMA10includes at least one lift canard28aextending radially outward from an exterior surface54relative to the longitudinal axis X1. The at least one lift canard28ais pivotably connected to a portion of the PGMA10via the CAS30such that the lift canard28apivots relative to the exterior surface54of the PGMA10about a pivot axis X2. In one particular embodiment, the pivot axis X2of the lift canard28aintersects the longitudinal axis X1. In one particular embodiment, a second lift canard28ais located diametrically opposite the at least one lift canard28a, which could also be referred to as a first lift canard28a. The second lift canard28ais structurally similar to the first lift canard28asuch that it pivots about the pivot axis X2. The PGMA10can control the pivoting movement of each lift canard28avia the CAS30. The first and second lift canards28acooperate to control the lift of the guided projectile14while it is in motion after being fired from a launch assembly56(FIG. 3).

The PGMA10in one example further includes at least one roll canard28bextending radially outward from the exterior surface54relative to the longitudinal axis X1. In one example, the at least one roll canard28bis pivotably connected to a portion of the PGMA10via the CAS30such that the roll canard28bpivots relative to the exterior surface54of the PGMA10about a pivot axis X3. In one particular embodiment, the pivot axis X3of the roll canard28bintersects the longitudinal axis X1. In one particular embodiment, a second roll canard28bis located diametrically opposite the at least one roll canard28b, which could also be referred to as a first roll canard28b. The second roll canard28bis structurally similar to the first roll canard28bsuch that it pivots about the pivot axis X3. The PGMA10can control the pivoting movement of each roll canard28bvia the CAS30. The first and second roll canards28bcooperate to control the roll of the guided projectile14while it is in motion after being fired from the launch assembly56(FIG. 3).

FIG. 3depicts the operation of the PGMA10when connected to the munition body12forming the guided projectile14. As shown inFIG. 3, the guided projectile14is fired from the launch assembly56elevated at a quadrant elevation towards the target24located at an estimated or nominal distance58from the launch assembly56. While the launch assembly is shown as a ground vehicle in this example, the launch assembly may also be on vehicles that are air-borne assets or maritime assets. The air-borne assets, for example, includes planes, helicopters and drones.

As stated above, the at least one computer-readable storage medium38may include a instructions encoded thereon that when executed by the at least one processor40carried by the PGMA10implements operations to aid in guidance, navigation and control of the guided projectile14.

The instructions in one example includes determining a first position estimate of the guided projectile14from one or more sensors such as from the GPS32aduring flight of the guided projectile14. In one example the first position estimate can be provided at launch and estimates can be processed and enhanced by subsequent sensor data. The instructions in one example include determining a first predicted impact point60of the guided projectile14relative to the target24based on the first position estimate. In one example, a projectile dynamics model, such as an augmented three DOF model, is utilized to determine the first predicted impact point60.

An exemplary augmented three DOF model may be provided by the following equations which may be utilized to predict the impact point60of the guided projectile14:
xo(t)=cx*qsEquation (1)
where xo(t) is a drag profile for a nominal flight path;
xx=xx+vx*dtEquation (2)
yy=yy+vy*dtEquation (3)
zz=zz+vz*dtEquation (4)
where xx, yy, and zz are the position of the projectile as a function of time and vx, vy, and vz are the components of the projectile velocity as a function of time.
bg=bg(t)  Equation (5)
where Equation (5) provides a gravity Jacobian value at t;
cg=cg(t)  Equation (6)
where Equation (6) is a gravity Jacobian;
bs=bs(t)  Equation(7)
where Equation (7) is a steering Jacobian;
cs=cs(t)  Equation (8)
where Equation (8) is a steering Jacobian;
el=el(t)  Equation (9)
where Equation (9) is elevation angle versus time of flight;
bt=bs*dy+cs*dzEquation (10)
where Equation (10) is lateral acceleration due to steering;
ct=cs*dz+cs+dzEquation (11)
afx=dt*xo*(vx/vo)/xmass+dt*(ct+cg)*sin(el)  Equation (12)
afy=dt*xo*(vy/vo)/xmass+dt*(bt+bg)  Equation(13)
afz=dt*xo*(vz/vo)/xmass+dt*(ct+cg)*cos(el)  Equation (14)
vx=vx+afxEquation (15)
vy=vy+afyEquation(16)
vz=vz−g*dt+afzEquation (17)
t=t+dtEquation (18)
The bg, cg, bs, and csterms are derived from a Jacobian computed from a linear model where the subscript “s” or “g” refers to the steering or gravity Jacobian reference respectively. The augmented three DOF model may be modified or augmented by including the effects of steering and spin as shown in Equation (12) through Equation (14). Additionally, drag may be accounted for by using the drag profile xo(t), Equation(1), and gravity may be accounted as shown in Equation (17).

The loop may start at various times to predict a number of predicted impact points60. For example, the augmented three DOF model may loop Equation (1) through Equation (18) any time updated information is received, such as when a GPS32aupdate is received, or at any other suitable time, in order to provide a subsequent predicted impact point60to the last predicted impact point60. Further, the augmented three DOF model may loop Equation (1) through Equation (18) until the end of the guided projectile's flight path or any other period of time.

The augmented three DOF model in one example provides an accurate prediction of the impact point60of the guided projectile14. The augmented three DOF allows the effects of atmospheric drag, steering and aerodynamic trim due to spin and gravity, to be taken into account. The augmented three DOF model may generate a drag profile, a gravity Jacobian, and a steering Jacobian using a nominal flight profile. The drag profile and other terms may be obtained using a seven DOF model to generate the nominal aerodynamic slopes for a nominal flight path. The generated aerodynamic slopes may also be used to form a linear model of the guided projectile14. The linear model in one example is used to obtain terms that represent the effects of spin, gravity, and steering.

The linear model may be formed by evaluating the following terms over a nominal trajectory:

⁢pF.=Pp⁢pF+PΔ⁢ΔF+PT⁢TEquation⁢⁢(40)(v.w.q.r.)=(VV00vr0WwWq0QVQwQqQrRVRwRqRr)⁢(vwqr)+(0Vδz10VV0Wδy0010WwQδ000QVQw0Rδ00RVRw)⁢(δyδZgygzvwww)Equation⁢⁢(41)(bcαβ)=(VV0000Ww0001/V001/V000)⁢(vwqr)+(0Vδz00VV0Wδy0000Ww000001/V00001/V0)⁢(δyδzgygzvwww)Equation⁢⁢(42)
To obtain the trim state, the left hand side of the Equation (40) may be set to zero as follows:

(v.w.q.r.)=0Equation⁢⁢(43)
The solution of Equation (42) may provide trim values for v, w, q and r as a function of steering, δyand δz, and gravity, gyand gz. The trim values may be used in Equation (41) to compute trim values for lateral accelerations, b and c. The lateral accelerations, b and c, may be used in the three DOF model. The drag profile may be used to provide a value for aerodynamic drag which may be denoted as “a” and may be used in the three DOF model.

It should be understood that although the projectile dynamics model has been described as an augmented three DOF model, the projectile dynamics model may be any suitable projectile dynamics model. For example, the projectile dynamics model may be a three DOF model including, at least in part, a Jacobian reference, a three DOF model including, at least in part, a drag profile, a three DOF model including, at least in part, a steering Jacobian reference accounting for, at least in part, steering applied to the guided projectile14, a five DOF model, a six DOF model, and a seven DOF model. The various DOF models, such as the augmented three DOF model, the five DOF model, the six DOF model, and the seven DOF model may vary in accuracy and complexity and the type of DOF model utilized with the teachings of the present disclosure may depend on particular applications and configurations.

The instructions may further include determining a first miss distance of the guided projectile14relative to the target24. The first miss distance in this example is defined as the distance between the first predicted impact point60and the target24.

The instructions in one example include determining a second position estimate of the guided projectile14from the sensors such as the GPS32aduring flight of the guided projectile14. The instructions include determining a second predicted impact point60of the guided projectile14relative to the target24based on the first position estimate. In one example, a projectile dynamics model, such as an augmented three DOF model, is utilized to determine the first predicted impact point60. The instructions further include determining a second miss distance of the guided projectile14relative to the target24. The second miss distance may be defined as the distance between the second predicted impact point60and the target24.

The instructions in one example includes determining a smoothed miss distance. In one example, determining the smoothed miss distance is based, at least in part, on the first determined miss distance and the second determined miss distance. In another example, the smoothed miss distance is a weighted miss distance determined by, at least in part, a weighted sum of the first determined miss distance and the second determined miss distance. The weighted sum in one example is weighted by a weight “A.” The value of the weight A may be between zero and one and depends on the noise of the sensors, including the GPS32aand bias effects of the projectile dynamics model. In one example, the weight A is one-half (0.5), however, weight A may be another suitable value. In another example, weight A is time dependent A(t) and varies with time.

In another example, a low pass filter is utilized to determine the smoothed miss distance by filtering the determined miss distances. For example, and not meant as a limitation, the instructions determine miss distances every second along the guided projectile's flight path and a cutoff frequency of the low pass filter is between approximately one-fifth (0.2) and one-half (0.5) Hertz. Other cut-off frequencies are also within the scope of the system. Although particular methods for determining the smoothed miss distances have been described, the smoothed miss distances may be determined in other suitable manners.

The instructions in one example include processing an updated steering command to command the at least one canard on the canard assembly to move its position based on the smoothed miss distance.

The above-described instructions may be iterated until the end of the guided projectile's14flight path or any other desired time period. For example, the instructions may continuously receive position estimates over a specified period time, such as every second of the guided projectile's flight path, continuously predict impact points60of the guided projectile14until a desired point in time or until the point of impact of the guided projectile14; continuously determine miss distances; continuously smooth miss distances and continuously process updated steering commands to the PGMA10to move the at least one canard28a, and28b. As described above, the updated steering commands are generated based on the difference between the predicted impact points60and the location of the target24. Since the instructions may continuously provide predicted impact points60, the bias effects associated with the projectile dynamics model tend to zero as the target24is approached. Further, in one example, the projectile dynamics model provides constraints that reduce the effect of measurement noise.

FIG. 4is a flow chart of one method or process in accordance with the present disclosure and is generally indicated at400. The method400include receiving a first position estimate of the guided projectile14including the precision guidance munition assembly10from the at least one sensor such as a guiding sensor32a, which is shown generally at402. In one example, the PGMA10includes a canard assembly28including at least one canard28a,28bthat is moveable and allows steering of the projectile in flight.

The method400in this example includes determining a first predicted impact point of the guided projectile14relative to a target24based on the first position estimate, shown generally at404. The method400in one example includes utilizing a projectile dynamics model to predict the first impact point60of the guided projectile14relative to the target24, shown generally at406.

In one example, the projectile dynamics model may be a three DOF model including, at least in part, a Jacobian reference and/or a drag profile. In this example, the first predicted impact point60is based, at least in part, on an unsteered trajectory of the guided projectile14.

In another example, the projectile dynamics model is a three DOF model including, at least in part, a steering Jacobian reference. In this example, first predicted impact point and the second predicted impact point are based, at least in part, on a steered trajectory of the guided projectile. In yet another example, the at least one projectile dynamics model is at least one of a five DOF model, a six DOF model, and a seven DOF model.

The method400in further example includes determining a first miss distance of the guided projectile14relative to the target24, shown generally at408. The method400includes receiving a second position estimate of the guided projectile14from the guiding sensor32a, shown generally at410. The method400includes determining a second predicted impact point of the guided projectile14relative to the target24based on the second position estimate, shown generally at412. The method400includes determining a second miss distance of the guided projectile14relative to the target24, shown generally at414. The method400includes determining a smoothed miss distance, shown generally at416.

In one example, determining the smoothed miss distance is based, at least in part, on the first determined miss distance and the second determined miss distance. In one example, the smoothed miss distance is a weighted miss distance determined by, at least in part, a weighted sum of the first determined miss distance and the second determined miss distance. The weighted sum in one example is weighted by a weight “A.” The value of the weight A in one example is between zero and one and depends on the noise of the GPS32aand bias effects of the projectile dynamics model. In one example, the weight A is one-half (0.5), however, weight A may be other values depending upon the specifics. In another example, weight A is time dependent A(t) such that it changes over time.

In another example, a low pass filter is utilized to determine the smoothed miss distance by filtering the determined miss distances. For example, and not meant as a limitation, the instructions determine miss distances every second along the guided projectile's flight path and a cutoff frequency of the low pass filter is between approximately one-fifth (0.2) and one-half (0.5) hertz; however, the cutoff frequency may be another suitable frequency. Although particular methods for determining the smoothed miss distances have been described, the smoothed miss distances may be determined in other suitable manners.

The method400in this example includes processing an updated steering command to command the at least one canard28a,28b, on the canard assembly28to steer the guided projectile14based on the smoothed miss distance, which is shown generally at418.

FIG. 5is a graph of prediction error in meters versus time of flight of the guided projectile14in seconds for a conventional three DOF model. Line502represents down range error and line504represents cross range error along the guided projectile's14flight path. As shown inFIG. 5, the modeling error has a large bias at the beginning of the guided projectile's14flight path.

FIG. 6is a graph of prediction error in meters versus time of flight of the guided projectile14in seconds for an augmented three DOF model in accordance with the present disclosure. Line602represents cross range error and line604represents down range error along the guided projectile's14flight path. As shown inFIG. 6, and when compared to the modeling error shown inFIG. 5, the modeling error has a smaller bias at the beginning of the guided projectile's14flight path. Further, the errors associated withFIG. 6are smaller than the errors associated withFIG. 5due to the augmentation of the three DOF model in accordance with the teachings of the present disclosure.

“Guided projectile” or guided projectile14refers to any launched projectile such as rockets, mortars, missiles, cannon shells, shells, bullets and the like that are configured to have in-flight guidance.

“Launch Assembly” or launch assembly56, as used herein, refers to rifle or rifled barrels, machine gun barrels, shotgun barrels, howitzer barrels, cannon barrels, naval gun barrels, mortar tubes, rocket launcher tubes, grenade launcher tubes, pistol barrels, revolver barrels, chokes for any of the aforementioned barrels, and tubes for similar weapons systems, or any other launching device that imparts a spin to a munition round or other round launched therefrom.

In some embodiments, the munition body12is a rocket that employs a precision guidance munition assembly10that is coupled to the rocket and thus becomes a guided projectile14.

“Precision guided munition assembly,” as used herein, should be understood to be a precision guidance kit, precision guidance system, a precision guidance kit system, or other name used for a guided projectile.

Furthermore, the logic(s) presented herein for accomplishing various methods of this system may be directed towards improvements in existing computer-centric or internet-centric technology that may not have previous analog versions. The logic(s) may provide specific functionality directly related to structure that addresses and resolves some problems identified herein. The logic(s) may also provide significantly more advantages to solve these problems by providing an exemplary inventive concept as specific logic structure and concordant functionality of the method and system. Furthermore, the logic(s) may also provide specific computer implemented rules that improve on existing technological processes. The logic(s) provided herein extends beyond merely gathering data, analyzing the information, and displaying the results. Further, portions or all of the present disclosure may rely on underlying equations that are derived from the specific arrangement of the equipment or components as recited herein. Thus, portions of the present disclosure as it relates to the specific arrangement of the components are not directed to abstract ideas. Furthermore, the present disclosure and the appended claims present teachings that involve more than performance of well-understood, routine, and conventional activities previously known to the industry. In some of the method or process steps of the present disclosure, which may incorporate some aspects of natural phenomenon, the process or method steps are additional features that are new and useful.