Patent ID: 12242284

Embodiments of the disclosure and their advantages are best understood by referring to the detailed description that follows. It should be appreciated that like reference numerals may be used to identify like elements illustrated in one or more of the figures.

DETAILED DESCRIPTION

According to the present disclosure, systems and methods are provided for real-time ISR data and CBRNE data collection, as well as measuring, mapping, tracking, and/or predicting atmospheric data in multi-dimensional air space. According to one or more embodiments, an aircraft is provided. The aircraft may be an AI-enabled, air droppable, foldable winged, and tail-sitter vertical take-off and landing (VTOL) aircraft. The aircraft may utilize blown flap, under-actuated or fully-actuated swashplateless and hinged propulsion technology (e.g., teetering hinge, off-set hinge, lag-pitch hinge) and a rotating payload system for scalable multi-payload deployment capability and sensor fusion applications enhancing target data collection and target engagement precision and atmospherics measuring, mapping and prediction in a multi-dimensional space environment.

The systems and methods described herein have numerous applications, including, for example, the following:a) Defense applications such as directed energy, missiles, combat airplane and helicopter rockets and ballistic projectiles of any shape or form (e.g., precision sniper shots, marksman, machine gun, mortar, artillery, directed energy beams, sound beams, frequency beams and laser beams);b) Defense applications such as tactical and strategic battlefield resupply and airdrops from fixed-wing and rotary-wing aircraft, equipment drops on gliders or parachutes, high and low altitude skydive jumps and warfighter insertion, personnel recovery and combat search and rescue operations, drone swarm release and information warfare material (psyops) released from air space;c) Defense and civilian applications such as collecting and transmitting ISR (Intelligence, Surveillance, and Reconnaissance) data.d) Defense applications such as using the UAV, equipped with an explosive payload, as a form of lethal attack that can be flown into the target.e) Defense and civilian applications such as landing manned or unmanned fixed-wing or rotary aircrafts on boats, ships or aircraft carriers;f) Civilian applications such as golf, recreational shooting and target practicing sports as well as hunting;g) Defense, Commercial, and First responder applications such as firefighters, fire jumper, CBRN particle and virus/pathogen detection, mapping and tracking; andh) Industrial applications such as wind farms, agriculture and nature preservation.

According to the present disclosure, systems and methods are provided for weapon-mounted or handheld device-mounted unmanned system maneuver control (e.g., UAV flight control). The controller may be motion, compass, visual, gyroscopic, gravity-force (e.g., accelerometer, inclinometer, tilt-sensing) sensor-based (commonly known as IMU—Inertial Measurement Unit) and operable to control autopiloted flight of an unmanned aircraft. For example, the controller may include an inertial navigation system for state estimation of the controller in 3D space and a logic device configured to generate flight, maneuver, or dive control instructions to pilot an unmanned system (e.g., UAV, USV, UUV, etc.) based on movement of the controller in 3D space. The controller described herein may have numerous applications, including, for example, the following:a) Direction of direct fire designator;b) Direction of indirect fire designator;c) Direction of water designator;d) Direction of energy designator;e) Direction of laser beam designator; andf) Direction of frequency wave designator.

According to the present disclosure, systems and methods are provided for wind triangle-based, Visual Inertial Odometry (VIO)-enhanced sensor fusion wind speed and wind direction measurement. Such systems and methods may provide objective and projectile guidance to enhance precision target engagement and hit probability in GPS-enabled and GPS-denied environments. In addition, measurement of wind speed and 3D wind direction may facilitate sniper applications and other direct or indirect munitions, including laser, frequencies, and directed energy.

FIG.1illustrates an unmanned aerial vehicle (UAV)100, such as an advanced reconnaissance and multi-application drone aircraft, in accordance with an embodiment of the disclosure. As shown, UAV100may be a vertical take-off and landing (VTOL) aircraft having wings102and dual rotors104(e.g., in a counter-rotating or same directional dual rotor configuration), although other configurations are contemplated. UAV100may transition between a vertical phase (e.g., for taking off, static hovering and landing) and a horizontal flight phase during operation to provide maneuverability and flight characteristics. UAV100may transition from vertical flight to horizontal flight using swashplateless propulsion technology and additional actuators (embedded in wings102, stabilizers, or other part of the aircraft), as described below. Once transitioned to horizontal flight, UAV100may use its wings102to leverage air lift physics and enable efficient short and long-distance flights.

FIG.2Aillustrates a transition of UAV100from vertical take-off to stable horizontal flight, in accordance with an embodiment of the disclosure. Referring toFIG.2A, UAV100may have instant or near-instant take-off transition capability—from tail-sitting to horizontal flight. For example, UAV100may include actuators200(e.g., on wings102) and stabilizers204that enable fast transition from vertical take-off to stable horizontal flight.

FIG.2Billustrates a swashplateless, hinged rotor system design, in accordance with an embodiment of the disclosure. Referring toFIG.2B, UAV100may include fully actuated propulsion using swashplateless technology to control all degrees of freedom and emulate full actuation over forces and torques using only two actuators. For example, torque impulses may be varied to control blade position and/or angle of attack. In embodiments, the propulsion system may use a swashplateless rotor head in combination with teetering hinge propulsion technology. The swashplateless rotor head may include a motor210, a teetering hinge212, and lag-pitch hinges or offset hinges214, or any combination thereof. Such embodiments are exemplary only, and the swashplateless rotor head may include other hinge or hinge-like configurations.

FIG.2Cillustrates a fully articulated or semi-rigid cyclic rotor system design, in accordance with an embodiment of the disclosure.FIG.2Dillustrates a swashplate system, in accordance with an embodiment of the disclosure. Referring toFIGS.2C and2D, UAV100may include fully actuated propulsion using a swashplate system220to control all degrees of freedom. The swashplate system may provide cyclic rotor pitch control for UAV transition and maneuverability. Referring toFIG.2C, swashplate system220may include a servo222, a swashplate224, and one or more rods226connected the servo222to the swashplate224, such that actuation of servo222moves swashplate224to control propulsion. Referring toFIG.2D, swashplate224may include a non-rotating plate230connected to rod(s)226and a rotating plate232configured to rotate with motor drive shaft234and rotor blades236. A pitch link240may connect each rotor blade236to rotating plate232to control pitch/angle of attach of rotor blades236via movement of swashplate224. As shown, pitch link240may be connected to a respective rotor blade236via a pitch horn240, although other configurations are contemplated.

Such embodiments are illustrative only, and UAV100may include other systems operable to control cyclic pitch and/or angle of attach of rotor blades236. For example,FIG.2Eillustrates another fully articulated rotor system design, in accordance with an embodiment of the disclosure. As shown, servo222may be connected directly to a rotor blade236, such as via a pitch change rod250. In such embodiments, actuation of servo222may control up and down movement and/or position of rotor blade236.

FIG.3illustrates atmospheric data collection by UAV100during operations, in accordance with an embodiment of the disclosure. As shown, UAV100may include a rotating payload300that is selectively positionable based on flight and/or atmospheric conditions and/or characteristics. The rotating payload300may include one or more ISR (intelligence, surveillance, and reconnaissance), or CBRN (chemical, biological, radiological and nuclear) detection devices, and explosive charge and/or wind and atmospheric sensors. In embodiments, the rotating payload300may include a nano-charge, a phosphor ignition system, an electrical short circuit mechanism, an explosive charge, or other destruction application or system. In embodiments, the rotating payload300may include a weapons system configured to engage a target. The rotating payload300may be fully functional in the landed position. As a result, UAV100may be able to engage a target and/or gather data and information when landed or in static hovering position, such as general atmospherics including temperature, barometric pressure, humidity, density altitude, wind speed, and wind direction, among others. During vertical take-off and/or horizontal flight, UAV100may continue to gather general atmospheric data via the rotating payload300and/or in combination with the wind triangle methodFIG.55and a plurality of onboard sensorsFIG.57.

With continued reference toFIG.3, UAV100may be a VTOL tail-sitter when ready for take-off. For example, UAV100may be placed in an upright vertical position, with its wing tips304and tails/fins306engaged with the ground or other surface to hold UAV100upright. In like manner, during vertical landing, UAV100may land with its wing tips304and tails/fins306engaging the ground.

FIG.4Aillustrates sensor payloads of UAV100, in accordance with an embodiment of the disclosure. As shown, UAV100may include a first sensor payload400and a second sensor payload402. The first sensor payload400may be an ISR payload, such as a 3-axis ISR dual-camera gimbal. The second sensor payload402may be an atmospheric payload, such as one or more wind and/or atmospheric, CBRN sensors or additional explosive material.

FIG.4Billustrates a fragmentary view of UAV100, in accordance with an embodiment of the disclosure. As shown, UAV100may include visual-inertial odometry (VIO)410, such as to facilitate autonomous navigation of UAV100(e.g., in GPS-denied or degraded environments). As described herein, UAV100may be scalable as desired. For example, UAV100(e.g., the aircraft and/or its propulsion technology) may be upsized or downsized based on payload requirements. UAV100may be battery powered or may carry an internal power source other than batteries to extend flight time and/or power capacity (e.g., hybrid, combustion engine, hydrogen fuel cell, etc.). In battery-powered applications, the battery may be rechargeable. For example, UAV100may be placed on an inductive charging plate connected to an external power source (e.g., solar cells, power bank, battery, etc.). Such embodiments may benefit prolonged missions (e.g., one or multiple UAVs used for stationary area overwatch; 360-degree camp, compound, biwak or hideout security (ISR); rapid threat detection and target engagement system, etc.). Each rotor may include an under-actuated or fully-actuated swashplateless rotor design, including hinges, such as but not limited to teetering hinges212, off-set hinges or lag-pitch hinges214, to control flight characteristics.

FIG.4Cillustrates a destruction payload of UAV100, in accordance with an embodiment of the disclosure.FIG.4Dillustrates use of UAV100as an improvised explosive device (IED) or a static intelligence, surveillance, and reconnaissance (ISR) device, in accordance with an embodiment of the disclosure. In embodiments, UAV100may include an explosive charge414(e.g., a nano-charge, a phosphor ignition system, an electric short circuit mechanism, explosives, grenades, gas containers, or other destruction device/system). An operator may fly or otherwise command UAV100into the ground, a structure, or an enemy target416and trigger the explosive charge414either physically (e.g., impact trigger), via sensors (e.g., heat, proximity, face ID, AI trigger, etc.), or remotely (e.g., via a controller, such as an TAK controller). For example, a controller may direct UAV destruction and/or UAV engagement of enemy target416. An operator may assign a target to UAV100and trigger UAV-IED detonation. In some embodiments, an operator may manually pilot UAV100into enemy target416(e.g., via remote control, a heads-up display, etc.), such as via point-of-view guidance and a live view UAV feed.

In some embodiments, the UAV100may be piloted to a designated position418. An operator may land and hide the UAV100at the designated position418for use as an IED triggered in a manner similar to that described above. In embodiments, the UAV100may be flown and landed in the designated position418to function as an ISR device.

FIGS.5A,5C,5D, and5Eillustrate various views of UAV100in the folded configuration, in accordance with an embodiment of the disclosure. As shown, the wings102may fold and collapse to limit size and form of UAV100. For example, each wing may hinge or fold in one or more (e.g., a plurality of) locations500to fold and collapse UAV100into a compact form, such as to facilitate transport and storage.

FIG.5Billustrates UAV100in an unfolded configuration, in accordance with an embodiment of the disclosure. As shown, the wings102may be unfolded into their extended states for flight. The wings102may be held in their unfolded, extended states via various configurations. For example, wing sections may be held together via magnets, locks, or other structures510. When unfolded, the wings102may provide a dihedral wing structure for improved flight stability and performance.

FIG.6illustrates a top view of UAV100, in accordance with an embodiment of the disclosure. Referring toFIGS.5B and6, UAV's angled wing tips304and center fuselage fins306may act as built-in vertical take-off and landing gear. For instance, while on the ground, UAV100may sit on its angled wing tips304and center fuselage fins306touching the ground at four spots, although other configurations are contemplated. The angled wing tips304and center fuselage tail fins306may also provide improved flight stability and performance.

FIG.7illustrates the rotating payload300of UAV100, in accordance with an embodiment of the disclosure. Referring toFIG.7, the rotating payload300may be a 360-degree rotating payload system for multi-payload carrier capability. For example, the rotating payload300may include an interchangeable rotating payload adapter head700, able to carry and switch quickly between multiple different payloads (e.g., different ISR cameras). The rotating payload system may have automatic leveling technology (gimbal tech), keeping the payload head700in the application-desired position independent of aircraft movement or aircraft position in space.

FIG.8illustrates the rotating payload300in a plurality of positions, in accordance with an embodiment of the disclosure. Referring toFIG.8, the rotating payload300may rotate about a gimbal axis800. Additionally, or alternatively, the rotating payload system may move and lock one or more payloads (e.g., wind, ISR, CBRN and atmospheric sensors) in and out to change the height of the payload300(i.e., sensors) relative to the aircraft and relative to the propulsion system. In embodiments, retraction movement of the payload300may be mechanically linked to the rotation movement of the payload head700. For example, when wind/atmospherics sensor turns from 6 o'clock position to 12 o'clock position, during that 180-degree turn the mechanism automatically pushes the wind sensor out. Rotating the payload head700back or an additional 180-degrees, the mechanism may automatically retract the sensor in (e.g., to its storage position). The rotating mechanism can be a combined “twist and expand” mechanism, pushing the atmospherics sensor out while turning it upwards to the 12 o'clock position.

FIG.9illustrates a system900including a plurality of UAVs100, with each UAV100in a landed condition, in accordance with an embodiment of the disclosure. As shown, multiple UAV systems may be placed in an area to provide multiple data and/or surveillance points. Each UAV100may be placed manually by an operator, or each UAV100may be piloted and placed in a designated position (e.g., autonomously). Each UAV100may land and take-off autonomously or manually. Each UAV's AI, sensor and payload capabilities may be fully functioning and transmitting data to and from the user (e.g., an operator) when landed, with each UAV100able to make one or more tactical decisions to protect the mission, the operator, and/or itself.

FIG.10illustrates the system900and showing each UAV100in a vertical take-off condition, in accordance with an embodiment of the disclosure. As shown, each UAV100may take off vertically to gather atmospheric data and/or provide surveillance from an elevated or flight position. Each UAV's AI, sensor and payload capabilities may be fully functioning and transmitting data to and from the user (e.g., an operator) when in flight, with each UAV100able to make one or more tactical decisions to protect the mission, the operator, and/or itself.

FIG.11Aillustrates a tip-over prevention system of UAV100, in accordance with an embodiment of the disclosure.FIG.11Billustrates a park position of UAV100, in accordance with an embodiment of the disclosure. Referring toFIGS.11A and11B, UAV100may be equipped with one or more safety and/or damage prevention systems. For example, referring toFIG.11A, UAV100may have the ability to prevent itself from tipping over when on ground and the ability to self-recover from a crash or fall. In such embodiments, gyroscopic sensors monitor the orientation of the aircraft while on the ground, constantly looking for threatening lateral and other directional forces that could bring the vertical upright position of the aircraft out of balance. If such threatening force appears and pushes or pulls the aircraft out of balance, UAV100initiates an instant thrust boost to catch itself from tipping over and falling to the ground. UAV100may instantly take off by itself to a designated flight level above ground and remain in a hover position. UAV100may then initiate a sensor-based landing area and threat assessment scan, looking for a new and safe landing spot. After automatic assessment or manual inspection through the user, UAV100may initiate a landing procedure to continue its prior task before the threat occurred.

Referring toFIG.11B, UAV100may automatically adjust its components when landed on the ground. For instance, when landed on the ground, UAV100may automatically adjust its rotor blades1100into a park position—aligning the rotor blades1100with the direction of the wings102. Such configurations may limit rotor breakage or damage in case of a fall or crash.

FIG.12illustrates the system900ofFIGS.9and10and showing a threat analysis, in accordance with an embodiment of the disclosure. UAV100may constantly scan its environment for possible threats1200to the aircraft, an operator1202, and/or the mission and has the capability to decide on its own or by user input to take off and leave its current area or space to maintain discreteness of the operation or maneuver.

FIG.13illustrates the system900and shows a bio-mimicking behavior of UAV100, in accordance with an embodiment of the disclosure. When airborne, UAV100may apply a bio-mimicking behavior to blend in with nature and the animal kingdom. For example, UAV100may initiate a flight pattern similar to a bird1300to maintain discreteness of the operation or maneuver. The bio-mimicking behavior may be chosen based on locale, environment, or season. For instance, the bio-mimicking behavior may imitate a local bird to further facilitate discreteness of the operation or maneuver.

FIG.14illustrates additional self-recovery features of UAV100, in accordance with an embodiment of the disclosure. As shown, UAV100may include self-recovery features that allow a safe and successful aircraft launch after a crash, fall or tip-over. For example, UAV100may include fix-mounted or deployable landing legs1400that prevent the aircraft from tipping over. In some embodiments, the rotating and expandable payload head700may act as a kinetic recovery feature that alters the aircraft's position on the ground, such as to bring the rotors104into a free-spinning position/elevation. From the free-spinning position, UAV100may initiate an instant boost to initiate an instant aircraft launch where the aircraft and all its features test and reset themselves before bringing the aircraft back to the ground in a safe, upright and controlled manner.

FIG.15illustrates a low flight airdrop mode of UAV100, in accordance with an embodiment of the disclosure. In some embodiments, UAV100may have low velocity airdrop survivability. For example, UAV100may be released, launched, or thrown from a fixed-wing or rotary-wing aircraft1500at low flight velocity. UAV100may launch itself when in free fall and gain control over its flight maneuvers and/or stability automatically (autonomously). As shown, a real-time data stream may exist from UAV100to the user/operator (e.g., to an TAK system1502).

FIG.16illustrates a high flight airdrop mode of UAV100, in accordance with an embodiment of the disclosure. In embodiments, UAV100may have high velocity airdrop survivability. For instance, UAV100may be released, launched, or thrown from a fixed-wing or rotary-wing aircraft1600at high flight velocity (e.g., greater than 130 mph). As shown, UAV100may be released inside a protective shell compartment1602with automatic parachute and aircraft release systems triggered by timer, remote trigger, or designated atmospheric value/parameter.

FIG.17illustrates a high speed/high altitude airdrop shell1700for UAV100, in accordance with an embodiment of the disclosure. As shown, the airdrop shell1700may be released, thrown, or deployed from a fixed-wing or rotary-wing manned or unmanned aircraft or airborne platform1702. During freefall, atmospherics are measured and transmitted in real-time to the user. At a certain point, freefall of the airdrop shell1700may be slowed down by automatic or manual parachute deployment. During parachute mode, atmospherics are measured and transmitted in real-time to the user. When conditions are right, UAV100may automatically release from the airdrop shell1700, whether triggered by timer, atmospheric trigger, remote, freefall speed, or the like. For example, the airdrop shell1700may open, and UAV100may slide out of the shell compartment by gravity force. Once clear of the airdrop shell1700, UAV100may start its rotors104automatically when the aircraft enter freefall again to gain control over its flight status. Once flight status of UAV100is regained, UAV100may be ready to operate and execute missions in space environment, with ISR and atmospherics measurements transmitted in real-time to the user.

The airdrop shell1700may have many configurations. For example, the airdrop shell1700may protect UAV100from instant high-speed forces and environmental exposure when released from extreme altitudes. The airdrop shell1700may have an aerodynamic shape that softens the instant exposure to high-speed wind forces. The airdrop shell1700may have an aerodynamic shape that actively or passively starts to spin once it hits the airstream behind the carrier aircraft. The airdrop shell1700may have an aerodynamic shape with stabilizer surfaces or wings to ensure a stable launch from the carrier aircraft. The airdrop shell1700may be released on a cut-away rope that remains attached to the inside of the carrier aircraft until the shell1700has reached a stable spin or glide status in the airstream. The airdrop shell1700may use a passive or automatic one or two stage parachute deployment system (1. Pilot chute, 2. Main chute) to stabilize the exposure to the airstream and then reduce the shell's speed while falling back to earth. The airdrop shell1700may include a passive or active trigger that releases the UAV100from the shell platform. Such mechanism may be triggered by a timer, altitude sensor, location sensor, manual remote user input, temperature sensor, air pressure sensor, or Lidar sensor. The airdrop shell1700may be built from a material that disintegrates over time when exposed to sunlight and/or other environmental conditions (e.g., will leave no footprint in enemy territory).

In some embodiments, the airdrop shell1700may be parachute-less. For instance, the airdrop shell1700may have a shape that takes advantage of the autorotation principle to slow down the vertical fall, known from spinning maple seeds or passenger helicopters (emergency procedure). The airdrop shell1700bio-mimicking a maple seed shape may use an aerodynamically, stabilized stationary (non-spinning) center compartment, housing the UAV100while maintaining a controlled outer rotating wing system comprising of one or multiple autorotating blades. The autorotating passive fall allows UAV100(which sits inside the shell1700) to measure real-time atmospherics while falling back to earth and sending this information back to the carrier aircraft (e.g., HALO jumpers that are ready to skydive after the UAV100has mapped the local air profile and has reached the hovering final ISR altitude (300 ft above the landing zone) streaming live footage back to the HALO teams and their TAK screens1502).

FIGS.18A and18Billustrate a parachute-less airdrop shell1800tethered to a carrier aircraft1802, in accordance with an embodiment of the disclosure. As shown, autorotating rotor blade flaps1804may be in compact positions alongside the main shell body. In this position, the blade flaps1804may be spring-loaded and held in position by constant pull (drag force) that is created by the release rope1806attached to the carrier aircraft.

FIGS.19-20illustrate the parachute-less airdrop shell1800released from the carrier aircraft1802, in accordance with an embodiment of the disclosure. As shown inFIG.19, the blade flaps1804may pop out by 90 degrees once the rope1806has released the shell1800and/or the airspeed of the shell1800has decreased enough so that the blade flaps1804aren't held down by the high-speed airstream. As shown inFIG.20, the blade flaps1804of the airdrop shell1700may begin rotating when exposed to the airstream. In embodiments, the main body (i.e., center fuselage, center of mass, airdrop shell) may remain stationary while the blade flaps1804are rotating.

FIG.21illustrates deployment of the parachute-less airdrop shell1800, in accordance with an embodiment of the disclosure. At Step1, the parachute-less airdrop shell1800may be released, thrown, or dropped from a fixed-wing or rotary-wing manned or unmanned aircraft or airborne platform, with atmospherics measured and transmitted in real-time to the user during freefall. At Step2, freefall may be slowed down by autorotating rotor blades, with atmospherics measured and transmitted in real-time to the user. At Step3, UAV100may automatically release, triggered by timer, atmospheric trigger, remote, freefall speed, etc. For example, UAV100may slide out of the shell compartment by gravity force and start its rotors104automatically when the aircraft enters freefall again to gain control over its flight status. At Step4, UAV100may be ready to operate and execute missions in the environment.

FIGS.22-28illustrate various UAV-assist operations, in accordance with one or more embodiments of the disclosure. For example, referring toFIG.22, UAV100may be utilized to map and measure a desired atmospheric corridor and calculate an atmospheric profile prior to a parachute jump from an airborne platform. In such embodiments, UAV100may measure wind parameters and atmospherics in vertical descent or ascent modes, in a static hover mode, and/or in motion (e.g., by applying sensor-fusion technology and/or wind triangle calculations). UAV100may provide a real-time data stream to the user (e.g., parachute jumper).

Referring toFIG.23, UAV100may be utilized to map and measure a desired atmospheric corridor and calculate an atmospheric profile prior to an equipment drop from an airborne platform. In such embodiments, UAV100may measure wind parameters and atmospherics in vertical descent or ascent modes, in a static hover mode, and/or in motion (e.g., by applying sensor-fusion technology and/or wind triangle calculations). UAV100may provide a real-time data stream to the user (e.g., load master or pilot, via TAK system1502).

Referring toFIG.24, UAV100may assist take-off and landing procedures on aircraft carriers or other stationary or moving ships and platforms on the water. UAV100may measure wind parameters and atmospherics in vertical descent or ascent modes, in a static hover mode, and/or in motion (e.g., by applying sensor-fusion technology and/or wind triangle calculations). UAV100may provide a real-time data stream to the user (e.g., ship captain, pilot, or other UAV/UAS, via TAK system1502).

Referring toFIGS.25-26, UAV100may be utilized for air corridor mapping and profiling for silent glider applications. In such embodiments, UAV100may support precision landing of a silent glider2500. UAV100may measure wind parameters and atmospherics in vertical descent or ascent modes, in a static hover mode, and/or in motion (e.g., by applying sensor-fusion technology and/or wind triangle calculations). UAV100may provide a real-time data stream to the user (e.g., pilot or the silent glider itself, via TAK system1502).

Referring toFIG.27, UAV100may facilitate air corridor mapping and profiling for resupply and air drop applications. For example, UAV100may support precision landing and air profile mapping behind enemy lines (combat applications) and remote areas (search and rescue, medical delivery, personnel recovery, etc.). Similarly, and referring toFIG.28, UAV100may support air corridor mapping and profiling for precision skydive and parachute jumps and landings as well as a live video feed of the landing zone from the UAV to the operator's interface (e.g. TAK1502).

FIGS.29-31illustrate various weapons-assist operations utilizing UAV100, in accordance with one or more embodiments of the disclosure. For example, referring toFIGS.29-31, UAV100may provide or assist a ballistic system operable to gather wind data and other atmospherics at one or more points along a flight path of a weapons projectile (e.g., bullet, mortar, artillery, directed energy, laser and frequency weapons, etc.) and calculate a ballistic solution for the projectile based on the gathered data. In this regard, the UAV100may be similar to the airborne devices disclosed in U.S. application Ser. No. 16/822,925, filed Mar. 18, 2020, now U.S. Pat. No. 10,866,065, and U.S. application Ser. No. 17/099,592, filed Nov. 16, 2020, the disclosures of which are hereby incorporated by reference in their entireties for all purposes. In addition, the ballistic system of the present disclosure may be similar to the ballistic system disclosed in either U.S. application Ser. No. 16/822,925 or U.S. application Ser. No. 17/099,592. For directed energy, laser and frequency weapons, UAV100may assist directed energy systems to maximize their efficiency and effectiveness (e.g., atmospheric measurements supporting frequency and beam tuning).

FIG.32illustrates a UAV coordinator, in accordance with an embodiment of the disclosure. Referring toFIG.32, a coordinator or controller3200is provided that interfaces or communicates with UAV100. Except as otherwise noted below, the coordinator3200may be similar to the data interface disclosed in either U.S. application Ser. No. 16/822,925 or U.S. application Ser. No. 17/099,592, which are incorporated by reference in their entireties for all purposes.

As disclosed herein, the coordinator3200may be weapon-mounted, tripod-mounted (e.g., spotter scope, JTAC fire control unit, CAS laser designator), or handheld (e.g., attached to binoculars, telescope, remote controlled camera system). Depending on the application, coordinator3200may be mounted to a rail (e.g., a Picatinny rail), slot, attachment point, or accessory of weapons system, such as a scope or accessory mount, although other configurations are contemplated.

The coordinator3200may enable automatic access to specific target and area data gathered by UAV100, such as atmospherics, CBRN and ISR data, alongside the desired direction of fire, target location relative to coordinator3200location or flight path to the target location from a designated position not near the coordinator3200(e.g. a second user or target observer). The coordinator3200and UAV100may be in communication with each other, either directly or indirectly via a computer module (e.g., TAK1502), such as to control operation of UAV100and/or provide the specific area data to a user via the coordinator3200. For example,FIG.33illustrates a weapon-mounted coordinator and UAV system in a close-quarters battle (CQB) situation, in accordance with an embodiment of the disclosure. In such examples, the coordinator3200may receive CQB-pertinent area data from UAV100to aid the static or dynamic shooter. Referring toFIG.34, the coordinator3200may direct UAV100to gather data alongside the direction of the water stream and/or the coordinator3200may receive atmospheric data from UAV100relevant to the direction of water, such as CBRN data and wind direction and magnitude, etc. Referring toFIGS.35A and35B, the coordinator3200may direct UAV100to gather atmospheric, ISR, and CBRN data alongside the direction of the mortar fire and/or the coordinator3200may receive atmospheric data from UAV100relevant to the direction of mortar fire, such as data relevant to a ballistic solution. Similarly, referring toFIG.36, the coordinator3200may direct UAV100to gather atmospheric, ISR, and CBRN data alongside the direction of artillery fire and/or the coordinator3200may receive atmospheric data from UAV100relevant to the direction of artillery fire. Similarly, referring toFIG.31, the coordinator3200may direct UAV100to gather atmospheric, ISR, and CBRN data alongside the direction of a directed energy beam, laser, microwave or other frequency beam and/or the coordinator3200may receive atmospheric data from UAV100relevant to the direction of directed energy beam, laser, microwave or other frequency beam.

FIG.37illustrates a weapon-mounted coordinator in communication with a ballistic system3202, in accordance with an embodiment of the disclosure. In embodiments, the coordinator3200may provide situation-specific data to a ballistics calculator. For instance, the coordinator3200may provide the ballistics calculator data related to direction of fire, slant angle, weapon tilt, target range, atmospherics, among others, or any combination thereof. Such information, along with atmospheric data collected by UAV100, may be used to calculate a ballistics solution3204(e.g., elevation and/or windage calculations) for the shooter.

FIG.38illustrates the coordinator3200, in accordance with an embodiment of the disclosure. The coordinator3200may include various displays. For instance, the coordinator3200may include a “range to target” display3800that indicates the distance to the target, whether input manually or gathered from an internal or external range finder. The coordinator3200may include a “FFP 0 core parameters” display3802that indicates wind speed, wind direction, and slant angle at the firing position, gathered by internal and externally-linked sensors (e.g. laser range finder, or inertial navigation system (INS6020), or a motion, compass, visual, and gyroscopic sensor or other gravitational forces sensors, including artificial intelligence enhanced sensors). The coordinator3200may include an “anti-cant level indication” display3804that provides visual feedback to the shooter regarding weapon cant (e.g., centered, left-canted, right-canted, etc.). The coordinator3200may include a “real time firing solution” display3806, which displays the calculated ballistic solution based on weapon and atmospheric data gathered by the coordinator3200and UAV100, respectively. In some embodiments, the coordinator3200may include a “UAV positioning mode” display3808that indicates whether one or more UAVs100are being positioned automatically or manually alongside the flight path of the projectile or designated mission flight path or loiter area. In “auto” mode, one or more UAVs100may be positioned via algorithmic settings or artificial intelligence control based on local topography, the flight path, potential threat detection, numbers of drones, etc. In “manual” mode, one or more UAVs100may be positioned via user input, as detailed below. In some embodiments, the coordinator3200may include a “UAV flight mode” display3810indicating the flight mode of UAV100(e.g., standby mode, low profile data measuring mode, high profile data measuring mode, park mode, self-destruction, etc.).

With continued reference toFIG.38, the coordinator3200may include various controls. For instance, the coordinator3200may include a range wheel3820, a range button3822, and a “UAV send it” button3824. The range wheel3820may allow the user to manually input the range to target, as displayed on the “range to target” display3800. The range button3822may import distance to target data from internal and/or external sensors. In some embodiments, the range button3822may request the ballistics computer to calculate the ballistic solution based on current conditions (e.g., based on atmospherics collected by the coordinator3200and/or external devices, such as UAV100). A quick press of the “UAV send it” button3824may launch the drones to their designated positions. In some embodiments, holding the “UAV send it” button3824may recover the drones and have them return to home (e.g., the firing position, the FFP 0 location, etc.) at any given moment. In some embodiments, the coordinator3200may include a “drone flight level down” button3830and a “drone flight level up” button3832, which lower or raise, respectively, UAV's flight position and/or adjust UAV's flight mode.

The controller may include one or more drone positioning buttons. For example, coordinator3200may include a “Drone 1” button3840, a “Drone 2” button3842, and a “Drone 3” button3844, although other configurations are contemplated. Such buttons may allow “point and position” functionality. For instance, an operator may point the coordinator3200to a first desired area or position to place a first drone, whereupon depressing the “Drone 1” button3840sets the flight position or placement of the first drone. The weapons operator may set the flight position or placement of a second drone and a third drone in a similar manner using the “Drone 2” button3842and the “Drone 3” button3844. For weapon-mounted applications, the weapon may be pointed to the desired area or position to set the position of the drones.

FIGS.39A,39B, and39Cillustrate a flowchart of a control module process3900, in accordance with an embodiment of the disclosure. Any step, sub-step, sub-process, or block of process3900may be performed in an order or arrangement different from the embodiments illustrated byFIGS.39A-39C. For example, one or more blocks may be omitted from or added to the process3900. Process3900may be applied to any embodiment disclosed herein.

Referring toFIG.39A, the process3900may begin by setting a master control module (e.g., the coordinator3200described above) (block3901). In block3902, the master control module may be synchronized with other slave control modules in the space. This synchronization effort may include but is not limited to multiple users pointing their weapon-mounted or device-mounted coordinators at a virtual reference point in space in order to synchronize the coordinator-internal INS6020sensor module to define a common reference direction in 3D space. In block3904, a data exchange link is established and maintained between the master and slave control modules. In block3906, control module master function can be switched within the designated control module network (i.e., amongst the peers of the network).

Block3908includes setup, link-up and configuration amongst all system devices. For instance, block3910includes syncing with a main computer, block3912includes syncing with one or more aircrafts, block3914includes syncing with aircraft computer and autopilot software, block3916includes syncing with ballistic computer and software, and block3918includes syncing with any third-party devices for target, aircraft command and control, and atmospheric, ISR and environmental data gathering. As shown, each of the main computer, aircraft, aircraft computer and autopilot software, ballistic computer and software, and third-party devices may import and export data as needed.

In block3920, the coordinator3200collects atmospheric and environmental data (e.g. ISR, CBRNE), with the atmospheric and environmental data shared across linked external communications network or data cloud (block3922) and/or parameters and data shared across the entire system architecture (block3924). In block3926, data exchange is established and maintained amongst the system architecture and linked external communications network and data cloud.

In block3930, the main computer may run system checks across the entire system architecture, and the coordinator3200and main computer may show system status in block3932. In block3934, a systems readiness check may be performed. If the system is not ready, the process3900may proceed back to block3930to rerun system checks and system analysis across the entire system architecture.

Referring toFIG.39B, if the system is deemed ready in block3934, process3900may define an aircraft flight path and positioning in relative and absolute 3D space (block3940). Block3940may include three subsystems. For example, in a first subsystem, the coordinator3200may be pointed at designated location(s) in space (block3942). In such embodiments, internal logic or external buttons of the coordinator3200may mark the location(s) in space (block3944), such as via the coordinator3200measuring multi-dimensional vectors to designated location(s) in space (block3946) and/or the coordinator3200exchanging data with linked third-party device(s) (block3948). The first subsystem may then proceed to block3949, where parameters, vectors, values and data are shared across the entire system architecture.

In a second subsystem of block3940, designated location(s) may be selected in space on a main computer interface display (e.g., TAK map) (block3950). In block3952, the designated location(s) may be confirmed on the main computer interface display (i.e., TAK1502). In block3954, the main computer may measure multi-dimensional vectors from the coordinator3200to designated location(s) in space. In block3956, the main computer may exchange data with linked third-party device(s). The second subsystem may then proceed to block3949.

In a third subsystem of block3940, desired parameter values may be selected manually on the coordinator3200(block3957). In block3958, the coordinator3200may display manually selected range(s) to target(s). In block3959, the coordinator3200may be pointed to designated location(s) in space. Internal logic or external buttons of the coordinator3200may mark the location(s) in space (block3960), such as via the coordinator3200measuring multi-dimensional vectors to designated location(s) in space (block3961) and/or the coordinator3200exchanging data with linked third-party device(s) (block3962). The third subsystem may then proceed to block3949.

If the system is deemed ready in block3934, process3900may proceed to an indoor/CQB (close-quarters battle) device motion controlled mode (block3963). In such embodiments, the coordinator3200may measure motion-based position adjustments for UAV100by multi-dimensional vector inputs from the coordinator3200relative to UAV100in 3D space or manual repositioning by device remote user interface (block3964). As shown, process3900may then proceed to block3949.

Referring toFIG.39C, if the system is deemed ready in block3934, process3900may proceed to define user location data and parameters in relative and absolute 3D space (block3970). For example, the coordinator3200may measure or collect its geolocation in relative and absolute 3D space with device internal INS sensor (e.g., GPS) (block3971). In block3972, designated location(s) may be selected in space on a main computer interface display (e.g., TAK map). In block3973, the designated location(s) may be confirmed on the main computer interface display (i.e., ATAK, TAK). After confirming the designated location(s), the main computer may measure multi-dimensional vectors from the coordinator3200to designated location(s) in space (block3974) and/or the main computer may exchange data with linked third-party device(s) (block3975).

If the system is deemed ready in block3934, process3900may proceed to define target data and parameters in relative and absolute 3D space (block3980). Block3980may include three subsystems. For example, in a first subsystem, the coordinator3200may be pointed at designated location(s) in space (block3981). In such embodiments, internal logic or external buttons of the coordinator3200may mark the location(s) in space (block3982), such as via the coordinator3200measuring multi-dimensional vectors to designated location(s) in space (block3983) and/or the coordinator3200exchanging data with linked third-party device(s) (block3984). The first subsystem may then proceed to block3949.

In a second subsystem of block3980, designated location(s) may be selected in space on a main computer interface display (e.g., TAK map) (block3985). In block3986, the designated location(s) may be confirmed on the main computer interface display (i.e., TAK1502). In block3987, the main computer may measure multi-dimensional vectors from the coordinator3200to designated location(s) in space. In block3988, the main computer may exchange data with linked third-party device(s). The second subsystem may then proceed to block3949.

In a third subsystem of block3980, desired parameter values may be selected manually on the coordinator3200(block3989). In block3990, the coordinator3200may display manually selected range(s) to target(s). In block3991, the coordinator3200may be pointed to designated location(s) in space. Block3992may include engaging a user interface on the coordinator3200, device internal or external button to mark location(s) in space (block3992), such as via the coordinator3200measuring multi-dimensional vectors to designated location(s) in space (block3993) and/or the coordinator3200exchanging data with linked third-party device(s) (block3994). The third subsystem may then proceed to block3949.

Referring toFIG.39B, after proceeding to block3949, process3900may start targeting and execute UAV command and control procedure(s) (block3995), as noted above and detailed below with reference toFIG.40.

FIGS.40A,40B, and40Cillustrate a flowchart of a process of targeting and UAV command and control procedures, in accordance with an embodiment of the disclosure. The process illustrated inFIG.40may be performed in block3995illustrated inFIG.39B, described above. Any step, sub-step, sub-process, or block of process may be performed in an order or arrangement different from the embodiments illustrated byFIG.40. For example, one or more blocks may be omitted from or added to the process. Process may be applied to any embodiment disclosed herein.

As shown, process may begin with a start targeting or UAV command procedure (block4002), which triggers coordinator linkup with application ecosystem (block4004). Block4004may include various device pairing, status reports, and health monitoring, such as pairing with UAV(s) (e.g., one or more UAVs100) activated and selected for mission (block4006) and ecosystem status report and health monitoring (block4008). Block4004may include configuration of various profiles. For instance, the coordinator3200may use a gun profile, bullet library data and custom drag model (CDM) from most recent setting and device configuration (block4010). In embodiments, the coordinator3200may import gun profile(s), bullet library data and CDM from an external device via wireless or wired communication (block4012). In block4014, the coordinator3200may import gun profile(s), bullet library data and CDM from ballistics software and database via wireless or wired communication. In block4016, the system may configure a gun profile, bullet data and CDM on the coordinator3200or on a user display (e.g., software or TAK application).

Process may proceed to block4020, which checks whether the system is in an indoor, CQB, or patrolling UAV device motion controlled mode. If not, process may proceed in acquiring environmental parameters (block4022). Block4022may include updating current environmental parameters using device internal sensors (block4024) and/or using external device(s) via wired or wireless data import (block4026).

Process may then proceed to define and/or calculate one or more characteristics. For instance, process may obtain definition of device geolocation (relative and absolute) (block4028) and definition of range between user and target (block4030). Defining the range between user and target may include using device internal buttons and sensors, software application or external devices paired to the coordinator3200(block4032). In embodiments, process may obtain definition of relative and absolute direction of fire or flight (user to target azimuth) (block4034), which may include using device internal buttons and sensors, software application or external devices paired to the coordinator3200(block4036). In embodiments, process may obtain definition of slant angle between user and target (positive or negative elevation) (block4038), which may include using device internal buttons and sensors, software application or external devices paired to the coordinator3200(block4040).

As shown, process may include automatic calculation of relative and absolute user and target geolocation in 3D space (block4042). For example, the calculation may utilize geolocations relative to earth (i.e., coordinator3200) and user (vector-based and computer vision-based values for GPS-denied areas) (block4044). In some embodiments, data may be imported from external devices paired to the coordinator3200(block4046).

Process may include UAV autopilot waypoint calculation(s) based on current user and target geolocation in 3D space (block4048). In embodiments, optional automatic or manual UAV positioning, waypoint and flight path adjustment may occur in block4050. Process may then proceed to UAV flight mode selection (block4052). As shown, if block4020returns a yes, process may proceed directly to block4052.

Once flight mode is selected, process may proceed to UAV deployment (block4054), during which ecosystem status report and health monitoring occurs (block4056). Once deployed, the UAV(s) perform mission tasks and provide real-time data streaming and monitoring (block4058). In some embodiments, process may include optional automatic or manual UAV position, waypoint and flight path adjustment (block4060). If so, process includes constant device orientation in relative and absolute 3D space and vector assessment (block4062). If desired, the UAV(s) may adjust position according to altered relative and absolute device position and orientation in 3D space (block4064). Blocks4062and4064may repeat as many times as needed for the duration of operations.

In some embodiments, process may include optional automatic or manual UAV flight mode adjustments based on user and mission needs (block4066). If so, process includes optional UAV destruction (block4068) or other flight mode adjustments, supported by ecosystem status report and health monitoring (block4070). In block4068, the UAV may include a nano-charge, a phosphor ignition system, acid, an electrical short circuit mechanism, an explosive charge, or other destruction application or system. The UAV destruction system (e.g., explosive charge(s)) may be carried by the rotating payload system, discussed above. The UAV destruction may be physically, sensor, or remotely triggered, such as by a centralized system or control. For example, the UAV may be remotely destroyed in case of enemy capture. In some embodiments, the UAV destruction may be used to engage a target. For instance, the UAV may be used as a suicide UAV to engage a target beyond a sniper engagement distance, where the UAV may be flown (directly) into an enemy and an explosive charge triggered physically (e.g., impact trigger), via sensors (e.g., heat, proximity, face identification, artificial intelligence or neural network decision or trigger, etc.), or remotely (e.g., via TAK mission control system1502). In embodiments, an operator may fly the UAV to a designated position, land and hide the UAV, and use the UAV as an improvised explosive device (IED) triggered in a similar manner.

As shown, process may include UAV return home to user or a designated landing zone (block4072). Once the UAV(s) return home or land in the designated landing zone, process may return to block4020for further operations, or process may end (block4074).

FIGS.41-46illustrate six respective operations supporting the flowcharts illustrated inFIGS.39A-40C, in accordance with an embodiment of the disclosure. Specifically,FIG.41illustrates a first operation of gun profile, ammo profile, and/or custom drag model (CDM) configuration.FIG.42illustrates a second operation of acquiring target parameters.FIG.43illustrates a third operation of acquiring environmental parameters.FIG.44illustrates a fourth operation of defining UAV positions between FFP 0 and target.FIG.45illustrates a fifth operation of defining a UAV flight mode.FIG.46illustrates a sixth operation of deploying drones and receiving live drone status and wind data.

FIGS.47-51illustrate various examples of coordinator movement detection and triggering UAV control and UAV position adjustment, in accordance with an embodiment of the disclosure. For example,FIG.47illustrates controlling a position of UAV100in space through a direction of fire (e.g. azimuth, distance to target, slant angle)4700captured via the coordinator3200.FIGS.48-49and51illustrate controlling lateral movement of UAV100in space via canting of the weapons system left or right (i.e., from vertical or defined and calibrated space-zero-position4700,4800, and5000).FIG.50illustrates controlling vertical movement of UAV100in space via canting and/or adjusting the slant angle of the weapons system (i.e., from horizontal about a lateral axis5000or defined and calibrated space-zero-position4700,4800, and5000).

Referring toFIG.47, a user may designate one or more locations to place corresponding UAVs using coordinator3200. For example, using direction of fire4700, a user may simply point to an area to set a hovering, loitering, or landing position for UAV100. In such embodiments, user input at controller3200may set the position and cause a corresponding calibration, determination, or calculation of a flight path of UAV100to the set position (e.g., via a flight module). In this manner, a user may set the position(s) of UAV(s)100along the projectile's flight as desired, such as for wind data collection to aid ballistic calculations or area-specific target data gathering. In addition, such functionality may allow the user to place one or more UAVs in space for other functions, including reconnaissance, CBRNE data collection, tactical, or visual support, among others.

Referring toFIGS.48-51, a user may control a movement of UAV100via movement of weapons system. For example, a motion in 3D space of coordinator3200(via weapons system or observation device) may cause a real-time or near real-time mimicking or control of UAV100in 3D space. In this manner, a user (e.g., shooter of weapons system) may fly or otherwise position UAV100via weapon or observation device movement.

As shown inFIGS.48,49, and51, a weapon motion about direction of fire4700(e.g., canting of weapons system left or right from vertical4800) may cause coordinator3200to command UAV100to fly laterally to the left (FIGS.48and51) or to the right (FIG.49) relative to the weapon.

As shown inFIG.50, a weapon motion about lateral axis5000(e.g., tilting the weapon up or down) may cause coordinator3200to command UAV100to fly vertically up or down. In other embodiments, weapon motion about lateral axis5000may cause coordinator3200to command UAV100to fly towards or away from the weapon.

In embodiments, a weapon motion about vertical4800(e.g., rotating the weapon left or right) may cause coordinator3200to command UAV100to rotate clockwise or counterclockwise relative to the weapon. For example, a clockwise rotation of weapons system about vertical4800may cause a corresponding clockwise rotation of UAV100while hovering. Similarly, a counterclockwise rotation of weapons system about vertical4800may cause a corresponding counterclockwise rotation of UAV100while hovering.

FIGS.52-54illustrate additional examples of coordinator-enabled UAV positioning, such as in an indoor/CQB mode, in accordance with an embodiment of the disclosure. For example, one or more sensors may detect coordinator movement in 3D space to autopilot UAV100relative to direction of fire, for instance. In some embodiments, UAV100may be autopiloted based on movement of the coordinator3200(e.g., follows the coordinator's movements, etc.). In some embodiments, UAV100may be piloted manually via one or more controls (e.g., a joystick function) on the coordinator3200. For instance, INS6020sensor such as motion, compass, visual and gyroscopic sensors detect coordinator movement in 3D space relative to the ground or a designated vector (e.g., calibrated space-zero-position) such as direction of flight of a bullet, energy beam, laser beam or frequency wave. UAV100may follow the coordinator movements and directions accordingly, either when manually activated by pushing a button on the device (or remote control) or in automatic mode.

FIG.55illustrates wind estimation via a wind triangle method, in accordance with an embodiment of the disclosure. As shown, UAV100may measure wind speed and wind direction using a wind triangle technique and apply the wind parameters to precision target engagement operations. Although UAV100is shown, other airborne stations may be utilized, including smaller or higher class UAV/UAS, airplanes, VTOLs, tail-sitters, silent gliders, multi-rotors, helicopters, or hybrid configurations.

Referring toFIG.55, a wind measurement system may include the coordinator3200and two or more wind measurement stations. The wind measurement stations may be a combination of fixed ground and airborne stations. The wind measurement stations may provide estimations of the wind profile along the ballistic trajectory path or measure wind profiles indirectly or predict local wind profiles via machine learning algorithms and topographic area data. The stations may provide the estimated velocity vector (speed and 3D direction) of the wind with respect to the ground, and their position along the ballistic trajectory. A method of wind estimation may include measuring the velocity vector of the station with respect to the ground (ground course vector5500), and the velocity vector of the air relative to the station (apparent wind vector5502). The estimation of the wind with respect to the ground (true wind vector5504) is achieved by the combination of ground course vector5500and apparent wind vector5502(i.e., the wind triangle).FIG.55shows the velocity vectors that make up the wind triangle. The true wind vector5504is calculated by adding the apparent wind and ground course vectors5502,5500.

FIG.56illustrates various wind sensors, in accordance with an embodiment of the disclosure. For fixed ground stations the velocity vector may be assumed to be identically zero and does not require a ground course measurement. For each airborne station, the aircraft could use a variety of methods to measure their velocity with respect to the ground. Such methods include, but are not limited to, velocity measurements provided by a GPS device, and visual inertial odometry (VIO) techniques. A variety of methods could be used for each station to measure the apparent wind. For example, these methods include, but are not limited to, pitot tubes, omni-directional pitot tubes, differential pressure sensor arrays, ultrasonic time of flight sensors, aerodynamic deflection sensors, rotational anemometers, hot wire anemometers, particle image velocimetry, and vehicle airspeed to attitude modeling. An accurate heading reference of each station may be needed to get a common reference frame between stations. The heading can be measured using a variety of methods including, but not limited to, a magnetic compass, a GPS compass consisting of two horizontally spaced GPS or RTK GPS modules of known orientation, and visual inertial odometry (VIO) techniques.

FIG.57illustrates sensor placement on UAV100, in accordance with an embodiment of the disclosure. As shown, UAV100may include a multitude of ground course and apparent wind measurement devices. For example, UAV100may include dual RTK GPS5700for ground course, position, and heading measurements. The RTK GPS may be placed on the wings102of UAV100. The rotating payload300may include a 3-axis ultrasonic sensor for apparent wind measurement. In embodiments, UAV100may include a VIO system, including a camera and lidar, for ground course, position, and heading measurements. In some embodiments, UAV100may include an omni-directional pilot tube5702. As shown, UAV100may include an inertial measurement unit (IMU) and autopilot feature5704to provide attitude and heading estimates for an attitude to apparent wind model reference and direction of flight (e.g., using accelerometer, gyroscope, magnetometer, etc.).

FIGS.58A and58Billustrate various unmanned systems and various controller and remote placement options, in accordance with an embodiment of the disclosure. Referring toFIG.58, a system5800may include an unmanned system maneuver controller (USMC)5802and a remote5804operable to selectively control an operation of the USMC5802. For example, remote5804may be operable to switch between various operation modes of USMC5802, as detailed below. Except as otherwise noted below, USMC5802may be similar to coordinator3200, described above. For example, USMC5802may interface or communicate with an unmanned system5806to control flight, maneuver, or dive (and/or other operations) of the unmanned system5806, as described below.

Unmanned system5806may be any unmanned vehicle or system. For example, depending on the application, unmanned system5806may be implemented as a UAV5806A, an unmanned surface vehicle (USV)5806B, or an unmanned underwater vehicle (UUV)5806C. Referring toFIG.58A, UAV5806A may be implemented as any airborne device, drone, or unmanned aerial system. For example, UAV5806A may be implemented as UAV100, described above. In embodiments, UAV5806A may be similar to any of the airborne devices disclosed in U.S. application Ser. No. 16/822,925, filed Mar. 18, 2020, now U.S. Pat. No. 10,866,065, and U.S. application Ser. No. 17/099,592, filed Nov. 16, 2020, the disclosures of which are hereby incorporated by reference in their entireties for all purposes.

Referring toFIG.58B, USV5806B may be implemented as any ground, robotics, or unmanned surface system. For example, USV5806B may be implemented as autonomous robotics systems, unmanned explosive ordnance disposal robot, inspection robot, cargo robot, or reconnaissance robot. UUV5806C may be implemented as a water or underwater unmanned system. For example, UUV5806C may be implemented as robotics systems, unmanned swimming platform, unmanned submarine, unmanned water reconnaissance system or other autonomous robotics underwater platform.

As shown inFIG.58A, USMC5802may be mounted to a weapon5810, such as a handgun, a pistol, a revolver, a rifle, a long gun, a sub-machine gun, a shotgun, etc. Such examples are illustrative only, and USMC5802may be mounted to any weapon system or observation device (e.g., scope, telescope, binoculars, spotting scope, camera system, etc.). USMC5802may be mounted to a rail (e.g., a Picatinny rail), slot, attachment point, or accessory of weapon5810. For example, USMC5802may be mounted to a handguard, scope ring, or accessory rail of weapon5810, although other configurations are contemplated. USMC5802may be mounted in the line of sight of the weapons operator, a virtual observer such as computer vision operated by a neural network, a remote camera, or otherwise in an accessible position.

Remote5804may be mounted to weapon5810near a handhold position. For example, remote5804may be mounted on or near a grip or handguard of weapon5810to allow intuitive interaction with UAV100while maintaining gun safety rules and weapon readiness. Depending on the application, remote5804may be in wireless communication with USMC5802, or may be in wired communication with USMC5802(e.g., via a cable5812). In some embodiments, system5800may include multiple remotes5804in connection with USMC5802, such as remotes5804positioned on the handguard and near the pistol grip of weapon5810, although other configurations are contemplated.

FIG.59illustrates a schematic view of USMC5802, in accordance with an embodiment of the disclosure. USMC5802may include a display5900and a user interface5902. Display5900may render various information to an operator, such as, for example, a ballistic solution, ballistic trajectory calculations, windage and holdover values, weapon conditions (e.g., cant), environmental conditions, mission information, ISR video live stream, etc. User interface5902may include various buttons5910to control operations of USMC5802, such as a power button, a select button, navigation buttons, etc. In embodiments, display5900may be a holographic display or a touch display, such that user interface5902is provided in display5900itself.

With continued reference toFIG.59, USMC5802includes one or more attachment points or mechanisms5920. For example, USMC5802may include an attachment point5920on each side of its housing to allow placement of USMC5802as desired, such as on a top, bottom, left, or right side of weapon5810. Attachment point(s)5920may be configured to attach USMC5802to a mount or Picatinny rail of weapon5810or observation device.

FIG.60illustrates a system block diagram of USMC5802, in accordance with an embodiment of the disclosure. Referring toFIG.60, USMC5802may include, or be operably connected to, an atmospheric sensor system6010, an inertial navigation system (INS)6020, a laser system6030, a chemical, biological, radiological, nuclear, and explosive (CBRNE) system6040, a ballistic computer6050, a communications device6060, and a logic device6070.

Atmospheric sensor system6010may include one or more atmospheric sensors (e.g., temperature, barometric pressure, humidity, ultrasonic, hot-wire, wind vane anemometer, differential pressure sensor, laser frequency (LIDAR) sensor, etc.) to collect real-time or near real-time atmospheric data. Atmospheric data collection may facilitate one or more operations of unmanned system5806and/or USMC5802. For example, atmospheric data may be used to pilot unmanned system5806, such as used to calculate optimum take-off and landing direction against the wind, correct flight drift due to wind, etc. The atmospheric data may also be used in determining an accurate calculation of a ballistic shot (e.g., by ballistic computer6050).

INS6020may be used for state estimation of USMC5802in 3D space. Depending on the application, INS6020may include one or more accelerometers, gyroscopes, magnetometers, GPS, and vision-based sensors to determine a position/orientation of USMC5802in 3D space. Such information may be used to pilot unmanned system5806. For example, USMC5802may pilot UAV100, UAV5806A, USV5806B, or UUV5806C based on movement of USMC5802in 3D space, such as explained above.

Laser system6030may include an infrared (or other frequency) laser pointer (e.g., a device-internal or data imported from a third-party laser device). As detailed below, laser system6030may be used by the weapons operator to control operation of unmanned system5806, such as allowing an operator to define a UAV, USV, or UUV maneuver, command, or action task, as detailed below. CBRNE system6040may include one or more sensors to monitor the presence of CBRNE threats, and provide an indication regarding a detected threat (e.g., via display5900).

Ballistic computer6050may determine a ballistic solution or a ballistics trajectory of a projectile fired from weapon5810. Ballistic computer6050may be in data communication with atmospheric sensor system6010to receive environmental data measurements detected by atmospheric sensor system6010. Ballistic computer6050is configured to perform real-time or near real-time ballistic calculations of a projectile along its flight path based at least on the environmental data received from atmospheric sensor system6010(e.g., wind data).

Communications device6060may be implemented to provide wired communication over a cable and/or wireless communication over an antenna. For example, communications device6060may include one or more wired or wireless communication components, such as an Ethernet connection, a wireless local area network (WLAN) component based on the IEEE 802.11 standards, a wireless broadband component, mobile cellular component, a wireless satellite component, or various other types of wireless communication components including radio frequency (RF), microwave frequency (MWF), and/or infrared frequency (IRF) components configured for communication with a network. As such, communications device6060may include an antenna coupled thereto for wireless communication purposes. In other embodiments, the communications device6060may be configured to interface with a DSL (e.g., Digital Subscriber Line) modem, a PSTN (Public Switched Telephone Network) modem, an Ethernet device, and/or various other types of wired and/or wireless network communication devices configured for communication with a network.

Logic device6070may include, for example, a microprocessor, and artificial intelligence powered neural network or other machine learning architecture, a single-core processor, a multi-core processor, a microcontroller, a programmable logic device configured to perform processing operations, a digital signal processing (DSP) device, one or more memories for storing executable instructions (e.g., software, firmware, or other instructions), and/or any other appropriate combinations of devices and/or memory to perform any of the various operations described herein. Logic device6070is configured to interface and communicate with the various components of USMC5802to perform various method and processing steps described herein. For example, logic device6070may receive (e.g., via communications device6060) flight, maneuver, or dive data from unmanned system5806, and generate flight, maneuver, or dive control instructions based at least on the flight, maneuver, or dive data and data received from INS6020, the flight, maneuver, or dive control instructions configured to pilot unmanned system5806based on movement of USMC5802in 3D space.

In various embodiments, processing instructions may be integrated in software and/or hardware as part of logic device6070, or code (e.g., software and/or configuration data) which may be stored in memory and/or a machine readable medium. In various embodiments, the instructions stored in memory and/or machine readable medium permit logic device6070to perform the various operations discussed herein and/or control various components of USMC5802for such operations.

Memory may include one or more memory devices (e.g., one or more memories) to store data and information. The one or more memory devices may include various types of memory including volatile and non-volatile memory devices, such as RAM (Random Access Memory), ROM (Read-Only Memory), EEPROM (Electrically-Erasable Read-Only Memory), flash memory, fixed memory, removable memory, and/or other types of memory.

Machine readable medium (e.g., a memory, a hard drive, a compact disk, a digital video disk, or a flash memory) may be a non-transitory machine readable medium storing instructions for execution by logic device6070. In various embodiments, machine readable medium may be included as part of USMC5802and/or separate from USMC5802, with stored instructions provided to USMC5802by coupling the machine readable medium to USMC5802and/or by USMC5802downloading (e.g., via a wired or wireless link) the instructions from the machine readable medium (e.g., containing the non-transitory information).

FIG.61illustrates remote5804configured to control operations of USMC5802, in accordance with an embodiment of the disclosure. Referring toFIG.61, remote5804may include multiple inputs/buttons for defining respective operating modes of USMC5802. For example, remote5804may include a first button6100(e.g., “MOVE” or “MOV”) associated with piloting UAV100based on movement of USMC5802in 3D space. For example, while pressing first button6100(e.g., index finger pressed on first button6100), a motion in 3D space of USMC5802causes a real-time or near real-time motion mimicking of unmanned system5806in 3D space. When first button6100is released (e.g., index finger on weapon trigger), unmanned system5806may stop all 3D motion and enter a stable, autonomous, or hover standby mode at its current position.

In embodiments, remote5804may include a second button6110(e.g., “RESET” or “RES”) associated with aligning an associated unmanned system (e.g., UAV100, UAV5806A, USV5806B, or UUV5806C) with weapon5810and or programmed and calibrated space-zero-position4700,4800, and5000. For example, operator engagement of second button6110may cause the unmanned system orientation to realign (e.g., automatically) with the current weapon 3D orientation.

FIG.62illustrates a vision-based communication functionality or control, in accordance with an embodiment of the disclosure. Referring toFIG.61, remote5804may include a third button6120(e.g., “IR”) to initiate a functionality of laser or other optical or frequency beam system6030. Referring toFIG.62, laser system6030of USMC5802may be used to draw a symbol, letter, or geometric shape6204on a surface or near unmanned system5806, where the symbol, letter, or shape6204is scanned by unmanned system5806and translated into a UAV, USV, or UUV maneuver, command, or action task.

FIG.62illustrates three example symbols—an infinity symbol6210, an X symbol6220, and a multiple circle symbol6230—with each symbol indicating a different UAV maneuver, command, or action task. For instance, UAV detection of symbol6210may cause UAV5806A to fly to a spot near the symbol and start scanning the area for heat sources (e.g., an enemy detection task). UAV detection of symbol6220may cause UAV5806A to fly to and stop at a spot near the cross of the symbol (e.g., a park UAV at spot “X” task). UAV detection of symbol6230may cause UAV5806A to map the path along the circles drawn by laser system6030and fly along the laser-marked waypoints (e.g., a UAV path task). During each autonomous flight maneuver, UAV sensors may interact with the laser-based commands to ensure safe and efficient UAV flight behavior. USV5806B and UUV5806C may be controlled in a similar manner. In embodiments, selective and predefined laser beam frequency or wavelength can be chosen to link a specific UAV100, UAV5806A, USV5806B, UUV5806C with a unique USMC5802.

FIG.63illustrates a scouting functionality or control, in accordance with an embodiment of the disclosure. Referring toFIGS.61and63, remote5804may include a fourth button6130(e.g., “SCT”) associated with reconnaissance and/or scouting operations of UAV5806A. For instance, referring toFIG.63, when a CBRNE alert is triggered by CBRNE system6040, engagement of fourth button6130may allow the operator to guide UAV5806A to an area of interest (AOI)6310for further reconnaissance based on weapon movement (e.g., by drawing an imaginary geometric shape onto the AOI6310using laser system6030of USMC5802). For example, INS6020and laser system6030may calculate the vectors from the device location to the AOI6310, allowing the necessary flight path data to be acquired that lead to the AOI6310for detailed area reconnaissance and local data collection. USV5806B and UUV5806C may be controlled in a similar manner.

FIG.64illustrates a visual, map, and sensor fusion to facilitate UAV flight path calculations and commands, in accordance with an embodiment of the disclosure. Referring toFIG.64, a fusion (“FUS”) of visual/map-based topographic data with sensor data provided by atmospheric sensor system6010, INS6020, laser system6030, and ballistic computer6050may facilitate UAV flight path calculations and UAV pattern commands. For example, the fusion of data may allow logic device6070to identify a location of interest (LOI)6410between a shooter position and a target, the LOI6410indicating a preferred geographic area for data gathering (e.g., wind speed, wind direction, threat detection, etc.). For instance, UAV mission or UAV task specific locations may be identified in 3D space. In such embodiments, logic device6070may calculate a flight path for UAV5806A to fly to the LOI6410, such as USMC5802commanding UAV5806A automatically to the identified locations or flight areas. USV5806B and UUV5806C may be controlled in a similar manner.

FIG.65illustrates an automatic threat locator in 3D space using an unmanned system, in accordance with an embodiment of the disclosure. For example, UAV5806A may spot a threat during a reconnaissance flight. That threat, for instance an enemy gunshot, is then located by UAV5806A and its location in 3D space is transmitted to USMC5802. USMC5802then calculates the distance and direction vector from the operator position to the threat location and displays the threat location information via an interactive arrow6510on display5900. Following the interactive arrow guidance on display5900allows the operator to move weapon5810intuitively and quickly towards the located threat. In embodiments, additional threat information may be provided on display5900, such as a threat type, vector data, and the distance to the threat, among other information. Such examples are illustrative only, and USV5806B and UUV5806C may be utilized to detect one or more threats in a similar manner.

FIG.66illustrates synchronized and calibrated space-zero position with multiple users, in accordance with an embodiment of the disclosure. Referring toFIG.66, a first operator6610A may pass UAV control to a second operator6610B. For example, when first operator6610A needs to pass UAV control to second operator6610B, both operators point their weapons (or observation devices) at the same or similar spot6620in 3D space (e.g., a single tree at the horizon) and engage a handover command on USMC5802(e.g., user interface5902). Spot6620may be any virtual point of directional calibration for USMC synchronization. In embodiments, INS6020and laser system6030may measure and synchronize weapon vectors6030A,6030B between the USMCs5802of first operator6610A and second operator6610B. Once the weapon vectors6030A,6030B are synchronized (e.g., based on calibrated space-zero position4700,4800, and5000), USMC5802of first operator6610A becomes inactive and USMC5802of second operator6610B will become active and takes over real-time motion control (MC) of UAV5806A. USV5806B and UUV5806C may be controlled in a similar manner.

Where applicable, various embodiments provided by the present disclosure can be implemented using hardware, software, or combinations of hardware and software. Also, where applicable, the various hardware components and/or software components set forth herein can be combined into composite components comprising software, hardware, and/or both without departing from the spirit of the present disclosure. Where applicable, the various hardware components and/or software components set forth herein can be separated into sub-components comprising software, hardware, or both without departing from the spirit of the present disclosure. In addition, where applicable, it is contemplated that software components can be implemented as hardware components, and vice-versa.

Software in accordance with the present disclosure, such as program code and/or data, can be stored on one or more computer readable mediums. It is also contemplated that software identified herein can be implemented using one or more general purpose or specific purpose computers and/or computer systems, networked and/or otherwise. Where applicable, the ordering of various steps described herein can be changed, combined into composite steps, and/or separated into sub-steps to provide features described herein.

All relative and directional references (including up, down, upper, lower, top, bottom, side, front, rear, and so forth) are given by way of example to aid the reader's understanding of the examples described herein. They should not be read to be requirements or limitations, particularly as to the position, orientation, or use unless specifically set forth in the claims. Connection references (e.g., attached, coupled, connected, joined, and the like) are to be construed broadly and may include intermediate members between a connection of elements and relative movement between elements. As such, connection references do not necessarily infer that two elements are directly connected and in fixed relation to each other, unless specifically set forth in the claims.

The present disclosure teaches by way of example and not by limitation. Therefore, the matter contained in the above description or shown in the accompanying drawings should be interpreted as illustrative and not in a limiting sense. The following claims are intended to cover all generic and specific features described herein, as well as all statements of the scope of the present method and system, which, as a matter of language, might be said to fall there between.