Abstract: A method and system for coordination of a plurality of munitions in a Global Positioning System (GPS) denied attack of a plurality of ground targets. A relative position of each munition is determined relative to the other munitions in the salvo and a distance range is determined of each munition relative to the other munitions in the salvo. A constellation formation is determined for the plurality of munitions in the salvo relative to a target seeker basket such that each munition in the constellation formation is navigated to its respective target seeker basket, whereby a change in navigation for each munition is caused when necessary such that each munition arrives at its determined seeker basket at an approximate same time.

Abstract: A method for collaboration of a plurality of nodes includes determining at each node SLAM data for the node, the SLAM data including estimated position of features and/or targets observed and processed by the node using SLAM algorithms and covariance associated with the estimated positions, communicating at each node the node's SLAM data to the other nodes via each nodes' datalink communication system, receiving at each node SLAM data communicated from the other nodes via each node's datalink communication system, combining at each node the node's SLAM data and the SLAM data received from the other nodes based on features or targets included in SLAM data from the other nodes, refining at each node estimated positions of features and/or targets based on results of the combining, and navigating each node to a target at the target destination as a function of at least one of the refined estimated positions.

Abstract: A method and system for constraining navigational drift in a munition caused by Inertial Measurement Unit (IMU) bias error during flight of the munition in a constellation of a plurality of munitions in a Global Positioning System (GPS) denied attack. Each munition is provided with a datalink communication system to communicate with other munitions in the constellation and a navigation system having an IMU for guiding the munition in flight. An estimated position and covariance of the estimated position is determined for each munition via each munitions' navigation system. A range of each munition relative to at least one other munition in the munition constellation is determined via each munitions' datalink communication system. The estimated position and range to at least one other munition in the munition constellation is shared by each munition via each munitions' datalink communication system.

Abstract: A method and system for coordinating munitions in a salvo to form a constellation in a Global Positioning System (GPS) denied attack of a plurality of targets. Each munition is provided with a datalink communication system to communicate with other munitions and a navigation system for guiding the munition in flight. An estimated position of each munition is determined relative to the other munitions in the salvo via each munitions' datalink communication system. Two-Way Timing and Ranging (TRTW) techniques are utilized to determine positioning of each munition relative to one another. A distance range of each munition relative to the other munitions in the salvo is determined via each munitions' datalink communication system. A constellation formation of the plurality of munitions in the salvo is determined based upon the determined relative position and distance range of each munition relative to one another.

Abstract: A method including obtaining at each of a plurality of nodes navigation data of the node, communicating at each node its navigation data to the other nodes via each node's datalink communication system, receiving at each node navigation data communicated from the other nodes, determining at each node distance range of the node relative to the other nodes for which navigation data was received, determining at each node a constellation of the nodes as a function of the navigation data of the node, the navigation data received from the other nodes, and the distance range of the node relative to the other nodes, accessing formation constraints to form the constellation at each node, calculating at each node first guidance commands to maneuver the node to adjust the constellation to be in compliance with the formation constraints; and navigating each node to execute a maneuver based on the first guidance commands.

Abstract: A method and system for constraining navigational drift in a munition caused by Inertial Measurement Unit (IMU) bias error during flight of the munition in a constellation of a plurality of munitions in a Global Positioning System (GPS) denied attack. Each munition is provided with a datalink communication system to communicate with other munitions in the constellation and a navigation system having an IMU for guiding the munition in flight. An estimated position and covariance of the estimated position is determined for each munition via each munitions’ navigation system. A range of each munition relative to at least one other munition in the munition constellation is determined via each munitions’ datalink communication system. The estimated position and range to at least one other munition in the munition constellation is shared by each munition via each munitions’ datalink communication system.

Abstract: A method for collaboration of a plurality of nodes includes determining at each node SLAM data for the node, the SLAM data including estimated position of features and/or targets observed and processed by the node using SLAM algorithms and covariance associated with the estimated positions, communicating at each node the node's SLAM data to the other nodes via each nodes' datalink communication system, receiving at each node SLAM data communicated from the other nodes via each node's datalink communication system, combining at each node the node's SLAM data and the SLAM data received from the other nodes based on features or targets included in SLAM data from the other nodes, refining at each node estimated positions of features and/or targets based on results of the combining, and navigating each node to a target at the target destination as a function of at least one of the refined estimated positions.

Abstract: A method is provided of generating a course-correction signal for a spin-stabilized projectile. The method includes capturing a time-sequence of images of a scene at a frame rate, comparing respective current images of the time-sequence of images to a corresponding previous image of the time-sequence of images, determining a rotation angle between the current and previous images, rotating the images using the rotation angle, identifying a target in the rotated images, generating target bearing angles to cause the projectile to correct its course toward the target using the target bearing angles, and adjusting the target bearing angles to compensate for the rotation of the images.

Abstract: An acoustic airspeed sensor system can include at least one acoustic transmitter configured to provide an acoustic pulse, a plurality of acoustic receivers including at least a first acoustic receiver positioned at a first radial distance from the at least one acoustic transmitter and a second acoustic receiver positioned at a second radial distance from the at least one acoustic transmitter. The first acoustic receiver is configured to receive the acoustic pulse at a first time and output a first receiver signal. The second acoustic receiver is configured to receive the acoustic pulse at a second time and output a second receiver signal. The sensor system can include an air data module operatively connected to the first acoustic receiver and the second acoustic receiver. The air data module is configured to determine true air speed (TAS) based upon a first signal delay, a second signal delay, and a wind angle.

Abstract: Apparatus and associated methods relate to coordinating guided-missile targeting among multiple guided missiles using inter-missile optical communications. An inter-missile communications channel is optically established with a first guided missile illuminating a first target within a scene aligned along a first missile axis, and a second guided missile receiving the illumination reflected by the first target. By illuminating the first target within the scene, the first guided missile designates the first target. The second guided missile can be configured to navigate to the designated first target or to select a second target not designated by the first guided missile. In some embodiments, the second guided missile can be configured to illuminate its selected second target so as to designate the selected second target and to communicate the designation to other guided missiles.

Abstract: An acoustic airspeed sensor system can include at least one acoustic transmitter configured to provide an acoustic pulse, a plurality of acoustic receivers including at least a first acoustic receiver positioned at a first radial distance from the at least one acoustic transmitter and a second acoustic receiver positioned at a second radial distance from the at least one acoustic transmitter. The first acoustic receiver is configured to receive the acoustic pulse at a first time and output a first receiver signal. The second acoustic receiver is configured to receive the acoustic pulse at a second time and output a second receiver signal. The sensor system can include an air data module operatively connected to the first acoustic receiver and the second acoustic receiver. The air data module is configured to determine true air speed (TAS) based upon a first signal delay, a second signal delay, and a wind angle.

Abstract: A method is provided of generating a course-correction signal for a spin-stabilized projectile. The method includes capturing a time-sequence of images of a scene at a frame rate, comparing respective current images of the time-sequence of images to a corresponding previous image of the time-sequence of images, determining a rotation angle between the current and previous images, rotating the images using the rotation angle, identifying a target in the rotated images, generating target bearing angles to cause the projectile to correct its course toward the target using the target bearing angles, and adjusting the target bearing angles to compensate for the rotation of the images.

Abstract: Apparatus and associated methods relate to controlling an explosive burst event of a ballistic ordnance, based on a ground surface topography mapped by a phased-array LIDAR system. The ground surface topography is mapped using an integrated photonics LIDAR system configured to: generate a beam of coherent light; non-mechanically steer a beam of coherent light over a solid angle about an ordnance axis; and detect the beam reflected from the ground surface. The integrated photonics LIDAR system is further configured to map the ground surface topography, based on a functional relation between an angle of the beam and a time difference between generating the beam and detecting the beam reflected from the ground surface. A timing and/or direction of the explosive burst can be controlled, based on the calculated ground surface topography, so as to advantageously realize a desired effect of the explosion.

Abstract: Apparatus and associated methods relate to a dual-mode seeker for a guided missile equipped with seeker/designation handoff capabilities. The dual-mode seeker has Semi-Active Laser (SAL) and Image InfraRed (IIR) modes of operation. SAL-mode operation includes detecting laser pulses reflected by a target designated by a remote Laser Target Designator (LTD) and determining target direction using the detected laser pulses. SAL-mode operation also includes determining the Pulse Repetition Interval (PRI) of the detected laser pulses, and predicting timing of future pulses generated by the LTD. IIR-mode operation includes capturing Short-Wavelength InfraRed (SWIR) images of a scene containing the designated target and determining target location using one or more image features associated with the designated target.

Abstract: An inertial measurement unit (IMU) includes an inertial sensor assembly including a plurality of accelerometers and a plurality of rate gyroscopes, an inertial sensor compensation and correction module, and a Kalman estimator module. The inertial sensor compensation and correction module is configured to apply a set of error compensation values to sensed acceleration and rotational rate to produce a compensated acceleration and a compensated rotational rate of the IMU. The Kalman estimator module is configured to determine a set of error correction values based on a difference between a change in integrated acceleration of the IMU and a change in true airspeed of the IMU. The inertial sensor compensation and correction module is further configured to apply the set of error correction values to each of the compensated acceleration and the compensated rotational rate to output an error-corrected acceleration and an error-corrected rotation rate.

Abstract: Apparatus and associated methods relate to ranging an object nearby an aircraft by triangulation of spatially-patterned light projected upon and reflected from the object. The spatially patterned light can have a wavelength corresponding to infrared light and/or to an atmospheric absorption band. In some embodiments, images of the object are captured both with and without illumination by the spatially-patterned light. A difference between these two images can be used to isolate the spatially-patterned light. The two images can also be used to identify pixel boundaries of the object and to calculate ranges of portions of the object corresponding to pixels imaging these portions. For pixels imaging reflections of the spatially-patterned light, triangulation can be used to calculate range. For pixels not imaging reflections of the spatially-patterned light, ranges can be calculated using one or more of the calculated ranges calculated using triangulation corresponding to nearby pixels.

Abstract: Apparatus and associated methods relate to coordinating guided-missile targeting among multiple guided missiles using inter-missile optical communications. An inter-missile communications channel is optically established with a first guided missile illuminating a first target within a scene aligned along a first missile axis, and a second guided missile receiving the illumination reflected by the first target. By illuminating the first target within the scene, the first guided missile designates the first target. The second guided missile can be configured to navigate to the designated first target or to select a second target not designated by the first guided missile. In some embodiments, the second guided missile can be configured to illuminate its selected second target so as to designate the selected second target and to communicate the designation to other guided missiles.

Abstract: Apparatus and associated methods relate to a dual-mode seeker for a guided missile equipped with seeker/designation handoff capabilities. The dual-mode seeker has Semi-Active Laser (SAL) and Image InfraRed (IIR) modes of operation. SAL-mode operation includes detecting laser pulses reflected by a target designated by a remote Laser Target Designator (LTD) and determining target direction using the detected laser pulses. SAL-mode operation also includes determining the Pulse Repetition Interval (PRI) of the detected laser pulses, and predicting timing of future pulses generated by the LTD. IIR-mode operation includes capturing Short-Wavelength InfraRed (SWIR) images of a scene containing the designated target and determining target location using one or more image features associated with the designated target.

Abstract: Apparatus and associated methods relate to controlling an explosive burst event of a ballistic ordnance, based on a ground surface topography mapped by a phased-array LIDAR system. The ground surface topography is mapped using an integrated photonics LIDAR system configured to: generate a beam of coherent light; non-mechanically steer a beam of coherent light over a solid angle about an ordnance axis; and detect the beam reflected from the ground surface. The integrated photonics LIDAR system is further configured to map the ground surface topography, based on a functional relation between an angle of the beam and a time difference between generating the beam and detecting the beam reflected from the ground surface. A timing and/or direction of the explosive burst can be controlled, based on the calculated ground surface topography, so as to advantageously realize a desired effect of the explosion.

Abstract: An inertial measurement unit (IMU) includes an inertial sensor assembly including a plurality of accelerometers and a plurality of rate gyroscopes, an inertial sensor compensation and correction module, and a Kalman estimator module. The inertial sensor compensation and correction module is configured to apply a set of error compensation values to sensed acceleration and rotational rate to produce a compensated acceleration and a compensated rotational rate of the IMU. The Kalman estimator module is configured to determine a set of error correction values based on a difference between a change in integrated acceleration of the IMU and a change in true airspeed of the IMU. The inertial sensor compensation and correction module is further configured to apply the set of error correction values to each of the compensated acceleration and the compensated rotational rate to output an error-corrected acceleration and an error-corrected rotation rate.