Abstract: A method and apparatus for directing a pursuing vehicle, such as a torpedo, on an intercept trajectory from a launching vehicle to a target vehicle with evasion capabilities and the target vehicle is alerted to pursuing vehicle at the time that the pursuing vehicle enables its seeker. Models of the pursuing vehicle and evading target provide proposed trajectories based upon various environmental considerations. A guidance system uses estimates of initial operating parameter solutions for the pursuing vehicle, such as gyro angle, intercept time and run-to-enable time, to begin a convergent, iterative process that defines final operating parameter solutions from which the guidance parameters are determined and transferred to the pursuing vehicle at launch.

Abstract: A method and apparatus for directing a pursuing vehicle, such as a torpedo, on an intercept trajectory from a launching vehicle to a target vehicle with evasion capabilities and the target vehicle is alerted to pursuing vehicle at the time that the pursuing vehicle enables its seeker. Models of the pursuing vehicle and evading target provide proposed trajectories based upon various environmental considerations. A guidance system uses estimates of initial operating parameter solutions for the pursuing vehicle, such as gyro angle, intercept time and run-to-enable time, to begin a convergent, iterative process that defines final operating parameter solutions from which the guidance parameters are determined and transferred to the pursuing vehicle at launch.

Abstract: A method for the automated generation of ballistic constants for use in a trajectory control system. The potential trajectory of a pursuing vehicle is divided into a plurality of multiple sequential phases wherein each phase is characterized by a plurality of ballistic parameters. Known simulated data from a number of runs concerning the pursuing vehicle is analyzed. Ballistic parameter values for each run are obtained and statistically analyzed to produce generic constants for a particular set of operating conditions. Resulting matrices are stored as part of a two-dimensional, kinematic vehicle model to facilitate the propagation of projected trajectories during firing control solutions.

Abstract: A beam rider guidance system for directing a steerable object, such as a pedo, using a limited set of discrete guidance commands. The guidance system senses a guidance point distance representing the guidance point position relative to a bearing line to a target and the rate of change of distance between the bearing line and the torpedo. Two corresponding input functions are classified into first and second sensed linguistic variables based upon membership functions from first and second different sensed variable membership function sets to become fuzzy inputs that produce fuzzy output control membership functions from a control output membership function set based upon the logical manipulation of the fuzzy inputs. These fuzzy output functions are in the form of spikes and are converted into one of a plurality of predetermined discrete commands. A tactical limiter unit selectively defines a series of situations in which commands are allowed or not allowed to reach the torpedo.

Abstract: A method and apparatus for directing a pursuing vehicle, such as a torpedo, on an intercept trajectory from a launching vehicle to a target vehicle th evasion capabilities. Models of the pursuing vehicle and evading target provide proposed trajectories based upon various environmental considerations. A guidance system uses estimates of initial operating parameter solutions, such as gyro angle, alertment time and intercept time, to begin a convergent, iterative process that defines final operating parameter solutions from which the guidance parameters are determined and transferred to the pursuing vehicle at launch. During each iteration, the solution determines an alertment time and an alertment bearing from the target vehicle to the pursuing vehicle at the alertment time. A selected evasive strategy includes a turn that is calculated relative to the alertment bearing.

Abstract: A tail chase guidance system for directing a steerable object, such as a pedo, to a contact along a final approach course. The guidance system senses a bearing from the steerable object to the contact and the course of the steerable object. If the contact is moving, the system determines a contact course as a final approach course; if stationary, a value is provided for the final approach course. Various signals are then generated based upon these bearings and courses and classified into sensed linguistic variables based on membership functions from the different sensed variable membership function sets to become fuzzy inputs to a controller that produces fuzzy control output linguistic variables and associated membership functions from a control output membership function set based upon logical manipulation of the fuzzy inputs.

Abstract: A target intercept guidance system for directing a steerable object, such a torpedo with a guidance point. The guidance system is located at a launching vehicle and senses the bearings from the launching vehicle to a target and to the steerable object as it moves toward the target. Various error signals are then generated and classified into sensed linguistic variables using membership functions of corresponding sensed variable membership function sets based upon primary and secondary goals to become fuzzy inputs that produce fuzzy control output membership functions from a control output membership function set based upon logical manipulation of the fuzzy inputs. The control system performs this classification and selection according to sometimes competing goals of excluding the torpedo from a particular operating zone while guiding the torpedo in response to variations in a target bearing relative to the guidance point.

Abstract: A method and apparatus for directing a pursuing vehicle, such as a torpedo, n an intercept trajectory from a launching vehicle to a target vehicle with evasion capabilities. Models of the pursuing vehicle and evading target provide proposed trajectories based upon various environmental considerations. A guidance system uses estimates of initial operating parameter solutions, such as gyro angle, alertment time and intercept time, to begin a convergent, iterative process that defines final operating parameter solutions from which the guidance parameters are determined and transferred to the pursuing vehicle at launch. These parameters take into account various evasive strategies that a target vehicle might use to avoid being intercepted by the pursuing vehicle.

Abstract: A beam rider guidance system for directing a steerable object, such as a torpedo. The guidance system is located at a launching vehicle and senses the bearings from the launching vehicle to a target and to the steerable object as it moves toward the target. Various error signals are then generated and classified into membership functions of different sensed variable membership function sets based upon primary and secondary goals to become fuzzy inputs to a controller that produces fuzzy output control output membership functions from a control output membership function set based upon logical manipulation of the fuzzy inputs. The control system performs this classification and selection according to sometimes competing goals of excluding the torpedo from a particular operating zone while guiding the torpedo in response to a bearing through that operating zone.

Abstract: A target intercept guidance system for directing a steerable object, such a torpedo. The guidance system senses the bearing and range between a first site and a second site and determines the position of the steerable object as it moves toward the second site. Two error functions are produced. The first error function represents the angle between the bearing from the steerable object to the second site and the course of the steerable object. The second error signal represents the rate of change of that angle. These error signals are classified into first and second sensed linguistic variables based upon membership functions from the first and second sensed variable membership function sets to become fuzzy inputs that produce fuzzy output control output membership functions from a control output membership function set based upon logical manipulation of the fuzzy inputs. These fuzzy control output membership functions are converted into an output having an appropriate form for control.

Abstract: A target intercept guidance system for directing a steerable object, such a torpedo with an acoustic homing device. The guidance system senses the bearing and range between a first site and a second site and determines the position of a guidance point for the steerable object as it moves toward the second site. Two error functions are produced. The first error function represents the angle between the bearing from the guidance point of the steerable object to the second site and the course of the steerable object. The second error signal represents an estimate of the rate of change of that angle.

Abstract: A system for guiding a steerable object, such as a torpedo, from a launch te, such as a submarine, to a contact or target. The system generates two distinct sets of guidance commands. One set is based upon a guidance command model that is selected to be the optimal model for a given tactical situation; the other, for a situation in which a communications path between the launch site and steerable object fails. At the steerable object, an integrity detector determines the integrity of the communications path. A command receptor and storage unit receives the two sets of signals corresponding to the two sets of selected commands. The one set is passed along so long as the communications path has integrity. Otherwise the system defaults and pursues guidance according to the second set of commands.

Abstract: A beam rider guidance system for directing a steerable object, such as a pedo. The guidance system senses the bearing between a first site and a second site and determines the bearing between the first site and the steerable object as it moves toward the second site. Various error signals are then generated and classified into sensed linguistic variables based on membership functions of different sensed variable membership function sets to become fuzzy inputs to a controller that produces fuzzy control output linguistic variables and associated membership functions from a control output membership function set based upon logical manipulation of the fuzzy inputs. These fuzzy control output membership functions are converted into an output having an appropriate form for control, subject to optional constraint to prevent unwanted effects.

Abstract: An adaptive trajectory apparatus and method provide vehicle control comma to steer an underwater vehicle launched from a vessel towards a contact. A plurality of measured/estimated position and motion parameters associated with the contact are provided. The contact parameters also include information on quality and alertment status. The contact parameters are compared with an information matrix that defines a plurality of trajectory strategies and data parameters required to effect each of the trajectory strategies. A trajectory strategy is defined as a candidate trajectory strategy when the required data parameters are included in the measured/estimated contact parameter set. An expert system periodically selects a unique possible trajectory strategy based upon a predetermined set of rules that utilize the received contact parameters, quality thereof, contact alertment status and vehicle state information received from the underwater vehicle.

Abstract: A method of determining range from a moving vessel to an approaching object sing only two bearing measurements is provided. At a first point in time, a first bearing measurement to the approaching object is obtained using the vessel's conventional bearing sensor. The vessel and approaching object are then postulated to be on an intercept course based on the vessel's first velocity vector and first bearing measurement. At a second point in time, the vessel commences a maneuver to a known second velocity vector different from the first velocity vector. Then, at a third point in time, a second bearing measurement to the approaching object is obtained using the vessel's bearing sensor. At the same third point in time, a virtual bearing to the approaching object is provided as if the vessel and the approaching object were on the postulated intercept course.