Abstract: A path is automatically routed for a sensor platform that projects a constant sensor footprint to the surface to observe a region of interest without crossing into an excluded area and to tracking that path. The path is routed by defining a bounding region around the region of interest and defining a convex hull around an obstacle within the region of interest. A parallel arrangement of rectangular planks is generated from each edge of the convex hull out to the bounding region. The extent of each rectangular plank is bounded at one end by the intersection of the plank with the bounding region and at the other end by the intersection of the plank with an extension of a next edge of the convex hull. The path is routed to traverse the parallel arrangement of rectangular planks for each edge of the convex hull in a raster scan pattern and to circle the convex hull in a clockwise or counter-clockwise direction.

Abstract: A method for autonomous weapon effects planning includes receiving the desired lethality and collateral effects information on a target and autonomously selecting at least one weapon and fuze setting from an inventory of weapons based on the received lethality and collateral effects information. The method further includes autonomously; determining which weapon with fuze setting and terminal elevation and heading angles satisfies the desired lethality and collateral effects; shaping weapon trajectory to satisfy weapon maneuverability, terrain clobber avoidance and guidance requirements and planning weapon launch conditions for the one or more autonomously selected weapons. The weapon launch conditions include at least a launch point or a launch corridor.

Abstract: A method for autonomous weapon effects planning includes receiving the desired lethality and collateral effects information on a target and autonomously selecting at least one weapon and fuze setting from an inventory of weapons based on the received lethality and collateral effects information. The method further includes autonomously; determining which weapon with fuze setting and terminal elevation and heading angles satisfies the desired lethality and collateral effects; shaping weapon trajectory to satisfy weapon maneuverability, terrain clobber avoidance and guidance requirements and planning weapon launch conditions for the one or more autonomously selected weapons. The weapon launch conditions include at least a launch point or a launch corridor.

Abstract: An optically-aided, inertially guided missile. The inventive missile includes a receiver for accepting guidance commands from a source located on an independent frame of reference relative to the missile and providing a first signal in response thereto. A filter is mounted on the missile for processing the first signal and providing a second signal in response thereto. The filter outputs commands to a navigation system which provides missile guidance commands in a conventional manner. In the illustrative implementation, the filter is a Kalman filter configured to eliminate the effects of gunner jitter and optical guidance system noise thereby significantly improving missile terminal performance at long ranges. In the illustrative implementation, the navigation system includes an inertial sensor assembly. The navigation system outputs a signal representative of missile-to-target cross track position and velocity in response to outputs from the sensor assembly and the filter.