Abstract: The present invention relates to a method for steering a UAV, Unmanned Aerial Vehicle, to enable a high level command of the UAV. The method comprising the steps of: determining (500) a reference position (200, 300, 400) related to a position (210, 310, 410) for a moving object (220, 320, 420) which the UAV should follow; calculating (515) a smoothed position (230, 330, 430) based on the reference position (200, 300, 400), wherein the smoothed position (230, 330, 430) is calculated so that the smoothed position (230, 330, 430) moves more smoothly than the reference position (200, 300, 400); and steering (525) the UAV so that UAV follows the smoothed position (230, 330, 430).

Abstract: A collision avoidance system for deciding whether an autonomous avoidance maneuver should be performed in order to avoid a mid-air collision between a host aerial vehicle equipped with the system and an intruding aerial vehicle. At least one electro-optical sensor captures consecutive images of an intruding vehicle such that the vehicle manifests itself as a target point in the images. An image processor estimates the azimuth angle, elevation angle and a first time-to-collision estimate of the time to collision between the host vehicle and the intruding vehicle. The first time-to-collision estimate is estimated based on scale change in the target point between at least two of said consecutive images. A tracking filter is arranged to estimate a second time-to-collision estimate using the azimuth angle, the elevation angle and the first time-to-collision estimate estimated by the image processor as input parameters.

Abstract: The present invention relates to a method for steering a UAV, Unmanned Aerial Vehicle, to enable a high level command of the UAV. The method comprising the steps of: determining (500) a reference position (200, 300, 400) related to a position (210, 310, 410) for a moving object (220, 320, 420) which the UAV should follow; calculating (515) a smoothed position (230, 330, 430) based on the reference position (200, 300, 400), wherein the smoothed position (230, 330, 430) is calculated so that the smoothed position (230, 330, 430) moves more smoothly than the reference position (200, 300, 400); and steering (525) the UAV so that UAV follows the smoothed position (230, 330, 430).

Abstract: A range estimation device for use in an aerial platform including at least one passive sensor, a trajectory determination unit and a control system. A control unit is arranged to indicate to the control system to perform own-ship maneuvering of the aerial platform such that characteristics of passive sensor measurements from the at least one passive sensor enable a range estimation to a target to be determined. The control unit is arranged to determine characteristics of the own-ship maneuvering based on the range uncertainty estimations to the target. A method and a computer program product for use in range estimation device.

Abstract: A range estimation device for use in an aerial platform including at least one passive sensor, a trajectory determination unit and a control system. A control unit is arranged to indicate to the control system to perform own-ship maneuvering of the aerial platform such that characteristics of passive sensor measurements from the at least one passive sensor enable a range estimation to a target to be determined. The control unit is arranged to determine characteristics of the own-ship maneuvering based on the range uncertainty estimations to the target. A method and a computer program product for use in range estimation device.

Abstract: A collision avoidance system for deciding whether an autonomous avoidance manoeuvre should be performed in order to avoid a mid-air collision between a host aerial vehicle equipped with the system and an intruding aerial vehicle. At least one electro-optical sensor captures consecutive images of an intruding vehicle such that the vehicle manifests itself as a target point in the images. An image processor estimates the azimuth angle, elevation angle and a first time-to-collision estimate of the time to collision between the host vehicle and the intruding vehicle. The first time-to-collision estimate is estimated based on scale change in the target point between at least two of said consecutive images. A tracking filter is arranged to estimate a second time-to-collision estimate using the azimuth angle, the elevation angle and the first time-to-collision estimate estimated by the image processor as input parameters.