Abstract: An example autonomous or remotely piloted aircraft includes a virtual aperture radar system including a plurality of antennas relationally positioned on one or more surfaces of the aircraft such that individual beams from each of the plurality of antennas scan respective volumes around the aircraft and the respective volumes together substantially form an ellipsoidal field of regard around the aircraft, and a computing device having one or more processors configured to execute instructions stored in memory for performing functions of: combining the respective volumes together to form an image representative of the ellipsoidal field of regard around the aircraft, and identifying one or more objects within the image.

Abstract: Techniques and apparatuses are described that implement a smart-device-based radar system capable of performing symmetric Doppler interference mitigation. The radar system employs symmetric Doppler interference mitigation to filter interference artifacts caused by the vibration of the radar system or the vibration other objects. This filtering operation incorporates the interference artifact within the noise floor, without significantly attenuating reflections from a desired object. This mitigation can filter each radar frame independently without a priori knowledge about the frequency or amplitude of the vibration. The filtering operation is also independent of the Doppler sampling frequency and can handle aliasing. By filtering the interference artifacts, the radar system produces fewer false detections in the presence of vibrations and can detect objects that would otherwise be masked by the interference artifact.

Abstract: A hazardous fire detection radar system that may be mounted on a vehicle, such as an aircraft to detect bullets, grenades and similar projectiles that may pose a danger to the vehicle. The system may observe a wide field-of-regard (FOR) and for each projectile, determine the range of closest approach to the host platform (miss distance) and an approximate direction of origin. The FMCW radar system measures range and Doppler information for targets within its FOR and resolves Doppler ambiguity by estimating angular information (azimuth and elevation) for each target projectile. The system may estimate angular information by using a monopulse antenna pattern with the radar receiver.

Abstract: A system and method to separate close targets includes transmitting a pulse sequence and detecting a first target at a first target Doppler frequency based on processed received reflections resulting from the pulse sequence. A nulling pulse sequence designed to null the processed received reflections at the target Doppler frequency is transmitted.

Abstract: Apparatuses, systems, and methods are disclosed including an unmanned aerial vehicle (UAV), comprising: a collision detection and avoidance system comprising at least one active distance detector; and one or more processors configured to: receive a flight path with instructions for the UAV to travel from its current location to at least one other location; determine direction priorities for the collision detection and avoidance system based at least in part on the flight path; determine an obstacle for avoidance by the UAV based on the flight path going through the obstacle; receive distance data generated by the collision detection and avoidance system concerning the obstacle; process the distance data based at least in part on the determined direction priorities; and execute a target path for traveling around the obstacle and to the at least one other location based at least in part on the flight path and the distance data.

Abstract: A method for positioning a vehicle includes deriving an estimated position of the vehicle by way of a satellite signal received from the vehicle, receiving a correction signal from a second vehicle, and correcting the estimated position by way of the correction signal.

Abstract: Scores made by a player participating in a game can be tracked by using a sensor device coupled to the player to detect when the player attempts to make a score with a ball or other projectile. When a score is made, such as when something enters a goal, it is determined whether the projectile from the player is what made the score so that the score can be properly attributed to the player or another player. Attribution can be based on whether the score occurred within an appropriate time window, which could be computed from data from the sensor device. Attribution can also be based on the use of machine readable identifiers on the projectile, player, and/or goal.

Abstract: An unmanned aircraft, unmanned aviation system and method for collision avoidance during the flight operation of an unmanned aircraft are provided. The unmanned aircraft includes a lift and propulsion system and a flight control system having a flight control unit, a navigation system and an actuator system. The flight control unit has an autopilot unit. The flight control unit calculates control commands using data from the navigation system and/or the autopilot unit, which can be conveyed to the actuator system for actuating the lift and propulsion system. A collision warning system is connected with the flight control system, the collision warning system detects a collision situation and makes collision avoidance data available. A connection between the collision warning system and the autopilot unit is provided, in order to initiate an obstacle avoidance maneuver by the autopilot unit with the help of the collision avoidance data.

Abstract: Autonomous collision avoidance systems for unmanned aerial vehicles are disclosed. Systems illustratively include a detect and track module, an inertial navigation system, and an auto avoidance module. The detect and track module senses a potential object of collision and generates a moving object track for the potential object of collision. The inertial navigation system provides information indicative of a position and a velocity of the unmanned aerial vehicle. The auto avoidance module receives the moving object track for the potential object of collision and the information indicative of the position and the velocity of the unmanned aerial vehicle. The auto avoidance module utilizes the information to generate a guidance maneuver that facilitates the unmanned aerial vehicle avoiding the potential object of collision.

Abstract: Autonomous collision avoidance systems for unmanned aerial vehicles are disclosed. Systems illustratively include a detect and track module, an inertial navigation system, and an auto avoidance module. The detect and track module senses a potential object of collision and generates a moving object track for the potential object of collision. The inertial navigation system provides information indicative of a position and a velocity of the unmanned aerial vehicle. The auto avoidance module receives the moving object track for the potential object of collision and the information indicative of the position and the velocity of the unmanned aerial vehicle. The auto avoidance module utilizes the information to generate a guidance maneuver that facilitates the unmanned aerial vehicle avoiding the potential object of collision.

Abstract: Disclosed is a method and device, which provide an enhanced ability to monitor the navigation of an aircraft during a phase of flight in which the aircraft is close to the ground in which the aircraft uses positional information supplied by a satellite positioning system for the navigation. A display screen is used to display a first characteristic sign representing a selected setpoint value for a height parameter of the aircraft. The display screen also displays a second characteristic sign representing a current auxiliary value expressed in the form of an achievable height parameter. An alert is emitted when the second characteristic sign is determined to be within a predetermined height value of the first characteristic sign, and the alert is shown in visual format on the display screen. An alarm is also emitted following a predetermined time after the alert is emitted, if the setpoint value is not replaced by a new setpoint value.

Abstract: A method and apparatus for at least semi-autonomously controlling a vehicle so as to avoid collisions are provided. A sensor is utilized to scan an area proximate the vehicle for a potential object of collision. The apparatus calculates navigational states of the potential object of collision relative to the vehicle to determine that the vehicle is on a course to enter within a predetermined miss distance relative to the potential object of collision. The apparatus alters the course of the vehicle based on the calculated navigational states.

Abstract: A hostile intention assessment system and method wherein a tracking sensor subsystem (e.g., radar) tracks targets relative to a critical asset. Determinations are made to assess if a first target is approaching a second target, and to assess if the second target is approaching the critical asset. If the first target is approaching the second target to hide in the radar shadow thereof and the second target is approaching sufficiently close to the critical asset, an alert is generated.

Abstract: A method and apparatus for guiding a vehicle to intercept a target is described. The method iteratively estimates a time-to-go until target intercept and modifies an acceleration command based upon the revised time-to-go estimate. The time-to-go estimate depends upon the position, the velocity, and the actual or real time acceleration of both the vehicle and the target. By more accurately estimating the time-to-go, the method is especially useful for applications employing a warhead designed to detonate in close proximity to the target. The method may also be used in vehicle accident avoidance and vehicle guidance applications.

Abstract: A method of verifying the position of a tagging device is described.

Abstract: An obstacle recognition system for automotive vehicles is provided which is designed to recognize targets such as preceding vehicles to be tracked by a radar by grouping data elements derived through a scan of a frontal detection range using laser pulses. The system determines the radius of a curve in a road on which a system vehicle is traveling and shifts one of the data elements from which the grouping operation is to be initiated as a function of the radius of the curve, thereby enabling the recognition of the targets without decreasing the control reliability even when the system vehicle is turning the curve.

Abstract: Processing GPS signals received at moving targets and at a fixed location near instrumentation associated with timing and recording an event allows the determination of instantaneous target position to be made without a requirement for additional active tracking. An example is the recording and display of a test event involving a missile intercepting a target. The missile, target, and an instrumentation site all receive GPS signals. The signals are time tagged and the data contained thereon verified by a source and forwarded from each platform to a ground station. The data is correlated with other test data to provide a real time record and display of the missile intercepting the target. Both Time Space Position Information (TSPI) and Miss Distance Indication (MDI) are derived to a very high degree of accuracy using double difference error correction techniques. Both absolute and relative position information can be derived.

Abstract: A system (10) for determining the range between a missile (14) and a target (18) adapted for use with a semi-active missile system. The system (10) includes a first circuit (12) for generating a periodic signal (24) that is periodically frequency modulated. A second circuit (16) determines a closing rate at which the missile 14 is approaching the target 18 via the periodic signal 24. A third circuit (16) determines a value containing information corresponding to the range and the closing rate via the periodic signal. A fourth circuit (16) determines the range from the closing rate and the value. In a specific embodiment, the first circuit (12) includes an illumination system (12). The illumination system (12) includes a periodically modulated carrier signal generator (32) that generates the periodic signal (24). The periodically modulated carrier signal generator (32) includes a frequency source, a frequency modulator, and an illumination system computer.

Abstract: The method of determining an impact point of a fired projectile relative to a target. The target is first tracked with the first beam. In the meantime, a second beam is directed above the target and waits for the projectile to be situated within the beam. The projectile's impact point is subsequently predicted by extrapolating the measuring data from the second beam.

Abstract: A miss distance indicator data processing and recording apparatus compris an antenna which receives an RF missile telemetry signal from a missile attempting to intercept a target and a translated RF missile telemetry signal from an AN/DRQ-4 miss distance indicator which is on board the target. A first telemetry receiver filters, amplifies and down converts the RF missile telemetry signal to a first predetection carrier signal, and a second telemetry receiver filters, amplifies and down converts the translated RF missile telemetry signal to a second predetection carrier signal. The first and second predetection carrier signals are then supplied to an analog magnetic tape recorder which records the signals. The first and second predetection carrier signals are also supplied to a double balanced mixer which is connected to a frequency analyzer.

Abstract: A miss distance scoring system comprising four antennas which are configu to provide for an optimal radiation pattern of pulsed radio frequency energy to determine a missile's miss distance and miss direction from a target. Reflected pulses from a missile are received by each of the four antennas and then supplied by a radio frequency switch to a scalar scoring system which provides an analog video signal to four analog switches. The four analog switches are also connected to a controller which provides control signals to the switches to separately activate each switch. The activated analog switch then samples and holds the analog video signal with the sample being provided to an associated bandpass filter of the switch which is one of four bandpass filters. The sampled portions of the analog video signal are provided to a multiplexer and then passed sequentially through the multiplexer.

Abstract: A method for firing a computerized radar weapon system upon a fast target to reduce errors in aim caused by aim-biasing factors that vary in time and space includes computing a point along an extrapolated target track ahead of the target at which to stage an interception. A spotting round is fired at the point to zero-in just before the interception and then a correctly-aimed intercept round is fired at the point in time to make the interception. Additional interceptions may be staged at backup intercept points to guard against a miss, a burst of spotting rounds may be fired at an intercept point to average out perturbations in the trajectory of the projectile from each one of the rounds, and conventional monopulse radar methods of aim bias measurement may be employed to detect projectile miss information.

Abstract: An interceptor's point of impact on a targeted missile is quickly revealed in the milliseconds preceeding and following the impact by illuminating the target with radar signals at a high pulse repetition rate and observing the reflected radar echoes on an A-scope display. The position within the returned radar echo of a double echo and related changing phenomenon indicates the point of impact. Failing intercept, the miss distance is computed from the relative slant ranges to the targeted missile, the interceptor, and the double echo. The type warhead killed is revealed by a spectrograph slaved to the radar's antenna. Various techniques assist with the interpretation of the displayed patterns, including subtraction of previously stored patterns and display of the difference, display of characteristic patterns of various known missiles and interceptors stored in "look up" tables, and neural networks.

Abstract: A multiple radar interference suppressor for use in a missile scoring system. The multiple radar interference suppressor phase locks the pulse repetition frequency of each drone (unmanned) aircraft to one other drone of the plurality of aircrafts. The phase of the pulse repetition frequency of each of the transmitting radars of the drones is slightly offset from one another. As a result, mutual interference among the drones transmitting radar signals and receiving radar signals of other drones is overcome. Lastly, the transmitted signals and received signals are encoded so that unwanted reflections and scattering from a target may be substantially eliminated or suppressed.

Abstract: A system for determining the trajectory of a missile and the minimum miss distance with respect to a target aircraft, comprises two transmitters on the aircraft each cooperating with four receivers on the aircraft. Each transmitter radiates a succession of pulses each having a very short duration of the order of 2 nanoseconds and each having a shape approximating to a single sine wave. The transmitted pulses are reflected from the missile and received by the receivers each of which is accurately time gated so that the received signal is sampled at a predetermined time delay after the radiation of each transmit pulse. A time delay corresponds to a particular missile range, and by gating at different delays the sampled signals indicate when the missile enters or leaves a plurality of range envelopes surrounding the target. Processing of the sampled signals enables the missile trajectory and minimum miss distance to be computed.

Abstract: A sensing circuit is assumed to produce in phase and quadrature Doppler signals. The relative phase of these signals is used to determine the passage of object such that correctly related zero passages in the two signals are counted, and the count state within certain periods of time yields information to check the significance of signals as genuine Doppler signals.

Abstract: An iterative process for computing the trajectory of one object containing a transmitter relative to another object containing a plurality of receivers is disclosed. The process contains a subprocess which estimates the trajectory band from the Doppler shifts in the signals measured by the receivers. The process contains another subprocess where the received Doppler signals are filtered by filter adapted to select the Doppler signals which would have been produced by an object following the trajectory estimated by the first subprocess.

Abstract: A radar transceiver and communications transmitter mounted on a target for communicating video signals from the radar to a remote receiver which has associated therewith an FFT detector for detecting scoring encounters, and a computer or microprocessor which first analyzes the video signals to provide signals indicative of the Doppler frequency shift at a plurality of different times through the use of autoregressive spectral estimation and then computes a model projectile flight pattern, including miss distance and closing velocity, which flight pattern fits the computed Doppler frequency shifts at the plurality of different times.