Abstract: Methods and apparatus provide physiological movement detection, such as gesture, breathing, cardiac and/or gross motion, such as with sound, radio frequency and/or infrared generation, by electronic devices such as vehicular processing devices. The electronic device in a vehicle may, for example, be any of an audio entertainment system, a vehicle navigation system, and a semi-autonomous or autonomous vehicle operations control system. One or more processors of the device, may detect physiological movement by controlling producing sensing signal(s) in a cabin of a vehicle housing the electronic device. The processor(s) control sensing, with a sensor, reflected signal(s) from the cabin. The processor(s) derive a physiological movement signal with the sensing signal and reflected signal and generate an output based on an evaluation of the derived physiological movement signal.

Abstract: A method for authorizing and executing an operation for at least one portable launch assembly in a potential area is disclosed. An initial launch parameter set corresponding to an intended area is provided to a launch unit. An airspace deconfliction (AD) module within one or more electronic devices is provided an authorization to launch the launch unit based on an airspace collision avoidance status that is determined by ensuring there are no possible points of intersection between the launch unit and an air vehicle in an airspace surrounding the launch unit. After launch, the launch unit confirms an intended launch status according to one or more measured launch parameters, and, based upon the confirmed launch status, guides the launch unit to the intended area.

Abstract: A system for obtaining improved position accuracy with ground penetrating radar includes a position locating device capable of detecting objects, such as substrate objects, at at least two points along an extent thereof. Methods for its use include collecting, modeling, and comparing detected radar data with other detected radar data and/or previously input data and/or assumed and/or predicted data.

Abstract: A magnetic tracking system for determining position and orientation of an object in three-dimensional space, the system including an electromagnet assembly including first and second electromagnets that are coaxial, non-coincident, and spaced from each other by a fixed distance, at least one magnetometer positioned at a movable location relative to the electromagnet assembly and configured to measure three orthogonal components of a magnetic field vector, and a microcontroller unit operably connected to the at least one magnetometer. The microcontroller unit is configured to control measurement of magnetic fields by the at least one magnetometer and compute a relative position and orientation of the electromagnet assembly and the at least one magnetometer in five degrees of freedom using at least two equations with two unknowns and coordinate transformation equations relating the coordinate frames of the electromagnet assembly and the at least one magnetometer.

Abstract: The technology relates to payload separation during descent of an aerial vehicle. A flight termination system (FTS) for a lighter than air (LTA) vehicle can include a first, a second, and a third mechanical actuation system. The first mechanical actuation system can be triggered in a first stage, causing an envelope and a payload of the LTA vehicle to separate. The second mechanical actuation system can be triggered in a second stage, causing a parachute to deploy from a component coupled to the payload. The third mechanical actuation system can be triggered in a third stage, causing a parachute to deploy from the envelope. In some cases, one or more of the mechanical actuation systems includes a squib.

Abstract: Embodiments include active protection systems and methods for an aerial platform. An onboard system includes one or more radar modules, detects aerial vehicles within a threat range of the aerial platform, and determines if any of the plurality of aerial vehicles are an aerial threat. The onboard system also determines an intercept vector to the aerial threat, communicates the intercept vector to an eject vehicle, and causes the eject vehicle to be ejected from the aerial platform to intercept the aerial threat. The eject vehicle includes a rocket motor to accelerate the eject vehicle along an intercept vector, alignment thrusters to rotate a longitudinal axis of the eject vehicle to substantially align with the intercept vector, and divert thrusters to divert the eject vehicle in a direction substantially perpendicular to the intercept vector. The eject vehicle activates at least one of the alignment thrusters responsive to the intercept vector.

Abstract: A method for controlling a propulsion system of a marine vessel includes receiving proximity measurements from one or more proximity sensors on the marine vessel, identifying an object located less than a buffer distance from a side of the marine vessel, and controlling a display device to indicate the side of the marine vessel where the object is located. A user input is then received to activate a buffer zone on the side of the marine vessel where the object is located, and then at least one propulsion device is automatically controlled based on the proximity measurements to move the marine vessel away from the object.

Abstract: Iterative methods for direction of arrival estimation of a signal at a receiver with a plurality of spatially separated sensor elements are described. A quantized estimate of the angle of arrival is obtained from a compressive sensing solution of a set of equations. The estimate is refined in a subsequent iteration by a computed error based a quantized estimate of the direction of arrival in relation to quantization points offset from the quantization points for the first quantized estimate of the angle of arrival. The iterations converge on an estimated direction of arrival.

Abstract: Methods and apparatus provide physiological movement detection, such as gesture, breathing, cardiac and/or gross motion, such as with sound, radio frequency and/or infrared generation, by electronic devices such as vehicular processing devices. The electronic device in a vehicle may, for example, be any of an audio entertainment system, a vehicle navigation system, and a semi-autonomous or autonomous vehicle operations control system. One or more processors of the device, may detect physiological movement by controlling producing sensing signal(s) in a cabin of a vehicle housing the electronic device. The processor(s) control sensing, with a sensor, reflected signal(s) from the cabin. The processor(s) derive a physiological movement signal with the sensing signal and reflected signal and generate an output based on an evaluation of the derived physiological movement signal.

Abstract: A marine propulsion system includes at least one propulsion device and a user input device configured to facilitate input for engaging automatic propulsion control functionality with respect to a docking surface, wherein the user input device includes a direction indicator display configured to visually indicate a direction with respect to the marine vessel. A controller is configured to identify a potential docking surface, determine a direction of the potential docking surface with respect to the marine vessel, and control the direction indicator display to indicate the direction of the potential docking surface with respect to the marine vessel. When a user selection is received via the user input device to select the potential docking surface as a selected docking surface, and propulsion of the marine vessel is automatically controlled by controlling the at least one propulsion device to move the marine vessel with respect to the selected docking surface.

Abstract: Techniques for calculating a geospatial position of a point of interest using a portable electronic device. A camera of the portable electronic device may observe the point of interest. An EDM device of the portable electronic device may capture a distance to the point of interest. An angle sensor may detect an orientation of the EDM device. A geospatial position of a GNSS receiver of the portable electronic device may be detected. A geospatial position of the EDM device may be calculated based on the geospatial position of the GNSS receiver. The geospatial position of the point of interest may be calculated based on the geospatial position of the EDM device, the orientation of the EDM device, and the distance to the point of interest.

Abstract: An audible alert device and method of playing an audible message. The audible alert device includes a motion sensor, a speaker, and a control unit. The control unit is configured to store an audible message, determine whether an activating condition is met in which the activating condition is based on a directionality of movement of the person relative to the motion sensor, and play a corresponding audible message when the activating condition has been met.

Abstract: A collision determination apparatus includes an acquisition section, a filtering section, a target object information detection section, a target object path prediction section, an own vehicle path prediction section, a collision determination section, and a vehicle control section. The acquisition section (21) acquires detection information based on a reflected wave from a search device. The filtering section filters the detection information. The target object information detection section detects a position of a target object using the filtered detection information. The target object path prediction section predicts a path of the target object based on changes in the detected position of the target object. The own vehicle path prediction section predicts a path of an own vehicle. The collision determination section determines a risk of collision between the own vehicle and the target object. The vehicle control section executes a vehicle control.

Abstract: A first phase shift circuit (2) converts impedance to achieve impedance matching between a third terminal (1c) of a 90-degree hybrid circuit (1) and a first terminal (4a) of a first nonlinear element (4), and shifts a phase of a radio wave by 180 degrees, and a second phase shift circuit (3) converts impedance to achieve impedance matching between a fourth terminal (1d) of the 90-degree hybrid circuit (1) and a first terminal (5a) of a second nonlinear element (5), and shifts a phase of a radio wave by 90 degrees. As a result of this configuration, a conversion loss of radio waves can be reduced.

Abstract: A frequency modulated continuous wave (FMCW) radar system is provided that includes a receiver configured to generate a digital intermediate frequency (IF) signal, and an interference monitoring component coupled to the receiver to receive the digital IF signal, in which the interference monitoring component is configured to monitor at least one sub-band in the digital IF signal for interference, in which the at least one sub-band does not include a radar signal.

Abstract: A system for detecting flying animals, the system comprising: a detection module configured to detect flying animals; a local processing module associated with the detection module and configured to remove background noise from data gathered by the detection module; an analysis module configured to receive data from the local processing module and process said data to determine presence of flying animals and classify such flying animals by species; and a deterrent configured to repel one or more species of flying animal based on the classification of detected flying animals.

Abstract: There is provided an estimation device that estimates a living body orientation.

Abstract: Techniques are generally described for motion detection by supplying voltage pulses to a radio frequency (RF) circuit. In some examples, an RF motion detection circuit may output a first RF signal based at least in part on a first voltage pulse. In some further examples, the RF motion detection circuit may receive a second RF signal, the second RF signal being the first RF signal reflected from an environment external to the RF motion detection circuit. In some further examples, the first RF signal and the second RF signal may be mixed to generate a difference component signal. A first output voltage representing the difference component signal may be generated. In some examples, the first output voltage may be used to detect motion in the environment.

Abstract: Infrared camera systems and related methods for facilitating target position acquisition are provided for various applications. For example, a system may include a portable imaging/viewing subsystem having a target position finder and may also include a fixed mount camera subsystem having a camera and a camera positioner. A communications link may be configured to communicate a signal from the target position finder to the camera positioner. The signal may be representative of a position of a target being imaged/viewed with the portable imaging/viewing subsystem. The camera positioner may aim the camera toward the target in response to the signal. The target may, for example, be a man overboard. Thus, the system and related method may be useful in search and rescue operations.

Abstract: A sensing system comprising a radar-based vibration sensor and processing unit used to collect and process vibration information from a machine of interest. The radar-based vibration sensor obtains vibration data from mechanical operation of a component or series of components in the machine, and may be steered toward specific regions of interest of the machine. The processing unit analyzes the data, and may fuse data from a plurality of vibration sensors, such as radar-based vibration sensors and multiple machine-mounted sensors such as accelerometers. From this analysis, indications related to a status of the mechanical operation of the components in the machine of interest may be provided to relevant users.

Abstract: One or more micro-impulse radars (MIRs) are configured to determine the movement of at least one person. Media can be output to the person responsive to the movement.

Abstract: A method for measuring three-dimensional coordinates of a probe center includes: providing a spherically mounted retroreflector; providing a probe assembly; providing an orientation sensor; providing a coordinate measurement device; placing the spherically mounted retroreflector on the probe head; directing the first beam of light from the coordinate measurement device to the spherically mounted retroreflector; measuring the first distance; measuring the first angle of rotation; measuring the second angle of rotation; measuring the three orientational degrees of freedom based at least in part on information provided by the orientation sensor; calculating the three-dimensional coordinates of the probe center based at least in part on the first distance, the first angle of rotation, the second angle of rotation, and the three orientational degrees of freedom; and storing the three-dimensional coordinates of the probe center.

Abstract: A system incorporating one or more interrogators or readers on heavy construction equipment (e.g., loaders) detect signals emanating from signal transmitters on clothing or equipment of construction workers. Responsive to the detection of a signal emanating from behind the heavy equipment, or in another position relative to the heavy equipment, the driver is notified audibly of the danger such that the driver may stop the movement of the heavy equipment or causes the brakes to be applied and transmission to be disengaged automatically without operator involvement.

Abstract: Systems and methods are disclosed for displaying the current trends (i.e., turning or going straight) or the future positions of vehicles of interest on a traffic display unit. The position, orientation and geometry of the displayed symbology is a function of parametric information broadcast by the vehicles of interest and processed by a computer system that controls the traffic display unit. In particular examples disclosed herein, the traffic display unit is a navigation display on an aircraft or a traffic display unit at a traffic controller's station. However, the methods disclosed herein have application to vehicular traffic other than aircraft, such as boats or ships.

Abstract: A radar wave sensing apparatus including a rotation element, a nanosecond pulse near-field sensor and a control unit is provided. The nanosecond pulse near-field sensor emits an incident radar wave and receives a reflection radar wave of the incident radar wave hitting on a surface of the rotation element to obtain a repetition frequency variation of the reflection radar wave corresponding to the incident radar wave. The control unit calculates a vibration of the rotation element according to the repetition frequency variation.

Abstract: A method of determining an angle within the beam to a target using an airborne radar includes receiving first data associated with first returns associated with a first portion of an antenna. The method further includes receiving second data associated with second returns associated with a second portion of an antenna, wherein the first portion is not identical to the second portion. The method further includes determining the angle within the beam to the target using the first and second data.

Abstract: An exemplary embodiment relates to an aircraft system for detecting wires. The system includes a processor configured to actively sense a presence of a first object and a second object. The processor determines a location of the first object and the second object. The processor determines a potential location of a wire between the first object and the second object. The processor actively senses the wire by providing electromagnetic energy to the potential location.

Abstract: A bistatic radar receiver is located on a wind turbine and surrounded by multiple bistatic transmitters to detect and precisely track the positions of nearby birds. Bird target reflections from multiple transmitters are received by the radar receiver and their position and track determined from the transmitter locations, receiver location, and measured transmitter-to-target-to-receiver ranges. Target position and altitude accuracy is similar to GPS. When birds are detected to be on a collision course with the wind turbine, a deterrent is activated to scare them away. Deterrents can be flashing strobe lights, intense sound, air cannon, or any other effective bird deterrent.

Abstract: A method for producing at least information for track association and fusion includes: collecting measurement values of targets for each sensing period; predicting state variables for the targets and error covariances for the state variables by using the collected measurement values and tracking the targets by using a reformed target tracking algorithm; transmitting track information including only data of the error covariance largest occupied among the error covariances to a fusion center; calculating similarity between the pre-stored fused track and the transmitted track information; sorting the track information by using the calculated similarity; and carrying out the track fusion based on the sorted track information.

Abstract: A device for judging a likelihood of a collision between a vehicle and a target is provided. The device comprises: a target detection sensor and an ECU. The ECU comprises: a CPU; an orientation determining unit configured to enable the CPU to determine the orientation of a target relative to a reference vehicle in which the device for judging a likelihood of a collision is mounted, using information which is detected by the target detection sensor; a change-amount detecting unit configured to enable the CPU to detect an amount of temporal change in the orientation of the target; and a determining unit configured to enable the CPU to determine a likelihood of a collision between the reference vehicle and the target under a condition that the amount of temporal change in the orientation of the target is a predetermined threshold or less.

Abstract: A ranging seeker apparatus includes an RF antenna and a bistatic ranging detector operatively connected with the RF antenna. The RF antenna and bistatic ranging detector are operative for detecting one or more guidance objects in a RF band and providing angle and range data to the missile. Also, a missile including a missile body, a missile propulsion system disposed in or on the missile body, and the ranging bistatic RF seeker disposed in or on the missile body.

Abstract: In certain aspects, this invention is a “control system” that detects and minimizes (or otherwise optimizes) an angle between vehicle centerline (or other reference axis) and vehicle velocity vector—as for JDAM penetration. Preferably detection is exclusively by optical flow (which herein encompasses sonic and other imaging), without data influence by navigation. In other aspects, the invention is a “guidance system”, with optical-flow subsystem to detect an angle between the vehicle velocity vector and line of sight to a destination—either a desired or an undesired destination. Here, vehicle trajectory is adjusted in response to detected angle, for optimum angle, e.g. to either home in on a desired destination or avoid an undesired destination (or rendezvous), and follow a path that's ideal for the particular mission—preferably by controlling an autopilot or applying information from navigation.

Abstract: A system for preventing light pollution includes one or more radar units that monitor for vehicles in a volume surrounding or containing one or more obstructions having one or more obstruction lights. A master radar detection processing unit receives sensed radar detection information from the one or more radar units with associated radar signal processing units and determines whether a vehicle is present within the monitored volume. A plurality of obstruction light controller units are interconnected in a network, such as a wireless network. Each obstruction light controller unit turns on an obstruction light when a vehicle enters the monitored volume or a failure condition exists, and turns off the obstruction light when the vehicle has vacated the monitored volume and no failure condition exists. The one or more radar units can transmit sensed radar detection information to a master radar detection processing unit via the network.

Abstract: A miniature lightweight high-maneuverability missile (10) has a missile body (12) with three sets of at least two aerodynamic control surfaces (14, 16, 18) for independent control of roll, pitch and yaw of the missile. Each set of control surfaces (14, 16, 18) is independently controlled by a corresponding actuator (20) deployed within the missile body (12). Other preferred features include selection of an elevation angle of incidence at a target, and switching between explosive and kinetic modes of operation.

Abstract: Embodiments disclosed herein include a radar sensor device for detecting movement and velocity of external objects within or around a particular radar sensor field. The radar sensor field can use an array or cluster or radar sensors, including compact (portable by hand) radar sensors that function as network nodes within a wireless, low-energy ad hoc network. Radar sensor devices can use vibration as a means of communicating power status, functionality, and progress of installation of a particular radar unit. Such a vibration can be executed at a particular predefined cadence, rhythm, or other pattern, to indicate a powered-on state, active network connectivity, and other device states. Such a radar sensor device provides silent and non-visible status indication for quick and efficient deployment.

Abstract: A method for determining a position of a device in a reference coordinate system. The method including: receiving, at the device, less than all of GPS signals necessary to determine the position of the device in the reference coordinate system; transmitting a signal from a? illuminating source defined in the reference coordinate system; receiving the signal at a cavity waveguide disposed on the device; and determining the position of the device in the reference coordinate system based on the GPS signals and the signal received in the cavity waveguide. The signal received in the cavity waveguide can also be used to confirm a position determined by the GPS signals.

Abstract: A system for engaging hostile air or space threats with a defensive missile, where the defensive missile comprises an antenna for receiving global positioning system (GPS) signals. A global positioning system receiver is coupled to said antenna, for receiving global positioning system signals directly from global positioning system satellites and global positioning system signals reflected from the threat. A processing arrangement processes the direct and reflected global positioning system signals for determining the position and velocity of the threat. Vectoring controls are coupled to the processing arrangement, and are responsive to the location of the threat for directing the defensive missile toward the threat. In a particular embodiment, the antenna of the defensive missile is directionally controllable, and the defensive missile includes an antenna direction controller responsive to the processor for directing at least a beam of the antenna toward the threat.

Abstract: A sensor system uses ground emitters to illuminate a projectile in flight with a polarized RF beam. By monitoring the polarization modulation of RF signals received from antenna elements mounted on the projectile, both angular orientation and angular rate signals can be derived and used in the inertial solution in place of the gyroscope. Depending on the spacing and positional accuracies of the RF ground emitters, position information of the projectile may also be derived, which eliminates the need for accelerometers. When RF signals of ground emitter/s are blocked from the guided projectile, the sensor deploys another plurality of RF antennas mounted on the projectile nose to determine position and velocity vectors and orientation of incoming targets.

Abstract: A device and software utilizing Global Positioning Satellite (GPS) technologies for monitoring and recovering portable computing devices and, a method and system for acquiring such devices, protecting data on such devices, and for compensating owners of devices. A GPS mechanism of the invention provides real time tracking of missing devices that may be coordinated with security agencies to intercept and recover missing computing devices. When a stolen device is unrecoverable, the invention may receive a signal to initiate data recovery where a wireless network is available to recover data for the owner. Alternatively, the GPS mechanism instructs the device to encrypt or destroy stored data files to prevent commercial espionage or privacy violations. The invention discloses a software system and method for computing a purchase price of the GPS mechanism, computing compensation for loss of the device and lost data.

Abstract: A radar device according to an embodiment includes a transmission unit, a reception unit, and a processing unit. The transmission unit emits a transmission wave relating to a frequency-modulated transmission signal. The reception unit receives a reflected wave acquired by reflecting the transmission wave on an object as a reception signal. The processing unit detects object data corresponding to the object from the reception signal, outputs the object data to the vehicle control device that controls the vehicle, and removes object data satisfying the removal condition that is a condition used for determining whether or not object data is to be removed from an output target for the vehicle control device and includes at least the distance and the relative speed of the object data with respect to the speed of the vehicle as conditions from output targets for the vehicle control device.

Abstract: A method for onboard determination of a roll angle of a projectile. The method including: transmitting a polarized RF signal from a reference source, with a predetermined polarization plane; receiving the signal at a pair of polarized RF sensor cavities positioned symmetrical on the projectile with respect to a reference roll position on the projectile; measuring a difference between an output of the pair of polarized RF sensor cavities resulting from the received signal to determine zero output roll positions of the projectile; and comparing an output of the pair of polarized RF sensor cavities at each of the zero output positions to determine when the projectile is parallel to the predetermined polarization plane. The method can also include analyzing an output of at least one third sensor positioned on the projectile to determine whether the roll angle position of the projectile is up as compared to the horizon.

Abstract: Embodiments of a guidance section that compensates for boresight error (BSE) caused by effects of a composite radome. The guidance section includes a BSE compensation element to add high-pass filtered noise to compensated BSE data. The guidance section also includes and a Kalman filter to generate line-of-sight rate (LOSR) BSE noise from the compensated BSE data and the added high-pass filtered noise. In some embodiments, a method for generating a revised BSE correction matrix is provided. The revised BSE correction matrix may compensate for BSE caused by effects in the composite radome and may correct for relative target velocity error.

Abstract: A molded dichroic mirror and a seeker comprising a molded dichroic mirror are provided. The dichroic mirror may be molded from polysiloxane or lithia potash borosilicate and may be coated to reflect an infrared signal and configured to transmit a radio frequency signal between 33 GHz and 37 GHz.

Abstract: A vehicle including electro-optic (EO) imaging has a vehicle body having an outer surface including a front portion and a side portion, wherein the side portion includes a plurality of portholes. A propulsion source is within the vehicle body for moving the vehicle. A fixed EO imaging system having a field-of-regard (FOR) includes a plurality of fixed EO imaging sub-systems arrayed within the vehicle body. The fixed EO imaging sub-systems each have a different field-of-view (FOV) for providing a portion of the FOR and include a camera affixed within the vehicle body and an optical window secured to one of the portholes for transmitting electromagnetic radiation received from one of the portions of the FOR to the camera, wherein the cameras each generate image data representing one of the portions of the FOR therefrom. A processor is coupled to receive the image data from the plurality of fixed EO imaging sub-systems for combining the image data to provide composite image data spanning the FOR.

Abstract: A SAR image recorded by a reconnaissance system is transferred as a reference edge image together with the data of the trajectory as a reference. The signal of the infrared seeker head of the missile is converted into a virtual SAR edge image and compared to the SAR reference image to calculate the precise position of the missile.

Abstract: A method of determining an angle within the beam to a target using an airborne radar includes receiving first data associated with first returns associated with a first portion of an antenna. The method further includes receiving second data associated with second returns associated with a second portion of an antenna, wherein the first portion is not identical to the second portion. The method further includes determining the angle within the beam to the target using the first and second data.

Abstract: A motion detector system includes the ability to detect motion through the use of a Doppler radar sensor or a combination of PIR sensors and a Doppler radar sensor. The system includes an outdoor light fixture having one or more lamps and a housing coupled to the outdoor light fixture. The housing includes a Doppler radar sensor and a microprocessor for analyzing the signals received by the Doppler radar sensor. Alternatively, the housing includes a combination of PIR sensors and a Doppler radar sensor and a microprocessor for analyzing the signals received from these sensors. The lamps in the light fixture are activated when either the PIR sensor or the Doppler radar sensor generates a signal indicating motion within the monitored area. Alternatively, the lamps can be activated when either the PIR sensor or the Doppler radar sensor senses predetermined number of motion activities over a limited time period.

Abstract: A method detects a bird or an object flying level with a single wind turbine, using a device for radio wave detection of at least one bird or another flying object, in the form of at least one radar. The analog image from each radar is transformed into a digital image and an outer safety area and an inner safety area is defined for the image. A safety space for each radar is defined and an action is performed in the event of a detection within the safety areas.

Abstract: Embodiments of a guided munition are provided, as are embodiments of a method for equipping a guided munition with an interlocking dome cover. In one embodiment, the guided munition includes a munition body, a seeker dome coupled to the munition body, and an interlocking dome cover. The interlocking dome cover includes a plurality of detachable dome cover sections collectively enclosing the seeker dome and a dome cover deployment device coupled to the plurality of detachable dome cover sections. When actuated, the dome cover deployment device initiates separation of the plurality of detachable dome cover sections to expose the seeker dome.

Abstract: Guided airborne weapons fired in a salvo against multiple targets are deconflicted by performing a scene correlation of multiple cued targets to TLOs acquired by the seeker's imaging sensor to track a target package. If the weapon is provided with a multimode seeker, target cues for a common designated target and a common SAL code are provided to each weapon. Each weapon uses its SAL sensor to detect and process a SAL return to verify the common SAL code and augment their scene correlations by fixing the TLO track file of the common designated target to the cued track file associated with the designated target. At terminal, each weapon commits to a particular target by referencing its assigned target to the tracked target package. Correlation to multiple targets in the target package makes the acquisition and tracking process more robust and reduces targeting ambiguity. Furthermore, a single SAL designation can improve the tracking of all the weapons to their respective targets.