CA2659111A1 - Autonomous vehicle rapid development testbed systems and methods - Google Patents
Autonomous vehicle rapid development testbed systems and methods Download PDFInfo
- Publication number
- CA2659111A1 CA2659111A1 CA002659111A CA2659111A CA2659111A1 CA 2659111 A1 CA2659111 A1 CA 2659111A1 CA 002659111 A CA002659111 A CA 002659111A CA 2659111 A CA2659111 A CA 2659111A CA 2659111 A1 CA2659111 A1 CA 2659111A1
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- vehicles
- stability
- control
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Classifications
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F41—WEAPONS
- F41G—WEAPON SIGHTS; AIMING
- F41G7/00—Direction control systems for self-propelled missiles
- F41G7/20—Direction control systems for self-propelled missiles based on continuous observation of target position
- F41G7/30—Command link guidance systems
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F41—WEAPONS
- F41G—WEAPON SIGHTS; AIMING
- F41G7/00—Direction control systems for self-propelled missiles
- F41G7/20—Direction control systems for self-propelled missiles based on continuous observation of target position
- F41G7/30—Command link guidance systems
- F41G7/301—Details
- F41G7/303—Sighting or tracking devices especially provided for simultaneous observation of the target and of the missile
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/0011—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot associated with a remote control arrangement
- G05D1/0027—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot associated with a remote control arrangement involving a plurality of vehicles, e.g. fleet or convoy travelling
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/0011—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot associated with a remote control arrangement
- G05D1/0033—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot associated with a remote control arrangement by having the operator tracking the vehicle either by direct line of sight or via one or more cameras located remotely from the vehicle
Abstract
Systems and methods for development testing of vehicles and components ar e disclosed. In one embodiment, a system includes a position reference syste m and a command and control architecture. The position reference system is c onfigured to repetitively measure one or more position and motion characteri stics of one or more vehicles operating within a control volume. The command and control architecture is configured to receive the repetitively measured characteristics from the position reference system, and to determine corres ponding control signals based thereon. The control signals are then transmit ted to the one or more vehicles to control at least one of position, movemen t, and stabilization of the one or more vehicles in a closed-loop feedback m anner. The system may further include a health monitoring component configur ed to monitor health conditions of the one or more vehicles, the control sig nals being determined at least in part on the health conditions.
Claims (36)
1. A system for operating one or more vehicles, comprising:
a position reference system including a plurality of measuring devices operatively disposed with respect to a control volume, the position reference system being configured to repetitively measure one or more stability and control characteristics of the one or more vehicles as the one or more vehicles operate within the control volume; and a control architecture configured to receive the repetitively measured one or more stability and control characteristics from the position reference system, to determine corresponding command signals based on the repetitively measured one or more stability and control characteristics from the position reference system, and to transmit the corresponding command signals to the one or more vehicles operating within the control volume to control the one or more stability and control characteristics of the one or more vehicles in a closed-loop feedback manner.
a position reference system including a plurality of measuring devices operatively disposed with respect to a control volume, the position reference system being configured to repetitively measure one or more stability and control characteristics of the one or more vehicles as the one or more vehicles operate within the control volume; and a control architecture configured to receive the repetitively measured one or more stability and control characteristics from the position reference system, to determine corresponding command signals based on the repetitively measured one or more stability and control characteristics from the position reference system, and to transmit the corresponding command signals to the one or more vehicles operating within the control volume to control the one or more stability and control characteristics of the one or more vehicles in a closed-loop feedback manner.
2. The system of Claim 1, wherein the control architecture includes a health monitoring component configured to receive health monitoring information from the one or more vehicles, and to assess a health condition of the one or more vehicles based on the received health monitoring information, the control architecture being further configured to determine the corresponding command signals based at least partially on the health monitoring information of the one or more vehicles.
3. The system of Claim 2, wherein the health monitoring information includes at least one of a characteristic of an onboard vehicle propulsion system, a characteristic of an onboard power system, and a functional degradation of an onboard sensor system.
4. The system of Claim 3, wherein at least one of the vehicles includes a flight vehicle, and wherein the onboard vehicle propulsion system comprises one or more rotor assemblies configured to provide lift for the flight vehicle.
5. The system of Claim 1, wherein the control architecture includes:
at least one communication network operatively coupled to the position reference system;
a main processing component operatively coupled to the at least one communication network and configured to compute the command signals; and one or more control modules operatively coupled to the at least one communication network and configured to receive the command signals from the main processing component, to recondition the command signals into a format suitable for use by the one or more vehicles, and to transmit the reconditioned command signals to the one or more vehicles.
at least one communication network operatively coupled to the position reference system;
a main processing component operatively coupled to the at least one communication network and configured to compute the command signals; and one or more control modules operatively coupled to the at least one communication network and configured to receive the command signals from the main processing component, to recondition the command signals into a format suitable for use by the one or more vehicles, and to transmit the reconditioned command signals to the one or more vehicles.
6. The system of Claim 1, wherein the control architecture includes:
at least one communication network operatively coupled to the position reference system and configured to transmit the one or more stability and control characteristics repetitively measured by the position reference system; and an onboard processing component positioned on each of the vehicles and configured to receive the one or more stability and control characteristics from the at least one communication network, the onboard processing component being further configured to compute the command signals and to communicate the command signals to an onboard control system of each of the vehicles.
at least one communication network operatively coupled to the position reference system and configured to transmit the one or more stability and control characteristics repetitively measured by the position reference system; and an onboard processing component positioned on each of the vehicles and configured to receive the one or more stability and control characteristics from the at least one communication network, the onboard processing component being further configured to compute the command signals and to communicate the command signals to an onboard control system of each of the vehicles.
7. The system of Claim 6, wherein the onboard processing component further includes a health monitoring component configured to receive health monitoring information regarding an associated one of the vehicles, the onboard processing component being further configured to determine the corresponding command signals based at least partially on the health monitoring information of the associated one of the vehicles.
8. The system of Claim 1, wherein the control architecture includes a simulation component configured to simulate one or more simulated vehicles, and to determine the corresponding command signals based at least in part on a simulated characteristic of the one or more simulated vehicles.
9. The system of Claim 8, wherein at least one of the vehicles and simulated vehicles includes at least one of a flight vehicle and a ground-based vehicle.
10. The system of Claim 8, wherein the simulated characteristic of the one or more simulated vehicles includes at least one of a simulated position characteristic, a simulated attitude characteristic, a simulated stability characteristic, a simulated dynamic characteristic, and a simulated health condition characteristic.
11. The system of Claim 1, wherein the position reference system includes a plurality of detection devices operatively disposed along at least a portion of a perimeter of the control volume.
12. The system of Claim 11, wherein the plurality of detection devices are configured to determine six-degree-of-freedom information for each of the vehicles operating within the control volume.
13. The system of Claim 11, wherein each of the one or more vehicles has a plurality of retro-reflective markers positioned thereon, and wherein the plurality of detection devices comprise a plurality of motion detection devices configured to detect at least some of the retro-reflective markers positioned on the one or more test vehicles.
14. The system of Claim 13, wherein the plurality of detection devices comprise a plurality of camera devices configured to track the retro-reflective markers using a visible wavelength portion of the spectrum.
15. The system of Claim 13, wherein the plurality of detection devices comprise a plurality of camera devices configured to track the retro-reflective markers using an infrared wavelength portion of the spectrum.
16. A system for operating one or more vehicles, comprising:
a position reference system including a plurality of measuring devices operatively disposed with respect to a control volume, the position reference system being configured to repetitively measure one or more stability and control characteristics of the one or more vehicles as the one or more vehicles operate within the control volume;
a health monitoring component configured to receive health monitoring information from the one or more vehicles, and to assess a health condition of the one or more vehicles based on the received health monitoring information;
a communication component configured to receive the repetitively measured one or more stability and control characteristics from the position reference system and the health monitoring information from the health monitoring component; and a processing component operatively coupled to the communication component and configured to determine corresponding command signals based on the repetitively measured one or more stability and control characteristics and the health monitoring information, the communication component being further configured to transmit the corresponding command signals to the one or more vehicles to control the one or more stability and control characteristics in a closed-loop feedback manner.
a position reference system including a plurality of measuring devices operatively disposed with respect to a control volume, the position reference system being configured to repetitively measure one or more stability and control characteristics of the one or more vehicles as the one or more vehicles operate within the control volume;
a health monitoring component configured to receive health monitoring information from the one or more vehicles, and to assess a health condition of the one or more vehicles based on the received health monitoring information;
a communication component configured to receive the repetitively measured one or more stability and control characteristics from the position reference system and the health monitoring information from the health monitoring component; and a processing component operatively coupled to the communication component and configured to determine corresponding command signals based on the repetitively measured one or more stability and control characteristics and the health monitoring information, the communication component being further configured to transmit the corresponding command signals to the one or more vehicles to control the one or more stability and control characteristics in a closed-loop feedback manner.
17. The system of Claim 16, wherein the health monitoring information includes at least one of a characteristic of an onboard vehicle propulsion system, a characteristic of an onboard power system, and a functional degradation of an onboard sensor system.
18. The system of Claim 16, wherein the communication component includes:
at least one communication network operatively coupled to the position reference system;
and one or more control modules operatively coupled to the at least one communication network and configured to receive the command signals from the processing component, to recondition the command signals into a format suitable for use by the one or more vehicles, and to transmit the reconditioned command signals to the one or more vehicles.
at least one communication network operatively coupled to the position reference system;
and one or more control modules operatively coupled to the at least one communication network and configured to receive the command signals from the processing component, to recondition the command signals into a format suitable for use by the one or more vehicles, and to transmit the reconditioned command signals to the one or more vehicles.
19. The system of Claim 16, wherein:
the communication component includes at least one communication network operatively coupled to the position reference system and configured to transmit the one or more stability and control characteristics repetitively measured by the position reference system; and the processing component includes one or more onboard processing components, each processing component being positioned on an associated one of the vehicles and configured to receive the one or more stability and control characteristics from the at least one communication network, the onboard processing component being further configured to compute the command signals and to communicate the command signals to an onboard control system of the associated one of the vehicles.
the communication component includes at least one communication network operatively coupled to the position reference system and configured to transmit the one or more stability and control characteristics repetitively measured by the position reference system; and the processing component includes one or more onboard processing components, each processing component being positioned on an associated one of the vehicles and configured to receive the one or more stability and control characteristics from the at least one communication network, the onboard processing component being further configured to compute the command signals and to communicate the command signals to an onboard control system of the associated one of the vehicles.
20. The system of Claim 16, further comprising a simulation component operatively coupled to the processing component and configured to simulate one or more simulated vehicles, the processing component being further configured to determine the corresponding command signals based at least in part on a simulated characteristic of the one or more simulated vehicles.
21. The system of Claim 20, wherein the simulated characteristic of the one or more simulated vehicles includes at least one of a simulated position characteristic, a simulated attitude characteristic, a simulated stability characteristic, a simulated dynamic characteristic, and a simulated health condition characteristic.
22. The system of Claim 16, wherein the position reference system includes a plurality of detection devices operatively disposed along at least a portion of a perimeter of the control volume.
23. The system of Claim 16, wherein each of the one or more vehicles has a plurality of retro-reflective markers positioned thereon, and wherein the plurality of detection devices comprise a plurality of motion detection devices configured to detect at least some of the retro-reflective markers positioned on the one or more test vehicles.
24. The system of Claim 23, wherein the plurality of detection devices comprise a plurality of camera devices operating configured to track the retro-reflective markers using at least one of a visible wavelength portion of the spectrum and an infrared wavelength portion of the spectrum.
25. A method of operating one or more vehicles within a control volume, comprising:
measuring one or more stability and control characteristics of the one or more vehicles using a position reference system including a plurality of measuring devices operatively disposed with respect to the control volume as the one or more vehicles operate within the control volume;
receiving the measured one or more stability and control characteristics from the position reference system;
determining a command signal based on the one or more stability and control characteristics measured using the position reference system; and transmitting the command signal to the one or more vehicles operating within the control volume to control the one or more stability and control characteristics of the one or more vehicles in a closed-loop feedback manner.
measuring one or more stability and control characteristics of the one or more vehicles using a position reference system including a plurality of measuring devices operatively disposed with respect to the control volume as the one or more vehicles operate within the control volume;
receiving the measured one or more stability and control characteristics from the position reference system;
determining a command signal based on the one or more stability and control characteristics measured using the position reference system; and transmitting the command signal to the one or more vehicles operating within the control volume to control the one or more stability and control characteristics of the one or more vehicles in a closed-loop feedback manner.
26. The method of Claim 25, further comprising receiving health monitoring information from the one or more vehicles, and wherein determining a command signal includes determining a command signal based at least partially on the health monitoring information from the one or more vehicles.
27. The method of Claim 26, wherein receiving health monitoring information includes receiving at least one of a characteristic of an onboard vehicle propulsion system, a characteristic of an onboard power system, and a functional degradation of an onboard sensor system.
28. The method of Claim 27, wherein at least one of the vehicles includes a flight vehicle, and wherein the onboard vehicle propulsion system comprises one or more rotor assemblies configured to provide lift for the flight vehicle.
29. The method of Claim 25, wherein:
receiving the measured one or more stability and control characteristics includes receiving the measured one or more stability and control characteristics using at least one communication network;
determining a command signal includes determining a command signal using a main processing component operatively coupled to the at least one communication network and reconditioning the command signal into a format suitable for use by the one or more vehicles;
and transmitting the command signal to the one or more vehicles includes transmitting the reconditioned command signals to the one or more vehicles.
receiving the measured one or more stability and control characteristics includes receiving the measured one or more stability and control characteristics using at least one communication network;
determining a command signal includes determining a command signal using a main processing component operatively coupled to the at least one communication network and reconditioning the command signal into a format suitable for use by the one or more vehicles;
and transmitting the command signal to the one or more vehicles includes transmitting the reconditioned command signals to the one or more vehicles.
30. The method of Claim 25, wherein includes:
receiving the measured one or more stability and control characteristics includes receiving the measured one or more stability and control characteristics using at least one communication network;
a determining a command signal includes receiving the measured one or more stability and control characteristics from the communication network into an onboard processing component positioned on an associated one of the vehicles; and computing the command signal for the associated one of the vehicles using the onboard processing component.
receiving the measured one or more stability and control characteristics includes receiving the measured one or more stability and control characteristics using at least one communication network;
a determining a command signal includes receiving the measured one or more stability and control characteristics from the communication network into an onboard processing component positioned on an associated one of the vehicles; and computing the command signal for the associated one of the vehicles using the onboard processing component.
31. The method of Claim 30, wherein the onboard processing component further includes a health monitoring component configured to receive health monitoring information regarding the associated one of the vehicles, the onboard processing component being further configured to determine the command signal based at least partially on the health monitoring information.
32. The method of Claim 25, further comprising simulating one or more simulated vehicles, and wherein determining the command signal includes determining the command signal based at least in part on a simulated characteristic of the one or more simulated vehicles.
33. The method of Claim 32, wherein determining the command signal includes determining the command signal based at least in part on at least one of a simulated position characteristic, a simulated attitude characteristic, a simulated stability characteristic, a simulated dynamic characteristic, and a simulated health condition characteristic.
34. The method of Claim 25, wherein measuring one or more stability and control characteristics includes measuring one or more stability and control characteristics using a plurality of detection devices operatively distributed along at least a portion of a perimeter of the control volume, the detection devices being configured to determine six-degree-of-freedom information for each of the vehicles operating within the control volume.
35. The method of Claim 34, wherein measuring one or more stability and control characteristics includes measuring one or more stability and control characteristics using a plurality of retro-reflective markers positioned on each of the one or more test vehicles.
36. The method of Claim 35, wherein measuring one or more stability and control characteristics includes measuring one or more stability and control characteristics using a plurality of camera devices operating configured to track the retro-reflective markers using at least one of a visible wavelength portion of the spectrum and an infrared wavelength portion of the spectrum.
Applications Claiming Priority (3)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| US11/459,617 | 2006-07-24 | ||
| US11/459,617 US7813888B2 (en) | 2006-07-24 | 2006-07-24 | Autonomous vehicle rapid development testbed systems and methods |
| PCT/US2007/011138 WO2008057141A2 (en) | 2006-07-24 | 2007-05-08 | Autonomous vehicle rapid development testbed systems and methods |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CA2659111A1 true CA2659111A1 (en) | 2008-05-15 |
| CA2659111C CA2659111C (en) | 2011-07-12 |
Family
ID=39030326
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CA2659111A Active CA2659111C (en) | 2006-07-24 | 2007-05-08 | Autonomous vehicle rapid development testbed systems and methods |
Country Status (8)
| Country | Link |
|---|---|
| US (1) | US7813888B2 (en) |
| EP (1) | EP2064511B1 (en) |
| JP (1) | JP5252509B2 (en) |
| KR (1) | KR101390141B1 (en) |
| CN (1) | CN101611287B (en) |
| CA (1) | CA2659111C (en) |
| ES (1) | ES2709899T3 (en) |
| WO (1) | WO2008057141A2 (en) |
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