Rockwell Collins, Inc.

Jason J Jakusz

Bryan M Krawiec

Paul A Lenhardt

Titus N Thompson

Angus L McLean

Joel J Fuster

James W Toothaker

Daniel K Papke

Joseph C Diner

Johnathon Lloyd Hein

A mission system for autonomous vehicle (AV) team coordination and a method of using the same are disclosed. A controller included on an AV shares mission data between two or more AVs, and in response to communication denial, generates estimated navigation trajectories for teammate AVs. A simulation outputs estimated navigation states for the teammate AVs. The estimated navigation states are identical or substantially identical to navigation states otherwise generated by controllers included on the teammate AVs. The estimated navigation trajectories are generated based on the estimated navigation states.

High fidelity teammate state estimation for coordinated autonomous operations in communications denied environments

A system and method for integrity monitoring generates primary control output via a primary module. The primary control output is configured to be used to control an autonomous vehicle (AV). The system and method receive situational data comprising AV data and environmental data. The system and method generate, using a monitor module configured to monitor the AV, a set of fallback actions based on at least the situational data. The system and method generate, using the monitor module, a fallback status based on at least the set of fallback actions, where the fallback status is configured to correspond to a determination of whether to override the primary control output.

System and method for guidance integrity monitoring for low-integrity modules

A system and method for dynamic mesh network discovery is disclosed. In embodiments, the system assigns each network asset (e.g., unmanned or manned aircraft or like mobile nodes) a unique asset number. Each asset has a controller coupled to a datalink including antenna elements and a memory for storing an asset table. Each asset periodically broadcasts an asset status message including the asset number. When a status message is received, the receiving asset compares the received asset number to its own asset number. If the received asset number is higher (e.g., of lower priority) than its own asset number, the receiving asset establishes a bidirectional mesh network connection to the broadcasting asset. Assets on the receiving end of a network connection interrogate the establishing asset for its asset number, such that assets on both sides of the connection know the identity of the other and update their asset tables accordingly.

System and method for dynamic mesh network discovery

A navigation system includes a navigation database and a route generator. The route generator receives an avoidance, generates a concave polygon representing the avoidance with respect to four-dimensional data of the navigation database, identifies a displacement vector of the avoidance, shifts the concave polygon using the displacement vector, identifies each gap between vertices of the shifted concave polygon, adds an added edge to the to connect vertices across each identified gap, determines, for each edge of the concave polygon, if the edge includes an internal edge, removes each internal edge from the concave polygon, compares the concave polygon to the plurality of cells, identifies one or more cells in which the concave polygon is located, and outputs a navigation alert based on the identified one or more cells.

Systems and methods for four-dimensional routing around concave polygon avoidances

A navigation system is configured to identify a current location and a destination location of an airborne platform, identify a current cell in which the current location is located; identify a plurality of current neighbors associated with the current cell; calculate, for a first path from the current location to the destination location through a first current neighbor of the plurality of current neighbors, a first value of an objective function, the first value depending on whether the first path includes a predetermined navigational node; calculate, for a second path from the current location to the destination location through a second current neighbor of the plurality of current neighbors, a second value of the objective function depending on whether the second path includes a predetermined navigational node; and output the current neighbor and/or path that satisfies an objective condition based on the values.

Systems and methods for hybrid graph and grid three-dimensional routing

A three-dimensional path finding system bifurcates path finding operations between horizontal paths and vertical paths. Horizontal paths are identified according to the Theta* algorithm that produces direct, efficient paths that are viable in a horizontal plane. Vertical paths are identified according to the A* algorithm that produces paths that are viable for an aircraft changing altitude. The horizontal and vertical components are combined to produce a viable, efficient path in three dimensions.

* Theta* merged 3D routing method

A system for an airborne platform includes a display device and a processing circuit. The processing circuit is configured to receive avoidance configuration information having a plurality of avoidance categories and severity levels. The processing circuit is further configured to receive flight plan information relating to a flight route from a starting location to an ending location, an avoidance area, an indication of an avoidance category corresponding to the avoidance area, and an indication of a severity level. The processing circuit is further configured to calculate a normalized cost associated with the flight route and compare the normalized cost to a threshold value. The processing circuit is further configured to identify the avoidance area as non-traversable when the normalized cost exceeds the threshold value. The processing circuit is further configured to generate a display providing a visual representation of the normalized cost, the flight route, and the avoidance area.

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Cedar Rapids, IA, United States of America

Jason J Jakusz