US3603531A
Expired / Lapsed
US
⏱️ 0.0 years remaining
Method and apparatus for spatial proportional navigation
Assignee: Individual
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Filing: 1968-12-04
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Granted: 1971-09-07
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Expires: 1988-12-04
Abstract
Abstract A method of spatial proportional navigation in which the angular velocity of the velocity vector of the steerable body is proportional to the angular velocity of the line of sight and an apparatus for carrying out the method wherein the position and direction of the angular velocity vector is chosen in such a manner that the plane of rotation of the velocity vector of the steerable body or of the steerable body itself contains the velocity vector V2* of the collision or constant bearing course, and that the actual course is pursued with the least possible positioning in the collision course.
Inventors
- 👤 Kurt Brucker-Steinkuhl
Bibliographic Details
Application Number
—
Jurisdiction
US
Data Source
google_patents
Last Synchronized
2026-10-25 05:50
CPC Classifications
F; F41; F41G; F41G7/00; F41G7/20; F41G7/22; F41G7/2253; F41G7/2213; F41G7/2273; F41G7/2286
Claims Analysis
Total Claims: 11
Claim 1
Independent Claim
287 words
An orientation and coordination system adapted to be carried by a steered body for directing the steered body to a target, said steered body having a homing head, the longitudinal axis of said steered body and homing head being coincident, and a line of sight from said steered body to a target being characterized as the direction from the homing head on said steered body to the target, wherein the manner of steering is such that the angular velocity of the changing velocity vector of the steered body is proportional to the angular velocity of the closing line of sight during body flight, comprising in the steered body: a. means for continuously measuring the instantaneous changes of the angle designated as delta 2 existent between the velocity vector designated as V2 of the steered body and the line of sight designated as r during flight of the steered body; b. means for continuously measuring the changing angle designated as Epsilon 2 existent between the velocity vector V2 of the steered body and the lateral velocity of the line of sight; c. means for measuring the angular velocity of the line of sight; d. means for computing an angle designated as Zeta I from delta 2 and Epsilon 2, wherein said angle Zeta I is formed with a perpendicular in an auxiliary plane designated as B which contains said perpendicular and is itself perpendicular to V2, said perpendicular located in a principal plane designated as I and having an origin through the line of sight, said principal plane I being defined by V2 and the line of sight; and e. means for continuously guiding the steered body about the axis that is positioned by the angle Zeta I.
Claim 2
Dependent Claim
287 words
An orientation and coordination system adapted to be carried by a steered body for directing the steered body to a target, said steered body having a homing head, the longitudinal axis of said steered body and homing head being coincident, and a line of sight from said steered body to a target being characterized as the direction from the homing head on said steered body to the target, wherein the manner of steering is such that the angular velocity of the changing velocity vector of the steered body is proportional to the angular velocity of the closing line of sight during body flight, comprising in the steered body: a. means for continuously measuring the instantaneous changes of the angle designated as delta 2 existent between the velocity vector designated as V2 of the steered body and the line of sight designated as r during flight of the steered body; b. means for continuously measuring the changing angle designated as Epsilon 2 existent between the velocity vector V2 of the steered body and the lateral velocity of the line of sight; c. means for measuring the angular velocity of the line of sight; d. means for computing an angle designated as Zeta I from delta 2 and Epsilon 2, wherein said angle Zeta I is formed with a perpendicular in an auxiliary plane designated as B which contains said perpendicular and is itself perpendicular to V2, said perpendicular located in a principal plane designated as I and having an origin through the line of sight, said principal plane I being defined by V2 and the line of sight; and e. means for continuously guiding the steered body about the axis that is positioned by the angle Zeta I.
Claim 3
Dependent Claim
72 words
The apparatus of claim 1, wherein said steered body has a cruciform control mechanism and means for providing steering control of said steered body, corresponding to the relationship provided by the operation of dividing the angular velocity vector into two components corresponding to the two guide arcs and determining the two turning components by the cosines of the angles between said angular velocity vector and the two arcs of the control mechanism.
Claim 4
Dependent Claim
75 words
The apparatus of claim 1, wherein said steered body has a steering mechanism comprising control elements positioned for operation in a common plane and has means for first rotating said body about its longitudinal axis until its turning axis lies in the aforementioned common plane of the control elements of the steering mechanism, and means for swinging the steering mechanism about the axis of rotation and turning said steered body in the plane of rotation.
Claim 5
Dependent Claim
164 words
In an orientation and coordination system adapted to be carried by a steered body for directing the steered body to a target, said steered body having a homing head, the longitudinal axis of said steered body and homing head being coincident, and a line of sight from said steered body to a target being characterized as the direction from the homing head on said steered body to the target, wherein the manner of steering is such that the angular velocity of the changing velocity vector of the steered body is proportional to the angular velocity of the closing line of sight, the method of operating the apparatus comprising locating the position and direction of the angular velocity vector relative to the plane of rotation of the velocity vector of the steered body containing the velocity vector designated as V*2 of the collision course, and pursuing the actual course with the least possible repositioning of the steered body along the collision course to the target.
Claim 6
Dependent Claim
164 words
In an orientation and coordination system adapted to be carried by a steered body for directing the steered body to a target, said steered body having a homing head, the longitudinal axis of said steered body and homing head being coincident, and a line of sight from said steered body to a target being characterized as the direction from the homing head on said steered body to the target, wherein the manner of steering is such that the angular velocity of the changing velocity vector of the steered body is proportional to the angular velocity of the closing line of sight, the method of operating the apparatus comprising locating the position and direction of the angular velocity vector relative to the plane of rotation of the velocity vector of the steered body containing the velocity vector designated as V*2 of the collision course, and pursuing the actual course with the least possible repositioning of the steered body along the collision course to the target.
Claim 7
Dependent Claim
112 words
The method of claim 4, wherein the plane of rotation of the velocity vector of the steered body is established continuously by measuring the two variable angles designated as delta 2 and designated as epsilon 2, delta 2 being the angle between the velocity vector V2 and the line of sight designated as r, while epsilon 2 is the angle between the velocity vector V2 and the lateral velocity of the line of sight, and continuously adjusting the control of said steered body relative to said plane of rotation in accordance with conditions occurring with variable spatial events influenced by starting errors of said body, and target path variations relative to maneuvers.
Claim 8
Dependent Claim
33 words
The method of claim 5, wherein the steering in accordance with rotation of the velocity vector in the plane of rotation occurs about an axis of rotation which is perpendicular to said plane.
Claim 9
Dependent Claim
91 words
The method of claim 6, wherein the axis of rotation which is directed to the plane of rotation is contained in an auxiliary plane designated as B which is itself perpendicular to two principal planes designated as I and designated as II, and in that the principal plane I is formed by the velocity vector V2 of the steered body and the line of sight r, the principal plane II being formed by the velocity vector V2 of the steered body and the lateral velocity vector of the line of sight.
Claim 10
Dependent Claim
71 words
The method of claim 7, wherein the angle designated as zeta I, which lies in the auxiliary plane B and is formed between the present turning axis and the perpendicular to principal plane I is continually computed from the two variable angles delta 2 and epsilon 2 and therefore the position of the axis of rotation and of the plane of rotation are continually adjusted to the changing events in space.
Claim 11
Dependent Claim
40 words
The method of claim 8, wherein the proportionality factor designated as kM for determining the amount of steering is chosen relatively large at the beginning of the path, and is reduced to its normal amount when the target is apProached.
References Cited (Backward Citations)
USPTO Annuity & Maintenance Windows
| Annuity Stage | Window Opens | Payment Deadline | Surcharge Period Until | Estimated Fee | Status |
|---|---|---|---|---|---|
| 3.5 Years (Year 4) | 1974-09-06 | 1975-03-08 | 1975-09-07 | $2000.00 | Window Closed / Lapsed |
| 7.5 Years (Year 8) | 1978-09-06 | 1979-03-08 | 1979-09-07 | $3760.00 | Window Closed / Lapsed |
| 11.5 Years (Year 12) | 1982-09-06 | 1983-03-08 | 1983-09-07 | $7700.00 | Window Closed / Lapsed |