Systems for surveying and correcting trajectories

Claim 2

A trajectory supervision and correction system for a moving body equipped with controls and with said system and adapted for moving along its own trajectory in a space in which at least one other object constituting a relevant object is stationary or moving and with respect to which said moving body thus equipped must move and with regard to which it must fulfill certain imperatives, said system comprising: means for simulating in a reduced period of time, firstly the actual relative trajectory of the moving body with respect to said relevant object, then a succession of hypothetical relative trajectories of alternate and increasing values, each of said relative trajectories of said succession diverging from said actual relative trajectory, the body following each said hypothetical trajectory in response to modification of its linear or angular speed, means for calculating, for each of said hypothetical trajectories, the distances at which the moving body following the hypothetical tracjectory would pass with respect to the relevant object, means for immediately comparing of said distances thus calculated with a constant reference value, means for interrupting the trajectory simulations as soon as the resulting comparison reveals a distance in accordance with the imperatives, and means responsive the aforesaid means for sending instructions to the controls of the said moving body for the modification of the linear or angular speed.

Claim 3

A system according to claim 1 comprising further means operative so that, in the case where the imperative is an imperative of avoidance and after instructions in respect of the last moving or stationary relevant object, the said system operates in respect of a further stationary or moving relevant object.

Claim 4

A system according to claim 1 comprising further means for allowing said system to respond to the sign of a derivative with respect to time of the distance between the moving body following its simulated actual relative trajectory and the moving or stationary relevant object in such a manner that, in the case where the imperative is an imperative of avoidance, said system does not carry out any simulation if, at the same time said simulated distance is greater than said reference distance and its derivative is positive.

Claim 5

A system according to claim 1 comprising further means for allowing said system to respond to the sign of the derivative with respect to time of the distance between the moving body thus equipped following its simulated actual relative trajectory and the moving or stationary relevant object in such a Manner that, in the case where the imperative is an imperative of approach, said system does not carry out any simulations if, at the same time the said simulated distance is less than the reference distance, and its derivative is negative.

Claim 6

A system according to claim 1 comprising means for carrying out said calculations by replacing said distance at which it would cause a moving body thus equipped to pass with respect to the object, by the sum of moduli of its two rectangular co-ordinates.

Claim 7

A system according to claim 1 comprising mock-ups simulating said trajectories of the moving body and of the said relevant object, and means for making these visual.

Claim 8

A trajectory supervision and correction system for a moving body equipped with controls and with said system and adapted for moving along its own trajectory in a space in which at least one other object constituting a relevant object is stationary or moving and with respect to which said moving body thus equipped must move and with regard to which it must fulfill certain imperatives, said system comprising: means for simulating in a reduced period of time, firstly the actual relative trajectory of the moving body with respect to said relevant object, then a succession of hypothetical relative trajectories of alternate and increasing values, each of said relative trajectories of said succession diverging from said actual relative trajectory, the body following each said hypothetical trajectory in response to modification of its linear or angular speed, means for calculating, for each of said hypothetical trajectories, the distances at which the moving body following the hypothetical trajectory would pass with respect to the relevant object, means for immediately comparing each of said distances thus calculated with a constant reference value, means for interrupting the trajectory simulations as soon as the resulting comparison reveals a distance in accordance with the imperatives, and means responsive the aforesaid means for sending instructions to the controls of the said moving body for the modification of the linear or angular speed, said system further comprising a monostable circuit, a first adding device providing a sum, two subtracting devices, a trajectory simulator for the moving body M receiving its initial co-ordinates xo 0 yo 0 and its initial course psi o and receiving under the control of a monostable circuit its initial speed Vo and the sum provided by said adding device, said sum being of the initial course variation psi o'' and a simulated turning order Delta psi '' of said moving body, a trajectory simulator for the relevant object Mi, receiving from a convertor the initial distance aio and the initial bearing gamma io of the relevant object Mi transformed into its initial co-ordinates xio and yio, receiving the initial course psi io of the relevant object mi and under the control of said monostable, receiving its initial speed Vio and its initial course variation psi ''io said simulators providing the signals xy and xi yi at said two subtracting devices, said subtracting devices providing the differences Xi xi -x and Yi yi -y to two logic circuits which calculate the squares thereof Xi2 and Yi2, a second adding device calculating its total Xi2 + Yi2, a logic circuit calculating Square Root Xi2 + Yi2 ais, the relative simulated distance of the relevant object Mi, a comparator comparing said distance ais with reference distance S and emitting a pulse ''I'' depending on the sign of their difference, a derivation circuit receiving said signal ais and depending on the sign of its derivative with respect to time controlling a pulsE generator, a voltage generator controlled by the comparator and the pulse generator sending to said first adding device the above said simulated turning order Delta psi '', and by means of an adding device, controlling said monostable device, and a blocking device, controlled by the pulse generator and acting on the controls of the moving body ''M.''

Claim 9

A trajectory supervision and correction system for a moving body equipped with controls and with said system and adapted for moving along its own trajectory in a space in which at least one other object constituting a relevant object is stationary or moving and with respect to which said moving body thus equipped must move and with regard to which it must fulfill certain imperatives, said system comprising: means for simulating in a reduced period of time, firstly the actual relative trajectory of the moving body with respect to said relevant object, then a succession of hypothetical relative trajectories of alternate and increasing values, each of said relative trajectories of said succession diverging from said actual relative trajectory, the body following each said hypothetical trajectory in response to modification of its linear or angular speed, means for calculating, for each of said hypothetical trajectories, the distances at which the moving body following the hypothetical trajectory would pass with respect to the relevant object, means for immediately comparing each of said distances thus calculated with a constant reference value, means for interrupting the trajectory simulations as soon as the resulting comparison reveals a distance in accordance with the imperatives, and means responsive the aforesaid means for sending instructions to the controls of the said moving body for the modification of the linear or angular speed, said system further comprising a monostable circuit, a first adding device providing a sum, two subtracting devices, a trajectory simulator for the moving body M receiving its initial co-ordinates xo 0 yo 0 and its initial course psi o and receiving under the control of a monostable circuit its initial speed Vo and the sum provided by said adding device, said sum being of the initial course variation psi o'' and a simulated turning order Delta psi '' of said moving body, a trajectory simulator for the relevant object Mi, receiving from a convertor the initial distance aio and the initial bearing gamma io of the relevant object Mi transformed into its initial co-ordinates xio and yio, receiving the initial course psi io of the relevant object mi and under the control of said monostable, receiving its initial speed Vio and its initial course variation psi ''io said simulators providing the signals xy and xi yi at said two subtracting devices, said subtracting devices providing the differences Xi xi -x and Yi yi -y to two logic circuits which calculate the squares thereof Xi2 and Yi2, a second adding device calculating its total Xi2 + Yi2, a logic circuit calculating Square Root Xi2 + Yi2 ais, the relative simulated distance of the relevant object Mi, a comparator comparing said distance ais with reference distance S and emitting a pulse ''I'' depending on the sign of their difference, a derivation circuit receiving said signal ais and depending on the sign of its derivative with respect to time controlling a pulsE generator, a voltage generator controlled by the comparator and the pulse generator sending to said first adding device the above said simulated turning order Delta psi '', and by means of an adding device, controlling said monostable device, and a blocking device, controlled by the pulse generator and acting on the controls of the moving body ''M.''