公开(公告)号：US20220269290A1

公开(公告)日：2022-08-25

申请号：US17178927

申请日：2021-02-18

Applicant: Lockheed Martin Corporation

Inventor： Navid Dadkhah Tehrani ,  Brian Henri LeFloch ,  Brian Scott MacAllister, JR. ,  Suraj Unnikrishnan ,  Igor Cherepinksy

IPC: G05D1/10 ,  G05D1/00 ,  G01C21/20 ,  G08G5/00 ,  G08G5/04

Abstract: A technique relates to route planning. Points associated with a start location and a destination location are received. It is determined whether the points comprise one or more hard points, one or more soft points, or both. At least one obstruction to avoid is determined. A route is autonomously generated comprising the points and segments associated with the points, the segments comprising rhumb lines, great-circle arcs, or both. Responsive to the points comprising the one or more soft points, the at least one obstruction is avoided by permitting a distance associated with the one or more soft points to be reached and adding at least one free waypoint. Responsive to the points comprising the one or more hard points, the at least one obstruction is avoided by requiring the one or more hard points to be reached and adding the at least one free waypoint.

公开(公告)号：US20210318697A1

公开(公告)日：2021-10-14

申请号：US16843011

申请日：2020-04-08

Applicant: Lockheed Martin Corporation

Inventor： Navid Dadkhah Tehrani ,  Brian Henri Le Floch ,  Ashish Bhatnagar ,  Suraj Unnikrishnan ,  Brian Scott MacAllister ,  Igor Cherepinsky

IPC: G05D1/10 ,  B64C27/06 ,  B64C39/02

Abstract: A technique relates to autonomous obstacle avoidance. A vehicle is controlled on a route to a destination, the route being a three-dimensional route. An obstruction is determined on the global route. A local route including alternate points to avoid the obstruction is autonomously determined. The local route is autonomously converged back to the global route in response to avoiding the obstruction.

公开(公告)号：US12216481B2

公开(公告)日：2025-02-04

申请号：US18088215

申请日：2022-12-23

Applicant: Lockheed Martin Corporation

Inventor： Navid Dadkhah Tehrani

IPC: G05D1/10 ,  B64C39/02 ,  G05D1/00

Abstract: Motion steering under kino dynamic constraints is provided. A system can receive an indication to return to a route generated for autonomous navigation by the aircraft to a destination. The system can generate a vector field formed of a plurality of vectors that merge into the route. The vector field can be generated responsive to the indication to return to the route. The system can provide instructions to steer the aircraft toward the destination along the route via one or more vectors of the plurality of vectors in the vector field. The instructions can be based on a cost function applied to the vector field.

公开(公告)号：US12140970B2

公开(公告)日：2024-11-12

申请号：US17344171

申请日：2021-06-10

Applicant: Lockheed Martin Corporation

Inventor： Navid Dadkhah Tehrani

IPC: G05D1/00 ,  B64C11/00 ,  B64C27/10 ,  B64C27/82 ,  B64D31/02 ,  B64D31/06 ,  G08G5/00

Abstract: Systems and methods for controlling a coaxial rotary-wing aircraft including a co-axial main rotor assembly and a pusher-propeller. One system includes an electronic controller configured to receive a reference velocity of the aircraft and receive a reference flight path angle of the aircraft. The electronic controller is also configured to simultaneously control the co-axial main rotor assembly and the pusher-propeller based on the reference velocity of the aircraft and the reference flight path angle of the aircraft, by simultaneously generating a commanded thrust of the pusher-propeller and a commanded thrust of the co-axial main rotor assembly using a multiple input, multiple output algorithm applying dynamic inversion.

公开(公告)号：US20240087464A1

公开(公告)日：2024-03-14

申请号：US17944040

申请日：2022-09-13

Applicant: LOCKHEED MARTIN CORPORATION

Inventor： Navid Dadkhah Tehrani ,  Sean S. Carlson ,  Cauvin Polycarpe

IPC: G08G5/04 ,  B64C27/04 ,  B64C39/02 ,  B64D47/00 ,  G05D1/10

CPC classification number: G08G5/045 ,  B64C27/04 ,  B64C39/024 ,  B64D47/00 ,  G05D1/106 ,  B64C2201/128

Abstract: Load volume predication for slung loads of aerial vehicles are disclosed. A system can identify parameters of a load. The system can determine a volume occupied by a superposition of locations of the cone. The system can receive from sensors or models, characteristics of an environment associated with the aerial vehicle or the load. The system can detect an obstacle in the environment. The system can take a navigational action in response to detecting the obstacle.

公开(公告)号：US20230059421A1

公开(公告)日：2023-02-23

申请号：US17406413

申请日：2021-08-19

Applicant: LOCKHEED MARTIN CORPORATION

Inventor： Navid Dadkhah Tehrani ,  Christopher A. Thornberg

IPC: G05D1/10 ,  G05D1/00

Abstract: This disclosure relates to apparatuses, systems, and methods for handling faults on vehicles. One or more processors in a vehicle may receive, from a control unit in response to a detection of a fault in the vehicle, an indication of a degradation in a performance constraint of the vehicle. The processors may determine, responsive to the degradation in the performance constraint, that the vehicle is unable to execute a set of commands to control a movement of the vehicle along a trajectory. The processors may generate, in accordance with the degradation in the performance constraint, a modified set of commands that the vehicle is able to execute to control the movement of the vehicle along at least a portion of one or more trajectories. The processors may provide the modified set of commands to the control unit of the vehicle to control the movement of the vehicle.

公开(公告)号：US20220402600A1

公开(公告)日：2022-12-22

申请号：US17354737

申请日：2021-06-22

Applicant: LOCKHEED MARTIN CORPORATION

Inventor： Nicholas D. Lappos ,  Navid Dadkhah Tehrani ,  Mark Daniel Ward

IPC: B64C27/57 ,  B64C27/32

Abstract: A flight control system for a rotary-wing aircraft includes a shape sensor and a controller. The shape sensor is configured to measure a shape of a rotor blade during movement of the rotor blade. The controller is communicably coupled to the shape sensor and is configured to (i) receive, from the shape sensor, a first signal indicative of a first blade shape; (ii) receive a blade characteristic regarding the rotor blade; and (iii) determine at least one of a moment or force associated with the rotor blade based on the first signal and the blade characteristic.

公开(公告)号：US20220365816A1

公开(公告)日：2022-11-17

申请号：US17318815

申请日：2021-05-12

Applicant: LOCKHEED MARTIN CORPORATION

Inventor： Navid Dadkhah Tehrani ,  Daniel Montrallo Flickinger ,  Igor Cherepinsky

IPC: G06F9/50 ,  G06F9/48 ,  B64D43/00 ,  B64D45/04 ,  G06F3/14 ,  G06K9/62 ,  G06K9/46 ,  G06K9/00 ,  G06T11/00

Abstract: Offline task-based feature processing for aerial vehicles is provided. A system can extract features from a world model generated using sensor information captured by sensors mounted on an aerial vehicle. The system generates a label for each of the features and identifies identify processing levels based on the features. The system selects a processing level for each feature of a subset of features based on a task performed by the aerial vehicle and the label associated with the feature. The system generates one or more processed features by applying the processing level to a respective feature of the subset of the plurality of features. The system presents the one or more processed features on a display device of the aerial vehicle.