Unmanned aircraft turn and approach system
An aircraft including a wing system, a plurality of control surfaces, a camera mounted on a camera pod, and a control system. The camera pod is configured to vary the orientation of the camera field of view only in yaw, relative to the aircraft, between a directly forward-looking orientation and a side-looking orientation. The control system controls the control surfaces such that they induce a significant aircraft yaw causing an identified target to be within the field of view of the camera with the camera in the directly forward-looking orientation.
1. A method of guiding an unmanned aircraft to a target, the aircraft defining a forward-looking field of view and a side-looking field of view, the aircraft including a wing system configured to carry the majority of the aircraft weight when in flight, the aircraft including a plurality of control surfaces configured to control aircraft pitch, aircraft roll and aircraft yaw in flight, the aircraft including a camera characterized by a camera field of view, wherein the camera is provided with camera actuators that rotate a camera orientation relative to the aircraft, along a single degree of freedom, between a forward-looking camera orientation aligned with the forward-looking field of view and a side-looking camera orientation aligned with the side-looking field of view, and the aircraft including a control system programmed to control the control surfaces to fly the aircraft, and further programmed to control the camera actuators to change the camera orientation along the single degree of freedom, comprising:
flying the aircraft with a flight vector, an aircraft orientation, and a camera orientation, such that the target is visible in the camera field of view with the camera in the side-looking camera orientation;
establishing a positive identification of the target in the camera field of view with the camera in the side-looking camera orientation; and
initiating a commit function of the control system;
wherein the commit function places the target within the forward-looking field of view by actuating the control surfaces to induce uncoordinated aircraft rotation along the single degree of freedom;
wherein the commit function maintains the positive identification throughout the uncoordinated aircraft rotation by activating the camera actuators to adjust the camera orientation; and
wherein, with the target within the forward-looking field of view, the commit function controls the flight of the unmanned aircraft to the target by actuating the control surfaces.
2. The method of claim 1 , wherein, with the target within the forward-looking field of view, the commit function turns the aircraft flight vector toward the target and maintains the target within the forward-looking field of view by actuating the control surfaces to roll the aircraft.
3. The method of claim 2 , wherein, with the aircraft flight vector turned toward the target, the commit function adjusts the aircraft roll for a straight approach toward the target and maintains the target within the forward-looking field of view by actuating the control surfaces.
4. The method of claim 2 , wherein throughout the commit function turning the aircraft flight vector toward the target, the commit function maintains the target within a safe roll zone portion of the forward-looking field of view by actuating the control surfaces.
5. The method of claim 1 , wherein the single degree of freedom is a rotation in yaw.
6. The method of claim 1 , wherein, when the unmanned aircraft completes its flight to the target, the commit function detonates an explosive in the aircraft.
7. The method of claim 1 , wherein the camera actuators can only rotate the camera orientation relative to the aircraft along a single degree of freedom.
8. The method of claim 1 , wherein:
the single degree of freedom is a rotation in yaw;
with the target within the forward-looking field of view, the commit function actuates the control surfaces to turn the aircraft flight vector toward the target by rolling the aircraft while controlling the aircraft pitch and yaw to maintain the target within the forward-looking field of view;
throughout the commit function turning the aircraft flight vector toward the target, the commit function maintains the target within a safe roll zone portion of the forward-looking field of view by actuating the control surfaces;
with the aircraft flight vector turned toward the target, the commit function actuates the control surfaces to adjust the aircraft roll for a straight approach toward the target while controlling the aircraft pitch and yaw to maintain the target within the forward-looking field of view; and
when the unmanned aircraft completes its flight to the target, the commit function detonates an explosive in the aircraft.
9. The method of claim 8 , wherein the camera actuators can only rotate the camera orientation relative to the aircraft along a single degree of freedom.
10. The method of claim 1 , wherein prior to the commit function actuating the control surfaces to induce uncoordinated aircraft rotation, the commit function induces a coordinated turn of the aircraft toward the target by actuating the control surfaces, while maintaining the positive identification throughout the coordinated turn by activating the camera actuator to adjust the camera orientation.
11. The method of claim 10 , wherein, with the target within the forward-looking field of view, the commit function turns the aircraft flight vector toward the target and maintains the target within the forward-looking field of view by actuating the control surfaces to roll the aircraft.
12. The method of claim 11 , wherein, with the aircraft flight vector turned toward the target, the commit function adjusts the aircraft roll for a straight approach toward the target and maintains the target within the forward-looking field of view by actuating the control surfaces.
13. The method of claim 11 , wherein throughout the commit function turning the aircraft flight vector toward the target, the commit function maintains the target within a safe roll zone portion of the forward-looking field of view by actuating the control surfaces.
14. The method of claim 10 , wherein the single degree of freedom is a rotation in yaw.
15. The method of claim 10 , wherein, when the unmanned aircraft completes its flight to the target, the commit function detonates an explosive in the aircraft.
16. The method of claim 10 , wherein the camera actuators can only rotate the camera orientation relative to the aircraft along a single degree of freedom.
17. The method of claim 10 , wherein:
the single degree of freedom is a rotation in yaw;
with the target within the forward-looking field of view, the commit function actuates the control surfaces to turn the aircraft flight vector toward the target by rolling the aircraft while controlling the aircraft pitch and yaw to maintain the target within the forward-looking field of view;
with the aircraft flight vector turned toward the target, the commit function actuates the control surfaces to adjust the aircraft roll for a straight approach toward the target while controlling the aircraft pitch and yaw to maintain the target within the forward-looking field of view; and
when the unmanned aircraft completes its flight to the target, the commit function detonates an explosive in the aircraft.
18. The method of claim 17 , wherein the camera actuators can only rotate the camera orientation relative to the aircraft along a single degree of freedom.