IP Library › Granted Patent US 12,270,629
Granted Patent B2
US 12,270,629 · App. 18/026,145 · Granted Apr 8, 2025

Method and system for homing

Inventors: Ephraim (Francois Henri) Rubinraut (Tel-Aviv, IL); Aron Szapiro (Yehud-Monosson, IL)
Assignee: C.2.V Line Ltd
F41G7/22F41G7/2253F41G7/226
View Patent ↗
Loading inventors, assignments & file history…
Monitor This Case
Get email alerts when status or documents change.
Order Certified Copies
Most orders are placed with the USPTO same day — all within 24 business hours.
Order via The Patent Place →
Pre-filled with this patent's details
Quick Facts
Patent No.
US 12,270,629
App. No.
18/026,145
Granted
Apr 8, 2025
Kind
B2
Abstract

A method of guiding a guidable vehicle to a target comprises: acquiring at least one position vector describing a position of the target and a position of the guidable vehicle; calculating a distance between the guidable vehicle and a virtual line passing through a predicted position of the target; controlling the guidable vehicle to reduce the calculated distance; repeating the acquisition of the at least one position vector, and automatically updating the virtual line, responsively to the repeated acquisition.

Claims (38)

1. A system for guiding a guidable vehicle to a target, the system comprising:

a tracking system for acquiring at least one position vector describing a position of the target and a position of the guidable vehicle;

a guidance processor configured to define a virtual designator at a point in space, and to calculate a distance between the guidable vehicle and a virtual line passing through the target and also through said virtual designator; and

a guidance controller configured to control the guidable vehicle to reduce said calculated distance;

wherein said guidance processor is also configured to automatically shift said virtual line parallel to itself responsively to repeated acquisitions of said at least one position vector by tracking system.

2. The system according to claim 1 , wherein said guidance processor is configured for moving said virtual designator along a collision trajectory between said virtual designator and the target.

3. The system according to claim 1 , further comprising calculating a Zero Effort Miss (ZEM), wherein said calculation of said distance is based on said ZEM.

4. The system according to claim 1 , wherein the target is stationary.

5. The system according to claim 1 , wherein the target is moving at a velocity having a magnitude which is less than half the magnitude of a maximal velocity of the guidable vehicle.

6. The system according to claim 1 , wherein said guidance processor is configured for receiving a priori coordinates of said target and acquiring a position vector of the target based on said coordinates.

7. The system according to claim 1 , further comprising an illuminator configured to illuminate the target by radiation, wherein said acquisition of said at least one position vector, is based on an echo or reflection of said radiation from the target.

8. The system according to claim 1 , wherein said tracking system is a passive tracking system.

9. The system according to claim 1 , wherein said tracking system comprises a Global Positioning System, and is configured for acquiring a position vector of the target based, at least in part, on data obtained by said Global Positioning System.

10. The system according to claim 1 , wherein said tracking system comprises a Global Positioning System, and is configured for acquiring a position vector of the guidable vehicle based on data obtained by said Global Positioning System.

11. The system according to claim 1 , wherein said guidance processor is configured for receiving an input direction of impact between the guidable vehicle and the target, and for defining said virtual line based on said input direction of impact.

12. The system according to claim 1 , wherein said guidance processor is configured for biasing said distance between the guidable vehicle and said line, and wherein said guidance controller is configured for controlling the guidable vehicle to reduce said biased distance.

13. The system according to claim 1 , wherein a position vector of the target is relative to the guidable vehicle.

14. The system according to claim 1 , wherein said tracking system is carried by the guidable vehicle.

15. The system according to claim 1 , wherein said tracking system is carried by another vehicle.

16. The system according to claim 1 , wherein said tracking system is stationary.

17. The system according to claim 1 , wherein the guidable vehicle is selected from the group consisting of an aerial vehicle, a ground vehicle, an aqueous vehicle, a subaqueous vehicle, an amphibious vehicle, a semi-amphibious vehicle, and a spacecraft.

18. A system for guiding a guidable vehicle to a target, the system comprising:

a tracking system for acquiring at least one position vector describing a position of the target and a position of the guidable vehicle;

a guidance processor configured to define a virtual designator at a point in space, and to calculate a distance between the guidable vehicle and a virtual line passing through a predicted position of the target and also through said virtual designator; and

a guidance controller configured to control the guidable vehicle to reduce said calculated distance;

wherein said guidance processor is also configured to automatically update said virtual line responsively to repeated acquisitions of said at least one position vector by tracking system.

19. A system for guiding a guidable vehicle to a target, the system comprising:

a tracking system for acquiring at least one position vector describing a position of the target and a position of the guidable vehicle;

a guidance processor configured to receive an input direction of impact between the guidable vehicle and the target, to define a virtual line passing through the target based on said input direction of impact, and to calculate a distance between the guidable vehicle and said virtual line; and

a guidance controller configured to control the guidable vehicle to reduce said calculated distance;

wherein said guidance processor is also configured to automatically shift said virtual line parallel to itself responsively to repeated acquisitions of said at least one position vector by tracking system.

20. A system for guiding a guidable vehicle to a target, the system comprising:

a tracking system for acquiring at least one position vector describing a position of the target and a position of the guidable vehicle;

a guidance processor configured to calculate a distance between the guidable vehicle and a virtual line passing through the target; and

a guidance controller configured to control the guidable vehicle to reduce said calculated distance;

wherein said guidance processor is also configured to automatically shift said virtual line parallel to itself responsively to repeated acquisitions of said at least one position vector by tracking system;

wherein said guidance processor is configured for biasing said distance between the guidable vehicle and said line; and

wherein said guidance controller is configured for controlling the guidable vehicle to reduce said biased distance.

Assignments (1)
ASSIGNMENT OF ASSIGNOR'S INTEREST Recorded May 12, 2023
From: RUBINRAUT, EPHRAIM (FRANCOIS HENRI); SZAPIRO, ARON
To: C.2.V LINE LTD
Reel/Frame 063633/0532 →
Priority Claims (1)
IL 277347 · Sep 14, 2020 · national
Continuity (1)
Related Publication 20230358509A1 · Nov 9, 2023
References Cited (38)
US 3843076A · King · 1974 [cited by examiner]
US 4456862A · Yueh · 1984 [cited by examiner]
US 4494202A · Yueh · 1985 [cited by examiner]
US 4502650A · Yueh · 1985 [cited by examiner]
US 5058024A · Inselberg · 1991 [cited by examiner]
US 6064332A · Cloutier · 2000 [cited by examiner]
US 6173219B1 · Deker · 2001 [cited by examiner]
US 6405124B1 · Hutton · 2002 [cited by examiner]
US 7698026B2 · Dey · 2010 [cited by examiner]
US 7795565B2 · Bock · 2010 [cited by applicant]
US 8116970B2 · Hoofd · 2012 [cited by examiner]
US 9262933B2 · Hoy · 2016 [cited by examiner]
US 9410807B2 · Savarit · 2016 [cited by examiner]
US 10032383B2 · Valls Hernández · 2018 [cited by examiner]
EP 2807443 · 2021 [cited by applicant]
WO WO2022054067 · 2022 [cited by applicant]
Office Action Dated Jun. 21, 2013 From the Israel Patent Office Re. Application No. 286388. (4 Pages). [cited by applicant]
Office Action Dated Jul. 28, 2024 From the Israel Patent Office Re. Application No. 286388. (4 Pages). [cited by applicant]
International Preliminary Report on Patentability Mar. 23, 2023 From the International Bureau of WIPO Re. Application No. PCT IL2021/051123. (9 Pages). [cited by applicant]
International Search Report and the Written Opinion Dated Nov. 11, 2021 From the International Searching Authority Re. Application No. PCT/IL2021/051123. (12 Pages). [cited by applicant]
Berglund “Guidance and Control Technology”, National Defense Research, Defense Research Establishment, Stockholm, Sweden, Department of Defense Analysis, Presented at the RTO SCI Lecture Series on Technologies for Futur… [cited by applicant]
Durieux “Terminal Control for Command to Line of Sight Guided Missile”, AGARD Advanced Technologies for SAM Systems Analytical Synteses and Simulation, p. 4-1-4-14, May 1984. [cited by applicant]
Fleeman et al. “Technologies for Future Precision Strike Missile Systems—Introduction/Overview”, North Atlantic Treaty Organization, Research and Technology Organization, RTO-EN-018, RTO Lecture Series 221ff., p. 1-148,… [cited by applicant]
Garnell et al. “Guided Weapon Control Systems”, Royal Military College of Science, Shrivenham, Swindon, England, p. 1-290, 1977. (Part 1). [cited by applicant]
Garnell et al. “Guided Weapon Control Systems”, Royal Military College of Science, Shrivenham, Swindon, England, p. 1-290, 1977. (Part 2). [cited by applicant]
Hofmann et al. “Missile Guidance Techniques”, AGARD Guidance and Control for Tactical Weapons With Emphasis on Simulation and Testing, p. 4-1-4-27, May 1979. [cited by applicant]
Maney “Tactical Missile Performance Requirements: A Methodology for Development”, AGARD, North Atlantic Treaty Organization, Advisory Group for Aerospace Research & Development, AGARD-Lecture Series No. 101: Guidance an… [cited by applicant]
Maney “Tactical Missile Performance Requirements: A Methodology for Development”, AGARD, North Atlantic Treaty Organization, Advisory Group for Aerospace Research & Development, AGARD-Lecture Series No. 101: Guidance an… [cited by applicant]
Palumbo et al. “Modern Homing Missile Guidance Theory and Techniques”, John Hopkins APL Technical Digest, 29(1): 42-59, Jan. 2010. [cited by applicant]
Pastrick et al. “Guidance Laws for Short-Range Tactical Missiles”, Journal of Guidance and Control, 4(2): 98-108, Mar.-Apr. 1981. [cited by applicant]
Paulet “Advanced Technology for S.A.M. Systems: Analysis Synthesis and Simulation”, AGARD, North Atlantic Treaty Organization, Advisory Group for Aerospace Research & Development, AGARD Lecture Series No. 135: Advanced … [cited by applicant]
Shoucri “Closed-Form Solution of Line-of-Sight Trajectory for Maneuvering Target”, Journal of Guidance, Control and Dynamics: Engineering Notes, 24(2): 408-409, Mar. 2001. [cited by applicant]
Yanushevsky “Modern Missile Guidance”, CRC Press, Taylor & Frances Group, p. 1-242, 2008. [cited by applicant]
Zarchan “Fundamentals of Tactical Missile Guidance”, Tactical and Strategic Missile Guidance, p. 40-42, 1994. [cited by applicant]
Zarchan “Tactical and Strategic Missile Guidance”, Progress in Astronautics and Aeronautics, 6th Ed., 239(Chap.1-34): 1-989 & Index, Feb. 2012. (Part 1). [cited by applicant]
Zarchan “Tactical and Strategic Missile Guidance”, Progress in Astronautics and Aeronautics, 6th Ed., 239(Chap.1-34): 1-989 & Index, Feb. 2012. (Part 2). [cited by applicant]
Zarchan “Tactical and Strategic Missile Guidance”, Progress in Astronautics and Aeronautics, 6th Ed., 239(Chap.1-34): 1-989 & Index, Feb. 2012. (Part 3). [cited by applicant]
Office Action Dated Aug. 3, 2023 From the Israel Patent Office Re. Application No. 277347. (4 Pages). [cited by applicant]