U.S. patent application number 15/704991 was filed with the patent office on 2019-03-14 for aerially dispersible massively distributed sensorlet system.
The applicant listed for this patent is SparkCognition, Inc.. Invention is credited to John Rutherford Allen, Syed Mohammad Amir Husain.
Application Number | 20190082015 15/704991 |
Document ID | / |
Family ID | 65322645 |
Filed Date | 2019-03-14 |
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United States Patent
Application |
20190082015 |
Kind Code |
A1 |
Husain; Syed Mohammad Amir ;
et al. |
March 14, 2019 |
AERIALLY DISPERSIBLE MASSIVELY DISTRIBUTED SENSORLET SYSTEM
Abstract
A distributed sensor module system comprises a plurality of
sensor modules configured to be aerially deployable from a
deployment device, the deployment device including an unmanned
aerial vehicle (UAV) or an aeronautically deployable unitized
container, the plurality of sensor modules configured to
communicate with each other. A first sensor module comprises a
first sensor configured to obtain first sensor information from a
first environment proximate to the first sensor, a processor
coupled to the first sensor, the processor configured to process
the first sensor information to obtain locally processed first
sensor information, and a communication transceiver coupled to the
processor, the communication transceiver configured to communicate
the locally processed first sensor information to a second sensor
module, the first sensor module and the second sensor module
configured to be aerially deployable.
Inventors: |
Husain; Syed Mohammad Amir;
(Georgetown, TX) ; Allen; John Rutherford;
(Alexandria, VA) |
|
Applicant: |
Name |
City |
State |
Country |
Type |
SparkCognition, Inc. |
Austin |
TX |
US |
|
|
Family ID: |
65322645 |
Appl. No.: |
15/704991 |
Filed: |
September 14, 2017 |
Current U.S.
Class: |
1/1 |
Current CPC
Class: |
G01M 17/00 20130101;
G01S 15/89 20130101; G07C 5/08 20130101; G01S 13/003 20130101; G01S
7/003 20130101; G01S 19/14 20130101; G01S 1/00 20130101 |
International
Class: |
H04L 29/08 20060101
H04L029/08; B64C 39/02 20060101 B64C039/02; B64D 1/12 20060101
B64D001/12 |
Claims
1. A distributed sensor module system comprising: a deployment
device comprising a communication node and configured to transport
a plurality of sensor modules to a deployment location; and the
plurality of sensor modules configured to sense separation from the
deployment device, wherein the deployment device comprises an
unmanned aerial vehicle (UAV) or an aeronautically deployable
unitized container, and wherein each of the plurality of sensor
modules is configured to communicate with other sensor modules of
the plurality of sensor modules and with the communication node of
the deployment device.
2. The distributed sensor module system of claim 1, wherein the
plurality of sensor modules are configured to communicate with a
communication relay.
3. The distributed sensor module system of claim 1, wherein the
plurality of sensor modules are configured to communicate with each
other via a mesh network, and wherein a first sensor module of the
plurality of sensor modules is configured to communicate with a
second sensor module of the plurality of sensor modules via
messaging relay by a third sensor module of the plurality of sensor
modules.
4. The distributed sensor module system of claim 1, wherein a first
sensor of a first sensor module of the plurality of sensor modules
includes a vibration sensor, a location sensor, an optical sensor,
an audio sensor, or a combination thereof.
5. The distributed sensor module system of claim 1, wherein a first
sensor module of the plurality of sensor modules is configured to
correlate first sensor information from a first sensor of the first
sensor module with second sensor information of a second sensor of
a second sensor module.
6. The distributed sensor module system of claim 1, wherein
attributes of multiple sensor information recognizable as relating
to an event or activity are usable to build a model based on the
multiple sensor information.
7. The distributed sensor module system of claim 6, further
comprising: an aerial resource, the aerial resource configured to
obtain the multiple sensor information from the plurality of sensor
modules and to build the model.
8. A first sensor module comprising: a first sensor configured to
obtain first sensor information from a first environment proximate
to the first sensor; a processor coupled to the first sensor, the
processor configured to process the first sensor information to
obtain locally processed first sensor information; and a
communication transceiver coupled to the processor, the
communication transceiver configured to communicate the locally
processed first sensor information to a second sensor module of a
mesh network via a third sensor module of the mesh network, wherein
the first sensor module is configured to sense separation from a
deployment device.
9. The first sensor module of claim 8, wherein the first sensor
includes a vibration sensor, a location sensor, an optical sensor,
an audio sensor, or a combination thereof.
10. The first sensor module of claim 8, wherein the first sensor
module is configured to communicate with a communication relay.
11. (canceled)
12. The first sensor module of claim 8, wherein the processor is
configured to correlate the first sensor information from the first
sensor with second sensor information of a second sensor of the
second sensor module.
13. The first sensor module of claim 8, wherein attributes of the
first sensor information obtained at the first sensor module and of
second sensor information obtained from the second sensor module
recognizable as relating to an event or activity are usable to
build a model based on the first sensor information and the second
sensor information.
14. The first sensor module of claim 13, wherein the first sensor
module is configured to communicate the first sensor information to
an aerial resource, the aerial resource configured to obtain
additional sensor information from a plurality of sensor modules
and to build the model.
15. A method comprising: sensing, at a first sensor module,
separation from a deployment device; based on sensing the
separation from the deployment device, beginning sensing of first
sensor information from a first sensor of the first sensor module;
locally processing the first sensor information at the first sensor
module according to one or more parameters; and transmitting the
first sensor information to another entity including a second
sensor module, a communication relay, or both.
16. The method of claim 15, further comprising: processing the
first sensor information from the first sensor module with second
sensor information from the second sensor module to synthesize a
synergistic interpretation of the first sensor information and the
second sensor information.
17. The method of claim 15, wherein the transmitting the first
sensor information to another entity comprises: transmitting the
first sensor information to the second sensor module.
18. The method of claim 15, wherein a plurality of sensor modules,
including the first sensor module, are deployed from the deployment
device to a deployment area by: deploying a unitized container from
the deployment device, the unitized container containing the
plurality of sensor modules; and deploying the plurality of sensor
modules from the unitized container.
19. The method of claim 15, further comprising: directing actions
based on synergistic interpretation of the first sensor information
and second sensor information.
20. The method of claim 19, further comprising: adapting a sensor
module network to changing networking configuration conditions,
resulting in an adapted sensor module network, wherein the adapted
sensor module network provides communication between sensor
modules; and transmitting sensor information via the adapted sensor
module network.
Description
CROSS-REFERENCE TO RELATED APPLICATION(S)
[0001] The present application is related to co-pending U.S. Patent
Application entitled "AUTONOMOUS VESSEL FOR UNMANNED COMBAT AERIAL
VEHICLE (UCAV) CARRIER OPERATIONS" (Attorney Docket No. 4058-0015);
co-pending U.S. Patent Application, entitled "STACKABLE UNMANNED
AERIAL VEHICLE (UAV) SYSTEM AND PORTABLE HANGAR SYSTEM THEREFOR"
(Attorney Docket No. 4058-0016); co-pending U.S. Patent Application
entitled "ANTI-AIRCRAFT AUTONOMOUS UNDERSEA SYSTEM (AUS) WITH
MACHINE VISION TARGET ACQUISITION" (Attorney Docket No. 4058-0017);
and co-pending U.S. Application entitled "ARTIFICIAL INTELLIGENCE
AUGMENTED REALITY COMMAND, CONTROL AND COMMUNICATIONS SYSTEM"
(Attorney Docket No. 4058-0019), the entirety of which are herein
incorporated by reference.
BACKGROUND
Field of the Disclosure
[0002] The present disclosure relates generally to a sensor system
and, more particularly, to an aerially dispersible sensor
system.
Background of the Disclosure
[0003] Effective decision-making benefits from situational
awareness and knowledge of relevant facts. Decision-making with
respect to geographical areas can benefit from knowledge of events
and activities occurring in or near those geographical areas.
However, traditional techniques for gaining information relating to
geographical areas typically involve substantial costs and
logistical considerations and can tie up valuable assets to attempt
to gain the information.
BRIEF DESCRIPTION OF THE DRAWINGS
[0004] The present disclosure may be better understood, and its
numerous features and advantages made apparent to those skilled in
the art by referencing the accompanying drawings.
[0005] FIG. 1 is an elevation view diagram illustrating a
distributed sensorlet system in accordance with at least one
embodiment.
[0006] FIG. 2 is a block diagram illustrating a distributed
sensorlet system in accordance with at least one embodiment.
[0007] FIG. 3 is a block diagram illustrating a power subsystem of
a distributed sensorlet system in accordance with at least one
embodiment.
[0008] FIG. 4 is a block diagram illustrating a propulsion
subsystem of a distributed sensorlet system in accordance with at
least one embodiment.
[0009] FIG. 5 is a block diagram illustrating a dynamics subsystem
of a distributed sensorlet system in accordance with at least one
embodiment.
[0010] FIG. 6 is a block diagram illustrating a sensor subsystem of
a distributed sensorlet system in accordance with at least one
embodiment.
[0011] FIG. 7 is a block diagram illustrating a database subsystem
of a distributed sensorlet system in accordance with at least one
embodiment.
[0012] FIG. 8 is a block diagram illustrating a navigation
subsystem of a distributed sensorlet system in accordance with at
least one embodiment.
[0013] FIG. 9 is a block diagram illustrating a processing
subsystem of a distributed sensorlet system in accordance with at
least one embodiment.
[0014] FIG. 10 is a block diagram illustrating an ordnance
subsystem of a distributed sensorlet system in accordance with at
least one embodiment.
[0015] FIG. 11 is a block diagram illustrating a communications
subsystem of a distributed sensorlet system in accordance with at
least one embodiment.
[0016] FIG. 12 is a block diagram illustrating a tracking subsystem
of a distributed sensorlet system in accordance with at least one
embodiment.
[0017] FIG. 13 is a flow diagram illustrating a method in
accordance with at least one embodiment.
[0018] FIG. 14 is a flow diagram illustrating a method in
accordance with at least one embodiment.
[0019] FIG. 15 is a block diagram illustrating a sensorlet in
accordance with at least one embodiment.
[0020] FIG. 16 is a perspective view diagram illustrating a
distributed sensorlet system according to at least one
embodiment.
[0021] The use of the same reference symbols in different drawings
indicates similar or identical items.
DETAILED DESCRIPTION OF THE DRAWINGS
[0022] A distributed sensorlet system is provided. Inexpensive
disposable small sensor modules, referred to as "sensorlets," are
configured to be delivered via an unmanned aerial vehicle (UAV) or
via an aeronautically deployable container, such as a CBU or
Rockeye cluster bomb style container. Such a cluster bomb style
container can be dropped by an aircraft as a unit from which a
large number of sensorlets can be released, for example, via
aerodynamically separable container portions or a linear shaped
charge to cut open the container. The sensorlets can be deployed in
large numbers to form a massively distributed sensorlet system.
[0023] In accordance with at least one embodiment, a distributed
sensorlet system can be configured to provide instant intelligence
information immediately upon deployment. As an example, a sensorlet
can be battery powered and designed to last for a few days or
weeks. As an example, a sensorlet can be small, robust, and adapted
to blend in with an environment in which it is to be deployed.
Examples of sources of data a sensorlet can obtain include
vibration, location, optical, audio, and other sources.
[0024] Distributed sensorlets can be configured to communicate
amongst each other, for example, via a mesh network (e.g., a sensor
module network). The mesh network can adapt to the presence and
absence of distributed sensorlets within range of communication
with others of the distributed sensorlets. For example, if a
distributed sensorlet fails, the remnants of the mesh network of
which the failed distributed sensorlet was a part can reconfigure
the paths of the mesh network to accommodate the absence of the
failed sensorlet. The mesh network can serve to extend the
communication range of the distributed sensorlets by progressively
passing information to be communicated from one sensorlet to
another sensorlet to yet another sensorlet. Thus, if a first
sensorlet and a third sensorlet are not within range to communicate
with each other directly, a second sensorlet can relay the
information to be communicated and thereby extend the communication
range.
[0025] Mesh networking can provide numerous capabilities. As one
example, mesh networking can extend point-to-point communication
among pairs of nodes. As examples, the pairs of nodes can be two
sensorlets or a sensorlet and a gateway node. The gateway node (or
another sensorlet) can serve as an endpoint of a backbone
connection to allow information from the sensorlet to be
transmitted to another resource apart from the sensorlets and any
gateway nodes deployed with the sensorlets. As an example, the
gateway node can transmit information from a sensorlet to an aerial
resource, such as an aircraft or a spacecraft. The aircraft or
spacecraft can relay the information over great distances. To
illustrate this point, a temporary wireless relay can be
established, for example, via UAV or Aerostat Unmanned Aerial
System (UAS) assets.
[0026] Another capability mesh networking among sensorlets can
provide is to communicate to a plurality of other sensorlets
information obtained by a sensorlet. As an example, sensorlets can
communicate to each other the sensor information they each obtain,
allowing processing at a sensorlet of more than the information
obtained by that sensorlet alone. As examples, a sensorlet can
corroborate and correlate the information it obtains from its
sensors with sensor information obtained by other sensorlets.
Accordingly, the distributed sensorlet system can collectively form
a unified characterization based on sensor data from a plurality of
sensorlets.
[0027] As described above, an aerial resource can be used to
collect or relay information from one or more sensorlets, allowing
sensor information from the one or more sensorlets to be processed
at the aerial resource, at a remote site to which the sensor
information is relayed via the aerial resource, or at both
locations. The sensorlets can transmit information directly to the
aerial resource, via a network, such as a mesh network among a
plurality of sensorlets, or via a combination of direct
transmission to the aerial resource and networked transmission to
the aerial resource.
[0028] As a sensorlet can serve as both a source of sensor
information and a network node, the status of the sensorlet as a
source of information can be used in the determination of the
status of the sensorlet as a network node, and the status of the
sensorlet as a network node can be used in the determination of the
status of the sensorlet as a source of information. As an example,
if no sensor information originating from a sensorlet is seen for
some time, the status of that sensorlet as a network node can be
regarded as dubious, and proximate nodes of the network can query
the sensorlet to determine if it is still a reliable network node.
As another example, if a sensorlet is determined not to be a
reliable network node, the status of the sensorlet as a source of
sensor information can be regarded as dubious, and the processing
of sensor information can be reconfigured to utilize sensor
information from other sensorlets without reliance on sensor
information from the sensorlet that is not a reliable network node.
The integrity of the sensor information can be used to assure the
integrity of the network, and the integrity of the network can be
used to assure the integrity of the sensor information.
[0029] From the sensor information obtained from the plurality of
sensorlets, one or more models may be built to characterize the
combined sensor information. The one or more models can
characterize the combined sensor information as being
representative of one or more objects. As an example, temporal,
spatial, and other relationships of the sensor information of the
plurality of sensorlets can be used to build a model of one or more
objects in time and space. As another example, attributes of the
sensor information recognizable as relating to an event or activity
can be used to build a model based on the sensor information of the
plurality of sensorlets. The model building and processing of
distributed sensor streams obtained from the plurality of
sensorlets can synergistically provide a synthesized understanding
of one or more objects beyond what would be possible based on the
sensor data of a single sensorlet.
[0030] Machine learning can be applied to a sensor data analysis
system. A machine learning based sensor data analysis system
enables conversion of distributed sensor streams obtained from a
plurality of sensorlets into usable insights with temporal,
spatial, and event and activity based awareness. Exemplary
applications include improvised explosive device (IED) detection,
virtual perimeter enforcement, route intelligence and
protection.
[0031] FIG. 1 is an elevation view diagram illustrating a
distributed sensorlet system in accordance with at least one
embodiment. Distributed sensorlet system 100 comprises a plurality
of distributed sensorlets 104, 107, 110, 113, and 116. Distributed
sensorlet system 100 can also comprise a communication platform 101
configured to communicate with one or more of the distributed
sensorlets 104, 107, 110, 113, and 116. Communication platform 101
may be situated, for example, on a land vehicle, a vessel situated
over water, an aerial platform, such as a balloon or an airship, or
a structure situated at a fixed location. In accordance with at
least one embodiment, communication platform 101 comprises a
communication node 102 configured to communicate via antenna 103.
As examples, communication platform 101 may be an aerostat UAS, a
UAV, or another communication platform. Antenna 103 can be used,
for example, to communicate with one or more of the plurality of
sensorlets 104, 107, 110, 113, and 116. For example, antenna 103
can be used to communicate with several individual sensorlets, with
a sensorlet serving as a gateway node for a network of sensorlets,
with a non-sensorlet gateway node, with a combination of the
foregoing, or with other nodes. As another example, antenna 103 can
be used to communicate information, such as sensor information,
tracking information, coordination information, and command
information to or from sensorlets 104, 107, 110, 113, and 116. The
ability to communicate the locations of sensorlets 104, 107, 110,
113, and 116 can be useful, for example, to correlate sensor
information from sensorlets 104, 107, 110, 113, and 116 with the
respective locations of sensorlets 104, 107, 110, 113, and 116.
[0032] Sensorlet 104 comprises sensor 105 and is equipped with
antenna 106, sensorlet 107 comprises sensor 108 and is equipped
with antenna 109, sensorlet 110 comprises sensor 111 and is
equipped with antenna 112, sensorlet 113 comprises sensor 114 and
is equipped with antenna 115, and sensorlet 116 comprises sensor
117 and is equipped with antenna 118. In the example illustrated in
FIG. 1, communication node 102 communicates via its antenna 103
with sensorlet 104 via its antenna 106 along signal path 121 and
sensorlet 107 via its antenna 109 along signal path 122. Sensorlet
104 communicates via its antenna 106 with sensorlet 110 via its
antenna 112 along signal path 123. Sensorlet 107 communicates via
its antenna 109 with sensorlet 113 via its antenna 115 along signal
path 124 and with sensorlet 116 via its antenna 118 along signal
path 125. Sensorlet 110 communicates via its antenna 112 with
sensorlet 113 via its antenna 115 along signal path 126. Sensorlet
113 communicates via its antenna 115 with sensorlet 116 via its
antenna 118 along signal path 127.
[0033] Multiple possible paths exist for communication, providing
redundancy in case of loss of a signal path. As one example,
sensorlet 110 can pass its sensor information along signal path 123
to sensorlet 104, which can relay the sensor information from
sensorlet 110 via signal path 121 to communication node 102.
However, if either of signals paths 121 and 123 are lost, sensorlet
110 can pass its sensor information along signal path 126 to
sensorlet 113, which can relay the sensor information from
sensorlet 110 via signal path 124 to sensorlet 107. Sensorlet 107
can relay the sensor information from sensorlet 110 via signal path
122 to communication node 102. If signal path 124 were also to
fail, sensorlet 113 could relay the sensor information from
sensorlet 110 along signal path 127 to sensorlet 116, which could
relay the sensor information from sensorlet 110 along signal path
125 to sensorlet 107. Sensorlet 107 could relay the information
from sensorlet 107 along signal path 122 to communication node 102.
As can be seen, with the sensorlets 104, 107, 110, 113, and 116 and
communication node 102 able to relay sensor information, multiple
paths exist from any node to any other node in the network. Thus,
according to the illustrated example, a robust, fault-tolerant
network is provided for communication of sensor information from
sensorlets 104, 107, 110, 113, and 116.
[0034] While a particular number of sensorlets and particular
signal paths between certain ones of those sensorlets are
illustrated, and only one communication node 102 is illustrated,
embodiments may be practiced with other numbers of sensorlets,
other numbers of communication nodes, and other numbers and
configurations of signal paths, and the sensorlets, communication
nodes, and signal paths may come and go dynamically over time yet
reliable communication of sensor information can be maintained
generally regardless of specific changes.
[0035] In accordance with at least one embodiment, sensorlets 104,
107, 110, 113, and 116 can be deployed from an aircraft, such as a
UAV, an aerostat UAS, an airplane, or a helicopter. In accordance
with at least one embodiment, sensorlets 104, 107, 110, 113, and
116 can be deployed using their own propulsion systems. In
accordance with at least one embodiment, sensorlets 104, 107, 110,
113, and 116 can be deployed from the ground or from the surface of
a body of water, for example, using a mortar or other launcher. In
accordance with at least one embodiment, sensorlets 104, 107, 110,
113, and 116 can be deployed individually from a host platform such
as those described above. In accordance with at least one
embodiment, sensorlets 104, 107, 110, 113, and 116 can be deployed
in a unitized form, such as within a unitized container, from a
host platform, with the unitized container configured to open and
release the individual sensorlets 104, 107, 110, 113, and 116.
[0036] As one example, distributed sensorlet system 100 may be
maintained in a pre-deployment configuration, guided by
communication with a peer network or a command and control system
to deploy sensorlets upon command. As another example, distributed
sensorlet system 100 can be maintained in a deployed configuration,
with distributed sensorlet system 100 configured to have
communication platform 101 communicate with deployed sensorlets.
For example, the deployed configuration may be used to scout an
area or provide surveillance for force protection purposes or
target detection purposes.
[0037] FIG. 2 is a block diagram illustrating a distributed
sensorlet system in accordance with at least one embodiment.
Distributed sensorlet system 100 comprises communications subsystem
201, tracking subsystem 202, processing subsystem 203, ordnance
subsystem 204, database subsystem 205, navigation subsystem 206,
dynamics subsystem 207, sensor subsystem 208, propulsion subsystem
209, and power subsystem 210. Each of such subsystems is coupled to
at least another of such subsystems. In the illustrated example,
the subsystems are coupled to each other via interconnect 211.
Communications subsystem 201 may be coupled to antennas, such as
satellite antenna 212 and terrestrial antenna 213. Other
embodiments may be implemented with a subset of the above
subsystems or with additional subsystems beyond the above
subsystems or a subset thereof.
[0038] The elements shown in FIG. 2 may, for example, be
distributed among components of the distributed sensorlet system.
As an example, one or more elements shown in FIG. 2 may be
incorporated in one or more sensorlets, while another one or more
elements may be incorporated in a host platform from which
sensorlets may be deployed or from which a unitized container
comprising sensorlets may be delivered, with the sensorlets being
deployed from the unitized container. As another example, multiple
instances of one or more elements shown in FIG. 2 may be provided,
with one or more instances incorporated in one or more sensorlets
and another one or more instances incorporated in a host platform.
As may be desired, one or more elements shown in FIG. 2 may be
omitted from the distributed sensorlet system, according to at
least one embodiment.
[0039] FIG. 3 is a block diagram illustrating a power subsystem of
a distributed sensorlet system in accordance with at least one
embodiment. Power subsystem 210 comprises voltage regulator 301,
load management system 302, battery management system 303, charging
system 304, battery 305, and power source 306. Each of such
elements is coupled to at least another of such elements. In the
illustrated example, the elements are coupled to each other via
interconnect 311.
[0040] As examples, power source 306 can be a solar power source, a
wind power source, a wave power source, a hydrothermal power
source, a chemical fuel power source, a nuclear power source, or
another type of power source. As an example, a host platform can
provide power source 306. Power from power source 306 may be
provided to the distributed sensorlet system via an electrical
connector and an electrical conduit, as an example. Charging system
304 can be configured to charge battery 305 using power obtained
from power source 306. Battery management system can manage a
battery state of battery 305 and can monitor charging and
discharging of battery 305. Load management system 302 can monitor
power used by loads, such as other subsystems shown in FIG. 2.
Voltage regulator 301 can provide one or more regulated voltages to
the loads.
[0041] FIG. 4 is a block diagram illustrating a propulsion
subsystem of a distributed sensorlet system in accordance with at
least one embodiment. Propulsion subsystem 209 comprises motor
management system 401, propulsion feedback sensors 402, motor drive
circuits 403, station keeping motors 404, trim motors 405, and main
motor 406. Each of such elements is coupled to at least another of
such elements. In the illustrated example, the elements are coupled
to each other via interconnect 411.
[0042] Main motor 406 can provide main propulsion of distributed
sensorlet system 100. Such main propulsion can allow one or more
components of distributed sensorlet system 100 to move to a
deployment location. Such main propulsion can also allow one or
more components of distributed sensorlet system 100 to move in
relation to other objects, such as other instances of distributed
sensorlet system 100. Trim motors 405 can provide propulsive force
to counteract force that would change the orientation of
distributed sensorlet system 100 away from a desired orientation.
As examples, trim motors 405 can compensate for forces that would
tend to impart undesired pitch, yaw, and roll to distributed
sensorlet system 100. Station keeping motors 404 can provide
propulsive force to counteract currents that would cause
distributed sensorlet system 100 to drift away from its deployment
location. As examples, station keeping motors 404 can be oriented
along a plurality of axes, such as x, y, and z orthogonal axes, to
allow station keeping in three dimensions. Motor drive circuits 403
are coupled to main motor 406, trim motors 405, and station keeping
motors 404 to provide electrical motor drive signals to drive such
motors. Power for the electrical motor drive signals can be
obtained from power subsystem 210. Propulsion feedback sensors 402
can monitor the propulsion provided by the motors of propulsion
subsystem 209. As an example, propulsion feedback sensors 402 can
include pressure sensors to measure pressures produced by movement
of water by propulsion system elements. As another example,
propulsion feedback sensors 402 can include accelerometers to
measure acceleration provided by propulsion system elements. Motor
management system 401 can use information from propulsion feedback
sensors 402 to cause motor drive circuits 403 to drive main motor
406, trim motors 405, and station keeping motors 404 to provide
desired propulsion.
[0043] FIG. 5 is a block diagram illustrating a dynamics subsystem
of a distributed sensorlet system in accordance with at least one
embodiment. Dynamics subsystem 207 comprises dynamics management
system 501, dynamics sensors 502, dynamics surface positioning
actuators 503, station-keeping motor controller 504, trim motor
controller 505, and main motor controller 506. Each of such
elements is coupled to at least another of such elements. In the
illustrated example, the elements are coupled to each other via
interconnect 511.
[0044] Dynamics sensors 502 sense dynamic forces and responsiveness
of distributed sensorlet system 100 to such dynamic forces.
Examples of dynamic sensors 502 include pressure sensors, strain
gauges, and fluid dynamics sensors. Dynamics management system 501
uses the sensed data from dynamics sensors 502 to provide dynamics
control signals to dynamics surface positioning actuators 503, to
main motor controller 506, to trim motor controller 505, and to
station-keeping motor controller 504. Dynamics surface positioning
actuators 503 can comprise, for example, actuators to orient
aerodynamic surfaces of distributed sensorlet system 100 to adjust
the responsiveness of distributed sensorlet system 100 to
aerodynamic forces exerted upon it. Main motor controller 506, trim
motor controller 505, and station-keeping motor controller 504 can
provide dynamics control signals to adjust the operation of main
motor 406, trim motors 405, and station keeping motors 404,
respectively, as dictated by dynamics management system 501 in
response to dynamics sensor data from dynamics sensors 502.
[0045] FIG. 6 is a block diagram illustrating a sensor subsystem of
a distributed sensorlet system in accordance with at least one
embodiment. Sensor subsystem 208 comprises target sensors 601,
surface traffic sensors 602, fixed obstacle sensors 603, subsurface
traffic sensors 604, imaging sensors 605, and science sensors 606.
Each of such elements is coupled to at least another of such
elements. In the illustrated example, the elements are coupled to
each other via interconnect 611.
[0046] Target sensors 601 include sensors suitable for sensing a
target suitable for engagement with ordnance subsystem 204 of
distributed sensorlet system 100. Examples of target sensors 601
include a monostatic radar, a bistatic radar receiver, a bistatic
radar transmitter, an infrared sensor, and a passive acoustic
sensor. Surface traffic sensors 602 include sensors suitable for
sensing traffic of surface vessels on a surface of water in which
distributed sensorlet system 100 may operate. Examples of surface
traffic sensors 602 include a monostatic radar, a bistatic radar
receiver, a bistatic radar transmitter, an infrared sensor, an
active acoustic sensor, and a passive acoustic sensor. Fixed
obstacle sensors 603 include sensors suitable for sensing fixed
obstacles. Examples of fixed obstacle sensors 603 include a
monostatic radar, a bistatic radar receiver, a bistatic radar
transmitter, an infrared sensor, an active acoustic sensor, a
passive acoustic sensor, and a depth profiler. Subsurface traffic
sensors 604 include sensors suitable for sensing traffic of
subsurface vessels below a surface of water in which distributed
sensorlet system 100 operates. Examples of subsurface traffic
sensors 604 include an active acoustic sensor, a passive acoustic
sensor, and a magnetic sensor. The magnetic sensor may include, for
example, a magnetometer or a magnetic anomaly detector. Imaging
sensors 605 include sensors capable of obtaining images. Examples
of imaging sensors 605 include visible still cameras, visible video
cameras, infrared cameras, ultraviolet cameras, star tracking
cameras, and other cameras. While sensors may be incorporated in a
sensorlet, at least one sensor may be separable from a sensorlet.
As an example, one or more sensorlets may be configured to release
a separable sensor package, such as a buoy or a ground-based sensor
package. As an example, the separable sensor package may provide
sensing based on a physical connection with a medium, such as water
or earth, through which detectable signals may propagate.
Accordingly, as examples, acoustic, magnetic, seismic, and other
sensors may be separably deployed by one or more sensorlets.
[0047] Imaging sensors 605 can comprise sensors such as side scan
sonar (SSS), synthetic aperture sonar (SAS), multibeam echosounders
(MBES), imaging sonar, sub-bottom profiler (SBP), video cameras,
still cameras, infrared cameras, multispectral cameras, and other
types of imaging sensors. Science sensors 606 can comprise sensors
such as conductivity, temperature, and depth (CTD) sensors,
conductivity and temperature (CT) sensors, fluorometers, turbidity
sensors, sound velocity sensors, beam attenuation meters,
scattering meters, transmissometers, and magnetometers.
[0048] FIG. 7 is a block diagram illustrating a database subsystem
of a distributed sensorlet system in accordance with at least one
embodiment. Database subsystem 205 comprises target database 701,
surface traffic database 702, oceanographic database 703,
subsurface traffic database 704, peer network database 705, and
science database 706. Each of such elements is coupled to at least
another of such elements. In the illustrated example, the elements
are coupled to each other via interconnect 711.
[0049] Target database 701 is a database for storing information
characterizing potential targets and other information useful for
distinguishing non-targets from targets. As examples, target
database 701 may include information such as identification friend
or foe (IFF) information, radar signature information, infrared
signature information, and acoustic signature information as may
pertain to aircraft. Surface traffic database 702 is a database for
storing information characterizing potential surface traffic. As
examples, surface traffic database 702 may include information such
as radar signature information, infrared signature information, and
acoustic signature information as may pertain to surface vessels.
Oceanographic database 703 is a database for storing information
characterizing physical features of the operating environment, such
as an ocean, of distributed sensorlet system 100. As examples,
oceanographic database 703 may include information as to ocean
floor topography, ocean currents, islands, coastlines, and other
features. Subsurface traffic database 704 is a database for storing
information characterizing potential subsurface traffic. As
examples, subsurface traffic database 704 may include information
such as acoustic signature information as may pertain to subsurface
vessels. Peer network database 705 is a database for storing
information characterizing a relationship of distributed sensorlet
system 100 to other instances of distributed sensorlet system 100
capable of operating cooperatively as peers with distributed
sensorlet system 100. As examples, subsurface traffic database 704
may include information as to locations of peers, sensor parameters
of peers, ordnance capabilities of peers, readiness of peers, and
other properties of peers. Science database 706 is a database for
storing information of a scientific nature, such as water
temperature, water salinity, water conductivity, water density,
water turbidity, air temperature, barometric pressure, sky
conditions, and other information descriptive of conditions of the
environment within which distributed sensorlet system 100
operates.
[0050] FIG. 8 is a block diagram illustrating a navigation
subsystem of a distributed sensorlet system in accordance with at
least one embodiment. Navigation subsystem 206 comprises satellite
based navigation system 801, inertial navigation system 802,
acoustic navigation system 803, image based navigation system 804,
magnetic navigation system 805, and pressure based navigation
system 806. Each of such elements is coupled to at least another of
such elements. In the illustrated example, the elements are coupled
to each other via interconnect 811.
[0051] Satellite based navigation system 801 can comprise, for
example, a Global Navigation Satellite System (GLONASS) receiver
and a Global Positioning System (GPS) receiver, which may include a
Selective Availability/Anti-Spoofing Module (SAASM), a precise
pseudo-random code (P-code) module, and an encrypted precise
pseudo-random code (Y-code) module. Inertial navigation system 802
can comprise an inertial navigation sensor (INS) and an inertial
measurement unit (IMU), which can comprise at least one of an
accelerometer, a gyroscope, and a magnetometer.
[0052] Acoustic navigation system 803 can comprise, for example,
Ultra Short Baseline (USBL) system, Long Baseline (LBL) system, a
Doppler Velocity Logger (DVL), and an acoustic tracking
transponder. Magnetic navigation system 805 can comprise, for
example, a compass. Pressure based navigation system 806 can
comprise, for example, an altimeter and a pressure sensor.
[0053] FIG. 9 is a block diagram illustrating a processing
subsystem of a distributed sensorlet system in accordance with at
least one embodiment. Processing subsystem 203 comprises processor
901, sensor fusion subsystem 902, object detection and analysis
subsystem 903, reasoning and planning subsystem 904, control and
autonomy subsystem 905, and explainability and transparency
subsystem 906. Each of such elements is coupled to at least another
of such elements. In the illustrated example, the elements are
coupled to each other via interconnect 911.
[0054] Processor 901 is a data processor for processing information
within distributed sensorlet system 100. Processor 901 can
cooperate with subsystems of processing subsystem 203, such as
sensor fusion subsystem 902, object detection and analysis
subsystem 903, reasoning and planning subsystem 904, control and
autonomy subsystem 905, and explainability and transparency
subsystem 906. As one example, processing subsystem 203 can be
implemented to utilize heterogeneous computing, wherein the
different elements of processing subsystem 203 are implemented
using different configurations of processor circuits, in accordance
with at least one embodiment. As another example, a homogeneous
computing system comprising similar configurations of processor
circuits, such as a symmetric multiprocessor (SMP) system, can be
used to implement processing subsystem 203.
[0055] Sensor fusion subsystem 902 processes sensor data obtained
by sensors, such as sensors of sensor subsystem 208. Sensor data
can be obtained from sensors local to distributed sensorlet system
100 or from remote sensors located elsewhere, for example, on other
instances of distributed sensorlet system 100, on other vessels, or
on other platforms, such as satellites, aircraft, or fixed
locations. Sensor fusion subsystem 902 provides fidelity
enhancement with multi-sensor feeds. As an example, sensor fusion
subsystem 902 compares sensor data from multiple sensors to
cross-validate the sensor data. The sensor data being
cross-validated can be homogeneous, having been obtained from
different instances of a similar type of sensor, can be
heterogeneous, having been obtained from different types of
sensors, or can have homogeneous and heterogeneous aspects, having
been obtained from different instances of a similar type of sensor
for each of a plurality of different types of sensors.
[0056] Sensor fusion subsystem 902 provides noise reduction and bad
data identification via deep artificial neural networks (ANNs).
Deep artificial neural networks are configured to recognize
spurious data that, if relied upon, could lead to improper decision
making. The deep artificial neural networks can acquire knowledge
that can be stored within the adaptive elements of the deep
artificial neural networks, and that acquired knowledge can be used
for subsequent decision making. As an example, as a wide range of
sensor data is obtained over time, sensor fusion subsystem 902 can
learn to distinguish between, as examples, civilian aircraft,
friendly military aircraft, and hostile military aircraft.
[0057] Sensor fusion subsystem 902 provides automated feature
construction and evolution. By processing sensor data to identify
features of a potential target that can be recognized from the
information provided by the sensor data and adaptively modifying
the processing of the sensor data over time to improve the
identification of such features, feature recognition provided by
sensor fusion subsystem 902 can improve identification of actual
targets from among potential targets.
[0058] Sensor fusion subsystem 902 can combine augmented reality
(AR) with virtual reality (VR) and predictive algorithms to
facilitate application of information obtained from sensors to
create an easily comprehensible presentation of a situation. For
example, sensor fusion subsystem 902 can effectively filter out
extraneous information, such as weather conditions and
countermeasure effects, to provide a clear presentation of a
target. The presentation of the target can be made with respect to
distributed sensorlet system 100, for example, with respect to the
engagement range of the ordnance of ordnance subsystem 204 of
distributed sensorlet system 100.
[0059] Object detection and analysis subsystem 903 utilizes machine
vision techniques to process sensor data to recognize an object the
sensor data represents. Object detection and analysis subsystem 903
provides multi-spectral, cross-sensor analysis of sensor data,
correlating sensor data of different types and of different sensors
to assemble an accurate characterization of a detected object.
Object detection and analysis subsystem 903 can perform new object
discovery, utilizing unsupervised learning, which can identify the
presence of new types of objects not previously known to exist or
not previously having been identifiable based on previous
processing of sensor data. Object detection and analysis subsystem
903 can provide a comprehensive vision of detectable objects and
can apply ontologies to characterize such objects and their
potential significance in a battlespace.
[0060] Reasoning and planning subsystem 904 can apply strategy
generation techniques and strategy adaptation techniques to develop
and adapt a strategy for protecting distributed sensorlet system
100 and other assets in concert with which distributed sensorlet
system 100 may be deployed, for example, other instances of
distributed sensorlet system 100 and naval vessels that may be
protected by distributed sensorlet system 100. Reasoning and
planning subsystem 904 can apply reality vectors to provide a
thought-vector-like treatment of a real state of distributed
sensorlet system 100 and its surroundings. Reasoning and planning
subsystem 904 can apply reinforcement learning and evolutionary
processes to accumulate knowledge during the course of its
operation.
[0061] Control and autonomy subsystem 905 utilizes platforms to
transform a large amount of data into situational awareness. For
example, control and autonomy subsystem 905 can utilize simulation
engines to transform data, such as sensor data and object
information obtained from sensor data, into an understanding of the
situation faced by distributed sensorlet system 100 that allows
control and autonomy subsystem 905 to initiate action, such as
engagement of a target using the ordnance of ordnance subsystem
204. Control and autonomy subsystem 905 can utilize reinforcement
learning applications to evolve controllers, which can be used to
autonomously control distributed sensorlet system 100. Control and
autonomy subsystem 905 can utilize swarm constrained deep learning
for distributed decision making.
[0062] Control and autonomy subsystem 905 can coordinate deployment
of sensorlets, for example, to create desired distribution of
deployed sensorlets. Sensorlet features such as a gliding airfoil
or a propulsion system can be used to achieve the desired
distribution. As an example, the deployment parameters can be
selected to provide an evenly spaced distribution of sensorlets. As
another example, the deployment parameters can be selected to
provide a weighted distribution of sensorlets. The weighted
distribution can have a greater density of sensorlets over an area
of particular interest and a lesser density of sensorlets over
another area of more general interest.
[0063] Control and autonomy subsystem 905 can interact with other
subsystems, such as sensor subsystem 208 and tracking subsystem 202
to adaptively control the operation of the sensorlets via
communications subsystem 201.
[0064] Explainability and transparency subsystem 906 can perform
analysis and observation by applying natural language processing
(NLP) and natural language generation (NLG) to produce natural
language reports. Explainability and transparency subsystem 906 can
perform hypothesis validation, enabling autonomous research to be
performed by distributed sensorlet system 100. Explainability and
transparency subsystem 906 can perform automated ontology
discovery, allowing distributed sensorlet system 100 to recognize
and respond to threats that do not fit within an existing knowledge
base of threats.
[0065] FIG. 10 is a block diagram illustrating an ordnance
subsystem of a distributed sensorlet system in accordance with at
least one embodiment. Ordnance subsystem 204 comprises ordnance use
controller 1001, ordnance launch controller 1002, ordnance safety
system 1003, ordnance readiness controller 1004, ordnance 1005, and
ordnance security controller 1006. Each of such elements is coupled
to at least another of such elements. In the illustrated example,
the elements are coupled to each other via interconnect 1011.
Ordnance safety system 1003 comprises environmental subsystem
1007.
[0066] Ordnance 1005 may, for example, be a sensorlet carrying an
explosive payload. For example, the explosive payload may comprise
an explosive charge in an unprefragmented housing, an explosive
charge in a prefragmented housing, thermobaric explosive payload,
an electromagnetic explosive payload, or another type of explosive
payload. Ordnance 1005 may comprise a charging subsystem 1009,
which may, for example, cooperate with power subsystem 210 to allow
charging (and subsequent recharging) of ordnance 1005. As an
example, ordnance 1005 in the form of a sensorlet can include a
rechargeable battery to power a propulsion system, such as a
propeller system. Charging subsystem 1009 can charge the
rechargeable battery of the sensorlet. The sensorlet can be
deployed on multiple sorties, being recharged from time to time to
continue to power the propulsion system over the multiple sorties.
The rechargeable battery of the sensorlet can also power other
systems of the sensorlet besides the propulsion system.
[0067] Ordnance security controller 1006 can operate to maintain
security of ordnance 1005. As an example, ordnance security
controller 1006 can be configured to detect tampering with
distributed sensorlet system 100 that poses a security risk to
ordnance 1005. Ordnance security controller 1006 can be configured,
for example, to temporarily or permanently disable ordnance 1005 in
response to a detected security risk.
[0068] Ordnance safety system 1003 can monitor conditions affecting
safety of ordnance 1005. As an example, ordnance safety system 1003
can include environmental subsystem 1007. Environmental subsystem
1007 can monitor environmental conditions to which ordnance 1005 is
exposed. Based on the monitored environmental conditions, ordnance
safety system 1003 can determine whether the safety of ordnance
1005 has been compromised. In the event of the safety has been
compromised, ordnance safety system 1003 can communicate a warning
to other components of ordnance subsystem 204, such as to ordnance
readiness controller 1004, ordnance use controller 1001, and
ordnance launch controller 1002 to warn of potential safety risks
concerning ordnance 1005. The other components can perform risk
mitigation actions, such as inhibiting launch of ordnance 1005,
rendering ordnance 1005 inert, or jettisoning ordnance 1005. The
jettison process can be coordinated with other subsystems, such
navigation subsystem 206, sensor subsystem 208, and database
subsystem 205, to command self-destruction of ordnance 1005 after
ordnance 1005 has been jettisoned to a safe location.
[0069] Ordnance readiness controller 1004 manages readiness of
ordnance 1005 for use. Ordnance readiness controller 1004 can
receive ordnance security information from ordnance security
controller 1006, ordnance safety information from ordnance safety
system 1003, and ordnance self-test information from ordnance 1005.
Ordnance readiness controller 1004 can use such information to
determine an overall readiness of ordnance 1005 for use.
[0070] Ordnance use controller 1001 manages confirmation of
authority to use ordnance 1005. For example, ordnance use
controller can receive a message via communications subsystem 201,
which may have been decrypted via cryptographic system 1106, to
authorize the use of ordnance 1005 or alternatively, to delegate
the authority to use ordnance 1005 to processing subsystem 203,
allowing distributed sensorlet system 100 to use ordnance 1005
autonomously.
[0071] Ordnance launch controller 1002 controls a launch sequence
of ordnance 1005 when ordnance use controller 1001 has confirmed
authority to use ordnance 1005. Ordnance launch controller 1002
monitors conditions for a safe launch of ordnance 1005 and is able
to inhibit launch when such conditions are not met and to proceed
with launch when such conditions are met.
[0072] FIG. 11 is a block diagram illustrating a communications
subsystem of a distributed sensorlet system in accordance with at
least one embodiment. Communications subsystem 201 comprises
satellite communications system 1101, terrestrial radio frequency
(RF) communications system 1102, wireless networking system 1103,
acoustic communications system 1104, optical communications system
1105, and cryptographic system 1106. Each of such elements is
coupled to at least another of such elements. In the illustrated
example, the elements are coupled to each other via interconnect
1111.
[0073] Satellite communications system 1101 can comprise, for
example, a Fleet Satellite Communications System (FLTSATCOM)
transceiver, an Ultra High Frequency (UHF) Follow-On (UFO)
transceiver, a Mobile User Objective System (MUOS) transceiver, and
a commercial satellite transceiver, such as an IRIDIUM satellite
transceiver. Terrestrial RF communications system 1102 can
comprise, for example, a terrestrial RF modem operating on one or
more bands, such as a High Frequency (HF) band, a Very High
Frequency (VHF) band, an Ultra High Frequency (UHF) band, and a
microwave (.mu.wave) band. Wireless networking system 1103 can
comprise a WIFI wireless network transceiver (WIFI is a registered
trademark of Wi-Fi Alliance), a BLUETOOTH wireless network
transceiver (BLUETOOTH is a registered trademark of Bluetooth SIG,
Inc.), a WIGIG wireless network transceiver (WIGIG is a registered
trademark of Wi-Fi Alliance), and another type of wireless network
transceiver. Acoustic communications system 1104 can comprise an
acoustic modem. Optical communications system 1105 may comprise,
for example, a blue/green laser communications system.
[0074] Communications subsystem 201 can communicate, for example,
with a plurality of UAVs deployed by distributed sensorlet system
100. As an example, communications subsystem 201 can use wireless
networking system 1103 to create a communications network with the
plurality of UAVs. As one example, such as communications network
can be a mesh network, wherein the plurality of UAVs can relay
messages amongst themselves to extend the networking range. The
relayed messages may originate, for example, from distributed
sensorlet system 100 or from one of the plurality of UAVs. The
relayed messages may be destined, for example, for distributed
sensorlet system 100 or one of the plurality of UAVs.
[0075] FIG. 12 is a block diagram illustrating a tracking subsystem
of a distributed sensorlet system in accordance with at least one
embodiment. Tracking subsystem 202 comprises target tracking system
1201, ordnance tracking system 1202, peer cooperation tracking
system 1203, target effects tracking system 1204, range safety
system 1205, and defensive tracking system 1206. Each of such
elements is coupled to at least another of such elements. In the
illustrated example, the elements are coupled to each other via
interconnect 1211.
[0076] Target tracking system 1201 provides an ability to track a
target acquired by sensor subsystem 208. Peer cooperation tracking
system 1203 provides an ability to cooperate with the tracking
subsystems of other instances of distributed sensorlet system 100,
allowing such other instances to act as peers in tracking.
Defensive tracking system 1206 allows distributed sensorlet system
100 to track threats against itself. Ordnance tracking system 1202
tracks ordnance 1005 after ordnance 1005 is launched to engage a
target. Target effects tracking system 1204 tracks the effects of
ordnance 1005 on the target. Range safety system 1205 obtains
ordnance trajectory information as to the trajectory of ordnance
1005, for example, from ordnance tracking system 1202. Range safety
system 1205 can take protective action, for example, commanding
destruction of ordnance 1005, if ordnance 1005 fails to maintain
its intended trajectory.
[0077] FIG. 13 is a flow diagram illustrating a method in
accordance with at least one embodiment. Method 1300 begins at
block 1301 and continues to block 1302. At block 1302, a host
platform is relocated to a vicinity of a deployment area in which
sensorlets are to be deployed. As an example, the host platform can
fly, glide, float, or otherwise be transported to the vicinity of
the deployment area. Depending on the standoff capability of the
sensorlets, the vicinity to which the host platform is relocated
may be farther from or nearer to final deployment locations of the
sensorlets. From block 1302, method 1300 continues to block 1303.
At block 1303, sensorlets are deployed from the host platform to
the deployment area. As one example, the sensorlets are
individually deployed directly from the host platform. As another
example, illustrated in block 1311, the sensorlets are individually
deployed from a unitized container. The unitized container may be
deployed from the host platform. From block 1303, method 1300
continues to block 1304. At block 1304, the sensing of sensor
information from a sensor of a sensorlet of the sensorlets begins.
The sensing can begin, as one example, while the sensorlets are
being deployed or, as another example, after the sensorlets have
reached their final deployment locations. From block 1304, method
1300 continues to block 1305. At block 1305, the sensor information
is processed locally at the sensorlet according to predetermined
parameters. From block 1305, method 1300 continues to block 1306.
At block 1306, sensor information is transmitted to another
sensorlet, according to one embodiment, or to a communication
relay, according to another embodiment. According to yet another
embodiment, the sensor information can be transmitted both to
another sensorlet and to a communication relay. The communication
relay can relay the communication to a distant location. Sensor
information transmitted to another sensorlet can be further
transmitted to yet other sensorlets. As an example, the sensor
information can be transmitted successively from one sensorlet to
another among multiple successive sensorlets. From block 1306,
method 1300 continues to block 1307. At block 1307, the sensor
information from a first sensorlet is processed with second sensor
information from a second sensorlet to synthesize a synergistic
interpretation of the multiple sensor information. From block 1307,
method 1300 continues to block 1308. At block 1308, actions are
directed based on the synergistic interpretation of the multiple
sensor information. As an example, other resources, such as
aircraft or vehicles, can be dispatched to one or more locations
based on the synergistic interpretation of the multiple sensor
information. From block 1308, method 1300 continues to block 1309.
At block 1309, the sensorlet network is adapted to changing
conditions. As an example, a mesh network of sensorlets can adapt
to the loss of an existing network node (e.g., a sensorlet or a
communication relay) from the network or the inclusion of an
additional network node into the network. As an example, a
sensorlet network can adapt to changing networking configuration
conditions, resulting in an adapted sensorlet network. From block
1309, method 1300 continues to block 1310. At block 1310, sensor
information is transmitted via the adapted sensorlet network. As an
example, sensor information can be routed through an adapted mesh
network according to an updated routing table.
[0078] FIG. 14 is a flow diagram illustrating a method in
accordance with at least one embodiment. Method 1400 begins at
block 1401 and continues to block 1402. At block 1402,
pre-deployment readiness is maintained. As an example, a battery
charge of a battery of a sensorlet can be maintained, adding
additional charge by recharging when appropriate. From block 1402,
method 1400 continues to block 1403. At block 1403, separation of
the sensorlet from the deployment device is sensed. As an example,
as illustrated in block 1411, separation of the sensorlet from the
host platform is sensed. The deployment device may comprise, as
examples, a UAV or an aeronautically deployable unitized container.
As an example, as illustrated in block 1412, separation of the
sensorlet from a unitized container is sensed. From block, 1403,
method 1400 continues to block 1404. At block 1404, the sensorlet
status is initialized to a deployment location. As an example, a
sensorlet can use a location determining component, such as a
satellite receiver, to determine a deployment location of the
sensorlet. The sensorlet can prepare to use the deployment location
information to include with transmissions of sensor information, as
one example. From block 1404, method 1400 continues to block 1405.
At block 1405, sensor information is sensed from sensors of the
sensorlet. As an example, sensor information can be sensed from
sensors, such as vibration sensors, optical sensors, audio sensors,
light sensors, magnetic sensors, motion sensors, radio frequency
(RF) sensors, location sensors, and so on. From block 1405, method
1400 continues to block 1406. At block 1406, sensor information is
processed locally at the sensorlet. As an example, the sensorlet
can apply pre-determined or adaptively determined filters to the
sensor information to validate the sensor information and to
minimize noise affecting the sensors. As another example, the
sensorlet can correlate sensor information obtained from a
plurality of sensors of the sensorlet. From block 1406, method 1400
continues to block 1407. At block 1407, sensor information is
transmitted to another sensorlet or to a communication relay. As an
example, the sensor information can be transmitted to a plurality
of other sensorlets. From block 1407, method 1400 continues to
block 1408. At block 1408, the sensorlet receives second sensor
information from second sensors of a second sensorlet. The
sensorlet can also obtain additional sensor information from a
plurality of other sensorlets. From block 1408, method 1400
continues to block 1409. At block 1409, the sensor information and
the second sensor information are processed to synthesize a
synergistic interpretation of the multiple sensor information. As
an example, the sensorlet can correlate the sensor information with
the second sensor information. As another example, the sensorlet
can observe trends between the sensor information and the second
sensor information, such as changes in timing, intensity, duration,
frequency, or other parameters. The sensorlet can infer changes
such as changes in location or in a level of activity based on the
observed trends. The sensorlet can transmit information descriptive
of the observed trends or the inferred changes to another sensorlet
or to a communication relay. Actions can be taken based on such
information.
[0079] FIG. 15 is a block diagram illustrating a sensorlet in
accordance with at least one embodiment. Sensorlet 1500 comprises
communications subsystem 1501, tracking subsystem 1502, processing
subsystem 1503, ordnance subsystem 1504, database subsystem 1505,
navigation subsystem 1506, dynamics subsystem 1507, sensor
subsystem 1508, propulsion subsystem 1509, and power subsystem
1510. Each of such subsystems is coupled to at least another of
such subsystems. In the illustrated example, the subsystems are
coupled to each other via interconnect 1511. Other embodiments may
be implemented with a subset of the above subsystems or with
additional subsystems beyond the above subsystems or a subset
thereof
[0080] Communication subsystem 1501 of sensorlet 1500 can be used,
for example, to communicate with other sensorlets and, for example,
to communicate with distributed sensorlet system 100. Such
communication can be used, for example, to coordinate a network of
sensorlets.
[0081] Tracking subsystem 1502 of sensorlet 1500 can provide
tracking of sensorlet 1500 relative to distributed sensorlet system
100, tracking of other sensorlets relative to sensorlet 1500, and
tracking of potential targets and confirmed targets. Tracking
subsystem can utilize radar, radio frequency (RF), optical,
acoustic, and other types of tracking components.
[0082] Processing subsystem 1503 of sensorlet 1500 can send and
receive information from other subsystems of sensorlet 1500.
Processing subsystem 1503 can obtain data from database subsystem
1505 and can use the data obtained to characterize the information
received from other subsystems of sensorlet 1500. Processing
subsystem 1503 can also send and receive information to and from
other entities, such as other sensorlets and distributed sensorlet
system 100, via communication subsystem 1501. Processing subsystem
1503 of sensorlet 1500 can be configured to communicate with
another sensorlet. The first and second sensorlets can use either
or both of their respective processing subsystems to plan
cooperative engagement of a confirmed target by at least one of the
sensorlets in coordination with the other sensorlet. The first and
second sensorlets can be configured to deploy cooperatively with
additional sensorlets.
[0083] Ordnance subsystem 1504 of sensorlet 1500 can provide
elements to defeat targets to be engaged by sensorlet 1500. As
examples, ordnance subsystem 1504 may comprise an explosive charge
in an unprefragmented housing, an explosive charge in a
prefragmented housing, thermobaric explosive payload, an
electromagnetic explosive payload, or another type of explosive
payload. As another example, ordnance subsystem 1504 may comprise a
kinetic payload to impact matter with a target. As another example,
ordnance subsystem 1504 may comprise a non-explosive
electromagnetic payload, such as a laser or high-energy RF (HERF),
payload to deliver intense electromagnetic energy to a target. In
accordance with at least one embodiment, ordnance subsystem 1504
can provide an "aerial mine" capability to sensorlet 1500, with
other subsystems of sensorlet 1500 positioning sensorlet 1500 in an
expected path of a target and ordnance subsystem 1504 engaging the
target in proximity to sensorlet 1500. The ordnance is deliverable
by one or more sensorlets against one or more targets. At least a
portion of the ordnance is expendable against the one or more
targets.
[0084] Navigation subsystem 1506 of sensorlet 1500 allows sensorlet
1500 to obtain information as to its location. Sensorlet 1500 can
obtain information as to the locations of other objects, such as
other sensorlets, distributed sensorlet system 100, and one or more
targets, for example, via communication subsystem 1501. Processing
subsystem 1503 can process the locations, as well as directions and
speeds of motions, to map out the space within which sensorlet 1500
operates. Sensorlet 1500 can pass its location information and its
mapping of space to other objects, such as other sensorlets and
distributed sensorlet system 100, which can map out the spaces
within which they operate.
[0085] Dynamics subsystem 1507 provides compensation for dynamics
effects on sensorlet 1500. As an example, dynamics subsystem 1507
can adjust elements of sensorlet 1500 to compensate for the effect
of wind on the flight of sensorlet 1500. As other examples,
dynamics subsystem 1507 can adjust elements of sensorlet 1500 to
compensate for effects of temperature, humidity, barometric
pressure, precipitation, and other phenomena on the flight of
sensorlet 1500. As another example, dynamics subsystem 1507 can
adjust elements of sensorlet 1500 to compensate for effects of
speed on aerodynamic surfaces of sensorlet 1500 and for effects of
weight distribution in sensorlet 1500.
[0086] Sensor subsystem 1508 can includes sensors for detecting
information from the environment around sensorlet 1500. For
example, sensor subsystem 1508 can include still cameras, video
cameras, infrared cameras, ultraviolet cameras, multispectral
cameras, radars, RF sensors, optical sensors, acoustic sensors,
pressure sensors, altimeters, airspeed sensors, wind sensors,
chemical sensors, and other sensors. Information from such sensors
can be used by processing subsystem 1503 and can supplement
information used by other sensorlets and distributed sensorlet
system 100, which can be communicated by communications subsystem
1501. Information from such sensors can be supplemented by
information from sensors of other objects, such as other sensorlets
and distributed sensorlet system 100, which can be received by
communications subsystem 1501.
[0087] Propulsion subsystem 1509 can include motors, for example,
for vertical propulsion to keep sensorlet 1500 aloft and, for
example, for horizontal propulsion to move sensorlet 1500 from one
location to another. Propulsion subsystem 1509 can include feedback
sensors or can obtain feedback from other subsystems, such as
navigation subsystem 1506, to determine actual propulsion provided
by propulsion subsystem 1509.
[0088] Power subsystem 1510 can include a battery system, such as a
rechargeable battery system, a charging system, a battery
management system, and a load management system to manage the
operation of sensorlet 1500 in response to the state of charge of
its battery system. As an example, sensorlet 1500 can be configured
to return to distributed sensorlet system 100 as a state of charge
of the battery system declines past a predetermined value. The
return of sensorlet 1500 to distributed sensorlet system 100 can be
coordinated with other sensorlets to avoid collision of multiple
returning sensorlets to distributed sensorlet system 100. Upon
return of sensorlet 1500 to distributed sensorlet system 100,
distributed sensorlet system 100 can use its power subsystem to
recharge the battery system of power subsystem 1510 of sensorlet
1500. With sufficient state of charge in the battery system of
power subsystem 1510 of sensorlet 1500, sensorlet 1500 can again
take flight from distributed sensorlet system 100 to resume its
mission or to be tasked to perform a new mission.
[0089] In accordance with at least one embodiment, the distributed
sensorlet system can act as a docking station for a plurality of
sensorlets. The sensorlets can be deployed individually or in small
numbers, for example, to act as aerial scouts for reconnaissance of
potential threats. As the individual or few sensorlets return to
the distributed sensorlet system for replenishment, such as
recharging of their batteries, another sensorlet or other
sensorlets can be deployed from the distributed sensorlet system to
maintain constant vigilance. As one example, the distributed
sensorlet system can manage deconfliction of incoming and outgoing
sensorlets. As another example, the sensorlets can coordinate with
each other to manage their own deconfliction.
[0090] As another example, the sensorlets can be deployed in large
numbers, up to and including all of the sensorlets carried by the
distributed sensorlet system. A portion of a large number of
sensorlets can return to the distributed sensorlet system for
replenishment, such as recharging of their batteries and, for
embodiments where the ordnance is separable from the sensorlets,
reloading ordnance.
[0091] In accordance with at least one embodiment, the sensorlets
can use their own sensing and tracking subsystems to sense and
track one or more targets. The sensorlets can coordinate their
sensing and tracking of targets using their communication
subsystems. The sensorlets can coordinate their employment of
ordnance to engage one or more targets using their communication
subsystems. In accordance with at least one embodiment, the
sensorlets can obtain sensing and tracking information from another
source, such as from the distributed sensorlet system, from a naval
surface ship, from a naval submarine, from an aircraft, or from a
spacecraft, such as a satellite.
[0092] In accordance with at least one embodiment, the sensorlets
can maintain a deployed configuration flying in formation with each
other, ready for any threat that may be encountered. In accordance
with at least one embodiment, the sensorlets can respond reactively
to detection of a threat, forming a flying formation in response to
the detection. In either case, the formation may be predefined or
may be adaptive to the detected threat. As an example, the
formation may be configured to exhibit a swarm behavior dynamically
presenting a distribution of sensorlets in airspace configured to
optimize a likelihood of interception of the detected threat. As
another example, the formation may be configured to exhibit a
counter-swarm behavior dynamically presenting a distribution of
sensorlets in airspace configured to optimize a likelihood of
interception of a large number of simultaneous threats, such as
threats flying in the form of a swarm.
[0093] As an example, a sensorlet can obtain information about an
expected flight path of a threat using its own sensor subsystem and
tracking subsystem or with the assistance of other assets, such as
one or more other sensorlets and one or more naval surface vessels,
naval subsurface vessels, aircraft, or spacecraft. The sensorlet
can extrapolate the expected flight path of the threat to an
expected intercept point accessible to the ordnance of one or more
sensorlets within the time constraints imposed by the approaching
threat. The sensorlet can direct itself, another sensorlet, or a
combination thereof to the expected intercept point. As the threat
approaches the expected intercept point, the sensorlet or other
sensorlet or sensorlets directed to the expected intercept can
relocate to adapt their position to a refined expected intercept
point. In the case of multiple sensorlets being deployed to
intercept the target, the sensorlets can be deployed in a
formation, such as a uniform spatial distribution or a weighted
spatial distribution, in the vicinity of the expected intercept
point. In the case of multiple targets against which multiple
sensorlets are deployed, the sensorlets can be directed to multiple
respective expected intercept points to provide a counter-swarm
configuration of the multiple sensorlets to engage the multiple
targets. In accordance with at least one embodiment, the expected
intercept point or multiple respective intercept points can be
based on one or more expected paths of one or more targets, wherein
the one or more expected paths can be one or more expected flight
paths for one or more airborne threats or one or more expected
surface paths for one or more surface threats, such as hostile
surface vessels, for example, hydrofoil surface vessels or
high-speed gunboats.
[0094] FIG. 16 is a perspective view diagram illustrating a
distributed sensorlet system according to at least one embodiment.
Distributed sensorlet system 1600 comprises a host platform, such
as UAV 1601, for aerially dispersing sensorlets to their deployed
locations. In accordance with at least one embodiment, the host
platform may individually disperse sensorlets, as shown by UAV 1601
individually dispersing sensorlets 1603, 1604, and 1605 via chute
1602 of UAV 1601. In accordance with at least one embodiment, the
host platform may deploy a unitized container 1606 holding a
plurality of sensorlets. Unitized container 1606 is configured to
open and release the contained sensorlets. As one example, a
preexisting seam may be defined between a first portion 1607 and a
second portion 1608 of unitized container 1606, and the seam may be
configured to separate to release the contained sensorlets. For
example, unitized container 1606 may be configured to utilize
aerodynamic drag to create force to separate first portion 1607
from second portion 1608 of unitized container 1606. As another
example, unitized container 1606 may be equipped with a device,
such as a linear shaped charge, to split apart unitized container
1606 to release the contained sensorlets. As shown, the separation
of first portion 1607 and second portion 1608 releases sensorlets
1609, 1610, 1611, 1612, and 1613, among others.
[0095] In accordance with at least one embodiment, the sensorlets
are electrically configured to be in an undeployed electrical state
prior to deployment and in a deployed electrical state upon and
after deployment. As an example, a sensorlet can be stored in the
host platform in an undeployed state, and the host platform can
activate a switch to place a sensorlet in the deployed state. The
activation of the switch can be performed, for example, by pulling
a line, such as a cord, a wire, or a cable, connected to the switch
to activate the switch. As another example, the host platform can
apply or remove a magnet to or from a non-ferromagnetic portion of
a sensorlet housing to activate a magnetic switch, such as a reed
switch, underlying the non-ferromagnetic portion of the sensorlet
housing. As another example, the host platform can remove or insert
a plug from or into a sensorlet to activate the switch. As another
example, a condition expect to occur during deployment, such as
exposure to light, wind (e.g., arising from the airspeed of a host
platform during deployment), or another ambient condition can be
sensed and used to turn on the sensorlet. As an example, the
sensorlet can sense the condition itself, after it has left the
host platform. As another example, a unitized container can be
configured to activate the switches of the sensorlets it contains
as part of its process of releasing the sensorlets from the
unitized container.
[0096] A unitized container containing a plurality of sensorlets
can be attached to mounting points on a host platform, for example,
a UAV, an aerostat UAS, or another aircraft, such as an airplane or
a helicopter. The attachment can be in the form, as one example, of
a releasable latch or, as another example, in the form of an
electroexplosive device (EED), such as an exploding bolt that can
be remotely triggered to release the unitized container from the
host platform.
[0097] In accordance with at least one embodiment, an electrical
interconnect may be provided to electrically couple one or more of
the sensorlets to the host platform. As an example, an electrical
interconnect can provide a power connection to one or more
sensorlets. The power connection can provide electrical power that
can be used to charge and maintain the electrical state of charge
of a battery of a sensorlet storing power for the sensorlet to use.
As one example, the power connection can be provided individually
to each of a plurality of sensorlets. As another example, the power
connection can be provided in the form of a bus connected to each
of the plurality of sensorlets. As yet another example, the power
connection can be provided to a first sensorlet of the plurality of
sensorlets, and the first sensorlet can convey the electric power
to a second power connection with a second sensorlet, allowing
electric power to be provided from one sensorlet to another in a
daisy-chain manner.
[0098] As another example, the electrical interconnect can provide
communication of signals, such as data signals and control signals,
between the host platform and the plurality of sensorlets. For
example, the host platform can interrogate via the electrical
interconnect an operational capability of one or more of the
plurality of sensorlets. As another example, the host platform can
provide via the electrical interconnect updated information to one
or more of the plurality of sensorlets. For example, the host
platform can provide via the electrical interconnect mission
tasking information to one or more of the plurality of sensorlets.
Such mission tasking information can include, for example, one or
more parameters for the one or more sensorlets to apply to the one
or more sensors or one or more processors, such as a digital signal
processing (DSP) processor, of a sensorlet. As an example, the one
or more parameters can include one or more filtering parameters to
tailor the response of the one or more sensorlets to be deployed to
match the expected stimulus of one or more objects or phenomena to
be sensed by the one or more sensorlets.
[0099] As with the description of the power connection, a signal
connection for communicating signals, such as data signals and
control signals, can be individually connected to each of a
plurality of sensorlets, can be connected to a bus connected to
each of one or more of the plurality of sensorlets, or can be
connected to a first sensorlet of the plurality of sensorlets, and
the first sensorlet can convey the data signals and control signals
to a second sensorlet, and so on, providing communication of the
data signals and control signals in a daisy-chained manner among
the plurality of sensorlets. The power connection and the signal
connection can be separate electrical connections, or the signal
connection can be multiplexed over the power connection. As another
example, either or both of the power connection and the signal
connection can be implemented as a wireless connection as an
alternative to a wired connection.
[0100] The electrical interconnect can include, as one example, a
connection from the host platform to one or more of a plurality of
sensorlets. As another example, the electrical interconnect can
include a connection from a unitized container to one or more of a
plurality of sensorlets within the unitized container. The
electrical interconnect can include a connection from the host
platform to the unitized container. Thus, for example, the
plurality of sensorlets can be kept in a state of readiness, for
example, with their batteries charged and with their firmware and
parameters updated, even while they remain stored within the
unitized container.
[0101] Even in their undeployed state, a plurality of sensorlets
can communicate with each other, for example, within a host
platform or within a unitized container attached to or contained
within a host platform. For example, the plurality of sensorlets
can share information about each other, such as identifiers, types
of sensors, processing capabilities communication capabilities, and
so on. Such information can be used to populate databases within
the sensorlets regarding tentative network nodes of a network
comprising the plurality of sensorlets as network nodes. As another
example, information as to the organization of sensorlets within a
host platform or within a unitized container can be compared to the
geographic distribution of the same sensorlets after deployment,
and the comparison can be used to optimize the spatial
distributions of future sensorlets upon deployment.
[0102] While the sensorlets are depicted as rectangular housings
with an antenna on top, sensorlet shapes and configurations can
have attributes to accommodate conditions the sensorlets may
encounter before, during, and after deployment. For example, the
sensorlets may have spherical, cylindrical, triangularly prismatic,
rectangularly prismatic, hexagonally prismatic, pyramidal, or other
shapes. At least some of such shapes can accommodate dense packing
of sensorlets within a host platform or a unitized container. As
another example, sensorlets may have an aerodynamically favorable
shape, such as a teardrop shape. As a further example, sensorlets
may have an airfoil shape to allow gliding flight during
deployment, which can increase standoff distance. As yet another
example, sensorslets may have aerodynamic drag enhancement, for
example, a high drag shape or an additional feature, such as a
streamer or parachute, to allow for a more controlled landing of
the sensorlets on the ground or another surface. In accordance with
at least one embodiment, a sensorlet may comprise a propulsion
system, such as one or more rotor blades, which can allow increased
standoff distances from the host platform to the sensorlet
deployment locations.
[0103] The concepts of the present disclosure have been described
above with reference to specific embodiments. However, one of
ordinary skill in the art will appreciate that various
modifications and changes can be made without departing from the
scope of the present disclosure as set forth in the claims below.
Accordingly, the specification and figures are to be regarded in an
illustrative rather than a restrictive sense, and all such
modifications are intended to be included within the scope of the
present disclosure.
[0104] Benefits, other advantages, and solutions to problems have
been described above with regard to specific embodiments. However,
the benefits, advantages, solutions to problems, and any feature(s)
that may cause any benefit, advantage, or solution to occur or
become more pronounced are not to be construed as a critical,
required, or essential feature of any or all the claims.
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