APPARATUS FOR DIRECTING A MOBILE CRAFT TO A RENDEVOUS WITH ANOTHER MOBILE CRAFT

Abstract

Tracking means for establishing a line-of-sight between a control point towards which the second craft is being guided and tracking the line-of-sight to follow the second craft and deriving a signal θa representing the rate of rotation of the line-of-sight about the control point; monitoring means for deriving a signal e representing the displacement of the first craft from the line-of-sight, a signal representing the range Rm from the control point to the first craft and a signal representing the rate of of change Rm of the range Rm ; ranging means for deriving a signal representing the range Rt from the control point to the second craft and a signal representing the rate of change Rt of the range Rt ; a computer for deriving representations of θc, θc and θc which satisfy the equation .sub.c =-2θ.sub.c.sup.3 -3θ.sub.c (R.sub.t /R.sub.t) where the difference θc -θa is minimised; control means for deriving from the representations provided by the computer a control signal representing f(e)+Rm θc -2Rm θc where f(e) is a function of e; and, guidance means for causing the first craft to develop an acceleration transverse to the line-of-sight, of a magnitude dependent on the control signal.

Source: Google Patents

35 USC §181 Secrecy Order

Inventor

• 1ERIC HEAP