EP1943476A2

EP1943476A2 - Munition pursuit vehicle

Info

Publication number: EP1943476A2
Application number: EP06851550A
Authority: EP
Inventors: Mike Farinella; Mads Schmidt; Scott Lavaley; Benjamin J. Dobson
Original assignee: Foster Miller Inc
Current assignee: Vencore Services and Solutions Inc
Priority date: 2005-07-15
Filing date: 2006-07-17
Publication date: 2008-07-16
Also published as: WO2008048213A3; CA2617770A1; WO2008048213A2

Abstract

A munition pursuit vehicle includes a housing adapted to be releasably attached to a munition and to be carried by the munition in flight, and a release system for completely separating the pursuit vehicle from the munition in flight. An imaging and transmission system transmits a video signal depicting the trajectory of the munition, and a decelerator system is included for reducing the velocity of the housing when it is detached from the munition.

Description

MUNITION PURSUIT VEHICLE

RELATED APPLICATIONS

This application claims the benefit of and priority to U.S. Provisional Application No. 60/699,796, filed July 15, 2005 which is hereby incorporated herein by reference.

GOVERNMENT RIGHTS

Certain aspects of this invention were developed under U.S. Government Air Force contract No. F 08630-03-C-0088. The U.S. Government may have certain rights in the subject invention.

FIELD OF THE INVENTION

This subject invention relates to munitions and a munition pursuit vehicle which is able to receive munition telemetry and transmit it along with munition pursuit vehicle data including a video signal to portray the trajectory of a munition as it progresses towards and ultimately strikes a target, and captures secondary effects post-impact.

BACKGROUND OF THE INVENTION

Laser guided "smart" weapons are useful because of their improved accuracy and the ability to image a target strike. But, smart weapons are expensive and have proven to have numerous limitations. So called "dumb" munitions are thus still regularly and widely used even though they are not as accurate as guided smart weapons. Some conventional dumb munitions have been fitted with a guidance package (e.g., the Joint Direct Attack Munition or JDAM) to improve their accuracy. But, with these munitions, there is no reliable real time way to assess the accuracy of the munition or the damage it has caused especially in poor weather conditions. The military thus calls for reliable "Battle Damage Information" (BDI) collection systems and methods. When the BDI of a given munition strike is not accurate, timely, complete and/or collected, often another strike is initiated, potentially wasting ordnance and increasing operational costs and probability of collateral damage when the first munition strike was indeed effective.

It has been proposed to tether a camera carrying vehicle to a munition but the result was a degradation in the precision of the munition itself and a lack of munition standoff at impact to provide useful information. It has also been proposed to attach, to a munition, a navigatable tracking drone equipped with a camera but, considering that, for example, more than a hundred thousand munitions were used in Desert Storm, the use of such expensive drones is cost prohibitive.

Thus, any viable device for BDI collection must be relatively inexpensive, have a form, fit, and function compatible with existing munitions (smart or dumb), must not degrade the precision of the munition itself, and must operate effectively and efficiently. Such a device could save lives and millions of dollars in ordnance and operational costs by reducing the number of redundant strikes.

SUMMARY OF THE INVENTION

It is therefore an object of this invention to provide a new munition pursuit vehicle. It is a further object of this invention to provide such a munition pursuit vehicle which can be fabricated relatively inexpensively.

It is a further object of this invention to provide such a munition pursuit vehicle which can be made to have a form, fit, and function compatible with existing munitions.

It is a further object of this invention to provide such a munition pursuit vehicle which does not degrade the precision of the munition itself.

It is a further object of this invention to provide such a munition pursuit vehicle which operates effectively and efficiently and which is easy to install and deploy.

It is a further object of this invention to provide such a munition pursuit vehicle which can save lives as well as ordnance and operational costs by reducing the number of redundant strikes required in order to complete a desired mission.

The subject invention also may provide reduced collateral damage and provide data and evidence including video of strikes pre- and post-impact.

The subject invention results from the realization that a viable lower cost and munition compatible BDI munition pursuit vehicle which does not degrade the precision of the munition itself is effected by, in one embodiment, an ejection tube assembly installed in the munition forward or rearward of host munitions and a pursuit vehicle which is ejected from the ejection tube assembly, and in another embodiment, an ejection assembly or system for ejection from the aft portion of a munition. Ejection is determined by a series of sensors and predefined mission parameters once the munition is deployed. The pursuit vehicle includes a deceleration system, which may be multi-stage, for slowing descent rate and which typically includes stabilization, and an imaging and transmission system to relay to an aircraft, satellite and/or a ground station, reliable BDI from and of the munition pre- and post- impact including video images and data.

The subject invention, however, in other embodiments, need not achieve all these objectives and the claims hereof should not be limited to structures or methods capable of achieving these objectives.

This invention features a munition pursuit vehicle including a housing adapted to be releasably attached to a munition and to be carried by the munition in flight, and a release system for completely separating the pursuit vehicle from the munition in flight. An imaging and transmission system transmits a video signal depicting the trajectory of the munition and/or an area impacted by the munition, and it may do so in real time. A decelerator system is included for reducing the velocity of the housing when it is detached from the munition. The housing may be configured to be located at the rear of the munition or at the front of the munition, hi one embodiment, the pursuit vehicle includes an ejection assembly inserted in the munition and installed in the front of the munition, or into a tail cone assembly of the munition, and the housing of the pursuit vehicle may be received in the ejection assembly, hi one configuration, the release system includes a charge in the ejection assembly and at least one frangible connector between the ejection assembly and the housing of the pursuit vehicle which is designed to break when the charge is detonated to deploy the pursuit vehicle out of the ejection assembly.

In one example, the imaging and transmission system includes a camera in the housing, an antenna, and a transmitter for transmitting the video signal. The camera may be fixed in place in the housing, and there may be a wide angle lens defining a wide field of regard for the camera. Means for determining the position of the pursuit vehicle in space may be included. The pursuit vehicle typically includes a receiver for receiving telemetry signals from the munition, hi one variation, the imaging and transmission system includes a windowing subsystem for windowing the field of regard to define selectable fields of view based on the position of the pursuit vehicle in space and the telemetry received from the munition, where the means may be programmed to define a transmit window different from a record window. hi one embodiment, the deceleration system includes a ballute, and the ballute may be packaged in the housing in a cup/sabot which separates from the housing of the munition pursuit vehicle when the housing is detached from the ejection assembly. The deceleration system may further include a parachute packaged in the housing and a parachute deployment assembly for deploying the parachute, means for determining the velocity and position of the housing, and a processor responsive to said means for initiating the parachute ejection assembly to deploy the parachute at a predetermined position in space of the pursuit vehicle. In one variation, the pursuit vehicle includes a gimbal assembly to orient the camera at the munition, and the decelerator system includes flight control surfaces controlled by actuators to decelerate and maneuver the housing. The imaging and transmission system may also transmit position data, and the munition pursuit vehicle may include an ejection assembly which is fastened to the munition. The decelerator system may include springs and/or a gas generator.

This invention also features a munition pursuit vehicle system including an ejection assembly fastened to the munition, a pursuit vehicle in the ejection assembly, and a release system for ejecting or releasing the pursuit vehicle from the ejection assembly. In this embodiment, the pursuit vehicle includes an imaging and transmission system for transmitting a video signal point of view of the munition and a decelerator system for reducing the velocity of the pursuit vehicle. The point of view of the munition may be prior to ejection from the munition and/or include the trajectory of the munition as it proceeds to the target. It may also transmit a signal depicting an area impacted by the munition. The ejection assembly may be configured to be installed in the front of the munition or into a tail cone assembly of the munition. Typically, the imaging and transmission system includes a camera, an antenna, and a transmitter for transmitting the video signal, and the transmitter may transmit non-video data. The camera may be fixed in place in the pursuit vehicle. In one example, the munition pursuit vehicle system further includes means for determining the position of the pursuit vehicle in space, and may include a receiver for receiving telemetry. In one example the imaging and transmission system includes a windowing subsystem for windowing the field of regard of the camera to define selectable fields of view. The decelerator system may include a ballute and/or a parachute and a parachute deployment assembly for deploying the parachute. The imaging system may also transmit position data, hi one variation, the decelerator system includes springs, and in another variation the decelerator system includes a gas generator.

This invention further features a munition pursuit vehicle including a housing adapted to be releasably attached to a munition and to be carried by the munition in flight. A release system completely separates the pursuit vehicle from the munition in flight. An imaging and transmission system transmits a video signal during flight of the munition pursuit vehicle depicting the munition and an area impacted by the munition. A decelerator system reduces the velocity of the housing when it is detached from the munition.

BRIEF DESCRIPTION OF THE DRAWINGS

Other objects, features and advantages will occur to those skilled in the art from the following description of a preferred embodiment and the accompanying drawings, in which:

Fig. 1 is a schematic three-dimensional view of the munition pursuit vehicle of the subject invention fitted within an ejection tube assembly;

Fig. 2 is a schematic view of the ejection tube assembly of Fig. 1 being installed in one example in the front fuse well of a munition;

Fig. 3 is an exploded three-dimensional schematic view showing the munition pursuit vehicle being ejected from the ejection tube assembly;

Figs. 4A-4I schematically show the sequence of events from the time a munition equipped with the pursuit vehicle of a subject invention is deployed until it strikes a target;

Fig. 5 is a schematic three-dimensional cross-sectional view of the pursuit vehicle shown in Fig. 3 housed in the ejection tube assembly;

Fig. 6 is another schematic three-dimensional view of a preferred ejection tube assembly in accordance with the subject invention;

Fig. 7 is a top schematic view of a radome of the ejection tube assembly shown in Fig. 6; i

Fig. 8 is a schematic rear three-dimensional view of the radome shown in Fig. 7;

Fig. 9 is a schematic three-dimensional exploded view of the ejection tube portion of the assembly shown in Fig. 6;

Fig. 10 is a schematic three-dimensional inside/front view of the ejection tube shear ring of the ejection tube shown in Fig. 9;

Fig. 11 is a schematic three-dimensional outside or rear view of the ejection tube shear ring assembly shown in Fig. 10;

Fig. 12 is a schematic three-dimensional view of the ejection tube portion of the assembly shown in Fig. 9;

Fig. 13 is a schematic three-dimensional front view of the ejection tube breach of the ejection tube shown in Fig. 12;

Fig. 14 is an exploded three-dimensional schematic view of the rear electrical circuit board assembly for the ejection tube shown in Fig. 12;

Fig. 15 is a schematic three-dimensional exploded view of the pursuit vehicle shown in Fig. 3;

Figs. 16A-16B are exploded three-dimensional schematic views of the CCD camera, lens, and battery pack assembly, safe and arm assembly, sensor suite, LED indicators for feedback, communication port, microcontrollers and power supplies of the pursuit vehicle shown in Fig. 15;

Fig. 17 is a schematic three-dimensional exploded view of the ballute release and parachute deployment assembly shown in Fig. 15;

Fig. 18 is a schematic three-dimensional rear/side view of the ballute release and parachute deployment assembly shown in Fig. 17;

Fig. 19 is a schematic three-dimensional front/side view of the ballute release and parachute deployment assembly shown in Fig. 18;

Fig. 20 is a cross-sectional view detailing the unlocking linkage of the ballute release and parachute deployment assembly shown in Figs. 18-19;

Fig. 21 is a another cross-sectional view detailing the unlocking linkage of the ballute release and parachute deployment assembly shown in Figs. 18-19;

Fig. 22 is a schematic cross-sectional view of the ballute release and parachute deployment assembly shown in Figs. 18-19;

Fig. 23 is a schematic three-dimensional exploded view of the combined ballute and parachute cup sub-assemblies shown in Fig. 22;

Fig. 24 is a schematic three-dimensional top view of the parachute cup shown in Fig. 23;

Fig. 25 is a schematic three-dimensional rear view of the parachute cup shown in Fig. 24;

Fig. 26 is a schematic three-dimensional front view of the ballute cup/sabot shown in Fig. 23;

Fig. 27 is a schematic three-dimensional rear view of the ballute cup/sabot shown in Fig. 23;

Fig. 28 is a schematic view of an ejection system for ejecting a munition pursuit vehicle from the rear of a munition in accordance with the present invention;

Fig. 29 is a schematic view of Fig. 28 post-ejection;

Fig. 30 is a schematic exploded view of the ejection system and munition pursuit vehicle shown in Fig. 28;

Fig. 31 is a schematic view of one example of a breach assembly for use with at least one embodiment of an ejection tube assembly for the munition pursuit vehicle in accordance with the present invention;

Fig. 32 is a schematic exploded view of the ejection system shown in Fig. 28 including a sleeve portion;

Fig. 33 is a more detailed schematic exploded view of the sleeve portion shown in Fig. 32;

Fig. 34 is a schematic cross-sectional view of one embodiment of a munition pursuit vehicle within the sleeve portion shown in Fig. 33;

Fig. 35 is a schematic view of one example of connections between a munition pursuit vehicle and a breach assembly as shown in Fig. 31 ;

Fig. 36 is a schematic cross-sectional view of one type of piston for use with a munition pursuit vehicle in accordance with the present invention;

Fig. 37 is a schematic cross-sectional view of one preferred embodiment of a munition pursuit vehicle in accordance with the present invention;

Fig. 38 is a schematic more detailed cross-sectional view of a munition pursuit vehicle gas generator in accordance with the present invention;

Fig. 39 A is a schematic exploded view of a dome port assembly in accordance with the present invention;

Figs. 39B-39C are more detailed schematic cross-sectional views of the dome port assembly of Fig. 39A mated with the piston shown in Fig. 36;

Fig. 40 is an exploded schematic view of the piston shown in Fig. 36;

Fig. 41 is an schematic exploded view of the forward portion of the electronics of the embodiment of the munition pursuit vehicle shown in Fig. 37;

Figs. 42-44 are more detailed schematic views of the portion of the munition pursuit vehicle shown in Fig. 41;

Fig. 45 is a schematic view of another embodiment of a munition pursuit vehicle in accordance with the subject invention; Fig. 46 is a flow chart depicting the primary steps from munition ejection to video image transmission; and

Fig. 47 is a block diagram showing the primary systems associated with a processor in accordance with the subject invention.

DISCLOSURE QF THE PREFERRED EMBODIMENT Aside from the preferred embodiment or embodiments disclosed below, this invention is capable of other embodiments and of being practiced or being carried out in various ways. Thus, it is to be understood that the invention is not limited in its application to the details of construction and the arrangements of components set forth in the following description or illustrated in the drawings. If only one embodiment is described herein, the claims hereof are not to be limited to that embodiment. Moreover, the claims hereof are not to be read restrictively unless there is clear and convincing evidence manifesting a certain exclusion, restriction, or disclaimer. Fig. 1 shows an example of munition pursuit vehicle 10 releasably fitted within ejection tube assembly 12 which, in this embodiment, is configured to be installed in the front fuse well 14, Fig. 2 of warhead 16 (e.g. an MK80 series warhead) of munition 17 with a guidance control unit 18 such as a JDAM tail kit. Fig. 3 shows pursuit vehicle 10 ejected from ejection tube assembly 12 which in this example is a tube assembly and, within housing 20, the general location of imaging and transmission system 22 and deceleration system 24.

In Fig. 4A, munition 17 is deployed from aircraft 30 with the pursuit vehicle in place in the ejection tube assembly, hi the preliminary stages of flight as shown at 32, Fig. 4B, the pursuit vehicle remains in munition 17. At release altitude as shown at 34 and in Figs. 4C-4E, a release system ejects pursuit vehicle 10 out of the ejection tube assembly and then ballute 40 is deployed to decelerate pursuit vehicle 10 before munition 17 makes impact (i.e. with a target or ground) and parachute 42, Figs. 4D- 4E can be deployed, typically after impact. Ballute 40 and parachute 42 also serve to stabilize pursuit vehicle 10. The imaging and transmission system of pursuit vehicle 10 may begin transmitting from the time of release from aircraft 30 and transmits a video signal depicting the point of view of munition and/or trajectory of munition 17, Fig. 4F, as it progresses to target 50, Fig. 4G. The imaging and transmission system typically also collects telemetry including other data from munition 17 and/or other munitions, such as munition position (obtained by GPS, for example) and other information. This video signal and telemetry can be transmitted to aircraft 30, Fig. 4A which deployed the munition and/or to satellites, other aircraft or ground stations which are able to view, on a monitor, munition 16 in flight as shown in Fig. 4H and the area impacted by the munition as shown in Fig. 41, along with telemetry. Overall, the imaging and transmission system transmits a video signal including the trajectory of the munition as it proceeds towards a target, and/or the point of view of the munition, and/or the area impacted by the munition, and does so in real time and/or shortly thereafter. This can occur during the flight of the munition pursuit vehicle before and after it is ejected from the munition, and at any time prior to self-destruct. After deployment of the parachute, pursuit vehicle 10, Fig. 4E, slowly descends to the ground and can be retrieved or destroyed automatically via a suitable self-destruct mechanism.

One typical front ejection tube assembly 12, Fig. 5 is 11.34" long and weighs 4 Ib and includes 2.78" outside diameter tube 60 which is received in the munition front fuse well and 4.65" diameter radome 63 which is fastened, for example via bolts or screws to an ejection tube shear ring. Ejection tube assembly 12 is typically threaded into the munition. Cylindrical housing 20 of 4.5 Ib pursuit vehicle 10 is 11.89" long and 2.625" in outside diameter. The bottom of ejection tube housing 60 includes charge 62, which, when ignited, deploys pursuit vehicle 10 out of housing 60 breaking frangible shear pins which releasably hold housing 20 of pursuit vehicle 10 in housing 60 of ejection tube assembly 12.

In this embodiment, the imaging and transmission system of pursuit vehicle 10 includes camera 70 fixed in place in pursuit vehicle 10 housing 20, dual band circumferential antenna 72, and transmitter 74 for transmitting the video signal from camera 70 and/or telemetry to an airborne or ground platform as discussed above, to be transmitted in real time and/or recorded for later transmission as discussed below. Wide angle lens 76 defines field of regard for camera 70 of about 120°. An inertial measurement unit 79 and GPS (not shown) or similar system located proximate transmitter 74 determines the position of pursuit vehicle 10 in space. Receiver 78 receives telemetry signals from the telemetry kit (TMK) of the guidance controlled (i.e. JDAM) munition and a windowing subsystem, discussed in more detail below, is able to window the field of regard to define selectable fields of view for camera 70 based on the position of pursuit vehicle 10 in space and the telemetry signals from the munition. Typically, transmitter 74 cannot transmit the complete image captured by camera 70 through lens 76. Thus, a digital video recorder on-board can record the entire field of regard or a portion defined as the record window, for transmission at a later time, and a window of approximately 720 x 480 pixels can be transmitted, although the invention is not so limited. These record and transmit windows can be moved to sequentially cover the complete field of regard. Also, under a command signal received by receiver 78, a particular window can be chosen to assess the trajectory and strike effectiveness of other munitions in the area and/or to assess pockets of insurgents.

In another embodiment, however, camera 70 could be mounted in the pursuit vehicle via a gimbal controlled by a suitable electronic subsystem to aim the camera in any desired direction. This embodiment is discussed in more details with respect to Fig. 45. Also, different types of cameras and imagers (e.g., digital and night vision imaging subsystems) can be installed in pursuit vehicle 10. Sensors such as but not limited to chemical, biological, or radiation sensors can be also installed in pursuit vehicle 10.

Fig. 5 also shows the location of various circuit boards 80a-80i which house a suitable electronics subsystem. Fig. 5 also shows battery pack 81, power supply 82, and connector 83 which typically connects to the safe and arm subsystem and avionics of the munition, although this is not a necessary limitation.

One deceleration system includes a ballute housed in cup/sabot 90 which automatically separates from pursuit vehicle 10 parachute cup 98 via spring 92 when charge 62 is detonated and pursuit vehicle 10 is ejected from ejection tube 12 in flight. Preferably, this separation is achieved via a gas generator in place of spring 92, as described in more detail below in connection with the rear ejection embodiment. Once the ballute (see Fig. 4C) slows pursuit vehicle 10 down to a velocity of approximately 375 feet/second, pyrotechnically actuated parachute deployment assembly 96, Fig. 5, deploys a parachute in housing 98 to further decelerate and stabilize pursuit vehicle 10 for increased dwell time for video imaging of the munition as it continues along its trajectory and/or post-impact. See Figs. 4D-4E.

Such a system when mounted in the front fuse well of a 2000 Ib munition shifts the center of gravity by less than 5mm. In this way, pursuit vehicle 10 can be made from fairly standard components at a fairly low cost and is clearly munition compatible with respect to form, fit, and function, as is the rear ejection embodiment discussed below. Moreover, the pursuit vehicle does not degrade the precision of the munition itself. The release system, imaging and transmission system, deceleration system, windowing subsystem and other systems are preferably controlled by a processor (or multiple processors) in the munition pursuit vehicle, and their operation is discussed below.

Figs. 6-27 show components of one example of a front ejection tube assembly in accordance with the present invention. Fig. 6 shows in more detail front ejection tube assembly 12 including front radome portion 63 and tube portion 60 and safe and arm pin 101. Figs. 7-8 show, from two different perspectives, radome portion 63. As shown in Fig. 9, tube portion 60 includes rear electrical ejection tube interface with munition assembly 110, rear ejection tube breach 112 with charge 62, shear ring assembly 114, shear pin bushing 116, shear pin 118 and slip ring 113. The shear pins releasably fix the pursuit vehicle within ejection tube 60 until charge 62 is ignited. Figs. 10-11 show, from two different perspectives, ejection tube shear ring 114. Fig. 12 shows ejection tube 60. Fig. 13 shows in more detail ejection tube rear breach 112 and pocket 62 for housing the separation/release charge. Fig. 14 shows rear electrical assembly 110 and connector 83 which connects the circuitry of the ejection tube assembly to the munition. When all physical safe and arm has been removed and environmentally derived power arising from munition speed and the airstream acting on, i.e. an arming generator, and when mission parameters have been met, the microcontroller or processor will provide a high voltage fire pulse to ignite ejection tube primer 99, shown in Fig. 13, and charge 62.

Fig. 15 shows additional components associated with this embodiment of the pursuit vehicle including dome port 120, camera lens 76, snap ring 122, printed circuit board 80d, safe and arm assembly 124, standoffs 126, front tube 128, battery pack wave spring 130, camera 70, battery pack 81, wrap around dual band antenna 72, flex circuit board 132, shear ring 134, S-band receiver 78, C-band transmitter 74, rear tube 136, parachute deployment assembly 96, parachute cup 98, and ballute cup/sabot 90. Battery pack 81 typically includes a battery pack with microcontrollers, safe and arm electronics and power supplies. Figs. 16A-B show individual batteries 150 housed by battery housing 152, the camera focal plane array 154, camera lens 156, rear camera electronics package 158, and also circuit boards 8Oa-8Oi.

Fig. 17 shows parachute deployment assembly 96, parachute cup 98, and ballute cup/sabot 90. Figs. 18 -19 show ballute cup/sabot 90, parachute cup 98, spring 92, and parachute deployment assembly 96 from two different perspectives. As noted above and discussed more fully below in connection with the rear ejection assembly, a gas generator may be used and is preferable over spring 92. Fig. 20 shows parachute deployment housing 170 in more detail and Figs. 20-22 show the configuration of ejection housing 170 linkage and ball 172 with respect to parachute ejector piston 202, parachute deployment screw 174, parachute deployment linkage dowel 176, parachute deployment slider 178, deployment slider cover 180, parachute retaining ring 182, parachute termination dowel pins 194, cotter pins 196, deployment clevis pin 198, washer seal 200, parachute deployment piston 202, and deployment breach assembly 204. Fig. 23 shows in more detail parachute cup 98, ballute hard point 210, ballute cup/sabot ejection spring 92, and ballute cup/sabot 90. Figs. 24-25 show from two different perspectives parachute cup 98 and Figs. 26-27 show, from two different perspectives, ballute cup/sabot 90.

In a further embodiment, the munition pursuit vehicle of the subject invention is ejected from the rear of a munition. Fig. 28 shows munition 17 including aft plate 300 typically bolted to munition 17, and in accordance with one embodiment of the invention includes ejection assembly or system 302 analogous to ejection tube assembly 12. In this embodiment, munition pursuit vehicle 100, Fig. 29 is configured to be installed in ejection system 302 (which is fastened to the munition) and munition pursuit vehicle 100 is in the tail cone assembly of munition 17 and ejected from the rear of munition 17. Although the ejection system will be discussed herein with respect to ejection of a munition pursuit vehicle, as shown in Fig. 30, ejection system 302' is capable of ejecting a module 304 containing any desired payload from the munition.

In this embodiment, munition pursuit vehicle 100, Fig. 30 is ejected from the rear of a munition from ejection assembly or system 302. Sleeve 306 of ejection assembly 302 surrounds pursuit vehicle 100 prior to ejection, and like the pursuit vehicle ejected from the front fuse well discussed above, munition pursuit vehicle 100 includes many similar features, i.e. a release system, ballute 40, and parachute 42, as shown, as well as other similar and different features as set forth in more detail below. In this configuration, because munition pursuit vehicle 100 is fitted within the rear of the munition, prior to ejection there can be a direct wire connection 308 between ejector breach assembly 310 (and thus munition pursuit vehicle 100) and the munition guidance control unit (i.e. JDAM) (not shown) which is typically located in the rear tail cone of the munition. Notably, such a wire connection is usually not possible with ejection from the front of a munition because the munition guidance control unit is located in the rear or aft portion of the munition. Wire connection 308, Fig. 31 from the guidance control unit connects with electronics interface 330 of breach 310 which includes fire circuits 332 therein for igniting a primer or detonator, which is described in one example above. An exploded view of ejection system 302, Fig. 32 shows the association between breach 310, sleeve 306, piston 312, and pursuit vehicle 100, as well as lanyard 311, and cap 315 which is in place on ejection assembly 302 prior to ejection of pursuit vehicle 100. One view of sleeve 306 is shown in Fig. 33, which includes o-rings 301, shear pins 303 which lock with piston 312, and spring loaded slider assembly 305 including sleeve slider 307 and spring sleeve retainer unit 309. Spring loaded slider assembly 305 is not to be confused with spring 92 discussed above, the latter of which was included as part of the deceleration system as described. Fig. 34 shows in one example how munition pursuit vehicle 100 and piston 312 fit within sleeve 306.

Piston 312, Fig. 35 includes a plurality of spring loaded pogos 313, and circuit boards 316 and 318 (not shown). Circuit board 318, which is on the opposite side of piston 312 from circuit board 316, connects with circuit board 320 on front dome port assembly 322 of pursuit vehicle 100. Piston 312, Fig. 36 serves as an electrical passthrough, as well as a seal which may be provided by o-ring 324. Front dome port 322 also includes circuit board 326 further away from the outside of front dome port 322. As with the pursuit vehicle ejected from the front of the munition, the circuit boards associated with pursuit vehicle 100 house the electronics. Also, pogos 313 contact pads 317 (not shown) on circuit board 314, which may be loopback contacts, such that after release of munition pursuit vehicle 100 from munition 17, the contact is broken, which provides feedback that separation has occurred, as discussed more fully below.

In this embodiment, munition pursuit vehicle 100, Fig. 37 includes many of the same or similar systems and components as described above with respect to pursuit vehicle 10, including but not limited to the release system, imaging and transmission system and deceleration system and components thereof. For example, as shown in Fig. 37, pursuit vehicle 100 includes ballute 40', parachute 42', transmitter 74', inertial measurement unit 79', antenna 72', camera 70', lens 76' and circuit boards throughout. Further similarities and differences are shown in Figs. 39A-44 below, although the similarities or differences are not necessarily limited to these examples. In the following respects discussed immediately below, munition pursuit vehicle 100 typically differs from vehicle 10. It should be noted, however, that many of the following components may be incorporated into or adapted to the front ejection system depending on a particular desired application, and are not limited to rear ejection. hi one preferred example, gas generator 350, Fig. 37, which is controlled by the decelerator system, inflates ballute 40'. Therefore, springs 92, Fig. 5 are not needed or desired in this embodiment. Thus, inflation of ballute 40' is an active, rather than passive, process. In this way, inflation of the ballute is more rapid since inflation does not depend solely on ram air forced into the ballute. Also, because munition pursuit vehicle 100 is ejected from the rear of a munition, there is generally no need for a radome. Instead, pursuit vehicle 100 includes dome port assembly 322 for interconnect with the ejection assembly.

Gas generator 350 and dome port assembly 322 are also shown in Figs. 38 and 39A-C. Gas generator 350, Fig. 38, is typically located between parachute chamber 352 and chamber 354 for ballute 40', and retaining ring 356 for retaining a ballute cup. Pogo pin 358 serves as a contact to primer 360, and the latter ignites propellant charge 362. Also included is defuser 364 to filter and cool the gas to prevent damage to the ballute. As noted, gas generator 350 is preferred over springs 92, Fig. 5, and may be used in a front ejected pursuit vehicle in place of springs.

Dome port assembly 322 of munition pursuit vehicle 100 is shown in more detail in Fig. 39A, and in one example includes circuit boards 320 and 326, dome port top 360, dome port bottom 362, safe and arm assembly 124', lens 76', and connectors 370 throughout. Figs. 39B and 39C show further details of the dome port assembly as well as connections with piston 312.

Piston assembly 312 for use with rear ejection is shown in more detail in Fig. 40. In one variation piston assembly 312 includes body 370, o-ring 324, electrical passthroughs 372, bushings 374, spring loaded pogos 313, and circuit boards 316 and 318. As noted, piston 312 serves as an electrical passthrough as well as a seal between breach 310, Fig. 32 and munition pursuit vehicle 100.

One embodiment of the forward portion of the electronics of munition pursuit vehicle 100 is shown in Fig. 41, and typically will be preferable over the embodiment shown in Fig. 15 for example, although both embodiments may be used as desired depending on a particular application. In this example, munition pursuit vehicle 100 includes lens 76', battery pack 81', battery housing 152' which may be aluminum in this embodiment, circuits 80a'-80g', circuit board spacers 390a-390d, camera 70', electrical passthroughs 372, camera mount bracket 380, and heat sink 392. Fig. 42 shows an unexploded, combined plan view of the forward portion of the electronics of munition pursuit vehicle 100 which includes safe and arm switch 390. Figs. 43 and 44 show more detailed cross-sectional views including the layout of circuit boards 80a'-80g\

Fig. 45 shows another embodiment of a different type of pursuit vehicle 100' with decelerator and flight control surfaces 804 controlled by actuators. In this embodiment, the munition may include a beacon and pursuit vehicle 100' can be fitted to the rear of the munition. The gimbaled imaging and transmission system 800 transmits a video signal once the pursuit vehicle is ejected from the rear of the munition whereupon the surfaces 804 slow and maneuver the pursuit vehicle and an electronic subsystem controls the gimbal to orient the camera at the beacon to track the munition and transmit the video signal to a suitable aircraft borne or ground station.

The operation of various systems in accordance with the present invention to achieve steps 502-508 shown in Fig. 46 will now be described. The steps are not necessarily in the sequence shown in Fig. 46, and will become apparent from the following description of operation.

Typically, a munition will be released or fired from an aircraft 500 on a command from the aircraft pilot, step 500. In accordance with the present invention, after the munition is fired from the aircraft, release system 510, Fig. 47 in munition pursuit vehicle processor 512 completely separates the pursuit vehicle from the munition in flight, step 502, Fig. 46.

In one example, timer 514, Fig. 47 counts down a predetermined time period, and when safe and arm signals 516 are received by processor 512 from munition 518 (which are typically the same safe and arm signals as in the munition warhead ruse) the munition pursuit vehicle is ejected and thus released. In another example, the munition pursuit vehicle is ejected and released based on barometric pressure which can be a function of altitude. In such a case, barometric pressure sensor 520 in munition pursuit vehicle 513 senses pressure, and thus altitude, and when the barometric pressure increases to a predetermined point, and when safe and arm signals 516 are received, processor 512 releases the pursuit vehicle from the munition. Alternatively, the munition pursuit vehicle is released based on its position in space, as determined by IMU 522 and/or GPS system 524 in munition pursuit vehicle 513. When the munition pursuit vehicle reaches a predetermined position, and safe and arm signals are received, the munition pursuit vehicle is completely released from the munition.

Although timer 514, sensor 520, IMU 522 and GPS 524 are described as located on the munition pursuit vehicle, in alternative embodiments these elements may be located in munition 518 instead, or in both the munition and the munition pursuit vehicle.

Upon release of the rear ejected munition pursuit vehicle from the munition, the connection between contacts, i.e. contacts 313 and 317, Fig. 35, are broken, thus confirming separation of the munition pursuit vehicle from the munition. For front ejection of the munition, contact between flexible circuit board 132, Fig. 15 and slip ring 113, Fig. 9 (as better shown in Fig. 5) is broken, thus confirming separation in this manner. Alternatively, separation of the munition pursuit vehicle may be confirmed by directly sensing large changes in acceleration in a very short period of time as detected by the munition pursuit vehicle IMU 522, and/or from position information detected by the IMU/GPS 522, 524.

When release of the munition pursuit vehicle from the munition is confirmed, processor 512 initiates timer 560 (i.e. arming delay) in deceleration system 570, and after the required predetermined delay time, processor 512 sends a signal to ignite a primer and propellant thereby inflating the ballute for deceleration and stabilization, as discussed above. Processor 512 then initiates another timer 562, and following the countdown of timer 562, processor 512 sends a signal to a primer to initiate deployment of the parachute, and to cause the ballute to detach from the munition pursuit vehicle. The parachute provides additional deceleration and stabilization. Notably, timer 562 could be started immediately after confirmation of the release of the munition pursuit vehicle from the munition.

In an alternative to timers 560 and 562, processor 512 monitors wireless data and telemetry 543 received from munition 518 concerning munition position, and/or monitors lack of data received which would signify that the munition has made impact. Either of these conditions can also be used as a trigger to initiate deployment of the parachute and cause the ballute to detach. In another configuration, processor 512 monitors the altitude information received from IMU 522, GPS 524 and/or barometric sensor 520, and at a predetermined altitude, deployment of the parachute and detachment of the ballute is initiated.

Thus, deceleration system 570 reduces the velocity of the munition pursuit vehicle and its associated housing when it is detached from the munition, step 504, Fig. 46.

Overall, monitoring of the munition pursuit vehicle altitude also gives an indication of when the munition pursuit vehicle has reached the ground. At that time, processor 512, Fig. 47 determines if mission parameters have been met and if all data and video has been transmitted, and if so, processor 512 initiates a self-destruct mechanism 580 to destruct the munition pursuit vehicle, which can be a self-destruct mechanism as known in the art.

Additionally when release of the munition pursuit vehicle from the munition is confirmed as discussed above, in one configuration (i.e. rear ejection of the pursuit vehicle from the munition), processor 512 powers on transmitter 515 and receiver 517, queues imaging and transmission system 540 to power on, collect video images, transmit video and/or telemetry 542 and other data acquired (i.e. target position), to the host aircraft 544, satellite 546 and/or ground 548. Processor 512 also receives telemetry 543 and data from various sources and is able to store such data in memory 519. hi this configuration, data acquisition other than video begins to be collected when the munition (and accordingly the munition pursuit vehicle) is initially powered on, which typically occurs some time before the munition is released from the aircraft or host. This is a result of the direct connection via a wire, i.e. wire 308, Fig. 30 to the munition guidance control unit. In another configuration (such as for front ejection), processor 512 will power on and data acquisition will begin, imaging and transmission system 540 is powered on, and imaging begins all prior to release of the munition pursuit vehicle from the munition, hi this example, processor power is initiated by safe and arm signals 516.

Accordingly, imaging and transmission system 540 transmits video signals depicting the trajectory of the munition and/or the area impacted by the munition, step 506, Fig. 46. Other information and data may also be transferred. In one variation, imaging and transmission system 540, Fig. 47 includes windowing subsystem 550. Processor 512 monitors munition telemetry 543 which includes position and orientation from an IMU 570 and/or GPS 572 on board the munition, and monitors munition pursuit vehicle position data from IMU and/or GPS 522, 524. In this way, the positions of both the munition and the munition pursuit vehicle are known. Windowing subsystem 550 then defines select fields of view within the camera field of regard to include the munition and an immediately surrounding area as desired. As described above, the complete image captured by the camera is recorded and stored for later transmission and/or use, while a particular field of view is transmitted in real time. In one option, window subsystem 550 may include single or multiple select fields of view which may be selected depending on the position of the munition by cropping the field of view as desired. This can be achieved by means known in the art.

Thus, windowing subsystem 550 can window the field of regard to define selectable fields of view, step 508, Fig. 46.

Although specific features of the invention are shown in some drawings and not in others, this is for convenience only as each feature may be combined with any or all of the other features in accordance with the invention. The words "including", "comprising", "having", and "with" as used herein are to be interpreted broadly and comprehensively and are not limited to any physical interconnection. Moreover, any embodiments disclosed in the subject application are not to be taken as the only possible embodiments. Other embodiments will occur to those skilled in the art and are within the following claims. hi addition, any amendment presented during the prosecution of the patent application for this patent is not a disclaimer of any claim element presented in the application as filed: those skilled in the art cannot reasonably be expected to draft a claim that would literally encompass all possible equivalents, many equivalents will be unforeseeable at the time of the amendment and are beyond a fair interpretation of what is to be surrendered (if anything), the rationale underlying the amendment may bear no more than a tangential relation to many equivalents, and/or there are many other reasons the applicant can not be expected to describe certain insubstantial substitutes for any claim element amended. What is claimed is:

Claims

1. A munition pursuit vehicle comprising: a housing adapted to be releasably attached to a munition and to be carried by the munition in flight; a release system for completely separating the pursuit vehicle from the munition in flight; an imaging and transmission system for transmitting a video signal depicting the trajectory of the munition; and a decelerator system for reducing the velocity of the housing when it is detached from the munition.

2. The pursuit vehicle of claim 1 in which the housing is configured to be located at the rear of the munition.

3. The pursuit vehicle of claim 1 in which the housing is configured to be located at the front of the munition.

4. The pursuit vehicle of claim 3 further including an ejection assembly inserted in the munition.

5. The pursuit vehicle of claim 4 in which the ejection assembly is configured to be installed in the front of the munition, the housing of the pursuit vehicle received in the ejection assembly.

6. The pursuit vehicle of claim 4 in which the ejection assembly is configured to be installed into a tail cone assembly of the munition.

7. The pursuit vehicle of claim 5 in which the release system includes a charge in the ejection assembly and at least one frangible connector between the ejection assembly and the housing of the pursuit vehicle designed to break when the charge is ignited to deploy the pursuit vehicle out of the ejection assembly.

8. The pursuit vehicle of claim 1 in which the imaging and transmission system includes a camera in the housing, an antenna, and a transmitter for transmitting the video signal.

9. The pursuit vehicle of claim 8 in which the camera is fixed in place in the housing.

10. The pursuit vehicle of claim 9 in which there is a wide angle lens defining a wide field of regard for the camera.

11. The pursuit vehicle of claim 9 further including means for determining the position of the pursuit vehicle in space.

12. The pursuit vehicle of claim 11 further including a receiver for receiving telemetry from the munition.

13. The pursuit vehicle of claim 12 in which the imaging and transmission system includes a windowing subsystem for windowing the field of regard to define selectable fields of view based on the position of the pursuit vehicle in space and the telemetry received from the munition.

14. The pursuit vehicle of claim 13 in which said means is programmed to define a transmit window different from a record window.

15. The pursuit vehicle of claim 4 in which the deceleration system includes a ballute.

16. The pursuit vehicle of claim 15 in which the ballute is packaged in the housing in a cup/sabot which separates from the housing of the munition pursuit vehicle when the housing is detached from the ejection assembly.

17. The pursuit vehicle of claim 15 in which the deceleration system further includes a parachute packaged in the housing and a parachute deployment assembly for deploying the parachute.

18. The pursuit vehicle of claim 17 further including means for determining the velocity and position of the housing and a processor responsive to said means for initiating the parachute deployment assembly to deploy the parachute at a predetermined position in space of the pursuit vehicle.

19. The pursuit vehicle of claim 8 further including a gimbal assembly to orient the camera at the munition.

20. The pursuit vehicle of claim 1 in which the decelerator system includes flight control surfaces controlled by actuators to decelerate and maneuver the housing.

21. The pursuit vehicle of claim 8 in which the imaging and transmission system transmits position data.

22. The pursuit vehicle of claim 1 further including an ejection assembly fastened to the munition.

23. The pursuit vehicle of claim 1 in which the decelerator system includes springs.

24. The pursuit vehicle of claim 1 in which the decelerator system includes a gas generator.

25. The pursuit vehicle of claim 1 in which the imaging and transmission system transmits a video signal depicting an area impacted by the munition.

26. The pursuit vehicle of claim 1 in which the imaging and transmission system transmits the video signal in real time.

27. A munition pursuit vehicle system comprising: an ejection assembly fastened to the munition; a pursuit vehicle in the ejection assembly; and a release system for ejecting the pursuit vehicle from the ejection assembly; the pursuit vehicle including: an imaging and transmission system for transmitting a video signal point of view of the munition pursuit vehicle; and a decelerator system for reducing the velocity of the pursuit vehicle.

28. The munition pursuit vehicle system of claim 27 in which the point of view of the munition pursuit vehicle is prior to ejection from the munition.

29. The munition pursuit vehicle system of claim 27 in which the imaging and transmission system transmits a video signal including the trajectory of the munition as it proceeds to the target.

30. The system of claim 27 in which the ejection assembly is configured to be installed in the front of the munition.

31. The system of claim 27 in which the ejection assembly is configured to be installed into a tail cone assembly of the munition.

32. The system of claim 27 in which the imaging and transmission system includes a camera, an antenna, and a transmitter for transmitting the video signal.

33. The system of claim 32 in which the transmitter transmits non- video data.

34. The system of claim 32 in which the camera is fixed in place in the pursuit vehicle.

35. The system of claim 27 further including means for determining the position of the pursuit vehicle in space.

36. The system of claim 35 further including a receiver for receiving telemetry.

37. The system of claim 36 in which the imaging and transmission system includes a windowing subsystem for windowing the field of regard of the camera to define selectable fields of view.

38. The system of claim 27 in which the decelerator system includes a ballute.

39. The system of claim 27 in which the decelerator system includes a parachute and a parachute deployment assembly for deploying the parachute.

40. The system of claim 27 in which the imaging and transmission system transmits position data.

41. The system of claim 27 in which the decelerator system includes springs.

42. The system of claim 27 in which the decelerator system includes a gas generator.

43. The system of claim 27 in which the imaging and transmission system transmits a signal depicting an area impacted by the munition.

44. A munition pursuit vehicle comprising: a housing adapted to be releasably attached to a munition and to be carried by the munition in flight; a release system for completely separating the pursuit vehicle from the munition in flight; an imaging and transmission system for transmitting a video signal during flight of the munition pursuit vehicle depicting the munition and an area impacted by the munition; and a decelerator system for reducing the velocity of the housing when it is detached from the munition.