Field of the disclosure

The present disclosure relates to an apparatus for enabling an individual to fly. In particular, the present disclosure relates to a wearable flight system.

Background

There have been many attempts in the past to enable individuals to fly with only minimal equipment. Typically, such systems are formed of a framework that rigidly connects one or more propulsion units with each other or with a wing.

GB-B-2559971 discloses a wearable flight system. The wearable flight system comprises a plurality of propulsion assemblies including a left-hand propulsion assembly configured to be worn on a user’s left hand/forearm, a right-hand propulsion assembly configured to be worn on a user’s right hand/forearm. The wearable flight system further comprises a body propulsion assembly comprising a support for supporting a user’s waist or torso.

Against this background there is provided a wearable flight system firearm mounting assembly.

Summary

According to a first aspect of the disclosure, there is provided a firearm mount assembly for a wearable flight system. The firearm mount assembly comprises a firearm mount and an actuator. The firearm mount is configured to rotate about an axis of rotation. The firearm mount comprises a firearm attachment point. The firearm attachment point is configured to locate a firearm such that a longitudinal axis of a barrel of the firearm substantially intersect the axis of rotation. The actuator is configured to rotate the firearm mount.

Accordingly, the firearm mount assembly provides a means for a user of a wearable flight system to aim a firearm, without having to manually hold or aim the firearm using the user’s hands/arms. Accordingly, the user’s hands/arms may be free to operate the wearable flight system. Such a solution is particularly beneficial for wearable flight systems where a propulsion assembly is attached to the user’s hands/forearms.

The firearm mount assembly utilises a firearm mount for attaching a firearm to the wearable flight system. The firearm attachment point enables a firearm to be mounted such that a longitudinal axis of the barrel of the firearm substantially intersects the axis of rotation of the firearm mount. Such a configuration means that recoil resulting from firing of the firearm acts substantially through the axis of rotation of the firearm. Thus, the torque applied to the rotational positional of the firearm mount by recoil from firearm is reduced. This is beneficial for improving the accuracy of the aiming and operation of the firearm.

Furthermore, it will be appreciated that in order to maintain a rotational position of the firearm mount, the actuator must be able to withstand the recoil torque applied by the firearm to the firearm mount. Thus, reducing the recoil torque means that the mechanical requirements for the actuator are reduced. In effect, the size and/or weight of the actuator may be reduced. Reducing the size and/or weight of the actuator (and the overall firearm mount assembly) is particularly beneficial as the assembly is intended to be attached to a wearable flight system.

In some, embodiments the firearm attachment point is configured to locate the firearm such that a centre of gravity of the firearm substantially lies on the axis of rotation. Thus, the rotational inertia of the firearm mount when a firearm is attached is reduced. Accordingly, the torque required to rotate the firearm mount and firearm when mounted in the firearm mount (or to maintain a rotational position) is further reduced. Furthermore, the reduced rotational inertia allows an actuator to rotate the firearm mount faster with a reduced torque requirement.

According to a second aspect of the disclosure, a wearable flight suit is provided. The wearable flight suit comprises a body unit and a firearm mount assembly according to the first aspect connected to the body unit. In some embodiments, the wearable flight suit comprises a plurality of propulsion assemblies including a left-hand propulsion assembly configured to be worn on a user's left hand and/or forearm and a right-hand propulsion assembly configured to be worn on a user's right hand and/or forearm, wherein the wearable flight system further comprising a body propulsion assembly connected to the body unit. By “wearable”, it is meant that propulsion assemblies of the flight system (those parts that provide thrust) may be mounted on the human body such that the “wearer” contributes at least in part to the relative motion of those propulsion assemblies. That is, it is recognised that the difficult control problem of correctly angling a variety of thrusts produced by a plurality of propulsion assemblies may be delegated to the wearer’s natural senses of balance, proprioception, and kinaesthesia.

According to a third aspect of the disclosure, a controller for a firearm mount assembly according to the first aspect is provided. The controller is configured to: receive a signal representative of an absolute rotational position of the actuator in the plane of rotation; receive a signal representative of an absolute rotational position of a targeting module; and control a rotational position of the firearm mount based on the rotational positions of the targeting module and the actuator.

The controller may be provided as part of the firearm mount assembly of the first aspect or as part of the wearable flight suit according to the second aspect.

In some embodiments, the signal representative of an absolute rotational position of the actuator in the plane of rotation may be provided by an absolute rotational position sensor connected to the body unit or controller. In some embodiments, the signal representative of an absolute rotational position of the targeting module may be provided by an absolute rotational position sensor of the targeting module. In some embodiments, the targeting module may be connected to a user’s head or helmet of the wearable flight system.

In some embodiments, the controller is configured to perform a targeting calibration comprising: rotating the firearm mount to a calibration position; receiving a signal representative of an absolute rotational position of the actuator in the plane of rotation; receiving a signal representative of an absolute rotational position of the targeting module; calibrating a relationship between the rotational position of the firearm mount and the rotational positions of the targeting module and the actuator when the actuator is in the calibration position.

According to a fourth aspect of the disclosure, a method of calibrating a firearm mount assembly according to the first aspect is provided comprising: rotating the firearm mount to a calibration position; receiving a signal representative of an absolute rotational position of the actuator in the plane of rotation; receiving a signal representative of an absolute rotational position of the targeting module; calibrating a relationship between the rotational position of the firearm mount and the rotational positions of the targeting module and the actuator when the actuator is in the calibration position.

The method of the fourth aspect may be initiated by a user of the firearm mount assembly, for example on initial set-up, in order to calibrate a user’s head position with the rotational position of the firearm. For example, in some embodiments a firearm mounted to the firearm mount assembly may comprise a laser sight. Thus, when the firearm mount is rotated to a calibration position, the laser sight may illuminate a point within the field of vision of the user. The user may then look at the illuminated point in order to calibrate a relationship between the rotational position of the firearm mount and the rotational positions of the targeting module and the actuator when the actuator is in the calibration position.

According to a fifth aspect of the disclosure, a wearable flight suit it provided. The wearable flight suit comprises: a body unit; and a helmet configured to receive an electronics module, wherein the electronics module is connected to the body unit by a communication cable enabling communication between the body unit and the electronics module, wherein the communication cable is configured to be detached from the helmet if a user removes and moves away from the body unit of the wearable flight suit, wherein the communication cable is configured to be magnetically attached to the helmet. In some embodiments, the electronics module may be a targeting module according to other aspects of this disclosure.

Brief description of the figures

Embodiments of this disclosure will now be set out with reference to the following figures in which:

Fig. 1 shows an isometric view of a body unit of a wearable flight system and firearm mount assembly;

Fig. 2 shows a side view of the body unit and firearm mount assembly;

Fig. 3 shows a detailed view of firearm mount of the firearm mount assembly;

Fig. 4a shows a schematic diagram of the cross member of the firearm mount and a firearm located in the firearm mount;

Fig. 4b shows a schematic diagram of the cross member with the firearm removed; Figs. 5a and 5b show side views of the firearm mount assembly in first and second positions respectively,

Figs. 6a and 6b show side views of the firearm mount assembly in third and fourth positions respectively;

Fig. 7 shows a flow chart for a method of controlling the firearm mount assembly; Fig. 8 shows a block diagram of a control system for the firearm mount assembly; and

Fig. 9 shows an isometric view of a wearable flight system to which the firearm mount assembly may be connected.

Detailed Description

According to an embodiment of the disclosure, a firearm mount assembly 10 is provided. Fig. 1 shows an isometric view of the firearm mount assembly 10. The firearm mount assembly 10 comprises: a firearm mount 12 and an actuator 14. As shown in Fig. 1 , a firearm 16 is mounted in the firearm mount 12. In the embodiment of Fig. 1 , the firearm 16 is a pistol or a handgun. It will be appreciated that in other embodiments, the firearm mount 12 may be adapted to accommodate different types of firearm. As such, embodiments of this disclosure are not limited to any particular type of firearm 16. In some embodiments, the firearm 16 may be permanently affixed to the mount and/or integral therewith. The firearm mount 12 is configured to rotate about an axis of rotation 15. In the embodiment of Fig. 1 , the axis of rotation 15 is generally aligned with the horizontal plane. As such, a plane of rotation of the firearm mount in generally aligned with the vertical plane. Of course, in use, it will be appreciated that the firearm mount assembly 10 may be connected to a wearable flight suit such that the direction of axis of rotation will vary in accordance with the roll and/or yaw and/or pitch of the wearable flight suit (depending on how the firearm mount assembly 10 is connected to the wearable flight suit).

In preferred embodiments, the firearm is controlled with a single degree of freedom to rotate only about a single axis of rotation relative. That is, elevation (relative to the user) is controlled, but not yaw (which is fixed relative to the flight suit).

As shown in Fig. 2, the firearm mount 12 comprises a circular section 17 and a cross member 20. The circular section 17 of the firearm mount 12 is connected to a ring bearing (not shown in Fig. 2) The circular section 17 in the embodiment of Figs 1 and 2 is annular such that an inner portion of the circular section17 is not generally enclosed. As shown in Fig. 2, an outer housing 18 is also provided which surrounds the circular section 17. As such, the outer housing 18 and the circular section 17 enclose the ring bearing. The ring bearing is connected to the circular section 17 to enable the firearm mount 12 to smoothly rotate about the axis of rotation 15. In the embodiment of Figs. 1 and 2, the outer housing 18 does not rotate.

As shown in Fig. 2, cross member 20 extends across a diameter of the circular section 17. As such, the circular section 17 defines an inner diameter of the firearm mount 12. The inner diameter defines a region within which a firearm 16 may be mounted. As such, cross member 20 intersects the axis of rotation. In some embodiments, the inner diameter of the firearm mount 12 may be at least 10 cm. In some embodiments, the inner diameter may be at least 15 cm. In general, the inner diameter of the firearm mount 12 may be sized in order to enable a centre of gravity of the firearm 16 to be mounted to be located substantially the centre of the inner diameter.

Cross member 20 provides the attachment point 22 for the firearm 16. Fig. 3 shows a detailed view of the cross member 20 of Fig. 2. In Fig. 3 the attachment point 22 is defined by a recess 24 formed in the cross member 20 and a locating latch 26. In Fig. 3, the recess 24 is shaped to conform to a shape of part of the firearm 16 to be mounted to the firearm mount 12. For example, in the embodiment of Fig. 3 the recess 24 is shaped to conform to a shape of at least a portion of the grip of the firearm 16. Once a firearm is placed in the recess 24, the locating latch 26 is configured to secure the firearm within the recess.

Fig. 4a shows a schematic view of the cross member 20 and the recess 24 when a firearm 16 is located within the recess 24. The sidewalls of the recess 24 are sufficiently deep that the grip 23 of the firearm 16 may be retained within the cross member 20. The locating latch 26 (shown in dashed lines) may then be placed on the cross member 20 above the firearm 16 to secure the firearm 16 at the firearm attachment point 22. Fig. 4b shows the shape of recess 24 once the firearm 16 has been removed. It will be appreciated that the recess 24 conforms to the shape of the firearm 16 to be mounted in the recess 24. In particular, the recess conforms to the shape of the firearm 16 to locate a centre of gravity of the firearm 16 such that it substantially lies on the axis of rotation 15. As such, once the firearm 16 is secured within the recess 24, the firearm cannot freely move. By securing the firearm 16 within the recess 24, any recoil from the firearm 16 is transferred to the cross member 20 of the firearm mount 12. As the cross member 20 extends through the axis of rotation 15, the effect of the firearm recoil on the firearm mount 16 is reduced.

The recess 24 is preferably configured such that the firearm 16 is inserted into the recess in an insertion direction that is perpendicular to the longitudinal axis of the barrel 29.

The locating latch 26 may close the recess 24 to secure the firearm 16 using any suitable fastening means. Preferably, the locating latch 26 is releasable to allow a firearm 16 to be located in, or removed from, the attachment point 22 of the firearm mount 12. Preferably, the locating latch 26 may be secured with one or more fasteners which are simple and quick for a user to operate. Thus, a user may open the locating latch 26 to retrieve (or locate) a firearm 16 quickly. Such quick access is preferable if a user requires quick access to the firearm. For example in the embodiment of Fig. 4a and 4b, the locating latch 26 may be secured by one or more magnetic fasteners 27a, 27b. In some embodiments, the locating latch 26 may be attached to a pivot at one end, and a fastener (e.g. magnetic fastener 27a) at an opposing end. In some embodiments, the locating latch 26 may also at least partially recessed into the cross member 20 in order to further secure the firearm 16 within firearm mount 12. In particular, it will be appreciated that in the embodiment of Fig. 1, the firearm mount 12 locates a firearm generally adjacent to a user’s head. As such, a user can readily operate the locating latch to retrieve or mount a firearm 16.

It will be appreciated that in the embodiments of Figs 1 to 4, the firearm attachment point 22 is configured to locate the firearm 16 such that a centre of gravity 28 of the firearm 16 substantially lies on the axis of rotation 15 of the firearm mount 12. By aligning the centre of gravity 28 of the firearm 16 such that it substantially lies on the axis of rotation 15, the torque required to rotate the firearm mount 12 (and the firearm 16), or to maintain the position of the firearm mount 12 and firearm 16 using the actuator 14 is reduced.

Furthermore, as shown in Fig. 4a, the longitudinal axis of the barrel 29 of the firearm 16 is indicated. It will be appreciated that the longitudinal axis of the barrel 29 also substantially intersects the axis of rotation 15. In some preferred embodiments, both the centre of gravity 28 and the longitudinal axis of the barrel 29 of the firearm 16 substantially lie on/intersect the axis of rotation 15. It will be appreciated that the centre of gravity 28 of a firearm 16 is generally offset from the longitudinal axis of the barrel 29 due to the presence of e.g. the magazine and grip of a firearm 16. As such, the preferable intersection may be provided by mounting the firearm 16 at the attachment point such that the plane of the firearm (e.g. the plane defined by the grip 23 and barrel of the firearm 16) is aligned with the axis of rotation 15.

By “substantially intersect”, it is understood to mean that the longitudinal axis of the barrel 29 of the firearm 16 is located no more than 3 cm, preferably 2 cm, more preferably 1 cm from the axis of rotation 15. Similarly, by “substantially lies on”, it is understood to mean that the centre of gravity of the firearm 16 is located no more than 3 cm, preferably 2 cm, more preferably 1 cm from the axis of rotation 15. It will be appreciated that the torque reducing effects of this disclosure may be achieved by ensuring that the longitudinal axis of the barrel 29 of the firearm 16 and/or the centre of gravity 28 of the firearm 16 “substantially intersect”/“substantially lie on” the axis of rotation 15. Further deviation from the axis of rotation 15 increases the torque experienced by the firearm mount 12 and actuator 14. Further deviation from the axis of rotation 15 also changes the rotational relationship between the rotational positional firearm mount 12 and a user’s target across the range of rotation which may not reduce the accuracy of firing the firearm 16 in the intended direction. In some embodiments, the firearm mount 12 comprises a trigger actuator 30 configured to operate a trigger of a firearm (not shown) located in the firearm mount 12. Figs. 4a and 4b indicate the trigger actuator 30 schematically. The trigger actuator 30 may comprise a linear actuator which is configured to push (or pull) a trigger of a firearm 16 when the firearm 16 is mounted at the attachment point 22. For example, the linear actuator may be a solenoid and the like. Alternatively, the trigger actuator 30 may comprise a rotary motor connected to a cam. The trigger actuator 30 may be controlled by a user via the controls of the wearable flight suit and/or the firearm mount assembly 10. For example, the controls of the wearable flight suit may include a button configured to operate the trigger actuator 30.

The actuator 14 is configured to rotate the firearm mount 12. In the embodiment of Fig. 1, the actuator 14 is a motor having a motor axis of rotation. In the embodiment of Fig. 1 , the motor is located such that a motion of the actuator 14 (i.e. rotation of the motor) to rotate the firearm mount 12 also occurs in the plane of rotation. That is to say, the motor axis of rotation of the motor is parallel to the axis of rotation 15, but offset from the axis of rotation 15 in the plane of rotation. The motor is configured to drive the firearm mount in the plane of rotation. By aligning the drive of the firearm mount 12 in the plane of rotation, the torque requirements for the actuator 14 are further reduced. In other embodiments, other actuators may be used. For example, in some embodiments a linear actuator may be used to drive the rotation of the firearm mount 12.

In the embodiment of Fig. 1, the actuator 14 is a motor, preferably a brushless motor. The motor is connected to the firearm mount by one or more gears. For example, a first gear may extend around at least a part of circular section 16 (the firearm mount 12 may not necessarily be configured to rotate a full 360 °). The first gear may be driven directly by the actuator, or one or more interface gears may be provided in order to provide a desired gear ratio between the motor and the first gear. In some embodiments, brushless motor may also include an encoder which is configured to indicate a rotational position of the firearm mount 12.

In some embodiments, it is preferable that the actuator 14 may be a direct drive, or quasidirect drive motor. That is to say, the motor may comprise no gearbox, or alternatively a gearbox having a gearbox ratio of less than 10:1. As such, the motor may be backdrivable in order to ensure that the motor (or gearbox if present) may not be damaged when an external load is applied to the firearm mount 12. For example, it is desirable to allow the actuator to be backdrivable to allow a user to rotate the firearm mount 12 manually in order to remove or install a firearm 16 (without damaging the motor/gearbox).

As shown in Fig. 1, the actuator 14 is provided within a housing 40. The housing 40 may also be configured to house drive electronics for the actuator 14.

As shown in Fig. 1 a plurality of flight suit attachment members 50, 52, 54 are provided to connect the actuator 14 and firearm mount 12 to a body 310 of a wearable flight suit. As shown in Figs. 1 and 2, the flight suit attachment members 50, 52, 54 are configured to connect the actuator 14 and firearm mount 12 to the body 310 of a flight suit such that the axis of rotation 15 is substantially aligned with an axis of rotation of a user of the flight suit’s head. By aligning the axis of rotation of the firearm 16 with the axis of rotation of a user of the flight suit’s head, the firearm mount assembly 10 may more accurately track variations in the elevation of a user’s head.

In the embodiment of Fig. 1, at least one of the flight suit attachment members 50, 52 extend from the housing 40 to the body 310 of the flight suit. In some embodiments, one or more of the flight suit attachment members 50, 52 may extend to a different part of the flight suit. It is preferably that the flight suit attachment members 50, 52, 54 extend to a torso of the flight suit, as this provides stability for the firearm mount 12.

In the embodiment of Fig. 1, a plurality of flight suit attachment members 50, 52. 54 are provided, preferably at least two attachment members, more preferably at least three attachment members. Each flight suit attachment member 50, 52, 54 extends to the flight suit in a different direction in order to provide additional rigidity for the firearm mount assembly 10.

In particular, it is preferable that at least one attachment member is aligned to absorb recoil from the firearm 16. As such, a longitudinal axis of a barrel 29 of the firearm 16 to be located in the firearm mount 12 defines a recoil plane (i.e. , the recoil plane is the plane defined by the rotation of the longitudinal axis of the barrel 29 around the axis of rotation 15). One or more flight suit attachment members 50, 52 may preferably extend from the housing 40 to the flight suit in the recoil plane. Accordingly the attachment members 50, 52 may be orientated to more effectively transfer and spread out load (e.g. recoil from firing the firearm 16) from the firearm mount 12 to the body unit 310. Preferably, at least two flight suit attachment members 50, 52 lie in the recoil plane.

As shown in Fig. 1, in some embodiments the flight suit attachment members 50, 52, 54 may extend from the housing 40 towards the wearable flight suit in a triangulated manner. For example, in the embodiment of Fig. 1, first and second flight suit attachment members 50, 52 extend from the housing 40 to the body 310 of the flight suit in the recoil plane. A third attachment member 54 is provided which extends out of the recoil plane towards the body 310 of the flight suit. As shown in Fig. 3, the third flight suit attachment member 54 is connected between the second attachment member 52 and the body 310 of the flight suit. In other embodiments, the third flight suit attachment member 54 may be connected between the body 310 and the housing 40 (i.e. directly connected to housing 40). The third flight suit attachment member 54 provides additional stiffness and rigidity for the housing 40 and firearm mount 12.

As shown in Fig. 1, each of the flight suit attachment members 50, 52, 54 comprises a tubular portion. Each tubular portion engages with a suitable connector attached to the body 310 of the flight suit. The skilled person will be aware of various means for connecting an attachment member 50, 52, 54, tubular or otherwise, to body 310.

In some embodiments, one or more of the flight suit attachment members 50, 52, 54 may be a hollow flight suit attachment member 52. Providing hollow flight suit attachment members 50, 52, 54 may reduce the overall weight of the firearm mount assembly 10. Further, a hollow flight suit attachment member 52 may be used as a cable guide through which one or more electrical cables may run. As such, a power cable and associated control cables (not shown) for the actuator 14 may run through a hollow portion of the tubular second flight suit attachment member 52.

In order to control the rotational position of the firearm mount 12 (and consequently the elevation of the firearm 16), a controller may be provided. The controller may be provided as part of a controller of the wearable flight suit. In the embodiment of Fig. 1 , the firearm mount assembly 10 has a dedicated controller (not shown). The controller is located in a controller housing 60. The controller housing is provided adjacent to the second flight suit attachment member 52 where the second flight suit attachment member 52 is attached to the body 310. The controller communicates and powers the actuator 14 via one or more cables which extend through the hollow second flight suit attachment member 52 to the housing 40. The controller may also communicate with a flight suit controller of the wearable flight suit (not shown) and/or controls of the wearable flight suit. The controller may also draw power from a power source wearable flight suit. For example, in the embodiment of Fig. 1 , the body 310 comprises a power source for the wearable flight suit to which the controller of the firearm mount assembly 10 may be connected.

The controller of Fig. 1 is connected to a targeting module 70. The targeting module 70 is configured to determine an absolute rotational position of the targeting module. For example, the absolute rotational position of the targeting module 70 may correspond to a rotational position of a target in a target plane of interest. In particular, it is preferable that the target plane of interest is aligned with the rotational plane of the firearm mount assembly 10. As such, changes in the rotational position of a target in the target plane of interest can be tracked by rotation of the firearm mount 12 in the rotational plane of interest.

In the embodiment of Fig. 1, the targeting module 70 comprises an absolute rotational position sensor. For example, the absolute rotational positional sensor may be an inertial measurement unit (IMU) or other suitable sensor. The absolute rotational positional sensor is configured to determine a rotational position of the targeting module in the target plane of interest. In the embodiment of Fig. 1 , the targeting module 70 is configured to be attached to the head of a user of the wearable flight system. For example, the targeting module 70 may be connected to a helmet of a user of the wearable flight system. Accordingly, the rotational position in a target plane of interest may correspond to the elevation of a user’s head. As such, the controller may be configured to control a rotational position of the firearm mount 12 based on an elevation of a user’s head. That is to say, controller is configured to control the rotational position of the firearm mount 12 to mirror any changes in the rotational position of the targeting module 70 (e.g. a user’s head) in the target plane of interest. Figs. 5a and 5b show a schematic diagrams of the firearm mount assembly 10 connected to a body 310 of a flight suit. As shown in Fig. 5b, rotation of the targeting module 70 causes a corresponding rotation of the firearm 16 attached to the firearm mount 12.

While in the embodiment of Fig. 1, the targeting module 70 includes an absolute rotational position sensor, in other embodiments other means may be used for indicating an absolute rotational position in a target plane of interest. For example, in some embodiments, a targeting module may comprise an eye tracking module, wherein an elevation of a user’s eye is used, either alone or in combination with an absolute rotational position sensor, to determine an absolute rotational position of a target in a target plane of interest.

It will be appreciated that as the firearm mount assembly 10 is connected to the body 310 of a flight suit, the absolute rotational position of the entire firearm mount assembly 10 may vary during operation relative to the absolute rotational position of the targeting module 70. That is to say, a user of the wearable flight suit may vary their body position during use whilst maintaining a fixed absolute head position. Accordingly, the firearm mount assembly 10 may include an additional absolute rotational position sensor (not shown) to allow the firearm mount 12 to account for the absolute rotational position of the entire firearm mount assembly 10.

In effect, the controller is configured to adjust the actuator 14 position to account for changes in the absolute rotational position of the entire firearm mount assembly 10 in the plane of rotation. For example, as shown in Figs. 6a and 6b, the body 310 and entire firearm mount assembly 10 are rotated anticlockwise in the plane of rotation between Figs. 6a and 6b, while an absolute rotational position of the targeting module 70 in the target plane of interest is unchanged. In order for the absolute rotational position of the firearm mount 12 to be maintained (i.e. the absolute rotational position of the firearm), the actuator 14 must correct for the absolute rotation of the entire firearm mount assembly 10.

Accordingly, the controller of the firearm mount assembly 10 may be configured to receive a signal representative of an absolute rotational position of the entire firearm mount assembly 10 in the plane of rotation. The signal may be provided by an absolute rotational position sensor (e.g. an IMU) connected to the flight suit (e.g. connected to body 310) or connected to the firearm mount assembly 10. For example, the controller housing 60 may also comprise an IMU (not shown) connected to the controller.

Accordingly, the controller of the firearm mount assembly 10 is configured to receive a signal representative of an absolute rotational position of the entire firearm mount assembly 10 in the plane of rotation and to receive a signal representative of an absolute rotational position of the targeting module 70. Based on these signals, the controller may determine a rotational position for the actuator 14. For example, in some embodiments, the rotational position for the actuator 14 may be based on a difference between the absolute rotational position of the entire firearm mount assembly 10 and the targeting module 70. The controller may then control a rotational position of the firearm mount 12 by operation of the actuator 14 to a desired rotational position. In some embodiments, an encoder (not shown) may be used to determine a rotational position of the actuator 14 (and thus the firearm mount 12) in order to provide feedback to the controller to improve the control of the actuator 14.

In some embodiments, it may be desirable to provide a method for calibrating the rotational position of the firearm mount 12 relative to the rotational position signal from the targeting module 70. As such, a targeting calibration may be performed by the controller and the flight suit/firearm mount assembly 10.

Fig. 7 shows a schematic diagram of a flow chart of a method of operating the controller to control the firearm mount assembly 10, including performing a targeting calibration. In the embodiment of Fig. 7, the targeting calibration is performed on start-up. In other embodiments, it will be appreciated that the calibration may be initiated during use of the firearm mount assembly 10. For example, a user may be able to initiate the targeting calibration by way of a button press (not shown in the flow chart of Fig. 7).

As shown in Fig. 7, following “Power on” 101, the method proceeds to “Motor Startup” 102. During “Motor Startup” 102, the actuator 14 may rotate the firearm mount 12 to a calibration position. For example, the calibration position may be a position of the actuator 14 such that, assuming the body 310 is generally upright (i.e. assuming that a wearer of the wearable flight suit is standing) rotates the firearm mount 12 such that the barrel of the firearm 16 is targeting the ground about 10 meters in front of the user (or any other suitable position).

The controller then proceeds to obtain information regarding the rotational positions of the targeting module 70 and the rotational position of the entire firearm mount assembly 10 (“Get IMU data” 103). As such, the controller receives a signal representative of an absolute rotational position of the entire firearm mount assembly 10 in the plane of rotation and a signal representative of an absolute rotational position of the targeting module 70. The controller may then “Calculate an initial angle offset” 104 based on the difference between the two signals. During the calibration routine, a user may align absolute the rotational position of the targeting module 70 with the absolute rotational position of the firearm 16. For example, where a firearm 16 has a laser sight attached, a user may look at the laser sight mark on the floor (or other location) such that the absolute rotational position of the targeting module 70 corresponds to the absolute rotational position of the firearm 16 (as shown in Fig. 4b for example). When a user is satisfied with the alignment, a user may indicate this via an offset button (or similar control). As shown in Fig. 7, the controller may “Read Offset Button” 105 and repeat the IMU readings 103 until the Offset button is pressed (“Offset Button Pressed” 106), at which point the Initial Angle Offset calculated by the controller is stored in a memory of the controller. The Initial Angle Offset may be used in combination with the absolute rotational position of the entire firearm mount assembly 10 and the targeting module 70 to calculate an actuator position for the actuator 14.

As such, the targeting routine may calibrate a relationship between the rotational position of the firearm mount 12 and the absolute rotational positions of the targeting module 70 and the entire firearm mount assembly 10 when the firearm mount 12 is rotated to the calibration position.

Once the calibration routine is complete, the controller may then proceed to monitor the absolute rotational positions of the targeting module70 and entire firearm mount assembly 10 (“Get IMU data” 107). The controller may then calculate an actuator position based on the absolute rotational positions of the targeting module 70 and entire firearm mount assembly 10 and the initial angle offset (“Calculate desired motor angle” 108) and set the actuator position accordingly (“Set motor angle” 109). As part of the control routine, the controller may also determine whether the controller has received a signal to operate the trigger actuator 30 (“Read Trigger Button” 110). If the controller determines that the trigger actuator 30 is not to be actuated, the controller repeats steps 107 through 111 (“Trigger Button Pressed?” 111). If the trigger actuator 30 is to be operated (i.e. firing the firearm 16), the controller proceeds to do so (“Actuate firearm trigger”112) before returning to steps 107 through 111 to control the rotational position of the firearm mount 12.

Fig. 8 shows a block diagram of the control system 400 which may be provided as part of the firearm mount assembly 10 and/or as part of wearable flight suit 300 according to this disclosure. As shown in Fig. 8, the control system comprises a motor 410. The motor 410 may be the actuator 14 discussed above which is used to rotate the firearm mount 12. The motor 410 is driven by motor driver 420. The motor driver 420 receives a control signal from a controller 430 (“Control Box”). The control 430 may perform the functions of the controller discussed above. As shown in Fig. 8, the controller 430 is configured to receive signals from an Offset button 440, a suit mounted I MU 450, a head mounted IMU 460, and a trigger button 470. The Offset button 440 may be used to initiate, or end a targeting calibration as discussed above. Suit mounted IMU 450 and head mounted IMU 460 may be used to provide signals representative of the absolute rotational positions of the actuator 14 and targeting module 70 respectively. Trigger button 470 may be used to initiate operation of the trigger actuator 30.

The control system 400 also comprises a power source 480 e.g. a battery, which may be used to power the components of the control system 400. Power source 480 may be provided as part of body 310 in the embodiment of Fig. 1.

According to an embodiment of the disclosure, a wearable flight suit 300 is provided. The wearable flight suit comprises a body unit 310 and the firearm mount assembly 10 according to any of claims 1 to 19 connected to the body unit. Fig. 1 shows an example of the firearm mount connected to the body unit 310. Fig. 9 shows a further diagram of a body unit 310 provided as part of a wearable flight suit 300. The skilled person will appreciate from Figs. 1 and 9 that the firearm mount assembly 10 may be connected to the body unit 310 shown in the flight suit 300 of Fig. 9. Further details of wearable flight suits are described in GB-B-2559971, the contents of which are hereby incorporated by reference.

In particular, a wearable flight suit 300 may comprise a plurality of propulsion assemblies including a left-hand propulsion assembly 100 configured to be worn on a user's left hand and/or forearm and a right-hand propulsion assembly 100 configured to be worn on a user's right hand and/or forearm, wherein the wearable flight system further comprises a body propulsion assembly 200 connected to the body unit 310.

The wearable flight suit 300 may also comprise a helmet 320 to be worn by a user. As shown in Fig. 9, the targeting module 70 may be attached to the helmet 320. Preferably, the targeting module 70 is attached to a rearward facing surface of the helmet 320 so that the targeting module 70 is located proximal to the body 310. Preferably, the targeting module 70 is located intersecting a plane of rotation of the helmet/user’s hear which is aligned with the plane of rotation of the firearm mount 12.

In some embodiments, the targeting module 70 may communicate wirelessly with the controller. In the embodiment of Fig. 9, the targeting module 70 communicates with the controller via a communication cable 330 which extends from the targeting unit 70 to the body unit 310. The communication cable 330 may continue through the body unit to the controller directly, or may interface with other communication equipment of the body unit 310 in order to transfer signals from the targeting module 70 to the controller.

In some embodiments, the communication cable 330 is configured to detach the targeting module 70 from the helmet 320 if a user removes and moves away from the body unit 310 of the wearable flight suit 300. That is to say, the targeting module may attached, and removed from, the helmet 320 by means of a suitable releasable fastener. Preferably, the releasable fastener comprises a magnet or a push-fit connection. In some embodiments, the targeting module 70 may be configured to be received in a module receiving portion (not shown) of the helmet. The module receiving portion and the targeting module may be shaped to ensure that the targeting module 70 only be received in the module receiving portion in one orientation. Thus, the targeting module 70 may be reliably orientated relative to the helmet 320. This attachment mechanism may be used for additional, or alternative, connections between electronics modules located on the helmet and the body unit 310.

The wearable flight system 300 also comprises a support 220 of the body propulsion assembly 200 which is sized and shaped to hold the body propulsion units 210 so that thrust is produced at a height between the lower edge of the rib cage and knees, and most preferably level with the user’s upper thigh.

The flight system 300 also comprises an energy storage device as part of body unit 310 for providing power to the propulsion assemblies. The energy storage device may be connected to the firearm mount assembly 10 in the manner as shown above. The energy storage device of the body unit 310 may comprise a fuel storage vessel for supplying fuel to turbines and/or batteries for powering fans and/or control circuitry. The body unit 310 is preferably provided in the form of a back-pack to be worn above a lower-back-mounted or waist-mounted body propulsion assembly 200. Since the flight system 300 is preferably provided without a wing (i.e. it may be solely dependent upon the propulsion assemblies to provide lift), it is beneficial to minimise interruptions in the thrust provided by any one propulsion unit 100. One source of interruptions, in the case in which the propulsion assemblies comprise turbines, is the possibility of a bubble in the fuel line. This can potentially cause a momentary loss of thrust or even shut down the engine. It is preferable that when the energy storage device of body unit 310 comprises a fuel storage vessel, the vessel is provided as a variable volume storage (for example, a bladder or a cylinder closed by a piston) rather than a fixed volume chamber. In this way, no air will be present in the fuel storage vessel.

A flight system controller (not shown) is also provided. This may be embodied in a single device to be worn on the user’s chest, or may be formed with distributed devices. The flight system controller is arranged to provide control signals to each propulsion assembly 100, 200. The flight system controller may also be arranged to receive control signals from each propulsion assembly 100, 200 and/or from the body unit 310. The flight system controller may also be used to perform the functionality of the controller discussed above for controlling the firearm mounting system 10.

Whilst the flight system controller may independently control the left-hand and right-hand propulsion assemblies 100, it is preferred that they each provide the same thrust.

Thus, in preferred embodiments the control signals provided by the flight system controller may include: a first throttle signal generated by controls of one of the left-hand and righthand propulsion assemblies 100, and a second throttle signal generated by controls of the other of the left-hand and right-hand propulsion assemblies 100. The flight system controller uses the first throttle signal to command the left-hand and right-hand propulsion assemblies 100 to each provide a corresponding first thrust. The flight system controller uses the second throttle signal to command the body propulsion assembly 200 to provide a second corresponding thrust.

The controls may be embodied as one or two input devices the left-hand and right-hand propulsion assemblies 100. In each case, one of the input devices provides a variable signal in the form of the throttle signal. The other of the input devices (if provided) may be a “kill switch”, which provides a binary output and is monitored by the flight system controller so as to deactivate one or more or (preferably) all of the propulsion assemblies 100 of the flight system when released. The controls may also incorporate the offset button 440 and trigger button 470 discussed above in relation to controller 400.

The flight system preferably includes a helmet 320 which comprises a head-up display in communication with the flight system controller. Preferably, the head-up display represents the amount of energy remaining in the energy storage device of the body suit 310 (e.g., a volume of fuel remaining in the bladder) and/or the thrust of each of the propulsion assemblies 100, 200 (for example, the rotational speeds of the turbines). In some embodiments, the targeting module 70 may be connected to the helmet 320. In some embodiments, the targeting module 70 may be connected to a rear of the helmet 320 such that the targeting module 70 does not interfere with the functionality of the head-up display. In some embodiments, the targeting module 70 may be integrated into the head-up display (e.g. integrated into a housing of the head-up display).

Whereas, the flight system 300 has been shown with a left-hand propulsion assembly 100, a right-hand propulsion assembly 100, and a body propulsion assembly 200, embodiments are envisaged in which the body propulsion assembly 200 is replaced by or supplemented with, a leg propulsion assembly (not shown). The leg propulsion assembly may be provided as either one for both legs, or one for each leg. A leg propulsion assembly comprises: at least one leg propulsion unit, and a support. The support is preferably sized and shaped to be worn on a user’s calf such that the at least one leg propulsion assembly is on the dorsal side of the calf. The support may comprise bindings for surrounding the user’s leg such that the bindings define a longitudinal axis aligned with the bones of the lower leg.

It is preferred to have a single leg propulsion unit. The support is preferably sized and shaped to be worn on a user’s calf such that the leg propulsion unit is at an angle V to the longitudinal axis of the support (i.e. is not aligned with the bones of the lower leg). Preferably, angle V is such that when worn, there is a small force applied inwardly to press the user’s legs towards one another. This provides divergence of thrust when a pair of leg propulsion assemblies are worn and has been found to improve stability. The support is preferably arranged such that the leg propulsion unit is at an angle to the longitudinal axis of the support of at least 3°. More preferably, the support is preferably arranged such that the leg propulsion unit is at an angle to the longitudinal axis of the support of no more than 20°. In this way, the leg propulsion units at that angle to the user’s leg when worn.

In the embodiments discussed above the left-hand and right-hand propulsion assemblies 100 each included two propulsion units. Whilst that is preferred, more may be provided, and in fact only one is required. Thus, there is envisaged an embodiment of a flight system in which each of the left-hand and right-hand propulsion assemblies 100 each included a single propulsion unit.