公开(公告)号：US07487016B2

公开(公告)日：2009-02-03

申请号：US11221646

申请日：2005-09-07

申请人： Richard A. Fowell ,  Rongsheng Li ,  Yeong-Wei A. Wu

发明人： Richard A. Fowell ,  Rongsheng Li ,  Yeong-Wei A. Wu

IPC分类号： B64G1/24

CPC分类号： B64G1/36 ,  G05D1/0883

摘要： A method for controlling an actuator of a vehicle comprises providing a dynamic condition sensor generating a vehicle movement signal and a position sensor for generating a reported position. A processor is coupled to the inertial sensor and the position sensor and comprises an estimator, a position measurement predictor having a filter, a comparator and a control shaping block, said estimator generating a vehicle position based upon the dynamic condition sensor, said position measurement predictor generating an estimated position measurement in response to the reported vehicle position and a matched frequency response to the movement signal, said control shaping block generating an actuator control signal in response to a comparison of the estimated position measurement and the reported vehicle position.

摘要翻译： 一种用于控制车辆的致动器的方法包括提供产生车辆运动信号的动态条件传感器和用于产生报告位置的位置传感器。 处理器耦合到惯性传感器和位置传感器，并且包括估计器，具有滤波器的位置测量预测器，比较器和控制整形块，所述估计器基于动态条件传感器产生车辆位置，所述位置测量预测器 响应于所报告的车辆位置和对所述移动信号的匹配的频率响应来产生估计位置测量，所述控制整形块响应于所估计的位置测量和报告的车辆位置的比较而产生致动器控制信号。

公开(公告)号：US06825806B2

公开(公告)日：2004-11-30

申请号：US10162465

申请日：2002-06-03

申请人： Ketao Liu ,  Richard Fowell ,  Yeong-Wei A. Wu ,  Rongsheng Li

发明人： Ketao Liu ,  Richard Fowell ,  Yeong-Wei A. Wu ,  Rongsheng Li

IPC分类号： H01Q300

CPC分类号： H01Q3/005

摘要： Methods and structures are provided for reducing pointing errors &zgr; of satellite antennas and for generating broad field-of-view satellite attitude acquisition patterns. In one method embodiment, satellite transmit beams have estimated pointing attitudes &bgr; and are transmitted to overlap on a ground-based receiving terminal which has a known terminal location &lgr; and which measures received signal strengths &agr;. Pointing errors &zgr; of the transmit beams are then determined from the estimated pointing attitudes &bgr;, the terminal location &lgr; and the signal strengths &agr; and the pointing errors &zgr; are subsequently reduced by revising the pointing attitudes &bgr;. Other method embodiments utilize known signal-strength functions and antenna signals with known signal parameters such as frequencies and/or modulations.

摘要翻译： 提供了用于减少卫星天线的指向误差zeta和产生广泛的视野卫星姿态采集模式的方法和结构。 在一个方法实施例中，卫星发射波束具有估计的指向姿态β，并且在具有已知终端位置λ并且测量接收信号强度α的基于地面的接收终端上被发送以重叠。 然后从估计的指向态度β确定发射波束的指向误差zeta，随后通过修正指向态度β来减少终端位置λ和信号强度α和指向误差zeta。 其他方法实施例利用具有已知信号参数（例如频率和/或调制）的已知信号强度函数和天线信号。

公开(公告)号：US06681159B2

公开(公告)日：2004-01-20

申请号：US10039488

申请日：2001-10-28

申请人： Rongsheng Li ,  Jeffrey A. Kurland ,  Alec M. Dawson ,  Yeong-Wei A. Wu ,  David S. Uetrecht

发明人： Rongsheng Li ,  Jeffrey A. Kurland ,  Alec M. Dawson ,  Yeong-Wei A. Wu ,  David S. Uetrecht

IPC分类号： B64L100

CPC分类号： G05D1/0883 ,  B64G1/26 ,  B64G1/28 ,  B64G1/285 ,  B64G1/288 ,  B64G1/32 ,  B64G1/36 ,  G05B13/024

摘要： Methods and structures are provided that enhance attitude control during gyroscope substitutions by insuring that a spacecraft's attitude control system does not drive its absolute-attitude sensors out of their capture ranges. In a method embodiment, an operational process-noise covariance Q of a Kalman filter is temporarily replaced with a substantially greater interim process-noise covariance Q. This replacement increases the weight given to the most recent attitude measurements and hastens the reduction of attitude errors and gyroscope bias errors. The error effect of the substituted gyroscopes is reduced and the absolute-attitude sensors are not driven out of their capture range. In another method embodiment, this replacement is preceded by the temporary replacement of an operational measurement-noise variance R with a substantially larger interim measurement-noise variance R to reduce transients during the gyroscope substitutions.

摘要翻译： 提供了通过确保航天器的姿态控制系统不将其绝对姿态传感器驱动到其捕获范围之外来增强陀螺仪替换期间的姿态控制的方法和结构。 在方法实施例中，卡尔曼滤波器的操作过程 - 噪声协方差Q被临时过程噪声协方差Q临时替换。该替换增加了给予最近姿态测量的重量并加速了姿态误差的降低，并且 陀螺偏置误差。 取代陀螺仪的误差效应降低，绝对姿态传感器不会被驱赶出其捕获范围。 在另一方法实施例中，该替换之前是临时替换具有相当大的临时测量噪声方差R的操作测量噪声方差R，以减少在陀螺仪替换期间的瞬变。

公开(公告)号：US06356815B1

公开(公告)日：2002-03-12

申请号：US09648501

申请日：2000-08-25

申请人： Yeong-Wei A. Wu ,  Rongsheng Li ,  Yong Liu

发明人： Yeong-Wei A. Wu ,  Rongsheng Li ,  Yong Liu

IPC分类号： G01C2102

CPC分类号： B64G1/361 ,  G01C21/025 ,  G01S3/7867 ,  G01S5/163 ,  G05D1/0883

摘要： Stellar attitude-control systems and methods are provided with enhanced accuracy because they recognize that important star tracker errors exhibit a boresight symmetry and that these errors can be accurately defined by weighting a measurement-noise covariance matrix R(tn) with variances that are functions of off-boresight angles of detected stars. A method of the invention derives off-boresight angles &thgr; from star-tracker signals of detected stars. These off-boresight angles &thgr; are combined with variance coefficients &agr; to generate off-boresight variances rob(tn) that are functions of the off-boresight angles &thgr; and, in particular, correspond to star tracker color shift errors. A gain matrix K(tn) is then calculated with a weighted measurement-noise covariance matrix R(tn) that includes the off-boresight variances rob(tn). This gain matrix is used to generate an attitude estimate matrix X*(tn) for use in spacecraft attitude control. The variance coefficients &agr; are preferably modified to include star tracker focal length shift errors which are also a function of off-boresight angles &thgr;. It is noted that the variance coefficients &agr; can be reduced by identifying the spectral classes of detected and identified stars. The invention recognizes that Other star tracker errors that are not functions of off-boresight angles are modeled with appropriate constant variances rc(tn) that are used to modify the covariance matrix R(tn).

摘要翻译： 提供恒星姿态控制系统和方法具有更高的精度，因为它们认识到重要的星形跟踪器误差表现出视轴对称性，并且可以通过对作为功能的方差加权测量噪声协方差矩阵R（t​​n）来精确地定义这些误差。 检测到的星的偏离视角。 本发明的一种方法从检测到的恒星的星形跟踪信号中导出离视角θ。 这些离开视轴角度θ与方差系数α组合以产生作为离开视角θ的函数的离开视轴方向rob（tn），特别是对应于星形跟踪器颜色偏移误差。 然后使用包括偏离视差方差rob（tn）的加权测量 - 噪声协方差矩阵R（t​​n）来计算增益矩阵K（tn）。 该增益矩阵用于生成用于航天器姿态控制的姿态估计矩阵X *（tn）。 方差系数α优选地被修改为包括也是偏离视角θ的函数的星形跟踪器焦距偏移误差。 应注意，可以通过识别检测到和识别的星的光谱类别来减小方差系数α。 本发明认识到，不是非视距角函数的其他星形跟踪器误差是用用于修改协方差矩阵R（t​​n）的适当常数变量rc（tn）进行建模的。

公开(公告)号：US06362464B1

公开(公告)日：2002-03-26

申请号：US09504543

申请日：2000-02-15

申请人： Yong Liu ,  Yeong-Wei A. Wu ,  Rongsheng Li ,  Christopher L. Rice

发明人： Yong Liu ,  Yeong-Wei A. Wu ,  Rongsheng Li ,  Christopher L. Rice

IPC分类号： G01C2102

CPC分类号： B64G1/361 ,  G01C21/025 ,  G01S3/7867 ,  G05D1/0883

摘要： An apparatus for determining stellar inertial attitude based upon a plurality of stars includes a star tracker and a controller. The star tracker is used to sense the positions of stars and generate signals corresponding to the positions of the stars as seen in its field of view. The controller checks a star catalog and actively determines which stars to track. The controller does this determination in terms of each star's relative geometry. The controller then commands the star tracker to track these stars and uses them to determine the spacecraft attitude.

摘要翻译： 一种用于根据多个恒星确定恒星惯性姿态的装置包括星形跟踪器和控制器。 星形跟踪器用于感测恒星的位置，并产生与其视场中所见的恒星位置相对应的信号。 控制器检查星号目录，并主动确定要跟踪的星星。 控制器根据每颗星的相对几何来做出这一决定。 然后，控制器命令星形跟踪器跟踪这些恒星并使用它们来确定航天器的姿态。

公开(公告)号：US07124001B2

公开(公告)日：2006-10-17

申请号：US10877442

申请日：2004-06-25

申请人： Rongsheng Li ,  Hanching Grant Wang ,  Yeong-Wei A. Wu

发明人： Rongsheng Li ,  Hanching Grant Wang ,  Yeong-Wei A. Wu

IPC分类号： G05D1/00 ,  G05D1/08

CPC分类号： B64G1/66 ,  B64G1/36

摘要： A method and apparatus for estimating a slave payload attitude is disclosed. The method includes accepting a plurality of slave payload attitude measurements, deriving a model of the relative attitude of the slave payload and a master payload attitude at least in part from the plurality of slave attitude measurements, predicting the relative attitude between the slave payload attitude and the master payload attitude using the derived model, and estimating the relative attitude between the slave payload attitude and the master payload attitude at least in part from the predicted relative attitude between the slave payload attitude and the master payload attitude. Furthermore, the absolute attitude of the slave payload is computed using the relative attitude and the master payload attitude.

摘要翻译： 公开了一种用于估计从有效载荷姿态的方法和装置。 该方法包括接受多个从属有效载荷姿态测量，至少部分地从多个从属姿态测量中导出从有效载荷的相对姿态的模型和主有效载荷姿态，预测从属有效载荷姿态和 使用导出模型的主有效载荷姿态，以及至少部分地根据从有效载荷姿态和主有效载荷姿态之间的预测相对姿态来估计从有效载荷姿态与主有效载荷姿态之间的相对姿态。 此外，使用相对姿态和主有效载荷姿态来计算从属有效载荷的绝对姿态。

公开(公告)号：US06298288B1

公开(公告)日：2001-10-02

申请号：US09212454

申请日：1998-12-16

申请人： Rongsheng Li ,  Yeong-Wei A. Wu ,  Garry Didinsky

发明人： Rongsheng Li ,  Yeong-Wei A. Wu ,  Garry Didinsky

IPC分类号： G06F770

CPC分类号： G05D1/0883 ,  B64G1/288 ,  B64G1/36 ,  B64G1/361 ,  B64G1/363 ,  B64G1/365 ,  B64G2001/245

摘要： A system and method of estimating the attitude of a spacecraft is disclosed. A three-axis inertial-based estimate of spacecraft attitude is produced and is compared to a stellar-based estimate of spacecraft attitude. A Kalman filter having states associated with gyro scale factor and/or misalignment errors compares the stellar-based attitude estimate to the inertial-based estimate of attitude and apportions the total error into three time varying matrices. A first time varying matrix is associated with gyro scale factor and misalignment errors, a second time varying matrix is associated with gyro bias errors, and a third time varying matrix is associated with attitude errors. The time varying matrices are applied as corrective feedbacks to the inertial-based estimate of spacecraft attitude and are adaptively adjusted to minimize the error therein.

摘要翻译： 公开了一种估计航天器姿态的系统和方法。 产生了基于三轴惯性的航天器姿态估计，并将其与航天器态度的恒星估计进行了比较。 具有与陀螺仪比例因子和/或未对准误差相关联的状态的卡尔曼滤波器将基于恒星的姿态估计与基于惯性的姿态估计进行比较，并将总误差分配给三个时变矩阵。 第一时变矩阵与陀螺仪比例因子和未对准误差相关联，第二时变矩阵与陀螺仪偏置误差相关联，并且第三时变矩阵与姿态误差相关联。 时变矩阵作为校正反馈应用于基于惯性的航天器姿态估计，并进行自适应调整以最小化其中的误差。

公开(公告)号：US06595469B2

公开(公告)日：2003-07-22

申请号：US10039474

申请日：2001-10-28

申请人： Rongsheng Li ,  Yeong-Wei A. Wu ,  Hanching Grant Wang

发明人： Rongsheng Li ,  Yeong-Wei A. Wu ,  Hanching Grant Wang

IPC分类号： B04G122

CPC分类号： G05D1/0883 ,  B64G1/24 ,  B64G1/26 ,  B64G1/285 ,  B64G1/288 ,  B64G1/36 ,  B64G1/361 ,  B64G1/363 ,  B64G1/365 ,  B64G1/66 ,  Y10S343/02

摘要： Attitude determination and control systems are provided that combine attitude measurements from all spacecraft payloads to determine a master attitude estimate for a master payload and relative slave attitude estimates for the remaining slave payloads. These estimates are then used to control the attitudes of spacecraft elements that correct the absolute and relative attitude errors. These systems significantly enhance attitude accuracy when compared to systems that realize independent payload estimates, determine payload attitudes. These systems also provide significant processing advantages (e.g., simpler algorithms, reduced data throughput and slower processing rate).

摘要翻译： 提供了姿态确定和控制系统，其结合来自所有航天器有效载荷的姿态测量，以确定主载荷的主姿态估计以及剩余从动载荷的相对从属姿态估计。 然后将这些估计值用于控制航天器元件的态度，以纠正绝对和相对姿态误差。 与实现独立有效负载估计，确定有效载荷态度的系统相比，这些系统显着提高了姿态精度。 这些系统还提供显着的处理优点（例如，更简单的算法，减少的数据吞吐量和较慢的处理速率）。

公开(公告)号：US06272432B1

公开(公告)日：2001-08-07

申请号：US09309034

申请日：1999-05-10

申请人： Rongsheng Li ,  Yeong-Wei A. Wu ,  Douglas H. Hein ,  Garry Didinsky

发明人： Rongsheng Li ,  Yeong-Wei A. Wu ,  Douglas H. Hein ,  Garry Didinsky

IPC分类号： G01C2102

CPC分类号： G01C21/025 ,  B64G1/288 ,  B64G1/361 ,  B64G1/363 ,  B64G1/365 ,  G05D1/0883

摘要： A system and method of estimating the attitude of a spacecraft compares a three-axis inertial-based estimate of spacecraft attitude to a stellar-based estimate of the spacecraft attitude. A Kalman filter having some states associated with low spatial frequency errors compares the stellar-based attitude estimate to the inertial-based estimate of attitude and apportions total attitude error into two time varying matrices. A first time varying matrix is associated with star tracker low spatial frequency errors, a second time varying matrix is associated with gyro bias errors and attitude errors. The time varying matrices are used to apply corrective feedbacks to the stellar-based attitude estimate and the inertial-based estimate of spacecraft attitude, and are adaptively adjusted to minimize total estimated attitude error.

摘要翻译： 估计航天器态度的系统和方法将基于三轴惯性的航天器姿态估计与基于恒星的航天器姿态估计进行比较。 具有与低空间频率误差相关联的一些状态的卡尔曼滤波器将基于星态的姿态估计与基于惯性的姿态估计和总姿态误差分配成两个时变矩阵进行比较。 第一时变矩阵与星形跟踪器低空间频率误差相关联，第二时变矩阵与陀螺仪偏置误差和姿态误差相关联。 时变矩阵用于对基于恒星的姿态估计和基于惯性的航天器姿态估计应用校正反馈，并进行自适应调整以最小化总估计姿态误差。

公开(公告)号：US08000896B2

公开(公告)日：2011-08-16

申请号：US12019513

申请日：2008-01-24

申请人： Ketao Liu ,  Yeong-Wei A. Wu ,  Jeffrey L. Lee

发明人： Ketao Liu ,  Yeong-Wei A. Wu ,  Jeffrey L. Lee

IPC分类号： G01C21/00

CPC分类号： G01D5/208 ,  G01D3/02

摘要： In accordance with an embodiment of the present invention, a resolver system has at least one resolver and at least one amplifier in electrical communication with each resolver. A reference circuit is in electrical communication with the amplifiers. The reference circuit provides reference signals to the amplifiers. A non-linearity calibration and compensation circuit in communication with each amplifier uses the amplified reference signals to provide scale factors, so as to enhance a precision of the resolver system.

摘要翻译： 根据本发明的实施例，旋转变压器系统具有至少一个分解器和至少一个与每个旋转变压器电连通的放大器。 参考电路与放大器电连通。 参考电路为放大器提供参考信号。 与每个放大器通信的非线性校准和补偿电路使用放大的参考信号来提供比例因子，以提高旋转变压器系统的精度。