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1.发明授权Satellite camera attitude determination and image navigation by means of earth edge and landmark measurement 失效卫星摄像机姿态确定和图像导航通过地球边界和地标测量
公开(公告)号：US6023291A
公开(公告)日：2000-02-08
申请号：US939616
申请日：1997-09-29
申请人： Ahmed A Kamel , Kwok M Ong
发明人： Ahmed A Kamel , Kwok M Ong
CPC分类号： G01S3/7868 , G01C11/025 , H04N7/002 , H04N7/18
摘要： A method and system is disclosed for imaging a celestial object, typically the Earth, with a spacecraft orbiting the celestial object. The method includes steps of (a) operating an imager instrument aboard the spacecraft to generate data representing an image of the celestial object; (b) processing the image data to derive the location of at least one predetermined landmark in the image and a location of edges of the celestial object in the image; and (c) further processing the detected locations to obtain the attitude of the imager instrument. The method includes a further step of outputting the image and the imager instrument attitude to at least one end-user of the image, and/or using the imager instrument attitude to revise the image before outputting the image to the at least one end-user of the image. The generated data preferably represents a one half frame image, and the steps of processing and further processing thus occur at a one half frame rate. The step of processing includes a step of applying the a priori knowledge of the attitude coefficients in processing new observations to determine the imager current attitude.
摘要翻译： 公开了一种用于对天体进行成像的方法和系统，所述天体通常是地球，其中航天器绕着天体对准。 该方法包括以下步骤：（a）操作航天器上的成像仪器以产生表示天体的图像的数据; （b）处理图像数据以导出图像中的至少一个预定地标的位置和图像中天体的边缘的位置; 和（c）进一步处理检测到的位置以获得成像仪器的姿态。 该方法还包括将图像输出到图像的至少一个最终用户的图像和成像仪器姿态的步骤，和/或使用成像仪器姿态来修正图像，然后将图像输出到至少一个最终用户 的图像。 所生成的数据优选地表示半帧图像，并且因此以半帧速率进行处理和进一步处理的步骤。 处理步骤包括在处理新观察中应用姿态系数的先验知识以确定成像器当前姿态的步骤。
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公开(公告)号：US5258132A
公开(公告)日：1993-11-02
申请号：US847141
申请日：1992-03-31
申请人： Ahmed A. Kamel , David J. Lang , Paul A. Hanna , Robert Gabriel , Richard Theiler , Alyse S. Goldman
发明人： Ahmed A. Kamel , David J. Lang , Paul A. Hanna , Robert Gabriel , Richard Theiler , Alyse S. Goldman
CPC分类号： B01J13/043 , C11D17/0039 , C11D3/38672 , C11D3/39 , C11D3/3945 , C11D3/395 , C11D3/3955 , Y10T428/2989 , Y10T428/2991
摘要： Solid core particles encapsulated in a single coat of paraffin wax, the wax having a melting point of about 40.degree. to about 50.degree. C. and a solids content of from 100 to about 35% at 40.degree. C. and from 0 to about 15% at 50.degree. C. The paraffin coat may comprise 20 to 90% by weight of the particle and may be from 100 to 1,500 microns thick. The coat prolongs the time in which particles encapsulated therewith may remain active in aqueous environments.The encapsulated particle is made by spraying molten wax onto the particles in a fluidized bed. Liquid or powder cleaning compositions, particularly automatic dishwashing liquid detergents, may incorporate 0.01 to 20% by weight of the composition of the coated wax-encapsulated particles.
摘要翻译： 包封在单一石蜡层中的固体核心颗粒，该蜡具有约40℃至约50℃的熔点，在40℃和0至约15℃的固体含量为100至约35％ ％。石蜡涂层可以包含20-90重量％的颗粒，并且可以是100-1,500微米厚。 涂层延长了包封在其中的颗粒在水性环境中保持活性的时间。 包封的颗粒通过在流化床中将熔融蜡喷射到颗粒上而制成。 液体或粉末清洁组合物，特别是自动餐具洗涤液体洗涤剂，可以包含涂料蜡包封颗粒组合物的重量的0.01％至20％。
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公开(公告)号：US5230822A
公开(公告)日：1993-07-27
申请号：US688691
申请日：1991-04-24
CPC分类号： B01J13/043 , C11D17/0039 , C11D3/38672 , C11D3/39 , C11D3/3945 , C11D3/395 , C11D3/3955 , Y10T428/2989 , Y10T428/2991
摘要： Solid core particles encapsulated in a single coat of paraffin wax, the wax having a melting point of about 40.degree. to about 50.degree. C. and a solids content of from 100 to about 35% at 40.degree. C. and from 0 to about 15% at 50.degree. C. The paraffin coat may comprise 20 to 90% by weight of the particle and may be from 100 to 1,500 microns thick. The coat prolongs the time in which particles encapsulated therewith may remain active in aqueous environments.The encapsulated particle is made by spraying molten wax onto the particles in a fluidized bed. Liquid or powder cleaning compositions, particularly automatic dishwashing liquid detergents, may incorporate 0.01 to 20% by weight of the composition of the coated wax-encapsulated particles.
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公开(公告)号：US4688091A
公开(公告)日：1987-08-18
申请号：US860373
申请日：1986-05-06
IPC分类号： B64G1/66 , B64G1/22 , G01C21/20 , G01C21/24 , G01J1/42 , G03B15/00 , G03B17/00 , H04N5/232 , H04N7/01
摘要： A system for achieving spacecraft camera (1, 2) image registration comprises a portion external to the spacecraft and an image motion compensation system (IMCS) portion onboard the spacecraft. Within the IMCS, a computer (38) calculates an image registration compensation signal (60) which is sent to the scan control loops (84, 88, 94, 98) of the onboard cameras (1, 2). At the location external to the spacecraft, the long-term orbital and attitude perturbations on the spacecraft are modeled. Coefficients (K, A) from this model are periodically sent to the onboard computer (38) by means of a command unit (39). The coefficients (K, A) take into account observations of stars and landmarks made by the spacecraft cameras (1, 2) themselves. The computer (38) takes as inputs the updated coefficients (K, A) plus synchronization information indicating the mirror position (AZ, EL) of each of the spacecraft cameras (1, 2), operating mode, and starting and stopping status of the scan lines generated by these cameras (1, 2), and generates in response thereto the image registration compensation signal (60). The sources of periodic thermal errors on the spacecraft are discussed. The system is checked by calculating "measurement residuals", the difference between the landmark and star locations predicted at the external location and the landmark and star locations as measured by the spacecraft cameras (1, 2).
摘要翻译： 用于实现航天器相机（1,2）图像配准的系统包括航天器外部的部分和飞船上的图像运动补偿系统（IMCS）部分。 在IMCS内，计算机（38）计算发送到车载摄像机（1,2）的扫描控制回路（84,88,94,98）的图像配准补偿信号（60）。 在航天器外部的位置，对航天器的长期轨道和姿态扰动进行了建模。 来自该模型的系数（K，A）通过命令单元（39）周期性地发送到车载计算机（38）。 系数（K，A）考虑到由航天器相机（1,2）自身制成的星星和地标的观测。 计算机（38）将更新的系数（K，A）加上指示每个航天器相机（1,2）的镜像位置（AZ，EL）的同步信息，操作模式和起始和停止状态作为输入 由这些摄像机（1,2）生成的扫描线，并且响应于此生成图像配准补偿信号（60）。 讨论了航天器周期性热误差的来源。 通过计算“测量残差”来检查系统，由外部位置预测的地标和星形位置之间的差异以及由航天器相机（1,2）测量的地标和星形位置。
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公开(公告)号：US4688092A
公开(公告)日：1987-08-18
申请号：US860142
申请日：1986-05-06
摘要： Pixels within a satellite camera (1, 2) image are precisely located in terms of latitude and longitude on a celestial body, such as the earth, being imaged. A computer (60) on the earth generates models (40, 50) of the satellite's orbit and attitude, respectively. The orbit model (40) is generated from measurements of stars and landmarks taken by the camera (1, 2), and by range data. The orbit model (40) is an expression of the satellite's latitude and longitude at the subsatellite point, and of the altitude of the satellite, as a function of time, using as coefficients (K) the six Keplerian elements at epoch. The attitude model (50) is based upon star measurements taken by each camera (1, 2). The attitude model (50) is a set of expressions for the deviations in a set of mutually orthogonal reference optical axes (x, y, z) as a function of time, for each camera (1, 2). Measured data is fit into the models (40, 50) using a walking least squares fit algorithm. A transformation computer (66 ) transforms pixel coordinates as telemetered by the camera (1, 2) into earth latitude and longitude coordinates, using the orbit and attitude models (40, 50).
摘要翻译： 卫星摄像机（1,2）图像中的像素精确地位于天体（例如地球）上的纬度和经度上。 地球上的计算机（60）分别产生卫星轨道和姿态的模型（40,50）。 轨道模型（40）由相机（1,2）拍摄的星星和地标的测量以及距离数据生成。 轨道模型（40）是卫星在经纬度纬度和纬度以及卫星海拔高度的表达式，作为时间的函数，使用时代中的六个开普勒元素的系数（K）。 姿态模型（50）基于每个摄像机拍摄的星形测量（1,2）。 姿态模型（50）是对于每个照相机（1,2），作为时间的函数的一组相互正交的参考光轴（x，y，z）中的偏差的一组表达式。 使用行走最小二乘拟合算法将测量数据拟合到模型（40,50）中。 变换计算机（66）使用轨道和姿态模型（40,50）将由照相机（1,2）遥测的像素坐标变换为地球纬度和经度坐标。
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公开(公告)号：US6135394A
公开(公告)日：2000-10-24
申请号：US207399
申请日：1998-12-08
申请人： Ahmed A. Kamel , Walter Gelon , Keith Reckdahl
发明人： Ahmed A. Kamel , Walter Gelon , Keith Reckdahl
CPC分类号： B64G1/242 , B64G1/26 , G05D1/0883
摘要： A practical stationkeeping method and apparatus wherein an electric propulsion system on a satellite is used to correct north-south drift and the majority of east-west drift which is caused by orbital eccentricity growth. A chemical propulsion system on the satellite is used to correct the remainder of east-west drift due to the growth of orbital semimajor axis. The method and apparatus eliminate the need for additional electric thruster burns in case of an electric thruster failure and therefore eliminates associated power and mass penalties.
摘要翻译： 一种实用的维护方法和装置，其中使用卫星上的电力推进系统来校正由轨道偏心增长引起的南北偏移和大部分东西漂移。 卫星上的化学推进系统用于校正由于轨道半长轴的增长而导致的东西漂移的剩余部分。 该方法和装置在电推进器失效的情况下消除了额外的电推进器燃烧的需要，因此消除了相关的功率和质量损失。
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公开(公告)号：US5200236A
公开(公告)日：1993-04-06
申请号：US688692
申请日：1991-04-24
CPC分类号： C11D17/0039 , C11D3/39 , C11D3/395 , Y10T428/2989 , Y10T428/2991
摘要： Solid core particles encapsulated in a single coat of paraffin wax, the wax having a melting point of about 40.degree. to about 50.degree. C. and a solids content of from 100 to about 35% at 40.degree. C. and from 0 to about 15% at 50.degree. C. The paraffin coat may comprise 20 to 90% by weight of the particle and may be from 100 to 1,500 microns thick. The coat prolongs the time in which particles encapsulated therewith may remain active in aqueous environments.The encapsulated particle is made by spraying molten wax onto the particles in a fluidized bed. Liquid or powder cleaning compositions, particularly automatic dishwashing liquid detergents, may incorporate 0.01 to 20% by weight of the composition of the coated wax-encapsulated particles.
摘要翻译： 包封在单一石蜡层中的固体核心颗粒，该蜡具有约40℃至约50℃的熔点，在40℃和0至约15℃的固体含量为100至约35％ ％。石蜡涂层可以包含20-90重量％的颗粒，并且可以是100-1,500微米厚。 涂层延长了包封在其中的颗粒在水性环境中保持活性的时间。 包封的颗粒通过在流化床中将熔融蜡喷射到颗粒上而制成。 液体或粉末清洁组合物，特别是自动餐具洗涤液体洗涤剂，可以包含涂料蜡包封颗粒组合物的重量的0.01％至20％。
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公开(公告)号：US4746976A
公开(公告)日：1988-05-24
申请号：US867356
申请日：1986-05-23
申请人： Ahmed A. Kamel , Donald E. Ekman , John Savides , Gerald J. Zwirn
发明人： Ahmed A. Kamel , Donald E. Ekman , John Savides , Gerald J. Zwirn
CPC分类号： G01C21/025 , G09B9/52
摘要： Stars are sensed by one or more instruments (1, 2) on board a three-axis stabilized satellite, for purposes of assisting in image navigation. A star acquistion computer (64), which may be located on the earth, commands the instrument mirror (33, 32) to slew just outside the limb of the earth or other celestial body around which the satellite is orbiting, to look for stars that have been cataloged in a star map stored within the computer (64). The instrument (1, 2) is commanded to dwell for a period of time equal to a star search window time, plus the maximum time the instrument (1, 2) takes to complete a current scan, plus the maximum time it takes for the mirror (33, 32) to slew to the star. When the satellite is first placed in orbit, and following first stationkeeping and eclipse, a special operation is performed in which the star-seeking instrument (1, 2) FOV is broadened. The elevation dimension can be broadened by performing repetitive star seeks; the azimuth dimension can be broadened by lengthening the commanded dwell times.
摘要翻译： 星星由一个或多个仪器（1,2）感测在三轴稳定的卫星上，目的是协助图像导航。 可以位于地球上的星形采集计算机（64）命令仪器镜（33,32）正好在卫星绕轨道的地球或其他天体的肢体外面去寻找恒星 已经在存储在计算机内的星图中编目了（64）。 命令仪器（1,2）驻留一段时间等于星形搜索窗口时间，加上仪器（1,2）完成当前扫描所需的最长时间，加上最长时间 镜子（33,32）转向星星。 当卫星首次放置在轨道上，并且在第一次保存和日食之后，执行寻星仪器（1,2）FOV的特殊操作。 通过执行重复的星际搜索可以扩大海拔尺寸; 通过延长指令停留时间可以扩大方位角尺寸。
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