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1.发明授权
公开(公告)号：US6108593A
公开(公告)日：2000-08-22
申请号：US891418
申请日：1997-07-09
申请人： Garry Didinsky , Yeong-Wei Andy Wu
发明人： Garry Didinsky , Yeong-Wei Andy Wu
CPC分类号： G05D1/0883 , B64G1/283 , B64G1/361 , B64G1/363 , B64G1/365 , B64G2001/245
摘要： A method and apparatus for estimating attitude sensor bias in a satellite system uses attitude sensors and a spacecraft control processor. Attitude sensors provide output signals, which may contain bias. The present invention interprets the signals, determines the bias present in the signals, and generates an output signal to offset the bias in the signals from the attitude sensors, thereby leading to more accurate positioning of the satellite employing the present invention.
摘要翻译： 用于估计卫星系统中的姿态传感器偏差的方法和装置使用姿态传感器和航天器控制处理器。 姿态传感器提供可能包含偏差的输出信号。 本发明解释信号，确定信号中存在的偏差，并产生输出信号以抵消来自姿态传感器的信号中的偏置，由此导致使用本发明的卫星更准确的定位。
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公开(公告)号：US06289268B1
公开(公告)日：2001-09-11
申请号：US09516854
申请日：2000-03-02
申请人： Garry Didinsky , Arunkumar P. Nayak , Rongsheng Li , Yeong-Wei A. Wu , Jeffrey A. Kurland , David D. Needelman
发明人： Garry Didinsky , Arunkumar P. Nayak , Rongsheng Li , Yeong-Wei A. Wu , Jeffrey A. Kurland , David D. Needelman
IPC分类号： G06F700
CPC分类号： G05D1/0883
摘要： A star tracker coupled to the spacecraft having a star catalog associated therewith. A sun sensor is coupled to the spacecraft. A control processor is coupled to the star tracker and the sun sensor. The processor obtains star data using a star tracker and an on-board star catalog. The processor generates a coarse attitude of the spacecraft as a function of the star data, and establishes a track on at least one star in the on-board star catalog. The processor calculates a sun tracking rate, and obtains a normal phase attitude as a function of the star data and the coarse attitude. The information is used to slew the spacecraft to a desired attitude.
摘要翻译： 耦合到具有与之相关联的星形目录的航天器的星形跟踪器。 太阳传感器耦合到航天器。 控制处理器耦合到星形跟踪器和太阳传感器。 处理器使用星形跟踪器和板载星形目录获取星形数据。 处理器根据星型数据产生航天器的粗略姿态，并在车载星形目录中的至少一颗恒星上建立轨道。 处理器计算太阳跟踪率，并且作为星数据和粗略姿态的函数获得正常相位姿态。 该信息用于将飞船旋转到所需的姿态。
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公开(公告)号：US06047226A
公开(公告)日：2000-04-04
申请号：US105621
申请日：1997-06-26
CPC分类号： B64G1/361 , B64G1/288 , B64G1/36 , G05D1/0883 , B64G1/26
摘要： Spacecraft attitude is efficiently controlled by utilizing spatial noise and temporal noise in the calculation of gains to a Kalman filter. Spatial noise is modeled in a dynamic fashion so as to provide optimal spatial noise attenuation.
摘要翻译： 通过在计算Kalman滤波器的增益时利用空间噪声和时间噪声来有效地控制航天器姿态。 空间噪声以动态方式建模，以提供最佳的空间噪声衰减。
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公开(公告)号：US06282467B1
公开(公告)日：2001-08-28
申请号：US08949634
申请日：1997-10-14
IPC分类号： B64G124
摘要： A system and method for determining the attitude in an inertial frame of a spacecraft spinning about an axis in a body frame including determining momentum vector direction in the inertial frame; determining momentum vector direction in the body frame; acquiring information from an at least single-axis sensor; obtaining reference information on the at least single-axis sensor; updating the attitude in the inertial reference frame using the momentum vector direction in the inertial frame, the momentum vector direction in the body frame, the output of the at least single-axis sensor, and the reference information on the at least single-axis sensor; and propagating the attitude using data from one or more inertial sensors.
摘要翻译： 一种用于确定在包括确定惯性框架中的动量矢量方向的人体框架中围绕轴线旋转的航天器的惯性框架中的姿态的系统和方法; 确定身体框架中的动量矢量方向; 从至少单轴传感器获取信息; 获得所述至少单轴传感器的参考信息; 使用惯性框架中的动量矢量方向，身体框架中的动量向量方向，至少单轴传感器的输出以及至少单轴传感器的参考信息来更新惯性参考系中的姿态 ; 并且使用来自一个或多个惯性传感器的数据来传播姿态。
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5.发明授权System and method for correcting star tracker low spatial frequency error in stellar-inertial attitude determination systems 失效用于校正恒星惯性姿态测定系统中星际跟踪器低空间频率误差的系统和方法公开(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。
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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。
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公开(公告)号：US6145790A
公开(公告)日：2000-11-14
申请号：US158675
申请日：1998-09-22
申请人： Garry Didinsky , Yeong-Wei Andy Wu
发明人： Garry Didinsky , Yeong-Wei Andy Wu
摘要： An attitude sensing system utilizing simplified techniques and apparatus includes a spacecraft control processor which receives signals from an inertial measurement unit and two attitude sensors. The spacecraft control processor calculates a time-varying gain matrix for estimating attitude errors and gyroscope drifts corresponding to the axes of the inertial measurement unit. In special cases where the separation angle between the attitude sensor vectors is less than approximately 10 degrees, the time-varying gain matrix is computed as a fixed gain matrix and a corresponding desensitizing factor.
摘要翻译： 利用简化技术和装置的姿态感测系统包括：一个从惯性测量单元和两个姿态传感器接收信号的航天器控制处理器。 航天器控制处理器计算用于估计对应于惯性测量单元的轴的姿态误差和陀螺仪漂移的时变增益矩阵。 在姿态传感器向量之间的分离角小于约10度的特殊情况下，时变增益矩阵被计算为固定增益矩阵和相应的减敏因子。
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公开(公告)号：US6087646A
公开(公告)日：2000-07-11
申请号：US107752
申请日：1998-06-30
申请人： Garry Didinsky
发明人： Garry Didinsky
CPC分类号： G01S3/7862 , B64G1/361 , B64G1/363 , B64G1/365 , G01C21/02
摘要： Methods are provided for sensing radiation direction over a wide field-of-view. In one process step, radiation is received over a first solid angle and, in response, the direction of that radiation is sensed along a first sensor axis. In a similar process step, radiation is received over a second solid angle and, in response, the direction of that radiation is sensed along a second sensor axis. The first and second solid angles are arranged to spatially intersect over a third solid angle that is a subset of the first solid angle and a subset of the second solid angle. These methods facilitate the determination of inertial planes over a wide field-of-view and the third solid angle facilitates the determination of inertial vectors. Radiation sensor structures in accordance with the methods are also provided.
摘要翻译： 提供了用于在宽视野范围内感测辐射方向的方法。 在一个处理步骤中，辐射被接收在第一立体角上，并且作为响应，沿着第一传感器轴感测该辐射的方向。 在类似的处理步骤中，辐射被接收在第二立体角上，并且作为响应，沿着第二传感器轴感测到该辐射的方向。 第一和第二立体角被布置成在作为第一立体角的子集和第二立体角的子集的第三立体角上空间相交。 这些方法有助于在宽视野范围内确定惯性平面，并且第三立体角有助于确定惯性矢量。 还提供了根据方法的辐射传感器结构。
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9.发明授权Method and apparatus for controlling spacecraft attitude with rotational star trackers 有权用旋转星形跟踪器控制航天器姿态的方法和装置公开(公告)号：US06236939B1
公开(公告)日：2001-05-22
申请号：US09261727
申请日：1999-03-03
IPC分类号： G01C2102
CPC分类号： B64G1/361 , B64G2001/245 , G01C21/025 , G01S3/7867 , G01S5/163
摘要： High precision spacecraft attitude determination is produced by specially positioning the spacecraft's star trackers and then filtering out measurement errors produced from star tracker electronics. In addition to the conventional azimuth and elevation controls used for star tracker pointing, the star tracker detector array is rotationally positioned about its boresight so that its pixels are traversed by the imaged star path at an angle within 20° of diagonal. This forces both vertical and horizontal spatial error components in the detector plane to a high frequency range at which they can easily be filtered out in common.
摘要翻译： 通过专门定位航天器的星形跟踪器，然后滤除由星形跟踪器电子产生的测量误差，产生高精度航天器姿态测定。 除了用于星形跟踪器指向的常规方位和仰角控制之外，星形跟踪器检测器阵列围绕其视轴旋转地定位，使得其像素以对角线的20°内的角度被成像的星形路径穿过。 这迫使检测器平面中的垂直和水平空间误差分量都到高频范围，在这个高频范围内，它们可以容易地被共同滤除。
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10.发明授权Autonomous attitude acquisition for a stellar inertial attitude determination system 失效一种恒星惯性姿态测定系统的自主态度采集
公开(公告)号：US6108594A
公开(公告)日：2000-08-22
申请号：US87409
申请日：1998-05-29
申请人： Garry Didinsky , Yeong-Wei Wu , Rongsheng Li , Arunkumar Nayak , Douglas Hein
发明人： Garry Didinsky , Yeong-Wei Wu , Rongsheng Li , Arunkumar Nayak , Douglas Hein
CPC分类号： G01C21/025 , B64G1/361 , G01S3/781 , G01S5/163 , G05D1/0883 , B64G1/288
摘要： A method and apparatus for autonomous acquisition of attitude in a stellar inertial spacecraft attitude system is disclosed. The present invention uses star trackers, an on-board star catalog, spacecraft steering and inertial sensors to determine spacecraft attitude. The present invention utilizes pattern match and pattern rejection methods and uses multiple stellar snap-shots in conjunction with spacecraft steering and spacecraft inertial measurements to acquire spacecraft attitude. Spacecraft inertial measurements are used to connect multiple stellar snap-shots to provide adequate star information that can be used to acquire spacecraft attitude. In an attitude determination system using star trackers, the star trackers may have a narrow field-of-view or few stars may be available for viewing. The present invention uses pattern matching and pattern rejection on different sets of stars, thereby allowing attitude acquisition when the number of stars in view is small.
摘要翻译： 公开了一种用于在恒星惯性航天器姿态系统中自动获取姿态的方法和装置。 本发明使用星形跟踪器，一个车载星形目录，航天器转向和惯性传感器来确定航天器的姿态。 本发明利用模式匹配和模式排斥方法，并结合航天器转向和航天器惯性测量使用多个恒星卡扣，以获得航天器的姿态。 航天器惯性测量用于连接多个恒星快照，以提供可用于获取航天器姿态的足够的星级信息。 在使用星形跟踪器的态度确定系统中，星形跟踪器可以具有窄的视场或几颗恒星可用于观看。 本发明在不同的星星集合上使用模式匹配和模式抑制，从而当观看的星星数量小时允许姿态采集。
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