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公开(公告)号：US07219014B2
公开(公告)日：2007-05-15
申请号：US10709346
申请日：2004-04-29
申请人： David D. Needelman , Rongsheng Li , Richard A. Fowell , Peter C. Lai , Yeong-Wei A. Wu , Bruce N. Eyerly , Jonathan French
发明人： David D. Needelman , Rongsheng Li , Richard A. Fowell , Peter C. Lai , Yeong-Wei A. Wu , Bruce N. Eyerly , Jonathan French
摘要： A vehicle (12) including a control system (18) is used for controlling vehicle attitude or angular velocity (38). The processor (24) is coupled to a star sensor or tracker (22) and a memory (30) that may include a star catalog (32), and an exclusion list (36). The exclusion list (36), a list of stars to be temporarily excluded from consideration when determining attitude or angular velocity or relative alignment of star sensors or trackers, is calculated on-board. Such a calculation prevents the necessity for a costly, periodic, ground calculation and upload of such data. By manipulating the star catalog, or sub-catalogs derived from said catalog, based upon the exclusion list (36), measurements of such excluded stars are prevented from corrupting the attitude or angular velocity or alignment estimates formulated on board.
摘要翻译： 包括控制系统（18）的车辆（12）用于控制车辆姿态或角速度（38）。 处理器（24）耦合到星形传感器或跟踪器（22）和可包括星形目录（32）的存储器（30）和排除列表（36）。 排除列表（36），在确定姿态或角速度或星形传感器或跟踪器的相对对齐时暂时排除考虑的恒星列表。 这样的计算可以防止对这些数据进行昂贵，周期性，地面计算和上传的必要性。 通过根据排除列表（36）操纵从所述目录导出的星号目录或子目录，防止这些排除的星星的测量破坏了在船上制定的姿态或角速度或对准估计。
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公开(公告)号：US07228231B2
公开(公告)日：2007-06-05
申请号：US10709348
申请日：2004-04-29
摘要： A vehicle (12) including a control system (18) is used for controlling vehicle attitude or angular velocity (38). The processor (24) is coupled to a star sensor or tracker (22) and a memory (30) that may include a star catalog (32), and an exclusion list (36). The exclusion list (36), a list of stars to be temporarily excluded from consideration when determining attitude or angular velocity or relative alignment of star sensors or trackers, is calculated on board. Such a calculation prevents the necessity for a costly, periodic, ground calculation and upload of such data. By manipulating the star catalog, or sub-catalogs derived from said catalog, based upon the exclusion list (36), measurements of such excluded stars are prevented from corrupting the attitude or angular velocity or alignment estimates formulated on board. The system uses multiple stayout zones for excluding stars from the exclusion list. A central exclusion zone excludes all stars while a second or more exclusion zones allow some stars to be used in the attitude determination
摘要翻译： 包括控制系统（18）的车辆（12）用于控制车辆姿态或角速度（38）。 处理器（24）耦合到星形传感器或跟踪器（22）和可包括星形目录（32）的存储器（30）和排除列表（36）。 排除列表（36）在船上计算确定姿态或角速度或星形传感器或跟踪器的相对对齐时暂时排除考虑的星星列表。 这样的计算可以防止对这些数据进行昂贵，周期性，地面计算和上传的必要性。 通过根据排除列表（36）操纵从所述目录导出的星号目录或子目录，防止这些排除的星星的测量破坏了在船上制定的姿态或角速度或对准估计。 系统使用多个停留区域来排除排除列表中的星星。 中央排除区不包括所有星星，而第二个或更多个禁区可允许在姿态确定中使用一些恒星
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公开(公告)号：US07310578B2
公开(公告)日：2007-12-18
申请号：US10710177
申请日：2004-06-24
申请人： James P. Alstad , David D. Needelman , Rongsheng Li , Richard A. Fowell , Peter C. Lai , Yeong-Wei A. Wu
发明人： James P. Alstad , David D. Needelman , Rongsheng Li , Richard A. Fowell , Peter C. Lai , Yeong-Wei A. Wu
IPC分类号： G06F7/76
CPC分类号： G01S3/7867 , B64G1/361
摘要： A system (18) includes: a) A vehicle (12) includes an attitude or angular velocity control system (38), a plurality of star trackers or star sensors (22) each having a field of view (28); b) a memory (30) having a star catalog (32), a star pair catalog (58) and a reference table (56) stored therein; and c) a processor (24) coupled to the attitude or angular velocity control system (38), the star trackers or star sensors (22), and the memory (30). The processor (24) determines the vehicle inertial attitude or angular velocity or sensor alignment, based, in part, on the star pair catalog (58) and reference table (56). The design of the star pair catalog (58) and reference table (56) is suitable for rapid determination of attitude or angular velocity or sensor alignment, and an efficient use of memory.
摘要翻译： 系统（18）包括：a）车辆（12）包括姿态或角速度控制系统（38），多个星形跟踪器或星形传感器（22），每个具有视野（28）; b）具有星号目录（32），存储在其中的星形目录（58）和参考表（56）的存储器（30） 和c）联接到姿态或角速度控制系统（38），星形跟踪器或星形传感器（22）和存储器（30）的处理器（24）。 处理器（24）部分地基于星形对目录（58）和参考表（56）确定车辆惯性姿态或角速度或传感器对准。 星形目录（58）和参考表（56）的设计适用于快速确定姿态或角速度或传感器对准，并有效利用存储器。
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公开(公告)号：US07136752B2
公开(公告)日：2006-11-14
申请号：US10710178
申请日：2004-06-24
CPC分类号： G01C21/025 , B64G1/361 , G01C21/24
摘要： A system (18) includes: a) A vehicle (12) includes an attitude or angular velocity control system (38), a plurality of star trackers or star sensors (22) each having a field of view (28); b) a memory (30) having a star catalog (32), an allocated area for a star pair catalog (58) and a reference table (56) stored therein; and c) a processor (24) coupled to the attitude or angular velocity control system (38), the star trackers or star sensors (22), and the memory (30). The processor (24) populates the star pair catalog (58), using the method described herein. The processor (24) then periodically determines the vehicle inertial attitude or angular velocity or sensor alignment, based, in part, on the star pair catalog (58) and reference table (56). The novel ability of the software to autonomously populate the star pair catalog (58) allows users to avoid uploading a large amount of data, and the problems associated with such an upload.
摘要翻译： 系统（18）包括：a）车辆（12）包括姿态或角速度控制系统（38），多个星形跟踪器或星形传感器（22），每个具有视野（28）; b）具有星号目录（32），存储在其中的星形目录（58）和参考表（56）的分配区域的存储器（30） 和c）联接到姿态或角速度控制系统（38），星形跟踪器或星形传感器（22）和存储器（30）的处理器（24）。 处理器（24）使用本文所述的方法填充星形对目录（58）。 处理器（24）然后部分地基于星形对目录（58）和参考表（56）周期性地确定车辆惯性姿态或角速度或传感器对准。 软件自主填充星形目录（58）的新颖功能允许用户避免上传大量数据，以及与此类上传相关的问题。
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5.发明授权公开(公告)号：US08019544B2
公开(公告)日：2011-09-13
申请号：US11028094
申请日：2005-01-03
IPC分类号： G01C21/00
CPC分类号： B64G1/361 , G01C21/025 , G01S3/7867
摘要： A method of estimating the alignment of a star sensor (20) for a vehicle (12) includes generating star tracker data. A vehicle attitude and a star sensor attitude are determined in response to the star tracker data. A current alignment sample is generated in response to the vehicle attitude and the star sensor attitude. A current refined estimate alignment signal is generated in response to the current alignment sample and a previously refined estimate alignment signal via a vehicle on-board filter (38).
摘要翻译： 估计用于车辆（12）的星形传感器（20）的对准的方法包括产生星形跟踪器数据。 响应于星形跟踪器数据确定车辆姿态和星形传感器姿态。 响应于车辆姿态和星形传感器姿态产生当前的对准样品。 响应于当前对准样本和经由车载过滤器（38）的先前精确的估计对准信号，产生当前精细估计对准信号。
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6.发明授权公开(公告)号：US06470270B1
公开(公告)日：2002-10-22
申请号：US09708132
申请日：2000-11-07
IPC分类号： G01C2124
CPC分类号： G01C21/025 , B64G1/26 , B64G1/285 , B64G1/288 , B64G1/32 , B64G1/361 , B64G1/363 , B64G1/366 , B64G1/42 , G01S5/163 , G05D1/0883
摘要： A method, apparatus, article of manufacture for determining the attitude of a spacecraft having at least one star sensor. The method comprises the steps of selecting a first reference star sensor from among the star sensors; designating two stars observed by the first reference star sensor as a primary star pair; identifying a candidate star pair corresponding to the primary star pair, wherein the candidate star pair is selected from a star catalog having a plurality of entries; estimating an inertial orientation of the first star sensor at least in part from the identified candidate star pair; and determining the spacecraft attitude from the estimated inertial orientation of a reference star sensor selected from a group comprising the first star sensor.
摘要翻译： 一种用于确定具有至少一颗恒星传感器的航天器姿态的方法，装置，制品。 该方法包括从星形传感器中选择第一参考星传感器的步骤; 将由第一参考星传感器观测到的两颗星指定为主星对; 识别对应于所述主星对的候选星对，其中所述候选星对选自具有多个条目的星目录; 至少部分地从所识别的候选星对估计第一星形传感器的惯性取向; 以及根据从包括第一星型传感器的组中选择的参考星形传感器的估计惯性方向确定航天器姿态。
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7.发明授权公开(公告)号：US06766227B2
公开(公告)日：2004-07-20
申请号：US10300454
申请日：2002-11-19
IPC分类号： G05D100
CPC分类号： G01C21/025 , B64G1/26 , B64G1/285 , B64G1/288 , B64G1/361 , G05D1/0883
摘要： Attitude acquisition methods and systems are provided which reduce the time generally required to acquire spacecraft attitude estimates and enhance the probability of realizing such estimates. The methods and systems receive, over a time span &Dgr;t, successive frames of star-sensor signals that correspond to successive stellar fields-of-view, estimate spacecraft rotation &Dgr;r throughout at least a portion of the time span &Dgr;t, and, in response to the spacecraft rotation &Dgr;r, process the star-sensor signals into a processed set of star-sensor signals that denote star positions across an expanded field-of-view that exceeds any of the successive fields-of-view. The expanded field-of-view facilitates identification of the stars that generated the processed set of star-sensor signals to thereby acquire an initial attitude estimate.
摘要翻译： 提供了姿态获取方法和系统，减少了获取航天器态度估计所需的时间，并提高了实现此类估计的可能性。 方法和系统在时间跨度Deltat中接收对应于连续的恒星视场的星形传感器信号的连续帧，在至少一部分时间段Deltat中估计航天器旋转Deltar，并响应于 航天器旋转Deltar，将星形传感器信号处理成一组经过处理的恒星传感器信号，它们表示超过任何连续视场的扩展视场中的星形位置。 扩展的视野有助于识别产生经处理的星形传感器信号集合的恒星，从而获得初始姿态估计。
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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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9.发明授权Method for compensating star motion induced error in a stellar inertial attitude determination system 有权用于补偿恒星惯性姿态测定系统中星星运动误差的方法公开(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。
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10.发明授权Refinement of spacecraft angular velocity and attitude estimates using star data 有权使用星级数据对航天器角速度和姿态估计进行细化公开(公告)号：US07062363B2
公开(公告)日：2006-06-13
申请号：US10945671
申请日：2004-09-21
IPC分类号： G01C21/02
CPC分类号： G01C21/025 , B64G1/361 , G01S3/7867
摘要： A method and apparatus for refining a spacecraft state estimate, such as an attitude estimate or an angular velocity estimate, is disclosed. The method computes a plurality equations using residuals describing the difference between observed star positions and predicted positions based on inertial measurements, and solves those equations to generate refined estimates of the spacecraft state estimates.
摘要翻译： 公开了一种用于精制航天器状态估计的方法和装置，例如姿态估计或角速度估计。 该方法使用基于惯性测量描述观察到的星座位置和预测位置之间的差的残差来计算多个方程，并且求解这些等式以产生航天器状态估计的精确估计。
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