公开(公告)号：US20060085129A1

公开(公告)日：2006-04-20

申请号：US11106744

申请日：2005-04-15

申请人： Mikhail Belenkii ,  Donald Bruns ,  Vincent Rye ,  Timothy Brinkley

发明人： Mikhail Belenkii ,  Donald Bruns ,  Vincent Rye ,  Timothy Brinkley

IPC分类号： G01C21/00

CPC分类号： G01C21/025

摘要： An automatic celestial navigation system for navigating both night and day by observation of K-band or H-band infrared light from multiple stars. A preferred embodiment uses three telescopes with each of the three telescopes rigidly mounted with respect to each other and rigidly mounted on a movable platform such as a ship or airplane with each telescope being directed at a substantially different portion of sky. Telescope optics focuses, onto the pixel array of a sensor, H-band or K-band light from stars in the field of view of each telescope. The system also includes an inclinometer, an accurate timing device and a computer processor having access to cataloged infrared star charts. The processor is programmed with special algorithms to use image data from the infrared sensors, inclination information from the inclinometer, time information from the timing device and the cataloged star charts information to determine positions of the platform. At least two telescopes pointed far enough from the sun detect stars. Direction information from two stars is needed for locating the platform with respect to the celestial sphere. The computer is also preferably programmed to use this celestial position information to calculate latitude, longitude and absolute azimuth, all of which may be displayed on a display device such as a monitor. In a preferred embodiment each of the three telescopes are fixed on a moving ship and views a 0.5×0.4 degree region of the sky for H-band starlight from stars with brightness greater than 6.4 H-band magnitude. Located stars are then compared with star positions from the star catalog within a selected 5×5 degree region of the sky. A correlation of the data from the three telescopic measurements determines the position of the ship to a precision of 30 meters.

摘要翻译： 通过观察来自多颗恒星的K波段或H波段红外光的自动天体导航系统，用于夜间和日间的导航。 优选实施例使用三个望远镜，三个望远镜中的每一个相对于彼此刚性地安装并且刚性地安装在诸如船或飞机的可移动平台上，其中每个望远镜被引导到天空的基本上不同的部分。 望远镜光学器件在每个望远镜的视野中聚焦到传感器的像素阵列上，来自恒星的H波段或K波段光。 该系统还包括倾斜计，准确的定时装置和具有访问编目红外星图的计算机处理器。 处理器采用特殊算法编程，以使用红外传感器的图像数据，倾斜仪的倾斜信息，定时装置的时间信息和编目的星形图信息来确定平台的位置。 至少有两颗望远镜指向远离太阳的星星。 需要来自两颗恒星的方向信息来定位平台相对于天球。 计算机还优选地被编程为使用该天体位置信息来计算纬度，经度和绝对方位角，所有这些都可以显示在诸如监视器的显示装置上。 在优选实施例中，三个望远镜中的每一个都固定在移动的船上，并且对于具有大于6.4H波段幅度的亮度的恒星的H波段星光，观察天空的0.5×0.4度的区域。 然后，将星星与天空中选定的5x5度区域内的星形目录进行比较。 来自三个望远镜测量数据的相关性确定了船舶的位置，精度为30米。

公开(公告)号：US20070038374A1

公开(公告)日：2007-02-15

申请号：US11141526

申请日：2005-05-31

申请人： Mikhail Belenkii ,  Donald Bruns ,  Vincent Rye ,  Timothy Brinkley

发明人： Mikhail Belenkii ,  Donald Bruns ,  Vincent Rye ,  Timothy Brinkley

IPC分类号： G05D1/08 ,  G01C21/00

CPC分类号： G01C21/025

摘要： An automatic celestial navigation system for navigating both night and day by observation of K-band or H-band infrared light from multiple stars. In a first set of preferred embodiments three relatively large aperture telescopes are rigidly mounted on a movable platform such as a ship or airplane with each telescope being directed at a substantially different portion of sky. Embodiments in this first set tend to be relatively large and heavy, such as about one cubic meter and about 60 pounds. In a second set of preferred embodiments one or more smaller aperture telescopes are pivotably mounted on a movable platform such as a ship, airplane or missile so that the telescope or telescopes can be pivoted to point toward specific regions of the sky. Embodiments of this second set are mechanically more complicated than those of the first set, but are much smaller and lighter and are especially useful for guidance of aircraft and missiles. Telescope optics focus (on to a pixel array of a sensor) H-band or K-band light from one or more stars in the field of view of each telescope. Each system also includes an inclinometer, an accurate timing device and a computer processor having access to catalogued infrared star charts. The processor for each system is programmed with special algorithms to use image data from the infrared sensors, inclination information from the inclinometer, time information from the timing device and the catalogued star charts information to determine positions of the platform. Direction information from two stars is needed for locating the platform with respect to the celestial sphere. The computer is also preferably programmed to use this celestial position information to calculate latitude and longitude which may be displayed on a display device such as a monitor or used by a guidance control system. These embodiments are jam proof and insensitive to radio frequency interference. These systems provide efficient alternatives to GPS when GPS is unavailable and can be used for periodic augmentation of inertial navigation systems.

公开(公告)号：US08597025B2

公开(公告)日：2013-12-03

申请号：US12586813

申请日：2009-09-28

申请人： Mikhail Belenkii ,  Donald Bruns ,  Timothy Brinkley

发明人： Mikhail Belenkii ,  Donald Bruns ,  Timothy Brinkley

IPC分类号： F41G3/26

CPC分类号： G09B27/00 ,  F41G3/26

摘要： A celestial weapons orientation measuring system. The system includes a miniature celestial direction detection device. The device includes an inclinometer, a camera for imaging at least one celestial object and a processor programmed with a celestial catalog providing known positions at specific times of at least one celestial object and algorithms for automatically calculating target direction information based on the inclination of the system as measured by the inclinometer and the known positions of the celestial object as provided by the celestial catalog and as imaged by the camera. Similar to the training technique discussed in the background section, the pretend enemy wears a GPS detector and transmitter, and a computer system is preferably provided which determines when a trigger-pull results in a “casualty”. Preferred embodiments also include an inertial navigation sensor including a magnetic compass and a memory-based optical navigation system that permits continued operation on cloudy days and even in certain in-door environments.

摘要翻译： 天体武器导向测量系统。 该系统包括微型天体方向检测装置。 该装置包括倾斜计，用于对至少一个天体成像进行成像的照相机和在天体目录中编程的处理器，其在至少一个天体的特定时间提供已知位置，并且基于系统的倾斜自动计算目标方向信息的算法 如通过倾斜仪测量的，并且由天体目录提供的天体的已知位置以及通过照相机成像的天体的已知位置。 与背景技术中讨论的训练技术类似，伪装的敌人戴上GPS检测器和发射器，并且优选地提供计算机系统，其确定何时触发拉动导致“伤员”。 优选实施例还包括惯性导航传感器，其包括磁罗盘和基于存储器的光学导航系统，其允许在阴天甚至在某些室内环境中继续操作。

公开(公告)号：US20100283840A1

公开(公告)日：2010-11-11

申请号：US12583776

申请日：2009-08-25

申请人： Mikhail Belenkii ,  Donald Bruns ,  Timothy Brinkley

发明人： Mikhail Belenkii ,  Donald Bruns ,  Timothy Brinkley

IPC分类号： H04N7/18 ,  G01S19/42 ,  G01C3/04

CPC分类号： G01S19/14 ,  G01C21/02 ,  G01S3/7867 ,  H04N7/18

摘要： A celestial direction finding system. The system includes an inclinometer, at least one camera for imaging both the daytime sky and the nighttime sky and a computer programmed with a sun, moon and star catalog and algorithms for automatically determining directions based on positions of celestial bodies imaged by at least one camera and incline positions measured by the inclinometer. In a preferred embodiment all of the above features are combined in a single battery operated miniature celestial direction finding module. Geographical positions of nearby objects can be determined with the addition of a rangefinder and knowledge of the geographical position of the camera. The geographical position of the system in preferred embodiments can be determined with the addition of a GPS unit.

摘要翻译： 天体测向系统。 该系统包括倾斜仪，用于对白天和夜间空间进行成像的至少一个相机和具有太阳，月亮和星号目录的计算机以及基于由至少一个照相机成像的天体的位置自动确定方向的算法 并倾斜测量仪倾斜位置。 在优选实施例中，所有上述特征组合在单个电池操作的微型天体测向模块中。 可以通过添加测距仪和相机的地理位置知识来确定附近物体的地理位置。 可以通过添加GPS单元来确定优选实施例中的系统的地理位置。

公开(公告)号：US20090177398A1

公开(公告)日：2009-07-09

申请号：US12319651

申请日：2009-01-08

申请人： Mikhail Belenkii ,  Donald Bruns ,  Timothy Brinkley ,  George Kaplan

发明人： Mikhail Belenkii ,  Donald Bruns ,  Timothy Brinkley ,  George Kaplan

IPC分类号： G01C21/10

CPC分类号： G01C21/025 ,  G01C21/165

摘要： An angles only aircraft navigation system. The system includes an IMU coupled with a passive optical sensor. The optical sensor provides periodic updates to the IMU in order to correct for accelerometer and gyro drifts. The IMU computes the air vehicle's instantaneous position, velocity, and attitude using gyro and accelerometer measurements. The optical sensor images stars and satellites. The navigation filter combines optical sensor measurements with IMU inputs, and determines those corrections needed to compensate for the IMU drifts. By applying periodic corrections to the IMU using satellite angular measurements, the navigation filter maintains an accurate position estimate during an entire flight.

摘要翻译： 一个角度只有飞机导航系统。 该系统包括与无源光学传感器耦合的IMU。 光学传感器为IMU提供定期更新，以校正加速度计和陀螺仪漂移。 使用陀螺仪和加速度计测量，IMU计算飞行器的瞬时位置，速度和姿态。 光学传感器图像星星和卫星。 导航滤波器将光学传感器测量与IMU输入相结合，并确定补偿IMU漂移所需的校正。 通过使用卫星角度测量对IMU进行周期性校正，导航滤波器在整个飞行期间保持准确的位置估计。

公开(公告)号：US20120021385A1

公开(公告)日：2012-01-26

申请号：US12586813

申请日：2009-09-28

申请人： Mikhail Belenkii ,  Donald Bruns ,  Timothy Brinkley

发明人： Mikhail Belenkii ,  Donald Bruns ,  Timothy Brinkley

IPC分类号： F41G3/26

CPC分类号： G09B27/00 ,  F41G3/26

摘要： A celestial weapons orientation measuring system. The system includes a miniature celestial direction detection device. The device includes an inclinometer, a camera for imaging at least one celestial object and a processor programmed with a celestial catalog providing known positions at specific times of at least one celestial object and algorithms for automatically calculating target direction information based on the inclination of the system as measured by the inclinometer and the known positions of the celestial object as provided by the celestial catalog and as imaged by the camera. Similar to the training technique discussed in the background section, the pretend enemy wears a GPS detector and transmitter, and a computer system is preferably provided which determines when a trigger-pull results in a “casualty”. Preferred embodiments also include an inertial navigation sensor including a magnetic compass and a memory-based optical navigation system that permits continued operation on cloudy days and even in certain in-door environments.

摘要翻译： 天体武器导向测量系统。 该系统包括微型天体方向检测装置。 该装置包括倾斜计，用于对至少一个天体成像进行成像的照相机和在天体目录中编程的处理器，其在至少一个天体的特定时间提供已知位置，并且基于系统的倾斜自动计算目标方向信息的算法 如通过倾斜仪测量的，并且由天体目录提供的天体的已知位置以及通过照相机成像的天体的已知位置。 与背景技术中讨论的训练技术类似，伪装的敌人戴上GPS检测器和发射器，并且优选地提供计算机系统，其确定何时触发拉动导致“伤员”。 优选实施例还包括惯性导航传感器，其包括磁罗盘和基于存储器的光学导航系统，其允许在阴天甚至在某些室内环境中继续操作。

公开(公告)号：US08471906B2

公开(公告)日：2013-06-25

申请号：US12583776

申请日：2009-08-25

申请人： Mikhail Belenkii ,  Donald Bruns ,  Timothy Brinkley

发明人： Mikhail Belenkii ,  Donald Bruns ,  Timothy Brinkley

IPC分类号： H04N7/18

CPC分类号： G01S19/14 ,  G01C21/02 ,  G01S3/7867 ,  H04N7/18

摘要： A celestial direction finding system. The system includes an inclinometer, at least one camera for imaging both the daytime sky and the nighttime sky and a computer programmed with a sun, moon and star catalog and algorithms for automatically determining directions based on positions of celestial bodies imaged by at least one camera and incline positions measured by the inclinometer. In a preferred embodiment all of the above features are combined in a single battery operated miniature celestial direction finding module. Geographical positions of nearby objects can be determined with the addition of a rangefinder and knowledge of the geographical position of the camera. The geographical position of the system in preferred embodiments can be determined with the addition of a GPS unit.

摘要翻译： 天体测向系统。 该系统包括倾斜仪，用于对白天和夜间空间进行成像的至少一个相机和具有太阳，月亮和星号目录的计算机以及基于由至少一个照相机成像的天体的位置自动确定方向的算法 并倾斜测量仪倾斜位置。 在优选实施例中，所有上述特征组合在单个电池操作的微型天体测向模块中。 可以通过添加测距仪和相机的地理位置知识来确定附近物体的地理位置。 可以通过添加GPS单元来确定优选实施例中的系统的地理位置。

公开(公告)号：US20120173143A1

公开(公告)日：2012-07-05

申请号：US13373009

申请日：2011-11-01

申请人： Mikhail Belenkii ,  Todd Barrett ,  Timothy Brinkley

发明人： Mikhail Belenkii ,  Todd Barrett ,  Timothy Brinkley

IPC分类号： G01C21/02 ,  H04N7/00

CPC分类号： G01C21/02 ,  G01C17/34

摘要： A celestial compass kit. The kit includes an inclinometer, a camera system with a special telecentric fisheye lens for imaging at least one celestial object and a processor programmed with a celestial catalog providing known positions at specific times of at least one celestial object and algorithms for automatically calculating target direction information based on the inclination of the system as measured by the inclinometer and the known positions of at least one celestial object as provided by the celestial catalog and as imaged by the camera. The telecentric fisheye lens produces an image on the sensor located at or near the focal plane which remains spatially constant within sub-micron accuracies despite thermally produced changes in the focus of the lens.

摘要翻译： 天文罗盘套件。 该套件包括倾斜仪，具有用于对至少一个天体进行成像的特殊远心鱼眼镜头的相机系统和具有在至少一个天体的特定时间提供已知位置的天体目录的处理器和用于自动计算目标方向信息的算法 基于由倾斜仪测量的系统的倾斜度和由天体目录提供并由照相机成像的至少一个天体的已知位置。 远心鱼眼镜头产生位于焦平面处或附近的传感器上的图像，尽管在透镜的焦点上产生热变化，仍保持空间上恒定的亚微米精度。

公开(公告)号：US07349804B2

公开(公告)日：2008-03-25

申请号：US11141526

申请日：2005-05-31

申请人： Mikhail Belenkii ,  Donald G. Bruns ,  Vincent A Rye ,  Timothy Brinkley

发明人： Mikhail Belenkii ,  Donald G. Bruns ,  Vincent A Rye ,  Timothy Brinkley

IPC分类号： G21C21/00

CPC分类号： G01C21/025

摘要： An automatic celestial navigation system for navigating both night and day by observation of K-band or H-band infrared light from multiple stars. In a first set of preferred embodiments three relatively large aperture telescopes are rigidly mounted on a movable platform such as a ship or airplane with each telescope being directed at a substantially different portion of sky. Embodiments in this first set tend to be relatively large and heavy, such as about one cubic meter and about 60 pounds. In a second set of preferred embodiments one or more smaller aperture telescopes are pivotably mounted on a movable platform such as a ship, airplane or missile so that the telescope or telescopes can be pivoted to point toward specific regions of the sky. Embodiments of this second set are mechanically more complicated than those of the first set, but are much smaller and lighter and are especially useful for guidance of aircraft and missiles. Telescope optics focus (on to a pixel array of a sensor) H-band or K-band light from one or more stars in the field of view of each telescope. Each system also includes an inclinometer, an accurate timing device and a computer processor having access to catalogued infrared star charts. The processor for each system is programmed with special algorithms to use image data from the infrared sensors, inclination information from the inclinometer, time information from the timing device and the catalogued star charts information to determine positions of the platform. Direction information from two stars is needed for locating the platform with respect to the celestial sphere. The computer is also preferably programmed to use this celestial position information to calculate latitude and longitude which may be displayed on a display device such as a monitor or used by a guidance control system. These embodiments are jam proof and insensitive to radio frequency interference. These systems provide efficient alternatives to GPS when GPS is unavailable and can be used for periodic augmentation of inertial navigation systems.

公开(公告)号：US11079234B2

公开(公告)日：2021-08-03

申请号：US16602070

申请日：2019-07-29

申请人： Mikhail Belenkii ,  Timothy Brinkley

发明人： Mikhail Belenkii ,  Timothy Brinkley

IPC分类号： G01C21/02 ,  G01C21/20 ,  G01S3/786 ,  G01S19/39 ,  G02B23/24

摘要： A dual-band (SWIR/visible) optical system operating based on Angles-Only Navigation technology. The SWIR module is optimized for imaging stars. The visible-light sensor is independently optimized for imaging satellites including GPS satellites at night. Preferred embodiment provides continuous high accuracy geo-position solutions day and night (including through the “midnight hole”, when solar-illuminated Low Earth Orbit (LEO) satellites are not available. Applicants have experimentally validated proposed system by imaging LEO satellites during terminator using a 1-inch diameter telescope and GPS satellites at night during midnight hole using a 5-inch telescope.