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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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2.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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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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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：US07260456B2
公开(公告)日：2007-08-21
申请号：US11064375
申请日：2005-02-23
申请人： Richard A. Fowell , Yeong-Wei A. Wu
发明人： Richard A. Fowell , Yeong-Wei A. Wu
CPC分类号： G01S3/7867 , B64G1/361 , B64G2001/245 , G01C21/025 , G05D1/0883
摘要： A method and apparatus for reducing centroiding error of a star sensor having a plurality of pixels is disclosed. The method comprises the steps of computing a star sensor angular slew rate of ω pixels per star sensor integration period τ, collecting star sensor data while slewing the star sensor according to the selected star sensor angular slew rate ω, and filtering the collected star sensor data according to a frequency determined by the selected star sensor angular slew rate.
摘要翻译： 公开了一种用于降低具有多个像素的恒星传感器的重心误差的方法和装置。 该方法包括以下步骤：计算每个星形传感器积分周期τ的ω像素的星形传感器角度转换速率，在根据所选择的星形传感器角度转换速率ω旋转星形传感器时采集星形传感器数据，并对收集的星形传感器数据进行滤波 根据选定的星形传感器角度转换速率确定的频率。
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公开(公告)号：US06921049B2
公开(公告)日：2005-07-26
申请号：US10707049
申请日：2003-11-18
申请人： Richard A. Fowell
发明人： Richard A. Fowell
摘要： A system for counteracting a disturbance in a spacecraft includes a biasing apparatus that is coupled to the spacecraft and a spacecraft controller within the spacecraft. The disturbance has a known sign, magnitude and time. The biasing apparatus controls the biasing apparatus to place the spacecraft in a first dynamic state or position as a function of the sign, magnitude, and time of the disturbance. The controller also controls the spacecraft to a second dynamic state as a function of the known sign, magnitude, and time so that the spacecraft is oriented in a position other than the desired orientation so that after the disturbance the spacecraft is oriented in the desired orientation in response to the disturbance. The biasing apparatus may comprise a momentum wheel and the disturbance may comprise thrusting firing used for controlling momentum dumping.
摘要翻译： 用于抵消航天器中的扰动的系统包括耦合到航天器的偏置装置和航天器内的航天器控制器。 干扰具有已知的信号，幅度和时间。 偏置装置控制偏置装置，以将飞船置于作为干扰的符号，大小和时间的函数的第一动态或位置。 控制器还根据已知的符号，大小和时间将飞船控制到第二动态，使得航天器被定向在除期望取向之外的位置，使得在扰动之后，航天器被定向在期望的方向 响应干扰。 偏置装置可以包括动量轮，并且扰动可以包括用于控制动量倾倒的推进燃烧。
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公开(公告)号：US06195044B1
公开(公告)日：2001-02-27
申请号：US09100303
申请日：1998-06-19
申请人： Richard A. Fowell
发明人： Richard A. Fowell
IPC分类号： H04B700
CPC分类号： H04B10/118 , B64G1/1007 , B64G1/1085 , B64G1/28 , B64G1/288 , B64G1/36 , B64G1/366 , B64G1/66 , G01S3/786 , G01S5/163 , H04B7/18521
摘要： A laser crosslink attitude determination system using the payload laser crosslinks as the principal attitude sensor and thereby eliminating the need for additional high-cost, high performance dedicated celestial body or inertial sensors to provide attitude information. The method and system establishes optical crosslinks among orbiting spacecraft for attitude control by performing a series of deterministic scans. The need for separate dedicated attitude sensors is minimized or eliminated by increasing the acquisition field of uncertainty and/or reducing the crosslink acquisition field of view.
摘要翻译： 使用有效载荷激光器的激光交联姿势确定系统作为主姿态传感器交联，从而不需要额外的高成本，高性能的专用天体或惯性传感器来提供姿态信息。 该方法和系统通过执行一系列确定性扫描，在轨道航天器之间建立姿态控制的光学交联。 通过增加不确定性的获取领域和/或减少交联获取领域，可以最大限度地减少或消除对单独专用姿态传感器的需求。
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公开(公告)号：US5775645A
公开(公告)日：1998-07-07
申请号：US610920
申请日：1996-03-05
摘要： Solar tabs are provided which have thermal emissivity and absorptivity properties designed to increase the attitude-control torques that can be generated with rotatable wings in a spacecraft. These increased torques enhance the ability to offset attitude-disturbance torques which typically tend to alter the attitude of a spacecraft from a desired attitude. The tabs include highly absorptive and nonemissive front faces, highly emissive back faces and a high thermal conductivity between the front faces and the back faces.
摘要翻译： 提供具有热辐射率和吸收性能的太阳能突片，其设计用于增加可以在航天器中可旋转的翼片产生的姿态控制扭矩。 这些增加的扭矩提高了抵消姿态干扰转矩的能力，这通常倾向于改变航天器从期望姿态的姿态。 标签包括高吸收性和非发射性前面，高度发射的背面和前表面与背面之间的高导热性。
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公开(公告)号：US6152403A
公开(公告)日：2000-11-28
申请号：US189558
申请日：1998-11-11
申请人： Richard A. Fowell , John F. Yocum
发明人： Richard A. Fowell , John F. Yocum
IPC分类号： B64G1/26 , B64G1/28 , B64G1/32 , B64G1/36 , G01C19/42 , G01C21/16 , G01C25/00 , G01C21/00 , G06G7/78
CPC分类号： B64G1/361 , B64G1/288 , B64G1/363 , G01C19/42 , G01C21/16 , G01C25/005 , B64G1/26 , B64G1/283 , B64G1/285 , B64G1/32 , B64G2001/245
摘要： Spacecraft cost, volume and weight are reduced with gyroscope calibration methods that can be effected with structures (e.g., a single-axis Sun sensor and a wheel system) which are typically carried by spacecraft for other purposes. In a method embodiment, these methods include an initial step 1) of calibrating a selected gyroscope and subsequent steps for each uncalibrated gyroscope of: 2) slewing the spacecraft by a slew angle and controlling attitude with the uncalibrated gyroscope for a selected time period to thereby couple its drift into the inertial axis of a calibrated gyroscope, 3) backslewing the spacecraft to return the calibrated gyroscope to its inertial axis, and 4) measuring an error angle generated by the uncalibrated gyroscope during the selected time period (e.g., with a Sun sensor or with the calibrated gyroscope). In another embodiment, steps 2-4 are replaced by steps of: 5) orienting a momentum vector to inhibit spacecraft rotation about an uncalibrated gyroscope's respective axis, and 6) calibrating the uncalibrated gyroscope from its output signal. Another method embodiment retains steps 5 and 6 but replaces the initial step 1) by repeating steps 5 and 6 with a different momentum vector. Drift components are thus sensed in two different spacecraft planes and these components are mathematically resolved to find gyroscope drifts.
摘要翻译： 航天器的成本，体积和重量减少，陀螺仪校准方法可以用通常由航天器为其他目的携带的结构（例如，单轴太阳传感器和车轮系统）来实现。 在方法实施例中，这些方法包括校准所选择的陀螺仪的初始步骤1）和每个未校准的陀螺仪的后续步骤：2）以旋转角度旋转航天器并在未选择的时间段内与未校准的陀螺仪控制姿态，由此 将其漂移耦合到校准陀螺仪的惯性轴上，3）后退航天器以将校准陀螺仪返回其惯性轴，以及4）在所选择的时间段内测量由未校准的陀螺仪产生的误差角（例如，使用太阳 传感器或校准陀螺仪）。 在另一个实施例中，步骤2-4由以下步骤代替：5）定向动量向量以抑制围绕未校准的陀螺仪的相应轴的航天器旋转，以及6）从其输出信号校准未校准的陀螺仪。 另一方法实施例保留步骤5和6，但是用不同的动量向量重复步骤5和6来替代初始步骤1）。 因此，漂移部件在两个不同的航天器平面中被感测到，并且这些部件在数学上被解决以找到陀螺仪漂移。
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