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公开(公告)号：US09073648B2
公开(公告)日：2015-07-07
申请号：US14181504
申请日：2014-02-14
申请人： The Boeing Company
发明人： Tung-Ching Tsao , Richard Y. Chiang
摘要： An attitude estimator that uses star tracker measurements and enhanced Kalman filtering, with or without attitude data, to provide three-axis rate estimates. The enhanced Kalman filtering comprises taking an average of forward and rearward propagations of the Kalman filter states and the error covariances. The star tracker-based rate estimates can be used to control the attitude of a satellite or to calibrate a sensor, such as a gyroscope.
摘要翻译： 一种使用星形跟踪测量和增强卡尔曼滤波的姿态估计器，具有或不具有姿态数据，以提供三轴速率估计。 增强卡尔曼滤波包括对卡尔曼滤波器状态和误差协方差的前向和后向传播的平均值。 基于星座跟踪器的速率估计可用于控制卫星的姿态或校准诸如陀螺仪的传感器。
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公开(公告)号：US10694148B1
公开(公告)日：2020-06-23
申请号：US16453600
申请日：2019-06-26
申请人： The Boeing Company
IPC分类号： H04N7/18
摘要： Systems and methods for providing improved navigation performance in which camera images are matched (using correlation) against reference images available from a geolocation-tagged database. An image-based navigation system partitions the camera image (corresponding to the area within the field-of-view of the camera) into a plurality of camera sub-images (corresponding to regions in that area), and then further partitions each camera sub-image into a multiplicity of tiles (corresponding to sub-regions within a region). The partitioning into camera sub-images seeks geometric diversity in the landscape. Each tile is checked for quality assurance, including feature richness, before correlation is attempted. The correlation results are further quality-checked/controlled before the results are used by the Kalman filter to generate corrections for use by the inertial navigation system. Respective lines-of-sight to multiple regions are measured using multiple tiles in each region to provide better observability and better performance.
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公开(公告)号：US09643740B2
公开(公告)日：2017-05-09
申请号：US14181492
申请日：2014-02-14
申请人： The Boeing Company
发明人： Tung-Ching Tsao , Richard Y. Chiang
IPC分类号： B64G1/36
CPC分类号： B64G1/363
摘要： An attitude estimator that uses sun sensor outputs as the only attitude determination measurements to provide three-axis attitude information. This is accomplished by incorporating the Euler equation into the estimator. An unscented Kalman filter is employed to accommodate various nonlinear characteristics and uncertainties of the spacecraft dynamics and thus improve the robustness and accuracy of the attitude estimate.
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公开(公告)号：US20140236401A1
公开(公告)日：2014-08-21
申请号：US14181504
申请日：2014-02-14
申请人： The Boeing Company
发明人： Tung-Ching Tsao , Richard Y. Chiang
摘要： An attitude estimator that uses star tracker measurements and enhanced Kalman filtering, with or without attitude data, to provide three-axis rate estimates. The enhanced Kalman filtering comprises taking an average of forward and rearward propagations of the Kalman filter states and the error covariances. The star tracker-based rate estimates can be used to control the attitude of a satellite or to calibrate a sensor, such as a gyroscope.
摘要翻译： 一种使用星形跟踪测量和增强卡尔曼滤波的姿态估计器，具有或不具有姿态数据，以提供三轴速率估计。 增强卡尔曼滤波包括对卡尔曼滤波器状态和误差协方差的前向和后向传播的平均值。 基于星座跟踪器的速率估计可用于控制卫星的姿态或校准诸如陀螺仪的传感器。
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公开(公告)号：US20200256678A1
公开(公告)日：2020-08-13
申请号：US16271105
申请日：2019-02-08
申请人： The Boeing Company
摘要： A celestial navigation system and method for determining a position of a vehicle. The system includes a star-tracker, a beam director, an inertial measurement unit, and a control module. The star-tracker has a field of view for capturing light. The beam director is configured to change a direction of the light captured in the field of view of the star-tracker. The inertial measurement unit has a plurality of sensors for measuring an acceleration and a rotation rate of the vehicle. The control module executes instructions to correct the attitude, the velocity and the position of the vehicle using the determined magnitude and position of the space objects. The control module also executes instructions to generate corrections to the IMU error parameters, the beam director and star-tracker alignment errors, and RSO ephemeris errors to achieve optimal performance.
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6.发明公开公开(公告)号：US20240310531A1
公开(公告)日：2024-09-19
申请号：US18182834
申请日：2023-03-13
申请人： The Boeing Company
发明人： Rongsheng Li , Kenneth Cecil Clark , Andrey Tolstov , Tung-Ching Tsao , Cody L. Gruebele , Chang Jin Yoo
CPC分类号： G01S19/45 , G01S19/243
摘要： Methods and apparatus to reduce communications for position, navigation and timing (PNT) determinations are disclosed. A disclosed example apparatus to enable PNT determination for a mobile station includes at least one memory, machine readable instructions, and processor circuitry to at least one of instantiate or execute the machine readable instructions to identify features of signals of opportunity (SOOP) measured at a reference station, generate a model based on the identified features of the SOOP in conjunction with a position and a timing of the reference station, and provide at least one of the model or parameters associated with the model to the mobile station for the PNT determination.
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公开(公告)号：US20220147045A1
公开(公告)日：2022-05-12
申请号：US17477246
申请日：2021-09-16
申请人： The Boeing Company
IPC分类号： G05D1/02
摘要： Sensor data fusion systems that provide noise reduction and fault protection. The sensor data fusion system fuses data acquired by respective accelerometers having different attributes. For example, one accelerometer has low noise and high bias, while another accelerometer has high noise and low bias when measuring specific force. The high-noise, low-bias accelerometer may be a gravimeter. Gravimeters and traditional accelerometers measure the same physical variable, i.e., specific force. By combining an expensive gravimeter and low-cost accelerometers, a synthetic sensor having both low noise and low bias may be achieved. Such synthetic sensors may be utilized in a gravity anomaly-referenced navigation system to achieve improved navigation performance.
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公开(公告)号：US11168984B2
公开(公告)日：2021-11-09
申请号：US16271105
申请日：2019-02-08
申请人： The Boeing Company
摘要： A celestial navigation system and method for determining a position of a vehicle. The system includes a star-tracker, a beam director, an inertial measurement unit, and a control module. The star-tracker has a field of view for capturing light. The beam director is configured to change a direction of the light captured in the field of view of the star-tracker. The inertial measurement unit has a plurality of sensors for measuring an acceleration and a rotation rate of the vehicle. The control module executes instructions to correct the attitude, the velocity and the position of the vehicle using the determined magnitude and position of the space objects. The control module also executes instructions to generate corrections to the IMU error parameters, the beam director and star-tracker alignment errors, and RSO ephemeris errors to achieve optimal performance.
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9.发明申请Gyroless Three-Axis Sun Acquisition Using Sun Sensor and Unscented Kalman Filter 有权无陀螺三轴太阳采集采用Sun传感器和无卡尔曼滤波器公开(公告)号：US20140231589A1
公开(公告)日：2014-08-21
申请号：US14181492
申请日：2014-02-14
申请人： The Boeing Company
发明人： Tung-Ching Tsao , Richard Y. Chiang
CPC分类号： B64G1/363
摘要： An attitude estimator that uses sun sensor outputs as the only attitude determination measurements to provide three-axis attitude information. This is accomplished by incorporating the Euler equation into the estimator. An unscented Kalman filter is employed to accommodate various nonlinear characteristics and uncertainties of the spacecraft dynamics and thus improve the robustness and accuracy of the attitude estimate.
摘要翻译： 使用太阳传感器输出作为唯一姿态确定测量来提供三轴姿态信息的姿态估计器。 这通过将欧拉方程并入估计器来实现。 采用无色卡尔曼滤波器来适应航天器动力学的各种非线性特征和不确定性，从而提高姿态估计的鲁棒性和准确性。
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