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公开(公告)号：US12078489B2
公开(公告)日：2024-09-03
申请号：US18426210
申请日：2024-01-29
发明人： Zhenbing Qiu , Yanjun Li
CPC分类号： G01C21/20
摘要： The invention relates to a weight and reference quaternion correction unscented quaternion estimation method, comprising: obtaining measurement data as quantity measurement through a gyro and a star sensor; establishing a quaternion-based discrete spacecraft nonlinear state space model; estimating an error quaternion, a gyro drift and a corresponding error covariance at a k moment by using an unscented quaternion estimator based on parameter and reference quaternion correction at a k−1 moment; and setting a filtering time as Ntime, if k
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2.发明授权公开(公告)号：US11945609B1
公开(公告)日：2024-04-02
申请号：US18450602
申请日：2023-08-16
CPC分类号： B64G1/646 , G01C21/24 , G06V20/56 , G06T7/40 , G06T2207/30252
摘要： An apparatus for controlling docking with a spacecraft includes at least one camera for generating at least one image pixel stream of the spacecraft. A field programmable gate array (FPGA) receives the at least one image pixel stream from the at least one camera. The FPGA texture processes the at least one pixel stream to generate at least one texture map for the at least one image pixel stream. A processor receives the at least one texture map from the FPGA and calculates texture map statistics responsive to the generated at least one texture map, generates thresholding results for the at least one pixel image stream responsive to the generated at least one texture map, determines a bus centroid of the spacecraft responsive to the generated thresholding results and outputs the determined bus centroid of the spacecraft. A docking controller controls docking of with the spacecraft responsive to the determined bus centroid of the spacecraft.
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公开(公告)号：US11714413B2
公开(公告)日：2023-08-01
申请号：US17114393
申请日：2020-12-07
申请人： Motional AD LLC
CPC分类号： G05D1/0088 , B60W40/10 , G05D1/0005 , G05D1/0212 , G05D1/0214 , G05D1/0221 , G05D1/0255 , G05D1/0257 , G05D1/0268 , G06N5/04 , G06N20/00 , B60W2710/18 , B60W2710/20 , G01C21/34 , G05D2201/0213
摘要： Among other things, planning a motion of a machine having moving capabilities is based on strategic guidelines derived from various basic principles, such as laws, ethics, preferences, driving experiences, and road environments.
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公开(公告)号：US20220317314A1
公开(公告)日：2022-10-06
申请号：US17702009
申请日：2022-03-23
申请人： NEC Corporation
发明人： Chika UMEGAKI , Kenta Senzaki , Katsuya Odaka , Hironobu Mori , Kyoko Murozono
摘要： A satellite attitude estimation system 20 includes a determination unit 21 which determines the maximum pixel, which is a pixel with the largest luminance, and the minimum pixel, which is a pixel with the smallest luminance, respectively, in an infrared image, which is an image taken by an infrared sensor of a target satellite that is a satellite whose attitude is to be estimated, an association unit 22 which associates the determined maximum and minimum pixels with coordinates on the 3D structure of the target satellite, respectively, a computation unit 23 which computes normal vectors for a surface including the coordinates associated with the pixel, respectively, over the coordinates associated with each pixel, and a sun direction estimation unit 24 which estimates the direction of the sun relative to the target satellite before the infrared image is taken using the computed normal vectors.
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公开(公告)号：US10240929B2
公开(公告)日：2019-03-26
申请号：US15507328
申请日：2015-10-01
申请人： Intel Corporation
发明人： Shaghayegh Zihajehzadeh , Tien Jung Lee , Jung Wook Park , Reynald Antoine Hoskinson , Hamid Abdollahi
摘要： The present disclosure provides a jump detection system for inertial measurement unit (IMU) integrated with a barometric altimeter in the same device (IMU-baro). The processor is configured to record time-series data of both a vertical component of the measured IMU-baro acceleration and the estimated vertical velocity of the IMU-baro, detect a potential jump by comparing the vertical component of the measured IMU-baro acceleration to one or more acceleration thresholds, and, validate the potential jump by comparing a difference between a maximum velocity and a minimum velocity within a vicinity of the potential jump in the time-series data of the estimated vertical velocity of the IMU-baro to a velocity threshold.
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公开(公告)号：US20190011263A1
公开(公告)日：2019-01-10
申请号：US16062600
申请日：2016-12-16
发明人： Andrey Khorev , Lionel Torres
摘要： The present disclosure generally relates to methods and devices for determining the attitude of a spacecraft by capturing a photograph of a starry sky, determining at least one potential star from the photograph, extracting for at least one potential star a spot pattern based upon rings having a similar area, searching a database for selecting a list of best candidate stars, verifying if the spot may be positively identified as a reference star by matching the spot with best candidate reference stars from a database, positively identifying at least one potential star, and determining the attitude of the spacecraft based upon at least one positively identified star.
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公开(公告)号：US10049584B2
公开(公告)日：2018-08-14
申请号：US15121549
申请日：2015-02-20
申请人： BAE Systems plc
发明人： Markus Deittert
摘要： A profiling approach for determining a path for an aircraft, using a method comprising the steps of determining at least two waypoints between a starting position and a desired terminal position for the aircraft, determining a path for the aircraft between the starting position and the terminal position, by performing a linear approximation of the heights of the waypoints such that the average height change between waypoints is minimized, and constrained by a maximum climb angle of said aircraft, and performing a linear approximation of arrival times for each of the waypoints and aircraft speeds between the waypoints, constrained by permissible velocity of said aircraft on the slope between the waypoints. In this way, the non-linear relationship between climb rate and speed is approximated with linear equations, because determination of the path between each set of two waypoints is broken into two linear problems.
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公开(公告)号：US10008110B1
公开(公告)日：2018-06-26
申请号：US15435222
申请日：2017-02-16
申请人： Mapbox, Inc.
CPC分类号： G08G1/0112 , G01C21/32 , G01S19/42 , G08G1/0129 , G08G1/0133 , G08G1/0141 , G08G1/056
摘要： A method comprises identifying, in an electronic map, road data and intersection data, wherein the intersection data specifies an approach and two or more exits from the approach, bounding the approach using a bounding box around the entrance to an approach, identifying, using the bounding box, traces associated with the approach, wherein each trace identifies a path of a vehicle on one or more of the roads, for each trace of the plurality of traces, identifying which of the two or more exits most closely matches the particular trace, generating histograms based on a time period and which of the two or more exits most closely matches each trace of the plurality of traces, determining, using the histograms, whether one or more threshold values associated with one of the two or more exits is satisfied, sending a notification signal when the one or more threshold values is satisfied.
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公开(公告)号：US20170307376A1
公开(公告)日：2017-10-26
申请号：US15507549
申请日：2015-10-01
申请人： Shaghayegh ZIHAJEHZADAH , Jung Wook PARK , Reynald Antoine HOSKINSON , Hamid ABDOLLAHI , Intel Corporation
CPC分类号： G01C21/16 , A61B5/1122 , A63B5/16 , G01C5/06 , G01C21/165 , G01C21/24 , G01C21/28 , G01P15/13 , G06K9/00342 , G06K9/00496
摘要： This disclosure provides a vertical position and velocity determination system for inertial measurement unit (IMU) integrated with a barometric altimeter in the same device (IMU-baro). The system includes a rate of turn input connected to receive a measured IMU-baro rate of turn; an acceleration input connected to receive a measured IMU-baro acceleration; a barometric pressure input connected to receive a measured IMU-baro altitude; a first Kalman filter connected to the rate of turn input and to the acceleration input to estimate a roll and pitch of the IMU-baro based on the measured IMU-baro rate of turn and the measured IMU-baro acceleration; and a second Kalman filter connected to the acceleration input, to the barometric pressure input, and to the first Kalman filter.
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公开(公告)号：US09540122B2
公开(公告)日：2017-01-10
申请号：US14521017
申请日：2014-10-22
CPC分类号： B64G1/24 , B64G3/00 , G01C21/24 , G01S5/0294 , G05D1/0883
摘要： A computing device may detect that a space object has undergone a maneuver and may attempt to calculate a solution to that maneuver based in part on start and stop times and thrust uncertainties associated with the detected maneuver. However, the computing device may sometimes be unable to calculate an acceptable solution for a detected maneuver given these initial start and stop times and thrust uncertainties. Thus, the various embodiments provide for a computing device and methods implemented by a processor executing on the device for identifying and calculating a recovery maneuver of a space object when an acceptable solution for a detected maneuver cannot be determined. In the various embodiments, a computing device processor may generate a recovery maneuver based on the detected maneuver, and the processor may adjust the start and stop times and the uncertainty values of the recovery maneuver until an acceptable solution is found.
摘要翻译： 计算设备可以检测空间物体已经经历了机动，并且可以部分地基于与检测到的机动相关联的起始和停止时间和推力不确定性来尝试计算该操纵的解。 然而，考虑到这些初始停止时间和推力不确定性，计算设备有时可能无法为检测到的机动计算可接受的解决方案。 因此，各种实施例提供了一种计算设备和由在设备上执行的处理器实现的方法，用于在无法确定检测到的机动的可接受的解决方案时识别和计算空间物体的恢复操作。 在各种实施例中，计算设备处理器可以基于检测到的机动来生成恢复操作，并且处理器可以调整恢复操作的开始和停止时间以及不确定性值，直到找到可接受的解决方案。
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