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1. 发明授权

US07464899B2 Method and system for determining a singularity free momentum path 有权
标题翻译：用于确定奇点自由动量路径的方法和系统
公开(公告)号：US07464899B2
公开(公告)日：2008-12-16
申请号：US11197047
申请日：2005-08-03
申请人： Michael R. Elgersma , Daniel P. Johnson , Gunter Stein , Blaise G. Morton , Dennice F. Gayme , Mason A. Peck
发明人： Michael R. Elgersma , Daniel P. Johnson , Gunter Stein , Blaise G. Morton , Dennice F. Gayme , Mason A. Peck
IPC分类号： B64G1/28
CPC分类号： B64G1/286
摘要： A method for avoiding singularities in the movement of CMGs in an array of CMGs in a spacecraft includes a first step where a maneuver command to rotate a spacecraft orientation is received. Then, the torque needed to rotate the spacecraft's orientation is determined. Then, the torque is integrated to determine a momentum path. The momentum path is decomposed into a sequence of straight line segments. For each line segment, a unit vector along the straight line segments is determined. Then, it is determined if there is a continuous path connecting a start point and an end point of the line segment in a plane perpendicular to the unit vector. For each point along the path in the plane perpendicular to the unit vector, a set of gimbal angles is determined.
摘要翻译：一种用于避免CMG在航天器阵列中的运动中的奇异性的方法包括：第一步骤，其中接收旋转航天器取向的机动命令。然后，确定旋转航天器方向所需的扭矩。然后，转矩被积分以确定动量路径。动量路径被分解为一系列直线段。对于每个线段，确定沿着直线段的单位向量。然后，确定在垂直于单位向量的平面中是否存在连接线段的起始点和终点的连续路径。对于垂直于单位向量的平面中沿着路径的每个点，确定一组万向角。

2. 发明申请

US20070029447A1 Method and system for determining a singularity free momentum path 有权
标题翻译：用于确定奇点自由动量路径的方法和系统
公开(公告)号：US20070029447A1
公开(公告)日：2007-02-08
申请号：US11197047
申请日：2005-08-03
申请人： Michael R. Elgersma , Daniel P. Johnson , Gunter Stein , Blaise G. Morton , Dennice F. Gayme , Mason A. Peck
发明人： Michael R. Elgersma , Daniel P. Johnson , Gunter Stein , Blaise G. Morton , Dennice F. Gayme , Mason A. Peck
IPC分类号： B64G1/28
CPC分类号： B64G1/286
摘要： A method for avoiding singularities in the movement of CMGs in an array of CMGs in a spacecraft includes a first step where a maneuver command to rotate a spacecraft orientation is received. Then, the torque needed to rotate the spacecraft's orientation is determined. Then, the torque is integrated to determine a momentum path. The momentum path is decomposed into a sequence of straight line segments. For each line segment, a unit vector along the straight line segments is determined. Then, it is determined if there is a continuous path connecting a start point and an end point of the line segment in a plane perpendicular to the unit vector. For each point along the path in the plane perpendicular to the unit vector, a set of gimbal angles is determined.
摘要翻译：一种用于避免CMG在航天器阵列中的运动中的奇异性的方法包括：第一步骤，其中接收旋转航天器取向的机动命令。然后，确定旋转航天器方向所需的扭矩。然后，转矩被积分以确定动量路径。动量路径被分解为一系列直线段。对于每个线段，确定沿着直线段的单位向量。然后，确定在垂直于单位向量的平面中是否存在连接线段的起始点和终点的连续路径。对于垂直于单位向量的平面中沿着路径的每个点，确定一组万向角。

3. 发明授权

US07693619B2 Method and system for controlling sets of collinear control moment gyroscopes with offset determination without attitude trajectory of spacecraft 有权
标题翻译：用于控制航天器姿态轨迹的偏差确定的共线控制力矩陀螺仪组的方法和系统
公开(公告)号：US07693619B2
公开(公告)日：2010-04-06
申请号：US11291706
申请日：2005-11-30
申请人： Michael R. Elgersma , Daniel P. Johnson , Mason A. Peck , Brian K. Underhill , Gunter Stein , Blaise G. Morton , Brian J. Hamilton
发明人： Michael R. Elgersma , Daniel P. Johnson , Mason A. Peck , Brian K. Underhill , Gunter Stein , Blaise G. Morton , Brian J. Hamilton
IPC分类号： B64G1/36 , B64G1/10
CPC分类号： G05D1/0883 , B64G1/286
摘要： A control system of a spacecraft for controlling two or more sets of collinear control moment gyroscopes (CMGs) comprises an attitude control system. The attitude control system is configured to receive a command to adjust an orientation of the spacecraft, determine an offset for a momentum disk for each of the two or more sets of CMGs that maximizes torque, determine a momentum needed from the two or more sets of CMGs to adjust the orientation of the spacecraft, and calculate a total torque needed by taking the derivative of the momentum. The control system further comprises a momentum actuator control processor coupled to the attitude control system, the momentum actuator control processor configured to calculate a required gimbal movement for each of the CMGs in each of the two or more sets of collinear CMGs from total torque.
摘要翻译：用于控制两组或更多套共线控制力矩陀螺仪（CMG）的航天器的控制系统包括姿态控制系统。姿态控制系统被配置为接收调整航天器的方向的命令，确定用于使扭矩最大化的两组或更多组CMG中的每一个的动量盘的偏移，确定从两组或更多组 CMG调整航天器的方向，并计算通过采取动量的导数所需的总转矩。控制系统还包括耦合到姿态控制系统的动量致动器控制处理器，动量致动器控制处理器被配置为针对来自总转矩的两组或多组共线CMG中的每一个中的每个CMG计算所需的万向运动。

4. 发明授权

US06563461B1 System, method, and software for non-iterative position estimation using range measurements 有权
标题翻译：使用范围测量进行非迭代位置估计的系统，方法和软件
公开(公告)号：US06563461B1
公开(公告)日：2003-05-13
申请号：US09640129
申请日：2000-08-16
申请人： Michael R. Elgersma , Blaise G. Morton
发明人： Michael R. Elgersma , Blaise G. Morton
IPC分类号： G01S302
CPC分类号： G01S5/14
摘要： The typical global positioning system (GPS) estimates the three-dimensional, global position of a radio receiver and associated vehicle, such as an aircraft, using the range measurements between the radio receiver and a set of earth-orbiting satellite transmitters. Estimating the position of the receiver from these range measurements generally entails using an iterative calculation process, which computes a series of position estimates, with each successive estimate converging with increasing accuracy toward the actual receiver position. This iterative approach, however, is not only time consuming, but sometimes fails to converge toward the actual receiver position. Though others have tried to solve these problems, their approaches either fail to consistently converge on a single solution or give multiple solutions. Accordingly, the inventors devised, among other things, new non-iterative methods, for using range measurements to estimate position. One exemplary position-estimation method entails receiving a set of two or more range measurements; defining an error function based on the set of range measurements, with the error function having only one local minimum; and then determining a position estimate based the one local minimum of the error function. This and other exemplary embodiments of the invention promise to reduce the time for computing position estimates.
摘要翻译：典型的全球定位系统（GPS）使用无线电接收机和一组地球轨道卫星发射机之间的距离测量来估计无线电接收机和相关车辆（例如飞行器）的三维全局位置。从这些范围测量估计接收机的位置通常需要使用迭代计算过程，其计算一系列位置估计，其中每个连续估计随着对实际接收机位置的精度的增加而收敛。然而，这种迭代方法不仅耗时，而且有时不能朝向实际的接收机位置收敛。虽然其他人试图解决这些问题，但他们的方法或者不能一致地融合在一个单一的解决方案上，或者提供多种解决方案。因此，发明人设计了新的非迭代方法，用于使用距离测量来估计位置。一种示例性位置估计方法需要接收一组两个或更多个距离测量; 基于范围测量集合定义误差函数，误差函数只有一个局部最小值; 然后基于误差函数的一个局部最小值来确定位置估计。本发明的这个和其他示例性实施例有希望减少计算位置估计的时间。

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