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1. 发明授权

US07437222B2 Gimbal disturbance calibration and compenstion 有权
标题翻译：云台干扰校准和补偿
公开(公告)号：US07437222B2
公开(公告)日：2008-10-14
申请号：US11191805
申请日：2005-07-28
申请人： Ketao Liu , Justin Burch , Gregory S. Becker , Patrick A. Nelson
发明人： Ketao Liu , Justin Burch , Gregory S. Becker , Patrick A. Nelson
IPC分类号： G01C23/00
CPC分类号： G01C25/00 , G01C19/00
摘要： Various embodiments of the present invention are directed to precision control system for spacecraft gimbaled payloads. Embodiments of the invention provide an innovative technique of calibrating gimbals disturbances to directly canceling gimbal control disturbances. Such a calibration system includes a receiver for receiving telemetry data for pointing a payload, a processor for calculating a disturbance parameter vector for a gimbal disturbance model with the telemetry data and a transmitter for transmitting the disturbance parameter vector to compensate for pointing error when applied in pointing the payload. The gimbal disturbance model comprises a harness stiffness term, a disturbance harmonics term and at least one friction hysteresis term. The telemetry data may be time matched prior to calculating the disturbance parameter vector. Typically, the telemetry data comprises gimbal angle and applied torque data and the disturbance parameter vector is calculated from convergence of an iterative gradient computation with the telemetry data.
摘要翻译：本发明的各种实施例涉及用于航天器万向有载荷的精密控制系统。本发明的实施例提供了一种用于校准万向架干扰以直接抵消万向节控制扰动的创新技术。这样的校准系统包括用于接收用于指示有效载荷的遥测数据的接收器，用于利用遥测数据计算用于万向干扰模型的扰动参数矢量的处理器，以及用于发送干扰参数矢量的发射机，以补偿当应用于指向有效载荷万向节干扰模型包括线束刚度项，扰动谐波项和至少一个摩擦滞后项。遥测数据可以在计算干扰参数矢量之前进行时间匹配。通常，遥测数据包括万向角和施加的扭矩数据，并且通过迭代梯度计算与遥测数据的收敛来计算扰动参数向量。

2. 发明授权

US07547870B2 Precision spacecraft payload platforms 有权
标题翻译：精密航天器有效负载平台
公开(公告)号：US07547870B2
公开(公告)日：2009-06-16
申请号：US11400874
申请日：2006-04-10
申请人： Ketao Liu , Gregory S. Becker , Peter J. Sedivec , Douglas Bender
发明人： Ketao Liu , Gregory S. Becker , Peter J. Sedivec , Douglas Bender
IPC分类号： G01C21/02 , G01N21/86 , G01B11/26 , B64G1/36
CPC分类号： G01S5/163 , G01B11/272
摘要： One or more fixed-orientation fanned laser beams and one or more displacement measurement devices to precisely measure the orientation of a payload platform are disclosed in a metrology system and method. The measurement devices may be distributed at locations across a payload platform such that displacement changes of these devices can be used to accurately determine platform pointing. Laser beam transmitters may be fixed in the same reference block to which a spacecraft attitude sensor is mounted. Fanned laser beams are transmitted from these sources to the measurement devices so that their displacements can be determined with respect to the plane of the fanned beams and thereby with respect to the spacecraft attitude sensor. Only a small number of fixed laser beams are needed to achieve precision measurements at a reduced cost, weight and power, and with increased system reliability and simplified system integration.
摘要翻译：计量系统和方法中公开了一种或多种固定方向的扇形激光束和一个或多个位移测量装置来精确地测量有效负载平台的取向。测量设备可以分布在有效负载平台上的位置，使得这些设备的位移变化可以用于准确地确定平台指向。激光束发射器可以固定在安装有航天器姿态传感器的相同参考块中。扇形激光束从这些源传输到测量装置，使得它们的位移可以相对于扇形光束的平面，从而相对于航天器姿态传感器确定。只需要少量的固定激光束，以降低成本，重量和功率，以及更高的系统可靠性和简化的系统集成来实现精密测量。

3. 发明授权

US07787134B2 Multiple fanned laser beam metrology system 有权
标题翻译：多扇形激光束计量系统
公开(公告)号：US07787134B2
公开(公告)日：2010-08-31
申请号：US11407549
申请日：2006-04-19
申请人： Kirk Kohnen , Peter J. Sedivec , Douglas Bender , Gregory S. Becker , John Y. Liu , Richard W. Guthrie , Ketao Liu , Ray McVey , Mark A. Lundgren
发明人： Kirk Kohnen , Peter J. Sedivec , Douglas Bender , Gregory S. Becker , John Y. Liu , Richard W. Guthrie , Ketao Liu , Ray McVey , Mark A. Lundgren
IPC分类号： G01C15/00
CPC分类号： G01B11/24 , G01B11/14 , G01S7/4811 , G01S7/4817 , G01S17/36 , G01S17/42 , G01S17/48
摘要： Systems and techniques for laser metrology. Two or more fanned probe beams are scanned relative to a surface including one or more targets. A position detection module receives return beam information from the fanned probe beams, and determines a position of at least a first target of the one or more targets based on the return beam information.
摘要翻译：激光测量系统和技术。相对于包括一个或多个目标的表面扫描两个或更多个扇形探测光束。位置检测模块从扇形探测光束接收返回光束信息，并且基于返回光束信息确定一个或多个目标的至少第一目标的位置。

4. 发明授权

US07450251B2 Fanned laser beam metrology system 有权
标题翻译：扇形激光束计量系统
公开(公告)号：US07450251B2
公开(公告)日：2008-11-11
申请号：US11270000
申请日：2005-11-09
申请人： Ketao Liu , Peter J. Sedivec , Douglas Bender , Gregory S. Becker , John Y. Liu , Richard W. Guthrie , Mark A. Lundgren
发明人： Ketao Liu , Peter J. Sedivec , Douglas Bender , Gregory S. Becker , John Y. Liu , Richard W. Guthrie , Mark A. Lundgren
IPC分类号： G01C1/03 , G01B11/26
CPC分类号： G01B11/14 , G01S17/48
摘要： Systems and techniques for laser metrology. A system may include a laser source and a fanning apparatus configured to generate a fanned laser beam. The fanned laser beam may be scanned across the surface of an object, and may reflect off a plurality of targets positioned on the surface. A position detection module may determine a position of the metrology targets based on the reflected beam.
摘要翻译：激光测量系统和技术。系统可以包括激光源和被配置为产生扇形激光束的扇形设备。扇形激光束可以跨物体的表面扫描，并且可以反射出位于表面上的多个靶。位置检测模块可以基于反射光束来确定度量目标的位置。

5. 发明申请

US20070027590A1 Gimbal disturbance calibration and compenstion 有权
标题翻译：云台干扰校准和补偿
公开(公告)号：US20070027590A1
公开(公告)日：2007-02-01
申请号：US11191805
申请日：2005-07-28
申请人： Ketao Liu , Justin Burch , Gregory Becker , Patrick Nelson
发明人： Ketao Liu , Justin Burch , Gregory Becker , Patrick Nelson
IPC分类号： G01C23/00 , G06F17/00
CPC分类号： G01C25/00 , G01C19/00
摘要： Various embodiments of the present invention are directed to precision control system for spacecraft gimbaled payloads. Embodiments of the invention provide an innovative technique of calibrating gimbals disturbances to directly canceling gimbal control disturbances. Such a calibration system includes a receiver for receiving telemetry data for pointing a payload, a processor for calculating a disturbance parameter vector for a gimbal disturbance model with the telemetry data and a transmitter for transmitting the disturbance parameter vector to compensate for pointing error when applied in pointing the payload. The gimbal disturbance model comprises a harness stiffness term, a disturbance harmonics term and at least one friction hysteresis term. The telemetry data may be time matched prior to calculating the disturbance parameter vector. Typically, the telemetry data comprises gimbal angle and applied torque data and the disturbance parameter vector is calculated from convergence of an iterative gradient computation with the telemetry data.
摘要翻译：本发明的各种实施例涉及用于航天器万向有载荷的精密控制系统。本发明的实施例提供了一种用于校准万向架干扰以直接抵消万向节控制扰动的创新技术。这样的校准系统包括用于接收用于指示有效载荷的遥测数据的接收器，用于利用遥测数据计算用于万向干扰模型的扰动参数矢量的处理器，以及用于发送干扰参数矢量的发射机，以补偿当应用于指向有效载荷万向节干扰模型包括线束刚度项，扰动谐波项和至少一个摩擦滞后项。遥测数据可以在计算干扰参数矢量之前进行时间匹配。通常，遥测数据包括万向角和施加的扭矩数据，并且通过迭代梯度计算与遥测数据的收敛来计算扰动参数向量。

6. 发明授权

US08213803B2 Method and system for laser based communication 有权
标题翻译：基于激光的通信方法与系统
公开(公告)号：US08213803B2
公开(公告)日：2012-07-03
申请号：US12128857
申请日：2008-05-29
申请人： Yeong-wei A. Wu , Ketao Liu
发明人： Yeong-wei A. Wu , Ketao Liu
IPC分类号： H04B10/00
CPC分类号： H04B10/118
摘要： Method and system for determining a point-ahead angle from a first spacecraft to a second spacecraft, each spacecraft having a laser communication (“lasercom”) terminal is provided If ephemeris data regarding the second spacecraft is unavailable to the first spacecraft while the second spacecraft is mobile, (a) obtaining attitude information regarding the first spacecraft; and (b) obtaining gimbal offload commands from a fast steering mirror and a first spacecraft telescope subsystem of the first spacecraft; wherein a point-ahead determination module receives the attitude information and the gimbal offload commands; and determining an estimate of the point-ahead angle from the first spacecraft to the second spacecraft based on the attitude information and the gimbal offload commands.
摘要翻译：用于确定从第一航天器到第二航天器的点前进角度的方法和系统，提供具有激光通信（“激光通信”）终端的每个航天器如果关于第二航天器的星历数据对于第一航天器是不可用的，而第二航天器是移动的，（a）获得关于第一航天器的态度信息; 和（b）从第一航天器的快速转向镜和第一航天器望远镜子系统获得万向节卸载命令; 其中，提前确定模块接收姿态信息和万向节卸载命令; 以及基于姿态信息和万向节卸载命令确定从第一航天器到第二航天器的点前进角度的估计。

7. 发明申请

US20060054745A1 Thermal deformation determination for payload pointing using space-based beacon 有权
标题翻译：使用基于空间的信标的有效载荷指向的热变形确定
公开(公告)号：US20060054745A1
公开(公告)日：2006-03-16
申请号：US10929844
申请日：2004-08-30
申请人： Leonard Plotke , Ketao Liu
发明人： Leonard Plotke , Ketao Liu
IPC分类号： B64G1/36
CPC分类号： B64G1/24 , B64G1/36
摘要： A system and associated method for compensating for thermal deformation of a spaced-based structure having a spacecraft payload. The system including a beacon source coupled to a first spacecraft for transmitting a first signal and a beacon sensor coupled to a second spacecraft for receiving the first signal and providing measurement data derived from the first signal. At least one attitude sensing device is coupled to the second spacecraft for determining estimated spacecraft attitude data for the second spacecraft. A processor on the second spacecraft is configured to process ephemeris data of the first and second spacecraft, beacon measurement data, estimated spacecraft attitude data, and gimbal angular position data to estimate spacecraft structural deformation.
摘要翻译：一种用于补偿具有航天器有效载荷的基于间隔的结构的热变形的系统和相关方法。该系统包括耦合到第一航天器的用于发射第一信号的信标源和耦合到第二航天器的信标传感器，用于接收第一信号并提供从第一信号导出的测量数据。至少一个姿态感测装置耦合到第二航天器，用于确定第二航天器的估计的航天器姿态数据。第二航天器上的处理器被配置为处理第一和第二航天器的星历数据，信标测量数据，估计的航天器姿态数据和万向角位置数据以估计航天器结构变形。

8. 发明申请

US20060044549A1 Smart spacecraft structures based on laser metrology 有权
标题翻译：基于激光测量的智能航天器结构
公开(公告)号：US20060044549A1
公开(公告)日：2006-03-02
申请号：US10917924
申请日：2004-08-12
申请人： Ketao Liu , Cameron Massey , William Barvosa-Carter , Michael Nolan
发明人： Ketao Liu , Cameron Massey , William Barvosa-Carter , Michael Nolan
IPC分类号： G01B9/00
CPC分类号： G01B11/16
摘要： A laser metrology system for estimating the deformation of a structure is provided. The system includes a plurality of laser beam position detectors distributed across a surface of the structure. Each laser beam position detector is intersected by a laser beam and is configured to determine the change in location of the intersection point in at least one dimension. By determining the change in location of the intersection point for each laser beam position detector, the laser metrology system can calculate the deformation of the structure that caused these changes in location.
摘要翻译：提供了一种用于估计结构变形的激光测量系统。该系统包括分布在结构的表面上的多个激光束位置检测器。每个激光束位置检测器被激光束相交，并且被配置为确定交点在至少一个维度上的位置的变化。通过确定每个激光束位置检测器的交点位置的变化，激光测量系统可以计算导致这些位置变化的结构的变形。

9. 发明授权

US06771217B1 Phased array pointing determination using inverse pseudo-beacon 失效
标题翻译：使用反伪信标的相控阵指向确定
公开(公告)号：US06771217B1
公开(公告)日：2004-08-03
申请号：US10371141
申请日：2003-02-20
申请人： Ketao Liu , Paul C. Werntz
发明人： Ketao Liu , Paul C. Werntz
IPC分类号： H01Q322
CPC分类号： H01Q3/267
摘要： A method and apparatus for determining and correcting for phased array mispointing errors, particularly those due to structural deformation, is disclosed. The method comprises the steps of receiving a signal from each of a plurality of signal sources at at least one receiving sensor disposed away from the phased array in a direction at least partially toward a receiver of a transmitted signal from the phased array, and determining the phased array pointing from the received signals. The apparatus comprises a receiving sensor for receiving a signal from each of a plurality of signal sources, the receiving sensor disposed away from the phased array in a direction at least partially toward a receiver of a transmitted signal from the phased array, and an array pointing computer for determining the direction of the phased array from the received signals.
摘要翻译：公开了一种用于确定和校正相控阵错误点错误的方法和装置，特别是由于结构变形而引起的误列。该方法包括以下步骤：从至少一个接收传感器接收来自多个信号源中的每一个的信号，所述至少一个接收传感器至少部分地朝向相控阵列的发射信号的接收器方向远离相控阵列，并且确定相控阵从指示的接收信号。该装置包括接收传感器，用于接收来自多个信号源中的每一个的信号，接收传感器远离相控阵列，至少部分地朝向从相控阵列传输的信号的接收器的方向布置，并且阵列指向计算机，用于根据接收到的信号确定相控阵列的方向。

10. 发明授权

US08186626B1 GPS based orbit determination of a spacecraft in the presence of thruster maneuvers 有权
标题翻译：在推进器机动的情况下，基于GPS的轨道确定航天器
公开(公告)号：US08186626B1
公开(公告)日：2012-05-29
申请号：US12486989
申请日：2009-06-18
申请人： Ketao Liu , Qinghong W. Wang , Douglas H. Hein
发明人： Ketao Liu , Qinghong W. Wang , Douglas H. Hein
IPC分类号： B64G1/10
CPC分类号： B64G1/24 , B64G1/242 , B64G1/26 , B64G1/283 , B64G1/286 , B64G1/36
摘要： A system for determining and controlling an orbit of a spacecraft may include a GPS receiver mounted to the spacecraft to receive GPS information from a plurality of GPS satellites visible to the GPS receiver for determining a position of the spacecraft relative to a reference coordinate system. The system may also include a filter configuration control module to sense a thruster maneuver operation to adjust the orbit of the spacecraft. The system may also include an orbit determination filter to determine at least one of a spacecraft position, velocity, and residue acceleration based on the GPS information and information from the filter configuration control module related to the thruster maneuver operation.
摘要翻译：用于确定和控制航天器的轨道的系统可以包括安装到航天器的GPS接收器，以从GPS接收器可见的多个GPS卫星接收GPS信息，以确定航天器相对于参考坐标系的位置。该系统还可以包括用于感测推进器操纵操作以调整航天器的轨道的过滤器配置控制模块。该系统还可以包括轨道确定滤波器，用于基于GPS信息和来自与推进器机动操作相关的过滤器配置控制模块的信息来确定航天器位置，速度和残余加速度中的至少一个。

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