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1. 发明授权

US07228231B2 Multiple stayout zones for ground-based bright object exclusion 有权
标题翻译：基于地面明亮物体排除的多个停留区域
公开(公告)号：US07228231B2
公开(公告)日：2007-06-05
申请号：US10709348
申请日：2004-04-29
申请人： David D. Needelman , Richard A. Fowell , Peter C. Lai , Yeong-Wei A. Wu , Rongsheng Li
发明人： David D. Needelman , Richard A. Fowell , Peter C. Lai , Yeong-Wei A. Wu , Rongsheng Li
IPC分类号： G01C21/00 , B64G1/10
CPC分类号： G01C3/08 , B64G1/361 , G01C22/00
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

2. 发明授权

US07219014B2 Method and apparatus for real-time star exclusion from a database 有权
标题翻译：从数据库中实时排除星号的方法和装置
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
IPC分类号： G01C21/00 , G05D1/00
CPC分类号： B64G1/361 , G01C22/00
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。

3. 发明授权

US07487016B2 Method for compensating star motion induced error in a stellar inertial attitude determination system 有权
标题翻译：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。

4. 发明授权

US07310578B2 Fast access, low memory, pair catalog 有权
标题翻译：快速访问，低内存，配对目录
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。

5. 发明授权

US07136752B2 Method and apparatus for on-board autonomous pair catalog generation 有权
标题翻译：用于车载自主对目录生成的方法和装置
公开(公告)号：US07136752B2
公开(公告)日：2006-11-14
申请号：US10710178
申请日：2004-06-24
申请人： David D. Needelman , Rongsheng Li , Richard A. Fowell , Peter C. Lai , Yeong-Wei A. Wu
发明人： David D. Needelman , Rongsheng Li , Richard A. Fowell , Peter C. Lai , Yeong-Wei A. Wu
IPC分类号： G05D1/00 , G01C21/02
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。

6. 发明授权

US07260456B2 Pixel-frequency slews and filters for star data measurements 有权
标题翻译：用于星形数据测量的像素频率转换和滤波器
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
IPC分类号： B64G1/36 , B64G1/24
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。

7. 发明授权

US06825806B2 Satellite methods and structures for improved antenna pointing and wide field-of-view attitude acquisition 有权
标题翻译：用于改善天线指向和广视野姿态采集的卫星方法和结构
公开(公告)号：US06825806B2
公开(公告)日：2004-11-30
申请号：US10162465
申请日：2002-06-03
申请人： Ketao Liu , Richard Fowell , Yeong-Wei A. Wu , Rongsheng Li
发明人： Ketao Liu , Richard Fowell , Yeong-Wei A. Wu , Rongsheng Li
IPC分类号： H01Q300
CPC分类号： H01Q3/005
摘要： Methods and structures are provided for reducing pointing errors &zgr; of satellite antennas and for generating broad field-of-view satellite attitude acquisition patterns. In one method embodiment, satellite transmit beams have estimated pointing attitudes &bgr; and are transmitted to overlap on a ground-based receiving terminal which has a known terminal location &lgr; and which measures received signal strengths &agr;. Pointing errors &zgr; of the transmit beams are then determined from the estimated pointing attitudes &bgr;, the terminal location &lgr; and the signal strengths &agr; and the pointing errors &zgr; are subsequently reduced by revising the pointing attitudes &bgr;. Other method embodiments utilize known signal-strength functions and antenna signals with known signal parameters such as frequencies and/or modulations.
摘要翻译：提供了用于减少卫星天线的指向误差zeta和产生广泛的视野卫星姿态采集模式的方法和结构。在一个方法实施例中，卫星发射波束具有估计的指向姿态β，并且在具有已知终端位置λ并且测量接收信号强度α的基于地面的接收终端上被发送以重叠。然后从估计的指向态度β确定发射波束的指向误差zeta，随后通过修正指向态度β来减少终端位置λ和信号强度α和指向误差zeta。其他方法实施例利用具有已知信号参数（例如频率和/或调制）的已知信号强度函数和天线信号。

8. 发明授权

US06681159B2 Spacecraft methods and structures with enhanced attitude control that facilitates gyroscope substitutions 有权
标题翻译：具有增强姿态控制的航天器方法和结构，有助于陀螺仪的替代
公开(公告)号：US06681159B2
公开(公告)日：2004-01-20
申请号：US10039488
申请日：2001-10-28
申请人： Rongsheng Li , Jeffrey A. Kurland , Alec M. Dawson , Yeong-Wei A. Wu , David S. Uetrecht
发明人： Rongsheng Li , Jeffrey A. Kurland , Alec M. Dawson , Yeong-Wei A. Wu , David S. Uetrecht
IPC分类号： B64L100
CPC分类号： G05D1/0883 , B64G1/26 , B64G1/28 , B64G1/285 , B64G1/288 , B64G1/32 , B64G1/36 , G05B13/024
摘要： Methods and structures are provided that enhance attitude control during gyroscope substitutions by insuring that a spacecraft's attitude control system does not drive its absolute-attitude sensors out of their capture ranges. In a method embodiment, an operational process-noise covariance Q of a Kalman filter is temporarily replaced with a substantially greater interim process-noise covariance Q. This replacement increases the weight given to the most recent attitude measurements and hastens the reduction of attitude errors and gyroscope bias errors. The error effect of the substituted gyroscopes is reduced and the absolute-attitude sensors are not driven out of their capture range. In another method embodiment, this replacement is preceded by the temporary replacement of an operational measurement-noise variance R with a substantially larger interim measurement-noise variance R to reduce transients during the gyroscope substitutions.
摘要翻译：提供了通过确保航天器的姿态控制系统不将其绝对姿态传感器驱动到其捕获范围之外来增强陀螺仪替换期间的姿态控制的方法和结构。在方法实施例中，卡尔曼滤波器的操作过程 - 噪声协方差Q被临时过程噪声协方差Q临时替换。该替换增加了给予最近姿态测量的重量并加速了姿态误差的降低，并且陀螺偏置误差。取代陀螺仪的误差效应降低，绝对姿态传感器不会被驱赶出其捕获范围。在另一方法实施例中，该替换之前是临时替换具有相当大的临时测量噪声方差R的操作测量噪声方差R，以减少在陀螺仪替换期间的瞬变。

9. 发明授权

US06470270B1 Lost-in-space stellar attitude acquisition using multiple star trackers 有权
标题翻译：使用多个星形追踪器的空间中的恒星态度采集
公开(公告)号：US06470270B1
公开(公告)日：2002-10-22
申请号：US09708132
申请日：2000-11-07
申请人： David D. Needelman , Yeong-Wei A. Wu , Rongsheng Li , William L. Burkett, Jr.
发明人： David D. Needelman , Yeong-Wei A. Wu , Rongsheng Li , William L. Burkett, Jr.
IPC分类号： G01C2124
CPC分类号： G01C21/025 , B64G1/26 , B64G1/285 , B64G1/288 , B64G1/32 , B64G1/361 , B64G1/363 , B64G1/366 , B64G1/42 , G01S5/163 , G05D1/0883
摘要： A method, apparatus, article of manufacture for determining the attitude of a spacecraft having at least one star sensor. The method comprises the steps of selecting a first reference star sensor from among the star sensors; designating two stars observed by the first reference star sensor as a primary star pair; identifying a candidate star pair corresponding to the primary star pair, wherein the candidate star pair is selected from a star catalog having a plurality of entries; estimating an inertial orientation of the first star sensor at least in part from the identified candidate star pair; and determining the spacecraft attitude from the estimated inertial orientation of a reference star sensor selected from a group comprising the first star sensor.
摘要翻译：一种用于确定具有至少一颗恒星传感器的航天器姿态的方法，装置，制品。该方法包括从星形传感器中选择第一参考星传感器的步骤; 将由第一参考星传感器观测到的两颗星指定为主星对; 识别对应于所述主星对的候选星对，其中所述候选星对选自具有多个条目的星目录; 至少部分地从所识别的候选星对估计第一星形传感器的惯性取向; 以及根据从包括第一星型传感器的组中选择的参考星形传感器的估计惯性方向确定航天器姿态。

10. 发明授权

US06356815B1 Stellar attitude-control systems and methods with weighted measurement-noise covariance matrices 失效
标题翻译：恒星姿态控制系统和加权测量 - 噪声协方差矩阵的方法
公开(公告)号：US06356815B1
公开(公告)日：2002-03-12
申请号：US09648501
申请日：2000-08-25
申请人： Yeong-Wei A. Wu , Rongsheng Li , Yong Liu
发明人： Yeong-Wei A. Wu , Rongsheng Li , Yong Liu
IPC分类号： G01C2102
CPC分类号： B64G1/361 , G01C21/025 , G01S3/7867 , G01S5/163 , G05D1/0883
摘要： Stellar attitude-control systems and methods are provided with enhanced accuracy because they recognize that important star tracker errors exhibit a boresight symmetry and that these errors can be accurately defined by weighting a measurement-noise covariance matrix R(tn) with variances that are functions of off-boresight angles of detected stars. A method of the invention derives off-boresight angles &thgr; from star-tracker signals of detected stars. These off-boresight angles &thgr; are combined with variance coefficients &agr; to generate off-boresight variances rob(tn) that are functions of the off-boresight angles &thgr; and, in particular, correspond to star tracker color shift errors. A gain matrix K(tn) is then calculated with a weighted measurement-noise covariance matrix R(tn) that includes the off-boresight variances rob(tn). This gain matrix is used to generate an attitude estimate matrix X*(tn) for use in spacecraft attitude control. The variance coefficients &agr; are preferably modified to include star tracker focal length shift errors which are also a function of off-boresight angles &thgr;. It is noted that the variance coefficients &agr; can be reduced by identifying the spectral classes of detected and identified stars. The invention recognizes that Other star tracker errors that are not functions of off-boresight angles are modeled with appropriate constant variances rc(tn) that are used to modify the covariance matrix R(tn).
摘要翻译：提供恒星姿态控制系统和方法具有更高的精度，因为它们认识到重要的星形跟踪器误差表现出视轴对称性，并且可以通过对作为功能的方差加权测量噪声协方差矩阵R（tn）来精确地定义这些误差。检测到的星的偏离视角。本发明的一种方法从检测到的恒星的星形跟踪信号中导出离视角θ。这些离开视轴角度θ与方差系数α组合以产生作为离开视角θ的函数的离开视轴方向rob（tn），特别是对应于星形跟踪器颜色偏移误差。然后使用包括偏离视差方差rob（tn）的加权测量 - 噪声协方差矩阵R（tn）来计算增益矩阵K（tn）。该增益矩阵用于生成用于航天器姿态控制的姿态估计矩阵X *（tn）。方差系数α优选地被修改为包括也是偏离视角θ的函数的星形跟踪器焦距偏移误差。应注意，可以通过识别检测到和识别的星的光谱类别来减小方差系数α。本发明认识到，不是非视距角函数的其他星形跟踪器误差是用用于修改协方差矩阵R（tn）的适当常数变量rc（tn）进行建模的。

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