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1. 发明授权

US07124001B2 Relative attitude estimator for multi-payload attitude determination 有权
标题翻译：多载荷姿态测定的相对态度估计
公开(公告)号：US07124001B2
公开(公告)日：2006-10-17
申请号：US10877442
申请日：2004-06-25
申请人： Rongsheng Li , Hanching Grant Wang , Yeong-Wei A. Wu
发明人： Rongsheng Li , Hanching Grant Wang , Yeong-Wei A. Wu
IPC分类号： G05D1/00 , G05D1/08
CPC分类号： B64G1/66 , B64G1/36
摘要： A method and apparatus for estimating a slave payload attitude is disclosed. The method includes accepting a plurality of slave payload attitude measurements, deriving a model of the relative attitude of the slave payload and a master payload attitude at least in part from the plurality of slave attitude measurements, predicting the relative attitude between the slave payload attitude and the master payload attitude using the derived model, and estimating the relative attitude between the slave payload attitude and the master payload attitude at least in part from the predicted relative attitude between the slave payload attitude and the master payload attitude. Furthermore, the absolute attitude of the slave payload is computed using the relative attitude and the master payload attitude.
摘要翻译：公开了一种用于估计从有效载荷姿态的方法和装置。该方法包括接受多个从属有效载荷姿态测量，至少部分地从多个从属姿态测量中导出从有效载荷的相对姿态的模型和主有效载荷姿态，预测从属有效载荷姿态和使用导出模型的主有效载荷姿态，以及至少部分地根据从有效载荷姿态和主有效载荷姿态之间的预测相对姿态来估计从有效载荷姿态与主有效载荷姿态之间的相对姿态。此外，使用相对姿态和主有效载荷姿态来计算从属有效载荷的绝对姿态。

2. 发明授权

US06595469B2 Attitude control methods and systems for multiple-payload spacecraft 有权
标题翻译：多载荷航天器的姿态控制方法和系统
公开(公告)号：US06595469B2
公开(公告)日：2003-07-22
申请号：US10039474
申请日：2001-10-28
申请人： Rongsheng Li , Yeong-Wei A. Wu , Hanching Grant Wang
发明人： Rongsheng Li , Yeong-Wei A. Wu , Hanching Grant Wang
IPC分类号： B04G122
CPC分类号： G05D1/0883 , B64G1/24 , B64G1/26 , B64G1/285 , B64G1/288 , B64G1/36 , B64G1/361 , B64G1/363 , B64G1/365 , B64G1/66 , Y10S343/02
摘要： Attitude determination and control systems are provided that combine attitude measurements from all spacecraft payloads to determine a master attitude estimate for a master payload and relative slave attitude estimates for the remaining slave payloads. These estimates are then used to control the attitudes of spacecraft elements that correct the absolute and relative attitude errors. These systems significantly enhance attitude accuracy when compared to systems that realize independent payload estimates, determine payload attitudes. These systems also provide significant processing advantages (e.g., simpler algorithms, reduced data throughput and slower processing rate).
摘要翻译：提供了姿态确定和控制系统，其结合来自所有航天器有效载荷的姿态测量，以确定主载荷的主姿态估计以及剩余从动载荷的相对从属姿态估计。然后将这些估计值用于控制航天器元件的态度，以纠正绝对和相对姿态误差。与实现独立有效负载估计，确定有效载荷态度的系统相比，这些系统显着提高了姿态精度。这些系统还提供显着的处理优点（例如，更简单的算法，减少的数据吞吐量和较慢的处理速率）。

3. 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。

4. 发明授权

US06298288B1 Autonomous gyro scale factor and misalignment calibration 有权
标题翻译：自主陀螺仪比例因子和不对准校准
公开(公告)号：US06298288B1
公开(公告)日：2001-10-02
申请号：US09212454
申请日：1998-12-16
申请人： Rongsheng Li , Yeong-Wei A. Wu , Garry Didinsky
发明人： Rongsheng Li , Yeong-Wei A. Wu , Garry Didinsky
IPC分类号： G06F770
CPC分类号： G05D1/0883 , B64G1/288 , B64G1/36 , B64G1/361 , B64G1/363 , B64G1/365 , B64G2001/245
摘要： A system and method of estimating the attitude of a spacecraft is disclosed. A three-axis inertial-based estimate of spacecraft attitude is produced and is compared to a stellar-based estimate of spacecraft attitude. A Kalman filter having states associated with gyro scale factor and/or misalignment errors compares the stellar-based attitude estimate to the inertial-based estimate of attitude and apportions the total error into three time varying matrices. A first time varying matrix is associated with gyro scale factor and misalignment errors, a second time varying matrix is associated with gyro bias errors, and a third time varying matrix is associated with attitude errors. The time varying matrices are applied as corrective feedbacks to the inertial-based estimate of spacecraft attitude and are adaptively adjusted to minimize the error therein.
摘要翻译：公开了一种估计航天器姿态的系统和方法。产生了基于三轴惯性的航天器姿态估计，并将其与航天器态度的恒星估计进行了比较。具有与陀螺仪比例因子和/或未对准误差相关联的状态的卡尔曼滤波器将基于恒星的姿态估计与基于惯性的姿态估计进行比较，并将总误差分配给三个时变矩阵。第一时变矩阵与陀螺仪比例因子和未对准误差相关联，第二时变矩阵与陀螺仪偏置误差相关联，并且第三时变矩阵与姿态误差相关联。时变矩阵作为校正反馈应用于基于惯性的航天器姿态估计，并进行自适应调整以最小化其中的误差。

5. 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。

6. 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。

7. 发明授权

US07062363B2 Refinement of spacecraft angular velocity and attitude estimates using star data 有权
标题翻译：使用星级数据对航天器角速度和姿态估计进行细化
公开(公告)号：US07062363B2
公开(公告)日：2006-06-13
申请号：US10945671
申请日：2004-09-21
申请人： David D. Needelman , Rongsheng Li , Yeong-Wei A. Wu
发明人： David D. Needelman , Rongsheng Li , Yeong-Wei A. Wu
IPC分类号： G01C21/02
CPC分类号： G01C21/025 , B64G1/361 , G01S3/7867
摘要： A method and apparatus for refining a spacecraft state estimate, such as an attitude estimate or an angular velocity estimate, is disclosed. The method computes a plurality equations using residuals describing the difference between observed star positions and predicted positions based on inertial measurements, and solves those equations to generate refined estimates of the spacecraft state estimates.
摘要翻译：公开了一种用于精制航天器状态估计的方法和装置，例如姿态估计或角速度估计。该方法使用基于惯性测量描述观察到的星座位置和预测位置之间的差的残差来计算多个方程，并且求解这些等式以产生航天器状态估计的精确估计。

8. 发明授权

US06512979B1 Lost-in-space stellar attitude acquisition using multiple star trackers 有权
公开(公告)号：US06512979B1
公开(公告)日：2003-01-28
申请号：US10177238
申请日：2002-06-21
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.

9. 发明授权

US06272432B1 System and method for correcting star tracker low spatial frequency error in stellar-inertial attitude determination systems 失效
标题翻译：用于校正恒星惯性姿态测定系统中星际跟踪器低空间频率误差的系统和方法
公开(公告)号：US06272432B1
公开(公告)日：2001-08-07
申请号：US09309034
申请日：1999-05-10
申请人： Rongsheng Li , Yeong-Wei A. Wu , Douglas H. Hein , Garry Didinsky
发明人： Rongsheng Li , Yeong-Wei A. Wu , Douglas H. Hein , Garry Didinsky
IPC分类号： G01C2102
CPC分类号： G01C21/025 , B64G1/288 , B64G1/361 , B64G1/363 , B64G1/365 , G05D1/0883
摘要： A system and method of estimating the attitude of a spacecraft compares a three-axis inertial-based estimate of spacecraft attitude to a stellar-based estimate of the spacecraft attitude. A Kalman filter having some states associated with low spatial frequency errors compares the stellar-based attitude estimate to the inertial-based estimate of attitude and apportions total attitude error into two time varying matrices. A first time varying matrix is associated with star tracker low spatial frequency errors, a second time varying matrix is associated with gyro bias errors and attitude errors. The time varying matrices are used to apply corrective feedbacks to the stellar-based attitude estimate and the inertial-based estimate of spacecraft attitude, and are adaptively adjusted to minimize total estimated attitude error.
摘要翻译：估计航天器态度的系统和方法将基于三轴惯性的航天器姿态估计与基于恒星的航天器姿态估计进行比较。具有与低空间频率误差相关联的一些状态的卡尔曼滤波器将基于星态的姿态估计与基于惯性的姿态估计和总姿态误差分配成两个时变矩阵进行比较。第一时变矩阵与星形跟踪器低空间频率误差相关联，第二时变矩阵与陀螺仪偏置误差和姿态误差相关联。时变矩阵用于对基于恒星的姿态估计和基于惯性的航天器姿态估计应用校正反馈，并进行自适应调整以最小化总估计姿态误差。

10. 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

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