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    • 2. 发明授权
    • Gimbal disturbance calibration and compenstion
    • 云台干扰校准和补偿
    • US07437222B2
    • 2008-10-14
    • US11191805
    • 2005-07-28
    • Ketao LiuJustin BurchGregory S. BeckerPatrick A. Nelson
    • Ketao LiuJustin BurchGregory S. BeckerPatrick A. Nelson
    • G01C23/00
    • G01C25/00G01C19/00
    • 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.
    • 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。
    • 3. 发明授权
    • Precision spacecraft payload platforms
    • 精密航天器有效负载平台
    • US07547870B2
    • 2009-06-16
    • US11400874
    • 2006-04-10
    • Ketao LiuGregory S. BeckerPeter J. SedivecDouglas Bender
    • Ketao LiuGregory S. BeckerPeter J. SedivecDouglas Bender
    • G01C21/02G01N21/86G01B11/26B64G1/36
    • G01S5/163G01B11/272
    • 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.
    • 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。