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1. 发明授权

US09764858B2 Model predictive control of spacecraft 有权
公开(公告)号：US09764858B2
公开(公告)日：2017-09-19
申请号：US14591298
申请日：2015-01-07
申请人： Mitsubishi Electric Research Laboratories, Inc.
发明人： Avishai Weiss , Stefano Di Cairano , Uros Kalabic
IPC分类号： B64G1/24 , G05D1/10 , G05D1/08
CPC分类号： G05D1/0883 , B64G1/242 , B64G1/26 , B64G1/28 , B64G1/283 , B64G1/286 , B64G2001/245 , G05D1/10
摘要： A method controls an operation of a spacecraft according to a model of the spacecraft. The method determines control inputs for controlling concurrently thrusters of the spacecraft and momentum exchange devices of the spacecraft using an optimization of a cost function over a receding horizon subject to constraints on a pose of the spacecraft and constraints on inputs to the thrusters. The cost function includes components for controlling the pose of the spacecraft and a momentum stored by the momentum exchange devices. The method generates a command to control concurrently the thrusters and the momentum exchange devices according to at least a portion of the control inputs.

2. 发明授权

US09751645B2 Apparatus and method for controlling a satellite 有权
公开(公告)号：US09751645B2
公开(公告)日：2017-09-05
申请号：US14955514
申请日：2015-12-01
申请人： KOREA AEROSPACE RESEARCH INSTITUTE
发明人： Moon Jin Jeon , Sang Rok Lee , Hui Kyung Kim , Eung Hyun Kim , Seong Bin Lim , Seok Weon Choi
IPC分类号： B64G1/36 , G05D1/00 , G05F1/08 , G05D1/08
CPC分类号： B64G1/365 , G05D1/0094 , G05D1/0883
摘要： Provided is an apparatus for controlling an orbiting satellite by sensing a change in a yaw angle of the orbiting satellite and calculating a ground sample distance (GSD) based on the yaw angle. The apparatus may include a sensor configured to sense a yaw angle corresponding to yaw steering of the orbiting satellite, and a processor configured to calculate, based on the yaw angle, a GSD corresponding to a length of a pixel projected onto a planetary surface scanned by the orbiting satellite.

3. 发明授权

US09672624B2 Method for calibrating absolute misalignment between linear array image sensor and attitude control sensor 有权
公开(公告)号：US09672624B2
公开(公告)日：2017-06-06
申请号：US14646297
申请日：2013-11-15
申请人： KOREA AEROSPACE RESEARCH INSTITUTE
发明人： Hyung Joo Yoon , Hong-Taek Choi
IPC分类号： G06T7/246 , B64G1/24 , G06T7/00 , G06T7/20 , G06T5/00 , G06T3/40 , H04N5/232 , B64G1/36 , G05D1/08 , H04N1/00 , H04N5/369 , H04N17/00 , G06T7/80
CPC分类号： G06T7/80 , B64G1/361 , G05D1/0883 , G06T3/4053 , G06T3/4076 , G06T5/006 , G06T7/20 , G06T2200/21 , G06T2207/10032 , G06T2207/20221 , G06T2207/30181 , G06T2210/56 , H04N1/00 , H04N5/23232 , H04N5/3692 , H04N17/002
摘要： Provided is a method for estimating and calibrating an absolute misalignment between an attitude control sensor of a satellite or a flight vehicle imaging and transmitting ground images having high resolution and an imaging payload.

4. 发明申请

US20170073088A1 APPARATUS AND METHOD FOR CONTROLLING A SATELLITE 有权
标题翻译：用于控制卫星的装置和方法
公开(公告)号：US20170073088A1
公开(公告)日：2017-03-16
申请号：US14955514
申请日：2015-12-01
申请人： KOREA AEROSPACE RESEARCH INSTITUTE
发明人： Moon Jin JEON , Sang Rok LEE , Hui Kyung KIM , Eung Hyun KIM , Seong Bin LIM , Seok Weon CHOI
IPC分类号： B64G1/36 , G05D1/08 , G05D1/00
CPC分类号： B64G1/365 , G05D1/0094 , G05D1/0883
摘要： Provided is an apparatus for controlling an orbiting satellite by sensing a change in a yaw angle of the orbiting satellite and calculating a ground sample distance (GSD) based on the yaw angle. The apparatus may include a sensor configured to sense a yaw angle corresponding to yaw steering of the orbiting satellite, and a processor configured to calculate, based on the yaw angle, a GSD corresponding to a length of a pixel projected onto a planetary surface scanned by the orbiting satellite.
摘要翻译：提供了一种通过感测轨道卫星的偏航角的变化并基于偏航角计算地面采样距离（GSD）来控制轨道卫星的装置。该装置可以包括被配置为感测对应于轨道卫星的偏转转向的偏航角的传感器，以及被配置为基于偏航角计算与投影到行星表面上的像素的长度相对应的GSD的处理器轨道卫星。

5. 发明授权

US09551994B2 System and method for vehicle attitude control 有权
标题翻译：车辆姿态控制系统与方法
公开(公告)号：US09551994B2
公开(公告)日：2017-01-24
申请号：US14739563
申请日：2015-06-15
申请人： The Boeing Company
发明人： Gregory S. Becker , Shanshin Chen , Dennis Y. Nakasone , Erin M. Hammons
IPC分类号： G05D1/08 , B64G1/28 , B64G1/24
CPC分类号： G05D1/0883 , B64G1/00 , B64G1/283 , B64G1/285 , B64G2001/245
摘要： A dual stage vehicle attitude control system includes a first attitude control module having at least two momentum wheels arranged to provide zero momentum vehicle attitude control, each momentum wheel comprises a limited travel two axis gimbal that pivots the momentum wheel along two of the three axes of the vehicle, a second attitude control module having reaction wheels arranged in a pyramid configuration to provide vehicle attitude control along at least one control axis that is common with a control axis of the at least two momentum wheels, and a controller connected to the first attitude control module and the second attitude control module, the controller being configured to coordinate actuation of the first attitude control module and the second attitude control module to rotate the vehicle in at least one of three axes of a vehicle.
摘要翻译：双级车辆姿态控制系统包括具有布置成提供零动量车辆姿态控制的至少两个动量轮的第一姿态控制模块，每个动量轮包括有限行程双轴万向架，其将动量轮沿着三个轴的两个轴线所述车辆具有第二姿态控制模块，所述第二姿势控制模块具有以锥体结构布置的反作用轮，以沿着与所述至少两个动量轮的控制轴共同的至少一个控制轴提供车辆姿态控制;以及控制器，其连接到所述第一姿态控制模块和第二姿势控制模块，所述控制器被配置为协调所述第一姿态控制模块和所述第二姿态控制模块的致动，以使车辆在车辆的三个轴线中的至少一个轴线上旋转。

6. 发明授权

US09475592B2 Reaction sphere for stabilization and control in three axes 有权
标题翻译：用于三轴稳定和控制的反应球
公开(公告)号：US09475592B2
公开(公告)日：2016-10-25
申请号：US14170104
申请日：2014-01-31
申请人： Northrop Grumman Systems Corporation
发明人： Emory Stagmer
IPC分类号： H02K41/03 , B64G1/28 , G05D1/08
CPC分类号： B64G1/28 , G05D1/0883 , H02K11/215 , H02K41/031 , H02K2201/18
摘要： A system and method for controlling and stabilizing a satellite or other vehicle about any axis is disclosed. Embodiments achieve this three-axis control and stabilization with a spherical motor system or reaction sphere capable of storing momentum in a rotor. The spherical motor system comprises a spherical rotor having permanent magnets arranged in evenly-spaced antipodal pairs. Each of the permanent magnets are oriented with the same magnetic pole facing outward from a center of the rotor. The spherical motor system also comprises a stator which has magnetic sensors surrounding electromagnets. The spherical motor system further comprises a control system that controls timing and duration of energization of the electromagnets based on the detection of one of the permanent magnets by the magnetic sensors. Such a spherical motor system provides three-axis stabilization and control of a satellite (or other vehicle).
摘要翻译：公开了围绕任何轴线控制和稳定卫星或其他车辆的系统和方法。实施例使用能够在转子中存储动量的球形马达系统或反作用球实现这种三轴控制和稳定。球面电动机系统包括具有布置成均匀间隔的对成对的永磁体的球形转子。每个永磁体被定向成具有从转子中心向外的相同磁极。球面电动机系统还包括具有围绕电磁体的磁性传感器的定子。球面马达系统还包括控制系统，其基于通过磁性传感器检测到永磁体之一来控制电磁体通电的时间和持续时间。这样的球面电动机系统提供卫星（或其他车辆）的三轴稳定和控制。

7. 发明申请

US20160023783A1 SYSTEM, APPARATUS, AND METHOD FOR ACTIVE DEBRIS REMOVAL 有权
标题翻译：系统，设备和主动清除装置的方法
公开(公告)号：US20160023783A1
公开(公告)日：2016-01-28
申请号：US14843054
申请日：2015-09-02
申请人： The Aerospace Corporation , National Aeronautics and Space Administration
发明人： Anthony D. Griffith, SR. , Rajiv Kohli , Susan H. Burns , Stephen J. Damico , David J. Gruber , Christopher J. Hickey , David E. Lee , Travis M. Robinson , Jason T. Smith , Peter T. Spehar , David S. Adlis , Brian M. Kent
IPC分类号： B64G1/66 , B64G1/64 , B64G1/00 , B64G1/62
CPC分类号： B64G1/66 , B64G1/002 , B64G1/1078 , B64G1/24 , B64G1/242 , B64G1/283 , B64G1/36 , B64G1/361 , B64G1/363 , B64G1/401 , B64G1/402 , B64G1/425 , B64G1/428 , B64G1/44 , B64G1/62 , B64G1/64 , B64G1/646 , G05D1/00 , G05D1/0005 , G05D1/0094 , G05D1/0883 , G05D1/10 , G06F17/00
摘要： Systems, apparatuses, and methods for removal of orbital debris are provided. In one embodiment, an apparatus includes a spacecraft control unit configured to guide and navigate the apparatus to a target. The apparatus also includes a dynamic object characterization unit configured to characterize movement, and a capture feature, of the target. The apparatus further includes a capture and release unit configured to capture a target and deorbit or release the target. The collection of these apparatuses is then employed as multiple, independent and individually operated vehicles launched from a single launch vehicle for the purpose of disposing of multiple debris objects.
摘要翻译：提供了用于去除轨道碎片的系统，装置和方法。在一个实施例中，一种装置包括被配置为将装置引导和导航到目标的航天器控制单元。该装置还包括被配置为表征目标的运动和捕获特征的动态对象表征单元。该装置还包括捕获和释放单元，其被配置为捕获目标并且释放或释放目标。然后，这些装置的收集被用作从单个运载火箭发射的多个独立和单独操作的车辆，用于处置多个碎片物体。

8. 发明授权

US09187189B2 System, apparatus, and method for active debris removal 有权
标题翻译：用于主动碎屑清除的系统，设备和方法
公开(公告)号：US09187189B2
公开(公告)日：2015-11-17
申请号：US13650738
申请日：2012-10-12
申请人： The Aerospace Corporation , National Aeronautics and Space Administration
发明人： Anthony D. Griffith, Sr. , Rajiv Kohli , Susan H. Burns , Stephen J. Damico , David J. Gruber , Christsopher J. Hickey , David E. Lee , Travis M. Robinson , Jason T. Smith , Peter T. Spehar , David S. Adlis , Brian M. Kent
IPC分类号： B64G1/36 , G05D3/00 , B64G1/22 , B64G1/10 , B64G1/62 , G05D1/00 , G06F17/00 , G05D1/08 , G05D1/10
CPC分类号： B64G1/66 , B64G1/002 , B64G1/1078 , B64G1/24 , B64G1/242 , B64G1/283 , B64G1/36 , B64G1/361 , B64G1/363 , B64G1/401 , B64G1/402 , B64G1/425 , B64G1/428 , B64G1/44 , B64G1/62 , B64G1/64 , B64G1/646 , G05D1/00 , G05D1/0005 , G05D1/0094 , G05D1/0883 , G05D1/10 , G06F17/00
摘要： Systems, apparatuses, and methods for removal of orbital debris are provided. In one embodiment, an apparatus includes a spacecraft control unit configured to guide and navigate the apparatus to a target. The apparatus also includes a dynamic object characterization unit configured to characterize movement, and a capture feature, of the target. The apparatus further includes a capture and release unit configured to capture a target and deorbit or release the target. The collection of these apparatuses is then employed as multiple, independent and individually operated vehicles launched from a single launch vehicle for the purpose of disposing of multiple debris objects.
摘要翻译：提供了用于去除轨道碎片的系统，装置和方法。在一个实施例中，一种装置包括被配置为将装置引导和导航到目标的航天器控制单元。该装置还包括被配置为表征目标的运动和捕获特征的动态对象表征单元。该装置还包括捕获和释放单元，其被配置为捕获目标并且释放或释放目标。然后，这些装置的收集被用作从单个运载火箭发射的多个独立和单独操作的车辆，用于处理多个碎片物体。

9. 发明授权

US09067694B2 Position-based gyroless control of spacecraft attitude 有权
标题翻译：基于位置的陀螺仪陀螺控制
公开(公告)号：US09067694B2
公开(公告)日：2015-06-30
申请号：US13769489
申请日：2013-02-18
申请人： The Boeing Company
发明人： Dan Y. Liu , Richard Y. Chiang
IPC分类号： B64G1/24 , B64G1/26 , G05D1/08 , B64G1/36 , B64G1/28
CPC分类号： B64G1/26 , B64G1/283 , B64G1/36 , B64G1/361 , B64G2001/245 , G05D1/0883
摘要： A system and a method for commanding a spacecraft to perform a three-axis maneuver purely based on “position” (i.e., attitude) measurements. Using an “inertial gimbal concept”, a set of formulae are derived that can map a set of “inertial” motion to the spacecraft body frame based on position information so that the spacecraft can perform/follow according to the desired inertial position maneuvers commands. Also, the system and method disclosed herein employ an intrusion steering law to protect the spacecraft from acquisition failure when a long sensor intrusion occurs.
摘要翻译：用于命令航天器完全基于“位置”（即姿态）测量执行三轴机动的系统和方法。使用“惯性万向节概念”，导出一组公式，其可以基于位置信息将一组“惯性”运动映射到航天器身体框架，使得航天器可以根据期望的惯性姿态操纵命令执行/跟随。此外，本文公开的系统和方法采用入侵转向规律来保护航天器在发生长传感器入侵时不会获取故障。

10. 发明申请

US20150149001A1 MANEUVER PROCESSING 有权
标题翻译： MANEUVER加工
公开(公告)号：US20150149001A1
公开(公告)日：2015-05-28
申请号：US14521017
申请日：2014-10-22
申请人： Analytical Graphics Inc.
发明人： Matthew M. BERRY , Douglas E. CATHER
IPC分类号： B64G1/24 , B64G1/10 , G05D1/00 , B64G3/00
CPC分类号： B64G1/24 , B64G3/00 , G01C21/24 , G01S5/0294 , G05D1/0883
摘要： A computing device may detect that a space object has undergone a maneuver and may attempt to calculate a solution to that maneuver based in part on start and stop times and thrust uncertainties associated with the detected maneuver. However, the computing device may sometimes be unable to calculate an acceptable solution for a detected maneuver given these initial start and stop times and thrust uncertainties. Thus, the various embodiments provide for a computing device and methods implemented by a processor executing on the device for identifying and calculating a recovery maneuver of a space object when an acceptable solution for a detected maneuver cannot be determined. In the various embodiments, a computing device processor may generate a recovery maneuver based on the detected maneuver, and the processor may adjust the start and stop times and the uncertainty values of the recovery maneuver until an acceptable solution is found.
摘要翻译：计算设备可以检测空间物体已经经历了机动，并且可以部分地基于与检测到的机动相关联的起始和停止时间和推力不确定性来尝试计算该操纵的解。然而，考虑到这些初始启动和停止时间以及推力不确定性，计算设备有时可能无法为检测到的机动计算可接受的解决方案。因此，各种实施例提供了一种计算设备和由在设备上执行的处理器实现的方法，用于在无法确定检测到的机动的可接受的解决方案时识别和计算空间物体的恢复操作。在各种实施例中，计算设备处理器可以基于检测到的机动来生成恢复操作，并且处理器可以调整恢复操作的开始和停止时间以及不确定性值，直到找到可接受的解决方案。

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