초록 ▼

A method and apparatus for determining star tracker misalignments is disclosed. The method comprises the steps of defining a defining a reference frame for the star tracker assembly according to a boresight of the primary star tracker and a boresight of a second star tracker wherein the boresight of

A method and apparatus for determining star tracker misalignments is disclosed. The method comprises the steps of defining a defining a reference frame for the star tracker assembly according to a boresight of the primary star tracker and a boresight of a second star tracker wherein the boresight of the primary star tracker and a plane spanned by the boresight of the primary star tracker and the boresight of the second star tracker at least partially define a datum for the reference frame for the star tracker assembly; and determining the misalignment of the at least one star tracker as a rotation of the defined reference frame.

대표청구항 ▼

A method and apparatus for determining star tracker misalignments is disclosed. The method comprises the steps of defining a defining a reference frame for the star tracker assembly according to a boresight of the primary star tracker and a boresight of a second star tracker wherein the boresight of

A method and apparatus for determining star tracker misalignments is disclosed. The method comprises the steps of defining a defining a reference frame for the star tracker assembly according to a boresight of the primary star tracker and a boresight of a second star tracker wherein the boresight of the primary star tracker and a plane spanned by the boresight of the primary star tracker and the boresight of the second star tracker at least partially define a datum for the reference frame for the star tracker assembly; and determining the misalignment of the at least one star tracker as a rotation of the defined reference frame. automated robotic devices, and the receptacle comprises an engagement pin hole formed in the second one of the plurality of automated robotic devices, the engagement pin hole adapted to receive the engagement pin. 6. The system of claim 5 wherein the engagement pin is selectively extendable from a portion of the first one of the plurality of automated robotic devices. 7. The system of claim 4 wherein the data storage library includes a plurality of rails for use in providing the plurality of automated robotic devices access to the plurality of cells, each of the plurality of automated robotic devices includes a chassis for use in supporting the gripper, the chassis having the engagement pin hole formed therein, each chassis is moveable along at least one of the plurality of rails in a first direction, and each gripper is movable along the chassis in a second direction substantially perpendicular to the first direction. 8. The system of claim 1 wherein the first automated robotic device has access to a first group of the plurality of storage cells defining a first portion of the library and the second automated robotic device has access to a second group of the plurality of storage cells defining a second portion of the library, the second portion of the library different than the first portion of the library, and wherein, when the engager is received by the receptacle, the engager extends into the second portion of the library. 9. The system of claim 5 wherein the data storage library includes a plurality of rails for use in providing the plurality of automated robotic devices access to the plurality of cells, each of the plurality of automated robotic devices includes a gripper for use in gripping the cartridges, the gripper having the engagement pin attached thereto, and a chassis for use in supporting the gripper, the chassis having the engagement pin hole formed therein, each chassis is moveable along at least one of the plurality of rails in a first direction, and each gripper is movable along the chassis in a second direction substantially perpendicular to the first direction. 10. The system of claim 9 wherein the engagement pin is selectively extendable from a portion of the gripper. 11. In a data storage library having a plurality of cells for holding data storage media for use in storing data, and a plurality of automated robotic devices for use in retrieving data storage media from the plurality of cells, a method for recovering an inoperable automated robotic device, the method comprising: providing an engager operatively connected to a first one of the plurality of automated robotic devices, wherein, when a second one of the plurality of automated robotic devices becomes inoperable, the first one of the plurality of automated robotic devices is driven to a position proximate the second one of the plurality of automated robotic devices so that the engager contacts the second one of the plurality of automated robotic devices and the first one of the plurality of automated robotic devices is operable to drive the second one of the plurality of automated robotic devices to a recovery locations; wherein the first automated robotic device has access to a first group of the plurality of storage cells defining a first portion of the library and the second automated robotic device has access to a second group of the plurality of storage cells defining a second portion of the library, the second portion of the library different than the first portion of the library, and wherein, when the engager contacts the second automated robotic device, the engager extends into the second portion of the library. 12. The method of claim 11 wherein the engager is stored in one of the plurality of cells, and the first one of the plurality of robotic devices retrieves the engager from the one of the plurality of cells. 13. The method of claim 12 wherein each of the plurality of automated robotic devices includes a gripper for use in g ripping data storage media, and the first one of the plurality of robotic devices retrieves the engager from the one of the plurality of cells using the gripper. 14. The method of claim 13 further comprising providing a receptacle formed in the second one of the plurality of automated robotic devices and adapted to receive the engager. 15. The method of claim 14 wherein the engager comprises an engagement pin connected to a base, the base adapted to be gripped by the gripper, and wherein the receptacle comprises an engagement pin hole formed in the second one of the plurality of automated robotic devices, the engagement pin hole adapted to receive the engagement pin. 16. The method of claim 11 further comprising providing a receptacle formed in the second one of the plurality of automated robotic devices and adapted to receive the engager. 17. The method of claim 16 wherein the engager comprises an engagement pin attached to the first one of the plurality of automated robotic devices, and the receptacle comprises an engagement pin hole formed in the second one of the plurality of automated robotic devices, the engagement pin hole adapted to receive the engagement pin. 18. The method of claim 17 wherein the engagement pin is selectively extendable from a portion of the first one of the plurality of automated robotic devices. 19. The method of claim 15 wherein the data storage library includes a plurality of rails for use in providing the plurality of automated robotic devices access to the plurality of cells, each of the plurality of automated robotic devices includes a chassis for use in supporting the gripper, the chassis having the engagement pin hole formed therein, each chassis is moveable along at least one of the plurality of rails in a first direction, and each gripper is movable along the chassis in a second direction substantially perpendicular to the first direction. 20. The method of claim 17 wherein the data storage library includes a plurality of rails for use in providing the plurality of automated robotic devices access to the plurality of cells, each of the plurality of automated robotic devices includes a gripper for use in gripping the cartridges, the gripper having the engagement pin attached thereto, and a chassis for use in supporting the gripper, the chassis having the engagement pin hole formed therein, each chassis is moveable along at least one of the plurality of rails in a first direction, and each gripper is movable along the chassis in a second direction substantially perpendicular to the first direction. 21. The method of claim 20 wherein the engagement pin is selectively extendable from a portion of the gripper. 22. The method of claim 13 wherein the engager comprises an engagement pin connected to a base, the base adapted to be gripped by the gripper. 23. The method of claim 11 wherein the engager comprises an engagement pin attached to the first one of the plurality of automated robotic devices. 24. The method of claim 23 wherein the engagement pin is selectively extendable from a portion of the first one of the plurality of automated robotic devices. 25. The method of claim 21 wherein the data storage library includes a plurality of rails for use in providing the plurality of automated robotic devices access to the plurality of cells, each of the plurality of automated robotic devices includes a chassis for use in supporting the gripper, each chassis is moveable along at least one of the plurality of rails in a first direction, and each gripper is movable along the chassis in a second direction substantially perpendicular to the first direction. 26. The method of claim 22 wherein the data storage library includes a plurality of rails for use in providing the plurality of automated robotic devices access to the plurality of cells, each of the plurality of automated robotic devices includes a gripper for use in gripping the cartridges, the gripper having the engagement pin attached thereto, and a chassis for use in supporting the gripper, each chassis is moveable along at least one of the plurality of rails in a first direction, and each gripper is movable along the chassis in a second direction substantially perpendicular to the first direction. 27. The method of claim 26 wherein the engagement pin is selectively extendable from a portion of the gripper.