[특허]Attitude-acquisition methods and systems for controlled spacecraft attitude

The Boeing Company

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특허 상세정보

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Attitude-acquisition methods and systems for controlled spacecraft attitude

특허상세정보
국가/구분	United States(US) Patent 등록
국제특허분류(IPC7판)	G05D-001/00
미국특허분류(USC)	701/013; 701/004; 701/222; 342/357.11; 244/158.R; 244/164
출원번호	US-0300454 (2002-11-19)
발명자 / 주소	Needelman, David D. Wu, Yeong-Wei A. Li, Rongsheng
출원인 / 주소	The Boeing Company
대리인 / 주소	Koppel, Jacobs, Patrick & Heybl
인용정보	피인용 횟수 : 8 인용 특허 : 5

초록
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Attitude acquisition methods and systems are provided which reduce the time generally required to acquire spacecraft attitude estimates and enhance the probability of realizing such estimates. The methods and systems receive, over a time span Δt, successive frames of star-sensor signals that correspond to successive stellar fields-of-view, estimate spacecraft rotation Δr throughout at least a portion of the time span Δt, and, in response to the spacecraft rotation Δr, process the star-sensor signals into a processed set of star-sensor signals that denote star positions across an expanded field-of-view that exceeds any of the successive fields-of-view. The expanded field-of-view facilitates identification of the stars that generated the processed set of star-sensor signals to thereby acquire an initial attitude estimate.

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1. A method of obtaining an attitude estimate of a spacecraft, comprising the steps of:over a time span Δt, receiving successive frames of star-sensor signals that denote star positions in successive stellar fields-of-view;estimating spacecraft rotation Δr throughout at least a portion of said time span Δt;in response to said spacecraft rotation Δr, processing said star-sensor signals into a processed set of star-sensor signals that denote star positions across an expanded field-of-view that exceeds any of said successive fields-of-view;identifying at least a portion of the stars that generated said processed set of star-sensor signals to thereby acquire an initial attitude estimate. 2. The method of claim 1, further including the steps of:providing said star-sensor signals with at least two star sensors that have respective fields-of-view with respective predetermined spatial relationships to said spacecraft; anddetermining said initial attitude estimate from said predetermined spatial relationships. 3. The method of claim 2, wherein said identifying step provides a set of identified stars and said determining step includes the steps of:in response to said identified stars and with respect to an earth-centered inertial (ECI) coordinate system, determining respective star-sensor-to-ECI spatial relationships between said star sensors and said ECI system; andcalculating said initial attitude estimate from said predetermined spatial relationships and said star-sensor-to-ECI spatial relationships. 4. The method of claim 3, further including the step of refining an estimated relative alignment between said star sensors with the aid of said star-sensor-to-ECI spatial relationships. 5. The method of claim 4, further including the step of refining said predetermined spatial relationships with the aid of said star-sensor-to-ECI spatial relationships. 6. The method of claim 1, wherein said estimating step includes the steps of:observing a position change of at least one star in at least two fields-of-view that differ by an elapsed time; anddetermining said spacecraft rotation Δr from said position change and said elapsed time. 7. The method of claim 1, wherein said estimating step includes the step of receiving attitude rate signals from at least one spacecraft gyroscope. 8. The method of claim 1, wherein said star-sensor signals also denote star magnitudes. 9. The method of claim 1, wherein said processing step includes the step of conforming, with knowledge of said spacecraft rotation Δr, star positions in said successive stellar fields-of-view to conformed positions that correspond to a common time t cm in said expanded field-of-view. 10. The method of claim 1, further including the step of continuing said processing step until said processed set of star-sensor signals satisfies a predetermined criterion. 11. The method of claim 10, wherein said processing step includes the step of adding newer ones of said star-sensor signals to said processed set of star-sensor signals until said criterion is satisfied. 12. The method of claim 10, wherein said processing step includes the step of replacing, in said processed set of star-sensor signals, older ones of said star-sensor signals with newer ones until said criterion is satisfied. 13. The method of claim 10, wherein said criterion requires star-sensor signals that correspond to a star pair, the separation of said star pair and a confirming pair of stars. 14. The method of claim 13, wherein said separation does not exceed any of said successive fields-of-view. 15. The method of claim 13, further including the step of distinguishing said star pair on the basis of the brightness of its stars. 16. The method of claim 1, wherein said identifying step includes the step of matching said processed set of star-sensor signals to a known set of stars. 17. The method of claim 16, wherein said matching step includes the step of accessing said known set from star c atalogs. 18. The method of claim 16, wherein said matching step includes the steps of:identifying candidate star pairs whose magnitude and separation substantially match the magnitude and separation of a first pair of said processed set of star-sensor signals; anddiscarding candidate star pairs that are not associated with a pair of stars whose relative positions substantially match a second pair of said processed set of star-sensor signals. 19. The method of claim 18, wherein said matching step includes the step of discarding candidate star pairs whose positions relative to an ECI coordinate system are not consistent with a predetermined attitude estimate. 20. The method of claim 1, further including the step of recursively filtering subsequent frames of star-sensor signals to realize improved subsequent estimates of said initial attitude estimate. 21. A method of controlling the attitude of a spacecraft, comprising the steps of:over a time span Δt, receiving successive frames of star-sensor signals that denote star positions in successive stellar fields-of-view;estimating spacecraft rotation Δr throughout at least a portion of said time span Δt;in response to said spacecraft rotation Δr, processing said star-sensor signals into a processed set of star-sensor signals that denote star positions across an expanded field-of-view that exceeds any of said successive fields-of-view;identifying at least a portion of the stars that generated said processed set of star-sensor signals to thereby acquire an initial attitude estimate; andin response to said initial attitude estimate, altering said attitude, with spacecraft torque generators to realize a commanded attitude. 22. The method of claim 21, further including the steps of:providing said star-sensor signals with at least two star sensors that have respective fields-of-view with respective predetermined spatial relationships to said spacecraft; anddetermining said initial attitude estimate from said predetermined spatial relationships. 23. The method of claim 22, wherein said identifying step provides a set of identified stars and said determining step includes the steps of:in response to said identified stars and with respect to an earth-centered inertial (ECI) coordinate system, determining respective star-sensor-to-ECI spatial relationships between said star sensors and said ECI system; andcalculating said initial attitude estimate from said predetermined spatial relationships and said star-sensor-to-ECI spatial relationships. 24. The method of claim 23, further including the step of refining an estimated relative alignment between said star sensors with the aid of said star-sensor-to-ECI spatial relationships. 25. The method of claim 24, further including the step of refining said predetermined spatial relationships with the aid of said star-sensor-to-ECI spatial relationships. 26. The method of claim 21, wherein said estimating step includes the steps of:observing a position change of at least one star in at least two fields-of-view that differ by an elapsed time; anddetermining said spacecraft rotation Δr from said position change and said elapsed time. 27. A spacecraft, comprising:a spacecraft body;at least one star sensor that is coupled with a known spatial relationship to said body;a torque-generation system that is coupled to said body; andat least one data processor that is programmed to perform the steps of:a) over a time span Δt, receiving, from said star sensor, successive frames of star-sensor signals that denote star positions in successive stellar fields-of-view;b) estimating spacecraft rotation Δr throughout at least a portion of said time span Δt;c) in response to said spacecraft rotation Δr, processing said star-sensor signals into a processed set of star-sensor signals that denote star positions across an expanded field-of-view that exceeds any of said successive fields-of-view;d) identifying at least a po rtion of the stars that generated said processed set of star-sensor signals to thereby acquire an initial attitude estimate; ande) in response to said initial attitude estimate, altering the attitude of said spacecraft with said torque generation system to realize a commanded attitude. 28. The spacecraft of claim 27, wherein said torque-generation system includes a momentum wheel. 29. The spacecraft of claim 27, wherein said torque-generation system includes a thruster. 30. The spacecraft of claim 27, wherein said spacecraft further includes at least one gyroscope coupled to said body and said estimating step includes the step of receiving attitude rate signals from said gyroscope. 31. The spacecraft of claim 27, further including the steps of:providing said star-sensor signals with at least two star sensors that have respective fields-of-view with respective predetermined spatial relationships to said spacecraft; anddetermining said initial attitude estimate from said predetermined spatial relationships. 32. The spacecraft of claim 31, wherein said identifying step provides a set of identified stars and said determining step includes the steps of:in response to said identified stars and with respect to an earth-centered inertial (ECI) coordinate system, determining respective star-sensor-to-ECI spatial relationships between said star sensors and said ECI system; andcalculating said initial attitude estimate from said predetermined spatial relationships and said star-sensor-to-ECI spatial relationships. 33. The spacecraft of claim 32, further including the step of refining an estimated relative alignment between said star sensors with the aid of said star-sensor-to-ECI spatial relationships. 34. The spacecraft of claim 33, further including the step of refining said predetermined spatial relationships with the aid of said star-sensor-to-ECI spatial relationships. 35. The spacecraft of claim 27, wherein said estimating step includes the steps of:observing a position change of at least one star in at least two fields-of-view that differ by an elapsed time; anddetermining said spacecraft rotation Δr from said position change and said elapsed time.

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Attitude-acquisition methods and systems for controlled spacecraft attitude

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Attitude-acquisition methods and systems for controlled spacecraft attitude

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