# Method of spatial orientation and stabilization

FIELD: measuring technique.

SUBSTANCE: method comprises determining the vector of velocity of the object in a Cartesian coordinate system, determining integral characteristics of the variation of the velocity vector as a function of the direction of motion of the object in the space, and stabilizing the trajectory of motion of the movable object on the basis of the estimations depending on the direction chosen from the stars sky.

EFFECT: enhanced reliability.

The invention relates to techniques for spatial orientation and stabilization of a moving object. It can be used mainly in systems of Autonomous control of space vehicles (ships, rockets, aircraft, marine vessels and other objects under favorable conditions for observation of the stars.

Under the orientation here refers to the coordinates of the point of location of the object in world space, definition and set the preset position of its geometric axis in a rectangular coordinate system. Under the stabilization means maintaining the angular position of the axes of the moving object oriented position.

When the orientation and stabilization of the object can be used in different coordinate systems. Because of being well-known methods of conversion of one coordinate system to another is discussed here only rectangular coordinate system with the origin at the starting point or migrated in parallel, this system with the origin at the location of the object.

The physical basis of the invention is the constancy of the angular coordinates of the stars - their independence from the moving object within the solar system, the independence of time for centuries (changing the angular coordinates for these conditions is small stake seconds of arc, which does not affect the quality of the orientation and stabilization).

The invention uses a new principle of the reference directions in world space (without gyro)based on the above-mentioned constant angular coordinates of the stars, a new way of measuring the velocity and acceleration of a moving object by radiation of the stars contained in the patent for invention № 2227302 and in the application for invention No. 2004117733/28 (019174). For this reason, it has no prototype is closest in technical essence equivalent.

The invention allows to quickly and reliably carry out the orientation and stabilization of the object with the same composition of the technical resources that can be used to measure velocity vectors and acceleration of basic physical quantities needed to solve the problems of navigation and control.

The technical essence of the invention consists in the following.

Before the movement choose three stars, measured or determined by the directory, their coordinates,

and while driving:

accept radiation from the selected stars,

- carry out the tracking of the stars over the angular coordinates,

measure the projection of the velocity vectors and acceleration of the object in the direction of stars, are as follows:

- determine the velocity vector of the object in a rectangular coordinate system,

- determine the location of the object in world space as the integral of the velocity vector at the time the EIW,

- measure the deviation of the geometric axes of the object from the selected stars,

- compare them with predetermined tolerances,

the difference in variance is used as control signal for the Executive motors angular orientation and stabilization of the object.

Under the specified deviation realize the desired task and flight conditions, the deviation of the axes of the object from the direction to the selected star.

To the longitudinal axis of the object specified direction consider the direction of the velocity vector. If it becomes necessary to set the direction for the axis different from the direction of the velocity vector, the velocity vector add auxiliary vector, the amount of which with the velocity vector gives the specified direction.

Given the direction of the transverse axis of the object is determined from the functional tasks of the flight review required part of the sky, tracking ground control, etc

To determine the deviation of the controlled object from the predetermined direction, for both longitudinal and transverse axis, can be used either followed the stars. Choose the one whose angular position is more different from the set that provides the reference position of the axes with less error.

The totality of the acts constituting the essence of the invention can be done is by using devices, produced by the domestic industry. Therefore, the possibility of carrying out the invention there is no doubt.

The method of spatial orientation and stabilization of a moving object, based on the use of radiation of the stars, the constancy of the angular coordinate, characterized in that prior to the movement choose three stars, measured or determined by the directory, their coordinates, and during the movement accept radiation from the selected stars, carry out the tracking of the stars over the angular coordinates, measure the projection of the velocity vectors and acceleration of the object in the direction of stars, they determine the velocity vector of the object in a rectangular coordinate system, determine the location of the object in world space as the integral of the velocity vector at a time, measure the deviation of the geometric axes of the object from directions on the selected stars, compare them with the target values of the deviations and the difference in variance is used as control signal for the Executive engines angular orientation and stabilization of the object.

Same patents:

FIELD: instrument industry.

SUBSTANCE: method comprises autonomous determination of the position of the instrument with respect to the horizontal plane coordinate system from the signals from the accelerometers and vector conforming of the coordinate systems for determining the position of the instrument coordinate system in azimuth.

EFFECT: enhanced precision.

1 dwg

FIELD: rocketry, spacecraft engineering, possible use for detecting direction of bearing rocket in flight.

SUBSTANCE: satellite navigation equipment and three gyro-integrators simultaneously determine values of projections of speed vector in starting and connected coordinates system respectively and transfer determined values to onboard digital computing machine, which, using received information, determines values of angles of orientation of moving object in space in accordance to algorithm for determining orientation of moving object.

EFFECT: decreased dimensions of device for realization of proposed method down to 40x40x40 millimeters (without consideration for size of onboard digital computing machine) while maintaining precision for determining angles of direction of moving object to 4 angular minutes.

2 cl, 4 dwg

FIELD: programmed positioning and orientation of mobile objects; angular orientation or positioning of spacecraft.

SUBSTANCE: proposed method includes measurement of angles of position of optical axes of astro-visual units tracking the stars relative to body-axis coordinate system. For determination of orientation of mobile object, use is made of coordinates of its center of mass in geocentric coordinate system which are determined by means of high-precision global navigation satellite system.

EFFECT: enhanced accuracy of orientation of mobile objects.

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FIELD: instrument engineering.

SUBSTANCE: device has optical spectrum filter, slit mask, multi-element photo-sensitive detector, threshold elements, photo-detector register, counter, output register, clock pulse generator. Multi-element photo-sensitive detector consists of elementary photo-detectors placed behind one another along quadratic curve. Normal lines to sensitive areas of each elementary photo-detector and quadratic curve lie in same plane.

EFFECT: higher effectiveness and efficiency.

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EFFECT: enhanced accuracy of orientation of mobile objects.

2 dwg

FIELD: rocketry, spacecraft engineering, possible use for detecting direction of bearing rocket in flight.

SUBSTANCE: satellite navigation equipment and three gyro-integrators simultaneously determine values of projections of speed vector in starting and connected coordinates system respectively and transfer determined values to onboard digital computing machine, which, using received information, determines values of angles of orientation of moving object in space in accordance to algorithm for determining orientation of moving object.

EFFECT: decreased dimensions of device for realization of proposed method down to 40x40x40 millimeters (without consideration for size of onboard digital computing machine) while maintaining precision for determining angles of direction of moving object to 4 angular minutes.

2 cl, 4 dwg

FIELD: instrument industry.

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EFFECT: enhanced precision.

1 dwg

FIELD: measuring technique.

SUBSTANCE: method comprises determining the vector of velocity of the object in a Cartesian coordinate system, determining integral characteristics of the variation of the velocity vector as a function of the direction of motion of the object in the space, and stabilizing the trajectory of motion of the movable object on the basis of the estimations depending on the direction chosen from the stars sky.

EFFECT: enhanced reliability.

FIELD: instrument industry.

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EFFECT: simplified structure.

5 cl, 2 dwg

FIELD: measurement technology.

SUBSTANCE: method can be used in moving objects' spatial orientation systems. Before beginning of movement of object, the coordinate system is chosen being comfortable for observer. Three stars are selected, along directions of which stars the speeds have to be measured and their angular coordinates are measured. After movement starts, current values of linear velocity are measured on the base of directions of navigating stars. Changes in linear velocity are calculated from directions of navigating stars, which are changes are caused by rotation of object, and basic components of angular speed vector are determined from directions of navigating stars.

EFFECT: improved precision of measurement.

Sun attitude pickup // 2308005

FIELD: measuring equipment, applicable for determination of the Sun angular coordinates in the spacecraft coordinate system.

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EFFECT: obtained information in a wide angular field with a high precision.

3 cl, 1 dwg

FIELD: onboard system for controlling spacecrafts for autonomous estimation of orbit and orientation of spacecraft body.

SUBSTANCE: method for autonomous navigation and orientation of spacecrafts includes computer calculation of position in three-dimensional space of ort of radius-vector of support (calculated, a priori assumed) orbit, rigid attachment of optical-electronic device on the body of spacecraft and measurement of coordinates and brightness of stars, which are in the field of view during navigational sessions, in it.

EFFECT: increased number of performed tasks, expanded capabilities of method application environment for any orbits, reduced number of measuring devices and mass and size characteristics of onboard system for controlling a spacecraft.

2 dwg

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