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.



 

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