公开(公告)号：US10694148B1

公开(公告)日：2020-06-23

申请号：US16453600

申请日：2019-06-26

申请人： The Boeing Company

发明人： Rongsheng Li ,  Tung-Ching Tsao ,  Amir Leon Liaghati ,  Shanshin Chen

IPC分类号： H04N7/18

摘要： Systems and methods for providing improved navigation performance in which camera images are matched (using correlation) against reference images available from a geolocation-tagged database. An image-based navigation system partitions the camera image (corresponding to the area within the field-of-view of the camera) into a plurality of camera sub-images (corresponding to regions in that area), and then further partitions each camera sub-image into a multiplicity of tiles (corresponding to sub-regions within a region). The partitioning into camera sub-images seeks geometric diversity in the landscape. Each tile is checked for quality assurance, including feature richness, before correlation is attempted. The correlation results are further quality-checked/controlled before the results are used by the Kalman filter to generate corrections for use by the inertial navigation system. Respective lines-of-sight to multiple regions are measured using multiple tiles in each region to provide better observability and better performance.

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。