CN101093397B - System for controlling satellite attitude and track based on network on satellites - Google Patents
System for controlling satellite attitude and track based on network on satellites Download PDFInfo
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Abstract
A satellite attitude and orbit control system based on satellite network is prepared for sending transfer order for obtaining information to certain assigned intelligent sensor with microprocessor through satellite network for making satellite affairs dispatch unit obtain relevant information, sending control command to certain assigned intelligent execution element by dispatch unit through satellite network after calculation, executing said control command by intelligent execution element with microprocessor in order to make satellite be moved for realizing control purpose after control command is received by said execution element.
Description
Technical field
The present invention relates to a kind of attitude of satellite and control system, the particularly a kind of attitude of satellite and control system based on the CAN bus based on the star online.
Background technology
The attitude of satellite and track control implementation method all adopts the centralized control based on the management of appearance control central computer at present, and Fig. 1 provides a typical small satellite attitude and control system is formed.As shown in Figure 1, this system is the center with the control computer, is connected respectively with peripheral interface circuit case, various sensor, topworks with various cables, forms complicated separately independently " casing-cable " structure.This structure is not only made complexity, and weight and power consumption are bigger, also brings dumbly and reduce difficulty such as satellite viability in the reply of rail burst incident, is unsuitable for the further application of moonlet.
Development along with control and infotech, fieldbus 20th century the mid-80 grow up, the field control technology of following becomes a 21 century focus paying close attention to of automation field, forming field control system (Field Control System, FCS).Fieldbus is not only a network, and is an open control system.The advantage of FCS is expected to solve present moonlet many automation issues in service.In space industry, how to realize FCS, also do not begin at home, also rare abroad report.Directly adopt FCS on the satellite, the main problem that exists: (1) how will have the attitude of satellite now and control system is transformed into FCS; (2) how to construct parts such as the sensor of spaceborne FCS and topworks, how will have parts such as spaceborne sensor and topworks now and become the parts that are fit to FCS; (3) how to construct the control loop of spaceborne FCS, how on satellite, to realize the FCS control mechanism; (4) how will have the attitude of satellite and the various control models of control system and handover mechanism thereof now and be transformed into the method that adapts to FCS; (5) how to formulate the agreement of star online, particularly formulate application layer protocol, be fit to the application layer protocol of the characteristics such as highly reliable, resource-constrained of satellite application, the application layer protocol of present existing every profession and trade itself can not be suitable for the application of satellite fully; (6) from the requirement of satellite reliability and security, and the not reworkable characteristics of satellite set out, and how to design problems such as FCS.
Summary of the invention
Technology of the present invention is dealt with problems: overcome the deficiencies in the prior art, a kind of attitude of satellite and control system based on the star online is provided, this system has solved the attitude of satellite and the track control implementation issue of employing field bus control system (FCS), improve reliability, real-time, the security of the control of the attitude of satellite and track, reduced the complexity and the degree of difficulty of the attitude of satellite and control system.
Technical solution of the present invention: a kind of attitude of satellite and control system based on the star online, its characteristics are to comprise: the star online, the Star Service scheduling unit, the intelligent sensor parts and the intelligent topworks that has microprocessor that have microprocessor, the intelligent sensor parts that wherein have microprocessor can increase and decrease as required with the intelligent execution unit that has microprocessor.The Star Service scheduling unit obtains the information transfer order to the intelligent sensor parts that have microprocessor of certain appointment by star online transmission, thereby these intelligent sensor parts that have microprocessor obtain after the transfer order information that it is responsive and send on the star and make the Star Service scheduling unit obtain this information on the net, by this kind transfer order, after acquiring the metrical information of each intelligent sensor that has microprocessor, the Star Service scheduling unit calculates through control algolithm, by the intelligent execution unit that have microprocessor of star online transmitting control commands to certain appointment, thereby the intelligent execution unit that has microprocessor obtains the execution of order back makes celestial body move, and reaches the control purpose.
The online of described star constitutes for double-redundancy CAN (Controller Area Network) bus fully independently, and when guaranteeing a bus failure so physically, another bus still can communicate, and has guaranteed the unimpeded, safe, reliably of rail control loop.
The described intelligent sensor that has microprocessor comprises sensor probe or opticator, signal conditioning circuit, administrative unit MEU (Manage Execute Unit) and bus interface, the responsive measurand signal of sensor probe or opticator becomes it into simulating signal, after the simulating signal that will be measured by signal conditioning circuit is carried out filtering, integration and is amplified, export administrative unit MEU to and carry out analog to digital conversion, digital signal processing, by bus interface data transmission to star is surfed the Net again; In addition, administrative unit MEU can carry out instruction control, parameter setting, the adjustment of data and detect maintenance etc. certainly signal conditioning circuit and sensor probe by instruction.
The described intelligent execution unit that has microprocessor comprises topworks, driving circuit, administrative unit MEU and bus interface, bus interface obtains the steering order from the star online, deliver to administrative unit MEU, administrative unit MEU carries out interpretation to the steering order that receives, separate packet, drive by driving circuit then and hold mechanism action.In addition, management MEU also has the self check maintenance function.
The present invention's advantage compared with prior art is:
(1)) the present invention is because in attitude of satellite sensor and topworks, embed special-purpose microcontroller, make it form intelligent parts, communication node as the star online, and enter attitude and track control loop, bear corresponding work in the attitude of satellite and the track control procedure, the common attitude of satellite and the track control function of realizing, therefore, simplified the complicacy of satellite attitude control system, reduce the risk of satellite attitude control system, improved reliability, real-time and the security of the attitude of satellite and track control.
(2) attitude control and the online of track control loop use star realize, need not set up its special-purpose control loop in addition, reduce the structure complexity of cable on the star, and help making up formation various control loop, select in using for control.
(3) the star online makes things convenient for the hardware and the soft resources of attitude and track control to share, and is implemented in rail reconstruct and limited at the rail repair function easily;
(4) satellite online is dual redundant bus fully independently, and when guaranteeing a bus failure so physically, another bus still can communicate, and has guaranteed the unimpeded, safe, reliably of rail control loop.
(5) realize rail control mode switch and the selection of various control loop with star online management, flexible, alleviate rail control loop hardware and software complexity;
(6)) by star online common highway, broadcast distribution is directly passed on, and avoids control information to transmit through appearance control central computer, shortens the control procedure delay time, helps the stability of closed-loop control process;
(7) interconnectivity and the interoperability of utilizing star to surf the Net realizes the built-in simulation work at rail test and satellite rail control to the rail control loop easily, makes things convenient for satellite production and exploitation.
Description of drawings
Fig. 1 is the composition synoptic diagram of conventional satellite attitude and orbit control system;
Fig. 2 is a composition synoptic diagram of the present invention;
Fig. 3 is of the present invention at rail control procedure synoptic diagram;
Fig. 4 is an intelligence sensor block diagram of the present invention;
Structural representation when Fig. 5 is magnetometer for the sensor probe in the intelligence sensor of the present invention;
Fig. 6 is the structural representation of optical fibre gyro for intelligence sensor of the present invention;
Fig. 7 is an intelligent topworks of the present invention block diagram;
Fig. 8 is the block diagram of propelling IEM of the present invention;
Fig. 9 is the structured flowchart of administrative unit MEU of the present invention;
Figure 10 is the functional block diagram of Star Service scheduling unit of the present invention;
Figure 11 is the process flow diagram of Star Service scheduling unit track task of the present invention;
Figure 12 is the process flow diagram of Star Service scheduling unit attitude filter task of the present invention;
Figure 13 is the process flow diagram of Star Service scheduling unit attitude control task of the present invention;
Figure 14 is the process flow diagram of Star Service scheduling unit Star Service scheduler task of the present invention.
Embodiment
Shown in Fig. 2,3, the present invention includes the online of Star Service scheduling unit, CAN bus star, have the intelligent sensor parts of microprocessor and have the execution unit of microprocessor, the intelligent sensor parts that wherein have microprocessor comprise optical fibre gyro IEM, sun sensor IEM, infrared horizon IEM, terrestrial magnetic field survey appearance IEM, stellar camera IEM, and above-mentioned these intelligent sensor parts can increase and decrease as required; The intelligent execution unit that has microprocessor comprises momenttum wheel IEM, three magnetic torquer IEM, thruster IEM etc., and above-mentioned intelligent topworks can increase and decrease as required.IEM is the abbreviation of integrated electronic modules (IntegratedElectronics Module).
As Fig. 2, shown in 3, control procedure of the present invention: the Star Service scheduling unit obtains the information transfer order to the intelligent sensor parts that have microprocessor of certain appointment by star online transmission, thereby these intelligent sensor parts that have microprocessor obtain after the transfer order information that it is responsive and send on the star and make the Star Service scheduling unit obtain this information on the net, by this kind transfer order, after acquiring the metrical information of each intelligent sensor that has microprocessor, scheduling unit calculates through control algolithm, by the intelligent execution unit that have microprocessor of star online transmitting control commands to certain appointment, thereby the intelligent execution unit that has microprocessor obtains the execution of order back makes celestial body move, and reaches the control purpose.
As shown in Figure 4, the intelligent sensor that has microprocessor comprises sensor probe or opticator, signal conditioning circuit, administrative unit MEU and bus interface, the responsive measurand signal of sensor probe or opticator becomes it into simulating signal, the simulating signal that will be measured by signal conditioning circuit carry out filtering, integration big after, export administrative unit MEU to and carry out analog to digital conversion, digital signal processing, by bus interface data transmission to star is surfed the Net again; In addition, administrative unit MEU can carry out instruction control, parameter setting, the adjustment of data and detect maintenance etc. certainly signal conditioning circuit and sensor probe by instruction.
In addition, intelligent sensor also has proxy module, under Star Service scheduling unit abnormal conditions, under Star Service scheduling unit abnormal conditions, administrative unit MEU starts proxy module, substitutes the Star Service scheduling unit by proxy module and finishes control law calculating and control scheduling feature.The scheduler program of proxy module and Star Service scheduling unit is basic identical.
Sensor probe is optical fibre gyro, magnetometer, sun sensor, earth sensor etc., and opticator is a camera etc.Traditional star sensor, earth sensor, sun sensor, optical fibre gyro and stellar camera all add that by sensor probe or opticator signal conditioning circuit forms, therefore all are prior aries according to each sensor (as optical fibre gyro, magnetometer, sun sensor and other sensors) head and signal conditioning circuit, the present invention has just added administrative unit MEU and bus interface, form the intelligence sensor of intelligent universal interface, bus interface is a fieldbus interface chip, as 82C250 etc.
As shown in Figure 5, when above-mentioned sensor probe is magnetometer, the intelligent sensor that has microprocessor comprises magnetometer probe, signal conditioning circuit, administrative unit MEU, terrestrial magnetic field knowledge base and field-bus interface, and magnetometer probe measurand signal becomes it into simulating signal; The simulating signal that signal conditioning circuit will be measured is carried out filtering, integration amplifies; Administrative unit MEU carries out analog to digital conversion then, digital signal processing obtains tested terrestrial magnetic field data, again the tested terrestrial magnetic field data and the local terrestrial magnetic field data that obtain the terrestrial magnetic field knowledge base of tabling look-up are compared, carry out the attitude misalignment that coordinate transform obtains satellite by both geomagnetic field intensity differences; By field-bus interface the attitude misalignment of satellite is sent to the star online according to transfer order; In addition, administrative unit MEU can carry out instruction control, parameter setting, the adjustment of data and self check maintenance to signal conditioning circuit and magnetometer probe by instruction.Terrestrial magnetic field knowledge base wherein can be in advance demarcated by usual way, deposits among the administrative unit MEU, and field-bus interface is a fieldbus interface chip, as 82C250 etc.
As shown in Figure 6, when above-mentioned sensor probe is optical fibre gyro, the intelligent sensor that has microprocessor comprises optical fibre gyro light path and metering circuit part thereof, signal conditioning circuit, administrative unit MEU, parameter correction, angle is estimated and field-bus interface, the light that optical fibre gyro light path and metering circuit part thereof are sent by light source moves at optical fiber loop, when gyro is in motion state following time, the standing wave phase place difference of two-beam that makes two relative motions, can detect by the light path phase detectors, will by signal conditioning circuit this signal be carried out filtering at detected signal, integration amplifies; Administrative unit MEU carries out analog to digital conversion then, obtains the attitude angle information that the gyro sensitivity arrives; , to analysis-by-synthesis such as the gyro drift are stable and float at random the attitude angle information that measures is proofreaied and correct by the parameter correction module, obtain the relatively attitude angular velocity of standard; Estimate module by angle, attitude angular velocity is carried out integration, obtain the attitude angle.In addition, administrative unit MEU can partly carry out instruction control to signal conditioning circuit and optical fibre gyro light path and metering circuit thereof by instruction.Field-bus interface is a fieldbus interface chip, as 82C250 etc.
As shown in Figure 7, the intelligent execution unit that has microprocessor comprises: topworks, driving circuit, administrative unit MEU and bus interface, bus interface obtains the steering order from the star online, deliver to administrative unit MEU, administrative unit MEU carries out interpretation to the steering order that receives, separate packet, drive by driving circuit then and hold mechanism action.Topworks comprises magnetic torquer, nozzle (gas source valve) and momenttum wheel etc.
In addition, the intelligence execution unit also has proxy module, under Star Service scheduling unit abnormal conditions, under Star Service scheduling unit abnormal conditions, administrative unit MEU starts proxy module, substitutes the Star Service scheduling unit by proxy module and finishes control law calculating and control scheduling feature.The scheduler program of proxy module and Star Service scheduling unit is basic identical.
As shown in Figure 8, when above-mentioned topworks is nozzle, thruster IEM structured flowchart comprises propelling topworks, driving circuit, administrative unit MEU, proxy module and bus interface, bus interface obtains the steering order from the star online, deliver to administrative unit MEU, administrative unit MEU carries out interpretation to the steering order that receives, and separates packet, drives by driving circuit then and holds mechanism action.Under Star Service scheduling unit abnormal conditions, angle of rake scheduling unit starts proxy module, and the control law that can be substituted the Star Service scheduling unit by proxy module calculates and control functions such as scheduling.Field-bus interface is a fieldbus interface chip, as 82C250 etc.The scheduler program of proxy module and Star Service scheduling unit is basic identical.
As shown in Figure 9, administrative unit MEU comprises: microprocessor, real-time multi-task operating system, universal digital interface (GPIO), multipath A/D converter (12 AD), digital to analog converter (10 DA), two-way CAN bus controller are CAN bus controller A and CAN bus controller B, program storage (64k byte), data-carrier store (4k byte), external memory storage (2M byte), boundary scan mouth (JTAG) etc.The CAN bus controller be responsible for to the bus data that receives carry out station address identification, data are separated frame, filtering, send the framing of bus data etc.; The transfer order that administrative unit is come from the star online, by universal digital interface (GPIO) or digital to analog converter (DA) control intelligence sensor or the action of intelligent topworks, obtain the information and the state loopback Star Service scheduling unit of intelligence sensor and intelligent execution unit by universal digital interface (GPIO) or analog to digital converter (AD).External memory storage is used for stored data base, expand on the star storage capacity and accelerate travelling speed on the star, and administrative unit utilizes general boundary scan interface (JTAG) to carry out hardware and software debugging, is implemented in sequence of threads and revises.Administrative unit MEU combines closely by real-time multi-task operating system and administrative unit microprocessor and peripheral interface, realizes a unitized applied environment, is networking, the intellectuality that has realized intelligent parts.Management performance element MEU realizes bus interface and attitude control based on the star online as the general-purpose interface of sensor and topworks.
As shown in figure 10, the Star Service scheduling unit adopts real-time multi-task operating system to design, comprising system software and application software.Wherein system software comprises interrupt service routine and operating system again.Interrupt service routine comprises interrupt service routines such as the interruption of CAN bus, timeslice interruption; Real-time multi-task operating system provides functions such as multiple task management, time management, semaphore management, memory management; Application software comprises four tasks: track calculation task, attitude control task, attitude filter task and bus scheduling task; The bus scheduling task sends transfer order to the star online by the Star Service scheduling unit, obtain the data of each on-board equipment from the star on the net, using these data in track task and attitude filter task carries out track and calculates and Filtering Processing, attitude information after will handling is then given the attitude control task, the attitude control task is calculated according to control algolithm, then the control data that calculates is sent to the star online.The execution unit of online correspondence is controlled after receiving control data on request on the star.
As shown in figure 11, the flow process of track calculation task is with acquisition preliminary orbit data, calculates the orbit parameter of this moment track then according to certain time, and then calculates short-period orbit perturbation amount in this moment; The 3rd step was carried out Precise Orbit calculating again, thereby obtained the Precise Orbit data, calculated the position and the speed of satellite at last by the Precise Orbit data.This task is all carried out above-mentioned calculation procedure at each control cycle.
As shown in figure 12, the flow process of attitude filter task is to obtain satellite velocities and position vector by orbit information, then in conjunction with the attitude signal of sensor, carries out attitude of satellite filtering and decides appearance work with two vectors, obtains final attitude information.This task is all carried out above-mentioned calculation procedure at each control cycle.
As shown in figure 13, the flow process of attitude control task is the final attitude information that obtains satellite, calculate control signal according to control algolithm (comprising that PID control control momenttum wheel and octant control advance scheduling algorithm) then, send to execution unit by the star online then and carry out.This task is all carried out above-mentioned calculation procedure at each control cycle.
As shown in figure 14, the flow process of bus scheduling task is exactly attitude information, orbit information and other information that obtains satellite by transfer order, knows that the attitude information that need obtain is enough, thereby obtains original attitude and orbit information.This task is all carried out above-mentioned step at each control cycle.
Claims (10)
1. the attitude of satellite and control system based on a star online, it is characterized in that comprising: the star online, the Star Service scheduling unit, the intelligent sensor parts and the intelligent execution unit that has microprocessor that have microprocessor, the intelligent sensor parts and the intelligent execution unit that wherein have microprocessor increase and decrease as required, the Star Service scheduling unit obtains the information transfer order to the intelligent sensor parts that have microprocessor of certain appointment by star online transmission, thereby these intelligent sensor parts that have microprocessor obtain after the transfer order information that it is responsive and send on the star and make the Star Service scheduling unit obtain this information on the net, by this kind transfer order, after acquiring the metrical information of each intelligent sensor that has microprocessor, the Star Service scheduling unit carries out control law and calculates, by the intelligent execution unit that have microprocessor of star online transmitting control commands to certain appointment, thereby the intelligent execution unit that has microprocessor obtains the execution of order back makes celestial body move, and reaches the purpose of control scheduling; The online of described star is dual-redundant CAN bus formation fully independently.
2. the attitude of satellite and control system based on the star online according to claim 1, it is characterized in that: the described intelligent sensor that has microprocessor comprises sensor probe or opticator, signal conditioning circuit, administrative unit MEU and bus interface, the responsive measurand signal of sensor probe or opticator becomes it into simulating signal, carry out filtering by the simulating signal that signal conditioning circuit will be measured, after integration amplifies, export administrative unit MEU to and carry out analog to digital conversion, digital signal processing is surfed the Net data transmission to star by bus interface again; In addition, administrative unit MEU also carries out instruction control, parameter setting, the adjustment of data and self check maintenance by instruction to signal conditioning circuit and sensor probe.
3. the attitude of satellite and control system based on the star online according to claim 1, it is characterized in that: described intelligent sensor also has proxy module, under Star Service scheduling unit abnormal conditions, administrative unit MEU starts proxy module, and proxy module substitutes the Star Service scheduling unit and finishes control law calculating and control scheduling feature.
4. the attitude of satellite and control system based on the star online according to claim 1, it is characterized in that: when the sensor probe in the described intelligent sensor that has a microprocessor is magnetometer, the intelligent sensor that has microprocessor comprises magnetometer probe, signal conditioning circuit, administrative unit MEU, terrestrial magnetic field knowledge base and field-bus interface, and magnetometer probe measurand signal becomes it into simulating signal; The simulating signal that signal conditioning circuit will be measured is carried out filtering, integration amplifies; Administrative unit MEU carries out analog to digital conversion afterwards, digital signal processing obtains tested terrestrial magnetic field data, again the tested terrestrial magnetic field data and the local terrestrial magnetic field data that obtain the terrestrial magnetic field knowledge base of tabling look-up are compared, carry out the attitude misalignment that coordinate transform obtains satellite by both geomagnetic field intensity differences; By field-bus interface the attitude misalignment of satellite is sent to the star online according to transfer order; In addition, administrative unit MEU also carries out instruction control, parameter setting, the adjustment of data and self check maintenance by instruction to signal conditioning circuit and magnetometer probe.
5. the attitude of satellite and control system based on the star online according to claim 2, it is characterized in that: when described sensor probe is optical fibre gyro, the intelligent sensor that has microprocessor comprises optical fibre gyro light path and metering circuit part, signal conditioning circuit, administrative unit MEU, parameter correction, angle is estimated and field-bus interface, and optical fibre gyro light path and metering circuit part thereof are carried out filtering, integration amplification with detected signal by signal conditioning circuit; Carry out analog to digital conversion by administrative unit MEU, obtain the attitude angle information that the gyro sensitivity arrives; , to the gyro drift stability and the analysis-by-synthesis of floating at random the attitude angle information that measures is proofreaied and correct by the parameter correction module, obtain relatively accurate attitude angular velocity; Estimate module by angle again, attitude angular velocity is carried out integration, obtain the attitude angle; In addition, administrative unit MEU also partly carries out instruction control by instruction to signal conditioning circuit and optical fibre gyro light path and metering circuit thereof.
6. the attitude of satellite and control system based on the star online according to claim 1, it is characterized in that: the described intelligent execution unit that has microprocessor comprises topworks, driving circuit, administrative unit MEU and bus interface, bus interface obtains the steering order from the star online, deliver to administrative unit MEU, administrative unit MEU carries out interpretation to the steering order that receives, separate packet, drive by driving circuit then and hold mechanism action; In addition, administrative unit MEU also has the self check maintenance function.
7. the attitude of satellite and control system based on the star online according to claim 1, it is characterized in that: described intelligent execution unit also has proxy module, under Star Service scheduling unit abnormal conditions, administrative unit MEU starts proxy module, substitutes the Star Service scheduling unit by proxy module and finishes control law calculating and control scheduling feature.
8. the attitude of satellite and control system based on the star online according to claim 6, it is characterized in that: when described topworks is nozzle, intelligence topworks is thruster IEM, it comprises propelling topworks, driving circuit, administrative unit MEU, proxy module and bus interface, bus interface obtains the steering order from the star online, deliver to administrative unit MEU, administrative unit MEU carries out interpretation to the steering order that receives, separate packet, drive by driving circuit then and hold mechanism action; Under Star Service scheduling unit abnormal conditions, administrative unit MEU starts proxy module, substitutes the Star Service scheduling unit and finishes control law calculating and control scheduling feature.
9. according to the described attitude of satellite and control system one of among the claim 2-8 based on the star online, it is characterized in that: described administrative unit MEU comprises: microprocessor, real-time multi-task operating system, universal digital interface, analog to digital converter, digital to analog converter, program storage, data-carrier store, external memory storage, CAN bus controller A and B, boundary scan mouth, solidify real-time multi-task operating system in the microprocessor, application software is developed on real-time multi-task operating system and is moved; From the transfer order that the star online comes, deliver to microprocessor by digital interface or digital to analog converter, after microprocessor is handled, obtain the information and the state loopback Star Service scheduling unit of intelligence sensor and intelligent execution unit again by digital interface or analog to digital converter; The CAN bus interface controller is responsible for receiving and sending data, carries out data, filtering, the framing of bus and distributes, unpacks processing capacity; External memory storage is used for stored data base, expand on the star storage capacity and accelerate travelling speed on the star, and program storage is used for storage control program, and data-carrier store is stored data respectively; Boundary scan interface is used for the hardware and software debugging.
10. the attitude of satellite and control system based on the star online according to claim 1, it is characterized in that: described Star Service scheduling unit comprises real-time multi-task operating system, the track calculation task, the attitude control task, attitude filter task and bus scheduling task, the bus scheduling task sends transfer order to the star online, obtain the data of each on-board equipment from the star on the net, track task and attitude filter task adopt these data to carry out track and calculate and Filtering Processing, give the attitude control task with the attitude information after handling, the attitude control task is calculated according to control algolithm, the control data that calculates is sent to the star online, controls on request after the corresponding execution unit of star online receives control data.
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| CN110422343B (en) * | 2019-07-15 | 2021-02-09 | 北京控制工程研究所 | On-orbit maintenance method of attitude and orbit control computer on satellite |
| CN112017106B (en) * | 2020-08-27 | 2023-12-29 | 上海航天控制技术研究所 | Composite view field distributed digital signal processing system and scheduling method |
| CN115542823B (en) * | 2022-11-25 | 2023-03-07 | 北京布局未来教育科技有限公司 | Satellite monitoring control circuit |
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| US6024327A (en) * | 1997-05-15 | 2000-02-15 | Electronics And Telecommunications Research Institute | Method and apparatus for intelligent attitude and orbit control onboard a satellite |
| US6237876B1 (en) * | 2000-07-28 | 2001-05-29 | Space Systems/Loral, Inc. | Methods for using satellite state vector prediction to provide three-axis satellite attitude control |
| CN1453186A (en) * | 2002-04-26 | 2003-11-05 | 株式会社日立制作所 | Artificial satellite signal receiving method, receiving apparatus, transmitting method and information system |
| CN1789082A (en) * | 2005-12-16 | 2006-06-21 | 西安电子科技大学 | Infra-red width difference method for determining posture of on-track geosynchronous spinning satellite |
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| US6024327A (en) * | 1997-05-15 | 2000-02-15 | Electronics And Telecommunications Research Institute | Method and apparatus for intelligent attitude and orbit control onboard a satellite |
| US6237876B1 (en) * | 2000-07-28 | 2001-05-29 | Space Systems/Loral, Inc. | Methods for using satellite state vector prediction to provide three-axis satellite attitude control |
| CN1453186A (en) * | 2002-04-26 | 2003-11-05 | 株式会社日立制作所 | Artificial satellite signal receiving method, receiving apparatus, transmitting method and information system |
| CN1789082A (en) * | 2005-12-16 | 2006-06-21 | 西安电子科技大学 | Infra-red width difference method for determining posture of on-track geosynchronous spinning satellite |
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| JP特开平9-226700A 1997.09.02 |
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