WO1991009325A1 - Dispositif rendant possible le rapprochement et la mise en contact de deux objects, notamment deux vehicules spatiaux - Google Patents

Dispositif rendant possible le rapprochement et la mise en contact de deux objects, notamment deux vehicules spatiaux Download PDF

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Publication number
WO1991009325A1
WO1991009325A1 PCT/SE1990/000816 SE9000816W WO9109325A1 WO 1991009325 A1 WO1991009325 A1 WO 1991009325A1 SE 9000816 W SE9000816 W SE 9000816W WO 9109325 A1 WO9109325 A1 WO 9109325A1
Authority
WO
WIPO (PCT)
Prior art keywords
radiation
reflector
bringing
incoming
receiver
Prior art date
Application number
PCT/SE1990/000816
Other languages
English (en)
Inventor
Anders BOSTRÖM
Original Assignee
Saab Space Aktiebolag
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Saab Space Aktiebolag filed Critical Saab Space Aktiebolag
Publication of WO1991009325A1 publication Critical patent/WO1991009325A1/fr

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Classifications

    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
    • G01S17/02—Systems using the reflection of electromagnetic waves other than radio waves
    • G01S17/06—Systems determining position data of a target
    • G01S17/42—Simultaneous measurement of distance and other co-ordinates
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
    • G01S17/87—Combinations of systems using electromagnetic waves other than radio waves
    • G01S17/875—Combinations of systems using electromagnetic waves other than radio waves for determining attitude

Definitions

  • the present invention relates to a device to make possible the bringing nearer and bringing together of a first and a second object, preferably two space vehicles, i.e. deter ⁇ mining their relative distance, azimuth angle, elevation and relative attitude angles, i.e.
  • the first object being provided with a transmitter for emitting radiation about a first axis within the optic wavelength range, such as laser light, and a receiver for receiving said radiation to the extent it is reflected by a reflector on the second object, preferably in the same direction as that of the emitted radiation, the receiver comprising a camera with radiation sensitive detector ele ⁇ ments arranged two-dimensionally in the focal plane of the camera (CCD-camera) arranged in dependence on the received radiation to emit corresponding electric signals, said re ⁇ flector comprising a number of reflector elements with a first, rather limited extension across the incoming radia ⁇ tion, preferably in the form of prisms for reflecting incoming radiation in the same direction as the incoming radiation, irrespective of what direction.
  • a transmitter for emitting radiation about a first axis within the optic wavelength range, such as laser light
  • a receiver for receiving said radiation to the extent it is reflected by a reflector on the second object, preferably in the same direction as that of the emitted radiation
  • said reflector elements are placed about the outer limitation of the spherical mirror.
  • the spherical mirror shall have a rather great extension across the incoming radiation com- pared with the extension of the reflector elements across the incoming radiation is explained by the fact that the spherical mirror will mainly act as a reflecting prism on the distance of the radius of curvature behind the mirror. In order that the accuracy of the position determinations shall be good, this radius of curvature may not be too small. On the other hand, the required extension across the incoming radiation decreases with decreasing radius of curvature.
  • Figure 3 shows schematically a longitudinal section, as in Figure 1, of the corresponding details, the transmitter being provided with two additional radiation sources.
  • a transmitter/receiver is designated by 1. It comprises a radiation source 2, in this case a laser diode, a semi-opaque mirror 3 set at an angle of 45° in front of the radiation source and at the same angle in front of a receiver 4 in the form of a CCD-camera, i.e. a camera with radiation-sensitive detector elements arranged two-dimensionally in the focal plane of the camera. In a known manner, these detector elements emit electric sig ⁇ nals in dependence on the received radiation. The direc ⁇ tion of the incoming rays can thus be determined with a resolution that depends on the optics of the camera and the area of extension of the detector elements.
  • a radiation source 2 in this case a laser diode
  • a semi-opaque mirror 3 set at an angle of 45° in front of the radiation source and at the same angle in front of a receiver 4 in the form of a CCD-camera, i.e. a camera with radiation-sensitive detector elements arranged two-dimensionally in
  • two additional radiation sources 8 are used with advantage, located at a distance from the first axis 5.
  • the distance can in a known way be determined through signal processing of the signals recei ⁇ ved from the receiver, i.e. the CCD-camera.

Landscapes

  • Physics & Mathematics (AREA)
  • Electromagnetism (AREA)
  • Engineering & Computer Science (AREA)
  • Computer Networks & Wireless Communication (AREA)
  • General Physics & Mathematics (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Optical Radar Systems And Details Thereof (AREA)
  • Measurement Of Optical Distance (AREA)

Abstract

On décrit un dispositif qui rend possible le rapprochement et la mise en contact de deux objets, notamment des véhicules spatiaux. Le but est de déterminer la distance qui les sépare, leur angle azimutal, leur angle d'élévation et leurs angles d'orientation relatifs, c'est-à-dire leurs angles de cap, de roulis et d'inclinaison longitudinale. Le dispositif comporte un émetteur (20) situé sur un des ojets et servant à émettre un rayonnment optique, et un récepteur (4) servant à capter ce rayonnement lorsqu'il est réfléchi par un réflecteur situé sur l'autre objet. Le réflecteur comprend un certain nombre d'éléments réflecteurs (6) ayant une première étendue relativement limitée devant le rayonnement arrivant. Le dispositif est caractérisé principalement en ce que le réflecteur comporte un miroir convexe sphérique (7) ayant une deuxième étendue relativement grande en travers du rayonnement arrivant.
PCT/SE1990/000816 1989-12-15 1990-12-10 Dispositif rendant possible le rapprochement et la mise en contact de deux objects, notamment deux vehicules spatiaux WO1991009325A1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
SE8904235-2 1989-12-15
SE8904235A SE8904235D0 (sv) 1989-12-15 1989-12-15 Anordning foer moejliggoerande av naermande och sammanfoerande av tvaa foeremaal, saerskilt rymdfarkoster

Publications (1)

Publication Number Publication Date
WO1991009325A1 true WO1991009325A1 (fr) 1991-06-27

Family

ID=20377783

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/SE1990/000816 WO1991009325A1 (fr) 1989-12-15 1990-12-10 Dispositif rendant possible le rapprochement et la mise en contact de deux objects, notamment deux vehicules spatiaux

Country Status (2)

Country Link
SE (1) SE8904235D0 (fr)
WO (1) WO1991009325A1 (fr)

Cited By (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
FR2704654A1 (fr) * 1993-04-19 1994-11-04 Nec Corp Appareil et procédé de mesure d'azimut relatif.
WO1997038327A1 (fr) * 1996-04-10 1997-10-16 Fraunhofer-Gesellschaft zur Förderung der angewandten Forschung e.V. Dispositif de mesure des coordonnees d'un ou plusieurs retroreflecteurs apposes sur un objet
WO2016160992A1 (fr) * 2015-03-31 2016-10-06 Ni Melvin S Procédé et dispositif d'estimation d'angle d'élévation pour un placement de terminal d'utilisateur
US10012503B2 (en) 2015-06-12 2018-07-03 Worldvu Satellites Limited Elevation angle estimating device and method for user terminal placement
US10415960B2 (en) 2015-04-06 2019-09-17 Worldvu Satellites Limited Elevation angle estimating system and method for user terminal placement

Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US4678329A (en) * 1985-10-18 1987-07-07 Calspan Corporation Automatically guided vehicle control system
US4684247A (en) * 1985-10-18 1987-08-04 Calspan Corporation Target member for use in a positioning system
US4764668A (en) * 1985-11-27 1988-08-16 Alcatel Espace System for locating an object provided with at least one passive target pattern
US4834531A (en) * 1985-10-31 1989-05-30 Energy Optics, Incorporated Dead reckoning optoelectronic intelligent docking system

Patent Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US4678329A (en) * 1985-10-18 1987-07-07 Calspan Corporation Automatically guided vehicle control system
US4684247A (en) * 1985-10-18 1987-08-04 Calspan Corporation Target member for use in a positioning system
US4834531A (en) * 1985-10-31 1989-05-30 Energy Optics, Incorporated Dead reckoning optoelectronic intelligent docking system
US4764668A (en) * 1985-11-27 1988-08-16 Alcatel Espace System for locating an object provided with at least one passive target pattern

Cited By (13)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
FR2704654A1 (fr) * 1993-04-19 1994-11-04 Nec Corp Appareil et procédé de mesure d'azimut relatif.
US5541726A (en) * 1993-04-19 1996-07-30 Nec Corporation Relative azimuth measuring method and apparatus
WO1997038327A1 (fr) * 1996-04-10 1997-10-16 Fraunhofer-Gesellschaft zur Förderung der angewandten Forschung e.V. Dispositif de mesure des coordonnees d'un ou plusieurs retroreflecteurs apposes sur un objet
US6097491A (en) * 1996-04-10 2000-08-01 Fraunhofer-Gesellschaft Zur Forderung Der Angewandten Forschung E.V. Device for measuring the co-ordinates of one or several retroreflectors applied on an object
CN107710282A (zh) * 2015-03-31 2018-02-16 世界卫星有限公司 用于用户终端放置的仰角估计装置和方法
KR20180002639A (ko) * 2015-03-31 2018-01-08 월드뷰 새틀라이트 리미티드 유저 단말기 배치를 위한 앙각 추정 디바이스 및 방법
WO2016160992A1 (fr) * 2015-03-31 2016-10-06 Ni Melvin S Procédé et dispositif d'estimation d'angle d'élévation pour un placement de terminal d'utilisateur
US9995572B2 (en) 2015-03-31 2018-06-12 World Vu Satellites Limited Elevation angle estimating device and method for user terminal placement
CN107710282B (zh) * 2015-03-31 2020-02-18 世界卫星有限公司 用于用户终端放置的仰角估计装置和方法
CN111256621A (zh) * 2015-03-31 2020-06-09 世界卫星有限公司 用于用户终端放置的仰角估计装置和方法
KR102125118B1 (ko) 2015-03-31 2020-06-19 월드뷰 새틀라이트 리미티드 유저 단말기 배치를 위한 앙각 추정 디바이스 및 방법
US10415960B2 (en) 2015-04-06 2019-09-17 Worldvu Satellites Limited Elevation angle estimating system and method for user terminal placement
US10012503B2 (en) 2015-06-12 2018-07-03 Worldvu Satellites Limited Elevation angle estimating device and method for user terminal placement

Also Published As

Publication number Publication date
SE8904235D0 (sv) 1989-12-15

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