ELECTRONIC CELESTIAL NAVIGATION MEANS

• US 3,769,710 A
• Filed: 04/01/1969
• Issued: 11/06/1973
• Est. Priority Date: 04/01/1969
• Status: Expired due to Term

• Current Assignee: Richard A. Reister
• Original Assignee: Richard A. Reister
• Inventors: Reister, Richard A.
• Primary Examiner(s): Hull, Robert B.
• Application Number:
  US04/827,082
• Time in Patent Office: 1,680 Days
• Field of Search: 33/61
• US Class Current: 33/320
• CPC Class Codes: G01C 21/1654 with electromagnetic compass

Abstract

An automatic navigation and guidance system for use in moving vehicles such as air or sea craft, and more particularly a navigation system utilizing a single automatic star or satellite tracker through which a continuous indication of the longitude and latitude of the moving vehicle may be provided to an automatic guidance system, automatic star selection being provided, the described celestial navigation device providing continuous, accurate monitoring of a further inertial navigation device during normal operation, the further inertial navigation device providing continuous navigation and orientation during interruptions of the celestial navigation device.

Claims

1. A celestial navigation means comprising a first platform, means to mount said first platform with three degrees of rotational freedom in a craft permitting orientation of said first platform with respect to true north and a true vertical, means to properly orient said first platform with respect to a true vertical, a second platform mounted on said first platform, said second platform having a first axis of adjustment with respect to said first platform, said second platform having a second axis of adjustment at right angles to said first axis of adjustment, a tracking element, said tracking element mounted to rotate on a third axis of said second platform, said third axis being at right angles to said second axis, a principal axis of said tracking element being at right angles to said third axis, means to adjust said principal axis of said tracking element in rotation about said third axis in accordance with the declination of a celestial body, tracking means responsive to said tracking element to rotate said tracking element about said first and second axes to properly align said principal axis of said tracking element with respect to said celestial body, means to properly orient said first platform with respect to true north such that said second axis is parallel to the Earth'"'"''"'"'s axis of rotation when said principal axis of said tracking element is properly aligned with respect to said celestial body, means responsive to the angle of rotation of said tracking element about said second axis to indicate longitude of said tracking element, means responsive to the angle of rotation of said tracking element about said first axis to indicate latitude of said tracking element.

2. The apparatus of claim 1 including, first servo positioning means, second servo positioning means, multi-position switching means, means responsive to each position of said multi-position switching means to properly compensate said first and second servo positioning means in accordance respectively with the sidereal hour angle and declination of an individual celestial body, means responsive to said first servo positioning means to properly adjust said tracking element in rotation about said second axis in accordance with the sidereal hour angle of a celestial body selected by said multi-position switching means, means responsive to said second servo positioning means to properly adjust said tracking element in rotation about said third axis in accordance with the declination of a celestial body selected by said multi-position switching means, means to appropriately readjust said multi-position switching means whenever a previously selected celestial body approaches the limit for practical navigation, said first and second servo positioning means responsive to the geographical location of said tracking element and said readjustment of said multi-position switching means to properly reorient said tracking element with a celestial body selected by said multi-position switching means.

3. The apparatus of claim 1 wherEin all the adjusting axes of said first and second platforms coincide at a common intersection point to prevent lateral translation of said common intersection point with respect to said craft upon adjustment of any of said axes.

4. The apparatus of claim 1 including, a true north seeking gyroscope, means to mount said true north seeking gyroscope with three degrees of rotational freedom permitting orientation of said true north seeking gyroscope with respect to true north and a true vertical, means coupling said true north seeking gyroscope to said first platform, means to properly orient said true north seeking gyroscope with respect to a true vertical when said first platform is properly oriented with respect to true north, deviation of said first platform from true north resulting in deviation of said true north seeking gyroscope from a true vertical, torquing means responsive to deviation of said true north seeking gyroscope from a true vertical properly orienting said first platform with respect to true north, said true north seeking gyroscope providing proper azimuth stabilization of said first platform with respect to true north.

5. The navigation means of claim 1 including, true north computing means to determine the known deviation of magnetic north from true north as a function of geographical location, and means to provide said true north computing means with the true direction of magnetic north at the true geographical location of said navigation means, said true north computing means responsive to the determined geographical location of said navigation means to determine true north, said means to properly orient said first platform with respect to true north being responsive to said true north computing means.

6. The navigation means of claim 1 including, true vertical computing means to determine the known deviation of the Earth'"'"''"'"'s magnetic field from a true vertical as a function of geographical location, and means to provide said true vertical computing means with the true inclination of the Earth'"'"''"'"'s magnetic field at the true geographical location of said navigation means, said true vertical computing means responsive to the determined geographical location of said navigation means to determine a true vertical, said means to properly orient said first platform with respect to a true vertical being responsive to said true vertical computing means.

7. The apparatus of claim 1 including, gyroscopic means, means to mount said gyroscopic means with three degrees of rotational freedom with respect to said craft permitting orientation of said gyroscopic means with respect to true north and a true vertical, means to stably orient said gyroscopic means with respect to true north in conformity with said first platform, means to stably orient said gyroscopic means with respect to a true vertical, means responsive to said gyroscopic means to provide stabilized orientation of said first platform with respect to a true vertical, said gyroscopic means providing a stabilized true north and true vertical reference.

8. The celestial navigation means of claim 1 including, a third platform, means to mount said third platform in said craft permitting orientation of said third platform with respect to true north and a true vertical independently of the attitude of said craft, means to maintain said third platform stably oriented with respect to true north and a true vertical, first and second accelerometer means mounted on said third platform, said first and second accelerometer means responsive to accelerations of said craft respectively in the north-south and east-west direction, inertial navigation means responsive to said accelerometer means to determine longitude and latitude, means responsive to said celestial navigation means to provide accurate monitoring of said inertial navigation means during normal operation of said celestial navigation means, malfunction detection means to determine malfunctioning of said celestial navigation means, said inertial naVigation means responsive to said malfunction detection means to maintain continuous accurate navigation during malfunctioning of said celestial navigation means.

9. The apparatus of claim 8 including, means responsive to said inertial navigation means to maintain a true north and a true vertical reference, said inertial navigation means responsive to said malfunction detection means during malfunctioning of said celestial navigation means to maintain proper orientation of components normally oriented by said celestial navigation means.

10. Celestial tracking means, means to mount said celestial tracking means in a craft permitting tracking of selected celestial bodies by said celestial tracking means, celestial navigation means responsive to said celestial tracking means to determine geographical location of said craft, celestial multi-position switching means, celestial servo positioning means, means responsive to said celestial servo positioning means to properly orient said celestial tracking means with respect to celestial bodies selected by said celestial multi-position switching means, and means to appropriately readjust said celestial multi-position switching means whenever selected celestial bodies reach the practical limit for navigation, said celestial servo positioning means being responsive to said craft'"'"''"'"'s determined geographical location and said adjustment of said celestial multi-position switching means to properly reorient said celestial tracking means with respect to celestial bodies selected by said celestial multi-position switching means.

11. The device of claim 10 including, malfunction detection means, said malfunction detection means disconnecting said celestial navigation means during malfunctioning of said celestial navigation means, further navigation means independent of said celestial navigation means and responsive during malfunctioning thereof to said malfunction detection means to determine the geographical location of said craft and to maintain proper orientation of components normally oriented by said celestial navigation means.

12. The apparatus of claim 10 including, chronometer means responsive to the rate of rotation of the Earth with respect to celestial bodies tracked by said celestial tracking means, said celestial servo positioning means responsive to said chronometer means and said celestial tracking means to accurately determine the geographical location of said craft when said celestial servo positioning means is not operating to transfer navigation to other celestial bodies.

13. The apparatus of claim 12 including, differential means, said differential means responsive to said chronometer means and said celestial tracking means to provide instantaneous determination of said craft'"'"''"'"'s geographical location, means responsive to said celestial servo positioning means to accurately correct the geographical location determined by said differential means when the geographical location determined by said celestial servo positioning means is not in agreement with the geographical location determined by said differential means.

14. The apparatus of claim 10 including, a celestial selection element, differential means responsive to the longitude of said craft and the Earth'"'"''"'"'s longitudinal rotation with respect to selected celestial bodies, said differential means adjusting said celestial selection element in accordance with the hour angle of said selected celestial bodies with respect to said celestial tracking means, means responsive to said celestial selection element to appropriately readjust said celestial multi-position switching means whenever selected celestial bodies reach the practical limit for navigation.

15. The navigation apparatus of claim 10 including in combination, a chart remote therefrom, position indicating means to indicate geographical position on said chart, means responsive to said navigation apparatus to adjust said position indicating means to indicate the geographicaL position of said craft on said chart.

16. The navigation apparatus of claim 10 including in combination, a chart in rectangular coordinates remote therefrom, position indicating means to indicate geographical position on said chart, longitude servo positioning means, latitude servo positioning means, said longitude servo positioning means responsive to said navigation apparatus to adjust said position indicating means to indicate the longitude of said craft on said chart, said latitude servo positioning means responsive to said navigation apparatus to adjust said position indicating means to indicate the latitude of said craft on said chart, scale selection means to properly compensate said longitude and latitude servo positioning means, calibration means to properly compensate said longitude and latitude servo positioning means, said longitude and latitude servo positioning means responsive to said scale selection and calibration means to adjust said position indicating means to properly indicate the geographical position of said craft on a chart of any selected scale.

17. The apparatus of claim 16 including, a series of charts in rectangular coordinates, chart selection means, means responsive to said chart selection means to properly position any of said series of charts for selected viewing, a series of scale selection means pre-adjustable to properly compensate said longitude and latitude servo positioning means for each chart of said series of charts, a series of calibration means pre-adjustable to properly compensate said longitude and latitude servo positioning means for each chart of said series of charts, means responsive to said chart selection means to properly compensate said longitude and latitude servo positioning means with the appropriate said scale selection and calibration means for each chart selected by said chart selection means, said longitude and latitude servo positioning means responsive to said navigation apparatus and said chart selection means to adjust said position indicating means to properly indicate the geographical position of said craft on any chart selected by said chart selection means.

18. A tracking element, means to mount said tracking element with two degrees of rotational freedom in a craft permitting orientation of said tracking element with respect to a celestial body, tracking means responsive to the angular position of said tracking element to properly orient said tracking element with respect to a celestial body, means responsive to the angular position of said tracking element to determine the geographical location of said craft, first servo positioning means, second servo positioning means, first multi-position switching means, means responsive to each position of said first multi-position switching means to properly compensate said first and second servo positioning means in accordance with an individual celestial body, means responsive to said first and second servo positioning means to properly orient said tracking element with a celestial body selected by said first multi-position switching means, means to appropriately readjust said first multi-position switching means whenever a previously selected celestial body approaches the limit for practical navigation, said first and second servo positioning means responsive to the craft'"'"''"'"'s geographical location and said adjustment of said first multi-position switching means to properly reorient said tracking element with a celestial body selected by said first multi-position switching means.

19. The apparatus of claim 18 including, first relay means, operation of said first relay means responsive to readjustment of said first multi-position switching means, locking means responsive to readjustment of said first multi-position switching means and said first and second servo positioning means to lock said first relay means in operation until said first and second servo positioning means have completed said proper reorientation of said tracking element with respeCt to another celestial body selected by said readjustment of said first multi-position switching means, means responsive to said operation of said first relay means to disconnect said tracking means during reorientation of said tracking element to another celestial body.

20. The apparatus of claim 19 including, longitude indicating means, chronometer means responsive to the rate of rotation of the Earth with respect to celestial bodies tracked by said tracking element, said first servo positioning means responsive to said first relay means and said chronometer means and the angular position of said tracking element to properly adjust said longitude indicating means to indicate longitude of said craft when said first relay means is not operating to transfer navigation to another celestial body, said first servo positioning means responsive to said first relay means to properly reorient said tracking element with respect to another celestial body selected by said first multi-position switching means upon readjustment of said first multi-position switching means.

21. The apparatus of claim 20 including, first clutch means, second clutch means, second relay means, said second relay means responsive to said first servo positioning means to energize said first clutch means and de-energize said second clutch means when said first servo positioning means is at its null point, said second relay means responsive to said first servo positioning means to energize said second clutch means and de-energize said first clutch means when said first servo positioning means is not at its null point, differential means, said differential means responsive to said first clutch means and said chronometer means and the angular position of said tracking element to adjust said longitude indicating means to provide an instantaneous indication of longitude when said first servo positioning means is at its null point, said first servo positioning means responsive to said second clutch means and said chronometer means and the angular position of said tracking element to accurately correct said longitude indicating means when said first servo positioning means is not at its null point, means responsive to said first relay means disengaging said first and second clutch means during transfer of navigation to another celestial body.

22. The apparatus of claim 20 including, refraction computing means to properly compensate said first and second servo positioning means for errors due to refraction of rays in the Earth'"'"''"'"'s atmosphere.

23. The apparatus of claim 20 including, computing means to properly compensate said first and second servo positioning means for errors due to the proximity to Earth of the tracked celestial bodies.

24. The apparatus of claim 18 including in combination, master servo positioning means, a series of adjustable parameter elements, parameter setting means to adjust said master servo positioning means to a desired numerical value, second multi-position selection means, activating means to provide activation of said master servo positioning means after proper adjustment of said parameter setting means and said second multi-position selection means, said master servo positioning means responsive to said parameter setting means and said second multi-position selection means to adjust a said adjustable parameter element selected by said second multi-position selection means to the numerical value indicated by said parameter setting means upon activation by said activating means, each position of said first multi-position switching means connecting appropriate said adjustable parameter elements respectively into said first and second servo positioning means, said first and second servo positioning means responsive to said craft'"'"''"'"'s geographical location and said connection of said adjustable parameter elements upon readjustment of said first multi-position switching means to properly reorient said tracking element with a celestial body selected by said first multi-position switchinG means.

25. A tracking element, means to mount said tracking element with two degrees of rotational freedom permitting orientation of said tracking element with a celestial body, a first axis of said tracking element, a second axis of said tracking element, first motor means to adjust said tracking element in rotation about said first axis, second motor means to adjust said tracking element in rotation about said second axis, third motor means, fourth motor means, first synchronizing means, second synchronizing means, said first synchronizing means synchronizing said first motor means with said third motor means, said second synchronizing means synchronizing said second motor means with said fourth motor means, tracking means responsive to the orientation of said tracking element with a celestial body, said third and fourth motor means responsive to said tracking means to properly orient said tracking element with a celestial body, means responsive to said third and fourth motor means providing a rapid indication of geographical location sensing changes in geographical location before said tracking element is reoriented to changes in geographical location.

26. A tracking element, means to mount said tracking element with two degrees of rotational freedom in a craft permitting orientation of said tracking element with respect to a celestial body, tracking means responsive to the angular position of said tracking element to properly orient said tracking element with respect to a celestial body, means responsive to the angular position of said tracking element to determine longitude and latitude, a celestial selection element, differential means responsive to the determined longitude of said craft and the Earth'"'"''"'"'s longitudinal rotation with respect to selected celestial bodies, said differential means adjusting said celestial selection element in accordance with the hour angle of selected celestial bodies with respect to said craft, servo positioning means, said servo positioning means responsive to said adjustment of said celestial selection element to transfer navigation by said tracking element to a proper celestial body in accordance with said adjustment of said celestial selection element whenever a previous selected celestial body reaches the limit for practical navigation.

27. The apparatus of claim 26 including, first celestial activating means responsive to said adjustment of said celestial selection element at desired hour angles of selected celestial bodies, second celestial activating means responsive to said adjustment of said celestial selection element at desired hour angles of selected celestial bodies, further celestial activating means responsive to said adjustment of said celestial selection element at desired hour angles of selected celestial bodies, said servo positioning means responsive to said first celestial activating means to provide navigation by celestial bodies in a first direction from the zenith of said tracking element when said servo positioning means is activated by said first celestial activating means, said servo positioning means responsive to said second celestial activating means to provide navigation by celestial bodies in a second direction from the zenith of said tracking element when said servo positioning means is activated by said second celestial activating means, said servo positioning means responsive to said further celestial activating means to provide navigation by celestial bodies in a further direction from the zenith of said tracking element when said servo positioning means is activated by said further celestial activating means, means to provide activation of said servo positioning means by a desired said celestial activating means in accordance with the geographical location of said craft to provide navigation by celestial bodies in a desired direction from the zenith of said tracking element, said operation of said celestial selection element providing navigation by celestial bodies appropriate to time aNd the geographical location of said craft.

28. The apparatus of claim 27 including, a latitude adjustable element, means responsive to the determined latitude of said craft to properly adjust said latitude adjustable element, latitude activating means responsive to said adjustment of said latitude adjustable element at desired ranges of latitude, means responsive to said latitude activating means to provide activation of said servo positioning means by appropriate said celestial activating means in accordance with the geographical location of said craft, said servo positioning means responsive to said celestial activating means to provide navigation by celestial bodies appropriate to time and the geographical location of said craft.

29. The apparatus of claim 28 including, a longitude adjustable element, means responsive to the determined longitude of said craft to properly adjust said longitude adjustable element, longitude activating means responsive to said adjustment of said longitude adjustable element at desired ranges of longitude, means responsive to said longitude activating means and said latitude activating means to provide activation of said servo positioning means by appropriate said celestial activating means in accordance with the geographical location of said craft, said servo positioning means responsive to said celestial activating means to provide navigation by celestial bodies appropriate to time and the geographical location of said craft.