Interactive graphics computer system for planning star-sensor-based satellite attitude maneuvers

• US 5,473,746 A
• Filed: 04/01/1993
• Issued: 12/05/1995
• Est. Priority Date: 04/01/1993
• Status: Expired due to Term

• Current Assignee: Lockheed Martin Corporation (Martin Marietta Corporation)
• Original Assignee: Loral Federal Systems Company
• Inventors: Greening, Thomas B., Pritt, Mark D.
• Primary Examiner(s): Bayerl, Raymond J.
• Assistant Examiner(s): dela Torre, Crescelle N.
• Application Number:
  US08/042,238
• Time in Patent Office: 978 Days
• Field of Search: 395/161, 395/155, 395/156, 395/157, 395/159, 395/127, 395/152, 364/455, 364/434, 364/459, 318/582
• US Class Current: 715/784
• CPC Class Codes: B64G 1/22 Parts of, or equipment specially adapted for fitting in or to, cosmonautic vehicles
• CPC Class Codes: B64G 1/244 Spacecraft control systems
• CPC Class Codes: B64G 1/361 using star sensors
• CPC Class Codes: G01C 21/24 specially adapted for cosmonautical navigation
• CPC Class Codes: G01S 3/7867 Star trackers navigation using star trackers G01C21/025
• CPC Class Codes: G09B 9/52 for teaching control of an outer space vehicle

Abstract

Interactive graphical attitude maneuver planning computer system for planning satellite attitude maneuvers allows a user to immediately see where star trackers are pointing when the attitude and orbital position of a satellite are varied on the computer system. The computer system includes a graphics display on which the celestial sphere, centered at the satellite rather than the Earth, is projected. The horizontal axis of the display measures the Right Ascension angle, while the vertical axis measures the Declination angle. The display shows, in addition to stars, the region of the sky occluded by the Earth and interference regions around the moon, sun and planets, in which the star trackers should not point, and the fields of view of the star trackers. The attitude of the satellite is adjusted by means of graphical slider bars which vary the roll, pitch and yaw angle rotations. As the slider bars are adjusted, the star trackers move across the sky, and the stars pass through their fields of view, making it immediately obvious to the user where the star trackers are pointing, whether or not they will detect certain stars, and whether or not they will point too closely to the Earth, moon, sun, or planets.

Claims

1. An interactive graphical attitude maneuver planning computer system for planning satellite attitude maneuvers comprising:

a graphics display comprising at least a first window displaying a map of the celestial sphere as seen from a satellite and a second window displaying graphical slider bars for varying roll, pitch and yaw angles of the satellite, graphical. "RUN" and "STOP" buttons, and text entry windows for entering date and time;

a computer running an operating system supporting a windowing function responsive to user initiated events for executing functions to process events in an interactive manner, said computer system also running an application program on said operating system and windowing function to compute an attitude matrix, determine an orientation of at least one star sensor and compute sky and star sensor field of view displays; and

user input devices including a text entry device for entering date and time in said text entry windows and a pointing device for selecting and moving said graphical slider bars and selecting said "RUN" and "STOP" buttons, said windowing function responding to user inputs and interacting with said application program when said "RUN" button is selected to generate a display in said first window showing a movement of the star sensor across the sky and stars as they pass through the star sensor field of view providing the user with an immediate display of where the star sensor is pointing at any point in time of an orbit of the satellite.

2. The interactive graphical attitude maneuver planning computer system recited in claim 1 wherein the celestial sphere displayed in said first window in which the horizontal (x) axis of the display measures the Right Ascension angle and the vertical (y) axis measures the Declination angle and said application program computes the display of the celestial sphere in an Orbit Normal coordinate frame in which the plane of the satellite'"'"'s orbit is the same as the x-y plane of the celestial sphere and said windowing function displays the field of view of the star sensor moving horizontally across said graphics display.

3. The interactive graphical attitude maneuver planning computer system recited in claim 2 wherein said graphics display further includes one or more additional windows, one for each star sensor on the satellite, said additional windows displaying fields of view of a corresponding star sensor and the stars which are visible to the star sensor.

4. The interactive graphical attitude maneuver planning computer system recited in claim 2 wherein said second window further displays time-step slider bar which is selectable by the user using the pointing device and movable in forward and backward directions causing a displayed orbit of the satellite to move forward or backward in time.

5. The interactive graphical attitude maneuver planning computer system recited in claim 2 wherein said first window shows, in addition to stars, a region of the sky occluded by the Earth and interference regions around the moon, sun and planets in which the star sensor should not point.

6. The interactive graphical attitude maneuver planning computer system recited in claim 5 wherein said computer stores a data file containing tables storing star and planet data, said data file being accessible by said windowing function, and said windowing function responding to the user selecting a star or planet displayed in said first window with said pointing device and accessing said tables to display star or planet identification information.

7. The interactive graphical attitude maneuver planning computer system recited in claim 6 wherein said data file further contains satellite parameters and wherein said second window further displays a menu bar providing options which may be selected by the user using the pointing device which, when selected, the windowing function displays a pop-up menu allowing further user selections including satellite parameters which, when input by the user, are stored in said data file.

8. A computer interactive method of displaying satellite attitudes to facilitate planning satellite attitude maneuvers comprising the steps of:

generating a first window on a computer display screen in which a map of the celestial sphere as seen from a satellite is displayed, wherein the horizontal (x) axis of the display measures the Right Ascension angle and the vertical (y) axis measures the Declination angle and the celestial sphere is computed in an Orbit Normal coordinate frame in which the plane of the satellite'"'"'s orbit is the same as the x-y plane of the celestial sphere and the field of view of a star sensor on the satellite is displayed moving horizontally across the graphics display;

generating a second window on the computer display screen in which graphical slider bars for varying roll, pitch and yaw angles of the satellite, graphical "RUN" and "STOP" buttons, and text entry fields for date and time entry are displayed;

providing a user with a pointing device for selecting said graphical slider bars and a "RUN" button displayed in said second window, and for selecting stars displayed in said first window and a third window;

providing the user with a text entry device for entering date and time in said text entry fields;

responding to movement of a slider bar by the user using said pointing device by reading roll, pitch and yaw angles from the graphical slider bars, computing an attitude matrix and star sensor orientations, and displaying sky and star sensor fields of view in said first window; and

responding to an input of date and time by the user making text entries in said text entry fields with said text entry device and a press of the "RUN" button by the user using said pointing device by adding a time step value to a current date and time, calculating positions of sun, moon and planets based on current date and time, calculating position and velocity of the satellite, computing an attitude matrix and star sensor orientations, and displaying sky and stars in said first window as they pass through the star sensor field of view providing the user with an immediate display of where the star sensor is pointing at any point in time of an orbit of the satellite.

9. The interactive computer method recited in claim 8 further comprising the step of generating one or more additional windows on the computer display screen in which a corresponding field of view of one or more star sensors and the stars visible to the star sensors are displayed.

10. The interactive computer method recited in claim 8 further comprising the steps of:

generating a time-step slider bar in said second window which is selectable by said pointing device; and

responding to a movement of said time-step slider bar by the user in a forward or backward direction by computing and displaying a field of view as an orbit of the satellite is moved forward or backward in time.

11. The interactive computer method recited in claim 8 further comprising the steps of:

computing, in addition to positions of stars in the field of view displayed in said first window, regions of the sky occluded by the Earth and interference regions around the moon, sun and planets in which the star sensor should not point; and

displaying in the first window the region of the sky occluded by the Earth and the computed interference regions.

12. The interactive computer method recited in claim 8 further comprising the step of responding to a selection of a star using said pointing device by finding the star closest to a cursor controlled by said pointing device, and displaying star or planet identification information.