Method and sensor for capturing rate and position and stabilization of a satellite using at least one focal plane

• US 6,450,455 B1
• Filed: 01/08/2001
• Issued: 09/17/2002
• Est. Priority Date: 01/08/2001
• Status: Expired due to Fees

• Current Assignee: The Boeing Co.
• Original Assignee: The Boeing Co.
• Inventors: Davis, John E.
• Primary Examiner(s): Jordan, Charles T.
• Assistant Examiner(s): JAKEL, KEVIN W
• Application Number:
  US09/756,395
• Publication Number:
  US 20020121574A1
• Time in Patent Office: 617 Days
• Field of Search: 359/419, 244/158.R, 244/171, 244/169, 250/203.1, 250/202, 250/203.6
• US Class Current: 244/171
• CPC Class Codes: B64G 1/244 Spacecraft control systems
• CPC Class Codes: B64G 1/365 using horizon or Earth sensors
• CPC Class Codes: G02B 13/06 Panoramic objectives; So-called "sky lenses" including panoramic objectives having reflecting surfaces

Abstract

An optical sensor includes dual fields of view including a panoramic field of view spanning 360° in azimuth angle in a direction perpendicular to an axis of the sensor, and a limb-looking field of view non-perpendicular to the axis for viewing the limb of the earth. Both fields of view are imaged onto annular regions of one of more focal plane arrays comprising pixels arranged in a rectangular array of rows and columns. The sensor is used in a method for capturing rate and direction of rotation of a satellite about its axes and for detecting orientation of the satellite about two of its axes. Rate and direction are determined by finding the center of the earth relative to axes of the focal plane array based on the image of the earth limb from the panoramic field of view, and comparing the earth center location at a series of sequential times. The rate and position information are used for stabilizing an initially tumbling satellite after tip-off. Once the satellite is stabilized, its orientation is detected by finding the earth center location on the focal plane array based on the earth limb image from the limb-looking optics of the sensor. In one embodiment of the invention, both fields of view are imaged onto concentric inner and outer ring-shaped regions of the same focal plane array.

Claims

1. A method for determining direction and rate of rotation of a satellite about first, second, and third mutually orthogonal body axes fixed relative to the satellite and for determining orientation of the satellite relative to earth, comprising:

mounting a dual field-of-view optical sensor on the satellite with an optical axis of the sensor in a predetermined orientation with respect to the body axes, the sensor having at least one focal plane array comprising a plurality of pixels arranged as a grid;

directing radiant energy from a first field of view of the sensor onto a first annular region of the at least one focal plane array, the first field of view spanning 360°

in azimuth angle about the optical axis and a range of elevation angles including 90°

in elevation angle relative to the optical axis;

directing radiant energy from a second field of view of the sensor onto a second annular region of the at least one focal plane array, the second field of view spanning 360°

in azimuth angle about the optical axis and a range of elevation angles non-perpendicular to the optical axis;

determining a relative location of a subtense of a limb of the earth on the first annular region of the at least one focal plane array at each of a plurality of successive times, and determining direction and rate of rotation of the satellite about the body axes based on changes in the relative location of the earth limb subtense on the first annular region; and

determining a relative location of the earth limb subtense on the second annular region of the at least one focal plane array, and determining orientation angles between the body axes and a nadir vector to the earth based on the relative location of the earth limb subtense on the second annular region.

2. The method of claim 1, further comprising:

substantially reducing tumbling of the satellite by applying corrective thrusts to the satellite based on the rates and direction of rotation determined from the first field of view of the sensor; and

placing and stabilizing the satellite in a predetermined orientation relative to the nadir vector by applying stabilizing thrusts to the satellite based on the orientation angles determined from the second field of view of the sensor.

3. The method of claim 1, wherein the first and second fields of view are directed respectively onto concentric first and second annular regions of the same focal plane array.

4. The method of claim 3, wherein the first annular region comprises an inner ring and the second annular region comprises an outer ring lying radially outwardly of the inner ring.

5. The method of claim 4, wherein the pixels of the focal plane array are arranged in a plurality of parallel rows and a plurality of parallel columns perpendicular to the rows, the relative location of the earth limb subtense being determined on each of the inner and outer rings by detecting transition pixels in each row and each column at which a transition between earth and space falls.

6. The method of claim 1, wherein sensor electronics connected to the sensor capture signals from the at least one focal plane array by sampling the signals periodically to create a series of sequential frames, and wherein the location of the subtense of the earth limb on each of the annular regions is sampled at least three times for each frame.

7. The method of claim 1, further comprising directing radiant energy from at least one of the fields of view onto more than one focal plane array.

8. The method of claim 7, wherein a separate set of electronics is provided for each focal plane array to enable multiple signal paths for enhanced reliability.

9. The method of claim 1, wherein the at least one focal plane array is operable to detect radiant energy in a wavelength band chosen so as to provide both day and night limb contrast and such that limb height changes caused by season and diurnal changes are minimized.

10. The method of claim 9, wherein the wavelength band lies within a range from about 3.5 μ

m to about 4.5 μ

m.

11. The method of claim 1, wherein sensor electronics connected to the sensor capture signals from the at least one focal plane array by sampling the signals periodically at a defined sampling rate to create a series of sequential frames, and wherein the sampling rate is at least about 10 frames per second.

12. The method of claim 1, wherein rotational orientations of the satellite about two of the body axes are determined from the second annular region of the at least one focal plane array, and further comprising determining a rotational orientation of the satellite about the third body axis by directional radio reception.

13. The method of claim 1, wherein rotational orientations of the satellite about two of the body axes are determined from the second annular region of the at least one focal plane array, and further comprising determining a rotational orientation of the satellite about the third body axis by directional magnetic fields.

14. The method of claim 1, wherein rotational orientations of the satellite about two of the body axes are determined from the second annular region of the at least one focal plane array, and further comprising determining a rotational orientation of the satellite about the third body axis by directional inertial rotation.

15. A dual field-of-view optical sensor comprising:

at least one focal plane array comprising a plurality of pixels arranged in a grid;

panoramic optics for capturing radiant energy from an annular panoramic field of view spanning 360°

in azimuth angle about an optical axis of the sensor and covering a range of elevation angles including 90°

in elevation angle relative to the optical axis, the panoramic optics re-directing and focusing the radiant energy from the panoramic field of view onto a first annular region of the at least one focal plane array; and

limb-looking optics for capturing radiant energy from an annular field of view spanning 360°

in azimuth angle about the optical axis and covering a range of elevation angles non-perpendicular to the optical axis such that at least a major circumferential portion of a limb of the earth is within the field of view of the limb-looking optics when the optical axis of the sensor points toward a centroid of the earth, the limb-looking optics re-directing and focusing the radiant energy onto a second annular region of the at least one focal plane array.

16. The sensor of claim 15, wherein the panoramic optics include a convex mirror of generally annular form.

17. The sensor of claim 16, wherein the convex mirror re-directs the radiant energy from the panoramic field of view along a direction generally parallel to the optical axis and away from the at least one focal plane array, and wherein the panoramic optics further includes a concave mirror that receives the radiant energy from the convex mirror and re-directs the radiant energy back generally toward the at least one focal plane array.

18. The sensor of claim 17, wherein the panoramic optics include a curved meniscus lens that receives the radiant energy from the concave mirror at a central portion of the meniscus lens, and a final lens that receives the radiant energy from the central portion of the meniscus lens and focuses the radiant energy on the first annular region of the at least one focal plane array.

19. The sensor of claim 18, wherein the first and second annular regions respectively comprise concentric inner and outer rings defined on the same focal plane array, the limb-looking optics re-directing the radiant energy from the field of view of the limb-looking optics onto an outer portion of the curved meniscus lens lying radially outward of the central portion thereof, and the outer portion of the meniscus lens serving as a final optic for focusing the radiant energy onto the second annular region of the focal plane array.

20. The sensor of claim 19, wherein the limb-looking optics comprise a plurality of lenses.

21. The sensor of claim 16, wherein the convex mirror re-directs radiant energy from the panoramic field of view generally inwardly and toward the at least one focal plane array, and wherein the panoramic optics further comprise lenses for focusing the radiant energy from the convex mirror onto the at least one focal plane array.

22. The sensor of claim 21, wherein the panoramic optics comprise a first lens having a central portion that receives radiant energy from the convex mirror, and a second lens that receives radiant energy from the central portion of the first lens and focuses the radiant energy onto the first annular region of the at least one focal plane array.

23. The sensor of claim 22, wherein an outer portion of the first lens receives radiant energy from the limb-looking optics and serves as a final lens that focuses the radiant energy from the field of view of the limb-looking optics onto the second annular region of the at least one focal plane array.

24. The sensor of claim 23, wherein the first and second annular regions are defined on the same focal plane array and respectively comprise inner and outer concentric rings.

25. The sensor of claim 23, wherein the limb-looking optics comprise a plurality of lenses.

26. The sensor of claim 16, wherein the panoramic optics further comprise a pair of lenses in series that receive radiant energy from the convex mirror, and a curved meniscus lens having a central portion that receives radiant energy from the pair of lenses and focuses the radiant energy onto the first annular region of the at least one focal plane array.

27. The sensor of claim 26, wherein the limb-looking optics comprise lenses for directing radiant energy from the field of view of the limb-looking optics onto an outer portion of the curved meniscus lens, the outer portion of the curved meniscus lens serving as a final lens for focusing the radiant energy onto the second annular region of the at least one focal plane array.

28. The sensor of claim 27, wherein the pair of lenses comprise two meniscus lenses with a concave surface of one of the meniscus lenses facing a concave surface of the other meniscus lens.

29. A method for determining direction and rate of rotation of a satellite about first, second, and third mutually orthogonal body axes fixed relative to the satellite, comprising:

mounting an optical sensor on the satellite with an optical axis of the sensor in a predetermined orientation with respect to the body axes, the sensor having at least one focal plane array comprising a plurality of pixels arranged as a grid;

directing radiant energy from a panoramic field of view of the sensor onto an annular region of the at least one focal plane array, the panoramic field of view spanning 360°

in azimuth angle about the optical axis and a range of elevation angles including 90°

in elevation angle relative to the optical axis; and

determining a relative location of a subtense of a limb of the earth on the annular region of the at least one focal plane array at each of a plurality of successive times, and determining direction and rate of rotation of the satellite about the body axes based on changes in the relative location of the earth limb subtense on the annular region.

30. The method of claim 29, further comprising:

substantially reducing tumbling of the satellite by applying corrective thrusts to the satellite based on the rates and direction of rotation determined from the panoramic field of view of the sensor.

31. The method of claim 29, wherein the pixels of the focal plane array are arranged in a plurality of parallel rows and a plurality of parallel columns perpendicular to the rows, the relative location of the earth limb subtense being determined on the focal plane array by detecting transition pixels in each row and each column at which a transition between earth and space falls.