Synthetic digital sextant for navigation

• US 9,909,866 B2
• Filed: 11/05/2015
• Issued: 03/06/2018
• Est. Priority Date: 11/05/2015
• Status: Active Grant

• Current Assignee: Raytheon Company (Rtx Corporation)
• Original Assignee: Raytheon Company (Rtx Corporation)
• Inventors: Karlov, Valeri I., Hulsmann, John D., Maestas, Aaron, Cormier, Christopher J., Sommese, Anthony, Lewis, Owen
• Primary Examiner(s): MARC-COLEMAN, MARTHE Y
• Application Number:
  US14/933,997
• Publication Number:
  US 20170131096A1
• Time in Patent Office: 852 Days
• Field of Search: 701510-513, 701518, 701519, 2502036, 244 316, 244 318, 244 32
• CPC Class Codes: G01C 1/08 Sextants
• CPC Class Codes: G01C 1/10 including an artificial horizon G01C1/14 takes precedence
• CPC Class Codes: G01C 21/02 by astronomical means G01C21/24, G01C21/26 take precedence
• CPC Class Codes: G01C 21/025 with the use of startrackers
• CPC Class Codes: G01C 21/1656 with passive imaging devices, e.g. cameras
• CPC Class Codes: G01S 19/48 by combining or switching between position solutions derived from the satellite radio beacon positioning system and position solutions derived from a further system
• CPC Class Codes: G01S 3/7867 Star trackers navigation using star trackers G01C21/025
• CPC Class Codes: G01S 3/7868 using horizon sensors
• CPC Class Codes: G01S 5/16 using electromagnetic waves other than radio waves

Abstract

Technology for determining a position of a platform is described. A location of a horizon line can be determined using a sensor onboard the platform. One or more celestial objects in the sky can be detected using the sensor onboard the platform. Differential angular measurements between the horizon line and at least one of the celestial objects in the sky can be determined over a duration of time. The position of the platform can be determined based on the differential angular measurements between the horizon line and the celestial objects.

Claims

1. A method for determining a position of a platform, the method comprising:

determining a location of a horizon line using a sensor onboard the platform;

detecting one or more celestial objects in the sky using the sensor onboard the platform;

determining differential angular measurements between the horizon line and at least one of the celestial objects in the sky over a duration of time; and

determining the position of the platform based on the differential angular measurement between the horizon line and the celestial objects, wherein the horizon line is at least one of an actual horizon line or a synthesized horizon line, and wherein the synthesized horizon line is produced by observing a satellite in its ballistic orbit.

2. The method of claim 1, wherein the step of determining the location of the horizon line further comprises:

identifying a satellite in orbit using the sensor onboard the platform;

estimating positions of the satellite along its ballistic orbit over a defined period of time;

determining a local vertical acceleration (LVA) vector of the satellite based on position estimations of the satellite;

transforming the LVA vector of the satellite to an LVA vector of the platform; and

calculating an angle between the LVA vector of the platform and a horizon line based on a current position of the platform and a curvature of the Earth, wherein the angle between the LVA vector of the platform and the horizon line is used to determine the location of the horizon line, wherein the horizon line is a synthesized horizon line.

3. The method of claim 1, further comprising identifying a set of differential angular measurements between the horizon line and the celestial objects in the sky over the duration of time, wherein the set of differential angular measurements are used to determine the position of the platform.

4. The method of claim 1, wherein the step of determining the differential angular measurements further comprises:

identifying a first celestial object in the sky using the sensor, wherein the sensor measures a position of the first celestial object over multiple time points;

determining a first differential measurement of a first angular difference between the first celestial object and the horizon line, wherein position measurements of the first celestial object over the multiple time points in relation to the horizon line are used to derive the first differential measurement;

identifying a second celestial object in the sky, wherein an inertial measurement unit (IMU) onboard the platform detects an angular measurement between the first celestial object and the second celestial object;

determining a second differential measurement of a second angular difference between the second celestial object and the horizon line, wherein positional measurements of the second celestial object over multiple time points in relation to the horizon line are used to derive the second differential measurement; and

forming a set of differential measurements for the celestial objects in the sky with respect to the horizon line, the set of differential measurements including the first differential measurement and the second differential measurement.

5. The method of claim 4, further comprising:

comparing the angular measurement between the first celestial object and the second celestial object as detected by the IMU to a known angular separation between the first celestial object and the second celestial object;

estimating a level of atmospheric refraction based on a difference between the angular measurement as detected by the sensor and the IMU and the known angular separation; and

mitigating the level of atmospheric refraction by extrapolating atmospheric refraction effects to the horizon line.

6. The method of claim 1, further comprising using a Kalman filter to process the differential angular measurements, inertial navigation unit (INU) measurements from the platform, and inertial measurement unit (IMU) measurements from the platform in order to estimate the position of the platform.

7. The method of claim 1, wherein the position of the platform is determined using at least five differential angular measurements with respect to at least five celestial objects and the horizon line.

8. The method of claim 1, further comprising deriving three position parameters and canceling out two line of sight (LOS) bias parameters using the differential angular measurements, the three position parameters including latitude, longitude and altitude and the two LOS bias parameters including elevation and azimuth.

9. The method of claim 1, wherein the sensor is an electro-optical infrared (EO/IR) sensor.

10. The method of claim 1, wherein the platform is an airborne platform.

11. The method of claim 1, wherein the celestial objects detected using the sensor onboard the platform include at least one of:

stars, space debris, satellites or the moon.

12. A method for determining a location of a synthetic horizon line from a platform, the method comprising:

identifying a satellite in orbit using a sensor onboard an airborne platform;

estimating positions of the satellite along its ballistic orbit over a defined period of time;

determining a local vertical acceleration (LVA) vector of the satellite based on position estimations of the satellite;

transforming the LVA vector of the satellite to an LVA vector of the airborne platform; and

calculating an angle between the LVA vector of the platform and a horizon direction based on a current position of the platform and a curvature of the Earth, wherein the angle between the LVA vector of the platform and the horizon direction is used to determine the location of the horizon line, wherein the horizon line is a synthesized horizon line.

13. The method of claim 12, wherein differential angular measurements between the synthetic horizon line and a plurality of celestial objects are identified in order to determine a position of the airborne platform.

14. The method of claim 12, wherein the satellite includes a Low Earth Orbit (LEO) satellite.

15. The method of claim 12, wherein the sensor is an electro-optical infrared (EO/IR) sensor.

16. A system onboard a platform that is operable to determine a position of the platform, the system comprising:

an electro-optical infrared (EO/IR) sensor;

an inertial measurement unit (IMU);

an inertial navigation unit (INU); and

a computing device, comprising;

a processor; and

a memory device including a data store to store a plurality of data and instructions that, when executed by the processor, cause the processor to;

identify a location of a horizon line based on measurements obtained from the EO/IR sensor onboard the platform, wherein the horizon line is at least one of an actual horizon line or a synthesized horizon line, and wherein the synthesized horizon line is produced by observing a satellite in its ballistic orbit;

identify one or more celestial objects in the sky based on measurements obtained from the EO/IR sensor onboard the platform;

identify differential angular measurements between the horizon line and the one or more celestial objects in the sky over a duration of time; and

determine the position of the platform using the differential angular measurements between the horizon line and the celestial objects, IMU measurements collected from the IMU, and INU measurements collected from the INU.

17. The system of claim 16, wherein the celestial objects detected using the EO/IR sensor onboard the platform include at least one of stars, space debris, satellites or the moon.

18. The system of claim 16, wherein a Kalman filter is used to determine the position of the platform using the differential angular measurements, the IMU measurements and the INU measurements.

19. The system of claim 16, wherein the position of the platform is determined using at least five differential angular measurements with respect to at least five celestial objects and the horizon line.

20. The system of claim 16, wherein the differential angular measurements are used to derive three position parameters and cancel out two line of sight (LOS) bias parameters, the three position parameters including latitude, longitude and altitude and the two LOS bias parameters including elevation and azimuth.