Abstract: Discussed herein are devices, systems, and methods for improved trajectory planning. A method can include providing two of (i) a first value indicating a change in velocity to alter an orbit of a first object to a transfer orbit; (ii) a second value indicating a range between the first object and a second object; or (iii) a third value indicating an altitude of the first object relative to a celestial body around which the first and second objects are orbiting as input to a machine learning (ML) model, receiving, from the ML model, a holdout value, the holdout value a prediction of the value, of the first value, the second value, and the third value, that was not provided to the ML model, and providing the holdout value to an orbital planner.

Abstract: A celestial navigation system and method for determining a position of a vehicle. The system includes a star-tracker, a beam director, an inertial measurement unit, and a control module. The star-tracker has a field of view for capturing light. The beam director is configured to change a direction of the light captured in the field of view of the star-tracker. The inertial measurement unit has a plurality of sensors for measuring an acceleration and a rotation rate of the vehicle. The control module executes instructions to correct the attitude, the velocity and the position of the vehicle using the determined magnitude and position of the space objects. The control module also executes instructions to generate corrections to the IMU error parameters, the beam director and star-tracker alignment errors, and RSO ephemeris errors to achieve optimal performance.

Abstract: A navigation system includes a monocentric lens and one or more curved image sensor arrays disposed parallel and spaced apart from the lens to capture respective portions, not all, of the field of view of the lens.

Abstract: Techniques are disclosed for systems and methods for video based sensor fusion with respect to mobile structures. A mobile structure may include at least one imaging module and multiple navigational sensors and/or receive navigational data from various sources. A navigational database may be generated that includes data from the imaging module, navigational sensors, and/or other sources. Aspects of the navigational database may then be used to generate an integrated model, forecast weather conditions, warn of dangers, identify hard to spot items, and generally aid in the navigation of the mobile structure.

Abstract: Techniques are disclosed for systems and methods for video based sensor fusion with respect to mobile structures. A mobile structure may include at least one imaging module and multiple navigational sensors and/or receive navigational data from various sources. A navigational database may be generated that includes data from the imaging module, navigational sensors, and/or other sources. Aspects of the navigational database may then be used to generate an integrated model, forecast weather conditions, warn of dangers, identify hard to spot items, and generally aid in the navigation of the mobile structure.

Abstract: Methods for use in celestial navigation system use multiple star observations from an unknown observer location using an observer camera with an observational field of view along a boresight axis and a focal plane perpendicular to the boresight axis. An observer local ECI coordinate system is determined from the star observations. Then for each of multiple observable objects in orbit around the Earth, multiple optical angular measurements relative to stars are performed over time to estimate its orbital ellipse, and its focus at the center of the Earth. From the multiple focus estimates, a position of the center of the Earth is estimated in the observer local coordinate system without use of object ephemeris data. From the estimated position of the center of the Earth, a radius vector to the observer is determined that represents the estimated observer location in Earth centered Earth fixed coordinates.

Abstract: A miniaturized astrometric alignment sensor may detect stellar objects and targets from which both stellar and object tracking are performed. The sensor may search for one or more bright opens in an image captured by a camera of a space vehicle, and determine if the one or more bright objects is a genuine star or a secondary element. The sensor may also catalog entries of identified stars after three or more bright objects are determined to be genuine stars, and display the cataloged entries of the identified stars, wherein the cataloged entries comprises positional and velocity of the space vehicle in relation of the identified stars and a sensor body reference frame.

Abstract: Systems that enable observing celestial bodies during daylight or in under cloudy conditions.

Abstract: A device for positioning a functional trihedron of a star tracker in a reference trihedron tied to a structure on which the star tracker is mounted comprises: a fixing interface to connect the device to the star tracker, a set of geometric markers configured to, by means of an optical measurement instrument tied to the structure, position a marker tied to the device in the reference marker tied to the structure, an optical simulator comprising a set of optical markers to be measured by the star tracker, making it possible to position the functional trihedron of the star tracker in the trihedron tied to the device, the measurements of position of the functional trihedron in the trihedron tied to the device, and of position of the trihedron tied to the device in the reference trihedron, making it possible to position by calculation the functional trihedron in the reference trihedron.

Abstract: A method for increasing the reliability of sensor systems for determining the position of flying objects. Since the position determination is very decisive for the execution of planned missions, it is especially important to increase the reliability of such systems. The star sensors of the star systems are preferably structured identically and connected to each other by a bidirectional bus system. Due to the presence of several identical modules in the sensor system, there is an inner redundancy that can be utilized via the bus system. The bus system allows the transmission of signals of different data processing levels, so that the transmission of the data of the data processing levels can be adapted to modules that may have failed.

Abstract: An ephemeris refinement system includes satellites with imaging devices in earth orbit to make observations of space-based objects (“target objects”) and a ground-based controller that controls the scheduling of the satellites to make the observations of the target objects and refines orbital models of the target objects. The ground-based controller determines when the target objects of interest will be near enough to a satellite for that satellite to collect an image of the target object based on an initial orbital model for the target objects. The ground-based controller directs the schedules to be uploaded to the satellites, and the satellites make observations as scheduled and download the observations to the ground-based controller. The ground-based controller then refines the initial orbital models of the target objects based on the locations of the target objects that are derived from the observations.

Abstract: Disclosed are a system, a method and an apparatus of predicting a trajectory of an asteroid. In one embodiment, a method of predicting a trajectory of an asteroid near a celestial object, includes continuously monitoring, through a high-definition camera optimized for space viewing, an unlimited expanse of space as visible from a location of the high-definition camera optimized for space viewing. The method also includes detecting a change in a light intensity of one of a plurality of stars. In addition, the method includes determining that the light intensity of a star has changed beyond a threshold parameter. The method further includes detecting an occultation, through a discriminating sensor, when the change in the light intensity of the star is determined. On detecting occultation, the method includes recording a set of properties associated with the occultation.

Abstract: Provided is a communication device mounted in a vehicle or disposed at the roadside, which can adaptively and efficiently manage positional information relating to directly communicable surrounding in-vehicle communication devices and surrounding roadside communication devices and can stably transmit information to a specified communication destination even when the positional relationship between vehicles frequently changes.

Abstract: This specification relates to locating objects using indicia. In general, one innovative aspect of the subject matter described in this specification can be embodied in methods that include the actions of obtaining an image captured from a camera in proximity of an object located in an indoor facility, the image being of a portion of a surface of the indoor facility comprising a plurality of visible indicia, the camera having an orientation generally pointed at the surface. A plurality of local indicia are identified within the image. The locations of the local indicia within the image and an index of the visible indicia of the surface are used to determine the location of the object relative to the surface.

Abstract: An autonomous robot system including a transmitter disposed within a working area and a mobile robot operating within the working area. The transmitter includes an emitter for emitting at least one signal onto a remote surface above the working area. The mobile robot includes a robot body, a drive system configured to maneuver the robot over a surface within the working area, and a navigation system in communication with the drive system. The navigation system includes a receiver responsive to the emitted signal as reflected off of the remote surface and a processor connected to the receiver and configured to determine a relative location of the robot within the working area based on input from the receiver.

Abstract: A system and method of determining a position of an electronic device is presented herein. An image is displayed having at least one celestial object and a celestial object indicator for selecting a celestial object. The celestial object indicator is overlaid on the at least one celestial object. Data indicating a relative angle of the device with respect to the Earth in at least two dimensions is received at the processor. The time when the celestial object indicator is overlaid on the at least one celestial object is determined. The position of the electronic device is determined by comparing the location of the celestial object in the image data and relative angle information at the time of the indication to a database at least partially stored on the electronic device in response to an indication that the celestial object indicator is overlaid on the at least one celestial object.

Abstract: The present disclosure provides systems and methods that improve the pointing accuracy of a spacecraft using temperature-sensitive gyros (e.g., MEMS gyros) by using a temperature bias model to compensate for temperature biases of the gyros and using attitude data (e.g., star tracker data) to automatically and continuously calibrate the temperature bias model over the life of the spacecraft. When star tracker data is unavailable (e.g., due to sun interference), the most recently updated temperature bias model is used in open-loop to provide improved estimation of the gyro biases and improved attitude estimation.

Abstract: A method for increasing the reliability of sensor systems for determining the position of flying objects. Since the position determination is very decisive for the execution of planned missions, it is especially important to increase the reliability of such systems. The star sensors of the star systems are preferably structured identically and connected to each other by a bidirectional bus system. Due to the presence of several identical modules in the sensor system, there is an inner redundancy that can be utilized via the bus system. The bus system allows the transmission of signals of different data processing levels, so that the transmission of the data of the data processing levels can be adapted to modules that may have failed.

Abstract: A method for measuring a precision of a star sensor and a system using the same may be provided. The method may comprise steps of: 1) fixing the star sensor on the Earth; 2) inputting a current time (T) of a measuring start time relative to a J2000.0 time; 3) determining a directional vector of the navigation star in a J2000.0 Cartesian coordinate system at the current time (T) according to a right ascension and a declination of the navigation star in the J2000.0 Cartesian coordinate system and visual movement parameters (??, ??) of the navigation star in the direction of the right ascension and the declination which are stored in the star sensor; 4) converting the directional vector of the navigation star in the J2000.

Abstract: A plate solving methodology determines celestial coordinates of an image. Star locations are extracted from the image in terms of pixel coordinates. A group of four stars, referred to as a “test quad”, is identified. A signature for the test quad is generated. In one embodiment, this test signature is derived by determining the separations of the four stars in the test quad, normalized by the largest separation. In one embodiment, the signature also includes the sum of these normalized separations. A query is performed, using the generated signature, against a database of reference signatures for known groups of stars (referred to as “reference quads”). A geometric transform is determined, establishing the relationship between the test quad and a reference quad that matches within a specified tolerance. This geometric transform defines the celestial coordinates of the image. Additional verification steps can be performed to confirm the accuracy of the match.

Abstract: A system and a method for commanding a spacecraft to perform a three-axis maneuver purely based on “position” (i.e., attitude) measurements. Using an “inertial gimbal concept”, a set of formulae are derived that can map a set of “inertial” motion to the spacecraft body frame based on position information so that the spacecraft can perform/follow according to the desired inertial position maneuvers commands. Also, the system and method disclosed herein employ an intrusion steering law to protect the spacecraft from acquisition failure when a long sensor intrusion occurs.

Abstract: A method and system for a multi-spectrum celestial navigation system includes a first sensor responsive to at least a first and a second wavelength band of electromagnetic radiation. The sensor is configured to generate a first output related to the first wavelength band of electromagnetic radiation and to generate a second output related to the second wavelength band of electromagnetic radiation. The system also includes a processor programmed to receive the first and second outputs, determine a position of the sensor with respect to one or more stars using a stored star catalog and the received first and second outputs, and output the determined position.

Abstract: A method for measuring a precision of a star sensor and a system using the same may be provided. The method may comprise steps of: 1) fixing the star sensor on the Earth; 2) inputting a current time (T) of a measuring start time relative to a J2000.0 time; 3) determining a directional vector of the navigation star in a J2000.0 Cartesian coordinate system at the current time (T) according to a right ascension and a declination of the navigation star in the J2000.0 Cartesian coordinate system and visual movement parameters (??, ??) of the navigation star in the direction of the right ascension and the declination which are stored in the star sensor; 4) converting the directional vector of the navigation star in the J2000.

Abstract: An auxiliary satellite positioning system is applied to a first satellite positioning apparatus. The auxiliary positioning system includes a detection module, a transmission interface and a positioning module. A second satellite positioning module having a satellite data can be detected by the detection module via a wireless transmission protocol. The satellite data can be transmitted by the transmission interface to the first satellite positioning module from the second satellite positioning module. The satellite data can be used by the positioning module to implement a satellite positioning action.

Abstract: A novel Parametric Systematic Error Correction (ParSEC) system is disclosed which provides improved system accuracy for image navigation and registration (INR). This system may be employed in any suitable imaging system and, more specifically, to all imaging systems that exhibit systematic distortion. The ParSEC system may be employed to any such system regardless of sensing type (remote or in situ) or imaging media (photon or charged particle) and is further applicable to corrected imaging of any celestial body currently detectable to remove distortion and systematic error from the imaging system employed. The ParSEC system of the instant invention comprises a software algorithm that generates at least about 12 correction coefficients for each of the INR system measurements such as stars, visible landmarks, infrared (IR) landmarks and earth edges.

Abstract: A star tracker is used to measure the direction of stars. Preferably a wide imaging range is provided so that a reliable orientation of the star tracker can be computed from measurements of the directions of star at substantially different directions. The star tracker comprises a light baffle and located between the light baffle and an image sensing arrangement. The light baffle comprises an array of walls, including sidewalls and at least one internal wall between the sidewalls. Preferably, the side walls and the at least one internal wall are oriented at mutually different orientations emanating from a virtual line of intersection of the planes of the walls. Thus a range of star directions can be imaged with constant sensitivity.

Abstract: A method is provided for characterizing luminous celestial objects (e.g., stars) in celestial navigation of a missile system. The method includes segmenting, assigning, measuring, computing, ratioing, producing, scaling, and determining operations. Segmenting includes subdividing wavelength range into discrete contiguous bins. Assigning arranges each bin into a plurality of color bands. Establishing sets a transmissivity to each bin of each color band. Computing calculates broad-based fluxes for a reference value as a reference flux. Ratioing computes a ratio between the target flux to the library flux as a color scale for each band. Squaring determines the library flux for each band as a library flux squared. Producing sums a spectral scale over the color bands, a second multiplication of the color scale and the library flux squared as a first sum product, and sums over all the bands the library flux squared as a second sum product and dividing the sum products.

Abstract: A celestial compass kit. The kit includes an inclinometer, a camera system with a special telecentric fisheye lens for imaging at least one celestial object and a processor programmed with a celestial catalog providing known positions at specific times of at least one celestial object and algorithms for automatically calculating target direction information based on the inclination of the system as measured by the inclinometer and the known positions of at least one celestial object as provided by the celestial catalog and as imaged by the camera. The telecentric fisheye lens produces an image on the sensor located at or near the focal plane which remains spatially constant within sub-micron accuracies despite thermally produced changes in the focus of the lens.

Abstract: A system and method for designating and retrieving information over the internet. At least one webpage is accessed and individual portions of the at least one webpage are designated, each of the individual portions being associated with an underlying information content. The designated individual portions of the at least one webpage are positioned within a single configuration display screen and the format of the single configuration display screen including the designated individual portions of each webpage are stored in a configuration file. The configuration file and underlying information content associated with each of the designated individual portions are retrieved and positioned on an output display screen in accordance with the configuration file.

Abstract: A computer controlled object oriented programming system for distributive program development over networks such as the internet with means for interfacing a plurality of programming objects with each other to provide combination objects combining programming functions of said objects, each object including predetermined interface data defining a required common interface with the other programming objects as well as a framework of events and attributes and methods for manipulating the attributes. These objects may be combined with each other via their common interfaces to form combination objects, and such combination objects may in turn be further combined with other objects and combination objects to form objects of increasing complexity which function as program routine versions.