Data processing: vehicles – navigation – and relative location – Vehicle control – guidance – operation – or indication – Aeronautical vehicle
Reexamination Certificate
2011-03-08
2011-03-08
Jeanglaud, Gertrude Arthur (Department: 3661)
Data processing: vehicles, navigation, and relative location
Vehicle control, guidance, operation, or indication
Aeronautical vehicle
C701S004000, C701S033000, C244S165000, C074S005200
Reexamination Certificate
active
07904214
ABSTRACT:
Techniques for providing singularity escape and avoidance are disclosed. In one embodiment, a method for providing control moment gyroscope (CMG) attitude control singularity escape includes calculating a Jacobian A of a set of control equations, calculating a measure of closeness to a singularity, and comparing the calculated closeness to a threshold value, when the calculated closeness is less than or equal to the threshold value, recalculating the Jacobian A. Recalculating may include determining a new direction of virtual misalignment of β and γ, recalculating the Jacobian inputting the new direction of the virtual misalignment, recalculating the measure of closeness to a singularity, and comparing the measure of closeness to the threshold value. Further, the method may include calculating a gimbal rate command if the of closeness is greater than the threshold value and generating a torque from the gimbal rate command to control the attitude of a satellite.
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Arthur Jeanglaud Gertrude
Caven & Aghevli
The Boeing Company
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