Patent EP0431997A1

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Method of spacecraft attitude display as a space navigation aid

EP 0431997 A1
ABSTRACT translated from French
The invention relates to a method of displaying the attitude of an aircraft, to aid control in space.
Publication number Publication type Application number Publication date Filing date Priority date Also published as Inventors
EP0431997 A1 Application EP19900403234 Jun 12, 1991 Nov 15, 1990 Nov 17, 1989 CA2029778A1, DE69007040D1, DE69007040T2, EP0431997B1, US5212480 Vincent Daniel Ferro AEROSPATIALE Socit Nationale Industrielle
The process is, from the values of Cardan angles (, , ) of the aircraft identified in a reference frame linked to the heavens, and from a calculation of quaternions, to be displayed on a screen display (1) on board, including the following information: a cruciform reticule (7, 8, 9), a flying circle B, the value of the roll angle () in a scale (10), a scrim formed portions of meridians (M) and the parallel (P) of the celestial canopy, a symbol (V1) representing the speed selected by the vector of the aircraft, a vector (12) short-term prediction of the steering attitude of the aircraft, the digital values (19, 21, 23) of speed of the roll, pitch and yaw. Application to operate an aircraft in space.
Applicant
Patent Citations (2), Non-Patent Citations (2), Classifications (8), Legal Events (25) External Links: Espacenet, EP Register
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https://www.google.com/patents/EP0431997A1?cl=en&dq=space+navigation&hl=en&sa=X&ei=JHKlUvagM4K2qQHb84AI&sqi=2&pjf=1&ved=0CEAQ6AEwAQ
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DESCRIPTION translated from French

[0001] The present invention relates to a method of displaying the attitude of an aircraft, to aid control in space. It applies particularly to the ergonomic viewing and attitude of an aircraft in space, and the display values of angular velocities of moving it. [0002] It also applies to the simultaneous visualization of the position of another object such as a space satellite moving in the surrounding space. [0003] We do not know now visualize accurately and ergonomic, the attitude of an aircraft, and more specifically that of a space vehicle, such as a "shuttle". We know only for airplanes, processes that involve the use of electromechanical devices called "balls, or visual display devices, which allow a pilot to know the attitude of the aircraft, in a limited spatial domain, only a few degrees relative to the horizon. [0004] Indeed, the attitude of an aircraft is usually indicated by the values of three Cardan angles (roll (), pitch () and yaw ()) defined in a reference frame, the attitude represented in a reference associated with the aircraft, loses precision when the pitch angle is close to 90 . When a fighter rocketing for example, information provided by the "air ball" are inconsistent due to oscillations of the ball. These data are also inconsistent near the "poles" (near the poles, is close to 90 ). [0005] The processes that use visual display devices coupled with electronic measurement systems attitude, are not generally more efficient than those using the "air ball", they provide only vague indications of the attitude of the plane, when the pitch angle exceeds 80 , the aircraft or navigating near the poles. [0006] [0007] These drawbacks of existing methods, used for aircraft, becoming major drawbacks for assisting the piloting of an aircraft in space. The invention is specifically designed to overcome these drawbacks by a process of viewing on a screen of the evolution of an aircraft (including a space shuttle) which, while providing ergonomic indications of attitude the aircraft, as well as other useful information to the control, also allows for precise attitude, particularly in the vicinity of the pole directions. [0008] These goals are achieved, thanks to tracking the attitude of the aircraft in a canvas of the sky partially projected onto a plane perpendicular to the axis of the aircraft and displayed on a screen embedded display means . [0009] The invention relates to a method for displaying an aircraft with flight in space, characterized in that it comprises: - Defining a spherical celestial sphere centered at the center of gravity of the aircraft, having a polar axis oriented towards the celestial north and an equatorial plane perpendicular to said polar axis and passing through a vernal cueing point; - To define the meridian and parallel tracking on the sky; - Defining a reference frame in orthogonal axes centered on the center of gravity of the aircraft, a first axis of said mark passing through the vernal point, a second axis coinciding with the polar axis and a third axis perpendicular the first and second axes; - Defining a specific reference of the aircraft, three orthogonal axes, having for its origin the center of gravity of the aircraft, a first axis extending along a longitudinal axis of the aircraft, an axis lying in a second plane of symmetry passing through the longitudinal axis of the aircraft and a third axis perpendicular to the first and second axes of the specific reference mark; - Define the attitude of the aircraft by calculating the cardan angles, called roll, pitch and yaw of the aircraft, vis--vis the reference mark; - To use the values of the universal joint angles for viewing on a screen display means, the image obtained in a plane perpendicular to the first axis specific, a framework consisting of portions of meridians and parallels of the sky projected this plane within a piloting or flying circle, viewed on the screen and centered on the first axis of the specific
CLAIMS (13) translated from French

1. A method for displaying the attitude of an aircraft in flight with the space, characterized in that it consists: - Defining a spherical celestial canopy (C) centered at the center of gravity (G) of the aircraft (A) having a polar axis oriented towards the celestial north (N) and an equatorial plane (E) perpendicular to said polar axis and passing through a vernal point ( 50) locator; - To define meridians and parallels (M, P) tracking this sky; - Defining a reference mark (G, X, Y, Z) with orthogonal axes centered on the center of gravity (G) of the aircraft, a first axis (X) of said mark passing through the vernal point (50) a second axis (2) coinciding with the polar axis and a third axis (Y) being perpendicular to the first and second axes; - Defining a reference mark (G, X A, Y A, Z A) of the specific aircraft, three orthogonal axes, having for its origin the center of gravity (G) of the aircraft, a first axis (X A) directed along a longitudinal axis of the aircraft, a second axis (Z A) located in a plane of symmetry passing through the longitudinal axis of the aircraft, a third axis (Y A) perpendicular to the first and second axes of the specific reference mark ; - Define the attitude of the aircraft by calculating the roll angle (), pitch () and yaw () of the aircraft, vis--vis the reference mark (G, X, Y, Z); - To use the values of the cardan angles (, , ) for displaying, on a screen (1) of display means (2), the image obtained in a plane perpendicular to the first specific axis (X A), a framework formed of portions of meridians and parallels (M, P) of the celestial canopy projected onto this plane within a piloting or flying circle (B), displayed on the screen (1) and centered on the first axis (X A) of the specific reference mark; - In displaying a cruciform reticule (7, 8, 9) with two perpendicular segments (7, 8) intersecting the flying circle, intersecting in the center (O) of the flying circle (B) and corresponding respectively to the second and third axes (Z A, Y A) of the specific reference mark, the center (O) of the circle representing the attitude control of the aircraft (A), referenced in longitude and latitude, respectively with respect to a meridian portion (M) and a parallel portion (P) of the canvas; - Displaying the level of the roll angle () in a scale (10) of numerical values, close to the intersection of the flying circle (B) with the segment (7) of the reticule corresponding to the second axis (Z A) the specific reference. 2. A method according to claim 1, characterized in that, in a predetermined around each pole of the celestial canopy circular zone (5), it consists of replacing the display of a net of portions of meridians and parallels of the celestial canopy, forming a template by a grid pattern inside of a circle (6) defining said zone. 3. A method according to claim 2, characterized in that it consists in expressing the cardan angles (, , ) as quaternions. 4. A method according to claim 3, characterized in that it consists of displaying by a symbol (V1) in the template, the location pointed on the celestial canopy by a vector representing the speed of the aircraft (A), symbol being referenced in the net in longitude and latitude, to indicate the angles of sideslip and incidence of the aircraft. 5. A method according to claim 3, characterized in that it consists of displaying the position of another object in space by a symbol (11) characteristic of the object, referenced in the net by a longitude and a latitude corresponding to this position. 6. A method according to claim 3, characterized in that it comprises a further display vector (12) short-term prediction, the attitude of the aircraft. 7. The method according to claim 3, characterized in that it consists of
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reference mark;
displaying the selectee attitude of the aircraft, by an attitude symbol (13) referenced in the net by a longitude and a latitude. 8. A method according to claim 3, characterized in that it further comprises a special way to visualize a portion of meridian (14, 15) among the meridian portions displayed in the canvas. 9. A method according to claim 8, characterized in that it further comprises two display symbols (17, 18) reference roll angle (), diametrically opposed on the flying circle (8), and Display the flying circle intermediate symbol (19) selected roll angle. 10. A method according to claim 3, characterized in that it consists of displaying respectively numerical speed values (p, q, r) of the roll, pitch and yaw, in the sliders (19, 21, 23) movable with respect -vis fixed ladders (20, 22, 24) of digital values. 11. A method according to claim 3, characterized in that it consists of displaying the respective numerical values (25) of angles (, , ) of the roll, pitch and yaw. 12. A method according to claim 11, characterized in that it consists of displaying the numerical val ues (26) of the respective directions of the angles of roll, pitch and yaw. 13. Method characterized in that it consists of allocating specific color codes to the different directions viewed. - To visualize a cross reticle two perpendicular segments intersecting the flying circle, intersecting at the center of the circle corresponding to the second and third axes of the specific benchmark, the center of the circle representing the angles of pitch and yaw identified in longitude respectively and latitude, respectively with respect to a meridian portion and a parallel portion of the canvas; - Displaying the level of the roll angle in a scale of numerical values, close to the intersection of the flying circle of the reticle with the segment corresponding to the second axis of the specific reference mark.
[0010]
According to another characteristic of the invention, the method consists in a predetermined around each pole of the heavens circular area, replace the display of a canvas portions of meridians and parallels of the sky, a canvas forming a grid pattern inside of a circle defining said zone.
[0011] [0012]
According to another characteristic, the method is to express the universal joint angles as quaternions, to view scrim. According to another characteristic, the method is to visualize a symbol on the canvas, the location pointed to the sky by a vector representing the speed of the aircraft, this symbol is referenced in the net, longitude and latitude, indicating respectively the yaw angle () and of pitch () of the aircraft.
[0013]
According to another characteristic, one visualizes the position of another object in space by a characteristic symbol of this object, referenced in the net by a longitude and a latitude corresponding to that position.
[0014] [0015] [0016] [0017] [0018] [0019] [0020] [0021] [0022] [0023] [0024]
According to another characteristic, it also displays a vector of short-term prediction, the attitude of the aircraft. According to another characteristic, displaying a selectee attitude of the aircraft by an attitude symbol referenced in the net by a longitude and a latitude. According to another characteristic, it shows how a particular portion of 0-180 meridian from the meridian portions displayed in the canvas. According to another characteristic, displays two symbols of roll angles references, diametrically opposed to the flying circle, and visualized on the circle control a selected roll angle through symbol. According to another characteristic, respectively displays speed values of variation (p, q, r) angles of roll, pitch and yaw in mobile sliders vis--vis fixed scale of values. Values (p, q, r) are the values of the lengths of the projections of the velocity vector of instantaneous rotation of the aircraft about the three axes X, Y, Z of the specific reference mark, respectively. According to another characteristic, displays the respective numerical values of the angles (, and ) of roll, pitch and yaw. According to another characteristic, the method involves visualizing numerical values of the respective directions of the angles of roll, pitch and yaw. According to another characteristic, the method is to assign codes to specific colors to different indications displayed. According to another characteristic, the method is to visualize the attitude in any coordinate system. The features and advantages of the invention will become apparent from the following description given with reference to the accompanying drawings in which: - Figure 1 shows schematically an aircraft flying in the sky and cutting the roof, for determining the position and attitude of the aircraft; - Figure 2 provides insight into the definition of Cardan angles; - Figure 3 schematically shows the projection of a portion of sky, onto a plane perpendicular to the axis of the aircraft used in the display method of the invention; - Figure 4 shows schematically the different indications displayed by the method of the invention, the screen display means on board the aircraft; - Figure 5 represents schematically a system for implementing the method of the invention.
[0025]
Figure 1 schematically shows a "sky" spherical C, centered at the center of gravity of the aircraft A (a space shuttle for example). The earth is represented by T, the sky (C) has a polar axis oriented north celestial N, E and an equatorial plane perpendicular to the polar axis and passing through the vernal point. The vernal equinox is here 50 point, the spring equinox of 1950, representing the intersection of the equator and the ecliptic, at the passage of the sun in the southern hemisphere the northern hemisphere.
[0026]
According to the method of the invention is defined meridians M and P parallel tracking the attitude of the aircraft A
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on the sky. Meridians M are defined by the intersections of the spherical vault with planes passing through the polar axis of the vault. Parallel P are defined by the intersections of the spherical arch, with planes parallel to the equatorial plane E. Meridians M are marked by longitude, counted positively towards the east, and the parallels are identified by latitude, counted positively towards the celestial north N.
[0027] [0028]
The method further comprises defining a reference mark (G, X, Y, Z) with orthogonal axes and a specific reference mark (G, X A, Y A, Z A) of the aircraft. The reference frame has its origin in the center of gravity G of the aircraft A. A first X axis of the reference frame through the vernal point 50, a second axis Z is directed toward the celestial north N, and a third axis Y which is perpendicular to the first and second axes X, Z is located in the equatorial plane E of the sky.
[0029]
The specific coordinate system of the aircraft also has for its origin the center of gravity G of the aircraft and it includes a first axis X A directed along a longitudinal axis of the aircraft, a second z-axis in a plane of symmetry of the aircraft and a third axis A Y perpendicular to the first and second axes X A, Z A of the specific reference mark.
[0030]
According to the method, then defines the attitude of the aircraft, including through means of embedded inertial processing, calculating the roll angle (), pitch () and Lace () of the aircraft A, vis--vis the reference mark (G, X, Y, Z).
[0031] [0032] [0033]
The calculation of these angles is well known in the prior art, however, for better understanding, Figure 2 can give the definition of these angles. The yaw angle is the angle of rotation about the Z axis of the reference mark, which causes the X axis of the reference frame, coincident with the projection of the axis X A specific marker of on the XY plane. The pitch angle is the angle of rotation about the Y axis, which causes the projection of the axis X A of the specific mark on the XY plane of the first marker to coincide with the axis X A.
[0034]
The roll angle is the angle of rotation about the axis X of the specific reference mark A, which causes the projection of the axis A Y of the specific reference mark on the XY plane of the first point in register with the Y axis of the reference frame.
[0035]
The method further comprises, as shown in Figure 3, using the values of these angles gimbal for viewing on one screen display means 2 image 3 obtained in a plane perpendicular to the first axis X A Benchmark Specifically, a scrim formed from portions 4 M meridians and parallels of the celestial canopy P C, projected onto the plane perpendicular to the inside of a circle B. This circle can be described as "flying circle" is centered on the first X A specific reference axis.
[0036]
It is determined for example by the intersection of the image plane, with a cone having as its axis the X axis A of the specific reference mark, an apex angle () close to 30 for example, the vertex S of the cone , corresponds to the location of the eye of the observer (the pilot of the aircraft).
[0037] [0038]
Figure 4 will allow a better understanding of the different indications displayed on one screen display means on board the aircraft. It first distinguishes all on this screen, the flying circle B and canvas portions of meridians and parallels M P, as indicated above projected on a plane perpendicular to the axis X A specific reference to the within the circle B. It is obvious that the screen is not necessarily perpendicular to the axis X A specific benchmark, but it can occupy any position inside the aircraft. This is actually the image plane that is perpendicular to the X axis. The display means to visualize the image plane on the screen 1.
[0039]
In Figure 4, it was assumed that the canvas is viewed a portion of the sky corresponding to a movement of the aircraft in the vicinity of one of the poles of the vault. In these conditions and in a manner known mapping, scrim meridian and parallel is replaced by another canvas marking 5, forming a grid of segments crossed, within an area bounded by a circle 6, centered on e pole of the heavens. The method further includes displaying a cruciform reticule with two perpendicular segments 7, 8, intersecting the flying circle B, intersecting the center 0 of the circle, and respectively corresponding to the axes Y A and Z A of the specific reference mark. The point 0 is the center of gravity of the aircraft. 9 The central cross of the reticle, which allows to better identify e center 0, include the aircraft itself and defines its angles yaw and pitch , which are respectively marked by longitude and latitude over a portion meridian and a parallel portion, near the cross shown in the outline on the screen.
[0040]
According to the method of the invention, the value of the roll angle is displayed in a scale of 10 numerical values adjacent to the intersection of the flying circle B with the corresponding segment of the reticle 7, In the example , roll angle is close to 48 .
[0041] [0042]
The displayed information which have been described are those that are essential to control. Further details are also displayed, and will be described later. The essential data such as canvas, are viewed from a direct treatment values Cardan angles. However, in a preferred implementation of the method of the invention, one way is to express the Cardan angles as "quarternions" to determine the layout of the template on the screen. The theory of quaternions is described in particular in the book entitled "Quaternions" by Paul Fayet Casteljau - Editions HERMES.
[0043]
Indeed, it is possible to trace the outline on the screen directly from Cardan angles ( (roll) (pitch) and (yaw))
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provided by the onboard inertial means (the axis X A of the plane pointing to the sky), this track loses accuracy when is close to 90 , ie near the poles. Almost pale values angles yaw and roll are meaningless. It is therefore preferable for the values of greater than 80 to replace the canvas meridian and parallel through representation "grid" and whatever the value of , using quaternions to draw the canvas. With quaternions, representing the attitude of the aircraft varies continuously, regardless of the value of . Quaternion q is defined as follows:
q1, q2, q3, q4 vary continuously, even in the vicinity of the poles. [0044] Relations between the Cardan angles and quaternion are: q1 = cos ( / 2) cos ( / 2) cos ( / 2) + sin ( / 2) sin ( / 2) sin ( / 2) q2 = cos ( / 2) cos ( / 2) sin ( / 2) - sin ( / 2) sin ( / 2) cos ( / 2) q3 = cos ( / 2) sin ( / 2) cos ( / 2) + sin ( / 2) cos ( / 2) sin ( / 2) q4 = sin ( / 2) cos ( / 2) cos ( / 2) - cos ( / 2) sin ( / 2) sin ( / 2) [0045] [0046] angles, , appearing in these relationships are Cardan angles that can pass the reference mark (G, X, Y, Z) to the specific marker (G, XA, YA, ZA). Known relationships change of reference are written:
[0047]
You can define a specific intermediate fix (G, X'A, Y'A, Z'A) related to the aircraft more suitable for steering by rotating the specific marker (G, XA, YA, ZA) 180 , around the axis X A. This is from the specific landmark intermediate (G, X'A, Y'A, Z'A) can be defined as a reference frame or display frame of reference picture.
[0048]
We can write:
[0049]
Combining this last equation with the expression of the transition matrix A expressed as a quaternion, we obtain:
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[0050] [0051] [0052] [0053] [0054] [0055] [0056]
The last fix is to define the reference frame viewing. This benchmark has its origin in the middle of the display item. Compared to benchmark specific intermediate (G, X'A, Y'A, Z'A), the reference frame display (O, x, y, z) can be defined as follows: Its origin O is located in the cockpit of the aircraft. Assume that the point O is placed at the distance 1 from the center of the sky and its coordinates relative to the intermediate specific benchmarks are (1,0,0). Its x-axis coincides with the axis X A specific marker of the aircraft. Its y axis coincides with the Z axis Its Z axis coincides with the axis X A. Systems of equations to move the coordinates of a point in the reference mark (G, X, Y, Z) to the coordinates of this point in the reference frame display (o, x, y, z), are currently at the following:
[0057] [0058]
So the system of equations (E3) which is used for visualization of the canvas that is used for visualization of the canvas on the display screen and directed by the specific control agreements; The layout of the template "grid" in the vicinity of polar calotes (beyond | | = 80 ) is obtained in the same manner as the blueprint outlined outside the polar calotes, but choosing a change of mark reference, in which the new X axis passes through the center.
[0059]
The process also allows you to view the canvas displayed on the screen by a symbol V1, location marked by a meridian and a parallel pointed at the sky, by a vector
representing the speed of the aircraft. This symbol V is referenced in the net in longitude and latitude. It allows the pilot to indicate the direction of movement of the aircraft, which is generally different from that of the longitudinal axis of the angles of heel slippage and inertial effects. A X of the aircraft. This direction is calculated from the values [0060] According to the invention, it also displays on the screen, the position of another object in space. This position is indicated by a symbol 11, spotted the canvas by a latitude and longitude, respectively, over a portion of parallel and meridian portion, closest to the symbol 11 in the canvas. This other object can be, for example, a space station to which the aircraft is scheduled to dock. The position of this station is also obtained, from a calculation of quaternion. [0061] Another important indication is that concerning the attitude of the aircraft prediction. This is for example the scheduled aircraft in the next 10 seconds attitude. This information is provided by a vector 12, called "vector prediction of attitude." This prediction is calculated by an on-board, especially from the values of the speeds of the
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[0062]
cardan angle variation computer. This vector indicates the future direction of the longitudinal axis of the aircraft XA. In order to guide the driver in the evolution of the aircraft order, it is also possible, according to the method of the invention, to select a reference attitude. The pilot, acting on the flight controls must act to guide the aircraft in this attitude reference. The reference attitude selectee is displayed by a symbol of attitude, 13 referenced in the net by longitude and latitude, respectively, compared to a portion of the meridian and parallel portion of the canvas.
[0063] [0064] [0065]
To facilitate trails in longitude, the process is to visualize how a particular portion of the prime meridian. This visualization of the prime meridian is represented by the segments 14A, 14B in Fig. Also shown in this figure a portion 16 of meridian perpendicular to the meridian, displayed inside the circle 6 defining the viewing area of the polar calote. Two symbols 17, 18 of the roll angle reference, are also displayed on the flying circle B. These symbols are diametrically opposed on the circle. They facilitate the approximate immediate perception of the roll angle. The exact knowledge of the roll angle is complemented by the numerical values described above 10, indicating more precisely, the value of this angle. It is also possible to view an intermediate symbol 15 selected roll angle. It is indeed useful to the driver to select a roll angle reference value to influence the flight controls of the aircraft so that it retains an attitude respecting the roll angle.
[0066] [0067]
The method also consists of displaying respectively the variation speed values (p, q, r) of the roll, pitch and yaw, in mobile cursors vis--vis fixed ladders. Thus the rate of change per roll is displayed as a numerical value in the slider 19 mobile vis--vis the fixed scale 20. In the example shown, this value is equal to -0.47 / S. The cursor position indicates the tendency of the roll to the right or left. In the example, the trend is to the left.
[0068]
The rate of change of pitch q is displayed by a numerical value in the slider 21 movable vis--vis the fixed scale 22. In the example shown, this value is equal to 1.58 / S. The cursor position indicates the tendency of the pitch up or down. In the example shown, this trend is upwards.
[0069]
Finally, the yaw rate of change is displayed by a numerical value, the cursor 23 in the mobile vis--vis the fixed scale 24. In the example shown, this value is equal to 0.72 / S. The cursor indicates the trend of lace is here to the right.
[0070] [0071] [0072] [0073]
The numerical values of the angles of yaw, pitch and roll, respectively, are displayed in an area 25 opposite directions YAW, PITCH, ROLL. In this example, these numerical values are equal to (12.1 ) (75 ) and (32 7). It is also possible to view an area of 26 will their digital set for angles of yaw, pitch and roll. Finally, in an area 27 can be displayed help information to control for example. Specific codes of colors are assigned to different indications displayed. These color codes are their in the following example: - The bottom of the screen is black, - The flying circle B, canvas meridian and parallel, grid and circle 6, lines 14A, 14B, 16, scales 20, 22, 24, indications YAW, PITCH, ROLL, 17 symbols, 18, 10 and roll values are white, - Moving sliders 19, 21, 23 and Phillips reticle 7, 8, 9 are yellow, and the numeric values in the sliders are green, - 12 vector prediction attitude, the symbol of V1, the numerical values of the area 25 and area information 27 are green, - Symbols 13 and 11 set of aircraft attitude and attitude station, the symbol set roll 15 and the numerical values of the area 26 are blue.
[0074]
5 shows schematically an embedded system to implement the method of the invention. This system includes an inertial unit 28 providing representative Cardan angles signals. That the inertial center is connected to a set of computing and processing 29 including calculation of quaternions and providing on outputs, information concerning the information to be displayed; such information is received by a graphics generator 30 which controls the display means 2 to view the information described above, while respecting the codes chosen colors.
[0075]
In the method described above, the display of attitude could be done in any coordinate deducted from the reference frame.
PATENT CITATIONS
Cited Patent EP0247265A2 * US4848706 * * Cited by examiner Filing date Dec 15, 1986 Feb 29, 1988 Publication date Dec 2, 1987 Jul 18, 1989 Applicant Space Systems / Loral Inc. Ford Aerospace Corporation Title Star sightings by satellite for image navigation Spacecraft attitude control using coupled thrusters
NON-PATENT CITATIONS
Reference 1 * JOURNAL OF GUIDANCE, CONTROL & DYNAMICS, vol. 11, no. 2, mars/avril 1988, pages 110-118, Washington, DC, US; S.D. LAMBROS et al.: "Navigation and pointing timeline development for an automonous free-flying shuttle payload" NEC - RESEARCH & DEVELOPMENT, no. 83, octobre 1986, pages 82-91, Tokyo, JP; K. NINOMIYA et al.: "Attitude and orbit control system of the Japanese Halley's comet explorers "SAKIGAKE" and "SUISEI""
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* Cited by examiner
CLASSIFICATIONS
International Classification Cooperative Classification European Classification G09B9/52, G09B9/24, G09B9/46, G09B9/08 G09B9/08, G09B9/46 G09B9/08, G09B9/46
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Patent EP0431997A1

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Patent EP0431997A1

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12/9/13

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Method of spacecraft attitude display as a space navigation aid

DESCRIPTION translated from French

CLAIMS (13) translated from French

[0031] [0032] [0033]

[0050] [0051] [0052] [0053] [0054] [0055] [0056]

[0063] [0064] [0065]

[0070] [0071] [0072] [0073]

Reference to a national code

Postgrant: annual fees paid to national office

Payment date: 19971107 Year of fee payment: 08

Feb 22, 1995

Reference to a national code

May 24, 1994

It: translation for a ep patent filed

GBT AK 17Q 17P AK

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