Mobile space-based reference system and use method thereof

Abstract

A mobile space-based benchmark (MSBD) is disclosed that is formed from a plurality of nodes in space that specify at least one data reference line or plane. The MSBD is formed from a plurality of nodes in a space specifying at least one data reference line or plane, including: collecting known locations of the plurality of nodes in the space; forming an MSBD comprising a checkerboard-shaped surface by designating at least one reference line or plane as an MSBD using a plurality of nodes; and calculating a relationship between the MSBD and the object at the specific time distance.

Description

[0001] Related Applications

[0002] This application claims the benefit of priority under PCT Article 8 to U.S. Provisional Patent Application No. 63 / 473,232, filed on May 12, 2022, and simultaneously filed a corresponding, related U.S. non-provisional application with the same invention name, the contents of which are incorporated herein by reference in their entirety. Technical Field

[0003] In some embodiments of the invention, the invention relates to object referencing, and more particularly, but not exclusively, to a space-based reference datum system. Background Art

[0004] A geodetic datum or geodetic system (also called: geodetic reference datum, geodetic reference system or geodetic reference system) is a global datum reference or reference system used to accurately express the position of places on the Earth or other planetary bodies by means of geodetic coordinates. A datum is related to any technology or technique based on spatial position, including geodesy, navigation, surveying, geographic information systems, remote sensing and mapping. A horizontal datum is used to measure positions on the Earth's surface, expressed in latitude and longitude or in another coordinate system; a vertical datum is used to measure elevation or depth relative to a standard origin, such as mean sea level (MSL).

[0005] Historically there have been a range of cartographic methods for mapping surface models of objects. In the geospatial field, maps of objects are georeferenced in a variety of ways using ellipsoidal models and layering of different geospatial dataset types. The primary reference point is usually for a surface that can be seen, measured, or mathematically modeled relative to another surface or datum.

[0006] The position of a satellite is typically determined using tracking from ground stations, which use mechanisms such as radar, signal Doppler, and laser reflectors to pinpoint the satellite's position and maintain knowledge of the elements of its orbit.

[0007] Given a valid Keplerian orbital element, computing the position of a satellite at a specific point in time is basic orbital mechanics. The Keplerian elements are the following:

[0008] ○ Epoch time - defines the time of the other seven values;

[0009] ○i - inclination (degrees) - the angle between the equator and the orbital plane;

[0010] ○e-eccentricity-a constant that defines the shape of the orbit (0=circular, <1=elliptical);

[0011] ○a - semi-major axis (meters) - a constant that defines the size of the orbit;

[0012] ○ν - true anomaly (degrees) - the angle between the perigee and the spacecraft (in the orbital plane);

[0013] ○Ω - right ascension of ascending node (degrees) - the angle between the vernal equinox and the point where the orbit crosses the equatorial plane (going north);

[0014] ○ω - Argument of perigee (degrees) - the angle between the ascending node and the point in the orbit closest to the Earth (perigee).

[0015] All of this information is compiled into tables called ephemeris. This data is further supplemented by airborne positioning from satellites using a number of aircraft-based systems.

[0016] Since the advent of the Global Positioning System (GPS), the ellipsoid and datum used by World Geodetic System (WGS) 84 have replaced most other ellipsoids and datums in many applications. Unlike most earlier datums, WGS 84 was intended for global use.

[0017] Previous attempts to provide a fiducial or three-dimensional positioning system in other market sectors include US Patent Application Publication No. 2014 / 0300941, entitled “Method and apparatus for generating hologram based on multi-view image.”

[0018] Additional background technology includes: U.S. Patent No. 10,420,510, entitled “System and method for imaging a moving subject”; U.S. Patent Application Publication No. 2022 / 0026877, entitled “Outer space digital logistics system”; Chinese Patent Application Publication No. 106961363, entitled “A kind of method and system for capturing virtual switch User space data plane data message”; U.S. Patent No. 8,884,954, entitled “Algorithm and a method for characterizing surfaces with fractal nature”; U.S. Patent No. 8,884,954, entitled “Method and receiver using a low earth orbiting satellite signal to augment the global positioning system”; U.S. Patent No. 5,812,961 entitled “System”; U.S. Patent No. 8,797,206 entitled “Method and apparatus for simultaneous multi-mode processing performing target detection and tracking using along track interferometry (ATI) and space-time adaptive processing (STAP)”; U.S. Patent No. 4,761,652 entitled “Arrangement for measuring the distance separating the arrangement from a moving body”;Chinese Patent No. 108387246 entitled “Multinode distribution space-time datum method and apparatus”; and Chinese Patent No. 109959333 entitled “Spatial accuracy bearing calibration and equipment”. ;

[0019] However, none of the above cited publications address the technical problems still faced in the art, which are addressed by the embodiments of the present invention described herein. Summary of the invention

[0020] According to an aspect of some embodiments of the present invention, there is provided a moving space-based reference (MSBD) formed by a plurality of nodes specifying at least one data reference line or plane in space.

[0021] According to an aspect of some embodiments of the present invention, a method for using an MSBD is provided, wherein the MSBD is formed by a plurality of nodes in space that specify at least one data reference line or plane, the method comprising: collecting known positions of the plurality of nodes in space; forming an MSBD comprising a tessellated surface by designating at least one reference line or plane as an MSBD using the plurality of nodes; and calculating the relationship between the MSBD and an object at a specific time distance.

[0022] In an embodiment of the present invention, the method further comprises calculating at least one of a position and an orientation of at least one of the nodes constituting the MSBD using the MSBD.

[0023] In an embodiment of the present invention, the method further comprises using the MSBD to calculate at least one of a position and an orientation of the object, wherein the object is outside the MSBD.

[0024] In an embodiment of the invention, the method further comprises determining at least one of a terrestrial position and a planetary position of the object using the MSBD.

[0025] In an embodiment of the present invention, the method further comprises calculating at least one of a position and an orientation of a passing object.

[0026] In an embodiment of the present invention, the plurality of nodes consist of at least one of a time point and a physical point.

[0027] In an embodiment of the present invention, the method further comprises transmitting data between the plurality of nodes.

[0028] In an embodiment of the present invention, the method further comprises transmitting data between one or more of the plurality of nodes and at least one ground station.

[0029] In an embodiment of the present invention, the method further comprises weighting at least one of the nodes for at least one of performance calculation and modeling.

[0030] In an embodiment of the invention, the weighting is a time weighting.

[0031] In an embodiment of the invention, the method further comprises creating a plurality of subsets of nodes.

[0032] In an embodiment of the present invention, the various nodes comprising the MSBD change over time.

[0033] In an embodiment of the present invention, the method further comprises correcting errors associated with nodes of the MSBD by sharing at least one of position data and orientation data among a plurality of nodes of the MSBD.

[0034] In an embodiment of the present invention, the node is selected from a weather satellite, a space telescope, an imaging satellite, a communication satellite, the International Space Station, or other space-based entities.

[0035] In an embodiment of the present invention, the designation of the MSBD is independent of the type of node used.

[0036] In an embodiment of the present invention, the MSBD is specified using a calculation based on at least one of past predicted node positions, current predicted node positions, and future predicted node positions.

[0037] In an embodiment of the invention, at least one of the nodes is at least partially simulated.

[0038] According to one aspect of some embodiments of the present invention, there is provided a method for determining the geographic location of at least one point on the ground, the method comprising: connecting an MSBD formed by a plurality of nodes specifying at least one data reference line or plane in space to a ground station in a known geographic location to establish a reference relationship between the MSBD and the known geographic location; and connecting at least one of the nodes of the MSBD to at least one point on the ground, the geographic location of the at least one point to be determined; and calculating the geographic location of the at least one point on the ground using the reference relationship.

[0039] In an embodiment of the present invention, connecting nodes within the MSBD is performed continuously or temporarily.

[0040] According to an aspect of some embodiments of the present invention, a method for determining the geographic location of at least one point on the ground is provided, the method comprising: collecting at least one of position data, navigation data and timing data from at least one node of an MSBD formed by multiple nodes specifying at least one data reference line or plane in space to obtain a tessellated surface reference position in space; associating at least one of surface placement and position accuracy with at least one node of the MSBD; translating the position of the reference MSBD to at least one point on the ground; and determining the geographic location of the at least one point by triangulation using three or more nodes of the MSBD.

[0041] Unless otherwise defined, all technical and / or scientific terms used herein have the same meanings as those of ordinary skill in the art to which the invention belongs. Although methods and materials similar or equivalent to those described herein can be used for the practice or testing of embodiments of the present invention, exemplary methods and / or materials are described below. In the event of a conflict, this patent specification (including definitions) will prevail. In addition, materials, methods and embodiments are illustrative only and are intended to be not necessarily restrictive.

[0042] The implementation of the method and / or system of the embodiments of the present invention may involve performing or completing the selected tasks manually, automatically, or a combination thereof. In addition, actual instruments and devices according to the embodiments of the method and / or system of the present invention may use an operating system to implement several selected tasks by hardware, by software, or by firmware, or by a combination thereof.

[0043] For example, the hardware for performing the selected tasks according to the embodiments of the present invention can be implemented as a chip or a circuit. As software, the selected tasks according to the embodiments of the present invention can be implemented as a plurality of software instructions executed by a computer using any suitable operating system. In an exemplary embodiment of the present invention, one or more tasks according to the exemplary embodiments of the method and / or system as described herein are performed by a data processor such as a computing platform for performing a plurality of instructions. Optionally, the data processor includes a volatile memory for storing instructions and / or data and / or a non-volatile memory for storing instructions and / or data, such as a magnetic hard disk and / or a removable medium. Optionally, a network connection is also provided. Optionally, a display and / or a user input device such as a keyboard or a mouse is also provided. BRIEF DESCRIPTION OF THE DRAWINGS

[0044] Some embodiments of the present invention are described herein by way of example only, with reference to the accompanying drawings. With specific reference now to the accompanying drawings in detail, it is emphasized that the details shown are exemplary, not necessarily to scale, and are for the purpose of illustrative discussion of embodiments of the present invention. In this regard, the description in conjunction with the accompanying drawings makes it clear to those skilled in the art how to implement embodiments of the present invention.

[0045] In the attached picture:

[0046] Figure 1 is a block diagram of a Mobile Space-Based Reference (MSBD) system according to some embodiments of the present invention;

[0047] FIG. 2A to FIG. 2C is a schematic diagram illustrating various aspects of an MSBD system according to some embodiments of the present invention;

[0048] Figure 3 is a schematic diagram illustrating aspects of position and orientation accuracy of an MSBD system according to some embodiments of the present invention;

[0049] Figure 4 is a schematic diagram illustrating the use of an MSBD system for ground surface mapping according to some embodiments of the present invention;

[0050] Figure 5 is a schematic diagram illustrating the use of an MSBD system for obtaining position and orientation information of a passing object according to some embodiments of the present invention;

[0051] Figure 6 is a schematic diagram illustrating time-based interpolation and performance smoothing according to some embodiments of the present invention;

[0052] Figure 7 is a schematic diagram illustrating bidirectional communication capabilities between nodes of an MSBD system according to some embodiments of the present invention;

[0053] Figure 8 is a schematic diagram illustrating time weighting of nodes for optimizing an MSBD system according to some embodiments of the present invention;

[0054] Fig. 9 is a schematic diagram illustrating the creation of a subset of nodes within an MSBD system according to some embodiments of the present invention;

[0055] Fig.10 is a schematic diagram showing the addition and / or reduction of nodes in an MSBD system over time according to some embodiments of the present invention;

[0056] Fig.11is a schematic diagram illustrating an error correction function of an MSBD system according to some embodiments of the present invention;

[0057] Fig.12 is a schematic diagram illustrating reference mathematics of an MSBD system according to some embodiments of the present invention;

[0058] Fig.13 is a schematic diagram illustrating use of an MSBD system to determine the distance or location of a point according to some embodiments of the present invention; and

[0059] Fig.14 is a flow chart of a method of using an MSBD system according to some embodiments of the present invention. DETAILED DESCRIPTION

[0060] In some embodiments of the invention, the invention relates to object referencing, and more particularly, but not exclusively, to a space-based reference datum system.

[0061] Before explaining at least one embodiment of the present invention in detail, it should be understood that the present invention is not necessarily limited in its application to the details of construction and arrangement of components and / or methods set forth in the following description and / or illustrated in the accompanying drawings. The present invention is capable of other embodiments or can be practiced or carried out in various ways.

[0062] Typically, any type of mapping requires a datum which is a plane, line, or point used as a reference when measuring the position and / or size of an object. What does not exist is a space-based datum, given the challenge of not being able to define a measurable reference point in the void of sky and space. A datum must provide a surface from which measurements can be derived. The demand for space mission support requiring position and orientation accuracy has increased due in part to: a) the proliferation of space-based objects; b) the need for space debris tracking and removal, on-orbit refueling, mission dispatch, collision avoidance; and c) the need for alternatives to Earth's geolocation (i.e., alternatives to GPS or GNSS).

[0063] Given a pool of space-based satellites and / or airborne and / or space-based manned and / or unmanned platforms and / or space-based vehicles (any, some or all of which may also be referred to herein as "nodes", and all of these terms are used interchangeably throughout), each with independent and relative position awareness to each other, the invention described herein uses the dynamically updated coordinates of these space-based objects to define a highly accurate moving space-based reference system ("MSBD system"). Such a connected network of satellites or space-based entities provides a scalable space-based moving reference, i.e., a reference plane with the associated functionality of a virtual surface from which measurements can be made. A satellite (or space-based entity) can act as a single point contributor or as a hub for communicating with multiple satellites.

[0064] It should be understood that the MSBD implementation is independent of the node type used. For example, the nodes in the MSBD system can be weather satellites, space telescopes, imaging satellites, communication satellites, international space stations, or other space-based entities. This is a non-exhaustive list provided for illustrative purposes only.

[0065] These satellites are points within a virtual moving reference (the "MSBD plane" or just "MSBD"). On the move; the past motion, current motion, and even future motion of these satellites are measured and calculated. This provides a past, current, and planned future surface for the moving reference. This perception allows time calculations and enhancements to be performed on the moving space-based reference. Nodes can temporarily enter or exit the system. Nodes can be modeled to include or eliminate even outside the network. All nodes can be used to model the MSBD or only a subset of those nodes in the mesh network. The MSBD can be represented by a mesh surface and / or a tessellated surface.

[0066] In an embodiment of the present invention, the points in the MSBD are in motion, but always define a well-known surface plane (MSBD). The MSBD may contain a series of points, lines, or planes that may form a MSBD tessellated and / or meshed surface. Objects such as satellites or space-based entities (used interchangeably) that exist in the MSBD are data sources for creating the MSBD.

[0067] According to some embodiments of the invention, the MSBD plane is characterized at any instant and can be used as a global or planetary reference source. The MSBD plane is independent of any one or even a series of space-based reference objects, as objects dynamically enter and leave the MSBD plane. In embodiments of the invention, the MSBD plane is formed by a tessellated surface in which nodes represent actual or predicted satellite positions.

[0068] By using multiple satellites (2, 3 or more), such as described herein, a geo-referenced or space-based reference datum and surface plane is formed, such as FIG. 2A to FIG. 2C The plane is formed by at least one tessellated surface 304, such as Figure 3 As shown (a second tessellated surface 306 is also shown), in the at least one tessellated surface 304, nodes represent actual and / or predicted satellite positions. The plane provides a surface on which a large number of calculations and services can be performed, enhancing conventional position orientation methods and other client satellite systems that are continuously or temporarily connected to a tessellated or mesh network.

[0069] For example, with the advent of new communications services, satellites in low-Earth orbit to medium-Earth orbit and geostationary and geostationary satellites provide a network of spatially georeferenced points connected to a highly accurate real-time data plane. These points can be connected to each other continuously or at any instant by multiple lines of sight, especially for information such as Figure 7 As shown and described. Satellites reference their positions by many methods. This can include celestial or star tracking, onboard GPS, ground-based RF ranging, or ultimately laser ground-based field ranging and orientation. Typically, these position reference methods are independent and unique to each individual satellite, but as described herein, this operational uniqueness is not an obstacle in MSBD implementations.

[0070] As follows, especially about Figure 3 As described, the present invention is integrated across nodes, achieving higher accuracy through correlation across different nodes, each of which has a basic sense of position and orientation.

[0071] The network or space-based benchmark as a whole benefits from the continuous addition of new unrelated datasets through the network, such as additional satellite or space-based entities, which will be discussed below, especially with regard to Fig.10 Describe in more detail.

[0072] In these and other methods of the present invention, the reference plane is obtained from multiple different reference sources to obtain accuracy, thereby eliminating errors within a single satellite of interest at a single point in time, as will be discussed below, particularly with respect to Fig.11 Describe in more detail.

[0073] Now referring to the accompanying drawings, Figure 1 1 is a block diagram of a mobile space-based reference (MSBD) system 100 according to some embodiments of the present invention. The MSBD system 100 utilizes space-based data points or nodes 102 (i.e., satellites and / or other space-based objects) placed in interconnected communications 104 to form a track network that constructs a space-based, continuously updated reference or reference plane. The MSBD reference plane can then be used as a positioning, navigation, and timing (PNT) reference plane independent of GPS, referred to herein as a mobile space-based reference. This is not only an alternative to GPS, but also a PNT enhancement to the nodes and ground systems connected to the MSBD system 100.

[0074] The MSBD system 100 may include many individual nodes 102. Each node may act as a user, a beneficiary, or both within the MSBD system 100, providing data or receiving data to create a surface and / or enhance its own position orientation perception. In some embodiments of the present invention, the data used will be maintained in one or more MSBD client hubs 108. These hubs 108 may be ground-based or space-based or a combination of both locations, in which MSBD calculations are performed and MSBD calculations are archived. Calculations and archives may represent a single node, a series of nodes, or the MSBD as a whole. This should also be considered in terms of time, because any situation may be instantaneous or within a period of time: past, present, or future. Hub 108 will not only provide unique archived materials to one or more nodes, but may also act as a processor to perform time processing on data. In embodiments of the present invention, the time-processed data may be used to provide enhanced prediction, calibration, system planning, system parameters, and system enhancement. In embodiments of the present invention, data will be archived at MSBD client hubs 108 for on-demand extraction according to usage.

[0075] In some embodiments of the present invention, the nodes 102 in the MSBD constitute natural objects and artificial objects. In some embodiments of the present invention, artificial objects can use natural objects as calibration sources in their position orientation solutions, such as the moon or known points on the moon. Natural objects can also exist in the MSBD as reference points or calibration sources for the MSBD or a subset of the MSBD relative to a single node of the MSBD.

[0076] As mentioned above, datums are essential to any technology based on spatial location, including geodesy, navigation, surveying, GIS, remote sensing, and mapping. Datums provide surfaces from which measurements can be derived. These measurements obtained through MSBD can now be performed against the virtual backdrop of sky and space.

[0077] Satellites reference their positions by many methods. These positioning methods can include celestial or star tracking, airborne GPS, ground-based RF ranging, or ultimately laser ground field ranging and orientation. To date, these methods have been independent and unique to each individual satellite, reducing any error correlation within its data but within its own single, independent satellite. Embodiments of the present invention contemplate that MSBD will be integrated across nodes 102, achieving higher accuracy through correlation across different satellites or aircraft, each of which has a basic sense of position and orientation. (Note: The terms "satellite", "space-based entity" and "aircraft" are interchangeable and all represent a "node" 102 in the MSBD system 100. The term "mobile space-based reference" (MSBD) can be used interchangeably with "space-based mobile reference".

[0078] The network or space-based benchmark as a whole benefits from the continuous addition of new unrelated data sets through the network, such as additional satellite or space-based entities. The network's grid acts as a location surface plane (MSBD) for services that can use point-to-point or multiple locations for target triangulation.

[0079] In some of the methods described herein, the reference plane obtains accuracy from multiple different reference sources, thereby eliminating errors within a single satellite of interest 102 at a single point in time, as will be discussed below, particularly with respect to Fig.11 Described in more detail. As the satellite 102 moves along a known or predicted trajectory, its data may also be time processed in forward and reverse directions, for example by at least one MSBD processing hub 106 (located on the ground or in space), to further enhance position and orientation perception, similar to Kalman filtering. The MSBD hub can perform multiple tasks. These include, but are not limited to, node: location information, usage data, ownership, operating parameters, performance, corrections, and other aircraft parameters. The MSBD hub may also perform MSBD calculations, such as positioning, orientation, error prediction and reduction, and time assessment, on all or a subset of the checkerboard surfaces within the MSBD. The MSBD hub may further act as a scattering point for a checkerboard mesh surface reference. It has the ability to forward correction data to each node.

[0080] The Earth world has now seen and enjoyed the benefits of a planet-based interconnected distributed data architecture (i.e., ground-based mesh network). Considering the embodiments of the present invention described herein, the spatial domain can now benefit from this same type of interconnected geographic reference and pointing network plane. Strict position awareness in the MSBD system 100 will not only enhance the independent positioning of each satellite 102, but will further enhance the "tilt and queue" mission / positioning accuracy between aircraft for various missions. In an embodiment of the present invention, the frequency of the position updates from the nodes 102 in the MSBD system 100 is comparable to the GPS clock. The advantage of this position update frequency is that satellite speed and orbit changes will not substantially affect or not affect the efficacy and / or operation of the MSBD system 100 at all.

[0081] Satellites in space have many common features. They have power, positioning, communication, imaging, data processing, storage, self-protection capabilities, etc. A limited aspect is their ability to interconnect to share benefits with each other. This sharing can alleviate the failure of a single node 102 or enhance the capabilities of positioning, processing, attitude, power or more. So far, space systems have achieved interconnection of real-time downlink communications, but this is just the tip of the iceberg of what can be considered. Now through the MSBD system 100, cross-platforms, mesh PNT and pointing and positioning (P&P) are added in combination. So far, many industry solutions in this commercial space involve transmitting data from auxiliary satellite vehicles through a communication network. However, in some embodiments of the present invention, new functions are provided to the mesh network by adding the concept of a series of added functions, and this series of added functions are now available through the interconnection of satellite vehicles or space-based entities.

[0082] As described herein, the MSBD system 100 is a novel PNT method that brings GPS independence because it can use any satellite with a tracking method (e.g., a star tracker). The MSBD system 100 utilizes the position sensing capability of the satellite itself. The accuracy of the MSBD system 100 increases with the increase in the number of nodes in the MSBD system 100. However, when more sensors are added to each node, the MSBD system 100 sees further improvements. This is achieved in an embodiment by adding a single node with additional star tracking capabilities, thereby giving the node a higher degree of performance in position and orientation. The accuracy of the system 100 improves with the added non-PNT nodes (any aircraft type will improve MSBD), and GPS usually requires an added GPS aircraft. The MSBD system 100 brings reliability for position sensing because nodes 102 can be added, replaced, or even dynamically removed from the MSBD system 100. In some embodiments, the MSBD system 100 has planetary (e.g., Earth, Moon, Mars, Titan, ...) applicability, where a node 102 can determine its position (via any method), and where multiple nodes 102 can form an MSBD, and where these nodes 102 can be located anywhere in the celestial plane. This benefits non-geocentric platforms and constellations. The MSBD system 100 implementation includes all types of satellite positioning and orientation methods, making it independent of satellite platform implementation.

[0083] Embodiments of the present invention incorporate non-GPS based space-based P&P sensing, combined with mesh network processing, to form a PNT alternative to augment or replace current PNT systems or provide PNT services in GPS denied environments. In embodiments of the present invention, the MSBD system 100 processes P&P data temporarily captured from satellites or space-based entities 102 in the network using a mesh network to form an MSBD plane of the MSBD system 100.

[0084] FIG. 2A to FIG. 2C is a schematic diagram illustrating various aspects of an MSBD system 100 according to some embodiments of the present invention. Figure 2A Three nodes 102 i , 102 ii , 102 iii in space are shown, two or more of which may form an MSBD plane 110 of the MSBD system 100 .

[0085] Figure 2B The diagram shows that these nodes 102i, 102ii, 102iii are interconnected via at least one data stream and communication 104 therebetween. It should be understood that communication 104 lines are drawn only between three nodes 102i, 102ii, 102iii, and in other forms of MSBD, any number of additional nodes may be present and may communicate with these additional nodes in virtually any combination and / or configuration, see, for example, Figure 4 and Figure 6 Different node configurations are shown.

[0086] Figure 2C The diagram shows ground communication 202 and at least one ground station 206 located on a ground surface 204 according to an exemplary embodiment of the present invention. It should be understood that the use of the term "ground" is not limited to the surface of the earth, but can include any other surface, such as the moon or Mars or any other location where the ground station 206 can be located. In some embodiments of the present invention, the ground station 206 performs processing and / or control of the MSBD system, for example, operating as an MSBD processing hub 106. Optionally, more than one ground station 206 is present in the MSBD system 100, where the tasks are divided between multiple ground stations in additional and / or alternative configurations. For example, one ground station 206 may simply be redundant to another ground station, or as another embodiment, two ground stations 206 divide tasks between them, such as by communicating with different groups of nodes 102 in the MSBD system 100, respectively.

[0087] In embodiments of the invention, communications occur between multiple nodes 102 and a ground station 206, where the ground station 206 performs tracking, processing, coordination, error correction, prediction, etc. with each node separately. In some embodiments of the invention, multiple nodes perform these tasks with each other (e.g., as a mesh network forming a hub), and communicate as a group with the ground station 206. Optionally, it is a combination of these two paradigms. In embodiments of the invention, communications and data related to the formation and / or operation of the MSBD system 100 are transmitted as packets appended to ephemeris data that has already been transmitted to / by the node 102 and / or easily integrated into telemetry or other data streams with little impact on conventional node operations.

[0088] Figure 3 Be the schematic diagram of the position and orientation accuracy of the MSBD 300 of the MSBD system 100 according to some embodiments of the present invention.In some embodiments of the present invention, the MSBD system 100 has completed the positioning and orientation enhancement that is better than using a separate satellite / node to achieve.By gathering a plurality of nodes in different positions and orientations, the system 100 has enhanced the position and orientation of the whole MSBD 300 of the node connected continuously or in part.Each node in the network can have star tracking, global positioning and / or similar positioning systems.Each system has unique position and orientation, and internal errors based on its unique technology.When carrying out position calculation and orientation calculation at each unique node, eliminate local errors by comparing the position of each node on MSBD 300.

[0089] When sharing data between nodes, these different errors can be eliminated, thereby enhancing the position and orientation knowledge of each node. For example, a series of interconnected link nodes such as shown in MSBD 300 will share position and orientation information, and act as a series of nodes from which reference planes can be calculated. The added nodes / aircraft continuously improve the overall performance of system 100. In an embodiment of the present invention, when the individual performance of a node decreases, its position and orientation perception capabilities can be enhanced by a satellite grid. This can be completed instantaneously or over time when a new aircraft leaves and enters MSBD 300.

[0090] More specifically, in an embodiment of the present invention, nodes (e.g., nodes 302i...302vi...302n) that are constituent data sets of the MSBD 300 enhance their position, distance, and location (x, y, z) awareness by becoming members of the MSBD (which contains multiple nodes, each of which has some or all of such data). Each node 302i...vi has an associated x, y, z position in space. For three-dimensional systems, the convention is to depict the xy plane with the addition of a z axis to represent the axis perpendicular to the xy plane. Each node 302i...vi also has associated roll ω (ω), pitch ω (ω), and and yaw κ (κ). These x-axis, y-axis, z-axis, ω-axis, axis, κ axis Figure 3 3 is shown for node 302i.

[0091] For each node, its accuracy is based on the unique performance / data characteristics of each device. The change and accuracy of the position and orientation from one node to another node will reflect the error associated with each node, and this error can be calculated and eliminated to enhance the overall mesh surface calculation of the position orientation of each node and MSBD. The shared data can be used to correct the position and / or pointing error of each node. In an embodiment of the present invention, when the position of a node is enhanced, the error artifacts added due to orientation can be solved by evaluating the pointing error of other nodes in the MSBD. The elimination of these errors can be repeated in time to characterize the orientation performance of each node and any system error, such as gap.

[0092] Additionally, it is contemplated that the sharing of location data may be used as an independent calibration source for client systems as an additional service or feature of the MSBD system 100 .

[0093] MSBD is independent of GPS, although GPS can be used if available. The grid can be computed solely from the time trajectories of the nodes, the sidereal position solutions, and the orientation.

[0094] Figure 41 is a schematic diagram of an MSBD system 100 for ground surface mapping according to some embodiments of the present invention. In an embodiment of the present invention, by connecting MSBD 300 to ground 204 continuously or temporarily at a single point or eventually at multiple points, ground location knowledge of ground-based object 402 is obtained from MSBD 300. Because there are multiple nodes in the MSBD grid, a node is not required to carry out position evaluation of points on the ground or to enhance the position of another node in space. The diversity of nodes in the grid makes it possible to select a series of best nodes for position reference and triangulation transfer to ground points. Because the grid further has a node layer, the density of points for triangulation will have additional redundancy through the stacking of meshed data planes. Knowing the position of MSBD relative to the ground makes it possible to calculate and determine the position of points on the ground. As described elsewhere herein, the term "ground" is not limited to the earth, but can include the moon, planet or planetary ground surface.

[0095] Figure 5 300 is a schematic diagram illustrating the use of an MSBD system 100 according to some embodiments of the present invention for acquiring position and orientation information of a passing object 502 (not part of the MSBD). By connecting the MSBD 300 to another passing object 502 (e.g., a satellite or space-based entity) continuously, temporarily at a single point, or eventually at multiple points, a position reference for the satellite or space-based entity can be collected from the MSBD. Figure 5 MSBD 300 is shown with a passing object 502 or "client node".

[0096] Although the position and orientation information and other information are known from the nodes integrated into the MSBD 300, it is not necessary to know in advance the information of the passing objects 502 entering and / or leaving the area near the MSBD 300. However, by applying the known data accumulated by the MSBD system 100 related to the passing objects 502, at least the position and / or orientation and / or other data (such as speed) can be determined for the passing objects 502. A client node is a node that utilizes the knowledge of the MSBD, however, in some embodiments of the present invention, it is not a formal member of the MSBD, but a temporary member. One such scenario is that when the client node passes / passes / approaches the MSBD, the owner of the client node (such as a satellite) pays the owner of the MSBD for the services provided to it by the MSBD. These services may include, but are not limited to, enhanced position or orientation or speed data enhancement and planning.

[0097] Figure 66 is a schematic diagram illustrating time-based interpolation and performance smoothing in MSBD 600 according to some embodiments of the present invention. In an embodiment of the present invention, MSBD 600 may be composed of time points or physical points 602i, 602ii, 602n. Based on the position orientation data 604 of each node, modeling may be performed by many techniques (represented by but not limited to computational Kalman-like filters) for processing past, present, and future (t p t c t f ) of the MSBD 600. This will allow interpolation and performance smoothing, if necessary, for enhancements in the MSBD 600. By using this or a similar interpolation, the instantaneous evaluation of any node or group of nodes can be compared at an instant. This in turn can provide an evaluation of the position orientation error of each node relative to the entire or regional MSBD grid. The nodes can then be corrected as needed.

[0098] In some embodiments of the present invention, this modeling is also used for calculations of the grid of MSBD 600, each individual node, and regions and the entire MSBD. Given the continuous motion of nodes within a portion or all of the grid of MSBD 600, surface modeling is suitable for use with a predictive artificial intelligence (AI) framework, where past positions, current positions, and future positions can be predictively modeled by AI (including tessellated computational fluid dynamics (TCFD), machine learning, deep learning, and reinforcement learning). The nature of the satellite's operation makes their position at any time (past, present, and future) predictable. Using this information in creating a predictive model of the MSBD is consistent with the characteristics of AI calculations.

[0099] In some embodiments of the invention and as described elsewhere herein, knowledge of three space-based nodes may be used to mathematically implement the MSBD 600. However, according to an exemplary embodiment of the invention, the three nodes may be three locations of a space-based entity (a single entity) over the course of time, including any combination of past locations, current locations, or future locations of the nodes.

[0100] Figure 7 is a schematic diagram showing the bidirectional communication capability between nodes of the MSBD 300 in the MSBD system 100 according to some embodiments of the present invention. It should be understood that the MSBD 300 can be implemented through communication between nodes 302ii, 302iv, 302v (shown as an example in this figure, but it should be understood that any, some or all nodes have this function) or direct communication between the nodes and the processing hub 106. Data can also be stored on the nodes for later use.

[0101] Bidirectional communication between nodes may occur through, but is not limited to, optical, radio, and / or laser communication. Bidirectional data communication may include, but is not limited to, node identification, location, orientation, time, error data, calibration data, other node type data, MSBD reference data, future node (nodes that will join the MSBD in the future) reference data, planetary data, ground processing data, celestial data, and / or data from space entities outside the MSBD.

[0102] In some embodiments of the present invention, at least one of the checkered mobile space-based reference planes in the MSBD system 100 can be implemented in an active manner, meaning that the MSBD itself can have data transmitted thereon, transmitted to each satellite / space-based node, and from each satellite / space-based node.

[0103] Figure 8 800 in the MSBD system 100. In some embodiments of the present invention, the MSBD 800 may be weighted in terms of performance calculations and modeling. These performance calculations and modeling are based on the quality of its solution over time. This quality may vary and will define the time weight f(W 节点n ), specific to its unique node position and orientation solution (ie, the quality and weights are node specific). These weights are used to optimize the performance of the grid MSBD 800 and the nodes 802i, 802ii, 802n or a subset of nodes across the grid.

[0104] Not all satellites are designed or require the highest degree of positioning and rotational accuracy and stability. Small, cubic or micro-aircraft can minimize the PNT system, which is conducive to weight reduction and cost saving. Therefore, the nodes in the MSBD will have different degrees of native PNT performance. Their accuracy will be appropriately weighted in the grid surface calculation. With "PNT as a Service" now further enhanced, this weighted feature of MSBD is a key feature in low-cost satellite deployment. In some embodiments of the present invention, the weight calculation is a time variable, which can change instantaneously, or may have a slow time change rate in performance due to equipment aging or space conditions.

[0105] Fig. 9is a schematic diagram illustrating the creation of subsets of nodes (e.g., node subsets 1, N and 1, N) within the MSBD 900 of the MSBD system 100 according to some embodiments of the present invention. In embodiments of the present invention, multiple MSBDs may be stacked, adjacent, or dispersedly configured inside and outside a mesh network of nodes, enabling additional positioning and orientation capabilities, such as the relative position of one MSBD relative to another MSBD.

[0106] In some embodiments of the present invention, nodes may be selected to work on the entire grid or may be considered as a subset thereof for local use. Nodes and their weights may be modified as a local subset or as a complete set throughout the MSBD 900. Node weighting may be used to optimize the solution based on usage.

[0107] MSBD 900 can be implemented with one tessellated plane or with many tessellated planes. As an example (but not limited to): two MSBD planes or layers (MSBD surface 1 and MSBD surface N) are created by three nodes (902ii, 902iii and 902iv for surface 1, 902i, 902iii, 902iv for surface N), each plane or layer is produced by connecting 4 different nodes in different configurations. However, this is only a single example case, because there are a large number of possible combinations and arrangements of node connections, forming n planes or surfaces on any MSBD that exists or may exist in MSBD 900 or MSBD system 100.

[0108] These planes / surfaces and their entropy (individually and plane-to-plane) will serve as an added set of calculations for overall, local, and individual node performance, providing additional data points for the operation of the MSBD system 100. Multiple individual planes within an MSBD may be stacked, adjacent, or dispersed within a larger set of MSBDs in the MSBD system 100. Node groups may be formed for specific tasks, such as maximizing a specific accuracy, maximizing time lag, and / or minimizing connection loss.

[0109] Fig. 9 It is also demonstrated that within MSBD 900 only local nodes 904i, 904ii, 904iii may exist.

[0110] Fig.10 1 is a schematic diagram showing the addition and / or removal of nodes in MSBD 1000 of MSBD system 100 according to some embodiments of the present invention over time. That is, the nodes making up MSBD 1000 may change, resulting in a static or dynamic MSBD configuration and / or implementation. Fig.10Nodes that can temporarily enter (nodes 1002i, 1002ii) and exit (1002iii) the MSBD 1000 are shown by dashed lines. Both real and simulated nodes can enter and exit the MSBD. When connected to or disconnected from the network, the node can continue to capture location information for use by the MSBD system 100. In an embodiment of the present invention, this information enhances the internal performance of its previous mesh connection and planned future reintegration into the grid.

[0111] In some embodiments of the invention, these enhancements improve the performance of each node in its overall operational mission because errors associated with the internal performance of its system can be corrected and eliminated. They can have position orientation data calculated based on past predicted positions, current predicted positions, or future predicted positions. A node can be used for MSBD grid performance enhancements either by itself or a group of nodes (such as those related to Fig. 9 The purpose of precision enhancement of the "subset" described above is entered into MSBD 1000.

[0112] Fig.11 1 is a schematic diagram illustrating an error correction function in an MSBD 1100 of an MSBD system 100 according to some embodiments of the present invention. It can be seen from the description of the present invention herein that the number of nodes in the MSBD system 100 affects the system error, accuracy and / or knowledge determined by the MSBD system. Generally, more nodes lead to better information, while fewer nodes are relatively less good. Temporal weighting of nodes is described elsewhere herein, however, it should be understood that in some embodiments of the present invention, each node calculates its weighted temporal = t (past = p, present = c, future = f) position orientation f m，t，1 (W 节点n )N n (t p t c t f ), where each node serves as a reference position for all other nodes in the mesh network 1100. In some embodiments of the present invention, the weighted and / or reference driven error function f(E 节点1-n ), this error function can be applied to each node based on the number of connected reference nodes.

[0113] As described elsewhere herein, the weighting and / or reference may be within the MSBD (full mesh = m), surface planes only (a tessellation = t), or across an alternate nodal local pattern (local = 1), as indicated by f m (E 节点1-n ) and / or f1(E 节点1-n ) and / or f t (E 节点1-nThis provides an uncorrelated error function for correcting position orientation. Fig.11 An implementation scheme is shown that can be an error calculation performance enhancement for one to many nodes, where there is at least one error-corrected node 1102 (in mode) and non-mode reference nodes 1104i, 1104ii, 1104iii and mode nodes 1106i, 1106ii.

[0114] In some embodiments of the present invention, the MSBD in the MSBD system 100 can be mathematically implemented using all or part of the simulated nodes in the MSBD plane. For example, the knowledge collected from three space-based nodes can be used to mathematically implement the MSBD. For example, the three nodes can be three positions of a single space-based entity over the course of time, including any combination of past positions, current positions, or future positions of the nodes, and / or can include simulated nodes. In some embodiments of the present invention, the simulated nodes are identifiable points or positions in space for calculating the MSBD.

[0115] Fig.12 is a schematic diagram illustrating exemplary reference mathematics for plane calculations in the MSBD system 100 according to some embodiments of the present invention. As described elsewhere herein, three nodes (A, B, C) in space can be used to form an MSBD plane using the following equation:

[0116] Plane equation ax+by+cz+d=0

[0117] (1)

[0118]

[0119] (2)

[0120] a=(B y -A y )(C z -A z )-(C y -A y )(B z -A z )

[0121] b=(B z -A x )(C x -A x )-(C z -A z )(B x -A x )

[0122] c=(Bx -A x )(C y -A y )-(C x -A x )(B y -A y )

[0123] d=-(aA x +bA y +cA z ).

[0125] Fig.13 is a schematic diagram illustrating the use of the MSBD system 100 according to some embodiments of the present invention to determine the distance or location of a point 1302 on the MSBD plane 1202. In some embodiments of the present invention, the equation (ax+by+cz+d=0) of the MSBD plane 1202 and the distance (L) to the point 1302 are used to determine the location (xo, yo, zo) of the point.

[0126]

[0127] In some embodiments, the equation for the MSBD plane 1202 (ax+by+cz+d=0) and the point location (xo, yo, zo) are used to determine the distance (L) from the plane 1202 to the point 1302 .

[0128]

[0129] Fig.14 1400 is a flow chart of a method of using the MSBD system 100 according to some embodiments of the present invention. In an embodiment of the present invention, known positions (from satellites or other space-based objects) are collected for three different points in time or location in space (1402). An MSBD plane (such as MSBD 300) is specified (1404) using three points in space, information about which is known to calculate the plane. In an embodiment of the present invention, the relationship between the MSBD and the object at a specific time distance is calculated (1406).

[0130] The MSBD is then used to compute (1408) the position and orientation of at least one node (object) that makes up the MSBD, enhancing the node's knowledge of its own position and orientation. Additionally, alternatively and / or optionally, the MSBD is used to compute (1410) knowledge of the position and orientation of at least one object external to the MSBD, whether in space or on a ground surface.

[0131] It is expected that during the patent validity period of this application, many related MSBDs will be developed, and the scope of the term "MSBD" is intended to include a priori all such new technologies.

[0132] The terms "comprises," "comprising," "includes," "including," "having" and their conjugations mean "including but not limited to."

[0133] The term "consisting of" means "including and limited to."

[0134] The term "consisting essentially of" means that the composition, method or structure may include additional ingredients, steps and / or parts, but only if the additional ingredients, steps and / or parts do not materially change the basic and novel characteristics of the claimed composition, method or structure.

[0135] The term "plurality" means "two or more."

[0136] Throughout this application, various embodiments of the present invention can be presented in a range format. It should be understood that the description of the range format is only for convenience and simplicity, and should not be interpreted as an inflexible limitation to the scope of the invention. Therefore, the description of the scope should be considered to specifically disclose all possible sub-ranges and each numerical value in the scope. For example, the description of a scope such as from 1 to 6 should be considered to specifically disclose sub-ranges such as from 1 to 3, from 1 to 4, from 1 to 5, from 2 to 4, from 2 to 6, from 3 to 6 and each numeral in the scope, such as 1, 2, 3, 4, 5 and 6. No matter how big the scope is, this point is applicable.

[0137] Whenever a numerical range is indicated herein, it is intended to include any cited numeral (fractional or integer) within the indicated range. The phrases "varying / varying between a first indicated numeral and a second indicated numeral" and "varying / varying from a first indicated numeral to a second indicated numeral" are used interchangeably herein and are intended to include the first indicated numeral and the second indicated numeral and all fractions and integers therebetween.

[0138] It should be understood that, for the sake of clarity, certain features of the present invention described in the context of separate embodiments may also be provided in combination in a single embodiment. Conversely, for the sake of brevity, various features of the present invention described in the context of a single embodiment may also be provided individually or in any suitable sub-combination or appropriately in any other described embodiment of the present invention. Certain features described in the context of various embodiments should not be considered as essential features of these embodiments, unless the embodiment does not work without these elements.

[0139] Although the present invention has been described in conjunction with specific embodiments thereof, it is evident that many alternatives, modifications and variations are apparent to those skilled in the art. Therefore, it is intended to embrace all such alternatives, modifications and variations that fall within the spirit and broad scope of the appended claims.

[0140] All publications, patents and patent applications mentioned in this specification are incorporated herein by reference in their entirety, to the same extent as if each individual publication, patent or patent application was specifically and individually indicated to be incorporated herein by reference. In addition, the citation or identification of any reference in this application should not be construed as an admission that such reference can be used as prior art of the present invention. To the extent that section headings are used, they should not be construed as necessary limitations.

Claims

1. A Mobile Space-Based Datum (MSBD) formed by a plurality of nodes specifying at least one data reference line or plane in space.

2. A method of using the MSBD according to claim 1, the method comprising: collecting known positions of the plurality of nodes in space; forming a MSBD including a tessellated surface by designating at least one reference line or plane as the MSBD using the plurality of nodes; and The relationship between the MSBD and the object at a specific time distance is calculated. 3 . The method of claim 2 , further comprising using the MSBD to calculate at least one of a position and an orientation of at least one of the nodes constituting the MSBD. 4 . The method of claim 2 , further comprising using the MSBD to calculate at least one of a position and an orientation of the object, wherein the object is outside the MSBD.

5. The method of claim 2, further comprising determining at least one of a terrestrial position and a planetary position of the object using the MSBD. The method of claim 2 , further comprising calculating at least one of a position and an orientation of a passing object. The method according to claim 2 , wherein the plurality of nodes consist of at least one of a time point and a physical point.

8. The method of claim 2, further comprising transmitting data between the plurality of nodes.

9. The method of claim 2, further comprising transmitting data between one or more of the plurality of nodes and at least one ground station.

10. The method of claim 2, further comprising weighting at least one of the nodes for at least one of performance calculation and modeling. The method of claim 10 , wherein the weighting is a time weighting.

12. The method of claim 2, further comprising creating a plurality of subsets of nodes.

13. The method of claim 2, wherein each node comprising the MSBD changes over time.

14. The method of claim 2, further comprising correcting errors associated with nodes of the MSBD by sharing at least one of position data and orientation data among multiple nodes of the MSBD.

15. The method of claim 2, wherein the node is selected from a weather satellite, a space telescope, an imaging satellite, a communication satellite, an international space station, or other space-based entities.

16. The method of claim 2, wherein the MSBD is designated independent of the type of node used.

17. The method of claim 2, wherein the MSBD is specified using a calculation based on at least one of past predicted node positions, current predicted node positions, and future predicted node positions.

18. The method of claim 2, wherein at least one of the nodes is at least partially simulated.

19. A method of determining a geographic location of at least one point on the ground, the method comprising: connecting the MSBD according to claim 1 to a ground station at a known geographical location to establish a reference relationship between the MSBD and the known geographical location; as well as connecting at least one of the nodes of the MSBD to the at least one point on the ground, the geographical location of the at least one point to be determined; as well as The geographic location of the at least one point on the ground is calculated using the reference relationship.

20. The method of claim 19, wherein connecting the nodes within the MSBD is performed continuously or temporarily.

21. A method of determining the geographic location of at least one point on the ground, the method comprising: Collecting at least one of position data, navigation data and timing data from at least one node of the MSBD according to claim 1 to obtain a tessellated surface reference position in space; associating at least one of a surface placement and a positional accuracy with the at least one node of the MSBD; translating the position of the reference MSBD to the at least one point on the ground; as well as The geographic location of the at least one point is determined by triangulation using three or more nodes of the MSBD.

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