Mobile Cosmic Reference Datum System and Method of Using the Same

Abstract

A Moving Space Reference Datum (MSBD) formed from a plurality of nodes in space that specifies at least one data reference line or plane. The MSBD formed from a plurality of nodes in space that specifies at least one data reference line or plane includes collecting known positions of a plurality of nodes in space, forming an MSBD including a mosaicked surface by using the plurality of nodes, specifying at least one reference line or plane as the MSBD, and calculating a relationship between the MSBD at a specific distance at a certain time and an object.

Description

Related Applications

[0001] This application claims the benefit of priority under 35 U.S.C. § 119(e) to U.S. Provisional Patent Application No. 63 / 473,232, filed May 12, 2022, and is being filed concurrently with a corresponding U.S. non-provisional application of the same title, the content of which is hereby incorporated by reference in its entirety.

Technical Field

[0002] In some embodiments, the present invention relates to object references, and more particularly (but not limited to) to space based reference datum systems.

Background Art

[0003] A geodetic datum or geodetic system (including a geodetic reference datum, geodetic reference system, or geodetic reference frame) is a global datum reference or reference frame for accurately representing the position of the Earth or other planets using geodetic coordinates. A datum is associated with any technique or method based on the position in space and includes geodesy, operations, surveying, geographic information systems, remote sensing, and cartography. Horizontal datums are used to measure the position of the entire surface of the Earth in latitude and longitude, or in another coordinate system, and vertical datums are used to measure elevation or depth relative to a standard origin (e.g., mean sea level (MSL)).

[0004] A series of mapping methods for delineating the contour of the surface model of an object has historically existed. In the geospatial field, maps of objects are georeferenced in a number of ways using ellipsoidal models and the stratification of various geospatial dataset types. The main reference points are often surfaces that can be seen, surveyed, and / or mathematically modeled relative to another surface or datum.

[0005] The position of a satellite has conventionally been determined using tracking from ground stations. Ground stations use mechanisms such as radar, signal Doppler, and laser reflectors to accurately indicate the position of the satellite and maintain knowledge of orbital elements.

[0006] Given valid Keplerian orbital elements, calculating where a satellite is at a particular point in time is basic orbital mechanics. The Keplerian elements are as follows. · Epoch time - The time when the other seven values are defined · i - Inclination angle of the orbit (°) - The angle between the equator and the orbital plane · e - Eccentricity - A constant that defines the shape of the orbit (0 = circle, < 1 = ellipse) · a - Semi - major axis of the orbit (m) - A constant that defines the size of the orbit · ν - True anomaly (°) - The angle between the perigee and the vehicle (in the orbital plane) · Ω - Right ascension of the ascending node (°) - The angle between the vernal equinox and the position where the orbit crosses the equatorial plane (northward) · ω - Argument of perigee (°) - The angle between the ascending node and the position of the orbit closest to the Earth (perigee)

[0007] All of this information is summarized in a table called an ephemeris. This data is further supplemented by onboard positioning of the satellite using a number of vehicle - based systems.

[0008] Since the emergence of the Global Positioning System (GPS), the World Geodetic System (WGS) 84, which it uses for its ellipsoid or datum, has replaced most others in many applications. Unlike most previous datums, WGS 84 is intended for worldwide use.

[0009] Past attempts to provide a datum or three - dimensional positioning system in other market areas include U.S. Patent Application Publication No. 2014 / 0300941, titled "Method and apparatus for generating hologram based on multi - view image".

[0010] Additional background art 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. 5,812,961 entitled "Method and receiver using a low earth orbiting satellite signal to augment the global positioning system", U.S. Patent No. 8,797,296 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".

[0011] However, the above-cited publications do not solve the technical problems that this technology still faces and that are addressed by the embodiments of the present invention described herein.

Summary of the Invention

[0012] According to one aspect of some embodiments of the present invention, a Moving Space Reference Datum (MSBD) formed from a plurality of nodes in space is provided that designates at least one data reference line or plane.

[0013] According to one aspect of some embodiments of the present invention, a method of using an MSBD formed from a plurality of nodes in space that designates at least one data reference line or plane is provided, the method including collecting known positions of a plurality of nodes in space, forming an MSBD including a mosaicked surface by using the plurality of nodes, designating at least one reference line or plane as the MSBD, and calculating the relationship between the MSBD at a particular distance at a certain time and an object.

[0014] In an embodiment of the present invention, the method further includes using the MSBD to calculate at least one of the position and orientation of at least one of the nodes constituting the MSBD.

[0015] In an embodiment of the present invention, the method further includes using the MSBD to calculate at least one of the position and orientation of an object, the object being external to the MSBD.

[0016] In an embodiment of the present invention, the method further includes using the MSBD to confirm at least one of the terrestrial and planetary positions of an object.

[0017] In an embodiment of the present invention, the method further includes calculating at least one of the position and orientation of a passing object.

[0018] In an embodiment of the present invention, the plurality of nodes are composed of at least one of a time point and a physical point.

[0019] In an embodiment of the present invention, the method further includes communicating data among the plurality of nodes.

[0020] In an embodiment of the present invention, the method further includes communicating data between one or more of the plurality of nodes and at least one ground station.

[0021] In an embodiment of the present invention, the method further includes weighting at least one of the nodes for at least one performance calculation and modeling.

[0022] In an embodiment of the present invention, the weighting is a temporal weighting

[0023] In an embodiment of the present invention, the method further includes creating a subset of the plurality of nodes.

[0024] In an embodiment of the present invention, each node including MSBD changes over time.

[0025] In an embodiment of the present invention, the method further includes correcting errors related to the nodes of MSBD by sharing at least one of position data and direction data among the plurality of nodes of MSBD.

[0026] In an embodiment of the present invention, the nodes are selected from a weather satellite, a space telescope, an image satellite, a communication satellite, an international space station, or other space-based entities.

[0027] In an embodiment of the present invention, the designation of MSBD is independent of the format of the nodes used.

[0028] In an embodiment of the present invention, MSBD is designated using calculations based on at least one of the past, present, and predicted future positions of the nodes.

[0029] In an embodiment of the present invention, at least one of the nodes is at least partially simulated.

[0030] According to one aspect of some embodiments of the present invention, there is provided a method for determining the geographical location of at least one point on the ground, the method including: connecting an MSBD formed from a plurality of nodes in space, which designates at least one data reference line or plane, to a ground station at a known geographical location, and defining a reference relationship between the MSBD and the known geographical location; connecting at least one of the nodes of the MSBD to at least one point on the ground and the determined geographical location of the at least one point; and calculating the geographical location of the at least one point on the ground using the reference relationship.

[0031] In an embodiment of the present invention, connecting the nodes within the MSBD is performed continuously or temporarily.

[0032] According to one aspect of some embodiments of the present invention, there is provided a method for determining the geographical location of at least one point on the ground, the method including: collecting at least one of position, navigation, and timing data from at least one node of an MSBD formed from a plurality of nodes in space, which designates at least one data reference line or plane, to obtain a mosaicked surface reference position in space; associating at least one of the surface arrangement and position accuracy with at least one of the MSBDs; converting the referenced MSBD position to at least one point on the ground; and determining the geographical location of the at least one point by triangulation using three or more nodes of the MSBD.

[0033] Unless defined otherwise, all technical and / or scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention pertains. Methods and materials similar or equivalent to those described herein can be used in the practice or testing of embodiments of the present invention, but representative methods and / or materials are described below. In case of conflict, the patent specification, including definitions, will control. Also, the materials, methods, and examples are illustrative only and not intended to be limiting.

[0034] The implementation of the methods and / or systems of embodiments of the present invention can include performing or completing selected tasks manually, automatically, or a combination thereof. Further, depending on the actual instrumentation and apparatus of the methods or systems of embodiments of the present invention, some selected tasks can be implemented by hardware, software, firmware, or a combination thereof that uses an operating system.

[0035] For example, according to embodiments of the present invention, the hardware for performing selected tasks can be implemented as a chip or circuit. As software, according to embodiments of the present invention, selected tasks can be implemented as a plurality of software instructions executed by a computer using any suitable operating system. In exemplary embodiments of the present invention, one or more tasks according to the exemplary embodiments of the methods and / or systems described herein are executed by a data processor (such as an arithmetic platform that executes a plurality of instructions). A network connection is optionally provided as well. A display and / or user input device (such as a keyboard or mouse) is optionally provided as well.

Brief Description of the Drawings

[0036] Some embodiments of the present invention will be described herein by way of example with reference to the accompanying drawings. Referring particularly to the drawings, it is emphasized that the details shown are by way of example and not necessarily to scale, and that the purpose is to aid in the discussion for understanding the embodiments of the present invention. In this regard, the description using the drawings will clarify to those skilled in the art how the embodiments of the present invention are practiced.

[0037] In the drawings,

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DETAILED DESCRIPTION OF THE INVENTION

[0038] In some embodiments of the present invention, it relates to, but is not particularly limited to, a celestial reference datum system with respect to object references.

[0039] Before explaining at least one embodiment of the present invention in detail, it is understood that the present invention is not necessarily limited to the structural details, the arrangement of components, and / or the methods described in the following description and / or shown in the drawings. The present invention may be other embodiments and may be practiced or carried out in various ways.

[0040] Generally, any form of mapping requires that the datum be a plane, a straight line, or a point. These are used as references when measuring the target position and / or dimension. What has not existed until now is the cosmic reference datum, and there has been a problem that measurable reference points cannot be defined in the void and the emptiness of the universe. The datum must provide a surface that can be obtained by measurement. The need for assistance in space missions that require position and direction accuracy, and partly, a) the proliferation of cosmic reference objects, b) the need for space debris tracking and removal, refueling in orbit, mission execution, collision avoidance, c) the need for alternative means of terrestrial geographical location information (i.e., alternatives to GPS or GNSS), is increasing.

[0041] Providing a pool of cosmic references for satellites, each with independent and mutually referenceable position recognition, and / or air, and / or manned and / or unmanned platforms with cosmic references, and / or cosmic reference vehicles (any, some, or all of which are referred to herein as "nodes" and these terms are all used interchangeably throughout), the present invention described herein uses these cosmic reference objects that dynamically update coordinates to define a very accurate mobile cosmic reference datum system ("MSBD system"). This provides a reference surface connected to a network of satellites or cosmic reference entities and having functionality related to a virtual surface that can be measured with an expandable cosmic reference mobile datum. The satellite (or cosmic reference entity) may move as a contributor of a single point or as a hub communicating with multiple satellites.

[0042] It should be understood that the implementation of MSBD does not depend on the form of the nodes used. For example, the nodes in MSBD may be weather satellites, space telescopes, imaging satellites, communication satellites, the International Space Station, or other cosmic reference entities. This is a non-exhaustive list provided for illustrative purposes only.

[0043] These satellites are points within a virtual moving datum (the "MSBD plane" or simply "MSBD"). During movement, past, present, and future movements are measured and calculated thereon. This gives the past, present, and planned future surfaces of the moving datum. This recognition gives rise to the calculation and enhancement of time executed in the moving cosmic reference datum. Nodes may temporarily enter and leave the system. Even when outside the network, nodes may be modeled for inclusion or exclusion. All nodes may be used to model only the MSBD or a subset of the MSBD in a meshed network. The MSBD may be represented by a meshed surface and / or a mosaic surface.

[0044] In embodiments of the present invention, the points within the MSBD are moving but always define a known surface (the MSBD). The MSBD may be composed of a series of points, lines, or surfaces, and they may form a mosaic surface and / or a meshed surface of the MSBD. Objects existing within the MSBD (such as satellites or cosmic reference entities (used interchangeably)) are a source of data for the generation of the MSBD.

[0045] According to some embodiments of the present invention, the plane of the MSBD is characterized at any instant and can be used as a reference for the Earth or a planet. Since objects dynamically enter and leave the plane of the MSBD, they do not depend on any one or a series of reference cosmic reference objects. In embodiments of the present invention, the plane of the MSBD is formed by a mosaic surface on which the nodes represent the actual or predicted positions of the satellites.

[0046] [[ID=il]] As described herein, through the use of multiple satellites (two or more), a georeferenced or space-referenced datum, and a surface are formed, as shown, for example, in FIGS. 2A-2C. The surface is formed by at least one mosaicked surface 304 (a second mosaicked surface 306 is also shown), as shown in FIG. 3, and the nodes represent actual and / or predicted satellite positions. This surface extends conventional positioning methods and other client satellite systems that are continuously or temporarily in a mosaicked or meshed network to provide a surface on which numerous calculations and services can be performed.

[0047] As an example, the emergence of new communication services has provided a network of georeferenced points in space in which satellites from low Earth orbit to medium Earth orbit, geostationary satellites, and geosynchronous satellites are connected to a very accurate raw data surface. These points can be interconnected through multiple successive lines of observation or at any instant (as shown and described especially with respect to FIG. 7). Satellites can reference their positions in many ways. This includes celestial or star tracking, onboard GPS, terrestrial RF ranging, or ultimately laser terrestrial site ranging and calibration. Conventionally, these position reference methods have been independent and unique to each individual satellite, but as described herein, this uniqueness of the calculations is not an obstacle to the implementation of the MSBD.

[0048] As described below with respect to FIG. 3, in particular, the present invention achieves higher accuracy through the integration between nodes and the interconnection between heterogeneous nodes that each have a basic understanding of position and orientation.

[0049] As described in more detail below especially with respect to FIG. 10, overall, the network or space-referenced datum benefits from the continuous addition of new, unconnected data sets (such as additional satellites or space-referenced entities, etc.) throughout the network.

[0050] Although described in more detail below with respect to FIG. 11 in particular, in these and other methods of the present invention, the reference plane obtains accuracy from a plurality of different reference sources and removes errors within a single satellite that is the object at a single point in time.

[0051] Referring now to the drawings, FIG. 1 is a block diagram of a Mobile Space Reference Datum (MSBD) system 100 according to some embodiments of the present invention. The MSBD system 100 uses space reference data points or nodes 102 (i.e., satellites and / or other space reference objects) disposed in interconnected communications 104 to form an orbital network that constitutes a continuously updated space reference datum or reference plane. This MSBD reference plane, referred to herein as the Mobile Space Reference Datum, can be used as a positioning, navigation, and timing (PNT) reference plane that is independent of GPS. This is not only an alternative to GPS, but also an enhancement of the PNT of the nodes and ground systems connected to the MSBD system 100.

[0052] The MSBD system 100 can incorporate many individual nodes 102. Each node operates as a user, beneficiary, or both within the MSBD system 100, transmits or receives data for creating a surface, and / or enhances the recognition of its own positioning. The data used is held in one or more MSBD client hubs 108 in some embodiments of the present invention. These hubs 108 may be on the ground or space-based, or a combination of both positions, where MSBD calculations are executed and recorded. The calculations and recordings may represent a single node, a series of nodes, or the entire MSBD. This is also considered in terms of time and may, in some cases, be instantaneous, or over a certain period in the past, present, or future. The hubs 108 not only transmit unique records to one or more nodes but can also operate as a processor and temporarily process data. In some embodiments of the present invention, this temporarily processed data can be used to provide enhanced prediction, calibration, system planning, system parameters, and system enhancement. In some embodiments of the present invention, the data is stored in the MSBD client hubs 108 for extraction as needed based on the use case.

[0053] In some embodiments of the present invention, the MSBD nodes 102 comprise both natural and artificial objects. In some embodiments of the present invention, artificial objects can use natural objects, such as a known point on the moon or lunar surface, as a calibration source in a positioning solution. Natural objects may exist in the MSBD as a reference point, a calibration source for the MSBD, or a subset of the MSBD and a specific node of the MSBD.

[0054] As described above, a datum is important to any technology based on the position in space, including geodesy, navigation, surveying, geographic information systems, remote sensing, and mapping. A datum provides a surface that can be obtained from measurements. These measurement results obtained here through the MSBD can be executed against a virtual background of the sky and the universe.

[0055] Satellites refer to their positions through many methods. These positioning methods include celestial or star tracking, onboard GPS, ground RF range measurement, or ultimately laser ground site range measurement and calibration. To date, these methods are unique and do not depend on individual satellites, reducing the interconnection of errors not only within the data but also within a single independent satellite. It is contemplated by embodiments of the present invention that the MSBD achieves high accuracy by integrating the entire node 102 through interconnections spanning heterogeneous satellites or vehicles each having a basic understanding of position and orientation. (Note: The terms "satellite", "space-based entity", and "vehicle" are interchangeable and all represent "nodes" 102 within the MSBD system 100. Also, the term "moving space-based datum" (MSBD) is used interchangeably with "space-based moving datum".)

[0056] Overall, the network or space-based datum benefits from the continuous addition of new, unconnected data sets (such as additional satellites or space-based entities) throughout the network. The grid of the network operates as a surface of positions of services where points and points, or multiple positions, can be used for target triangulation (MSBD).

[0057] Although described in more detail below, particularly with respect to FIG. 11, in some of the methods described herein, the reference plane obtains accuracy from multiple heterogeneous sources of reference and removes errors within a single satellite 102 that is the object at a single point in time. When the satellite 102 moves through known and / or predicted trajectories, the data may be temporarily processed in both the forward and reverse directions by at least one MSBD processing hub 106 (e.g., located on the ground or in space) to further enhance position and orientation awareness. This is similar to a Kalman filter. The MSBD hub can perform a number of tasks. These are not limited to nodes and include position information, usage data, ownership, operating parameters, performance, corrections, and other vehicle parameters. The MSBD hub can also perform MSBD calculations (e.g., positioning, calibration, error prediction and reduction, and time evaluation, etc.) either in whole or in a mosaicked subset within the MSBD. The MSBD hub can further operate as a propagation point for a mosaicked mesh surface datum. The MSBD hub has the function of transferring correction data to individual nodes.

[0058] The terrestrial world is now recognizing and benefiting from the advantages of an interconnected distributed data architecture based on planetary standards (i.e., a mesh network of terrestrial standards). Considering the embodiments of the invention described herein, the space domain may benefit from this in the same form of an interconnected georeferenced and pointing network surface. The precise position awareness of the entire MSBD system 100 improves the accuracy of "tipping and queuing" tasks / positioning between vehicles for various tasks, rather than each satellite 102 that is independent of positioning. In an embodiment of the present invention, the frequency of position updates from the nodes 102 of the MSBD system 100 is equivalent to that of a GPS clock. The advantage of the frequency of position updates is that the speed and orbital changes of the satellite have substantially no or no impact on the effectiveness and / or operation of the MSBD system 100.

[0059] Satellites within the universe have many common features. They have power, positioning, communication, imaging, data processing, storage, self-preservation capabilities, etc. One of the limited aspects is the ability to interconnect with each other and share benefits. This sharing can mitigate the failure of a single node 102 or expand positioning, processing, attitude, power, and other capabilities. So far, space systems have been able to interconnect with real-time downlink communication, but this is only a small part of what can be considered. Currently, through the MSBD system 100, cross-platform, mesh PNT, and pointing & positioning (P&P) are added in combination. So far, solutions in many industries in this trading universe have revolved around the transmission of data from attached spacecraft via communication networks. However, in some embodiments of the present invention, new functionality is provided to the mesh network by adding a series of additional functional concepts that have now become available via an interconnected network of spacecraft or space-based entities.

[0060] As described herein, the MSBD system 100 is a novel approach to PNT and can use any satellite equipped with tracking means (e.g., a star tracker), making PNT independent of GPS. The MSBD system 100 utilizes the satellite's own position recognition capabilities. The accuracy of the MSBD system 100 improves as the number of nodes within the MSBD system 100 increases. However, as more sensors are added to each node, the MSBD system 100 is further improved. This is exemplified by a single node adding the capabilities of an additional star tracker, giving the node a higher level of performance in terms of position and orientation. The accuracy of the system 100 is improved by adding non-PNT nodes (any form of vehicle improves MSBD), and GPS generally requires added GPS vehicles. Since nodes 102 can be dynamically added, replaced, or removed from the MSBD system 100, the MSBD system 100 provides reliability in position recognition. In some embodiments, the MSBD system 100 has applicability to planets (e.g., Earth, Moon, Mars, Titan), nodes 102 can determine their positions (by any method), multiple nodes 102 can form an MSBD, and these nodes 102 can be placed anywhere on the celestial surface. This benefits non-Earth-centered platforms and constellations. The implementation of the MSBD system 100 includes means for the position and orientation of all forms of satellites and is independent of the implementation of the satellite platform.

[0061] Embodiments of the present invention combine a non-GPS-based space based on P&P recognition, combine with mesh network processing, form an alternative to PNT, enhance or replace conventional PNT systems, or provide PNT services in an environment where GPS is denied. In embodiments of the present invention, the MSBD system 100 uses the processing of a mesh network of P&P data temporarily captured from satellites or cosmic reference entities 102 in a network forming the MSBD surface of the MSBD system 100.

[0062] Figures 2A - 2C are schematic diagrams showing various aspects of the MSBD system 100 according to some embodiments of the present invention. Figure 2A shows three nodes 102i, 102ii, 102iii in space, and two or more of these can form the MSBD plane 110 of the MSBD system 100.

[0063] Figure 2B is a diagram illustrating that the three nodes 102i, 102ii, 102iii are connected to each other via at least a data stream using communication 104. The lines of communication 104 are drawn only between the three nodes 102i, 102ii, 102iii, and in other configurations of the MSBD, there may be any number of additional nodes through which communication can occur, and it should be understood that in fact, in any connection and / or arrangement, different node arrangements such as those shown in Figures 4 and 6 can be seen.

[0064] Figure 2C shows terrestrial communication 202 with at least one terrestrial station 206 on the surface 204 according to an exemplary embodiment of the present invention. It should be understood that the use of the word "ground" is not limited to the surface of the Earth and may include any other surface (e.g., the moon or Mars), or any other location where a terrestrial station 206 may be present. In some embodiments of the present invention, the terrestrial station 206 performs the processing and / or control of the MSBD system and operates, for example, as the MSBD processing hub 106. Optionally, one or more terrestrial stations 206 are present in the MSBD system 100 and have tasks that are divided among multiple terrestrial stations in additional and / or alternative arrangements. For example, one terrestrial station 206 may simply be redundant for another terrestrial station, or as another example, two terrestrial stations 206 divide tasks between them, for example, each having a different set of nodes 102 in the MSBD system 100, through communication.

[0065] In embodiments of the present invention, communication occurs between a plurality of nodes 102 and a ground station 206. The ground station 206 individually performs tracking, processing, adjustment, error correction, prediction, etc. for each node. In some embodiments of the present invention, the plurality of nodes perform these tasks with each other (e.g., as a mesh network forming a hub) and communicate with the ground station 206 as a group. The plurality of nodes may be a combination of these two typical examples. In embodiments of the present invention, the communication and data related to the formation and / or operation of the MSBD system 100 are transmitted as packets attached to the celestial position table data that are already communicated to / by the nodes 102 and / or are easily integrated into other data streams that have little impact on telemetry or conventional node operations.

[0066] FIG. 3 is a schematic diagram showing aspects 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 enables an expansion of positioning and orientation that is more than achieved by individual satellites / nodes alone. By aggregating a plurality of nodes at different positions and orientations, the system 100 enhances the position and orientation of the entire MSBD 300 of the continuously or partially connected nodes. Each node in the network can be equipped with a star tracker, a global positioning, and / or a similar positioning system. Each system has its own position and orientation with internal errors based on its own technology. Since the position and orientation calculations are performed at each individual node, local errors are removed by comparing the positions of each node of the entire MSBD 300.

[0067] Since data is shared among the nodes, these heterogeneous errors may be removed by enhancing the position and orientation information of each node. For example, a series of interconnected nodes, such as those shown in MSBD300, share position and orientation information and operate as a series of nodes from which reference planes may be calculated. The added nodes / vehicles continuously improve the performance of the entire system 100. When the individual performance of a node degrades, in embodiments of the present invention, the position and orientation recognition capabilities of the nodes may be enhanced via the satellite mesh. This may occur immediately or over time when a new vehicle detaches from and enters MSBD300.

[0068] More specifically, in embodiments of the present invention, nodes (e.g., nodes 302i... 302vi... 302n) as component data sets of MSBD300 have enhanced recognition of position, distance, and coordinates (x, y, z) by virtue of being members of an MSBD (including a plurality of nodes each having some or all of its data). Each node 302i... vi has an x, y, z position relevant in space. A three-dimensional system conventionally involves drawing the xy plane and a z axis added to represent an axis perpendicular to the xy plane. Each node 302i... vi also has an associated roll omega (ω), pitch phi (φ), and yaw kappa (κ). These x, y, z, ω, φ, κ axes are shown in FIG. 3 for node 302i.

[0069] For each node, their accuracy is based on the characteristics of the performance / data unique to each device. The changes in position and orientation from one node to another, and the accuracy, reflect the errors associated with each node, and each node, in turn, may be calculated and removed to enhance the calculation of the position calibration of each node and the entire mesh-like surface of the MSBD. This shared data may be used to correct the position and / or pointing errors of each node. In an embodiment of the present invention, when the position of the node is enhanced, the artifacts of the errors added by calibration can be resolved through the evaluation of the pointing errors to other nodes within the MSBD. The removal of these errors may be temporarily repeated to characterize any system errors such as the calibration performance and backlash of individual nodes.

[0070] Furthermore, it is conceivable that the position data can be used as a calibration source independent of the client's system as an additional service or feature of the MSBD system 100.

[0071] The MSBD is independent of GPS, but can be used if GPS is available. The mesh can be calculated from the stellar solution of only the temporal trajectory, position, and orientation of the nodes.

[0072] Figure 4 is a schematic diagram showing the use of the MSBD system 100 in surface mapping according to some embodiments of the present invention. In an embodiment of the present invention, by connecting the MSBD 300 continuously or temporarily over a single point or ultimately over multiple points to the ground 204, ground positioning information can be obtained from the MSBD 300 at the ground reference object 402. When a large number of nodes are present within the MSBD mesh, there is no node that requires the evaluation of the position of a ground point or the enhancement of the position of another node within the universe. The diversity of nodes within the mesh enables the selection of a series of nodes that are optimal for position reference and transfer to ground points by triangulation. When the mesh further has a layer of nodes, the density of the triangulation points has additional redundancy due to the layering of the mesh-shaped data surface. The information on the position of the MSBD with respect to the ground can enable calculations to determine the position of a ground point. As explained elsewhere in this specification, the term "ground" is not limited to the Earth and may include the surface of the moon, stars, or planets.

[0073] Figure 5 is a schematic diagram showing the use of the MSBD system 100 for obtaining information on the position and orientation of a passing object 502 (not part of the MSBD) according to some embodiments of the present invention. By connecting the MSBD 300 continuously or temporarily over a single point or ultimately over multiple points to another passing object 502 (e.g., a satellite or a space reference entity), the position reference of that satellite or space reference entity can be collected from the MSBD. Figure 5 shows the MSBD 300 having a passing object 502 or "client node".

[0074] While information about position and orientation, and other information, is known from nodes integrated into the MSBD300, information about the passing object 502 passing into and / or out of the area near the MSBD300 need not be known in advance. However, with respect to the passing object 502, at a very minimum, by applying known data accumulated by the MSBD system 100, position and / or orientation and / or other data (such as velocity) can identify the passing object 502. A client node is a node that utilizes MSBD information, but in some embodiments of the present invention, a client node is a temporary member rather than a formal member of the MSBD. In such a scenario, the owner of the client node (e.g., a satellite) pays a fee to the owner of the MSBD for services provided by the MSBD when the client node passes by / through / near the MSBD. These services can include, but are not limited to, enhancement and planning of enhanced position or orientation or velocity data.

[0075] FIG. 6 is a schematic diagram showing time reference interpolation and performance smoothing in the MSBD600 according to some embodiments of the present invention. In an embodiment of the present invention, the MSBD600 can be composed of temporal or physical points 602i, 602ii, 602n. From the position calibration data 604 of each node, the modeling can be performed, but is not limited to, through one of many techniques represented by a Kalman pseudo-filter calculated temporally in the past, present, future (t p t c t f ). This causes interpolation and performance smoothing for the enhancement of the MSBD600 as needed. By this use or similar interpolation, the immediate evaluation of any node or group of nodes can be compared instantaneously. This can provide an evaluation of the position calibration error of individual nodes with respect to the overall or local MSBD mesh. Corrections can be applied to the nodes as needed.

[0076] In some embodiments of the present invention, such modeling is also used for the mesh of the MSBD600 for each individual node, and is also used for local and overall MSBD calculations. When continuous movement of the nodes is given within a part or the whole mesh of the MSBD600, surface modeling serves a predictive artificial intelligence (AI) architecture, which can be an AI in which past, present, and future positions are predictively modeled (including mosaic numerical fluid dynamics analysis (TCFD), machine learning, deep learning, and reinforcement learning). The nature of the satellite's operation helps in predicting the position at any instant in the past, present, and future. The use of this information in generating the predictive model of the MSBD is consistent with the characteristics of AI calculations.

[0077] In some embodiments of the present invention, and as described elsewhere in this specification, the MSBD600 can be implemented by mathematically using the information of three cosmic reference nodes. However, in exemplary embodiments of the present invention, those three nodes can be the three positions of a cosmic reference entity that includes any combination of the past, present, or future positions of the nodes from a single entity over time.

[0078] FIG. 7 is a schematic diagram showing the bidirectional communication capability between the nodes of the MSBD300 in the MSBD system 100 according to some embodiments of the present invention. It should be understood that the MSBD300 can be implemented via 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 functionality), or direct communication between a node and the processing hub 106. Data may also be stored in the nodes for later use.

[0079] Bidirectional communication between nodes can occur via, but is not limited to, optical, wireless, and / or laser communication. Bidirectional data communication can include, but is not limited to, node identification, position, direction, temporal, error data, calibration data, other node-formatted data, MSBD reference data, future node (nodes that will participate in the MSBD in the future) reference data, planetary data, ground processing data, celestial data, and / or data from cosmic entities external to the MSBD.

[0080] In some embodiments of the present invention, at least one of the mosaicked mobile cosmic reference datum planes in the MSBD system 100 is actively implemented. That is, data can move on the MSBD to and from each satellite / cosmic reference node.

[0081] FIG. 8 is a schematic diagram showing the temporal weighting of the weighted nodes 802i, 802ii, 802n that optimize the MSBD 800 in the MSBD system 100 according to some embodiments of the present invention. In an embodiment of the present invention, the MSBD 800 may be weighted in performance calculation and modeling. These performance calculations and modeling are based on the quality of the solution over time. This quality may vary and is specific to the unique node solutions of position and direction, defining a temporal weighting f(W node n ) (i.e., quality and weighting are node-specific). These weights are utilized to optimize the performance of the MSBD 800 of the mesh and the nodes 802i, 802ii, 802n or a subset of the nodes on the mesh.

[0082] Not all satellites are designed with, or require, the highest levels of position and angle accuracy and stability. Small, cube, or nanosatellites may advantageously minimize the PNT system for weight and cost reduction. In such cases, the nodes in the MSBD have varying degrees of native PNT performance. Their accuracies are appropriately weighted in order in the calculation of the mesh surface. This feature of the MSBD weighting is an important feature in the introduction of low-cost satellites, and "PNT as a service" is now further enhanced. In some embodiments of the present invention, the calculation of the weights is a temporal variation, may change instantaneously, or may have a slow rate of change over time in performance due to the age of the device or the space environment.

[0083] FIG. 9 is a schematic diagram showing the generation of a subset 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 configured in a stacked, adjacent, or distributed manner, enabling additional positioning or calibration functions (e.g., relative position of one MSBD to another MSBD both inside and outside the mesh-like network of nodes).

[0084] In some embodiments of the present invention, the nodes may be selected to operate across the full mesh or, as a subset thereof, may be considered for local use. The nodes and their weights may be modified as a subset, locally or as the full set across the MSBD 900. The weighting of the nodes may be used to optimize use-case based solutions.

[0085] The MSBD900 can be implemented using one mosaicked surface or multiple mosaicked surfaces. As an example (but not limited to), two MSBD surfaces or layers are each created from three nodes (MSBD surface 1 and MSBD surface N), with 902ii, 902iii, 902iv for surface 1 and 902i, 902iii, 902iv for surface N, generated by connecting four different nodes in different arrangements. However, this is merely by way of example, and there are an enormous number of possible combinations and arrays of node connections, forming n planes or surfaces across the MSBD900, or any MSBD that exists within or is possible within the MSBD system 100.

[0086] These planes / surfaces, and the entropy, operate as an additional set of calculations added for the performance of the overall, local, and individual nodes, either individually or between surfaces, and provide additional data points for the operations of the MSBD system 100. Multiple individual surfaces within the MSBD stack, adjacent to, and disperse among many collections of the MSBD in the MSBD system 100. Groups of nodes may be formed with specific tasks, for example, to maximize a certain accuracy, maximize a time lag, and / or minimize connection losses.

[0087] Figure 9 also reveals that only local nodes 904i, 904ii, 904iii may exist within the MSBD900.

[0088] FIG. 10 is a schematic diagram showing the addition and / or subtraction of nodes over time in the MSBD 1000 of the MSBD system 100 according to some embodiments of the present invention. That is, the nodes constituting the MSBD 1000 can change, resulting in a static or dynamic configuration and / or implementation of the MSBD. FIG. 10 shows, via the dashed line, nodes that can temporarily enter (into nodes 1002i, 1002ii) and leave (from 1002iii) the MSBD 1000. Actual and simulated nodes may enter and leave the MSBD. The nodes may continue to capture position information for use by the MSBD 100, during which they are connected or disconnected from the network. In embodiments of the present invention, this information improves internal performance from past mesh connections or planned reintegration into future meshes.

[0089] In some embodiments of the present invention, these improvements can improve the performance of each node throughout the computational task, and errors related to the internal performance of the system can be corrected and excluded. They may have position calibration data calculated from past, current, or predicted future positions. Nodes may enter the MSBD 1000 for the purpose of improving the performance of the MSBD mesh or simply improving the accuracy of themselves or a group of nodes (e.g., the "subset" described with respect to FIG. 9).

[0090] FIG. 11 is a schematic diagram showing the error correction function in the MSBD 1100 of the MSBD system 100 according to some embodiments of the present invention. As can be seen from the description of the present invention herein, the number of nodes in the MSBD system 100 affects the errors, accuracy, and / or information confirmed by the MSBD system. Generally, the more nodes, the better the information, and the fewer nodes, the relatively worse. The temporal weighting of nodes is described elsewhere in this specification. In some embodiments of the present invention, each node has a weighted temporal (Temporal)=t (Past=p, Current=c, Future=f) position calibration f m,t,l (Wnode n )N n (t p t c t f ) is calculated, and it should be understood that each node operates in turn as a reference position for all other nodes in the mesh-like network 1100. In some embodiments of the present invention, this weighting and / or referencing may be an error function f(E node 1-n ) applied to each node based on the number of connected reference nodes to control.

[0091] As described elsewhere in this specification, the weighting and / or referencing may be MSBD wide (full mesh = m), surface only (one tessellation = t), or the entire alternative local schema of the node represented by f m (E node 1-n ) and / or f l (E node 1-n ) and / or f t (E node 1-n ) (local = l). This gives an error function uncorrelated with the correction of the position calibration. FIG. 11 shows an embodiment that may improve the error calculation performance of one-to-many nodes, with at least one of the error correction nodes 1102 (within the schema), the non-schema reference nodes 1104i, 1104ii, 1104iii, and the schemed nodes 1106i, 1106ii.

[0092] In some embodiments of the present invention, the MSBD of the MSBD system 100 can be mathematically implemented on the MSBD surface using fully or partially simulated nodes. For example, the MSBD can be mathematically implemented using information collected from three cosmic reference nodes. These three nodes can be, for example, three positions of a single cosmic reference entity over time, including any combination of past, present, or future positions of the nodes, and / or can include simulated nodes. In some embodiments of the present invention, the simulated nodes are at identifiable points or positions within the universe in the calculation of the MSBD.

[0093] FIG. 12 is a schematic diagram illustrating exemplary reference mathematics for the surface calculation of the MSBD system 100 according to some embodiments of the present invention. As described elsewhere in this specification, three nodes (A, B, C) within the universe can be used to form the MSBD surface using the following.

[0094] TIFF2025524330000002.tif58103

[0095] FIG. 13 is a schematic diagram illustrating the use of the MSBD system to determine the distance or position of a point 1302 on the MSBD surface 1202 according to some embodiments of the present invention. In some embodiments of the present invention, the equation (ax + by + cz + d = 0) for the MSBD surface 1202 and the distance (L) to the point 1302 are used to determine the position (x0, y0, z0) of the point.

[0096] TIFF2025524330000003.tif1081

[0097] In some embodiments, the equation (ax + by + cz + d = 0) for the MSBD surface 1202 and the position (x0, y0, z0) of the point are used to determine the distance (L) from the surface 1202 to the point 1302.

[0098] TIFF2025524330000004.tif1663

[0099] Figure 14 is a flowchart 1400 of a method of using the MSBD system 100 according to some embodiments of the present invention. In some embodiments of the present invention, the known positions of three different points in time or position in the universe (obtained from a satellite or other space reference object) are collected (1402). The MSBD plane (such as MSBD300, etc.) is specified using three positions in the universe with information known for calculating the plane (1404). In an embodiment of the present invention, the relationship between the MSBD and an object at a specific point in time is calculated (1406).

[0100] Thereafter, the MSBD is used to calculate the position and orientation of at least one node (object) constituting the MSBD, enhancing the information on the position and orientation of the node itself (1408). Further, alternatively and / or optionally, the MSBD is used to calculate the position and orientation information of at least one object external to the MSBD, either in the universe or on the earth's surface (1410).

[0101] During the term of the patent that expires from this application, many related MSBDs are expected to be developed, and the scope of the term MSBD is intended to speculatively include all such new technologies.

[0102] The terms "comprises", "comprising", "includes", "including", "having" and words similar thereto mean "including but not limited to".

[0103] The term "consisting of" means "including and limited to".

[0104] The term "consisting essentially of" means that a composition, method, or structure may include additional components, steps, and / or parts, but only if the additional components, steps, and / or parts do not substantially change the basic and novel characteristics of the claimed composition, method, or structure.

[0105] The term "plurality" means "two or more".

[0106] Throughout this disclosure, various embodiments of the present invention may be given in a range format. It should be understood that the description in range format is merely for convenience and brevity and should not be construed as a rigid limitation on the scope of the present invention. Thus, a description of a range should be considered to specifically disclose not only each individual numerical value within that range, but also all sub-ranges contemplated. For example, a description of a range such as from 1 to 6 should be considered to specifically disclose not only the individual numerical values within that range, such as 1, 2, 3, 4, 5, and 6, but also 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, etc. This applies regardless of the breadth of the range.

[0107] Whenever a numerical range is indicated herein, it is meant to include any recited numerical value (fractional or integral) within the indicated range. The expressions "ranging / ranges between" a first recited numerical value and a second recited numerical value, and "ranging / ranges from" a first recited numerical value "to" a second recited numerical value are used herein with the same meaning and are meant to include the first and second recited numerical values, and all fractions and integers therebetween.

[0108] It is understood that certain features of the invention that are described for clarity in the context of separate embodiments may be provided in combination in a single embodiment. Conversely, various features of the invention that are described for brevity in the context of a single embodiment may be provided individually or in any suitable subcombination, or as suitable in other described embodiments of the invention. Specific features described in the context of various embodiments are not considered essential features of those embodiments, except where an embodiment would not operate without those elements.

[0109] Although the invention has been described in conjunction with specific embodiments thereof, it is evident that many alternatives, modifications, and variations will be apparent to those skilled in the art. Accordingly, it is intended to embrace all such alternatives, modifications, and variations that fall within the spirit and broad scope of the appended claims.

[0110] All publications, patents, and patent applications mentioned herein are hereby incorporated by reference in their entirety to the same extent as if each individual publication, patent, and patent application were specifically and individually indicated to be incorporated by reference herein. Further, the citation or identification of any reference in this application shall not be construed as an admission that such reference is available as prior art to the present invention. Section headings are used herein only to the extent that they are not to be construed as limiting.

Claims

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

2. Collecting known positions of the plurality of nodes in space, forming an MSBD including a mosaicked surface by using the plurality of nodes, and specifying at least one reference line or plane as the MSBD, calculating the relationship between the MSBD at a specific distance and an object at a certain time, including A method of using the MSBD according to Claim 1.

3. Further including calculating at least one of the position and direction of at least one of the nodes constituting the MSBD by using the MSBD, The method according to Claim 2.

4. Further including calculating at least one of the position and direction of an object by using the MSBD, wherein the object is outside the MSBD, The method according to Claim 2.

5. Further including verifying at least one of the terrestrial and planetary positions of the object by using the MSBD, The method according to Claim 2.

6. Further including calculating at least one of the position and direction of a passing object, The method according to Claim 2.

7. The plurality of nodes are composed of at least one of a time point and a physical point, The method according to Claim 2.

8. Further including communicating data among the plurality of nodes, The method according to Claim 2.

9. Further including communicating data between one or more of the plurality of nodes and at least one terrestrial station, The method according to Claim 2.

10. Further including weighting at least one of the nodes for at least one performance calculation and modeling, The method according to Claim 2.

11. The weighting is a temporal weighting, The method according to Claim 10.

12. Further including creating a subset of the plurality of nodes, The method according to Claim 2.

13. Each node including the MSBD changes over time, The method according to Claim 2.

14. Further including correcting an error related to the nodes of the MSBD by sharing at least one of the position data and the direction data among the plurality of nodes of the MSBD, The method according to Claim 2.

15. 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. The method according to claim 2.

16. The MSBD designation is independent of the form of the node used. The method according to claim 2.

17. The MSBD is designated using calculations based on at least one of the past, current, and predicted future positions of the nodes. The method according to claim 2.

18. At least one of the nodes is at least partially simulated. The method according to claim 2.

19. A method for determining the geographical location of at least one point on the ground, connecting the MSBD according to claim 1 to a ground station at a known geographical location and defining a reference relationship between the MSBD and the known geographical location; connecting at least one of the nodes of the MSBD to at least one point on the ground and the determined geographical location of the at least one point; and calculating the geographical location of the at least one point on the ground using the reference relationship. A method comprising.

20. Connecting the nodes within the MSBD is performed continuously or temporarily. The method according to claim 19.

21. A method for determining the geographical location of at least one point on the ground, collecting at least one of position, navigation, and timing data from at least one of the nodes of the at least one MSBD according to claim 1 to obtain a mosaicked surface reference position in space; associating at least one of surface arrangement and position accuracy with at least one of the MSBDs; converting the position of the referenced MSBD to the at least one point on the ground; and determining the geographical location of the at least one point by triangulation using three or more nodes of the MSBD. A method comprising.

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