| US 7,464,899 B2 | ||
| Method and system for determining a singularity free momentum path | ||
| Michael R. Elgersma, Plymouth, Minn. (US); Daniel P. Johnson, Fridley, Minn. (US); Gunter Stein, St. Paul, Minn. (US); Blaise G. Morton, Minnetonka, Minn. (US); Dennice F. Gayme, Pasadena, Calif. (US); and Mason A. Peck, Ithaca, N.Y. (US) | ||
| Assigned to Honeywell International Inc., Morristown, N.J. (US) | ||
| Filed on Aug. 03, 2005, as Appl. No. 11/197,047. | ||
| Prior Publication US 2007/0029447 A1, Feb. 08, 2007 | ||
| Int. Cl. B64G 1/28 (2006.01) | ||
| U.S. Cl. 244—165 [701/13] | 9 Claims |
| 1. A method for avoiding singularities in the movement of CMGs in an array of CMGs in a spacecraft comprising:
receiving a command to adjust an orientation of the spacecraft the spacecraft orientation;
computing a torque needed to satisfy the command;
integrating the torque to determine a momentum path;
approximating the momentum path with a plurality of straight line segments;
for each line segment of the plurality of line segments:
determining a unit vector along the straight line segments;
determining if there is a continuous path connecting a starting point and an ending point of the line segment in a plane perpendicular
to the unit vector;
determining a set of momentum vectors; and
calculating a required gimbal movement for the CMGs in the array of CMGs for the set of momentum vectors determined for each
of the line segment.
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