# US 10,309,798 B2 · Navigation system, aerospace vehicle and optical marker > Agents: this data is available as JSON from the patentgrep API and MCP server — see https://patentgrep.com/llms.txt - Number: US 10,309,798 B2 - Document ID: US10309798B2 - Status: Granted - Kind: B2 - Application number: 15/627,284 - Filed: 2017-06-19 - Published: 2018-11-22 - Granted: 2019-06-04 - Earliest claimed: 2017-05-19 - Assignees: Astroscale Japan Inc. - Applicants: Astroscale Japan Inc. - Inventors: Ken Maeda - Web page: https://patentgrep.com/patent/US10309798B2 ## CPC - G01C 23/00: Combined instruments indicating more than one navigational value, e.g. for aircraft; Combined measuring devices for measuring two or more variables of movement, e.g. distance, speed or acceleration - B64G 1/58: Thermal protection, e.g. heat shields - B64G 1/6462: {characterised by the means for engaging other vehicles} - B64G 3/00: Observing or tracking cosmonautic vehicles - G01B 11/26: for measuring angles or tapers; for testing the alignment of axes - G01B 11/272: {using photoelectric detection means} - G01S 5/163: {Determination of attitude (using inertial means G01C9/00; control of attitude G05D1/49)} - G06T 7/70: Determining position or orientation of objects or cameras (camera calibration G06T7/80) - G06T 2207/10032: Satellite or aerial image; Remote sensing - G06T 2207/30204: Marker - G01C: MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY (measuring liquid level G01F; radio navigation, determining distance or velocity by use of propagation effects, e.g. Doppler effects, propagation time, of radio waves, analogous arrangements using other waves G01S) - B64G: COSMONAUTICS; VEHICLES OR EQUIPMENT THEREFOR - G01B: MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS - G01S: RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES - G06T: IMAGE DATA PROCESSING OR GENERATION, IN GENERAL ## Abstract Simplify, downsize and reduce power of devices which comprise the satellite navigation system used in approach and docking in space. The navigation system 1 which estimates an attitude of a target object T in space comprises: an optical marker 10 that is attached to the target T and reflects light; a lighting device 20 that irradiates the target object T with light of a predetermined wavelength band; an image acquisition device 30 that acquires an image of the optical marker 10 which has reflected the light of the predetermined wavelength band; and an image processing device 40 that processes the image acquired by the image acquisition device 30 and thereby estimates the attitude of the target object T. The lighting device 20 and the image processing device 30 are loaded on an aerospace vehicle 2. ## Claims ### Claim 1 A navigation system which estimates an attitude of a target object in space comprising: an optical marker that is attached to the target object and reflects light; a lighting device that irradiates the target object with light of a predetermined wavelength band; an image acquisition device that acquires an image of the optical marker which has reflected the light of the predetermined wavelength band; and an image processing device that processes the image acquired by the image acquisition device and thereby estimates the attitude of the target object, wherein the lighting device and the image acquisition device are loaded on an aerospace vehicle, wherein the light of the predetermined wavelength band is absorbed by a heat insulation film which forms a surface of the target object. ### Claim 2 (depends on 1) The navigation system according to claim 1, wherein the image processing device is loaded on the aerospace vehicle. ### Claim 3 (depends on 1) The navigation system according to claim 1, wherein the image processing device is allocated on a ground station. ### Claim 4 (depends on 1) The navigation system according to claim 1, wherein the lighting device includes a light emitting diode. ### Claim 5 (depends on 1) The navigation system according to claim 1, wherein the optical marker includes a retroreflective material. ### Claim 6 (depends on 1) The navigation system according to claim 1, wherein multiple optical markers are attached to a predetermined surface of the target object and are positioned rotationally asymmetrically with respect to a virtual axis which is vertical to the surface. ### Claim 7 (depends on 1) The navigation system according to claim 1, wherein the image acquisition device includes an optical lens and an imaging sensor, and wherein the optical lens is provided with an optical filter which transmits the light of the predetermined wavelength band. ### Claim 8 An aerospace vehicle comprising: a lighting device that irradiates an optical marker which is attached to a target object in space and reflects light with light of a predetermined wavelength band; and an image acquisition device that acquires an image of the optical marker which has reflected the light of the predetermined wavelength band, wherein the image which has been acquired by the image acquisition device is processed and whereby an attitude of the target object can be estimated, and wherein the light of the predetermined wavelength band is absorbed by a heat insulation film which forms a surface of the target object. ### Claim 9 An optical marker which is attached to a target object in space before the target object is launched into space, wherein: the optical marker reflects light of a predetermined wavelength band which has been radiated from a lighting device of an aerospace vehicle; an image of the optical marker which has reflected the light of the predetermined wavelength band is acquired by an image acquisition device of the aerospace vehicle; and the image is processed by an image processing device and whereby an attitude of the target object can be estimated, and wherein the light of the predetermined wavelength band is absorbed by a heat insulation film which forms a surface of the target object.