# US 11,079,234 B2 · High precision—automated celestial navigation system

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- Number: US 11,079,234 B2
- Document ID: US11079234B2
- Status: Granted
- Kind: B2
- Application number: 16/602,070
- Filed: 2019-07-29
- Published: 2021-02-04
- Granted: 2021-08-03
- Earliest claimed: 2019-07-29
- Applicants: Mikhail Belenkii; Timothy Brinkley
- Inventors: Mikhail Belenkii; Timothy Brinkley
- Web page: https://patentgrep.com/patent/US11079234B2

## CPC

- G01C 21/025: {with the use of startrackers}
- G02B 23/04: for the purpose of beam splitting or combining, e.g. fitted with eyepieces for more than one observer (G02B23/10 takes precedence)
- G01C 21/203: {specially adapted for water-borne vessels}
- G01S 3/7867: {Star trackers (navigation using star trackers G01C21/025)}
- G01S 5/16: using electromagnetic waves other than radio waves
- G01S 19/393: {Trajectory determination or predictive tracking, e.g. Kalman filtering}
- G02B 23/06: having a focussing action, e.g. parabolic mirror
- G02B 23/2407: {Optical details}
- G02B 27/1013: {for colour or multispectral image sensors, e.g. splitting an image into monochromatic image components on respective sensors (spectral imaging systems G01J)}
- G02B 27/141: {using dichroic mirrors}
- 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)
- G02B: OPTICAL ELEMENTS, SYSTEMS OR APPARATUS
- 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

## Abstract

A dual-band (SWIR/visible) optical system operating based on Angles-Only Navigation technology. The SWIR module is optimized for imaging stars. The visible-light sensor is independently optimized for imaging satellites including GPS satellites at night. Preferred embodiment provides continuous high accuracy geo-position solutions day and night (including through the “midnight hole”, when solar-illuminated Low Earth Orbit (LEO) satellites are not available. Applicants have experimentally validated proposed system by imaging LEO satellites during terminator using a 1-inch diameter telescope and GPS satellites at night during midnight hole using a 5-inch telescope.

## Claims

### Claim 1

A high precision, automated dual band celestial navigation system for marine vessels comprising;
A) an above-deck dual-band sheared-aperture telescope mounted on a gyro-stabilized four-axis pointing platform, adapted to image satellites and nearby stars within fields of view of the telescope, both day and night and
B) a dual-band optical system comprising:
1) a beam splitter adapted to separate light from the fields of view of the telescope into a visible light beam and a shortwave infrared beam,
2) a shortwave infrared camera adapted to record light from the shortwave infrared beam and to create images of stars within the telescope field of view, said shortwave infrared camera comprising:
a) an adjustable shortwave shutter with controls adapted to automatically control the shutter speed and
b) a shortwave infrared sensor;
3) a visible light camera adapted to collect light from the visible light beam and create images of satellites within the telescope field of view, said visible light camera comprising:
a) a visible light shutter with controls adapted to automatically control the shutter speed and
b) a visible light sensor;
C) a processing unit adapted to function as a part of a position, navigation and timing (PNT) system, said processing unit comprising:
1) an inertial measurement unit and
2) a computer processing unit programmed with:
a) an image processing algorithm,
b) pointing algorithms,
c) an Unscented Kalman filter,
d) star and RSO catalogs,
e) an all sky monitor algorithm,
f) system control software, and interface software to the PNT system.

### Claim 2 (depends on 1)

The automated dual band celestial navigation system as in claim 1 wherein the processing unit is located below deck on the marine vessel.

### Claim 3 (depends on 1)

The automated dual band celestial navigation system as in claim 1 and further comprising an all sky monitoring system which provides an automated detection of clear line-of-sight to available satellites in partly cloudy sky.

### Claim 4 (depends on 1)

The automated dual band celestial navigation system as in claim 1 and further comprising a fast steering mirror adapted to provide point-like control positions of the visible light beam on the visible light sensor when the telescope is tracking a satellite.

### Claim 5 (depends on 1)

The automated dual band celestial navigation system as in claim 1 and further comprising a position, navigation and timing (PNT) system adapted to maintain position of the marine vehicle based on inertial measurement information when other sources of vehicle position information is not available.

### Claim 6 (depends on 1)

The automated dual band celestial navigation system as in claim 1 and further comprising electronics adapted to control the telescope, the dual band optical system and the PNT system, above deck and below deck communications.

### Claim 7 (depends on 1)

The automated dual band celestial navigation system as in claim 1 and further comprising an all sky monitoring system providing an automated detection of clear line-of-sight to available satellites in partly cloudy sky.

### Claim 8 (depends on 1)

The automated dual band celestial navigation system as in claim 1 wherein the system is capable of geo-position determination of the marine vessels without GPS to within 5 meters during daytime and 20 meters during nighttime with a guaranteed geo-position determination of 25 meters during daytime and 100 meters during nighttime.

### Claim 9 (depends on 1)

The automated dual band celestial navigation system as in claim 1 wherein shared aperture telescope is a catodioptric telescope.

### Claim 10 (depends on 1)

The automated dual band celestial navigation system as in claim 1 wherein the star catalog star is a Skymark catalog.

### Claim 11 (depends on 1)

The automated dual band celestial navigation system as in claim 1 wherein the RSO catalog is a United Space Command catalog.