# US 11,307,035 B1 · Orientation and navigation apparatus

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- Number: US 11,307,035 B1
- Document ID: US11307035B1
- Status: Granted
- Kind: B1
- Application number: 17/327,691
- Filed: 2021-05-22
- Granted: 2022-04-19
- Earliest claimed: 2020-03-14
- Applicants: Peter D. Poulsen
- Inventors: Peter D. Poulsen
- Web page: https://patentgrep.com/patent/US11307035B1

## CPC

- G01C 21/02: by astronomical means (G01C21/24, G01C21/26 take precedence)
- G01C 21/025: {with the use of startrackers}
- G01C 5/00: Measuring height; Measuring distances transverse to line of sight; Levelling between separated points; Surveyors' levels (G01C3/20, G01C3/30 take precedence)
- G01C 21/16: by integrating acceleration or speed, i.e. inertial navigation
- G01C 21/28: with correlation of data from several navigational instruments
- G02B 3/0056: {arranged along two different directions in a plane, e.g. honeycomb arrangement of lenses (G02B3/0043 takes precedence; miniaturised objectives for electronic devices employing wafer level optics G02B13/0085)}
- G02B 23/00: Telescopes, e.g. binoculars; Periscopes; Instruments for viewing the inside of hollow bodies; Viewfinders; Optical aiming or sighting devices
- G02B 23/16: Housings; Caps; Mountings; Supports, e.g. with counterweight
- 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

## Abstract

Multiple telescopes of a telescope array are rigidly aligned at predetermined relative orientations to simultaneously image corresponding predesignated celestial objects. Detection of light from the celestial objects collected by the telescopes enables calculation or estimation of orientation of the telescope array with respect to the celestial sphere. That orientation, in combination with a planetary nadir direction, enables estimation or calculation of position of the telescope array relative to a planetary surface. The nadir can be measured by dropping a probe particle through an evacuated chamber onto or through a two-dimensional sensor.

## Claims

### Claim 1

An apparatus comprising:
(a) a body including an evacuated volume;
(b) a release mechanism mounted on the body at a first end of the evacuated volume convertible between a hold state and a release state;
(c) a probe particle, the probe particle being held at the first end of the chamber with the release mechanism in the hold state and being free to move within the evacuated volume in response to a gravitational field with the release mechanism in the release state;
(d) a two-dimensional particle position sensor mounted on the body and positioned at a second end of the evacuated volume; and
(e) a control and acquisition system, operatively coupled to the release mechanism and the particle position sensor, that is structured and connected so as to (i) switch the release mechanism from the hold state to the release state, (ii) detect a two-dimensional position relative to the particle position sensor where the moving probe particle passes through or lands on the particle position sensor, a line of fall connecting a release position of the particle and the position detected by the particle position sensor at least approximating a planetary nadir, and (iii) calculate, based on the position detected by the particle position sensor, and on relative mounted positions on the body of the release mechanism and the particle position sensor, a measured orientation of the body relative to the planetary nadir.

### Claim 2 (depends on 1)

The apparatus of claim 1 wherein the control and acquisition system is further structured and connected so as to rotate the body, or maintain orientation of the body, so that the release mechanism and the particle position sensor are aligned along an estimated planetary nadir.

### Claim 3 (depends on 2)

The apparatus of claim 2 wherein the control and acquisition system is further structured and connected so as to determine an estimated planetary nadir, the estimated planetary nadir being received or derived from a global positioning system, from one or more accelerometers, from an inertial navigation system, from received telemetry, or from surface imagery.

### Claim 4 (depends on 2)

The apparatus of claim 2 further comprising one or more horizon optical sensors arranged so as to image portions of a planetary horizon, wherein the control and acquisition system is further structured and connected to determine the estimated planetary nadir based on measurement of portions of the planetary horizon imaged by the horizon optical sensors.

### Claim 5 (depends on 2)

A method for using the apparatus of claim 2, the method comprising:
(A) receiving or deriving the estimated planetary nadir from a global positioning system, from one or more accelerometers, from an inertial navigation system, from received telemetry, from surface imagery, or from a planetary horizon imaged by horizon optical sensors; and
(B) rotating the body, or maintaining orientation of the body, so that the release mechanism and the particle position sensor are aligned along the estimated planetary nadir.

### Claim 6 (depends on 1)

The apparatus of claim 1 further comprising a clock arranged for measuring a drop time of a particle falling from the release mechanism to the position sensor, wherein the control and acquisition system is further structured and connected so as to calculate, based on the measured drop time, and on relative mounted positions on the body of the release mechanism and the particle position sensor, an estimated altitude above a planetary surface.

### Claim 7 (depends on 6)

A method for using the apparatus of claim 6, the method comprising:
(A) switching the release mechanism from the hold state to the release state to release the probe particle to fall through the evacuated volume;
(B) measuring the drop time of the particle falling from the release mechanism to the position sensor; and
(C) calculating, based on the measured drop time, and on relative mounted positions on the body of the release mechanism and the particle position sensor, an estimated altitude above a planetary surface.

### Claim 8 (depends on 1)

A method for using the apparatus of claim 1, the method comprising:
(A) switching the release mechanism from the hold state to the release state to release the probe particle to fall through the evacuated volume;
(B) detecting a two-dimensional position relative to the particle position sensor where the moving probe particle passes through or lands on the particle position sensor; and
(C) calculating, based on the position detected by the particle position sensor, and on relative mounted positions on the body of the release mechanism and the particle position sensor, a measured orientation of the body relative to the planetary nadir.

### Claim 9 (depends on 1)

The apparatus of claim 1 wherein the planetary nadir is Earth's nadir.

### Claim 10 (depends on 1)

The apparatus of claim 1 wherein the body includes a chamber enclosing the evacuated volume.

### Claim 11 (depends on 1)

The apparatus of claim 1 wherein the two-dimensional particle position sensor comprises a two-dimensional photodetector array or imaging array.

### Claim 12 (depends on 1)

The apparatus of claim 1 wherein the two-dimensional particle position sensor comprises a two-dimensional capacitive or resistive sensor.

### Claim 13 (depends on 1)

The apparatus of claim 1 wherein the two-dimensional particle position sensor comprises (i) an array of multiple light sources arranged to define collectively and illuminate a two-dimensional detection surface of the particle position sensor, and (ii) an array of multiple photodetectors arranged about a periphery of the detection surface and illuminated by the light sources.

### Claim 14 (depends on 1)

The apparatus of claim 1 further comprising one or more accelerometers, wherein the computer system is further structured, connected, and programmed so as to compute, based on signals received from the one or more accelerometers, a correction of the calculation of the orientation of the body with respect to the planetary nadir.

### Claim 15 (depends on 14)

A method for using the apparatus of claim 14, the method comprising:
(A) switching the release mechanism from the hold state to the release state to release the probe particle to fall through the evacuated volume;
(B) detecting a two-dimensional position relative to the particle position sensor where the moving probe particle passes through or lands on the particle position sensor;
(C) computing, based on signals received from the one or more accelerometers, the correction of the calculation of the orientation of the body with respect to the planetary nadir; and
(D) calculating, based on the position detected by the particle position sensor, on relative mounted positions on the body of the release mechanism and the particle position sensor, and on the computed correction, a measured orientation of the body relative to the planetary nadir.

### Claim 16 (depends on 1)

The apparatus of claim 1 further comprising one or more accelerometers and one or more magnets positioned about the evacuated volume, wherein the probe particle includes magnetic material, and wherein the computer system is further structured, connected, and programmed so as to (i) compute, based on signals received from the one or more accelerometers, a magnetic field profile that alters a trajectory of the probe particle to compensate for acceleration of the body, and (ii) apply corresponding control signals to the one or more magnets to produce the computed magnetic field profile.

### Claim 17 (depends on 16)

A method for using the apparatus of claim 16, the method comprising:
(A) computing, based on signals received from the one or more accelerometers, a magnetic field profile that alters a trajectory of the probe particle to compensate for acceleration of the body;
(B) applying corresponding control signals to the one or more magnets to produce the computed magnetic field profile;
(C) switching the release mechanism from the hold state to the release state to release the probe particle to fall through the evacuated volume;
(D) detecting a two-dimensional position relative to the particle position sensor where the moving probe particle passes through or lands on the particle position sensor; and
(E) calculating, based on the position detected by the particle position sensor, and relative mounted positions on the body of the release mechanism and the particle position sensor, a measured orientation of the body relative to the planetary nadir.