Results for “motion tracking system” — Page 13

NASA NTRS1991

Applications of fuzzy logic to control and decision making

Long range space missions will require high operational efficiency as well as autonomy to enhance the effectivity of performance. Fuzzy logic technology has been shown to be powerful and robust in interpreting imprecise measurements and generating appropriate control decisions for many space operations. Several applications are underway, studying the fuzzy logic approach to solving control and decision making problems. Fuzzy logic algorithms for relative motion and attitude control have been developed and demonstrated for proximity operations. Based on this experience, motion control algorithms that include obstacle avoidance were developed for a Mars Rover prototype for maneuvering during the sample collection process. A concept of an intelligent sensor system that can identify objects and track them continuously and learn from its environment is under development to support traffic management and proximity operations around the Space Station Freedom. For safe and reliable operation of Lunar/Mars based crew quarters, high speed controllers with ability to combine imprecise measurements from several sensors is required. A fuzzy logic approach that uses high speed fuzzy hardware chips is being studied.

Lea, Robert N.↗

NASA NTRS1993

Topographic mapping using radar interferometry - Processing techniques

In the summer of 1991 the NASA DC-8 airborne synthetic aperture radar (SAR) system acquired data with the radar configured in a C-band across-track interferometer mode. The data were processed to generate rectified topographic maps. A new processing scheme was developed featuring motion compensation, absolute phase retrieval, and three-dimensional 1ocation. The new processor has been tested using data which were acquired with extreme aircraft motion so that performance could be evaluated under adverse conditions. The topographic maps generated by the radar were compared to Digital Elevation Models (DEM's) derived using conventional optical stereo techniques. In one region we measured rms elevation deviations which were less than the specified DEM accuracy, and in the region covered by the more accurate DEM we found errors varying from 2.2 m rms in relatively flat terrain up to 5.0 m in mountainous areas. The rms difference between radar and DEM elevations over the 6.5 km by 22 km area covered by the more accurate DEM was 3.6 m.

Madsen, Soren N.↗

NASA NTRS2000

A Determination of the Precession and Rotation-Rate of Mars from Tracking and Altimetry Data

The doppler tracking of the MGS spacecraft and the laser altimetry acquired by the MOLA instrument on MGS have been used to measure the rotation of Mars. By observing the repeating pattern of gravity anomalies and the topography the direction of the rotation axis in both inertial space and body fixed coordinates, and the rate of rotation of the planet on its axis have been derived. The tracking of MGS in orbit about Mars by stations on Earth permit the orbit of MGS to be obtained in an inertial coordinate system enabling the periodic perturbation of the MGS orbit by Mars' gravity field to be used as a sensor to detect the vector rotation of Mars under the orbit of MGS. The altimetry data acquired by MOLA on MGS permit the topography to help define the orbit of MGS about Mars in a body fixed coordinate system thus enabling the pole of rotation of the planet to be determined in a coordinate system defined by the altimetry. Together they enable the precession of the rotation axis to be observed from which the moment of inertia can be derived, changes in length of day to be measured, and a method to check for possible Mars polar motion. Tracking data on the Mariner 9, Viking 1 and 2, from the 1970's have been analyzed with MGS data obtained in the mapping orbit in 1999 to provide a new estimate of the moment of inertia.

Smith, David E.↗

NASA NTRS1979

The modeling and design of the Annular Suspension and Pointing System /ASPS/

The Annular Suspension and Pointing System (ASPS) is a payload auxiliary pointing device of the Space Shuttle. The ASPS is comprised of two major subassemblies, a vernier and a coarse pointing subsystem. The three functions provided by the ASPS are related to the pointing of the payload, centering the payload in the magnetic actuator assembly, and tracking the payload mounting plate and shuttle motions by the coarse gimbals. The equations of motion of a simplified planar model of the ASPS are derived. Attention is given to a state diagram of the dynamics of the ASPS with position-plus-rate controller, the nonlinear spring characteristic for the wire-cable torque of the ASPS, the design of the analog ASPS through decoupling and pole placement, and the time response of different components of the continuous control system.

Kuo, B. C.↗

NASA NTRS1993

The precision of today's satellite laser ranging systems

Recent improvements in the accuracy of modern satellite laser ranging (SLR) systems are strengthened by the new capability of many instruments to track an increasing number of geodetic satellite targets without significant scheduling conflict. This will allow the refinement of some geophysical parameters, such as solid Earth tidal effects and GM, and the improved temporal resolution of others, such as Earth orientation and station position. Better time resolution for the locations of fixed observatories will allow us to monitor more subtle motions at the stations, and transportable systems will be able to provide indicators of long term trends with shorter occupations. If we are to take advantage of these improvements, care must be taken to preserve the essential accuracy of an increasing volume of range observations at each stage of the data reduction process.

Dunn, Peter J.↗

NASA NTRS1974

Satellite techniques for the study of secular variations in position

Some crustal motions which are precursory to earthquakes are discussed and a system for monitoring such motions is proposed. Studies have shown that the scale of a dilatant region is an indicator both of the magnitude of subsequent earthquake and of the time interval between the earthquake and the precursory phenomena. Monitoring may be accomplished by the use of corner reflectors at sites situated in an array over a given region, such as California, for example, the sites being tracked by means of a laser system operating in the Geopause satellite.

Siry, J. W.↗

NASA NTRS1977

Time determination for spacecraft users of the Navstar Global Positioning System /GPS/

Global Positioning System (GPS) navigation is performed by time measurements. A description is presented of a two body model of spacecraft motion. Orbit determination is the process of inferring the position, velocity, and clock offset of the user from measurements made of the user motion in the Newtonian coordinate system. To illustrate the effect of clock errors and the accuracy with which the user spacecraft time and orbit may be determined, a low-earth-orbit spacecraft (Seasat) as tracked by six Phase I GPS space vehicles is considered. The obtained results indicate that in the absence of unmodeled dynamic parameter errors clock biases may be determined to the nanosecond level. There is, however, a high correlation between the clock bias and the uncertainty in the gravitational parameter GM, i.e., the product of the universal gravitational constant and the total mass of the earth. It is, therefore, not possible to determine clock bias to better than 25 nanosecond accuracy in the presence of a gravitational error of one part per million.

Grenchik, T. J.↗

NASA NTRS1999

Ionized Outflows in 3-D Insights from Herbig-Haro Objects and Applications to Nearby AGN

HST shows that the gas distributions of these objects are complex and clump at the limit of resolution. HST spectra have lumpy emission-line profiles, indicating unresolved sub-structure. The advantages of 3D over slits on gas so distributed are: robust flux estimates of various dynamical systems projected along lines of sight, sensitivity to fainter spectral lines that are physical diagnostics (reddening-gas density, T, excitation mechanisms, abundances), and improved prospects for recovery of unobserved dimensions of phase-space. These advantages al- low more confident modeling for more profound inquiry into underlying dynamics. The main complication is the effort required to link multi- frequency datasets that optimally track the energy flow through various phases of the ISM. This tedium has limited the number of objects that have been thoroughly analyzed to the a priori most spectacular systems. For HHO'S, proper-motions constrain the ambient B-field, shock velocity, gas abundances, mass-loss rates, source duty-cycle, and tie-ins with molecular flows. If the shock speed, hence ionization fraction, is indeed small then the ionized gas is a significant part of the flow energetics. For AGN'S, nuclear beaming is a source of ionization ambiguity. Establishing the energetics of the outflow is critical to determining how the accretion disk loses its energy. CXO will provide new constraints (especially spectral) on AGN outflows, and STIS UV-spectroscopy is also constraining cloud properties (although limited by extinction). HHO's show some of the things that we will find around AGN'S. I illustrate these points with results from ground-based and HST programs being pursued with collaborators.

Cecil, Gerald↗

NASA NTRS2018

Diagnostic for Verifying the Thrust Vector Requirement of the AEPS Hall-Effect Thruster and Comparison to the NEXT-C Thrust Vector Diagnostic

A diagnostic has been designed and fabricated to verify the thrust vector requirement for the Advanced Electric Propulsion System (AEPS) Hall Effect Rocket with Magnetic Shielding (HERMeS) thruster. This diagnostic will be used to verify that the propulsion system thrust vector offset from the mounting surface normal vector does not exceed 1.5 degrees over the entire throttling range and over the course of 23,000 hours of thruster testing. The diagnostic will also not violate the thruster's required voltage standoff capability in the presence of carbon backsputter by being minimally intrusive and not significantly adding to the facility backsputtered rate. Based on these requirements, an appropriate diagnostic design was determined to comprise of an array of 23 Faraday probes swept through the plume in an arc 1m from the thruster to map the beam current density. The beam current density centroid of the plume is assumed to track the thrust vector within an acceptable level of uncertainty. Additionally, a reference system, including optical alignment to the mounting surface normal vector and tilt sensors, was devised to periodically calibrate the probe position and motion throughout the long duration wear test campaign. Initial measurements of the thruster plume have been acquired to demonstrate the diagnostics functionality, verify procedures, and assess any necessary improvements prior to implementation of the diagnostic during the AEPS Engineering Development Unit (EDU) long duration wear test. To illustrate the merits of differing approaches to thrust vector determination for different classes of electric propulsion thrusters, NASA's Evolutionary Xenon Thruster-Commercial (NEXT-C) thrust vector diagnostic design details and recent data are also discussed (Appendix A).

Benavides, Gabriel F.↗

NASA NTRS2018

Diagnostic for Verifying the Thrust Vector Requirement of the AEPS Hall-Effect Thruster and Comparison to the NEXT-C Thrust Vector Diagnostic

A diagnostic has been designed and fabricated to verify the thrust vector requirement for the Advanced Electric Propulsion System (AEPS) Hall Effect Rocket with Magnetic Shielding (HERMeS) thruster. This diagnostic will be used to verify that the propulsion system thrust vector offset from the mounting surface normal vector does not exceed 1.5 degrees over the entire throttling range and over the course of 23,000 hours of thruster testing. The diagnostic will also not violate the thruster's required voltage standoff capability in the presence of carbon backsputter by being minimally intrusive and not significantly adding to the facility backsputtered rate. Based on these requirements, an appropriate diagnostic design was determined to comprise of an array of 23 Faraday probes swept through the plume in an arc 1m from the thruster to map the beam current density. The beam current density centroid of the plume is assumed to track the thrust vector within an acceptable level of uncertainty. Additionally, a reference system, including optical alignment to the mounting surface normal vector and tilt sensors, was devised to periodically calibrate the probe position and motion throughout the long duration wear test campaign. Initial measurements of the thruster plume have been acquired to demonstrate the diagnostics functionality, verify procedures, and assess any necessary improvements prior to implementation of the diagnostic during the AEPS Engineering Development Unit (EDU) long duration wear test. To illustrate the merits of differing approaches to thrust vector determination for different classes of electric propulsion thrusters, NASA's Evolutionary Xenon Thruster-Commercial (NEXT-C) thrust vector diagnostic design details and recent data are also discussed (Appendix A).

Benavides, Gabriel F.↗

NASA NTRS2018

Diagnostic for Verifying the Thrust Vector Requirement of the AEPS Hall-Effect Thruster and Comparison to the NEXT-C Thrust Vector Diagnostic

A diagnostic has been designed and fabricated to verify the thrust vector requirement for the Advanced Electric Propulsion System (AEPS) Hall Effect Rocket with Magnetic Shielding (HERMeS) thruster. This diagnostic will be used to verify that the propulsion system thrust vector offset from the mounting surface normal vector does not exceed 1.5 degrees over the entire throttling range and over the course of 23,000 hours of thruster testing. The diagnostic will also not violate the thruster's required voltage standoff capability in the presence of carbon backsputter by being minimally intrusive and not significantly adding to the facility backsputtered rate. Based on these requirements, an appropriate diagnostic design was determined to comprise of an array of 23 Faraday probes swept through the plume in an arc 1m from the thruster to map the beam current density. The beam current density centroid of the plume is assumed to track the thrust vector within an acceptable level of uncertainty. Additionally, a reference system, including optical alignment to the mounting surface normal vector and tilt sensors, was devised to periodically calibrate the probe position and motion throughout the long duration wear test campaign. Initial measurements of the thruster plume have been acquired to demonstrate the diagnostics functionality, verify procedures, and assess any necessary improvements prior to implementation of the diagnostic during the AEPS Engineering Development Unit (EDU) long duration wear test. To illustrate the merits of differing approaches to thrust vector determination for different classes of electric propulsion thrusters, NASA's Evolutionary Xenon Thruster-Commercial (NEXT-C) thrust vector diagnostic design details and recent data are also discussed (Appendix A).

Advanced Electric Propulsion System (AEPS)↗

NASA NTRS2006

CMOS imager for pointing and tracking applications

Systems and techniques to realize pointing and tracking applications with CMOS imaging devices. In general, in one implementation, the technique includes: sampling multiple rows and multiple columns of an active pixel sensor array into a memory array (e.g., an on-chip memory array), and reading out the multiple rows and multiple columns sampled in the memory array to provide image data with reduced motion artifact. Various operation modes may be provided, including TDS, CDS, CQS, a tracking mode to read out multiple windows, and/or a mode employing a sample-first-read-later readout scheme. The tracking mode can take advantage of a diagonal switch array. The diagonal switch array, the active pixel sensor array and the memory array can be integrated onto a single imager chip with a controller. This imager device can be part of a larger imaging system for both space-based applications and terrestrial applications.

Pain, Bedabrata↗

NASA NTRS2021

LiDAR-Inertial Based Navigation and Mapping for Precision Landing

Future lander missions will travel to ambitious, scientifically interesting locations near rough and dangerous terrain. They will need to operate with limited prior information about the terrain, and under varying lighting conditions. Landing safely and precisely in the face of these challenges is difficult for existing vision-based landing systems, which require detailed orbital reconnaissance, a priori hazard maps, and impose time-of-day restrictions on landing to ensure similar lighting conditions in orbital and descent imagery. Advanced 3D imaging LiDAR systems currently under development, and originally intended for single-scan hazard detection, have the potential to be operated continuously from altitudes of up to 5 km. Used together with existing inertial measurement units (IMUs), these sensors open a path-to-flight for a full navigation and mapping system, which could replace or augment a traditional landing sensor suite. A landing system based around these sensors can perform accurate altimetry, map-relative localization (MRL), LiDAR-inertial odometry, and map refinement in an illumination-insensitive manner, over unknown or partially known terrain. This paper outlines preliminary work on a LiDAR-inertial landing system that: estimates the spacecraft trajectory during entry, descent, and landing (EDL); and maps the topography of the terrain below, for future use in hazard detection and avoidance. An incremental, factor graph based, smoothing approach is used to solve for the maximum a posteriori trajectory of spacecraft states. Integrated IMU measurements and features tracked in adjacent range and intensity images are used to estimate motion (LiDAR-inertial odometry). LiDAR scans are binned into motion-corrected digital elevation models (DEMs), which are matched to an existing orbital topographic map to provide absolute position information (MRL). The estimated trajectory is then used to project the LiDAR scans into the map frame, creating a variable-resolution quadtree topographic map suitable for hazard detection and avoidance. Existing topographic maps from throughout the solar system (i.e., Earth, the Moon, Mars, Ceres, Vesta, Europa, Enceladus, and Eros) are upsampled for use in EDL simulations. The Mars 2020 Lander Vision System Simulator (LVSS) is extended to simulate LiDAR-inertial data for realistic EDL trajectories. Results of the algorithm operating on the simulated data are presented. Estimated spacecraft trajectory and refined map are compared to ground truth to assess estimation accuracy.

Katake, Anup↗

NASA NTRS2008

Observing Solar System Objects with the James Webb Space Telescope

The James Webb Space Telescope (JWST) will have the capability to observe Solar System objects having apparent rates of motion up to 30 milliarcseconds/sec. The key science drivers are the study of Kuiper Belt Objects, asteroids, comets, and the outer planets and their moons at near and mid-infrared wavelengths. This poster presents the results from a recent study that defined the conceptual design for a capability for JWST to track and observe moving targets. We illustrate about how guide star acquisition and tracking wi11 be handled while retaining the efficient and flexible execution characteristics of JWST event-driven operations. We also show how the JWST pointing control system can readily support moving target observations. The characteristics of Solar System objects that can be observed by JWST are summarized along with descriptions of the major aspects of moving target science observation planning and on-board event-driven execution.

Sonneborn, George↗

NASA NTRS2003

The Micro-Arcsecond Metrology Testbed

The Micro-Arcsecond Metrology (MAM) testbed is a ground-based system of optical and electronic equipment for testing components, systems, and engineering concepts for the Space Interferometer Mission (SIM) and similar future missions, in which optical interferometers will be operated in outer space. In addition, the MAM testbed is of interest in its own right as a highly precise metrological system. The designs of the SIM interferometer and the MAM testbed reflect a requirement to measure both the position of the starlight central fringe and the change in the internal optical path of the interferometer with sufficient spatial resolution to generate astrometric data with angular resolution at the microarcsecond level. The internal path is to be measured by use of a small metrological laser beam of 1,319-nm wavelength, whereas the position of the starlight fringe is to be estimated by use of a charge-coupled-device (CCD) image detector sampling a large concentric annular beam. For the SIM to succeed, the optical path length determined from the interferometer fringes must be tracked by the metrological subsystem to within tens of picometers, through all operational motions of an interferometer delay line and siderostats. The purpose of the experiments performed on the MAM testbed is to demonstrate this agreement in a large-scale simulation that includes a substantial portion of the system in the planned configuration for operation in outer space. A major challenge in this endeavor is to align the metrological beam with the starlight beam in order to maintain consistency between the metrological and starlight subsystems at the system level. The MAM testbed includes an optical interferometer with a white light source, all major optical components of a stellar interferometer, and heterodyne metrological sensors. The aforementioned subsystems are installed in a large vacuum chamber in order to suppress atmospheric and thermal disturbances. The MAM is divided into two distinct subsystems: the test article (TA), which is the interferometer proper, and the inverse interferometer pseudo-star (IIPS), which synthesizes the light coming from a distant target star by providing spatially coherent wavefronts out of two mirrors, separated by the MAM baseline, that feed directly into two siderostats that are parts of the TA. The two feed mirrors of the IIPS are articulated (in translation and tilt) in order to simulate stars located at different orientations in space, while still illuminating the TA siderostats. The spectrum of the simulated starlight of the IIPS corresponds to that of a blackbody at a temperature of about 3,100 K.

Goullioud, Renaud↗

NASA NTRS1981

Modeling human tracking error in several different anti-tank systems

An optimal control model for generating time histories of human tracking errors in antitank systems is outlined. Monte Carlo simulations of human operator responses for three Army antitank systems are compared. System/manipulator dependent data comparisons reflecting human operator limitations in perceiving displayed quantities and executing intended control motions are presented. Motor noise parameters are also discussed.

Kleinman, D. L.↗

NASA NTRS1985

Evaluation of OMV ranging and docking systems

The Orbital Maneuvering Vehicle (OMV) will serve as a shuttle-based or permanent space station-based vehicle designed to rendezvous and soft dock with various other free-flying space vehicles for purposes of inspection, support, and retrieval. This study is concerned primarily with the eventual need for the OMV to rendezvous and dock softly with the Edwin P. Hubble Space Telescope (ST). Utilizing the available capabilities of the large microwave anechoic chamber facility at Marshall Space Flight Center for simulating docking target vehicle motions in a free-space environment, a program is being devised for benchmark testing of rendezvous and docking sensor systems proposed for use on the OMV. A testing regimen suitable for evaluating the accuracy and tracking agility in sensing range, range rate, and angle information at close ranges (0 R 30m) has been developed.

Mcdonald, M. W.↗

NASA NTRS2007

Microparticle analysis system and method

A device for analyzing microparticles is provided which includes a chamber with an inlet and an outlet for respectively introducing and dispensing a flowing fluid comprising microparticles, a light source for providing light through the chamber and a photometer for measuring the intensity of light transmitted through individual microparticles. The device further includes an imaging system for acquiring images of the fluid. In some cases, the device may be configured to identify and determine a quantity of the microparticles within the fluid. Consequently, a method for identifying and tracking microparticles in motion is contemplated herein. The method involves flowing a fluid comprising microparticles in laminar motion through a chamber, transmitting light through the fluid, measuring the intensities of the light transmitted through the microparticles, imaging the fluid a plurality of times and comparing at least some of the intensities of light between different images of the fluid.

Morrison, Dennis R.↗