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At least 271 records · Page 15

En route position and time control of aircraft using Kalman filtering of radio aid data

Fixed-time-of-arrival (FTA) guidance and navigation is investigated as a possible technique capable of operation within much more stringent en route separation standards and offering significant advantages in safety, higher traffic densities, and improved scheduling reliability, both en route and in the terminal areas. This study investigated the application of FTA guidance previously used in spacecraft guidance. These FTA guidance techniques have been modified and are employed to compute the velocity corrections necessary to return an aircraft to a specified great-circle reference path in order to exercise en route time and position control throughout the entire flight. The necessary position and velocity estimates to accomplish this task are provided by Kalman filtering of data from Loran-C, VORTAC/TACAN, Doppler radar, radio or barometric altitude,and altitude rate. The guidance and navigation system was evaluated using a digital simulation of the cruise phase of supersonic and subsonic flights between San Francisco and New York City, and between New York City and London.

Mcgee, L. A.↗

Applying Particle Swarm Optimization and Extended Kalman Filtering to Model Kaplan Generation Dynamics for Hydropower Systems

Variable renewable generation is increasing the need for hydropower plants to provide fast and flexible grid support, which places new demands on plant-level dynamic models used for monitoring, control, and operational decision-making. This need is especially important for hydroelectric systems, where turbine and generator dynamics are strongly coupled, nonlinear, and time-varying, making accurate real-time representation difficult. To address this problem, this paper develops a digital twin (DT) framework for a synchronous generator–Kaplan turbine system using an explicit separation of slow turbine dynamics and fast generator dynamics. The turbine subsystem is represented by a six-coefficient model, whose parameters are identified offline using particle swarm optimization, while the generator subsystem is updated online through an extended Kalman filter for real-time state and parameter estimation. These models are integrated within a closed-loop simulation that includes a proportional–integral–derivative–double-derivative governor and excitation system, allowing the DT to track plant behavior under realistic operating conditions. Unlike prior studies that treat turbine and generator modeling separately or rely mainly on simulated inputs, the proposed framework is validated using real operational data from a hydropower plant. Results show that the DT reproduces terminal voltage, active power, and reactive power with a normalized root mean square error of approximately 5%. This hybrid offline–online formulation constitutes the main contribution of the work, providing an adaptive and practically deployable DT for hydropower systems with direct relevance to control improvement, performance monitoring, and grid-support applications under high renewable penetration.

13 HYDRO ENERGY↗

A Kalman Filter for Mass Property and Thrust Identification of the Spin-Stabilized Magnetospheric Multiscale Formation

The Magnetospheric Multiscale (MMS) mission consists of four identically instrumented, spin-stabilized observatories, elliptically orbiting the Earth in a tetrahedron formation. For the operational success of the mission, on-board systems must be able to deliver high-precision orbital adjustment maneuvers. On MMS, this is accomplished using feedback from on-board star sensors in tandem with accelerometers whose measurements are dynamically corrected for errors associated with a spinning platform. In order to determine the required corrections to the measured acceleration, precise estimates of attitude, rate, and mass-properties are necessary. To this end, both an on-board and ground-based Multiplicative Extended Kalman Filter (MEKF) were formulated and implemented in order to estimate the dynamic and quasi-static properties of the spacecraft.

Formation Flying↗

Estimating Attitude, Trajectory, and Gyro Biases in an Extended Kalman Filter using Earth Magnetic Field Data from the Rossi X-Ray Timing Explorer

Traditionally satellite attitude and trajectory have been estimated with completely separate systems, using different measurement data. The estimation of both trajectory and attitude for low earth orbit satellites has been successfully demonstrated in ground software using magnetometer and gyroscope data. Since the earth's magnetic field is a function of time and position, and since time is known quite precisely, the differences between the computed and measured magnetic field components, as measured by the magnetometers throughout the entire spacecraft orbit, are a function of both the spacecraft trajectory and attitude errors. Therefore, these errors can be used to estimate both trajectory and attitude. This work further tests the single augmented Extended Kalman Filter (EKF) which simultaneously and autonomously estimates spacecraft trajectory and attitude with data from the Rossi X-Ray Timing Explorer (RXTE) magnetometer and gyro-measured body rates. In addition, gyro biases are added to the state and the filter's ability to estimate them is presented.

Deutschmann, Julie↗

Improving Simulated Soil Moisture Fields Through Assimilation of AMSR-E Soil Moisture Retrievals with an Ensemble Kalman Filter and a Mass Conservation Constraint

Model simulated soil moisture fields are often biased due to errors in input parameters and deficiencies in model physics. Satellite derived soil moisture estimates, if retrieved appropriately, represent the spatial mean of soil moisture in a footprint area, and can be used to reduce model bias (at locations near the surface) through data assimilation techniques. While assimilating the retrievals can reduce model bias, it can also destroy the mass balance enforced by the model governing equation because water is removed from or added to the soil by the assimilation algorithm. In addition, studies have shown that assimilation of surface observations can adversely impact soil moisture estimates in the lower soil layers due to imperfect model physics, even though the bias near the surface is decreased. In this study, an ensemble Kalman filter (EnKF) with a mass conservation updating scheme was developed to assimilate the actual value of Advanced Microwave Scanning Radiometer (AMSR-E) soil moisture retrievals to improve the mean of simulated soil moisture fields by the Noah land surface model. Assimilation results using the conventional and the mass conservation updating scheme in the Little Washita watershed of Oklahoma showed that, while both updating schemes reduced the bias in the shallow root zone, the mass conservation scheme provided better estimates in the deeper profile. The mass conservation scheme also yielded physically consistent estimates of fluxes and maintained the water budget. Impacts of model physics on the assimilation results are discussed.

Li, Bailing↗

Simultaneous Radar and Satellite Data Storm-Scale Assimilation Using an Ensemble Kalman Filter Approach for 24 May 2011

Assimilating high-resolution radar reflectivity and radial velocity into convection-permitting numerical weather prediction models has proven to be an important tool for improving forecast skill of convection. The use of satellite data for the application is much less well understood, only recently receiving significant attention. Since both radar and satellite data provide independent information, combing these two sources of data in a robust manner potentially represents the future of high-resolution data assimilation. This research combines Geostationary Operational Environmental Satellite 13 (GOES-13) cloud water path (CWP) retrievals with Weather Surveillance Radar-1988 Doppler (WSR-88D) reflectivity and radial velocity to examine the impacts of assimilating each for a severe weather event occurring in Oklahoma on 24 May 2011. Data are assimilated into a 3-km model using an ensemble adjustment Kalman filter approach with 36 members over a 2-h assimilation window between 1800 and 2000 UTC. Forecasts are then generated for 90 min at 5-min intervals starting at 1930 and 2000 UTC. Results show that both satellite and radar data are able to initiate convection, but that assimilating both spins up a storm much faster. Assimilating CWP also performs well at suppressing spurious precipitation and cloud cover in the model as well as capturing the anvil characteristics of developed storms. Radar data are most effective at resolving the 3D characteristics of the core convection. Assimilating both satellite and radar data generally resulted in the best model analysis and most skillful forecast for this event.

Jones, Thomas A.↗

Data Fusion of In-Flight Aerothermodynamic Heating Measurements Using Kalman Filtering

On February 18th, 2021, the Mars 2020 entry system successfully delivered the Perserverance rover to the surface of Mars at Jezero Crater. The entry capsule carried a set of instrumentation installed on the heat shield and backshell, named the Mars 2020 Entry, Descent, and Landing Instrumentation. The instruments include pressure transducers, thermocouples, heat flux gauges, and radiometers to measure the aerodynamic and aerothermodynamic performance of the entry vehicle. Three of these sensors, a thermocouple plug, heat flux gauge, and a radiometer, are located in close proximity on the backshell. Each sensor is exposed to roughly the same environment, but measured these environments in different ways, each with its own set of modeling and measurement error complications. This paper develops a method for blending each of these measurements together in a single algorithm to produce estimates of the aerothermodynamic environments at that location on the backshell. The approach makes use of the Kalman filter methodology for solving state estimation problems. The filter has a predictor/corrector structure in which simplified process models are used to propagate the aeroheating states forward through time, which are then updated based on the measurement data. The method has been tested on simulated datasets.

Christopher D. Karlgaard↗

A graph signal processing‐based multiple model Kalman filter ( GSP‐MMKF ) tool for predictive analytics: An air separation unit process application

Abstract The industrial Air Separations Unit (ASU) is a complicated and tightly operated process. The use of dynamic process analytics is also a key element of safe and economic operation of these processes, with increasing focus on predictive analytics to take preemptive actions. With the availability of real‐time data from hundreds of sensors, the data analysis process should also consider the topology of the data, as seen in sensor networks. In this paper, a novel tool is presented that considers the complex connectivity patterns in the sensor network and uses local adaptive disturbance estimations to predict global network‐scale trends. The paper introduces the emerging field of Graph Signal Processing (GSP) and presents a rigorous derivation of the tool starting from the extraction of the sensor‐network (in a graph theoretical sense) from the data. This network, which is in the form of a matrix, is then used to derive a Kalman‐filter type of state‐space model driven by input disturbances. Multiple disturbance models (e.g., step, ramp, periodic) are included to allow the model to have different kinds of disturbance propagation. Each graph node (representing the sensors used) dynamically adapts to the most recent detected disturbance individually. These estimated disturbances are propagated to the global network using the graph. Modifications to ensure stability are also discussed. The fidelity of the tool is tested on certain downtime events and the paper concludes by discussing the advantages of the method and planned future improvements.

Ghosh, Sambit↗

Investigating the application of Kalman Filters for real-time accountancy in fusion fuel cycles

Here tritium accountancy in the fusion fuel cycle is a significant concern for the operation of commercial devices. It is expected that a limit on the maximum amount of tritium inventory in the system will be implemented, meaning that accountancy of the tritium inventory in the fuel cycle will need to be as accurate as possible. This is difficult since not all locations along the fuel cycle can benefit from the implementation of a tritium accountancy sensor and measurements will inherently contain error. Commercial fusion plants will also operate continuously, challenging current accountancy techniques that rely on static processes in well-controlled environments. In this paper a simple fusion fuel cycle concept is defined and the tritium inventory over time of each component is modelled using the Euler Approximation of a series of differential Equations in Python. This information is then used to simulate sensor measurements at specific points on the fuel cycle and then passed through a Kalman Filter (KF) to improve the accuracy of the true measurement of the sensors.

70 PLASMA PHYSICS AND FUSION TECHNOLOGY↗

Calibration and Uncertainty Estimation Using the Ensemble Kalman Filter with a Large Subsurface Flow and Transport Model - 20321

At routinely monitored groundwater contamination sites, periodically measured environmental conditions such as groundwater levels and contaminant concentrations are used to inform and confirm a conceptual site model (CSM) and guide the development and calibration of a numerical groundwater flow and transport model. The calibration of groundwater flow and transport models after each measurement (sampling) event can illuminate deficiencies in a CSM, identify areas where additional monitoring is warranted, and predict the behavior of the system to guide decision making. However, manual and automated (e.g. PEST) model calibration tools can be time-consuming and computationally expensive to implement after each sampling event. Perhaps as a result, such calibration tools generally utilize all available monitoring data simultaneously rather than sequentially assimilating monitoring data one sampling event at a time as the results from sampling become available. A more real-time data assimilation approach may reduce parameter uncertainty, quantify the value of additional monitoring data, and produce a usable model more quickly and with less effort. To mitigate the potential time-consuming aspects of manual and widely applied automated calibration techniques, a data assimilation algorithm called the ensemble Kalman filter (EnKF) was evaluated as a relatively efficient method of model calibration and uncertainty assessment via the sequential integration of monitoring data into a model. The EnKF was able to successfully and efficiently assimilate monitoring and modeling data to calibrate a complex flow and transport model at a real-world site with significant subsurface heterogeneity, uncertainty, and 12 years of monitoring data (over 4,000 individual measurements of groundwater levels and over 2,500 measurements of contaminant concentrations). Starting with an uncalibrated model data from annual sampling events were sequentially assimilated, and the resultant predication errors and estimated parameter uncertainties were tracked. After all monitoring data were assimilated, both flow and transport residuals at the end of the EnKF process were comparable to those produced via a concurrent PEST calibration effort but required fewer model simulations. Both uncertainty and prediction errors decreased over time. In a real-time application, the adequacy of the model could be assessed after each sampling event. The benefits of such a real-time approach to utilizing monitoring data include reduced costs (in the form of model updates or site characterization efforts), early flagging of possible errors in the CSM, and a reduced risk of overfitting and corresponding increased confidence in model predictions. This tool may be particularly useful compared to other calibration techniques (e.g. manual, PEST) when model runtimes are long, calibration parameters are many, or parameter uncertainty is large. (authors)

12 MANAGEMENT OF RADIOACTIVE AND NON-RADIOACTIVE W↗

Recursive inverse kinematics for robot arms via Kalman filtering and Bryson-Frazier smoothing

This paper applies linear filtering and smoothing theory to solve recursively the inverse kinematics problem for serial multilink manipulators. This problem is to find a set of joint angles that achieve a prescribed tip position and/or orientation. A widely applicable numerical search solution is presented. The approach finds the minimum of a generalized distance between the desired and the actual manipulator tip position and/or orientation. Both a first-order steepest-descent gradient search and a second-order Newton-Raphson search are developed. The optimal relaxation factor required for the steepest descent method is computed recursively using an outward/inward procedure similar to those used typically for recursive inverse dynamics calculations. The second-order search requires evaluation of a gradient and an approximate Hessian. A Gauss-Markov approach is used to approximate the Hessian matrix in terms of products of first-order derivatives. This matrix is inverted recursively using a two-stage process of inward Kalman filtering followed by outward smoothing. This two-stage process is analogous to that recently developed by the author to solve by means of spatial filtering and smoothing the forward dynamics problem for serial manipulators.

Rodriguez, G.↗

Relating the Hadamard Variance to MCS Kalman Filter Clock Estimation

The Global Positioning System (GPS) Master Control Station (MCS) currently makes significant use of the Allan Variance. This two-sample variance equation has proven excellent as a handy, understandable tool, both for time domain analysis of GPS cesium frequency standards, and for fine tuning the MCS's state estimation of these atomic clocks. The Allan Variance does not explicitly converge for the nose types of alpha less than or equal to minus 3 and can be greatly affected by frequency drift. Because GPS rubidium frequency standards exhibit non-trivial aging and aging noise characteristics, the basic Allan Variance analysis must be augmented in order to (a) compensate for a dynamic frequency drift, and (b) characterize two additional noise types, specifically alpha = minus 3, and alpha = minus 4. As the GPS program progresses, we will utilize a larger percentage of rubidium frequency standards than ever before. Hence, GPS rubidium clock characterization will require more attention than ever before. The three sample variance, commonly referred to as a renormalized Hadamard Variance, is unaffected by linear frequency drift, converges for alpha is greater than minus 5, and thus has utility for modeling noise in GPS rubidium frequency standards. This paper demonstrates the potential of Hadamard Variance analysis in GPS operations, and presents an equation that relates the Hadamard Variance to the MCS's Kalman filter process noises.

Hutsell, Steven T.↗