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All sourcesNASA NTRSDOE OSTI
NASA NTRS1972

The mass-zero spin-two field and gravitational theory.

Demonstration that the conventional theory of the mass-zero spin-two field with sources introduces extraneous nonspin-two field components in source regions and fails to be covariant under the full or restricted conformal group. A modified theory is given, expressed in terms of the physical components of mass-zero spin-two field rather than in terms of 'potentials,' which has no extraneous components inside or outside sources, and which is covariant under the full conformal group. For a proper choice of source term, this modified theory has the correct Newtonian limit and automatically implies that a symmetric second-rank source tensor has zero divergence. It is shown that possibly a generally covariant form of the spin-two theory derived here can be constructed to agree with general relativity in all currently accessible experimental situations.

Coulter, C. A.↗
NASA NTRS1972

Bounding filter - A simple solution to lack of exact a priori statistics.

Wiener and Kalman-Bucy estimation problems assume that models describing the signal and noise stochastic processes are exactly known. When this modeling information, i.e., the signal and noise spectral densities for Wiener filter and the signal and noise dynamic system and disturbing noise representations for Kalman-Bucy filtering, is inexactly known, then the filter's performance is suboptimal and may even exhibit apparent divergence. In this paper a system is designed whereby the actual estimation error covariance is bounded by the covariance calculated by the estimator. Therefore, the estimator obtains a bound on the actual error covariance which is not available, and also prevents its apparent divergence.

Nahi, N. E.↗
NASA NTRS1973

Long and short arc altitude determination for GEOS-C

The accuracy with which the GEOS-C altitude may be estimated over long (7 day) and short (40 minute) orbital arcs is investigated. Over the long are excellent agreement was attained between a simulation of the orbit determination process and a covariance analysis. Both approaches yielded RMS altitude errors of about 1.5 meters over the Caribbean calibration area and approximately 7.5 meters overall. The geopotential was identified as the largest error source. For the short arc, the covariance analysis revealed that the propagated altitude error is linearly dependent upon station survey component errors which are also the largest source of altitude errors. An Appendix contains the mathematics of covariance analysis as applied to orbit determination.

Koch, D.↗
NASA NTRS1975

The treatment of bias in the square-root information filter/smoother

The Dyer-McReynolds square-root information filter (SRIF) is rederived, using recursive least-square arguments. The result is applied to a system composed partly of biases. The filter sensitivity matrix, computed covariance, and consider covariance for this augmented system are reviewed. A new computationally attractive representation for the smoothed estimates, in terms of a smoothed sensitivity matrix and a smoothed computed covariance is presented.

Bierman, G. J.↗
NASA NTRS1975

The transformation of aerodynamic stability derivatives by symbolic mathematical computation

The formulation of mathematical models of aeronautical systems for simulation or other purposes, involves the transformation of aerodynamic stability derivatives. It is shown that these derivatives transform like the components of a second order tensor having one index of covariance and one index of contravariance. Moreover, due to the equivalence of covariant and contravariant transformations in orthogonal Cartesian systems of coordinates, the transformations can be treated as doubly covariant or doubly contravariant, if this simplifies the formulation. It is shown that the tensor properties of these derivatives can be used to facilitate their transformation by symbolic mathematical computation, and the use of digital computers equipped with formula manipulation compilers. When the tensor transformations are mechanised in the manner described, man-hours are saved and the errors to which human operators are prone can be avoided.

Howard, J. C.↗
NASA NTRS1976

Retrodictive determinism

With respect to irreversible, non-homeomorphic maps, contravariant and covariant tensor fields have distinctly natural covariance and transformational behavior. For thermodynamic processes which are non-adiabatic, the fact that the process cannot be represented by a homeomorphic map emphasizes the logical arrow of time, an idea which encompasses a principle of retrodictive determinism for covariant tensor fields.

Kiehn, R. M.↗
NASA NTRS1975

Some estimation formulae for continuous time-invariant linear systems

In this brief paper we examine a Riccati equation decomposition due to Reid and Lainiotis and apply the result to the continuous time-invariant linear filtering problem. Exploitation of the time-invariant structure leads to integration-free covariance recursions which are of use in covariance analyses and in filter implementations. A super-linearly convergent iterative solution to the algebraic Riccati equation (ARE) is developed. The resulting algorithm, arranged in a square-root form, is thought to be numerically stable and competitive with other ARE solution methods. Certain covariance relations that are relevant to the fixed-point and fixed-lag smoothing problems are also discussed.

Bierman, G. J.↗
NASA NTRS1978

New trends in cosmology

A review of big-bang cosmology is presented, emphasizing the big-bang model, hypotheses on the origin of galaxies, observational tests of the big-bang model that may be possible with the Large Space Telescope, and the scale-covariant theory of gravitation. Detailed attention is given to the equations of general relativity, the redshift-distance relation for extragalactic objects, expansion of the universe, the initial singularity, the discovery of the 3-K blackbody radiation, and measurements of the amount of deuterium in the universe. The curvature of the expanding universe is examined along with the magnitude-redshift relation for quasars and galaxies. Several models for the origin of galaxies are evaluated, and it is suggested that a model of galaxy formation via the formation of black holes is consistent with the model of an expanding universe. Scale covariance is discussed, a scale-covariant theory is developed which contains invariance under scale transformation, and it is shown that Dirac's (1937) large-numbers hypothesis finds a natural role in this theory by relating the atomic and Einstein units.

Canuto, V. M.↗
NASA NTRS1978

GPS-aided Space Shuttle navigation

In the present paper, specific GPS (Global Positioning System) aided Shuttle navigation are presented as examples of the navigation performance prediction process. The process described is a statistical covariance error analysis. To facilitate detailing, the process is broken down into four portions with sharply limited interfaces. Considerations of mission scenarios form one distinct package of computer routines. Simulation of the onboard navigation filter is another facet of the process, as are the larger system covariance program and the GPS segment covariance simulation. The combination of these computer tools permits proper evaluation of the multitude of correlated error sources affecting GPS-aided Shuttle navigation.

Matchett, G.↗
NASA NTRS1984

Matrix partitioning and EOF/principal component analysis of Antarctic Sea ice brightness temperatures

A field of measured anomalies of some physical variable relative to their time averages, is partitioned in either the space domain or the time domain. Eigenvectors and corresponding principal components of the smaller dimensioned covariance matrices associated with the partitioned data sets are calculated independently, then joined to approximate the eigenstructure of the larger covariance matrix associated with the unpartitioned data set. The accuracy of the approximation (fraction of the total variance in the field) and the magnitudes of the largest eigenvalues from the partitioned covariance matrices together determine the number of local EOF's and principal components to be joined by any particular level. The space-time distribution of Nimbus-5 ESMR sea ice measurement is analyzed.

Murray, C. W., Jr.↗
NASA NTRS1985

Formulation and implementation of nonstationary adaptive estimation algorithm with applications to air-data reconstruction

The dynamics model and data sources used to perform air-data reconstruction are discussed, as well as the Kalman filter. The need for adaptive determination of the noise statistics of the process is indicated. The filter innovations are presented as a means of developing the adaptive criterion, which is based on the true mean and covariance of the filter innovations. A method for the numerical approximation of the mean and covariance of the filter innovations is presented. The algorithm as developed is applied to air-data reconstruction for the space shuttle, and data obtained from the third landing are presented. To verify the performance of the adaptive algorithm, the reconstruction is also performed using a constant covariance Kalman filter. The results of the reconstructions are compared, and the adaptive algorithm exhibits better performance.

Whitmore, S. A.↗
NASA NTRS1985

A Residuals Approach to Filtering, Smoothing and Identification for Static Distributed Systems

An approach for state estimation and identification of spatially distributed parameters embedded in static distributed (elliptic) system models is advanced. The method of maximum likelihood is used to find parameter values that maximize a likelihood functional for the system model, or equivalently, that minimize the negative logarithm of this functional. To find the minimum, a Newton-Raphson search is conducted that from an initial estimate generates a convergent sequence of parameter estimates. For simplicity, a Gauss-Markov approach is used to approximate the Hessian in terms of products of first derivatives. The gradient and approximate Hessian are computed by first arranging the negative log likelihood functional into a form based on the square root factorization of the predicted covariance of the measurement process. The resulting data processing approach, referred to here by the new term of predicted data covariance square root filtering, makes the gradient and approximate Hessian calculations very simple. A closely related set of state estimates is also produced by the maximum likelihood method: smoothed estimates that are optimal in a conditional mean sense and filtered estimates that emerge from the predicted data covariance square root filter.

Rodriguez, G.↗
NASA NTRS1986

Higher-order structure of rRNA

A comparative search for phylogenetically covarying basepair replacements within potential helices has been the only reliable method to determine the correct secondary structure of the 3 rRNAs, 5S, 16S, and 23S. The analysis of 16S from a wide phylogenetic spectrum, that includes various branches of the eubacteria, archaebacteria, eucaryotes, in addition to the mitochondria and chloroplast, is beginning to reveal the constraints on the secondary structures of these rRNAs. Based on the success of this analysis, and the assumption that higher order structure will also be phylogenetically conserved, a comparative search was initiated for positions that show co-variation not involved in secondary structure helices. From a list of potential higher order interactions within 16S rRNA, two higher-order interactions are presented. The first of these interactions involves positions 570 and 866. Based on the extent of phylogenetic covariation between these positions while maintaining Watson-Crick pairing, this higher-order interaction is considered proven. The other interaction involves a minimum of six positions between the 1400 and 1500 regions of the 16S rRNA. Although these patterns of covariation are not as striking as the 570/866 interaction, the fact that they all exist in an anti-parallel fashion and that experimental methods previously implicated these two regions of the molecule in tRNA function suggests that these interactions be given serious consideration.

Gutell, R. R.↗
NASA NTRS1986

Nonlinear filtering for spacecraft attitude estimation

Nonlinear filtering techniques are applied to spacecraft attitude estimation using quaternion parameterization for the attitude kinematics. By replacing the angular velocity vector by the gyro output vector, a state dependent noise vector is introduced in the seven-dimensional system equations. The resulting conditional probability density function from the Ito differential rule is governed by the Fokker Planck partial differential equation which is approximated by the second order mean and covariance differential equations. In order to minimize computer loading, the covariance propagation is carried out in six-dimensional state space using a matrix transformation. The star tracker data is used to update the covariance matrix in the seven-dimensional space. The algorithm is simulated for an earth pointing spacecraft mission, using Monte Carlo samples of gyro and star measurements. The performance of the second order filter is compared with the extended Kalman Filter through several simulation runs and drift rates have been identified.

Vathsal, S.↗
NASA NTRS1985

Formulation and implementation of nonstationary adaptive estimation algorithm with applications to air-data reconstruction

The dynamics model and data sources used to perform air-data reconstruction are discussed, as well as the Kalman filter. The need for adaptive determination of the noise statistics of the process is indicated. The filter innovations are presented as a means of developing the adaptive criterion, which is based on the true mean and covariance of the filter innovations. A method for the numerical approximation of the mean and covariance of the filter innovations is presented. The algorithm as developed is applied to air-data reconstruction for the Space Shuttle, and data obtained from the third landing are presented. To verify the performance of the adaptive algorithm, the reconstruction is also performed using a constant covariance Kalman filter. The results of the reconstructions are compared, and the adaptive algorithm exhibits better performance.

Whitmore, S. A.↗
NASA NTRS1987

Uncertainty relations for light waves and the concept of photons

A Lorentz-covariant localization for light waves is presented. The unitary representation for the electromagnetic four-potential is constructed for a monochromatic light wave. A model for covariant superposition is constructed for light waves with different frequencies. It is therefore possible to construct a wave function for light waves carrying a covariant probability interpretation. It is shown that the time-energy uncertainty relation (Delta-t)(Delta-omega) = about 1 for light waves is a Lorentz-invariant relation. The connection between photons and localized light waves is examined critically.

Han, D.↗
NASA NTRS1989

Analysis of Modified SMI Method for Adaptive Array Weight Control

An adaptive array is used to receive a desired signal in the presence of weak interference signals which need to be suppressed. A modified sample matrix inversion (SMI) algorithm controls the array weights. The modification leads to increased interference suppression by subtracting a fraction of the noise power from the diagonal elements of the covariance matrix. The modified algorithm maximizes an intuitive power ratio criterion. The expected values and variances of the array weights, output powers, and power ratios as functions of the fraction and the number of snapshots are found and compared to computer simulation and real experimental array performance. Reduced-rank covariance approximations and errors in the estimated covariance are also described.

Dilsavor, Ronald Louis↗
NASA NTRS1993

Wavelets and spacetime squeeze

It is shown that the wavelet is the natural language for the Lorentz covariant description of localized light waves. A model for covariant superposition is constructed for light waves with different frequencies. It is therefore possible to construct a wave function for light waves carrying a covariant probability interpretation. It is shown that the time-energy uncertainty relation (Delta(t))(Delta(w)) is approximately 1 for light waves is a Lorentz-invariant relation. The connection between photons and localized light waves is examined critically.

Han, D.↗