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NASA NTRS2008

Flying by Ear: Blind Flight with a Music-Based Artificial Horizon

Two experiments were conducted in actual flight operations to evaluate an audio artificial horizon display that imposed aircraft attitude information on pilot-selected music. The first experiment examined a pilot's ability to identify, with vision obscured, a change in aircraft roll or pitch, with and without the audio artificial horizon display. The results suggest that the audio horizon display improves the accuracy of attitude identification overall, but differentially affects response time across conditions. In the second experiment, subject pilots performed recoveries from displaced aircraft attitudes using either standard visual instruments, or, with vision obscured, the audio artificial horizon display. The results suggest that subjects were able to maneuver the aircraft to within its safety envelope. Overall, pilots were able to benefit from the display, suggesting that such a display could help to improve overall safety in general aviation.

Simpson, Brian D.↗

NASA NTRS1991

Reoptimization of the Ohio State University radio telescope for the NASA SETI program

The Ohio State University radiotelescope is the second largest radio telescope in the United States, equivalent in collecting area (2200 sq m) to a 175-foot diameter dish. For the past 17 years it has been dedicated fulltime to SETI, and it is now being considered by NASA for selection as the NASA dedicated SETI observatory. The telescope was originally designed, optimized, and used as an all-sky survey instrument to create detailed maps and catalogs of the radio astronomical sky. For the SETI Program, some re-optimizations are required. Right ascension tracking for one to two hours (depending on the declination) was achieved by exploiting the exceptionally large f/d ratio of the telescope. The feed horns were mounted on a large moveable, rubber-tired cart which is capable of a total motion of 100 feet. The cart can carry many horns, making possible simultaneous observations at many sky directions and frequency ranges. Rapid declination movement and its automation will be accomplished through simplification of the existing braking system, and replacement of older mechanical sensors by modern electronic inclinometers and proximity detectors. Circular polarization capability will be achieved through an increase in the number of horizontal wires in the reflector mesh, or addition of a finer mesh on top of the existing one. The telescope has great inherent resistance to radio frequency interference, due to its ground-mounted feed horns and shielding by the large reflectors of half the horizon. The resistance was recently increased further by installation of rolled-edges and diffraction-trapping gratings on the feed horns. If further shielding should be required, inexpensive side shields could be added to the telescope, making it a totally closed structure on all four sides.

Dixon, R. S.↗

NASA NTRS1983

LANDSAT-4 horizon scanner full orbit data averages

Averages taken over full orbit data spans of the pitch and roll residual measurement errors of the two conical Earth sensors operating on the LANDSAT 4 spacecraft are described. The variability of these full orbit averages over representative data throughtout the year is analyzed to demonstrate the long term stability of the sensor measurements. The data analyzed consist of 23 segments of sensor measurements made at 2 to 4 week intervals. Each segment is roughly 24 hours in length. The variation of full orbit average as a function of orbit within a day as a function of day of year is examined. The dependence on day of year is based on association the start date of each segment with the mean full orbit average for the segment. The peak-to-peak and standard deviation values of the averages for each data segment are computed and their variation with day of year are also examined.

Stanley, J. P.↗

NASA NTRS2004

An Algorithm for Converting Static Earth Sensor Measurements into Earth Observation Vectors

An algorithm has been developed that converts penetration angles reported by Static Earth Sensors (SESs) into Earth observation vectors. This algorithm allows compensation for variation in the horizon height including that caused by Earth oblateness. It also allows pitch and roll to be computed using any number (greater than 1) of simultaneous sensor penetration angles simplifying processing during periods of Sun and Moon interference. The algorithm computes body frame unit vectors through each SES cluster. It also computes GCI vectors from the spacecraft to the position on the Earth's limb where each cluster detects the Earth's limb. These body frame vectors are used as sensor observation vectors and the GCI vectors are used as reference vectors in an attitude solution. The attitude, with the unobservable yaw discarded, is iteratively refined to provide the Earth observation vector solution.

Harman, R.↗

NASA NTRS2015

A Maneuvering Flight Noise Model for Helicopter Mission Planning

A new model for estimating the noise radiation during maneuvering flight is developed in this paper. The model applies the Quasi-Static Acoustic Mapping (Q-SAM) method to a database of acoustic spheres generated using the Fundamental Rotorcraft Acoustics Modeling from Experiments (FRAME) technique. A method is developed to generate a realistic flight trajectory from a limited set of waypoints and is used to calculate the quasi-static operating condition and corresponding acoustic sphere for the vehicle throughout the maneuver. By using a previously computed database of acoustic spheres, the acoustic impact of proposed helicopter operations can be rapidly predicted for use in mission-planning. The resulting FRAME-QS model is applied to near-horizon noise measurements collected for the Bell 430 helicopter undergoing transient pitch up and roll maneuvers, with good agreement between the measured data and the FRAME-QS model.

Greenwood, Eric↗

NASA NTRS1993

In-flight measurement of the National Oceanic and Atmospheric Administration (NOAA)-10 static Earth sensor error

Analysis performed in the Goddard Space Flight Center (GSFC) Flight Dynamics Division (FDD) measures error in the static Earth sensor onboard the National Oceanic and Atmospheric Administration (NOAA)-10 spacecraft using flight data. Errors are computed as the difference between Earth sensor pitch and roll angle telemetry and reference pitch and roll attitude histories propagated by gyros. The flight data error determination illustrates the effect on horizon sensing of systemic variation in the Earth infrared (IR) horizon radiance with latitude and season, as well as the effect of anomalies in the global IR radiance. Results of the analysis provide a comparison between static Earth sensor flight performance and that of scanning Earth sensors studied previously in the GSFC/FDD. The results also provide a baseline for evaluating various models of the static Earth sensor. Representative days from the NOAA-10 mission indicate the extent of uniformity and consistency over time of the global IR horizon. A unique aspect of the NOAA-10 analysis is the correlation of flight data errors with independent radiometric measurements of stratospheric temperature. The determination of the NOAA-10 static Earth sensor error contributes to realistic performance expectations for missions to be equipped with similar sensors.

Harvie, E.↗

NASA NTRS1977

Wind tunnel and ground static tests of a .094 scale powered model of a modified T-39 lift/cruise fan V/STOL research airplane

Ground static and wind tunnel test of a scale model modified T-39 airplane are reported. The configuration in the nose and replacement of the existing nacelles with tilting lift/cruise fans. The model was powered with three 14 cm diameter tip driven turbopowered simulators. Forces and moments were measured by an internal strain guage balance. Engine simulator thrust and mass flow were measured by calibrated pressure and temperature instrumentation mounted downstream of the fans. The low speed handling qualities and general aerodynamic characteristics of the modified T-39 were defined. Test variables include thrust level and thrust balance, forward speed, model pitch and sideslip angle at forward speeds, model pitch, roll, and ground height during static tests, lift/cruise fan tilt angle, flap and aileron deflection angle, and horizonal stabilizer angle. The effects of removing the landing gear, the lift/cruise fans, and the tail surfaces were also investigated.

Hunt, D.↗

NASA NTRS2004

Localization, Localization, Localization

Localization of the two Mars Exploration Rovers involved three independent approaches to place the landers with respect to the surface of Mars and to refine the location of those points on the surface with the Mars control net: 1) Track the spacecraft through entry, descent, and landing, then refine the final roll stop position by radio tracking and comparison to images taken during descent; 2) Locate features on the horizon imaged by the two rovers and compare them to the MOC and THEMIS VIS images, and the DIMES images on the two MER landers; and 3) 'Check' and refine locations by acquisition of MOC 1.5 meter and 50 cm/pixel images.

Parker, T.↗

NASA NTRS1990

A solar power system for an early Mars expedition

As NASA looks at missions that will expand human presence in the solar system, the power requirements for such missions need to be defined, developed and analyzed. One mission under consideration consists of a 40 day manned Mars surface expedition to perform science experiments. The mission time was centered around an aerocentric longitude (Ls) of 90 deg to lessen the probability of an occurrence of a local or planetary dust storm. The mission site was arbitrarily located at the Martian equator. The power requirements were assumed to be 40 kWe for life support and experiment power during the Martian day and 20 kWe for life support during the Martian night. A solar energy system consisting of roll-out amorphous silicon arrays and a hydrogen-oxygen regenerative fuel cell energy storage system was chosen for the study. The power available from a roll-out array, when plotted against time, approaches a cosine-like curve and depends on both array area and the amount of solar irradiance impinging on its horizontal surface. The array is sized to provide at least 20 KWe when the sun is 12.5 deg above the horizon and ramp up to 140 kWe peak power at Martian noon. In this configuration, the array is capable of supplying 40 KWe continuously to the user for the majority of the Martian day while supplying the excess energy to the electrolyzer portion of the energy storage system. A roll-out, pumped loop radiator system is used to dissipate the waste heat produced by the fuel cell. The power management and distribution system inverts the power from the individual solar array sub-modules and the fuel cell stacks and connects them to a 440 VAC single phase 20 kHz main bus. The total power system is comprised of 80 individual solar array modules with an integral bus and three energy storage modules consisting of fuel cell and electrolyzer stacks, reactant storage tanks, and a roll-out radiator. Power system mass, stowed volume, and deployed area were determined. Day/night power splits of 40/10 kWe, 40/30 kWe, and 40/40 kWe were also considered to determine the impact of a range of nighttime power requirements on the baseline system.

Mckissock, Barbara I.↗

NASA NTRS2011

A Transfer of Training Study of Control Loader Dynamics

The control inceptor used in a simulated vehicle is an important part in maintaining the fidelity of a simulation. The force feedback provided by the control inceptor gives the operator important cues to maintain adequate performance. The dynamics of a control inceptor are typically based on a second order spring mass damper system with damping, force gradient, breakout force, and natural frequency parameters. Changing these parameters can have a great effect on pilot or driver control of the vehicle. The neuromuscular system has a very important role in manipulating the control inceptor within a vehicle. Many studies by McRuer, Aponso, and Hess have dealt with modeling the neuromuscular system and quantifying the effects of a high fidelity control loader as compared to a low fidelity control loader. Humans are adaptive in nature and their control behavior changes based on different control loader dynamics. Humans will change their control behavior to maintain tracking bandwidth and minimize tracking error. This paper reports on a quasi-transfer of training experiment which was performed at the NASA Langley Research Center. The quasi transfer of training study used a high fidelity control loader and a low fidelity control loader. Subjects trained in both simulations and then were transferred to the high fidelity control loader simulation. The parameters for the high fidelity control loader were determined from the literature. The low fidelity control loader parameters were found through testing of a simple computer joystick. A disturbance compensatory task is employed. The compensatory task involves implementing a simple horizon out the window display. A disturbance consisting of a sum of sines is used. The task consists of the subject compensating for the disturbance on the roll angle of the aircraft. The vehicle dynamics are represented as 1/s and 1/s2. The subject will try to maintain level flight throughout the experiment. The subjects consist of non-pilots to remove any effects of pilot experience. First, this paper discusses the implementation of the disturbance compensation task. Second, the high and low fidelity parameters used within the experiment are presented. Finally, an explanation of results from the experiments is presented.

Cardullo, Frank M.↗

NASA NTRS1984

Evaluation of the Malcolm horizon in a moving-base flight simulator

The efficacy of the Malcolm Horizon (MH) in a controlled, simulated, instrument flight environment was examined. Eight flight parameters were used to compare performance under experimental and control conditions. The parameters studied were pitch attitude, roll attitude, turn rate, airspeed, vertical velocity, heading, altitude, and course deviation. Testing of a commercial realization of the MH concept in a flight simulator revealed strengths and weaknesses of the currently available MH hardware.

Gillingham, K. K.↗

NASA NTRS1978

Infrared horizon scanner attitude data error analysis for SEASAT-A

The results of a study of the effect of variations in the earth's seasonal and geographical horizon radiance on the location of the infrared horizon as measured by ITHACO scanwheels are presented. Two types of variations are considered. These are (1) systematic variations of the mean (averaged over all longitudes) atmospheric radiance due to macroscopic changes in temperature as a function of latitude and season and (2) random variations in atmospheric radiance due to microscopic fluctuations (weather). The effect of variations in the scanner wheel speeds on the attitude determination accuracy is also presented. The computed horizon radiance and wheel speed variation - induced attitude errors are then combined with errors caused by sensor alignment and electronics tolerances to obtain an overall estimate of the SEASAT-A pitch and roll angle accuracy.

Phenneger, M. C.↗

NASA NTRS1982

Longwall Guidance and Control Development

The longwall guidance and control (G&C) system was evaluated to determine which systems and subsystems lent themselves to automatic control in the mining of coal. The upper coal/shale interface was identified as the reference for a vertical G&C system, with two sensors (the natural backgound and the sensitized pick) being used to locate and track this boundary. In order to insure a relatively smooth recession surface (roof and floor of the excavated seam), a last and present cut measuring instrument (acoustic sensor) was used. Potentiometers were used to measure elevations of the shearer arms. The intergration of these components comprised the vertical control system (pitch control). Yaw and roll control were incorporated into a face alignment system which was designed to keep the coal face normal to its external boundaries. Numerous tests, in the laboratory and in the field, have confirmed the feasibility of automatic horizon control, as well as determining the face alignment.

Source record↗

NASA NTRS1986

Precision attitude determination and control using gyros and earth sensor

A novel scheme to estimate the biases present in the gyros and the attitude of three-axis stabilized earth pointing spacecraft using the outputs of gyros and earth sensor is presented. The earth sensor pitch output is averaged every orbit to provide pitch gyro bias correction. Roll and yaw gyro biases are determined by averaging the earth sensor roll output every quarter orbit and suitably combining the four quarter orbit averages obtained in each orbit. Yaw attitude information is also required once every orbit. Simulation studies including error sources due to earth sensor, gyros, yaw sensor and horizon radiance uncertainty in the winter poles showed that attitude determination accuracy of 0.01-0.03 deg (3 sigma) can be achieved about all the axes.

Rajaram, S.↗

NASA NTRS1972

Effect of pictorial display configuration on the frequency of control reversals during aircraft landing approaches

A fixed-base simulator study to determine the effect of increased pictorial display realism on the frequency of control reversals made with an inside-out landing display was conducted. Display conditions included the effects of collimation and scale (head-up versus head-down presentation), horizon symbology (simple line versus white-black sky-ground surfaces), and ground plane realism (computer generated perspective versus a TV picture of a realistic model). The number of control reversals was moderately high on all displays. Control reversals to roll disturbances occurred nearly twice as frequently as reversals to either pitch or lateral rate disturbances. Though there were no significant differences among the numbers of small control reversals for the different displays, there was some evidence that this conclusion may not apply to large control reversals.

Lincoln, R.↗

NASA NTRS1980

Seasat. Volume 4: Attitude determination

The Seasat project was a feasibility demonstration of the use of orbital remote sensing for global ocean observation. The satellite was launched in June 1978 and was operated successfully until October 1978. A massive electrical failure occurred in the power system, terminating the mission prematurely. The actual implementation of the Seasat Attitude Determination system and the contents of the attitude data files generated by that system are documented. The deviations from plan caused by the anomalous Sun interference with horizon sensors, inflight calibration of Sun sensor head 2 alignment and horizon sensor biomass, estimation of yaw interpolation parameters, Sun and horizon sensor error sources, and yaw interpolation accuracy are included. Examples are given of flight attitude data from all modes of the Orbital Attitude Control System, of the ground processing effects on attitude data, and of cold cloud effects on pitch, and roll data.

Treder, A. J.↗

NASA NTRS1974

Applications of fluidics to light aircraft instrumentation and control

Review of a program for the development of advanced fluidic components and the application of these components to general aviation instrumentation and control. The major project in this category has been the development of a simple, reliable, two-axis autopilot for light aircraft, using a fluidic inertial rate sensor for stability and roll attitude control, and a simple magnetometer for azimuth reference. This autopilot has been succesfully flight-tested. Fluidic hardware developed for this autopilot is described, and projected improvements and extensions are discussed. Application of fluidic components to such flight instruments as turn coordinators, artificial horizons, and true airspeed indicators is explored.

Garner, H. D.↗

NASA NTRS1975

Geometric theory of horizon scanners

The note presents a general geometrical theory of spacecraft horizon scanners for the purpose of actual attitude determination, as opposed to just attitude stabilization. Analysis is carried out in terms of the scanning angles and three sets of auxiliary axes: the scanner axes, the nonscanning axes, and the orbital axes. Euler angles (yaw, pitch, and roll) transform the orbital axes to the nonscanning axes, and spacecraft attitude is determined directly from the attitude of the nonscanning axes relative to the orbital axes. In most applications the scanning speed is fast, so that it can be assumed that the attitude of the spacecraft does not change during a scan; however, a perturbation analysis is provided for errors committed by neglecting attitude changes. The analysis is valid for all types of scanners; in addition, the case where two scanners with different half-cone angles are used is considered.

Fang, B. T.↗