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At least 397 records · Page 22
All sourcesNASA NTRSDOE OSTI
NASA NTRS1993

Headphone localization of speech

Three-dimensional acoustic display systems have recently been developed that synthesize virtual sound sources over headphones based on filtering by head-related transfer functions (HRTFs), the direction-dependent spectral changes caused primarily by the pinnae. In this study, 11 inexperienced subjects judged the apparent spatial location of headphone-presented speech stimuli filtered with nonindividualized HRTFs. About half of the subjects 'pulled' their judgments toward either the median or the lateral-vertical planes, and estimates were almost always elevated. Individual differences were pronounced for the distance judgments; 15 to 46 percent of stimuli were heard inside the head, with the shortest estimates near the median plane. The results suggest that most listeners can obtain useful azimuth information from speech stimuli filtered by nonindividualized HRTFs. Measurements of localization error and reversal rates are comparable with a previous study that used broadband noise stimuli.

Begault, Durand R.↗
NASA NTRS1996

Global and Local Distortion Inference During Embedded Zerotree Wavelet Decompression

This paper presents algorithms for inferring global and spatially local estimates of the squared-error distortion measures for the Embedded Zerotree Wavelet (EZW) image compression algorithm. All distortion estimates are obtained at the decoder without significantly compromising EZW's rate-distortion performance. Two methods are given for propagating distortion estimates from the wavelet domain to the spatial domain, thus giving individual estimates of distortion for each pixel of the decompressed image. These local distortion estimates seem to provide only slight improvement in the statistical characterization of EZW compression error relative to the global measure, unless actual squared errors are propagated. However, they provide qualitative information about the asymptotic nature of the error that may be helpful in wavelet filter selection for low bit rate applications.

Huber, A. Kris↗
NASA NTRS2000

Semi-Major Axis Knowledge and GPS Orbit Determination

In recent years spacecraft designers have increasingly sought to use onboard Global Positioning System receivers for orbit determination. The superb positioning accuracy of GPS has tended to focus more attention on the system's capability to determine the spacecraft's location at a particular epoch than on accurate orbit determination, per se. The determination of orbit plane orientation and orbit shape to acceptable levels is less challenging than the determination of orbital period or semi-major axis. It is necessary to address semi-major axis mission requirements and the GPS receiver capability for orbital maneuver targeting and other operations that require trajectory prediction. Failure to determine semi-major axis accurately can result in a solution that may not be usable for targeting the execution of orbit adjustment and rendezvous maneuvers. Simple formulas, charts, and rules of thumb relating position, velocity, and semi-major axis are useful in design and analysis of GPS receivers for near circular orbit operations, including rendezvous and formation flying missions. Space Shuttle flights of a number of different GPS receivers, including a mix of unfiltered and filtered solution data and Standard and Precise Positioning Service modes, have been accomplished. These results indicate that semi-major axis is often not determined very accurately, due to a poor velocity solution and a lack of proper filtering to provide good radial and speed error correlation.

Carpenter, J. Russell↗
NASA NTRS2000

Semi-Major Axis Knowledge and GPS Orbit Determination

In recent years spacecraft designers have increasingly sought to use onboard Global Positioning System receivers for orbit determination. The superb positioning accuracy of GPS has tended to focus more attention on the system's capability to determine the spacecraft's location at a particular epoch than on accurate orbit determination, per se. The determination of orbit plane orientation and orbit shape to acceptable levels is less challenging than the determination of orbital period or semi-major axis. It is necessary to address semi-major axis mission requirements and the GPS receiver capability for orbital maneuver targeting and other operations that require trajectory prediction. Failure to determine semi-major axis accurately can result in a solution that may not be usable for targeting the execution of orbit adjustment and rendezvous maneuvers. Simple formulas, charts, and rules of thumb relating position, velocity, and semi-major axis are useful in design and analysis of GPS receivers for near circular orbit operations, including rendezvous and formation flying missions. Space Shuttle flights of a number of different GPS receivers, including a mix of unfiltered and filtered solution data and Standard and Precise Positioning, Service modes, have been accomplished. These results indicate that semi-major axis is often not determined very accurately, due to a poor velocity solution and a lack of proper filtering to provide good radial and speed error correlation.

Carpenter, J. Russell↗
NASA NTRS1997

On the Possibility of Ill-Conditioned Covariance Matrices in the First-Order Two-Step Estimator

The first-order two-step nonlinear estimator, when applied to a problem of orbital navigation, is found to occasionally produce first step covariance matrices with very low eigenvalues at certain trajectory points. This anomaly is the result of the linear approximation to the first step covariance propagation. The study of this anomaly begins with expressing the propagation of the first and second step covariance matrices in terms of a single matrix. This matrix is shown to have a rank equal to the difference between the number of first step states and the number of second step states. Furthermore, under some simplifying assumptions, it is found that the basis of the column space of this matrix remains fixed once the filter has removed the large initial state error. A test matrix containing the basis of this column space and the partial derivative matrix relating first and second step states is derived. This square test matrix, which has dimensions equal to the number of first step states, numerically drops rank at the same locations that the first step covariance does. It is formulated in terms of a set of constant vectors (the basis) and a matrix which can be computed from a reference trajectory (the partial derivative matrix). A simple example problem involving dynamics which are described by two states and a range measurement illustrate the cause of this anomaly and the application of the aforementioned numerical test in more detail.

Garrison, James L.↗
NASA NTRS2018

GOES-16 ABI Navigation Assessment

The US Geostationary Operational Environmental Satellite – R Series (GOES-R) was launched on November 19, 2016and was designated GOES-16 upon reaching geostationary orbit ten days later. After checkout and calibration, GOES-16 was relocated to its operational location of 75.2 degrees west and officially became GOES East on December 18, 2017. The Advanced Baseline Imager (ABI) is the primary instrument on the GOES-R series for imaging Earth's surface and atmosphere to significantly improve the detection and observation of severe environmental phenomena. A team supporting the GOES-R Flight Project at NASA's Goddard Space Flight Center developed algorithms and software for independent verification of ABI Image Navigation and Registration (INR), which became known as the INR Performance Assessment Tool Set (IPATS). In this paper, we will briefly describe IPATS on top concept level, and then introduce the Landsat chips, chip registration algorithms, and how IPATS measurements are filtered. We present GOES-16 navigation (NAV) errors from flight data from January 2017 to May 2018. The results show a) IPATS characterized INR variations throughout the post-launch test phase; and b) ABI INR has improved over time as post-launch tests were performed and corrections applied. Finally, we will describe how estimated NAV errors have been used to assess and understand satellite attitude anomalies and scale errors etc. This paper shows that IPATS is an effective tool for assessing and improving GOES-16 ABI INR and is also useful for INR long-term monitoring.

GOES-R↗
NASA NTRSDate not supplied

SMAP RFI Change Detection

The Soil Moisture Active Passive (SMAP) mission, launched on January 31, 2015, has completed its primary 3-year mission and is currently in its extended mission. Although operation occurs within the protected frequency allocation of 1400-1427 MHz, the SMAP radiometer is impacted by radio frequency interference (RFI). The radiometer was designed to provide detection and filtering of RFI in order to meet error budget requirements. A time series algorithm was developed to monitor, detect and report the changing environment with the objective of detecting new RFI sources as well as existing persistent sources. The detection of sources are used in RFI reporting to NASA spectrum management with the hope that interfering sources will be turned off by the necessary administrations.

Priscilla N Mohammed↗
NASA NTRS1972

On higher order discrete phase-locked loops.

An exact mathematical model is developed for a discrete loop of a general order particularly suitable for digital computation. The deterministic response of the loop to the phase step and the frequency step is investigated. The design of the digital filter for the second-order loop is considered. Use is made of the incremental phase plane to study the phase error behavior of the loop. The model of the noisy loop is derived and the optimization of the loop filter for minimum mean-square error is considered.

Gill, G. S.↗
NASA NTRS1972

A review of some aspects of inferring the ozone profile by inversion of ultraviolet radiance measurements

The mathematical inversion of light-scattering observations to obtain the atmospheric ozone profile is discussed in terms of the filtering properties of the physical and mathematical processes for different spatial scales. Within this context, it is shown that the physical process of scattering acts as a low pass filter; which transfers large-scale profile information efficiently to radiance observations but very strongly attenuates small- or fine-scale profile information. To avoid domination of the mathematical inversion by the random error of radiance measurements, an equivalent spatial-scale filtering in the inversion procedure is essential. The available evidence suggests that mathematical inversion to obtain the low level ozone profile below 25 to 30 km is either inferior to or no better than the statistical estimation of the profile using total ozone as predictor. However, inversion profiles for high level ozone above 25 to 30 km appear to have moderately good accuracy.

Mateer, C. L.↗
NASA NTRS1993

Upper Atmosphere Research Satellite (UARS) onboard attitude determination using a Kalman filter

The Upper Atmospheric Research Satellite (UARS) requires a highly accurate knowledge of its attitude to accomplish its mission. Propagation of the attitude state using gyro measurements is not sufficient to meet the accuracy requirements, and must be supplemented by a observer/compensation process to correct for dynamics and observation anomalies. The process of amending the attitude state utilizes a well known method, the discrete Kalman Filter. This study is a sensitivity analysis of the discrete Kalman Filter as implemented in the UARS Onboard Computer (OBC). The stability of the Kalman Filter used in the normal on-orbit control mode within the OBC, is investigated for the effects of corrupted observations and nonlinear errors. Also, a statistical analysis on the residuals of the Kalman Filter is performed. These analysis is based on simulations using the UARS Dynamics Simulator (UARSDSIM) and compared against attitude requirements as defined by General Electric (GE). An independent verification of expected accuracies is performed using the Attitude Determination Error Analysis System (ADEAS).

Garrick, Joseph↗
NASA NTRS1979

Delay compensation - Its effect in reducing sampling errors in Fourier spectroscopy

An approximate formula is derived for the spectrum ghosts caused by periodic drive speed variations in a Michelson interferometer. The solution represents the case of fringe-controlled sampling and is applicable when the reference fringes are delayed to compensate for the delay introduced by the electrical filter in the signal channel. Numerical results are worked out for several common low-pass filters. It is shown that the maximum relative ghost amplitude over the range of frequencies corresponding to the lower half of the filter band is typically 20 times smaller than the relative zero-to-peak velocity error, when delayed sampling is used. In the lowest quarter of the filter band it is more than 100 times smaller than the relative velocity error. These values are ten and forty times smaller, respectively, than they would be without delay compensation if the filter is a 6-pole Butterworth.

Zachor, A. S.↗
NASA NTRS1991

Suppression of biodynamic interference in head-tracked teleoperation

The utility of helmet-tracked sights to provide pointing commands for teleoperation of cameras, lasers, or antennas in aircraft is degraded by the presence of uncommanded, involuntary heat motion, referred to as biodynamic interference. This interference limits the achievable precision required in pointing tasks. The noise contributions due to biodynamic interference consists of an additive component which is correlated with aircraft vibration and an uncorrelated, nonadditive component, referred to as remnant. An experimental simulation study is described which investigated the improvements achievable in pointing and tracking precision using dynamic display shifting in the helmet-mounted display. The experiment was conducted in a six degree of freedom motion base simulator with an emulated helmet-mounted display. Highly experienced pilot subjects performed precision head-pointing tasks while manually flying a visual flight-path tracking task. Four schemes using adaptive and low-pass filtering of the head motion were evaluated to determine their effects on task performance and pilot workload in the presence of whole-body vibration characteristic of helicopter flight. The results indicate that, for tracking tasks involving continuously moving targets, improvements of up to 70 percent can be achieved in percent on-target dwelling time and of up to 35 percent in rms tracking error, with the adaptive plus low-pass filter configuration. The results with the same filter configuration for the task of capturing randomly-positioned, stationary targets show an increase of up to 340 percent in the number of targets captured and an improvement of up to 24 percent in the average capture time. The adaptive plus low-pass filter combination was considered to exhibit the best overall display dynamics by each of the subjects.

Lifshitz, S.↗
NASA NTRS1989

Application of an optimal filter for inflatable sphere data processing

The improvement in the sphere data processing, concerning the signal to noise ratio, is discussed. Frequency analysis of the radar data is effectuated. It reveals a specific frequency component in the radar angle error, which may originate from the tracking radar mechanism itself. An optimal (Wiener) filter is applied to the radar data in order to suppress the systematic angular error components selectively. Using this technique, a significant improvement in the signal to noise ratio is achieved. The resolution of sphere measurements, previously limited by the length of the polynomial filter in the sphere data processing algorithm, is improved.

Lee, H. S.↗
NASA NTRS1989

Bandwidth-limited robust nonlinear sliding control of pointing and tracking maneuvers

It is shown how multiaxial spacecraft tracking and pointing maneuvers with known control bandwidth and given tracking error bounds can be implemented by variable-structure control in the presence of uncertain vehicle and target dynamics. It is shown how to select a nonlinear sliding surface relating attitude and rate variables, as well as a Lyapunov function in the surface variables that absorbs multiplicative model undertainties, thereby simplifying the computation of control corrections. It is then shown how a boundary layer envelope can be designed, within which the components of the surface error dynamics can be modeled as the outputs of designer-selected decoupled low-pass filters. Closed-loop stability conditions accounting for the coupling between the attitude error dynamics and the surface error dynamics are then obtained.

Dwyer, Thomas A. W., III↗
NASA NTRS1965

Introduction to the kalman-schmidt filter

Kalman-Schmidt filter application to space flight navigation for determining space vehicle position and velocity vector from data with random error

SPACE NAVIGATION↗
NASA NTRS1975

Performance of a finite phase state bit-synchronization loop with and without sequential filters

A discrete phase state bit-synchronization loop is proposed for synchronization and detection of a binary nonreturn-to-zero (NRZ) process. The general loop model is developed for 11 and 17 phase states with optional sequential loop filter. Loop performance is considered in terms of the phase error density function, rms phase error, and mean time to bit slippage. It is shown that satisfactory loop performance can be achieved at -3 dB SNR through use of sequential loop filters.

Ransom, J. J.↗
NASA NTRS1999

Developing a Fundamental Model for an Integrated GPS/INS State Estimation System with Kalman Filtering

This work will demonstrate the integration of sensor and system dynamic data and their appropriate models using an optimal filter to create a robust, adaptable, easily reconfigurable state (motion) estimation system. This state estimation system will clearly show the application of fundamental modeling and filtering techniques. These techniques are presented at a general, first principles level, that can easily be adapted to specific applications. An example of such an application is demonstrated through the development of an integrated GPS/INS navigation system. This system acquires both global position data and inertial body data, to provide optimal estimates of current position and attitude states. The optimal states are estimated using a Kalman filter. The state estimation system will include appropriate error models for the measurement hardware. The results of this work will lead to the development of a "black-box" state estimation system that supplies current motion information (position and attitude states) that can be used to carry out guidance and control strategies. This black-box state estimation system is developed independent of the vehicle dynamics and therefore is directly applicable to a variety of vehicles. Issues in system modeling and application of Kalman filtering techniques are investigated and presented. These issues include linearized models of equations of state, models of the measurement sensors, and appropriate application and parameter setting (tuning) of the Kalman filter. The general model and subsequent algorithm is developed in Matlab for numerical testing. The results of this system are demonstrated through application to data from the X-33 Michael's 9A8 mission and are presented in plots and simple animations.

Canfield, Stephen↗
NASA NTRS1975

Performance evaluation of tracking based on a low pass filter model

The performance of a human in a closed loop tracking task can be determined by using a simple low pass filter model with a least squares identification algorithm. The crossover model and the extended crossover model can be shown to be special cases of the low pass filter model presented here. Performance in tracking can be easily determined by mean square tracking error which can be written in terms of the parameters of the low pass filter model. A closed form expression for the effective time delay is also obtained. Experimental data from a roll axis tracking simulation is presented and simple prediction rules are determined. A comparison is made between this model and the crossover model with respect to their differences and similarities.

Repperger, D. W.↗