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Examining the Role of IMU Health Characterization and Monitoring in UAS Safety

Inertial measurement units (IMUs) can be vital for vehicle attitude and position estimation in unmanned aerial vehicles (UAVs). Degradation in these units could result in incorrect position estimates that are utilized in vehicle control, trajectory prediction, and other critical systems; however, the modes and effects of degradation in these IMUs are not well understood. In order to quantify the risk posed by degradation in these sensors, a study was conducted on the types of IMUs prevalent in the commercial market, their known failure modes, and the applicability to health monitoring methods for risk reduction and increased safety in an increasingly autonomous airspace. First, use cases and failure modes of the various types and reliability of commercially available IMUs were reviewed, and knowledge gaps and issues in the field were identified. Noting that inexpensive and lightweight MEMS (Microelectromechanical Systems) IMUs are some of the most commonly used but least reliable sensors in sUAS (small Unmanned Aerial Systems), five inexpensive MEMS IMUs were chosen for a performance evaluation study, selected from the Pixhawk autopilot systems, hobby sUAS, and prior NASA experimental studies. For each of these IMUs, a 10-minute bias test and a 12-hour drift test were performed for the accelerometers in a benchtop setting, using a BeagleBone Black for data collection. Using these results, the sensors’ performance is compared to their reported specifications, and the utility of implementing diagnostic methods for MEMS IMUs for research and commercial applications is evaluated. The paper concludes with a planned study for the evaluation of vibration-induced degradation for the selected sensors.

IMUs↗

NASA NTRS1987

Evaluation of a dual processor implementation for a fault inferring nonlinear detection system

The design of a modified fault inferring nonlinear detection system (FINDS) algorithm for a dual-processor configured flight computer is described. The algorithm was changed in order to divide it into its translational dynamics and rotational kinematics and to use it for parallel execution on the flight computer. The FINDS consists of: (1) a no-fail filter (NFF), (2) a set of test-of-mean detection tests, (3) a bank of first order filters to estimate failure levels in individual sensors, and (4) a decision function. NFF filter performance using flight recorded sensor data is analyzed using a filter autoinitialization routine. The failure detection and isolation capability of the partitioned algorithm is evaluated. A multirate implementation for the bias-free and bias filter gain and covariance matrices is discussed.

Godiwala, P. M.↗

NASA NTRS1992

Sapphire fiber interferometer for microdisplacement measurements at high temperature

Attention is given to the use of a short-length multimode sapphire rod as an extension to a conventional Michelson interferometric configuration, but with operation of Fabry-Perot cavity-based sensor element type. The performance of such a device as an interferometric sensor is demonstrated for a case where the interference between the reflections from the sapphire-air interface and an air-metallic surface is inspected for microdisplacements of the metallic surface. A detailed account is given of the sensor's fabrication procedure; results are presented for the detection of surface-acoustic waves.

Murphy, Kent A.↗

NASA NTRS1993

Double-driven shield capacitive type proximity sensor

A capacity type proximity sensor comprised of a capacitance type sensor, a capacitance type reference, and two independent and mutually opposing driven shields respectively adjacent to the sensor and reference and which are coupled in an electrical bridge circuit configuration and driven by a single frequency crystal controlled oscillator is presented. The bridge circuit additionally includes a pair of fixed electrical impedance elements which form adjacent arms of the bridge and which comprise either a pair of precision resistances or capacitors. Detection of bridge unbalance provides an indication of the mutual proximity between an object and the sensor. Drift compensation is also utilized to improve performance and thus increase sensor range and sensitivity.

Vranish, John M.↗

NASA NTRS1999

SeaWiFS Postlaunch Technical Report Series: The SeaWiFS Solar Radiation-Based Calibration and the Transfer-to-Orbit Experiment - Volume 5

The solar radiation-based calibration (SRBC) of the Sea-viewing Wide Field-of-view Sensor (SeaWiFS) was performed on 1 November 1993. Measurements were made outdoors in the courtyard of the instrument manufacturer. SeaWiFS viewed the solar irradiance reflected from the sensor's diffuser in the same manner as viewed on orbit. The calibration included measurements using a solar radiometer designed to determine the transmittances of principal atmospheric constituents. The primary uncertainties in the outdoor measurements are the transmission of the atmosphere and the reflectance of the diffuser. Their combined uncertainty is about 5 or 6%. The SRBC also requires knowledge of the extraterrestrial solar spectrum. Four solar models are used. When averaged over the responses of the SeaWiFS bands, the irradiance models agree at the 3.6% level, with the greatest difference for SeaWiFS band 8. The calibration coefficients from the SRBC are lower than those from the laboratory calibration of the instrument in 1997. For a representative solar model, the ratios of the SRBC coefficients to laboratory values average 0.962 with a standard deviation of 0.012. The greatest relative difference is 0.946 for band 8. These values are within the estimated uncertainties of the calibration measurements. For the transfer-to-orbit experiment, the measurements in the manufacturer's courtyard are used to predict the digital counts from the instrument on its first day on orbit (August 1, 1997). This experiment requires an estimate of the relative change in the diffuser response for the period between the launch of the instrument and its first solar measurements on orbit (September 9, 1997). In relative terms, the counts from the instrument on its first day on orbit averaged 1.3% higher than predicted, with a standard deviation of 1.2% and a greatest difference of 2.4% or band 7. The estimated uncertainty for the transfer-to-orbit experiment is about 3 or 4%.

Hooker, Stanford B.↗

NASA NTRS2006

InGaAsSb/AlGaAsSb Heterojunction Phototransistors for Infrared Applications

High quality infrared (IR) quantum detectors are important for several applications, such as atmospheric remote sensing, chemical detection and absorption spectroscopy. Although several IR detectors are commercially available, with different materials and structures, they provide limited performance regarding the signal-to-noise ratio and the corresponding minimum detectable signal. InGaAsSb/AlGaAsSb heterojunction based phototransistors show strong potential for developing IR sensors with improved performance. In this paper, the performance of a novel npn InGaAsSb/AlGaAsSb heterojunction phototransistor is presented. This performance study is based on experimental characterization of the device dark current, noise and spectral response. Detectivity of 1.7x10(exp 9) cmHz(exp 1/2)/W at 2 microns was obtained at 100 C temperature and 2 V bias voltage. This corresponds to a responsivity of 94.7 A/W and an internal gain of 156 with about 37.7% quantum efficiency. Reducing the temperature to -30 C allows to increase the bias to 3V and enhance the detectivity to 8.7x10(exp 10) cmHz(exp 1/2)/W at the same wavelength, which corresponds to a responsivity of 386.5 A/W and an internal gain of 288.2 with about 83.3% quantum efficiency. The device impulse response and linearity, including the corresponding dynamic range, also are presented. Impulse response analysis indicated a settling time of about 1.1 s at 2V and 100 C, while linearity measurements indicated a constant responsivity in the radiation intensity range of 1.6x10(exp -7) W/sq cm and 31.6 mW/sq cm.

Refaat, Tamer F.↗

NASA NTRS2010

Comparison of Two Methodologies for Calibrating Satellite Instruments in the Visible and Near Infrared

Traditionally, satellite instruments that measure Earth-reflected solar radiation in the visible and near infrared wavelength regions have been calibrated for radiance response in a two-step method. In the first step, the spectral response of the instrument is determined using a nearly monochromatic light source, such a lamp-illuminated monochromator. Such sources only provide a relative spectral response (RSR) for the instrument, since they do not act as calibrated sources of light nor do they typically fill the field-of-view of the instrument. In the second step, the instrument views a calibrated source of broadband light, such as lamp-illuminated integrating sphere. In the traditional method, the RSR and the sphere spectral radiance are combined and, with the instrument's response, determine the absolute spectral radiance responsivity of the instrument. More recently, an absolute calibration system using widely tunable monochromatic laser systems has been developed, Using these sources, the absolute spectral responsivity (ASR) of an instrument can be determined on a wavelength-hy-wavelength basis. From these monochromatic ASRs. the responses of the instrument bands to broadband radiance sources can be calculated directly, eliminating the need for calibrated broadband light sources such as integrating spheres. Here we describe the laser-based calibration and the traditional broad-band source-based calibration of the NPP VIIRS sensor, and compare the derived calibration coefficients for the instrument. Finally, we evaluate the impact of the new calibration approach on the on-orbit performance of the sensor.

Barnes, Robert A.↗

NASA NTRS2010

The Fourth SeaWiFS HPLC Analysis Round-Robin Experiment (SeaHARRE-4)

Ten international laboratories specializing in the determination of marine pigment concentrations using high performance liquid chromatography (HPLC) were intercompared using in situ samples and a mixed pigment sample. Although prior Sea-viewing Wide Field-of-view Sensor (SeaWiFS) High Performance Liquid Chromatography (HPLC) Round-Robin Experiment (SeaHARRE) activities conducted in open-ocean waters covered a wide dynamic range in productivity, and some of the samples were collected in the coastal zone, none of the activities involved exclusively coastal samples. Consequently, SeaHARRE-4 was organized and executed as a strictly coastal activity and the field samples were collected from primarily eutrophic waters within the coastal zone of Denmark. The more restrictive perspective limited the dynamic range in chlorophyll concentration to approximately one and a half orders of magnitude (previous activities covered more than two orders of magnitude). The method intercomparisons were used for the following objectives: a) estimate the uncertainties in quantitating individual pigments and higher-order variables formed from sums and ratios; b) confirm if the chlorophyll a accuracy requirements for ocean color validation activities (approximately 25%, although 15% would allow for algorithm refinement) can be met in coastal waters; c) establish the reduction in uncertainties as a result of applying QA procedures; d) show the importance of establishing a properly defined referencing system in the computation of uncertainties; e) quantify the analytical benefits of performance metrics, and f) demonstrate the utility of a laboratory mix in understanding method performance. In addition, the remote sensing requirements for the in situ determination of total chlorophyll a were investigated to determine whether or not the average uncertainty for this measurement is being satisfied.

Hooker, Stanford B.↗

NASA NTRS1991

Demonstration of automated proximity and docking technology

Automated spacecraft docking operations are being performed using a full scale motion based simulator and an optical sensor. This presentation will discuss the work in progress at TRW and MSFC facilities to study the problem of automated proximity and docking operations. The docking sensor used in the MSFC Optical Sensor and simulation runs are performed using the MSFC Flat Floor Facility. The control algorithms and six degrees of freedom (6DOF) simulation software were developed at TRW and integrated into the MSFC facility. Key issues being studied are the quantification of docking sensor requirements and operational constraints necessary to perform automated docking maneuvers, control algorithms capable of performing automated docking in the presence of sensitive and noisy sensor data, and sensor technologies for automated proximity and docking operations. As part of this study the MSFC sensor characteristics were analyzed and modeled so that off line simulation runs can be performed for control algorithm testing. Our goal is to develop and demonstrate full 6DOF docking capabilities with actual sensors on the MSFC motion based simulator. We present findings from actual docking simulation runs which show sensor and control loop performance as well as problem areas which require close attention. The evolution of various control algorithms using both phase plane and Clohessy-Wiltshire techniques are discussed. In addition, 6DOF target acquisition and control strategies are described.

Anderson, Robert L.↗

NASA NTRS1994

Operational support for Upper Atmosphere Research Satellite (UARS) attitude sensors

The Upper Atmosphere Research Satellite (UARS) has several sensors that can provide observations for attitude determination: star trackers, Sun sensors (gimbaled as well as fixed), magnetometers, Earth sensors, and gyroscopes. The accuracy of these observations is important for mission success. Analysts on the Flight Dynamics Facility (FDF) UARS Attitude task monitor these data to evaluate the performance of the sensors taking corrective action when appropriate. Monitoring activities range from examining the data during real-time passes to constructing long-term trend plots. Increasing residuals (differences) between the observed and expected quantities is a prime indicator of sensor problems. Residual increases may be due to alignment shifts and/or degradation in sensor output. Residuals from star tracker data revealed and anomalous behavior that contributes to attitude errors. Compensating for this behavior has significantly reduced the attitude errors. This paper discusses the methods used by the FDF UARS attitude task for maintenance of the attitude sensors, including short- and long-term monitoring, trend analysis, and calibration methods, and presents the results obtained through corrective action.

Lee, M.↗

NASA NTRS1999

Optimization Strategies for Sensor and Actuator Placement

This paper provides a survey of actuator and sensor placement problems from a wide range of engineering disciplines and a variety of applications. Combinatorial optimization methods are recommended as a means for identifying sets of actuators and sensors that maximize performance. Several sample applications from NASA Langley Research Center, such as active structural acoustic control, are covered in detail. Laboratory and flight tests of these applications indicate that actuator and sensor placement methods are effective and important. Lessons learned in solving these optimization problems can guide future research.

Padula, Sharon L.↗

NASA NTRS2002

Microwave Anisotrophy Probe Launch and Early Operations

The Microwave Anisotropy Probe (MAP), a follow-on to the Differential Microwave Radiometer (DMR) instrument on the Cosmic Background Explorer (COBE), was launched from the Kennedy Space Center at 19:46:46 UTC on June 30, 2001. The powered flight and separation from the Delta II appeared to go as designed, with the launch placing MAP well within sigma launch dispersion and with less than 7 Nms of tip-off momentum. Because of this relatively low momentum, MAP was able to acquire the sun within only 15 minutes with a battery state of charge of 94%. After MAP's successful launch, a six week period of in-orbit checkout and orbit maneuvers followed. The dual purpose of the in-orbit checkout period was to validate the correct performance of all of MAP's systems and, from the attitude control system (ACS) point of view, to calibrate the performance of the spacecraft ACS sensors and actuators to maximize system performance. In addition to the checkout activities performed by the MAP team, the other critical activity taking place during the first six weeks after launch were a series of orbit maneuvers necessary to get the spacecraft from its launch orbit out to its desired orbit about L2, the second Earth-Sun Lagrange point. As MAP continues its standard operations, its ACS design is meeting all of its requirements to successfully complete the mission. This paper will describe the launch and early operations summarized above in greater detail, and show the performance of the attitude control and attitude determination system versus its requirements. Additionally, some of the unexpected events that occurred during this period will be discussed, including two events which dropped the spacecraft into its Safehold Mode and the presence of an "anomalous force" observed during each of the perigee orbit maneuvers that had the potential to cause these critical maneuvers to be prematurely aborted.

ODonnell, James R., Jr.↗

NASA NTRS2006

RSA/Legacy Wind Sensor Comparison: Western Range - Part 1

This report describes a comparison of data from ultrasonic and cup-and-vane anemometers on 5 wind towers at Vandenberg AFB. The ultrasonic sensors are scheduled to replace the Legacy cup-and-vane sensors under the Range Standardization and Automation (RSA) program. Because previous studies have noted differences between peak wind speeds reported by mechanical and ultrasonic wind sensors, the latter having no moving parts, the 30th and 45th Weather Squadrons wanted to understand possible differences between the two sensor types. The period-of-record was 13-30 May 2005. A total of 153,961 readings of I-minute average and peak wind speed/direction from each sensor type were used. Statistics of differences in speed and direction were used to identify 18 out of 34 RSA sensors having the most consistent performance, with respect to the Legacy sensors. Data from these 18 were used to form a composite comparison. A small positive bias in the composite RSA average wind speed increased from +0.5 kts at 15 kts, to +1 kt at 25 kts. A slightly larger positive bias in the RSA peak wind speed increased from +1 kt at 15 kts, to +2 kts at 30 kts.

Short, David A.↗

NASA NTRS2006

RSA/Legacy Wind Sensor Comparison: Eastern Range - Part 2

This report describes a comparison of data from ultrasonic and propeller-and-vane anemometers on 5 wind towers at Kennedy Space Center and Cape Canaveral Air Force Station. The ultrasonic sensors are scheduled to replace the Legacy propeller-and-vane sensors under the Range Standardization and Automation (RSA) program. Because previous studies have noted differences between peak wind speeds reported by mechanical and ultrasonic wind sensors, the latter having no moving parts, the 30th and 45th Weather Squadrons wanted to understand possible differences between the two sensor types. The period-of-record was 13-30 May 2005, A total of 357,626 readings of 1-minute average and peak wind speed/direction from each sensor type were used. Statistics of differences in speed and direction were used to identify 15 out of 19 RSA sensors having the most consistent performance, with respect to the Legacy sensors. RSA average wind speed data from these 15 showed a small positive bias of 0.38 kts. A slightly larger positive bias of 0.94 kts was found in the RSA peak wind speed.

Short, David A.↗

NASA NTRS1999

Satellite Hyperspectral Imaging Simulation

Simulation of generic pushbroom satellite hyperspectral sensors have been performed to evaluate the potential performance and validation techniques for satellite systems such as COIS(NEMO), Warfighter-1(OrbView-4) and Hyperion(EO-1). The simulations start with a generation of synthetic scenes from material maps of studied terrain. Scene-reflected radiance is corrected for atmospheric effects and convolved with sensor spectral response using MODTRAN 4 radiance and transmissions calculations. Scene images are further convolved with point spread functions derived from Optical Transfer Functions (OTF's) of the sensor system. Photon noise and etectorr/electronics noise are added to the simulated images, which are also finally quantized to the sensor bit resolution. Studied scenes include bridges and straight roads used for evaluation of sensor spatial resolution, as well as fields of minerals, vegetation and manmade materials used for evaluation of sensor radiometric response and sensitivity. The scenes are simulated with various seasons and weather conditions. Signal-to-noise ratios and expected performance are estimated for typical satellite system specifications and are discussed for all the scenes.

Zanoni, Vicki↗

NASA NTRS1999

Satellite Hyperspectral Imaging Simulation

Simulations of generic pushbroom satellite hyperspetral sensors have been performed to evaluate the potential performance and validation techniques for satellite systems such as COIS (NEMO), Warfighter-1 (OrbView-4), and Hyperion (EO-1). The simulaitons start with a generation of synthetic scenes form material maps of studied terrain. Scene-reflected radiance is corrected for atmospheric effects and convolved with sensor spectral response uwing MODTRAN 4 radiance and transmission calculations. Scene images are further convolved with point spread functions derived from Optical Transfer Functions (OTF's) of the sensor system. Photon noise and detector/electronics noise are added to the simulated images, which are also finally quantized to the sensor bit resolution. Studied scenes include bridges and straight roads used for evaluation of sensor spatial resolution, as well as fields of minerals, vegetation, and manmade materials used for evaluation of sensor radiometric response and sensitivity. The scenes are simulated with various seasons and weather conditions. Signal-to-noise ratos and expected performance are estimated for typica satellite system specifications and are discussed for all the scenes.

Zanoni, Vicki↗

NASA NTRS1996

Calibration of the Airborne Visible/Infrared Imaging Spectrometer in the Laboratory

Imaging spectrometry data must be spectrally, radiometrically and geometrically calibrated in order to: 1) derive physical parameters from measured spectral radiance, 2) compare data acquired from different regions and at different times, 3) compare and analyze the imaging spectrometry data with data acquired from other calibrated sensors, and 4) compare and analyze data with results from computer models. The calibration of AVIRIS data is the process by which laboratory characterization data are applied to raw instrument data (digitized number versus spectral channels) to produce quantitative spectra (radiance versus wavelength) for each image pixel in units of spectral radiance. The AVIRIS sensor and calibration process are described by Vane and the application of the calibration data to the raw digital data is described by Green. This calibration process is validated for in-flight performance of the sensor using a rigorous ground-truth campaign. This workshop paper reviews the laboratory characterization data set that is used in the AVIRIS calibration process. The laboratory measurements used to acquire the calibration data are divided into three classes: 1) spectral calibration, 2) radiometric calibration, and 3) spatial calibration.

Green Robert O.↗

NASA NTRS2013

MODIS and VIIRS Lunar Observations and Applications

Terra and Aqua MODIS have successfully operated for more than 13 and 11 years since their launch in 1999 and 2002, respectively. The VIIRS instrument on-board the S-NPP launched in 2011 has also operated for nearly 2 years. Both MODIS and VIIRS make observations in the reflective solar and thermal emissive regions and their on-orbit calibration and characterization are provided by a set of on-board calibrators (OBC). In addition, lunar observations have been made on a regular basis to support sensor on-orbit calibration. This paper provides a brief overview of MODIS and VIIRS instrument on-orbit calibration and characterization activities. It describes the approaches and strategies developed to schedule and perform on-orbit lunar observations. Specific applications of MODIS and VIIRS lunar observations discussed in this paper include radiometric calibration stability monitoring and performance assessment of sensor spatial characterization. Results derived from lunar observations, such as sensor response (or gain) trending and band-to-band registration, are compared with that derived from sensor OBC. The methodologies and applications presented in this paper can also be applied to other earth observing sensors.

MODIS↗