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At least 487 records · Page 27
All sourcesNASA NTRSDOE OSTI
NASA NTRS2021

Sequential Wald Test Employing a Constrained Filter Bank: Application to Spacecraft Conjunctions

A binary Wald sequential probability ratio test that uses the residuals of norm-inequality-constrained Kalman filters for its likelihood ratio may be employed for a class of compound hypothesis tests on non-stationary systems. The hypotheses concern an inequality constraint on the norm of some elements of the system state. Each of two filters minimizes the summed-squares of its estimation errors subject to one or the other direction of the inequality constraint. This solution is motivated by the problem of satellite conjunction assessment, wherein the constraint concerns the close approach distance between two space objects. The outcome of the test can inform decisions concerning risk mitigation maneuvers.

J. Russell Carpenter↗
NASA NTRS2003

Divergence Free High Order Filter Methods for the Compressible MHD Equations

The generalization of a class of low-dissipative high order filter finite difference methods for long time wave propagation of shock/turbulence/combustion compressible viscous gas dynamic flows to compressible MHD equations for structured curvilinear grids has been achieved. The new scheme is shown to provide a natural and efficient way for the minimization of the divergence of the magnetic field numerical error. Standard diver- gence cleaning is not required by the present filter approach. For certain MHD test cases, divergence free preservation of the magnetic fields has been achieved.

Yea, H. C.↗
NASA NTRS1978

A triangular covariance factorization for sequential filtering algorithms

A method for propagating the square-root of the state error covariance matrix in lower triangular UDU form is described. This update method can be combined with the UDU transformation used by Bierman to obtain the equations of a square-root free triangular estimation algorithm. The method is compared with the state transition matrix time update algorithm on the basis of integration accuracy, computational efficiency and storage requirements.

Tapley, B. D.↗
NASA NTRS2010

Reception of Multiple Telemetry Signals via One Dish Antenna

A microwave aeronautical-telemetry receiver system includes an antenna comprising a seven-element planar array of receiving feed horns centered at the focal point of a paraboloidal dish reflector that is nominally aimed at a single aircraft or at multiple aircraft flying in formation. Through digital processing of the signals received by the seven feed horns, the system implements a method of enhanced cancellation of interference, such that it becomes possible to receive telemetry signals in the same frequency channel simultaneously from either or both of two aircraft at slightly different angular positions within the field of view of the antenna, even in the presence of multipath propagation. The present system is an advanced version of the system described in Spatio- Temporal Equalizer for a Receiving-Antenna Feed Array NPO-43077, NASA Tech Briefs, Vol. 34, No. 2 (February 2010), page 32. To recapitulate: The radio-frequency telemetry signals received by the seven elements of the array are digitized, converted to complex baseband form, and sent to a spatio-temporal equalizer that consists mostly of a bank of seven adaptive finite-impulse-response (FIR) filters (one for each element in the array) plus a unit that sums the outputs of the filters. The combination of the spatial diversity of the feedhorn array and the temporal diversity of the filter bank affords better multipath suppression performance than is achievable by means of temporal equalization alone. The FIR filter bank adapts itself in real time to enable reception of telemetry at a low bit error rate, even in the presence of frequency-selective multipath propagation like that commonly found at flight-test ranges. The combination of the array and the filter bank makes it possible to constructively add multipath incoming signals to the corresponding directly arriving signals, thereby enabling reductions in telemetry bit-error rates.

Mukai, Ryan↗
NASA NTRS1987

Detection of signals by weighted integrate-and-dump filter

A Weighted Integrate and Dump Filter (WIDF) is presented that results in reducing those losses in telemetry symbol signal to noise ratio (SNR) which occur in digital Integrate and Dump Filters (IDFs) when the samples are not phase locked to the input data symbol clock. The Minimum Mean Square Error (MMSE) criterion is used to derive a set of weights for approximating the analog integrate and dump filter, which is the matched filter for detection of signals in additive white Gaussian noise. This new digital matched filter results in considerable performance improvement compared to unweighted digital matched filters. An example is presented for a sampling rate of four times the symbol rate. As the sampling offset (or phase) varies with respect to the data symbol boundaries, the output SNR varies 1 dB for an unweighted IDF, but only 0.3 dB for the optimum WIDF, averaged over random data patterns. This improvement in performance relative to unweighted IDF means that significantly lower sampling and processing rates can be used for given telemetry symbol rates, resulting in reduced system cost.

Sadr, R.↗
NASA NTRS2008

Embedded Relative Navigation Sensor Fusion Algorithms for Autonomous Rendezvous and Docking Missions

bd Systems (a subsidiary of SAIC) has developed a suite of embedded relative navigation sensor fusion algorithms to enable NASA autonomous rendezvous and docking (AR&D) missions. Translational and rotational Extended Kalman Filters (EKFs) were developed for integrating measurements based on the vehicles' orbital mechanics and high-fidelity sensor error models and provide a solution with increased accuracy and robustness relative to any single relative navigation sensor. The filters were tested tinough stand-alone covariance analysis, closed-loop testing with a high-fidelity multi-body orbital simulation, and hardware-in-the-loop (HWIL) testing in the Marshall Space Flight Center (MSFC) Flight Robotics Laboratory (FRL).

DeKock, Brandon K.↗
NASA NTRS2019

Design and Modeling of the Off-Axis Parabolic Deformable (OPD) Mirror Laboratory

Coronagraph-equipped direct imaging missions need an active wavefront control system to cancel out the optical aberrations that degrade the performance of the coronagraphs. A fast steering mirror is used to control Line-of-Sight (LoS) pointing error caused by the telescope jitter. In addition to controlling other low-order aberrations such as astigmatism and coma, high stroke, high actuator density deformable mirrors (DMs) are also used to control the electric field at the required high spatial frequencies. We are designing a testbed to verify a different deformable architecture, where the powered optic in the optical train are controllable and have lower actuator count compared to the existing DMs with flat nominal surfaces. This simplifies the packaging issue for space missions and reduces both cost and risk of having the entire coronagraph instrument's performance depending on one or two high-actuator count DMs. The testbed would also be capable of testing different low-order wavefront sensing algorithms, which focuses in the near-term on a new adaptive Kalman filtering and gradient decent method to estimate the harmonic LoS errors that affect space telescopes. In long run, we would test different machine learning techniques to estimate low-order aberrations and non-linear algorithms for digging the region of high contrast called the dark holes (DH).

Subedi, Hari↗
NASA NTRS2019

Design and Modeling of the Off-Axis Parabolic Deformable Mirror Laboratory

Coronagraph-equipped direct imaging missions need an active wavefront control system to cancel out the optical aberrations that degrade the performance of the coronagraphs. A fast steering mirror is used to control Line-of-Sight (LoS) pointing error caused by the telescope jitter. In addition to controlling other low-order aberrations such as astigmatism and coma, high stroke, high actuator density deformable mirrors (DMs) are also used to control the electric field at the required high spatial frequencies. We are designing a testbed to verify a different deformable architecture, where the powered optic in the optical train are controllable and have lower actuator count compared to the existing DMs with flat nominal surfaces. This simplifies the packaging issue for space missions and reduces both cost and risk of having the entire coronagraph instrument's performance depending on one or two high-actuator count DMs. The testbed would also be capable of testing different low-order wavefront sensing algorithms, which focuses in the near-term on a new adaptive Kalman filtering and gradient decent method to estimate the harmonic LoS errors that affect space telescopes. In long run, we would test different machine learning techniques to estimate low-order aberrations and non-linear algorithms for digging the region of high contrast called the dark holes (DH).

Communication↗
NASA NTRS1989

Kalman estimation for SEDS measurements

The first on-orbit experiment of the Small Expendable Deployer System (SEDS) for tethered satellites will collect telemetry data for tethered length, rate of deployment, and tether tension. The post-flight analysis will use this data to reconstruct the deployment history and determine payload position and tether shape. Two Kalman estimator algorithms were written, and output using simulated measurement data was compared. Both estimators exhibited the same estimated state histories, indicating that numerical instability in the traditional algorithm was not the cause of filter divergence. Estimation of acceleration biases was added, which reduced the error but did not correct the divergence. An add-a-bead estimator that adds lumped masses as the tether is deployed was written, which provides a state model that matches the BEADSIM simulation providing the true measurements and states. This twenty-one bead estimator produced state histories similar to those of the two-bead estimator, indicating that the filter divergence was not caused by a reduced-order model. The noise models used to date are relatively simple and may be the source of estimator divergence. The investigation of colored noise models, cross-correlated measurement and process covariances, and noise-adaptive filter techniques is recommended.

Carrington, Connie K.↗
NASA NTRS1996

GPS Attitude Determination Using Deployable-Mounted Antennas

The primary objective of this investigation is to develop a method to solve for spacecraft attitude in the presence of potential incomplete antenna deployment. Most research on the use of the Global Positioning System (GPS) in attitude determination has assumed that the antenna baselines are known to less than 5 centimeters, or one quarter of the GPS signal wavelength. However, if the GPS antennas are mounted on a deployable fixture such as a solar panel, the actual antenna positions will not necessarily be within 5 cm of nominal. Incomplete antenna deployment could cause the baselines to be grossly in error, perhaps by as much as a meter. Overcoming this large uncertainty in order to accurately determine attitude is the focus of this study. To this end, a two-step solution method is proposed. The first step uses a least-squares estimate of the baselines to geometrically calculate the deployment angle errors of the solar panels. For the spacecraft under investigation, the first step determines the baselines to 3-4 cm with 4-8 minutes of data. A Kalman filter is then used to complete the attitude determination process, resulting in typical attitude errors of 0.50.

Osborne, Michael L.↗
NASA NTRS2004

Nonlinear filtering and limiting in high order methods for ideal and non-ideal MHD

The various filtering mechanisms and base scheme options of the newly developed adaptive numerical dissipation control in spatially high order filter schemes for the ideal and non-ideal magnetohydrodynamics (MHD) equations are investigated. These filter schemes are applicable to complex unsteady MHD high-speed shock/shear/turbulence problems. They also provide a natural and efficient way for the minimization of Div(B) numerical error. The type of spatial base scheme to be used in conjunction with our filter idea is very general. For example, spectral, compact and non-compact spatially central finite difference schemes are possible candidates. The adaptive numerical dissipation mechanism consists of automatic detection of different flow features as distinct sensors to signal the appropriate type and amount of numerical dissipation/filter where needed and to leave the rest of the region free from numerical dissipation contamination. The numerical dissipation considered consists of high order linear dissipation for the suppression of high frequency oscillation and the nonlinear dissipative portion of high-resolution shock-capturing methods for discontinuity capturing. The applicable nonlinear dissipative portion of high-resolution shock-capturing methods is also very general. The objective of this paper is to investigate the performance of using compact and non-compact central base schemes in conjunction with three commonly used types of nonlinear numerical dissipation for both the ideal and non-ideal MHD. This extended abstract shows the performance of three nonlinear filters in conjunction with a sixth-order non-compact spatial central base scheme. In the final paper, the high order compact spatial central base scheme will be illustrated and compared with the non-compact base scheme. The reason for the investigation of the high order compact spatial central base scheme over the non-compact base scheme is to evaluate if additional accuracy can be gained in regions of fine scale turbulence that are away from shocks/shears.

Yee,H. C.↗
NASA NTRS1989

An adaptive data-smoothing routine

An adaptive noise reduction algorithm that can be implemented on a microcomputer is developed. Smoothing polynomials are used where the polynomial coefficients are chosen such that the mean-square-error between the noisy and smoothed data is minimized. This approach is equivalent to the implementation of a low-pass finite impulse response filter. The noise reduction depends on the order of the smoothing polynomial. A whiteness test on the error sequence is incorporated to search for the optimal smoothing. Expansion coefficients may be computed via the fast Fourier transform, and the resulting smoothing process is the equivalent of the implementation of an adaptive ideal low-pass filter. Results are obtained for an analytical signal with added white Gaussian noise. The routine may be applied to any smooth signal with additive random noise.

Taylor, Clayborne D.↗
NASA NTRS1991

Bandwidth requirements for direct detection optical communication receivers with PPM signaling

The performance of a direct detection optical communication receiver for pulse position modulation (PPM) signal formats which contains an avalanche photodiode photodetector is calculated as a function of the parameters which characterize a raised cosine filter used in the receiver. It is shown that the performance penalty of this receiver relative to that of an optimal receiver which contains an integrator and assumes a perfectly rectangular PPM pulse shape is less than 1 dB at a receiver bit error rate of 10 exp -6. The advantage of the raised cosine filter is that the electrical bandwidth required is no more than one-half that of the integrator, that is, 1/tau as opposed to 2/tau where tau is the PPM time slot duration.

Davidson, Frederic M.↗
NASA NTRS1962

Application of Statistical Filter Theory to the Optimal Estimation of Position and Velocity on Board a Circumlunar Vehicle

Statistical filter theory is employed to develop a method for determining the best possible estimate of the position and velocity of a space vehicle in the midcourse phase of flight. Results of a computer simulation are given to illustrate the performance attainable. An on-board system is visualized in which the source of information is an arbitrary sequence of observations of space angles, corrupted by measurement errors. The scheme is in effect a dynamical time-varying filter, implemented by a digital computer, which processes the incoming data to compute an up-to-date optimal estimate of position and velocity.

Smith, Gerald L.↗
NASA NTRS1992

A real-time recursive filter for the attitude determination of the Spacelab instrument pointing subsystem

A real-time estimation filter which reduces sensitivity to system variations and reduces the amount of preflight computation is developed for the instrument pointing subsystem (IPS). The IPS is a three-axis stabilized platform developed to point various astronomical observation instruments aboard the shuttle. Currently, the IPS utilizes a linearized Kalman filter (LKF), with premission defined gains, to compensate for system drifts and accumulated attitude errors. Since the a priori gains are generated for an expected system, variations result in a suboptimal estimation process. This report compares the performance of three real-time estimation filters with the current LKF implementation. An extended Kalman filter and a second-order Kalman filter are developed to account for the system nonlinearities, while a linear Kalman filter implementation assumes that the nonlinearities are negligible. The performance of each of the four estimation filters are compared with respect to accuracy, stability, settling time, robustness, and computational requirements. It is shown, that for the current IPS pointing requirements, the linear Kalman filter provides improved robustness over the LKF with less computational requirements than the two real-time nonlinear estimation filters.

West, M. E.↗
NASA NTRS1996

Application of Consider Covariance to the Extended Kalman Filter

The extended Kalman filter (EKF) is the basis for many applications of filtering theory to real-time problems where estimates of the state of a dynamical system are to be computed based upon some set of observations. The form of the EKF may vary somewhat from one application to another, but the fundamental principles are typically unchanged among these various applications. As is the case in many filtering applications, models of the dynamical system (differential equations describing the state variables) and models of the relationship between the observations and the state variables are created. These models typically employ a set of constants whose values are established my means of theory or experimental procedure. Since the estimates of the state are formed assuming that the models are perfect, any modeling errors will affect the accuracy of the computed estimates. Note that the modeling errors may be errors of commission (errors in terms included in the model) or omission (errors in terms excluded from the model). Consequently, it becomes imperative when evaluating the performance of real-time filters to evaluate the effect of modeling errors on the estimates of the state.

Lundberg, John B.↗
NASA NTRS2002

Formation Flying Satellite Control Around the L2 Sun-Earth Libration Point

This paper discusses the development of a linear control algorithm for formations in the vicinity of the L2 sun-Earth libration point. The development of a simplified extended Kalman filter is included as well. Simulations are created for the analysis of the stationkeeping and various formation maneuvers of the Stellar Imager mission. The simulations provide tracking error, estimation error, and control effort results. For formation maneuvering, the formation spacecraft track to within 4 meters of their desired position and within 1.5 millimeters per second of their desired zero velocity. The filter, with few exceptions, keeps the estimation errors within their three-sigma values. Without noise, the controller performs extremely well, with the formation spacecraft tracking to within several micrometers. Each spacecraft uses around 1 to 2 grams of propellant per maneuver, depending on the circumstances.

Hamilton, Nicholas H.↗
NASA NTRS1973

Floating-point system quantization errors in digital control systems

The results are reported of research into the effects on system operation of signal quantization in a digital control system. The investigation considered digital controllers (filters) operating in floating-point arithmetic in either open-loop or closed-loop systems. An error analysis technique is developed, and is implemented by a digital computer program that is based on a digital simulation of the system. As an output the program gives the programing form required for minimum system quantization errors (either maximum of rms errors), and the maximum and rms errors that appear in the system output for a given bit configuration. The program can be integrated into existing digital simulations of a system.

Phillips, C. L.↗