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At least 487 records · Page 27

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NASA NTRS1982

Modeling methodology for MLS range navigation system errors using flight test data

Flight test data was used to develop a methodology for modeling MLS range navigation system errors. The data used corresponded to the constant velocity and glideslope approach segment of a helicopter landing trajectory. The MLS range measurement was assumed to consist of low frequency and random high frequency components. The random high frequency component was extracted from the MLS range measurements. This was done by appropriate filtering of the range residual generated from a linearization of the range profile for the final approach segment. This range navigation system error was then modeled as an autoregressive moving average (ARMA) process. Maximum likelihood techniques were used to identify the parameters of the ARMA process.

Karmali, M. S.↗

NASA NTRS1982

Study of and proposals for the correction of errors in a radar ranging device designed to facilitate docking of a teleoperator maneuvering system

A frequency modulated continuous wave radar system was developed. The system operates in the 35 gigahertz frequency range and provides millimeter accuracy range and range rate measurements. This level of range resolution allows soft docking for the proposed teleoperator maneuvering system (TMS) or other autonomous or robotic space vehicles. Sources of error in the operation of the system which tend to limit its range resolution capabilities are identified. Alternative signal processing techniques are explored with emphasis on determination of the effects of inserting various signal filtering circuits in the system. The identification and elimination of an extraneous low frequency signal component created as a result of zero range immediate reflection of radar energy from the surface of the antenna dish back into the mixer of the system is described.

Mcdonald, M. W.↗

NASA NTRS1987

Range filtering for sequential GPS receivers with external sensor augmentation

The filtering of the satellite range and range-rate measurements from single channel sequential Global Positioning System receivers is usually done with an extended Kalman filter which has state variables defined in terms of an orthogonal navigation reference frame. An attractive suboptimal alternative is range-domain filtering, in which the individual satellite measurements are filtered separately before they are combined for the navigation solution. The main advantages of range-domain filtering are decreased processing and storage requirements and simplified tuning. Several range filter mechanization alternatives are presented, along with an innovative approach for combining the filtered range-domain quantities to determine the navigation state estimate. In addition, a method is outlined for incorporating measurements from auxiliary sensors such as altimeters into the navigation state estimation scheme similarly to the satellite measurements. A method is also described for incorporating inertial measurements into the navigation state estimator as a process driver.

Paielli, Russell↗

NASA NTRS1987

Spaceborne laser ranging from EOS

High precision laser ranging measurements from an Earth Observing System (EOS) platform would provide data for conducting a variety of basic geoscience investigations. For example, range data to retroreflectors arranged in grids located at tectonic plate boundaries could be used to study the spatial and temporal distribution of the crustal movements associated with stress accumulation and release in an earthquake cycle. The Geodynamics Laser Ranging System (GLRS) is a proposed facility instrument for EOS that can perform the ranging function as well as simple height-measurement altimetry over ice sheets. This instrument is the derivative of several generations of ground-based laser trackers and prototype laboratory systems. The Geoscience Laser Altimetry/Ranging System (GLARS) is an advanced laser ranging system which would provide higher accuracy ranging observations and detailed altimetric mapping of surface height distributions over land and ice sheets.

Cohen, Steven C.↗

NASA NTRS1987

Range filtering for sequential GPS receivers

Paielli, Russell↗

NASA NTRS1988

Development of three-way ranging for the Voyager Neptune encounter

Range data will be used to help navigate Voyager 2 to Neptune and the most distant planetary encounter ever attempted. In preparation for this challenging August 1989 planetary encounter, a new data type, known as 'three-way range', has been developed. With three-way ranging, a ranging signal generated at a ground station, received at the spacecraft and transponded to Earth is then received coherently at a second tracking station, which can be distant from the transmitting station. This paper contains analytic and operational descriptions of three-way range. Hardware modifications and design necessary for implementing this new data type are discussed. Preliminary assessments of three-way ranging performance are given and accuracies are discussed.

Roth, D. C.↗

NASA NTRS1988

Technique to select the optimum modulation indices for suppression of undesired signals for simultaneous range and data operations

An algorithm to search for the optimum set of modulation indices that will optimize a given simultaneous range/command/telemetry communications link is presented. This technique provides a way to suppress the ranging signal in order to limit performance degradation in the data channel due to interference from the ranging channel to a desired level, given a specified ranging accuracy. The link (when optimized) will (1) provide maximum available power to both the data and ranging channels for a specified degradation in the data channel so that it will transmit at the required data rate, (2) achieve a specified ranging accuracy over a maximum distance, under a certain set of conditions, and (3) provide adequate power for carrier tracking without degrading the data-channel thresholds. In addition, both data and ranging channels will fall below the threshold at the same point.

Nguyen, Tien Manh↗

NASA NTRS1989

Geodynamics applications of spaceborne laser ranging

The Geodynamics Laser Ranging System (GLRS) is a spaceborne laser ranging instrument being developoed by NASA as a facility instrument for the Earth Observing System (EOS). GLRS is to be used to study regional and local crustal movements. It is designed to make highly precise range measurements to retroreflector targets located in geophysically interesting sites. Using a two-color ranging scheme, absolute range accuracies of several mm are expected. Simulations based on this accuracy and the EOS orbital parameters show that length of the intersite baseline between retroreflectors can be determined to several mm accuracy at distances from a few km to several hundred km with several passes of GLRS range data collected over a few-day interval. Short-arc techniques are used to minimize the effects of gravity field and other force model uncertainties. Relative heights can be determined to sub-cm accuracy over comparable distances.

Cohen, Steven C.↗

NASA NTRS1992

Vision-based range estimation using helicopter flight data

Pilot aiding during low-altitude flight depends on the ability to detect and locate obstacles near the helicopter's intended flightpath. Computer-vision-based methods provide one general approach for obstacle detection and range estimation. Several algorithms have been developed for this purpose, but have not been tested with actual flight data. This paper presents results obtained using helicopter flight data with a feature-based range estimation algorithm. A method for recursively estimating range using a Kalman filter with a monocular sequence of images and knowledge of the camera's motion is described. The helicopter flight experiment and four resulting datasets are discussed. Finally the performance of the range estimation algorithm is explored in detail based on comparison of the range estimates with true range measurements collected during the flight experiment.

Smith, Philip N.↗

NASA NTRS1991

Approach range and velocity determination using laser sensors and retroreflector targets

A laser docking sensor study is currently in the third year of development. The design concept is considered to be validated. The concept is based on using standard radar techniques to provide range, velocity, and bearing information. Multiple targets are utilized to provide relative attitude data. The design requirements were to utilize existing space-qualifiable technology and require low system power, weight, and size yet, operate from 0.3 to 150 meters with a range accuracy greater than 3 millimeters and a range rate accuracy greater than 3 mm per second. The field of regard for the system is +/- 20 deg. The transmitter and receiver design features a diode laser, microlens beam steering, and power control as a function of range. The target design consists of five target sets, each having seven 3-inch retroreflectors, arranged around the docking port. The target map is stored in the sensor memory. Phase detection is used for ranging, with the frequency range-optimized. Coarse bearing measurement is provided by the scanning system (one set of binary optics) angle. Fine bearing measurement is provided by a quad detector. A MIL-STD-1750 A/B computer is used for processing. Initial test results indicate a probability of detection greater than 99 percent and a probability of false alarm less than 0.0001. The functional system is currently at the MIT/Lincoln Lab for demonstration.

Donovan, William J.↗

NASA NTRS1993

Multi-beam range imager for autonomous operations

For space operations from the Space Station Freedom the real time range imager will be very valuable in terms of refuelling, docking as well as space exploration operations. For these applications as well as many other robotics and remote ranging applications, a small potable, power efficient, robust range imager capable of a few tens of km ranging with 10 cm accuracy is needed. The system developed is based on a well known pseudo-random modulation technique applied to a laser transmitter combined with a novel range resolution enhancement technique. In this technique, the transmitter is modulated by a relatively low frequency of an order of a few MHz to enhance the signal to noise ratio and to ease the stringent systems engineering requirements while accomplishing a very high resolution. The desired resolution cannot easily be attained by other conventional approaches. The engineering model of the system is being designed to obtain better than 10 cm range accuracy simply by implementing a high precision clock circuit. In this paper we present the principle of the pseudo-random noise (PN) lidar system and the results of the proof of experiment.

Marzwell, Neville I.↗

NASA NTRS1993

Discrete range clustering using Monte Carlo methods

For automatic obstacle avoidance guidance during rotorcraft low altitude flight, a reliable model of the nearby environment is needed. Such a model may be constructed by applying surface fitting techniques to the dense range map obtained by active sensing using radars. However, for covertness, passive sensing techniques using electro-optic sensors are desirable. As opposed to the dense range map obtained via active sensing, passive sensing algorithms produce reliable range at sparse locations, and therefore, surface fitting techniques to fill the gaps in the range measurement are not directly applicable. Both for automatic guidance and as a display for aiding the pilot, these discrete ranges need to be grouped into sets which correspond to objects in the nearby environment. The focus of this paper is on using Monte Carlo methods for clustering range points into meaningful groups. One of the aims of the paper is to explore whether simulated annealing methods offer significant advantage over the basic Monte Carlo method for this class of problems. We compare three different approaches and present application results of these algorithms to a laboratory image sequence and a helicopter flight sequence.

Chatterji, G. B.↗

NASA NTRS1992

Vision-based range estimation using helicopter flight data

Pilot aiding during low-altitude flight depends on the ability to detect and locate obstacles near the helicopter's intended flightpath. Computer-vision-based methods provide one general approach for obstacle detection and range estimation. Several algorithms have been developed for this purpose, but have not been tested with actual flight data. This paper presents results obtained using helicopter flight data with a feature-based range estimation algorithm. A method for recursively estimating range using a Kalman filter with a monocular sequence of images and knowledge of the camera's motion is described. The helicopter flight experiment and one of four resulting datasets is briefly discussed. Finally the performance of the range estimation algorithm is explored based on comparison of the range estimates with true range measurements collected during the flight experiment.

Smith, Phillip N.↗

NASA NTRS1992

Vision-based range estimation using helicopter flight data

Smith, Phillip N.↗

NASA NTRS1991

Passive range sensor refinement using texture and segmentation

Electrooptical sensors provide a covert way of computing range during helicopter flight. The optical flow-based computation of range provides range information only in certain distinguishable parts of the image. The regions where range information is available can be increased by performing texture analysis and object segmentation in the image. This paper reviews some of the literature on texture segmentation methods with a view towards applying them to images containing both man-made and natural objects at varying ranges. Two algorithmic approaches are given and their application to a real image is demonstrated. Results indicate that it will be necessary to combine several different texture measures and methods in a hierarchical way in order to achieve an object segmentation which is useful in enhancing range information.

Sridhar, Banavar↗

NASA NTRS1993

New methods of generation of ultrashort laser pulses for ranging

To reach the millimeter satellite laser ranging accuracy, the goal for nineties, new laser ranging techniques have to be applied. To increase the laser ranging precision, the application of the ultrashort laser pulses in connection with the new signal detection and processing techniques, is inevitable. The two wavelength laser ranging is one of the ways to measure the atmospheric dispersion to improve the existing atmospheric correction models and hence, to increase the overall system ranging accuracy to the desired value. We are presenting a review of several nonstandard techniques of ultrashort laser pulses generation, which may be utilized for laser ranging: compression of the nanosecond pulses using stimulated Brillouin and Raman backscattering; compression of the mode-locked pulses using Raman backscattering; passive mode-locking technique with nonlinear mirror; and passive mode-locking technique with the negative feedback.

Jelinkova, Helena↗

NASA NTRS1994

Advanced technologies in the ASI MLRO towards a new generation laser ranging system

Matera Laser Ranging Observatory (MLRO) is a high performance, highly automated optical and astronomical observatory currently under design and development by AlliedSignal for the Italian Space Agency (ASI). It is projected to become operational at the Centro Geodesia Spaziale in Matera, Italy, in 1997. MLRO, based on a 1.5-meter astronomical quality telescope, will perform ranging to spacecraft in earthbound orbits, lunar reflectors, and specially equipped deep space missions. The primary emphasis during design is to incorporate state-of-the-art technologies to produce an intelligent, automated, high accuracy ranging system that will mimic the characteristic features of a fifth generation laser ranging system. The telescope has multiple ports and foci to support future experiments in the areas of laser communications, lidar, astrometry, etc. The key features providing state-of-the-art ranging performance include: a diode-pumped picosecond (50 ps) laser, high speed (3-5 GHz) optoelectronic detection and signal processing, and a high accuracy (6 ps) high resolution (less than 2 ps) time measurement capability. The above combination of technologies is expected to yield millimeter laser ranging precision and accuracy on targets up to 300,000 km, surpassing the best operational instrument performance to date by a factor of five or more. Distributed processing and control using a state-of-the-art computing environment provides the framework for efficient operation, system optimization, and diagnostics. A computationally intelligent environment permits optimal planning, scheduling, tracking, and data processing. It also supports remote access, monitor, and control for joint experiments with other observatories.

Varghese, Thomas↗

NASA NTRS1994

Statistical mechanics in biology: how ubiquitous are long-range correlations?

The purpose of this opening talk is to describe examples of recent progress in applying statistical mechanics to biological systems. We first briefly review several biological systems, and then focus on the fractal features characterized by the long-range correlations found recently in DNA sequences containing non-coding material. We discuss the evidence supporting the finding that for sequences containing only coding regions, there are no long-range correlations. We also discuss the recent finding that the exponent alpha characterizing the long-range correlations increases with evolution, and we discuss two related models, the insertion model and the insertion-deletion model, that may account for the presence of long-range correlations. Finally, we summarize the analysis of long-term data on human heartbeats (up to 10(4) heart beats) that supports the possibility that the successive increments in the cardiac beat-to-beat intervals of healthy subjects display scale-invariant, long-range "anti-correlations" (a tendency to beat faster is balanced by a tendency to beat slower later on). In contrast, for a group of subjects with severe heart disease, long-range correlations vanish. This finding suggests that the classical theory of homeostasis, according to which stable physiological processes seek to maintain "constancy," should be extended to account for this type of dynamical, far from equilibrium, behavior.

Non-NASA Center↗