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At least 487 records · Page 27

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NASA NTRS1994

Multi-Flight-Phase GPS Navigation Filter Applications to Terrestrial Vehicle Navigation and Positioning

A candidate onboard space navigation filter demonstrated excellent performance (less than 8 meter level RMS semi-major axis accuracy) in performing orbit determination of a low-Earth orbit Explorer satellite using single-frequency real GPS data. This performance is significantly better than predicted by other simulation studies using dual-frequency GPS data. The study results revealed the significance of two new modeling approaches evaluated in the work. One approach introduces a single-frequency ionospheric correction through pseudo-range and phase range averaging implementation. The other approach demonstrates a precise axis-dependent characterization of dynamic sample space uncertainty to compute a more accurate Kalman filter gain. Additionally, this navigation filter demonstrates a flexibility to accommodate both perturbational dynamic and observational biases required for multi-flight phase and inhomogeneous application environments. This paper reviews the potential application of these methods and the filter structure to terrestrial vehicle and positioning applications. Both the single-frequency ionospheric correction method and the axis-dependent state noise modeling approach offer valuable contributions in cost and accuracy improvements for terrestrial GPS receivers. With a modular design approach to either 'plug-in' or 'unplug' various force models, this multi-flight phase navigation filter design structure also provides a versatile GPS navigation software engine for both atmospheric and exo-atmospheric navigation or positioning use, thereby streamlining the flight phase or application-dependent software requirements. Thus, a standardized GPS navigation software engine that can reduce the development and maintenance cost of commercial GPS receivers is now possible.

Park, Young W.↗

NASA NTRSDate not supplied

VSLAM and Vision-based Approach and Landing for Advanced Air Mobility

Advanced Air Mobility (AAM) aircraft have many challenges in landing accurately and safely in urban, suburban, and rural environments. Localization in large and open rural environments could utilize GPS, but AAM aircraft in urban environments will encounter GPS degradation. Another challenge involves flight operation time, i.e., flying during the day or at night. There are different guidelines, landmarks, and landing light configurations at runways, heliports, and vertiports for daytime and nighttime applications. Tailoring feature detection methods for AAM approach and landing during the day and night pose different issues and challenges. It is easier to detect edges, lines, and other runway markers during the day than at night. Conversely, it is easier to see landing light configurations and patterns at nighttime than daytime. Consequently, utilizing the same feature detector for daytime and nighttime operations may not be feasible. This paper focuses on a vision-based precision approach and landing (PAL) by comparing ORB SLAM 2, a Vision Simultaneous Localization and Mapping (VSLAM) algorithm, and a novel EKF that combines onboard IMU measurements with coplanar pose from orthography and scaling with iterations (COPOSIT). Conducting unmanned aerial system (UAS) flight tests at NASA Armstrong Flight Research Center (AFRC) with landmarks and fiducials distributed around the landing zone provides a simulated AAM approach and landing data to test vision-based PAL methods to provide Alternative Position, Navigation, and Timing (APNT) solutions for AAM PAL applications. The novel vision-based PAL EKF with IMU and COPOSIT provides accurate state estimation when distributed landmarks and fiducials are in the field of view.

distributed sensing↗

NASA NTRS1982

Voyager 1 and Voyager 2 Saturn encounter orbit determination

This paper contains quantitative results and conclusions from the Saturn approach orbit determination for Voyagers 1 and 2. The major topics covered include an overview of the navigation-related requirements and a review of the salient orbit determination results obtained. Special attention is paid to the use of combined spacecraft-based optical observations and earth-based radiometric observations to achieve accurate orbit determination during the Saturn encounter approach phase.

Campbell, J. K.↗

NASA NTRS2007

Gaining Confidence in Navigating Rosetta at Mars Swing-By

The Mars swing-by in the early morning of the 25th of February 2007 was one of the most critical events the Rosetta mission has experienced so far on its way to the comet Churyumov-Gerasimenko. The closest approach took place at a distance of only 250 km from the planet s surface. Missing the optimal target would have translated into considerable fuel cost. In order to achieve confidence in operating through this highly critical mission phase, a navigation analysis exercise was carried out beforehand. This paper describes the purpose and the chosen approach for this preparatory Flight Dynamics activity. It presents and discusses results of the analysis. Emphasis is put on the question of what is needed to simulate a valuable data set representative for operations. The results of the navigation analysis are compared with real data obtained during swing-by operations.

Crammn, Ruediger↗

NASA NTRS1993

Evaluation of image quality

This presentation outlines in viewgraph format a general approach to the evaluation of display system quality for aviation applications. This approach is based on the assumption that it is possible to develop a model of the display which captures most of the significant properties of the display. The display characteristics should include spatial and temporal resolution, intensity quantizing effects, spatial sampling, delays, etc. The model must be sufficiently well specified to permit generation of stimuli that simulate the output of the display system. The first step in the evaluation of display quality is an analysis of the tasks to be performed using the display. Thus, for example, if a display is used by a pilot during a final approach, the aesthetic aspects of the display may be less relevant than its dynamic characteristics. The opposite task requirements may apply to imaging systems used for displaying navigation charts. Thus, display quality is defined with regard to one or more tasks. Given a set of relevant tasks, there are many ways to approach display evaluation. The range of evaluation approaches includes visual inspection, rapid evaluation, part-task simulation, and full mission simulation. The work described is focused on two complementary approaches to rapid evaluation. The first approach is based on a model of the human visual system. A model of the human visual system is used to predict the performance of the selected tasks. The model-based evaluation approach permits very rapid and inexpensive evaluation of various design decisions. The second rapid evaluation approach employs specifically designed critical tests that embody many important characteristics of actual tasks. These are used in situations where a validated model is not available. These rapid evaluation tests are being implemented in a workstation environment.

Pavel, M.↗

NASA NTRS1974

Mariner IX optical navigation using Mars lit limb

Optical spacecraft navigation data, i.e., the lit limb TV image of Mars, acquired during the approach phase of the Mariner IX spacecraft to Mars, has been successfully demonstrated to augment the radio spacecraft tracking data. Accurate in-flight calibration of the TV instrument and the scan platform was performed by referencing stars and planets. Simulated real-time processing and the detailed postflight analyses of the onboard optical data have shown that planet limb data is an important data source in a far-encounter period for which other types of onboard optical measurements, e.g., natural satellite(s) of the target planet with star background, may not be available.

Jerath, N.↗

NASA NTRS1975

Autonomous navigation preparations for future unmanned space missions

In order to prepare for the era of autonomous navigation, this paper first examines existing techniques for spacecraft navigation by describing the basic elements of the Mark-I and II navigation technologies. The remainder of the paper deals with identification of criteria which necessitate onboard navigation, and with promising solutions now under consideration. An attractive solution possibility is proposed which utilizes narrow-angle optics, a charge-coupled device area-array image sensor, a small advanced onboard flight computer, and a simplified set of software algorithms. Onboard commands would be derived and sent to the appropriate spacecraft attitude control, propulsion, and science platform pointing subsystems. The proposed autonomous navigation system does not address all mission options, but focuses primarily on precision approach trajectory control and adaptive science instrument pointing for asteroid, cometary, and outer planet satellite missions.

Kohlhase, C. E.↗

NASA NTRS1981

Flight investigation of a four-dimensional terminal area guidance system for STOL aircraft

A series of flight tests and fast-time simulations were conducted, using the augmentor wing jet STOL research aircraft and the STOLAND 4D-RNAV system to add to the growing data base of 4D-RNAV system performance capabilities. To obtain statistically meaningful data a limited amount of flight data were supplemented by a statistically significant amount of data obtained from fast-time simulation. The results of these tests are reported. Included are comparisons of the 4D-RNAV estimated winds with actual winds encountered in flight, as well as data on along-track navigation and guidance errors, and time-of-arrival errors at the final approach waypoint. In addition, a slight improvement of the STOLAND 4D-RNAV system is proposed and demonstrated, using the fast-time simulation.

Neuman, F.↗

NASA NTRS1981

A Loran-C prototype navigation receiver for general aviation

Prototype equipment was developed for flight evaluation which provides enroute navigation in both latitude-longitude and rho-theta coordinates. The nonprecision approach capabilities of this equipment was evaluated. The antenna/preamplifier coupler, the RF processor, tracking loop hardware, tracking loop software, and the video output are discussed. Laboratory and flight test results are evaluated.

Lilley, R. W.↗

NASA NTRS1983

Communications and tracking - Light and IR will help carry high traffic

The space station currently under consideration by NASA must simultaneously track and communicate with the many vehicles and objects surrounding it in orbit. While the Space Shuttle has 23 antennas, more than 50 will be required by the space station. In addition to Shuttle-compatible equipment at P, L, C, S, and Ku bands, the station system will probably incorporate Ka, W, IR and optical frequency equipment for tracking and communications. A major design challenge is foreseen in the placement of separate antennas, lenses and reflectors over the station's external geometry in order to give both the overlapping fields of view required for spherical coverage and the radiation of unambiguous navigation guide beams and markers. Adaptive distributed element arrays are under consideration. Another approach to spherical coverage involves the use of omnidirectional antennas which both transmit and receive RF energy over a wide range of angles.

Dickinson, R. M.↗

NASA NTRS1988

Observability analysis of inertial navigation systems during in-flight alignment

In this work the observability of an Inertial Navigation System (INS) during In-Flight Alignment (IFA) is investigated. A systematic approach to the observability analysis of a piece-wise constant system is presented and its use is justified mathematically. As a tool for the investigation a Stepped Observability Matrix (SOM) is constructed and a corresponding Stepped Space is defined. The INS error model is transformed into the Stepped Space during a specially chosen IFA trajectory and a full observability is carried out. The results of the mathematical analysis are checked against the results of covariance simulation and a full agreement is found between the two. Finally, the practical implications of this analysis are outlined.

Bar-Itzhack, I. Y.↗

NASA NTRS1986

Reusable software parts and the semi-abstract data type

The development of reuable software parts has been an area of intense discussion within the software community for many years. An approach is described for developing reusable parts for the applications of missile guidance, navigation and control which meet the following criteria: (1) Reusable; (2) Tailorable; (3) Efficient; (4) Simple to use; and (5) Protected against misuse. Validating the feasibility of developing reusable parts which possess these characteristics is the basis of the Common Ada Missile Packages Program (CAMP). Under CAMP, over 200 reusable software parts were developed, including part for navigation, Kalman filter, signal processing and autopilot. Six different methods are presented for designing reusable software parts.

Cohen, Sanford G.↗

NASA NTRS1992

Loran-C performance assurance assessment program

The Federal Aviation Administration (FAA) has accepted the Loran-C navigation system as a supplemental navigation aid for enroute use. Extension of Loran-C utilization to instrument approaches requires establishment of a process by which the current level of performance of the system is always known by the pilot. This system 'integrity' translates into confidence that, if the system is made available to the pilot, the guidance will be correct. Early in the consideration of Loran-C for instrument approaches, the Loran-C Planning Work-Group (LPW) was formed with membership from the FAA, the US Coast Guard, various state governments, aviation users, equipment manufacturers and technical experts. The group was hosted and co-chaired by the National Association of State Aviation Officials (NASAO). This forum was ideal for identification of system integrity issues and for finding the correct process for their resolution. Additionally, the Wild Goose Association (WGA), which is the international Loran-C technical and user forum, regularly brings together members of the FAA, Coast Guard, and the scientific community. Papers and discussions from WGA meetings have been helpful. Given here is a collection of the issues in which Ohio University became involved. Issues definition and resolution are included along with the recommendations in those areas where resolution is not yet complete.

Lilley, Robert W.↗

NASA NTRS1992

Geostationary Operational Environmental Satellite (GOES-N report). Volume 2: Technical appendix

The contents include: operation with inclinations up to 3.5 deg to extend life; earth sensor improvements to reduce noise; sensor configurations studied; momentum management system design; reaction wheel induced dynamic interaction; controller design; spacecraft motion compensation; analog filtering; GFRP servo design - modern control approach; feedforward compensation as applied to GOES-1 sounder; discussion of allocation of navigation, inframe registration and image-to-image error budget overview; and spatial response and cloud smearing study.

Source record↗

NASA NTRS1992

Space micro-guidance and control - Applications and architectures

The features and the components of a new microscale guidance, navigation, and control (GN&C) system for future space systems are discussed. An approach is described for the utilization of new microengineering technologies for achieving major reductions in the GN&C system's mass, size, power, and costs. The micro-GN&C system and the component concepts include microactuated adaptive optics, micromachined inertial sensors, fiberoptic data nets with light-power transmission, and VLSI microcomputers. The GN&C system will be applied in microspacecraft, microlanders, microrovers, remote sensing platforms, interferometers, and deployable reflectors.

Mettler, Edward↗

NASA NTRS2004

Earth return maneuver strategies for Genesis and Stardust

As part of NASA's Discovery Program, Genesis and Stardust will be the first missions since the Apollo Program to return samples collected in deep space. To constrain costs of recovery, entry requirements must be much tighter than those imposed on Apollo. Spacecraft designs were also greatly simplified to limit costs, giving rise to a variety of operational limitations and constraints. In light of these considerations, approach to Earth presents a challenge in terms of both mission planning and navigation. This paper discusses strategies for trajectory correction during the Earth return phases of both missions.

Williams, Kenneth E.↗

NASA NTRS2002

Safe navigation on hazardous terrain

This paper presents a new strategy for autonomous navigation of field mobile robots on hazardous natural terrain using a fuzzy logic approach and a novel measure of terrain transversability.

mobile↗

NASA NTRSDate not supplied

Collision Avoidance Approach Using Deep Reinforcement Learning

A method to enable autonomous robots moving in a 2D space collision free motivates the purposed approach for collision avoidance for autonomous UAM vehicles. Challenges of autonomous collision free navigation for both problems are similar. Agents in each environment do not know the intent, or goal, of the other. Finding the time efficient paths require some level of anticipation with neighboring agents which is computationally expensive. In the original work, these obstacles were overcome with a novel application of deep reinforcement learning which offloads the online computation to an offline learning algorithm. A value network that encodes the estimated time to the goal given the agent’s state and the observable portion of the other agent’s state is trained on a baseline policy and further refined with reinforcement learning to promote time efficient collision free navigation. Online, the value network efficiently informs the agent’s decision making in the face of uncertainty of the other agent’s next move. In this paper, challenges extending this methodology to the 3D environment of autonomous UAM vehicles with kinematic constraints are discussed and initial results shown.

Collision Avoidance↗