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At least 541 records · Page 30
All sourcesNASA NTRSDOE OSTI
NASA NTRS1982

Kalman filtering for spacecraft attitude estimation

Several schemes in current use for sequential estimation of spacecraft attitude using Kalman filters are examined. These differ according to their treatment of the attitude error, namely: using the complete four-component quaternion; using a truncated quaternion in which one of the components has been eliminated; or using a quaternion referred to approximate body-fixed axes. These schemes are examined for the case of a spacecraft carrying line-of-sight attitude sensors and three-axis gyros whose measurements are corrupted by noise on both the drift rate and the drift-rate ramp. The analysis of the covariance is carried out in detail. The historical development of Kalman filtering of attitude is reviewed.

Lefferts, E. J.↗
NASA NTRS1992

Effects of weather on the retrieval of sea ice concentration and ice type from passive microwave data

Effects of wind, water vapor, and cloud liquid water on ice concentration and ice type calculated from passive microwave data are assessed through radiative transfer calculations and observations. These weather effects can cause overestimates in ice concentration and more substantial underestimates in multi-year ice percentage by decreasing polarization and by decreasing the gradient between frequencies. The effect of surface temperature and air temperature on the magnitudes of weather-related errors is small for ice concentration and substantial for multiyear ice percentage. The existing weather filter in the NASA Team Algorithm addresses only weather effects over open ocean; the additional use of local open-ocean tie points and an alternative weather correction for the marginal ice zone can further reduce errors due to weather. Ice concentrations calculated using 37 versus 18 GHz data show little difference in total ice covered area, but greater differences in intermediate concentration classes. Given the magnitude of weather-related errors in ice classification from passive microwave data, corrections for weather effects may be necessary to detect small trends in ice covered area and ice type for climate studies.

Maslanik, J. A.↗
NASA NTRS1972

Investigation of the epoch state filter

A navigation filtering technique has been formulated using as state variables the initial or epoch position and velocity of the spacecraft. The estimate of this initial state is then improved by filtering new measurements. The current state may be obtained by a conic extrapolation of the epoch state. Results of a digital computer simulation of the epoch state filter show that this formulation of the navigational problem results in less computer run time and less computer storage space than conventional techniques. The errors produced by this technique have been demonstrated to be comparable to those obtained by conventional maximum-likelihood filtering.

Edwards, J. A.↗
NASA NTRS1985

Mathematical analysis study for radar data processing and enhancement. Part 1: Radar data analysis

A study is performed under NASA contract to evaluate data from an AN/FPS-16 radar installed for support of flight programs at Dryden Flight Research Facility of NASA Ames Research Center. The purpose of this study is to provide information necessary for improving post-flight data reduction and knowledge of accuracy of derived radar quantities. Tracking data from six flights are analyzed. Noise and bias errors in raw tracking data are determined for each of the flights. A discussion of an altiude bias error during all of the tracking missions is included. This bias error is defined by utilizing pressure altitude measurements made during survey flights. Four separate filtering methods, representative of the most widely used optimal estimation techniques for enhancement of radar tracking data, are analyzed for suitability in processing both real-time and post-mission data. Additional information regarding the radar and its measurements, including typical noise and bias errors in the range and angle measurements, is also presented. This is in two parts. This is part 1, an analysis of radar data.

James, R.↗
NASA NTRS1985

Mathematical analysis study for radar data processing and enchancement. Part 2: Modeling of propagation path errors

A study is performed under NASA contract to evaluate data from an AN/FPS-16 radar installed for support of flight programs at Dryden Flight Research Facility of NASA Ames Research Center. The purpose of this study is to provide information necessary for improving post-flight data reduction and knowledge of accuracy of derived radar quantities. Tracking data from six flights are analyzed. Noise and bias errors in raw tracking data are determined for each of the flights. A discussion of an altitude bias error during all of the tracking missions is included. This bias error is defined by utilizing pressure altitude measurements made during survey flights. Four separate filtering methods, representative of the most widely used optimal estimation techniques for enhancement of radar tracking data, are analyzed for suitability in processing both real-time and post-mission data. Additional information regarding the radar and its measurements, including typical noise and bias errors in the range and angle measurements, is also presented. This report is in two parts. This is part 2, a discussion of the modeling of propagation path errors.

James, R.↗
NASA NTRS1993

Improvements in ERBS attitude determination without gyros

Previous papers have described the modification of the Earth Radiation Budget Satellite (ERBS) Attitude Determination System (ADS) to overcome the impact of on board gyro degradation and failure on attitude ground support of the mission. Two approaches were taken: implementing a Kalman filter in place of the batch-least-squares attitude estimator to account for the propagation error produced by high-noise gyro data, and modeling the ERBS attitude dynamics to restore rate information in the case of gyro failure. Both of these methods had shortcomings. In practice, the filter attitude diverged without complete sensor observability, and accurate dynamics modeling required knowledge of disturbance torque parameters that had to be determined manually. These difficulties have been overcome by improved tuning of the filter and by incorporating dynamics parameter estimation into the ERBS ADS.

Chu, D.↗
NASA NTRS2016

An Inertial Dual-State State Estimator for Precision Planetary Landing with Hazard Detection and Avoidance

The navigation filter architecture successfully deployed on the Morpheus flight vehicle is presented. The filter was developed as a key element of the NASA Autonomous Landing and Hazard Avoidance Technology (ALHAT) project and over the course of 15 free fights was integrated into the Morpheus vehicle, operations, and flight control loop. Flight testing completed by demonstrating autonomous hazard detection and avoidance, integration of an altimeter, surface relative velocity (velocimeter) and hazard relative navigation (HRN) measurements into the onboard dual-state inertial estimator Kalman flter software, and landing within 2 meters of the vertical testbed GPS-based navigation solution at the safe landing site target. Morpheus followed a trajectory that included an ascent phase followed by a partial descent-to-landing, although the proposed filter architecture is applicable to more general planetary precision entry, descent, and landings. The main new contribution is the incorporation of a sophisticated hazard relative navigation sensor-originally intended to locate safe landing sites-into the navigation system and employed as a navigation sensor. The formulation of a dual-state inertial extended Kalman filter was designed to address the precision planetary landing problem when viewed as a rendezvous problem with an intended landing site. For the required precision navigation system that is capable of navigating along a descent-to-landing trajectory to a precise landing, the impact of attitude errors on the translational state estimation are included in a fully integrated navigation structure in which translation state estimation is combined with attitude state estimation. The map tie errors are estimated as part of the process, thereby creating a dual-state filter implementation. Also, the filter is implemented using inertial states rather than states relative to the target. External measurements include altimeter, velocimeter, star camera, terrain relative navigation sensor, and a hazard relative navigation sensor providing information regarding hazards on a map generated on-the-fly.

Bishop, Robert H.↗
NASA NTRS2008

Multichannel Networked Phasemeter Readout and Analysis

Netmeter software reads a data stream from up to 250 networked phasemeters, synchronizes the data, saves the reduced data to disk (after applying a low-pass filter), and provides a Web server interface for remote control. Unlike older phasemeter software that requires a special, real-time operating system, this program can run on any general-purpose computer. It needs about five percent of the CPU (central processing unit) to process 20 channels because it adds built-in data logging and network-based GUIs (graphical user interfaces) that are implemented in Scalable Vector Graphics (SVG). Netmeter runs on Linux and Windows. It displays the instantaneous displacements measured by several phasemeters at a user-selectable rate, up to 1 kHz. The program monitors the measure and reference channel frequencies. For ease of use, levels of status in Netmeter are color coded: green for normal operation, yellow for network errors, and red for optical misalignment problems. Netmeter includes user-selectable filters up to 4 k samples, and user-selectable averaging windows (after filtering). Before filtering, the program saves raw data to disk using a burst-write technique.

Edmonds, Karina↗
NASA NTRS2010

Ares I Flight Control System Design

The Ares I launch vehicle represents a challenging flex-body structural environment for flight control system design. This paper presents a design methodology for employing numerical optimization to develop the Ares I flight control system. The design objectives include attitude tracking accuracy and robust stability with respect to rigid body dynamics, propellant slosh, and flex. Under the assumption that the Ares I time-varying dynamics and control system can be frozen over a short period of time, the flight controllers are designed to stabilize all selected frozen-time launch control systems in the presence of parametric uncertainty. Flex filters in the flight control system are designed to minimize the flex components in the error signals before they are sent to the attitude controller. To ensure adequate response to guidance command, step response specifications are introduced as constraints in the optimization problem. Imposing these constraints minimizes performance degradation caused by the addition of the flex filters. The first stage bending filter design achieves stability by adding lag to the first structural frequency to phase stabilize the first flex mode while gain stabilizing the higher modes. The upper stage bending filter design gain stabilizes all the flex bending modes. The flight control system designs provided here have been demonstrated to provide stable first and second stage control systems in both Draper Ares Stability Analysis Tool (ASAT) and the MSFC 6DOF nonlinear time domain simulation.

Jang, Jiann-Woei↗
NASA NTRS2002

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

A growing interest in formation flying satellites demands development and analysis of control and estimation algorithms for station-keeping and formation maneuvering. This paper discusses the development of a discrete linear-quadratic-regulator control algorithm for formations in the vicinity of the L2 sun-earth libration point. The development of an appropriate Kalman filter is included as well. Simulations are created for the analysis of the station-keeping and various formation maneuvers of the Stellar Imager mission. The simulations provide tracking error, estimation error, and control effort results. From the control effort, useful design parameters such as delta V and propellant mass are determined. 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 NTRS1972

Sequential error detection for nonlinear estimators.

A method is presented for sequentially testing the consistency of actual and calculated error covariances in recursive nonlinear estimators, such as the extended Kalman filter. An equivalent simplified test is described briefly. The method is useful for linear filters as well, where inconsistencies may be caused by modeling inaccuracies.

Nahi, N. E.↗
NASA NTRS1972

Control system optimization studies. Volume 2: High frequency cutoff filter analysis

The problem of digital implementation of a cutoff filter is approached with consideration to word length, sampling rate, accuracy requirements, computing time and hardware restrictions. Computing time and hardware requirements for four possible programming forms for the linear portions of the filter are determined. Upper bounds for the steady state system output error due to quantization for digital control systems containing a digital network programmed both in the direct form and in the canonical form are derived. This is accomplished by defining a set of error equations in the z domain and then applying the final value theorem to the solution. Quantization error was found to depend upon the digital word length, sampling rate, and system time constants. The error bound developed may be used to estimate the digital word length and sampling rate required to achieve a given system specification. From the quantization error accumulation, computing time and hardware point of view, and the fact that complex poles and zeros must be realized, the canonical form of programming seems preferable.

Fong, M. H.↗
NASA NTRS1973

Flight results from a study of aided inertial navigation applied to landing operations

An evaluation is presented of the approach and landing performance of a Kalman filter aided inertial navigation system using flight data obtained from a series of approaches and landings of the CV-340 aircraft at an instrumented test area. A description of the flight test is given, in which data recorded included: (1) accelerometer signals from the platform of an INS; (2) three ranges from the Ames-Cubic Precision Ranging System; and (3) radar and barometric altimeter signals. The method of system evaluation employed was postflight processing of the recorded data using a Kalman filter which was designed for use on the XDS920 computer onboard the CV-340 aircraft. Results shown include comparisons between the trajectories as estimated by the Kalman filter aided system and as determined from cinetheodolite data. Data start initialization of the Kalman filter, operation at a practical data rate, postflight modeling of sensor errors and operation under the adverse condition of bad data are illustrated.

Mcgee, L. A.↗
NASA NTRS1975

Uniform sampling analysis of a hybrid phase-locked loop with a sample-and-hold phase detector

Phase-locked-loop (PLL) bit synchronizers often employ integrate-and-dump type phase detectors that provide phase error information only at discrete points in time. Usually these phase detectors are followed by sample-and-hold circuits to produce a stairstep error voltage as the input to a standard analog circuit loop filter. When the loop is configured in this manner, it is referred to as a hybrid PLL. Sampled-data analysis methods (Z transforms) are used to determine the stability and transient response of this loop.

Barab, S.↗
NASA NTRS1984

Reference-cell calibration activities

The use of secondary calibration in large area pulsed solar simulators (LAPSS) is discussed. It is argued that primary calibration in sunlight is time consuming, that only a limited sun calibration of a set of primary reference cells is required, that the LAPSS light source is filtered to closely match the am 1.5 direct spectrum, and that the temperal stability of the filtered LAPSS is excellent. There is the possibility of a lower error rate. Lower costs are anticipated.

Mueller, R.↗
NASA NTRS1987

High dynamic GPS receiver using maximum likelihood estimation and frequency tracking

A new high dynamic global positioning system (GPS) receiver is presented and its performance characterized by analysis, simulation, and demonstration. The demonstration receiver is a breadboard model capable of tracking a single simulated satellite signal in pseudorange and range rate. Pseudorange and range rate estimates are made once every 20 ms, using a maximum likelihood estimator, and are tracked by means of a third-order fading memory filter in a feedback configuration. The receiver tracks pseudorange with rms errors of under 1 m when subjected to simulated 50 g, 40 g/s circular trajectories. The tracking threshold is approximately 28 dB-Hz, which provides 12 dB margin relative to the minimum specified signal strength, assuming 3.5 dB system noise figure and 0 dBi antenna gain.

Hurd, W. J.↗
NASA NTRS1990

Digital accumulators in phase and frequency tracking loops

Results on the effects of digital accumulators in phase and frequency tracking loops are presented. Digital accumulators or summers are used extensively in digital signal processing to perform averaging or to reduce processing rates to acceptable levels. For tracking the Doppler of high-dynamic targets at low carrier-to-noise ratios, it is shown through simulation and experiment that digital accumulators can contribute an additional loss in operating threshold. This loss was not considered in any previous study and needs to be accounted for in performance prediction analysis. Simulation and measurement results are used to characterize the loss due to the digital summers for three different tracking loops: a digital phase-locked loop, a cross-product automatic frequency tracking loop, and an extended Kalman filter. The tracking algorithms are compared with respect to their frequency error performance and their ability to maintain lock during severe maneuvers at various carrier-to-noise ratios. It is shown that failure to account for the effect of accumulators can result in an inaccurate performance prediction, the extent of which depends highly on the algorithm used.

Hinedi, Sami↗