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At least 595 records · Page 33
All sourcesNASA NTRSDOE OSTI
NASA NTRS2014

Adaptive Augmenting Control Flight Characterization Experiment on an F/A-18

This paper summarizes the Adaptive Augmenting Control (AAC) flight characterization experiments performed using an F/A-18 (TN 853). AAC was designed and developed specifically for launch vehicles, and is currently part of the baseline autopilot design for NASA's Space Launch System (SLS). The scope covered here includes a brief overview of the algorithm (covered in more detail elsewhere), motivation and benefits of flight testing, top-level SLS flight test objectives, applicability of the F/A-18 as a platform for testing a launch vehicle control design, test cases designed to fully vet the AAC algorithm, flight test results, and conclusions regarding the functionality of AAC. The AAC algorithm developed at Marshall Space Flight Center is a forward loop gain multiplicative adaptive algorithm that modifies the total attitude control system gain in response to sensed model errors or undesirable parasitic mode resonances. The AAC algorithm provides the capability to improve or decrease performance by balancing attitude tracking with the mitigation of parasitic dynamics, such as control-structure interaction or servo-actuator limit cycles. In the case of the latter, if unmodeled or mismodeled parasitic dynamics are present that would otherwise result in a closed-loop instability or near instability, the adaptive controller decreases the total loop gain to reduce the interaction between these dynamics and the controller. This is in contrast to traditional adaptive control logic, which focuses on improving performance by increasing gain. The computationally simple AAC attitude control algorithm has stability properties that are reconcilable in the context of classical frequency-domain criteria (i.e., gain and phase margin). The algorithm assumes that the baseline attitude control design is well-tuned for a nominal trajectory and is designed to adapt only when necessary. Furthermore, the adaptation is attracted to the nominal design and adapts only on an as-needed basis (see Figure 1). The MSFC algorithm design was formulated during the Constellation Program and reached a high maturity level during SLS through simulation-based development and internal and external analytical review. The AAC algorithm design has three summary-level objectives: (1) "Do no harm;" return to baseline control design when not needed, (2) Increase performance; respond to error in ability of vehicle to track command, and (3) Regain stability; respond to undesirable control-structure interaction or other parasitic dynamics. AAC has been successfully implemented as part of the Space Launch System baseline design, including extensive testing in high-fidelity 6-DOF simulations the details of which are described in [1]. The Dryden Flight Research Center's F/A-18 Full-Scale Advanced Systems Testbed (FAST) platform is used to conduct an algorithm flight characterization experiment intended to fully vet the aforementioned design objectives. FAST was specifically designed with this type of test program in mind. The onboard flight control system has full-authority experiment control of ten aerodynamic effectors and two throttles. It has production and research sensor inputs and pilot engage/disengage and real-time configuration of up to eight different experiments on a single flight. It has failure detection and automatic reversion to fail-safe mode. The F/A-18 aircraft has an experiment envelope cleared for full-authority control and maneuvering and exhibits characteristics for robust recovery from unusual attitudes and configurations aided by the presence of a qualified test pilot. The F/A-18 aircraft has relatively high mass and inertia with exceptional performance; the F/A-18 also has a large thrust-to-weight ratio, owing to its military heritage. This enables the simulation of a portion of the ascent trajectory with a high degree of dynamic similarity to a launch vehicle, and the research flight control system can simulate unstable longitudinal dynamics. Parasitic dynamics such as slosh and bending modes, as well as atmospheric disturbances, are being produced by the airframe via modification of bending filters and the use of secondary control surfaces, including leading and trailing edge flaps, symmetric ailerons, and symmetric rudders. The platform also has the ability to inject signals in flight to simulate structural mode resonances or other challenging dynamics. This platform also offers more test maneuvers and longer maneuver times than a single rocket or missile test, which provides ample opportunity to fully and repeatedly exercise all aspects of the algorithm. Prior to testing on an F/A-18, AAC was the only component of the SLS autopilot design that had not been flight tested. The testing described in this paper raises the Technology Readiness Level (TRL) early in the SLS Program and is able to demonstrate its capabilities and robustness in a flight environment.

VanZwieten, Tannen S.↗
NASA NTRS2013

Mass Conservation and Positivity Preservation with Ensemble-type Kalman Filter Algorithms

Maintaining conservative physical laws numerically has long been recognized as being important in the development of numerical weather prediction (NWP) models. In the broader context of data assimilation, concerted efforts to maintain conservation laws numerically and to understand the significance of doing so have begun only recently. In order to enforce physically based conservation laws of total mass and positivity in the ensemble Kalman filter, we incorporate constraints to ensure that the filter ensemble members and the ensemble mean conserve mass and remain nonnegative through measurement updates. We show that the analysis steps of ensemble transform Kalman filter (ETKF) algorithm and ensemble Kalman filter algorithm (EnKF) can conserve the mass integral, but do not preserve positivity. Further, if localization is applied or if negative values are simply set to zero, then the total mass is not conserved either. In order to ensure mass conservation, a projection matrix that corrects for localization effects is constructed. In order to maintain both mass conservation and positivity preservation through the analysis step, we construct a data assimilation algorithms based on quadratic programming and ensemble Kalman filtering. Mass and positivity are both preserved by formulating the filter update as a set of quadratic programming problems that incorporate constraints. Some simple numerical experiments indicate that this approach can have a significant positive impact on the posterior ensemble distribution, giving results that are more physically plausible both for individual ensemble members and for the ensemble mean. The results show clear improvements in both analyses and forecasts, particularly in the presence of localized features. Behavior of the algorithm is also tested in presence of model error.

EnKR↗
NASA NTRS2014

Hybrid Data Assimilation without Ensemble Filtering

The Global Modeling and Assimilation Office is preparing to upgrade its three-dimensional variational system to a hybrid approach in which the ensemble is generated using a square-root ensemble Kalman filter (EnKF) and the variational problem is solved using the Grid-point Statistical Interpolation system. As in most EnKF applications, we found it necessary to employ a combination of multiplicative and additive inflations, to compensate for sampling and modeling errors, respectively and, to maintain the small-member ensemble solution close to the variational solution; we also found it necessary to re-center the members of the ensemble about the variational analysis. During tuning of the filter we have found re-centering and additive inflation to play a considerably larger role than expected, particularly in a dual-resolution context when the variational analysis is ran at larger resolution than the ensemble. This led us to consider a hybrid strategy in which the members of the ensemble are generated by simply converting the variational analysis to the resolution of the ensemble and applying additive inflation, thus bypassing the EnKF. Comparisons of this, so-called, filter-free hybrid procedure with an EnKF-based hybrid procedure and a control non-hybrid, traditional, scheme show both hybrid strategies to provide equally significant improvement over the control; more interestingly, the filter-free procedure was found to give qualitatively similar results to the EnKF-based procedure.

Kalman Filter↗
NASA NTRS2013

Cassini Solstice Mission Maneuver Experience: Year Three

The Cassini spacecraft is now in its second Saturn tour extension, the Solstice Mission. By emphasizing propellant preservation over minimizing maneuver cycles, the Cassini Project is meeting the challenge of mission completion in 2017. Since June 2012, 18 of 21 maneuvers were performed to closely maintain the prescribed trajectory, saving downstream propellant. These and other maneuvers during the third year of the Solstice Mission (June 2012 to August 2013) are highlighted in this paper: 31 planned maneuvers targeted to 11 Titan flybys and the last planned Rhea encounter. An assessment of the updated maneuver execution-error models will also be presented.

Cassini↗
NASA NTRS2013

Cassini Solstice Mission Maneuver Experience: Year Three

The Solstice Mission is the final extension of the Cassini spacecraft s tour of Saturn and its moons. To accommodate an end-of-mission in 2017, the maneuver decision process has been refined. For example, the Cassini Project now prioritizes saving propellant over minimizing maneuver cycles. This paper highlights 30 maneuvers planned from June 2012 through July 2013, targeted to nine Titan flybys and the final Rhea encounter in the mission. Of these maneuvers, 90% were performed to maintain the prescribed trajectory and preserve downstream delta V. Recent operational changes to maneuver executions based on execution-error modeling and analysis are also discussed.

Equinox Mission↗
NASA NTRS2016

Performance Characterization of a Landmark Measurement System for ARRM Terrain Relative Navigation

This paper describes the landmark measurement system being developed for terrain relative navigation on NASAs Asteroid Redirect Robotic Mission (ARRM),and the results of a performance characterization study given realistic navigational and model errors. The system is called Retina, and is derived from the stereo-photoclinometry methods widely used on other small-body missions. The system is simulated using synthetic imagery of the asteroid surface and discussion is given on various algorithmic design choices. Unlike other missions, ARRMs Retina is the first planned autonomous use of these methods during the close-proximity and descent phase of the mission.

Guidance↗
NASA NTRS2016

Performance Characterization of a Landmark Measurement System for ARRM Terrain Relative Navigation

This paper describes the landmark measurement system being developed for terrain relative navigation on NASAs Asteroid Redirect Robotic Mission (ARRM),and the results of a performance characterization study given realistic navigational and model errors. The system is called Retina, and is derived from the stereophotoclinometry methods widely used on other small-body missions. The system is simulated using synthetic imagery of the asteroid surface and discussion is given on various algorithmic design choices. Unlike other missions, ARRMs Retina is the first planned autonomous use of these methods during the close-proximity and descent phase of the mission.

Navigation↗
NASA NTRS2016

In-Flight Pitot-Static Calibration

A GPS-based pitot-static calibration system uses global output-error optimization. High data rate measurements of static and total pressure, ambient air conditions, and GPS-based ground speed measurements are used to compute pitot-static pressure errors over a range of airspeed. System identification methods rapidly compute optimal pressure error models with defined confidence intervals.

Foster, John V.↗
NASA NTRS2015

First SNPP Cal/Val Campaign: Satellite and Aircraft Sounding Retrieval Intercomparison

Satellite ultraspectral infrared sensors provide key data records essential for weather forecasting and climate change science. The Suomi National Polar-orbiting Partnership (SNPP) satellite Environmental Data Record (EDR) is retrieved from calibrated ultraspectral radiance so called Sensor Data Record (SDR). It is critical to understand the accuracy of retrieved EDRs, which mainly depends on SDR accuracy (e.g., instrument random noise and absolute accuracy), an ill-posed retrieval system, and radiative transfer model errors. There are few approaches to validate EDR products, e.g., some common methods are to rely on radiosonde measurements, ground-based measurements, and dedicated aircraft campaign providing in-situ measurements of atmosphere and/or employing similar ultraspectral interferometer sounders. Ultraspectral interferometer sounder aboard aircraft measures SDR to retrieve EDR, which is often used to validate satellite measurements of SDR and EDR. The SNPP Calibration/Validation Campaign was conducted during May 2013. The NASA high-altitude aircraft ER-2 that carried ultraspectral interferometer sounders such as the NASA Atmospheric Sounder Testbed-Interferometer (NAST-I) flew under the SNPP satellite that carries the Cross-track Infrared Sounder (CrIS). Here we inter-compare the EDRs produced with different retrieval algorithms from SDRs measured by the sensors from satellite and aircraft. The available dropsonde and radiosonde measurements together with the European Centre for Medium-Range Weather Forecasts (ECMWF) analysis were also used to draw the conclusion from this experiment.

Zhou, Daniel K.↗
NASA NTRS2016

Conjunction Assessment Late-Notice High-Interest Event Investigation: Space Weather Aspects

Late-notice events usually driven by large changes in primary (protected) object or secondary object state. Main parameter to represent size of state change is component position difference divided by associated standard deviation (epsilon divided by sigma) from covariance. Investigation determined actual frequency of large state changes, in both individual and combined states. Compared them to theoretically expected frequencies. Found that large changes ( (epsilon divided by sigma) is greater than 3) in individual object states occur much more frequently than theory dictates. Effect is less pronounced in radial components and in events with probability of collision (Pc) greater than 1 (sup -5) (1e-5). Found combined state matched much closer to theoretical expectation, especially for radial and cross-track. In-track is expected to be the most vulnerable to modeling errors, so not surprising that non-compliance largest in this component.

Conjunction↗
NASA NTRS2016

Assimilation of SMOS Brightness Temperatures or Soil Moisture Retrievals into a Land Surface Model

Three different data products from the Soil Moisture Ocean Salinity (SMOS) mission are assimilated separately into the Goddard Earth Observing System Model, version 5 (GEOS-5) to improve estimates of surface and root-zone soil moisture. The first product consists of multi-angle, dual-polarization brightness temperature (Tb) observations at the bottom of the atmosphere extracted from Level 1 data. The second product is a derived SMOS Tb product that mimics the data at a 40 degree incidence angle from the Soil Moisture Active Passive (SMAP) mission. The third product is the operational SMOS Level 2 surface soil moisture (SM) retrieval product. The assimilation system uses a spatially distributed ensemble Kalman filter (EnKF) with seasonally varying climatological bias mitigation for Tb assimilation, whereas a time-invariant cumulative density function matching is used for SM retrieval assimilation. All assimilation experiments improve the soil moisture estimates compared to model-only simulations in terms of unbiased root-mean-square differences and anomaly correlations during the period from 1 July 2010 to 1 May 2015 and for 187 sites across the US. Especially in areas where the satellite data are most sensitive to surface soil moisture, large skill improvements (e.g., an increase in the anomaly correlation by 0.1) are found in the surface soil moisture. The domain-average surface and root-zone skill metrics are similar among the various assimilation experiments, but large differences in skill are found locally. The observation-minus-forecast residuals and analysis increments reveal large differences in how the observations add value in the Tb and SM retrieval assimilation systems. The distinct patterns of these diagnostics in the two systems reflect observation and model errors patterns that are not well captured in the assigned EnKF error parameters. Consequently, a localized optimization of the EnKF error parameters is needed to further improve Tb or SM retrieval assimilation.

SMOS↗
NASA NTRS2016

Full Gradient Solution to Adaptive Hybrid Control

This paper focuses on the adaptation mechanisms in adaptive hybrid controllers. Most adaptive hybrid controllers update two filters individually according to the filtered-reference least mean squares (FxLMS) algorithm. Because this algorithm was derived for feedforward control, it does not take into account the presence of a feedback loop in the gradient calculation. This paper provides a derivation of the proper weight vector gradient for hybrid (or feedback) controllers that takes into account the presence of feedback. In this formulation, a single weight vector is updated rather than two individually. An internal model structure is assumed for the feedback part of the controller. The full gradient is equivalent to that used in the standard FxLMS algorithm with the addition of a recursive term that is a function of the modeling error. Some simulations are provided to highlight the advantages of using the full gradient in the weight vector update rather than the approximation.

Bean, Jacob↗
NASA NTRS2018

A Singular Value Decomposition Framework for Retrievals with Vertical Distribution Information from Greenhouse Gas Column Absorption Spectroscopy Measurements

We describe a variation of the Optimal Estimation (OE) method for greenhouse gas remote sensing retrievals using a singular value decomposition (SVD) and an uninformative prior. The SVD method is capable of discerning vertical information in column integrated absorption measurements. While traditional Bayesian optimal estimation (OE) assumes a prior distribution in order to regularize the inversion problem, the SVD approach identifies principal components that can be retrieved from the measurement without explicitly specifying a prior mean and prior covariance matrix. We discuss the method, illustrate its use on an integrated path differential absorption CO2 lidar measurement model, and compare it to traditional optimal estimation using numerical simulations. In the absence of forward model error, the mathematics behind the SVD method guarantee it to be bias-free, which is confirmed by the numerical simulations. In contrast, traditional OE retrievals exhibit bias when the prior mean used in the retrieval differs from the true mean. While the SVD approach can be used for most trace gas retrievals, it is particularly useful for situations where prior knowledge of the trace gas profile is poor. The SVD analysis is also useful in illustrating how vertical information is treated by the traditional OE approach.

Ramanathan, Anand K.↗
NASA NTRS2017

Full Gradient Solution to Adaptive Hybrid Control

This paper focuses on the adaptation mechanisms in adaptive hybrid controllers. Most adaptive hybrid controllers update two filters individually according to the filtered reference least mean squares (FxLMS) algorithm. Because this algorithm was derived for feedforward control, it does not take into account the presence of a feedback loop in the gradient calculation. This paper provides a derivation of the proper weight vector gradient for hybrid (or feedback) controllers that takes into account the presence of feedback. In this formulation, a single weight vector is updated rather than two individually. An internal model structure is assumed for the feedback part of the controller. The full gradient is equivalent to that used in the standard FxLMS algorithm with the addition of a recursive term that is a function of the modeling error. Some simulations are provided to highlight the advantages of using the full gradient in the weight vector update rather than the approximation.

Bean, Jacob↗
NASA NTRS2017

Answering the Call for Model-Relevant Observations of Aerosols and Clouds

We describe a technique for combining multiple A-Train aerosol data sets, namely MODIS spectral AOD (aerosol optical depth), OMI AAOD (absorption aerosol optical depth) and CALIOP aerosol backscatter retrievals (hereafter referred to as MOC retrievals) to estimate full spectral sets of aerosol radiative properties, and ultimately to calculate the 3-D distribution of direct aerosol radiative effects (DARE). We present MOC results using almost two years of data collected in 2007 and 2008, and show comparisons of the aerosol radiative property estimates to collocated AERONET retrievals. We compare the spatio-temporal distribution of the MOC retrievals and MOC-based calculations of seasonal clear-sky DARE to values derived from four models that participated in the Phase II AeroCom model intercomparison initiative. Comparisons of seasonal aerosol property to AeroCom Phase II results show generally good agreement best agreement with forcing results at TOA is found with GMI-MerraV3.We discuss the challenges in making observations that really address deficiencies in models, with some of the more relevant aspects being representativeness of the observations for climatological states, and whether a given model-measurement difference addresses a sampling or a model error.

Redemann, J.↗
NASA NTRS2017

Joint Assimilation of SMOS Brightness Temperature and GRACE Terrestrial Water Storage Observations for Improved Soil Moisture Estimation

Observations from recent soil moisture missions (e.g. SMOS) have been used in innovative data assimilation studies to provide global high spatial (i.e. 40 km) and temporal resolution (i.e. 3-days) soil moisture profile estimates from microwave brightness temperature observations. In contrast with microwave-based satellite missions that are only sensitive to near-surface soil moisture (0 - 5 cm), the Gravity Recovery and Climate Experiment (GRACE) mission provides accurate measurements of the entire vertically integrated terrestrial water storage column but, it is characterized by low spatial (i.e. 150,000 km2) and temporal (i.e. monthly) resolutions. Data assimilation studies have shown that GRACE-TWS primarily affects (in absolute terms) deeper moisture storages (i.e., groundwater). This work hypothesizes that unprecedented soil water profile accuracy can be obtained through the joint assimilation of GRACE terrestrial water storage and SMOS brightness temperature observations. A particular challenge of the joint assimilation is the use of the two different types of measurements that are relevant for hydrologic processes representing different temporal and spatial scales. The performance of the joint assimilation strongly depends on the chosen assimilation methods, measurement and model error spatial structures. The optimization of the assimilation technique constitutes a fundamental step toward a multi-variate multi-resolution integrative assimilation system aiming to improve our understanding of the global terrestrial water cycle.

Soil Moisture↗
NASA NTRS2018

Dynamic Adjustment of Simulation Parameters for Efficient Vehicle Prognostics

Model-based diagnostics and prognostics rely on state estimation and uncertainty management algorithms to produce useful information for system operators and maintainers. This information enables more informed operational decisions, condition-based maintenance, and overall mission safety assurance. Typically, uncertainty is associated with vehicle state-of-health estimation and prediction results because of modeling errors, internal or external sources of noise, and sensor inaccuracy. Probabilistic uncertainty management methods including Sequential Monte Carlo simulation are commonly used to reason about state-of-health estimates and predictions in the presence of these sources of uncertainty. However, such algorithms can be computationally expensive as they require a very large number of samples to obtain a sufficiently accurate quantification of the end of life probability distribution. As a result, highly mobile autonomous systems that leverage the prognostic results for mission-level replanning are often constrained in their processing capability because of these computationally expensive simulation approaches. Therefore, in this paper, we investigate algorithmic methods for dynamically adjusting simulation time step as well as number of samples to achieve highly efficient prognostic results while maintaining results accuracy. Results obtained from simulated flight experiments of an electric unmanned aerial vehicle are presented to verify the efficacy of such algorithms.

Prognostics↗
NASA NTRS2018

Some General and Fundamental Requirements for Designing Observing System Simulation Experiments (OSSEs)

There is an increasing demand to provide OSSE support when seeking funding for new atmospheric observing instruments. Various individuals and groups are running or developing OSSEs with little experience in OSSEs in particular or DA in general. In this presentation we will describe some key issues that are often neglected and some of the poor practices to be avoided. These include issues regarding NR and OSSE validation, consideration of instrument, observation operator, and forecast model error, relationships between observations and synoptic conditions, and conflicts of interest.

Errico, Ronald M.↗