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NASA NTRS2013

Tuning and Robustness Analysis for the Orion Absolute Navigation System

The Orion Multi-Purpose Crew Vehicle (MPCV) is currently under development as NASA's next-generation spacecraft for exploration missions beyond Low Earth Orbit. The MPCV is set to perform an orbital test flight, termed Exploration Flight Test 1 (EFT-1), some time in late 2014. The navigation system for the Orion spacecraft is being designed in a Multi-Organizational Design Environment (MODE) team including contractor and NASA personnel. The system uses an Extended Kalman Filter to process measurements and determine the state. The design of the navigation system has undergone several iterations and modifications since its inception, and continues as a work-in-progress. This paper seeks to show the efforts made to-date in tuning the filter for the EFT-1 mission and instilling appropriate robustness into the system to meet the requirements of manned space ight. Filter performance is affected by many factors: data rates, sensor measurement errors, tuning, and others. This paper focuses mainly on the error characterization and tuning portion. Traditional efforts at tuning a navigation filter have centered around the observation/measurement noise and Gaussian process noise of the Extended Kalman Filter. While the Orion MODE team must certainly address those factors, the team is also looking at residual edit thresholds and measurement underweighting as tuning tools. Tuning analysis is presented with open loop Monte-Carlo simulation results showing statistical errors bounded by the 3-sigma filter uncertainty covariance. The Orion filter design uses 24 Exponentially Correlated Random Variable (ECRV) parameters to estimate the accel/gyro misalignment and nonorthogonality. By design, the time constant and noise terms of these ECRV parameters were set to manufacturer specifications and not used as tuning parameters. They are included in the filter as a more analytically correct method of modeling uncertainties than ad-hoc tuning of the process noise. Tuning is explored for the powered-flight ascent phase, where measurements are scarce and unmodelled vehicle accelerations dominate. On orbit, there are important trade-off cases between process and measurement noise. On entry, there are considerations about trading performance accuracy for robustness. Process Noise is divided into powered flight and coasting ight and can be adjusted for each phase and mode of the Orion EFT-1 mission. Measurement noise is used for the integrated velocity measurements during pad alignment. It is also used for Global Positioning System (GPS) pseudorange and delta- range measurements during the rest of the flight. The robustness effort has been focused on maintaining filter convergence and performance in the presence of unmodeled error sources. These include unmodeled forces on the vehicle and uncorrected errors on the sensor measurements. Orion uses a single-frequency, non-keyed GPS receiver, so the effects due to signal distortion in Earth's ionosphere and troposphere are present in the raw measurements. Results are presented showing the efforts to compensate for these errors as well as characterize the residual effect for measurement noise tuning. Another robustness tool in use is tuning the residual edit thresholds. The trade-off between noise tuning and edit thresholds is explored in the context of robustness to errors in dynamics models and sensor measurements. Measurement underweighting is also presented as a method of additional robustness when processing highly accurate measurements in the presence of large filter uncertainties.

Holt, Greg N.↗

NASA NTRS2012

Satellite Material Type and Phase Function Determination in Support of Orbital Debris Size Estimation

In performing debris surveys of deep-space orbital regions, the considerable volume of the area to be surveyed and the increased orbital altitude suggest optical telescopes as the most efficient survey instruments; but to proceed this way, methodologies for debris object size estimation using only optical tracking and photometric information are needed. Basic photometry theory indicates that size estimation should be possible if satellite albedo and shape are known. One method for estimating albedo is to try to determine the object's material type photometrically, as one can determine the albedos of common satellite materials in the laboratory. Examination of laboratory filter photometry (using Johnson BVRI filters) on a set of satellite material samples indicates that most material types can be separated at the 1-sigma level via B-R versus R-I color differences with a relatively small amount of required resampling, and objects that remain ambiguous can be resolved by B-R versus B-V color differences and solar radiation pressure differences. To estimate shape, a technique advanced by Hall et al. [1], based on phase-brightness density curves and not requiring any a priori knowledge of attitude, has been modified slightly to try to make it more resistant to the specular characteristics of different materials and to reduce the number of samples necessary to make robust shape determinations. Working from a gallery of idealized debris shapes, the modified technique identifies most shapes within this gallery correctly, also with a relatively small amount of resampling. These results are, of course, based on relatively small laboratory investigations and simulated data, and expanded laboratory experimentation and further investigation with in situ survey measurements will be required in order to assess their actual efficacy under survey conditions; but these techniques show sufficient promise to justify this next level of analysis.

Hejduk, M. D.↗

NASA NTRS2011

Semi-Supervised Novelty Detection with Adaptive Eigenbases, and Application to Radio Transients

We present a semi-supervised online method for novelty detection and evaluate its performance for radio astronomy time series data. Our approach uses adaptive eigenbases to combine 1) prior knowledge about uninteresting signals with 2) online estimation of the current data properties to enable highly sensitive and precise detection of novel signals. We apply the method to the problem of detecting fast transient radio anomalies and compare it to current alternative algorithms. Tests based on observations from the Parkes Multibeam Survey show both effective detection of interesting rare events and robustness to known false alarm anomalies.

anomaly detection↗

NASA NTRS1998

On-Orbit Model Refinement for Controller Redesign

High performance control design for a flexible space structure is challenging since high fidelity plant models are difficult to obtain a priori. Uncertainty in the control design models typically require a very robust, low performance control design which must be tuned on-orbit to achieve the required performance. A new procedure for refining a multivariable open loop plant model based on closed-loop response data is presented. Using a minimal representation of the state space dynamics, a least squares prediction error method is employed to estimate the plant parameters. This control-relevant system identification procedure stresses the joint nature of the system identification and control design problem by seeking to obtain a model that minimizes the difference between the predicted and actual closed-loop performance. This paper presents an algorithm for iterative closed-loop system identification and controller redesign along with illustrative examples.

Whorton, Mark S.↗

NASA NTRS2003

Measurements of cell-generated deformations on flexible substrata using correlation-based optical flow

The optical flow algorithm presented here is a robust method that rapidly yields a high-density field of substrate displacement vectors based on two optical images. We found that one of the limiting factors, at least for inexperienced experimentalists, is the consistency of focusing or the drift in microscope focus. However, with properly collected images the standard error of the measurement was estimated to be on the order of +/- 0.10 pixels. Finally, although the discussion has been focused on the displacement of flexible substrata, a similar method should be applicable for detecting movements on other types of images, as long as the movement involves a certain degree of local coordination.

Non-NASA Center↗

NASA NTRS2004

Using explanatory crop models to develop simple tools for Advanced Life Support system studies

System-level analyses for Advanced Life Support require mathematical models for various processes, such as for biomass production and waste management, which would ideally be integrated into overall system models. Explanatory models (also referred to as mechanistic or process models) would provide the basis for a more robust system model, as these would be based on an understanding of specific processes. However, implementing such models at the system level may not always be practicable because of their complexity. For the area of biomass production, explanatory models were used to generate parameters and multivariable polynomial equations for basic models that are suitable for estimating the direction and magnitude of daily changes in canopy gas-exchange, harvest index, and production scheduling for both nominal and off-nominal growing conditions. c2004 COSPAR. Published by Elsevier Ltd. All rights reserved.

NASA Discipline Life Support Systems↗

NASA NTRS2004

Proceedings from the 2nd International Symposium on Formation Flying Missions and Technologies

Topics discussed include: The Stellar Imager (SI) "Vision Mission"; First Formation Flying Demonstration Mission Including on Flight Nulling; Formation Flying X-ray Telescope in L2 Orbit; SPECS: The Kilometer-baseline Far-IR Interferometer in NASA's Space Science Roadmap Presentation; A Tight Formation for Along-track SAR Interferometry; Realization of the Solar Power Satellite using the Formation Flying Solar Reflector; SIMBOL-X : Formation Flying for High-Energy Astrophysics; High Precision Optical Metrology for DARWIN; Close Formation Flight of Micro-Satellites for SAR Interferometry; Station-Keeping Requirements for Astronomical Imaging with Constellations of Free-Flying Collectors; Closed-Loop Control of Formation Flying Satellites; Formation Control for the MAXIM Mission; Precision Formation Keeping at L2 Using the Autonomous Formation Flying Sensor; Robust Control of Multiple Spacecraft Formation Flying; Virtual Rigid Body (VRB) Satellite Formation Control: Stable Mode-Switching and Cross-Coupling; Electromagnetic Formation Flight (EMFF) System Design, Mission Capabilities, and Testbed Development; Navigation Algorithms for Formation Flying Missions; Use of Formation Flying Small Satellites Incorporating OISL's in a Tandem Cluster Mission; Semimajor Axis Estimation Strategies; Relative Attitude Determination of Earth Orbiting Formations Using GPS Receivers; Analysis of Formation Flying in Eccentric Orbits Using Linearized Equations of Relative Motion; Conservative Analytical Collision Probabilities for Orbital Formation Flying; Equations of Motion and Stability of Two Spacecraft in Formation at the Earth/Moon Triangular Libration Points; Formations Near the Libration Points: Design Strategies Using Natural and Non-Natural Ares; An Overview of the Formation and Attitude Control System for the Terrestrial Planet Finder Formation Flying Interferometer; GVE-Based Dynamics and Control for Formation Flying Spacecraft; GNC System Design for a New Concept of X-Ray Distributed Telescope; GNC System for the Deployment and Fine Control of the DARWIN Free-Flying Interferometer; Formation Algorithm and Simulation Testbed; and PLATFORM: A Formation Flying, RvD and Robotic Validation Test-bench.

Source record↗

NASA NTRS2021

Locating the Isolator Shock-Train Leading Edge with Limited Pressure Information

Real-time detection and control of the isolator shock-train leading edge (STLE) is important to the performance of high-speed air-breathing engines, such as dual-mode scramjets. Typically, the STLE location is determined using wall static-pressure measurements, but there are often restrictions on the placement and overall number of the pressure transducers, reducing the viability and accuracy of such approaches. To address these issues, we introduce the adaptive pressure profile (APP) method for estimating the STLE location. This method does not require extensive prior characterization of the isolator or engine model. Instead, it uses real-time pressure measurements from a small number of transducers to adaptively learn the isolator pressure profile and subsequently uses this deduced profile to estimate the STLE location in a data-driven manner. The APP method works well in situations with sparse transducer placement. It produces accurate estimates when the STLE location is 1) not bounded by two or more transducers or 2) between two transducers that are several isolator duct heights apart. We demonstrate the efficacy of the APP method using simulations and experimental data from direct-connect isolator models. This validation shows that the APP method is accurate and robust for different flow regimes, transducer configurations, and model geometries.

Gregory J. Hunt↗

NASA NTRS2014

Entropy Stable Wall Boundary Conditions for the Compressible Navier-Stokes Equations

Non-linear entropy stability and a summation-by-parts framework are used to derive entropy stable wall boundary conditions for the compressible Navier-Stokes equations. A semi-discrete entropy estimate for the entire domain is achieved when the new boundary conditions are coupled with an entropy stable discrete interior operator. The data at the boundary are weakly imposed using a penalty flux approach and a simultaneous-approximation-term penalty technique. Although discontinuous spectral collocation operators are used herein for the purpose of demonstrating their robustness and efficacy, the new boundary conditions are compatible with any diagonal norm summation-by-parts spatial operator, including finite element, finite volume, finite difference, discontinuous Galerkin, and flux reconstruction schemes. The proposed boundary treatment is tested for three-dimensional subsonic and supersonic flows. The numerical computations corroborate the non-linear stability (entropy stability) and accuracy of the boundary conditions.

Parsani, Matteo↗

NASA NTRS2019

Rapid Prediction of Installed Jet Noise from RANS

A new method of computing jet noise, called mSrc, was developed on the general principles of acoustic analogies. In the method, the problem of translating turbulent flow energy into acoustic energy at a far-field observer is broken into two parts, a calculation of acoustic source strengths and then their propagation. The acoustic sources are related to turbulent quantities in the jet plume in a robust manner. The propagation, which is more properly computed using a Green's function accounting for nonuniform speed of sound and solid surfaces, is instead modeled using commonly observed features of jet acoustic far field directivity, and by diffraction barrier theory for surfaces. The mSrc method does not require gradients of the predicted flow field, allowing it to make use of robust unstructured RANS CFD methods, including embedded boundary codes. Such codes do not require specification of surface meshes, and auto-refine their grid to resolve flow gradients, putting resolution where it is required without a priori user input. The ability of mSrc to use such radically unstructured flow input results in an efficient method of estimating noise from jet flows from complex nozzles installed on aircraft. Many validation cases are presented to demonstrate the accuracy and range of applicability of the mSrc method for representative jet noise applications.

Bridges, James↗

NASA NTRS2019

Rapid Prediction of Installed Jet Noise From RANS

Bridges, James↗

NASA NTRS2019

Architecture and Dynamics of Kepler's Multi-Transiting Planet Systems.III. Comprehensive Investigation Using All Four Years of Kepler Mission Data

We study the orbital architectures of planetary systems orbiting within ∼1 AU of their stars by analyzing the ensemble of Kepler systems having two or more planet candidates. We use data from the entire Kepler mission, and in many cases we apply improved analysis techniques (e.g., replacing histograms by top-hat Kernel Density Estimators that avoid the loss of information resulting from choosing a particular phase for the bin boundaries) to extend and enhance the studies of Lissauer et al. (2011, ApJS 197, 8) and Fabrycky et al. (2014, ApJ 790, 146).These data show ~ 1700 transiting planet candidates in > 600 multiple-planet systems, far more than were available for our previous two studies. The increased numbers and better information about planetary radii and the properties of stellar hosts made possible by Gaia DR2 allow more statistically-robust analyses of the entire ensemble of Kepler multis as well as independent analyses of subsets of the population. We are thus able to contrast the dynamical configurations of small and large planets, short-period and longer-period planets, and planets orbiting various types of host stars. We reinforce our previous findings that most pairs of planets within the same system are neither in nor near low-order mean motion resonances and that there is a substantial excess of planets having period ratios slightly larger than those of first-order mean-motion resonances. However, neglecting three systems whose planets are locked in 3- body resonances and summing over all first-order mean motion resonances, the deficit of planet pairs with period ratios just narrow of resonance is as large as the excess of planets wide of resonance (within statistical uncertainties), suggesting that overall there is no overall excess of planet pairs in the vicinity of resonance. Other aspects of our study, including estimates of the typical relative inclinations of planetary orbits and their variations as functions of orbital period, planet sizes and stellar properties, are in progress, with results expected to be available for presentation by the time of the conference.

Lissauer, Jack↗

NASA NTRS1992

Constraints on mantle viscosity from relative sea level variations in Hudson Bay

Frechet kernels for the RSL data in Hunson Bay are computed to determine the detailed depth-dependent sensitivity of the data to variations in a viscosity profile which is consistent with the past inferences. The RSL data provide a robust constraint on the average viscosity in the top half of the lower mantle only (the average must be near 10 exp 21 Pa s). The data admit models whose average viscosity in the deep mantle (below 1800 km depth) and in the upper mantle can differ significantly from the value (near 10 exp 21 Pa s) estimated for the top half of the lower mantle. The total variation in the viscosity from the surface to the CMB can exceed an order of magnitude or more and still satisfy the constraint provided by the Hudson Bay RSL data set. The necessity of invoking an isoviscous mantle model in previous studies is a consequence of the limited class of viscosity model solutions employed in those studies.

Mitrovica, J. X.↗

NASA NTRS1996

Satellite Angular Rate Estimation From Vector Measurements

This paper presents an algorithm for estimating the angular rate vector of a satellite which is based on the time derivatives of vector measurements expressed in a reference and body coordinate. The computed derivatives are fed into a spacial Kalman filter which yields an estimate of the spacecraft angular velocity. The filter, named Extended Interlaced Kalman Filter (EIKF), is an extension of the Kalman filter which, although being linear, estimates the state of a nonlinear dynamic system. It consists of two or three parallel Kalman filters whose individual estimates are fed to one another and are considered as known inputs by the other parallel filter(s). The nonlinear dynamics stem from the nonlinear differential equation that describes the rotation of a three dimensional body. Initial results, using simulated data, and real Rossi X ray Timing Explorer (RXTE) data indicate that the algorithm is efficient and robust.

Azor, Ruth↗

NASA NTRS2005

Characterization of Meta-Materials Using Computational Electromagnetic Methods

An efficient and powerful computational method is presented to synthesize a meta-material to specified electromagnetic properties. Using the periodicity of meta-materials, the Finite Element Methodology (FEM) is developed to estimate the reflection and transmission through the meta-material structure for a normal plane wave incidence. For efficient computations of the reflection and transmission over a wide band frequency range through a meta-material a Finite Difference Time Domain (FDTD) approach is also developed. Using the Nicholson-Ross method and the Genetic Algorithms, a robust procedure to extract electromagnetic properties of meta-material from the knowledge of its reflection and transmission coefficients is described. Few numerical examples are also presented to validate the present approach.

Deshpande, Manohar↗

NASA NTRSDate not supplied

Gulf of Mexico Health & Air Quality: Mapping Methane Emission Plumes Using Sunglint-configured Imagery for Monitoring Offshore Oil and Gas Activity

We had three project objectives that we set out to accomplish. The first objective is to demonstrate how remote sensing can complement the current bottom-up methane emission assessments. Currently, quantities of disposed gas vented and flared are self-reported by operators to BOEM and BSEE. Meanwhile, inspections are uncommon, and ground sensors are non-existent. Therefore, remote sensing may be the agencies' best bet in verifying these operator accounts. The second objective is to identify methane plumes in the Gulf of Mexico, Asia, and elsewhere using Sentinel-2, LandSat, and PRISMA images, and then present an estimate of their emission rate. While methane retrievals from oil and gas infrastructure on-shore has been relatively well-documented, doing so on the offshore oil and gas platforms is more difficult, less prevalent, and contingent on the presence of specific conditions. The final objective is to give our partners, BOEM and BSEE, a more robust understanding of methane emissions from oil and gas production in the Gulf of Mexico. This increased knowledge, paired with a demonstration of methane monitoring, is intended to help our partners think about how they can incorporate remote sensing into their monitoring, regulatory and enforcement framework.

Ben Dahan↗

NASA NTRS1997

Precise Point Positioning for the Efficient and Robust Analysis of GPS Data From Large Networks

Networks of dozens to hundreds of permanently operating precision Global Positioning System (GPS) receivers are emerging at spatial scales that range from 10(exp 0) to 10(exp 3) km. To keep the computational burden associated with the analysis of such data economically feasible, one approach is to first determine precise GPS satellite positions and clock corrections from a globally distributed network of GPS receivers. Then, data from the local network are analyzed by estimating receiver specific parameters with receiver-specific data; satellite parameters are held fixed at their values determined in the global solution. This "precise point positioning" allows analysis of data from hundreds to thousands of sites every day with 40 Mflop computers, with results comparable in quality to the simultaneous analysis of all data. The reference frames for the global and network solutions can be free of distortion imposed by erroneous fiducial constraints on any sites.

Zumberge, J. F.↗

NASA NTRS1997

Precise Point Positioning for the Efficient and Robust Analysis of GPS Data from Large Networks

Networks of dozens to hundreds of permanently operating precision Global Positioning System (GPS) receivers are emerging at spatial scales that range from 10(exp 0) to 10(exp 3) km. To keep the computational burden associated with the analysis of such data economically feasible, one approach is to first determine precise GPS satellite positions and clock corrections from a globally distributed network of GPS receivers. Their, data from the local network are analyzed by estimating receiver- specific parameters with receiver-specific data satellite parameters are held fixed at their values determined in the global solution. This "precise point positioning" allows analysis of data from hundreds to thousands of sites every (lay with 40-Mflop computers, with results comparable in quality to the simultaneous analysis of all data. The reference frames for the global and network solutions can be free of distortion imposed by erroneous fiducial constraints on any sites.

Zumberge, J. F.↗