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At least 667 records · Page 37

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NASA NTRS1984

Optical Kalman filtering for missile guidance

Optical systolic array processors constitute a powerful and general-purpose set of optical architectures with high computational rates. In this paper, Kalman filtering, a novel application for these architectures, is investigated. All required operations are detailed; their realization by optical and special-purpose analog electronics are specified; and the processing time of the system is quantified. The specific Kalman filter application chosen is for an air-to-air missile guidance controller. The architecture realized in this paper meets the design goal of a fully adaptive Kalman filter which processes a measurement every 1 msec. The vital issue of flow and pipelining of data and operations in a systolic array processor is addressed. The approach is sufficiently general and can be realized on an optical or digital systolic array processor.

Casasent, D.↗

NASA NTRS1984

On the implementation of modal filters for control of structures

The most common technique for the control of structures is modal control. In modal control, the differential equations in terms of actual coordinates are replaced by a set of ordinary differential equations in terms of the modal coordinates known as modal equations. In designing feedback controls in conjunction with the modal equations, one must know the modal states for the modes targeted for control. The sensors measure actual states, however. The modal states can be estimated by means of a Luenberger observer or modal filters. The modal filters produce estimates of the modal states from distributed measurements of the states. If distributed measurements are not available, then they can be reconstructed from measurements at discrete points via interpolation. This paper examines various questions associated with the implementation of modal filters, such as the effect of choice of interpolation functions and sensors locations, as well as of measurement errors, on the state estimation process. The method is demonstrated by means of two numerical examples.

Meirovitch, L.↗

NASA NTRS1984

Cryogenic metal mesh bandpass filters for submillimeter astronomy

The design and performance of a tunable double-half-wave bandpass filter centered at 286 microns (Delta lambda/lambda = 0.16) and operating at cryogenic temperatures (for astronomy applications) are presented. The operating principle is explained, and the fabrication of the device, which comprises two identical mutually coupled Fabry-Perot filters with electroformed Ni-mesh reflectors and is tuned by means of variable spacers, is described. A drawing of the design and graphs of computed and measured performance are provided. Significantly improved bandpass characteristics are obtained relative to the single Fabry-Perot filter.

Dragovan, M.↗

NASA NTRS1984

Superconducting Nbti and Pb(cu) Bandpass Filters

Superconducting Nb0.45Ti0.55 and Pb electroplated on Cu bandpass microwave filtes were constructed to investigate their low loss properties at 4.7 K. An interdigital stripline filter configuration was selected as the optimum structure for future applications. The filter was designed to operate at 8.45 GHz with an equal ripple bandwidth of 0.15 GHz. The insertion loss and the noise temperature contribution were measured at 4.7 K. In addition, the insertion loss was studied as a function of out of band power (up to 1 watt) and temperature (4.7 K up to T(c)). Results of an oxygen free high conductivity Cu filter are included for comparison.

Bautista, J. J.↗

NASA NTRS1984

Evaluation of a Magneto-optical Filter and a Fabry-perot Interferometer for the Measurement of Solar Velocity Fields from Space

A program was developed to evaluate the performance of three different devices as possible space-borne solar velocity field imagers. Two of these three devices, a magneto-optical filter and a molecular adherence Fabry-Perot interferometer were installed in a newly-constructed observing system located at the 60-foot tower telescope at the Mt. Wilson Observatory. Time series of solar filtergrams and Dopplergrams lasting up to 10 hours per day were obtained with the filter while shorter runs were obtained with the Fabry-Perot. Two-dimensional k (sub h)-omega power spectra which show clearly the well-known p-mode ridges were computed from the time series obtained with the magneto-optical filter. These power spectra were compared with similar power spectra obtained recently with the 13.7-m McMath spectrograph at Kitt Peak.

Rhodes, E. J., Jr.↗

NASA NTRS1984

Kalman filter modeling

The formulation of appropriate state-space models for Kalman filtering applications is studied. The so-called model is completely specified by four matrix parameters and the initial conditions of the recursive equations. Once these are determined, the die is cast, and the way in which the measurements are weighted is determined foreverafter. Thus, finding a model that fits the physical situation at hand is all important. Also, it is often the most difficult aspect of designing a Kalman filter. Formulation of discrete state models from the spectral density and ARMA random process descriptions is discussed. Finally, it is pointed out that many common processes encountered in applied work (such as band-limited white noise) simply do not lend themselves very well to Kalman filter modeling.

Brown, R. G.↗

NASA NTRS1984

Relationship between Allan variances and Kalman Filter parameters

A relationship was constructed between the Allan variance parameters (H sub z, H sub 1, H sub 0, H sub -1 and H sub -2) and a Kalman Filter model that would be used to estimate and predict clock phase, frequency and frequency drift. To start with the meaning of those Allan Variance parameters and how they are arrived at for a given frequency source is reviewed. Although a subset of these parameters is arrived at by measuring phase as a function of time rather than as a spectral density, they all represent phase noise spectral density coefficients, though not necessarily that of a rational spectral density. The phase noise spectral density is then transformed into a time domain covariance model which can then be used to derive the Kalman Filter model parameters. Simulation results of that covariance model are presented and compared to clock uncertainties predicted by Allan variance parameters. A two state Kalman Filter model is then derived and the significance of each state is explained.

Vandierendonck, A. J.↗

NASA NTRS1985

Stokes parameters modulator for birefringent filters

The Solar Birefringent Filter (Filter Polarisiant Solaire Selectif FPSS) of Meudon Observatory is presently located at the focus of a solar refractor with a 28 cm lens directly pointed at the Sun. It produces a diffraction limited image without instrumental polarization and with a spectral resolution of 46,000 in a field of 6 arc min. diameter. The instrument is calibrated for absolute Doppler velocity measurements and is presently used for quantitative imagery of the radial velocity motions in the photosphere. The short period oscillations are recorded. Work of adapting the instrument for the imagery of the solar surface in the Stokes parameters is discussed. The first polarizer of the birefringent filter, with a reference position angle 0 deg, is associated with a fixed quarter wave plate at +45 deg. A rotating quarter wave plate is set at 0 deg and can be turned by incremented steps of exactly +45 deg. Another quarter wave plate also initially set at 0 deg is simultaneously incremented by -45 deg but only on each even step of the first plate. A complete cycle of increments produces images for each of the 6 parameters I + or - Q, I + or - U and I + or - V. These images are then subtracted by pairs to produce a full image in the three Stokes parameters Q, U and V. With proper retardation tolerance and positioning accuracy of the quarter wave plates, the cross talk between the Stokes parameters was calculated and checked to be minimal.

Dollfus, A.↗

NASA NTRS1985

A Residuals Approach to Filtering, Smoothing and Identification for Static Distributed Systems

An approach for state estimation and identification of spatially distributed parameters embedded in static distributed (elliptic) system models is advanced. The method of maximum likelihood is used to find parameter values that maximize a likelihood functional for the system model, or equivalently, that minimize the negative logarithm of this functional. To find the minimum, a Newton-Raphson search is conducted that from an initial estimate generates a convergent sequence of parameter estimates. For simplicity, a Gauss-Markov approach is used to approximate the Hessian in terms of products of first derivatives. The gradient and approximate Hessian are computed by first arranging the negative log likelihood functional into a form based on the square root factorization of the predicted covariance of the measurement process. The resulting data processing approach, referred to here by the new term of predicted data covariance square root filtering, makes the gradient and approximate Hessian calculations very simple. A closely related set of state estimates is also produced by the maximum likelihood method: smoothed estimates that are optimal in a conditional mean sense and filtered estimates that emerge from the predicted data covariance square root filter.

Rodriguez, G.↗

NASA NTRS1985

Progress in adaptive control of flexible spacecraft using lattice filters

This paper reviews the use of the least square lattice filter in adaptive control systems. Lattice filters have been used primarily in speech and signal processing, but they have utility in adaptive control because of their order-recursive nature. They are especially useful in dealing with structural dynamics systems wherein the order of a controller required to damp a vibration is variable depending on the number of modes significantly excited. Applications are presented for adaptive control of a flexible beam. Also, difficulties in the practical implementation of the lattice filter in adaptive control are discussed.

Sundararajan, N.↗

NASA NTRS1986

Nonlinear filtering for spacecraft attitude estimation

Nonlinear filtering techniques are applied to spacecraft attitude estimation using quaternion parameterization for the attitude kinematics. By replacing the angular velocity vector by the gyro output vector, a state dependent noise vector is introduced in the seven-dimensional system equations. The resulting conditional probability density function from the Ito differential rule is governed by the Fokker Planck partial differential equation which is approximated by the second order mean and covariance differential equations. In order to minimize computer loading, the covariance propagation is carried out in six-dimensional state space using a matrix transformation. The star tracker data is used to update the covariance matrix in the seven-dimensional space. The algorithm is simulated for an earth pointing spacecraft mission, using Monte Carlo samples of gyro and star measurements. The performance of the second order filter is compared with the extended Kalman Filter through several simulation runs and drift rates have been identified.

Vathsal, S.↗

NASA NTRS1986

A new method for fabrication of diamond-dust blocking filters

Thermal embedding of diamond dust onto a polyethylene-coated Al plate has been used to make a blocking filter for FIR applications. The Al plate is sandwiched between two Mylar 'blankets' and the air between the layers is removed by means of a small vacuum pump. After the polyethylene is heated and softened, the diamond dust is applied to the polyethylene coating using a brush. The optimum diamond dust grain sizes corresponding to polyethylene layer thicknesses of 9-12 microns are given in a table, and the application of the blocking filter to spectrometric measurements in the FIR is described. An exploded view diagram of the layered structure of the blocking filter is provided.

Collard, H. R.↗

NASA NTRS1987

Recursive Robot-Arm Dynamics via Filtering and Smoothing

Forward and inverse dynamics solved using Kalman filtering and Bryson-Frazier smoothing. Dynamics of serial-link robot arm solved by using recursive techniques from linear filtering and smoothing theory. Solutions of dynamical equations give forces, moments, and accelerations at joints between links, and multilink inertia matrix and its inverse. Theoretical developments lay foundation for use of filtering and smoothing techniques in design of robot controls.

Rodriguez, Guillermo↗

NASA NTRS1986

Systolic VLSI for Kalman filters

A novel two-dimensional parallel computing method for real-time Kalman filtering is presented. The mathematical formulation of a Kalman filter algorithm is rearranged to be the type of Faddeev algorithm for generalizing signal processing. The data flow mapping from the Faddeev algorithm to a two-dimensional concurrent computing structure is developed. The architecture of the resulting processor cells is regular, simple, expandable, and therefore naturally suitable for VLSI chip implementation. The computing methodology and the two-dimensional systolic arrays are useful for Kalman filter applications as well as other matrix/vector based algebraic computations.

Yeh, H.-G.↗

NASA NTRS1986

CLAES blocker filter rejection requirements

Some details of the calculations of out-of-band spectral rejection requirements for the CLAES blocker filters are described. For a particular blocker centered within an etalon bandpass, the signal to be expected when a particular etalon transmission peak is centered at the central wavelength of the blocker filter is calculated. This signal is compared with the total signal arising from all other transmission peaks within the etalon bandpass and all of the radiation from the entire spectrum outside of the etalon bandpass. The results for a few of the blocker filters are listed, and the design goals are compared with theoretical design results.

James, T. C.↗

NASA NTRS1986

Astronomical imaging by filtered weighted-shift-and-add technique

The weighted-shift-and-add speckle imaging technique is analyzed using simple assumptions. The end product is shown to be a convolution of the object with a typical point-spread function (psf) that is similar in shape to the telescope psf and depends marginally on the speckle psf. A filter can be applied to each data frame before locating the maxima, either to identify the speckle locations (matched filter) or to estimate the instantaneous atmospheric psf (Wiener filter). Preliminary results show the power of the technique when applied to photon-limited data and to extended objects.

Ribak, Erez↗

NASA NTRS1986

Prediction filters for the Dst index and the polar cap potential

The technique of linear prediction filtering is used to create filters relating solar wind parameters to the Dst index and to the polar cap potential. The square root of solar wind dynamic pressure and the solar wind electric field together are found to account for nearly 70 percent of the Dst variance. The prediction filter for the polar cap potential requires the square of the solar wind velocity and the solar wind electric field as inputs. The results suggest that both polar cap potential and ring current injection are primarily controlled by the solar wind, and that substorm expansions do not play a major role in ring current injection.

Fay, R. A.↗

NASA NTRS1987

Pattern recogition using reduced information content filters

Pattern recognition by optical spatial filtering procedures is discussed using general considerations with the objective of reducing the information content in the spatial filter. The achievement of this objective is very useful toward the wide application of spatial light modulators and also for facilitating distortion invariant recognition. The proposed novel approach is demonstrated by an example employing bipolar spatial filters for rotation invariant pattern recognition.

Shamir, Joseph↗