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NASA NTRS1940

Preliminary Investigation of the Flying Qualities of Airplanes

The National Advisory Committee for Aeronautics is undertaking an investigation of the flying qualities of airplanes. The work consists in the determination of the significant qualities susceptible of measurement, the development of the instruments required to make the measurements, and the accumulation of data on the flying qualities of existing airplanes, which data are to serve as a basis for quantitative specifications for the flying qualities of future designs. A tentative schedule of measurable flying qualities has been prepared and the instruments needed for their measurements have been assembled. A trial of the schedule and the instruments has been made using the Stinson SR-8e airplane. The results showed that, although the original schedule and instruments are basically satisfactory some further development is required to eliminate nonessential items and to expedite flight testing. The report describes and discusses the work done with this airplane.

Soule, H A↗
NASA NTRS1993

Primary display latency criteria based on flying qualities and performance data

With a pilots' increasing use of visual cue augmentation, much requiring extensive pre-processing, there is a need to establish criteria for new avionics/display design. The timeliness and synchronization of the augmented cues is vital to ensure the performance quality required for precision mission task elements (MTEs) where augmented cues are the primary source of information to the pilot. Processing delays incurred while transforming sensor-supplied flight information into visual cues are unavoidable. Relationships between maximum control system delays and associated flying qualities levels are documented in MIL-F-83300 and MIL-F-8785. While cues representing aircraft status may be just as vital to the pilot as prompt control response for operations in instrument meteorological conditions, presently, there are no specification requirements on avionics system latency. To produce data relating avionics system latency to degradations in flying qualities, the Navy conducted two simulation investigations. During the investigations, flying qualities and performance data were recorded as simulated avionics system latency was varied. Correlated results of the investigation indicates that there is a detrimental impact of latency on flying qualities. Analysis of these results and consideration of key factors influencing their application indicate that: (1) Task performance degrades and pilot workload increases as latency is increased. Inconsistency in task performance increases as latency increases. (2) Latency reduces the probability of achieving Level 1 handling qualities with avionics system latency as low as 70 ms. (3) The data suggest that the achievement of desired performance will be ensured only at display latency values below 120 ms. (4) These data also suggest that avoidance of inadequate performance will be ensured only at display latency values below 150 ms.

Funk, John D., Jr.↗
NASA NTRS1994

High angle of attack flying qualities criteria for longitudinal rate command systems

This study was designed to investigate flying qualities requirements of alternate pitch command systems for fighter aircraft at high angle of attack. Flying qualities design guidelines have already been developed for angle of attack command systems at 30, 45, and 60 degrees angle of attack, so this research fills a similar need for rate command systems. Flying qualities tasks that require post-stall maneuvering were tested during piloted simulations in the McDonnell Douglas Aerospace Manned Air Combat Simulation facility. A generic fighter aircraft model was used to test angle of attack rate and pitch rate command systems for longitudinal gross acquisition and tracking tasks at high angle of attack. A wide range of longitudinal dynamic variations were tested at 30, 45, and 60 degrees angle of attack. Pilot comments, Cooper-Harper ratings, and pilot induced oscillation ratings were taken from five pilots from NASA, USN, CAF, and McDonnell Douglas Aerospace. This data was used to form longitudinal design guidelines for rate command systems at high angle of attack. These criteria provide control law design guidance for fighter aircraft at high angle of attack, low speed flight conditions. Additional time history analyses were conducted using the longitudinal gross acquisition data to look at potential agility measures of merit and correlate agility usage to flying qualities boundaries. This paper presents an overview of this research.

Wilson, David J.↗
NASA NTRS1999

Integration of a Decentralized Linear-Quadratic-Gaussian Control into GSFC's Universal 3-D Autonomous Formation Flying Algorithm

A decentralized control is investigated for applicability to the autonomous formation flying control algorithm developed by GSFC for the New Millenium Program Earth Observer-1 (EO-1) mission. This decentralized framework has the following characteristics: The approach is non-hierarchical, and coordination by a central supervisor is not required; Detected failures degrade the system performance gracefully; Each node in the decentralized network processes only its own measurement data, in parallel with the other nodes; Although the total computational burden over the entire network is greater than it would be for a single, centralized controller, fewer computations are required locally at each node; Requirements for data transmission between nodes are limited to only the dimension of the control vector, at the cost of maintaining a local additional data vector. The data vector compresses all past measurement history from all the nodes into a single vector of the dimension of the state; and The approach is optimal with respect to standard cost functions. The current approach is valid for linear time-invariant systems only. Similar to the GSFC formation flying algorithm, the extension to linear LQG time-varying systems requires that each node propagate its filter covariance forward (navigation) and controller Riccati matrix backward (guidance) at each time step. Extension of the GSFC algorithm to non-linear systems can also be accomplished via linearization about a reference trajectory in the standard fashion, or linearization about the current state estimate as with the extended Kalman filter. To investigate the feasibility of the decentralized integration with the GSFC algorithm, an existing centralized LQG design for a single spacecraft orbit control problem is adapted to the decentralized framework while using the GSFC algorithm's state transition matrices and framework. The existing GSFC design uses both reference trajectories of each spacecraft in formation and by appropriate choice of coordinates and simplified measurement modeling is formulated as a linear time-invariant system. Results for improvements to the GSFC algorithm and a multiple satellite formation will be addressed. The goal of this investigation is to progressively relax the assumptions that result in linear time-invariance, ultimately to the point of linearization of the non-linear dynamics about the current state estimate as in the extended Kalman filter. An assessment will then be made about the feasibility of the decentralized approach to the realistic formation flying application of the EO-1/Landsat 7 formation flying experiment.

Folta, David C.↗
NASA NTRS2001

Preliminary Results of NASA's First Autonomous Formation Flying Experiment: Earth Observing-1 (EO-1)

NASA's first autonomous formation flying mission is completing a primary goal of demonstrating an advanced technology called enhanced formation flying. To enable this technology, the Guidance, Navigation, and Control center at the Goddard Space Flight Center has implemented an autonomous universal three-axis formation flying algorithm in executive flight code onboard the New Millennium Program's (NMP) Earth Observing-1 (EO-1) spacecraft. This paper describes the mathematical background of the autonomous formation flying algorithm and the onboard design and presents the preliminary validation results of this unique system. Results from functionality assessment and autonomous maneuver control are presented as comparisons between the onboard EO-1 operational autonomous control system called AutoCon(tm), its ground-based predecessor, and a stand-alone algorithm.

Folta, David↗
NASA NTRS2001

Results of NASA's First Autonomous Formation Flying Experiment: Earth Observing-1 (EO-1)

NASA's first autonomous formation flying mission completed its primary goal of demonstrating an advanced technology called enhanced formation flying. To enable this technology, the Guidance, Navigation, and Control center at the Goddard Space Flight Center (GSFC) implemented a universal 3-axis formation flying algorithm in an autonomous executive flight code onboard the New Millennium Program's (NMP) Earth Observing-1 (EO-1) spacecraft. This paper describes the mathematical background of the autonomous formation flying algorithm and the onboard flight design and presents the validation results of this unique system. Results from functionality assessment through fully autonomous maneuver control are presented as comparisons between the onboard EO-1 operational autonomous control system called AutoCon(tm), its ground-based predecessor, and a standalone algorithm.

Folta, David C.↗
NASA NTRS2002

Simulation of Guidance, Navigation, and Control Systems for Formation Flying Missions

Concepts for missions of distributed spacecraft flying in formation abound. From high resolution interferometry to spatially distributed in-situ measurements, these mission concepts levy a myriad of guidance, navigation, and control (GNC) requirements on the spacecraft/formation as a single system. A critical step toward assessing and meeting these challenges lies in realistically simulating distributed spacecraft systems. The Formation Flying TestBed (FFTB) at NASA Goddard Space Flight Center's (GSFC) Guidance, Navigation, and Control Center is a hardware-in-the-loop simulation and development facility focused on GNC issues relevant to formation flying systems. The FFTB provides a realistic simulation of the vehicle dynamics and control for formation flying missions in order to: (1) conduct feasibility analyses of mission requirements, (2) conduct and answer mission and spacecraft design trades, and (3) serve as a host for GNC software and hardware development and testing. The initial capabilities of the FFTB are based upon an integration of high fidelity hardware and software simulation, emulation, and test platforms developed or employed at GSFC in recent years, including a high-fidelity Global Positioning System (GPS) simulator which has been a fundamental component of the GNC Center's GPS Test Facility. The FFTB will be continuously evolving over the next several years from a tool with capabilities in GPS navigation hardware/software-in-the-loop analysis and closed loop GPS-based orbit control algorithm assessment. Eventually, it will include full capability to support all aspects of multi-sensor, absolute and relative state determination and control, in all (attitude and orbit) degrees of freedom, as well as information management for satellite clusters and constellations. A detailed description of the FFTB architecture is presented in the paper.

Burns, Rich↗
NASA NTRS2003

First Results from a Hardware-in-the-Loop Demonstration of Closed-Loop Autonomous Formation Flying

A closed-loop system for the demonstration of autonomous satellite formation flying technologies using hardware-in-the-loop has been developed. Making use of a GPS signal simulator with a dual radio frequency outlet, the system includes two GPS space receivers as well as a powerful onboard navigation processor dedicated to the GPS-based guidance, navigation, and control of a satellite formation in real-time. The closed-loop system allows realistic simulations of autonomous formation flying scenarios, enabling research in the fields of tracking and orbit control strategies for a wide range of applications. The autonomous closed-loop formation acquisition and keeping strategy is based on Lyapunov's direct control method as applied to the standard set of Keplerian elements. This approach not only assures global and asymptotic stability of the control but also maintains valuable physical insight into the applied control vectors. Furthermore, the approach can account for system uncertainties and effectively avoids a computationally expensive solution of the two point boundary problem, which renders the concept particularly attractive for implementation in onboard processors. A guidance law has been developed which strictly separates the relative from the absolute motion, thus avoiding the numerical integration of a target trajectory in the onboard processor. Moreover, upon using precise kinematic relative GPS solutions, a dynamical modeling or filtering is avoided which provides for an efficient implementation of the process on an onboard processor. A sample formation flying scenario has been created aiming at the autonomous transition of a Low Earth Orbit satellite formation from an initial along-track separation of 800 m to a target distance of 100 m. Assuming a low-thrust actuator which may be accommodated on a small satellite, a typical control accuracy of less than 5 m has been achieved which proves the applicability of autonomous formation flying techniques to formations of satellites as close as 50 m.

Gill, E.↗
NASA NTRS2000

Flight-Test Validation and Flying Qualities Evaluation of a Rotorcraft UAV Flight Control System

This paper presents a process of design and flight-test validation and flying qualities evaluation of a flight control system for a rotorcraft-based unmanned aerial vehicle (RUAV). The keystone of this process is an accurate flight-dynamic model of the aircraft, derived by using system identification modeling. The model captures the most relevant dynamic features of our unmanned rotorcraft, and explicitly accounts for the presence of a stabilizer bar. Using the identified model we were able to determine the performance margins of our original control system and identify limiting factors. The performance limitations were addressed and the attitude control system was 0ptimize.d for different three performance levels: slow, medium, fast. The optimized control laws will be implemented in our RUAV. We will first determine the validity of our control design approach by flight test validating our optimized controllers. Subsequently, we will fly a series of maneuvers with the three optimized controllers to determine the level of flying qualities that can be attained. The outcome enable us to draw important conclusions on the flying qualities requirements for small-scale RUAVs.

Mettler, Bernard↗
NASA NTRS2003

Development of a Crosslink Channel Simulator for Simulation of Formation Flying Satellite Systems

Multi-vehicle missions are an integral part of NASA s and other space agencies current and future business. These multi-vehicle missions generally involve collectively utilizing the array of instrumentation dispersed throughout the system of space vehicles, and communicating via crosslinks to achieve mission goals such as formation flying, autonomous operation, and collective data gathering. NASA s Goddard Space Flight Center (GSFC) is developing the Formation Flying Test Bed (FFTB) to provide hardware-in- the-loop simulation of these crosslink-based systems. The goal of the FFTB is to reduce mission risk, assist in mission planning and analysis, and provide a technology development platform that allows algorithms to be developed for mission hctions such as precision formation flying, synchronization, and inter-vehicle data synthesis. The FFTB will provide a medium in which the various crosslink transponders being used in multi-vehicle missions can be plugged in for development and test. An integral part of the FFTB is the Crosslink Channel Simulator (CCS),which is placed into the communications channel between the crosslinks under test, and is used to simulate on-orbit effects to the communications channel due to relative vehicle motion or antenna misalignment. The CCS is based on the Starlight software programmable platform developed at General Dynamics Decision Systems which provides the CCS with the ability to be modified on the fly to adapt to new crosslink formats or mission parameters.

Hart, Roger↗
NASA NTRS2004

Formation Flying: The Future of Remote Sensing from Space

Over the next two decades a revolution is likely to occur in how remote sensing of Earth, other planets or bodies, and a range of phenomena in the universe is performed from space. In particular, current launch vehicle fairing volume and mass constraints will continue to restrict the size of monolithic telescope apertures which can be launched to little or no greater size than that of the Hubble Space Telescope, the largest aperture currently flying in space. Systems under formulation today, such as the James Webb Space Telescope will be able to increase aperture size and, hence, imaging resolution, by deploying segmented optics. However, this approach is limited as well, by our ability to control such segments to optical tolerances over long distances with highly uncertain structural dynamics connecting them. Consequently, for orders of magnitude improved resolution as required for imaging black holes, imaging planets, or performing asteroseismology, the only viable approach will be to fly a collection of spacecraft in formation to synthesize a virtual segmented telescope or interferometer with very large baselines. This paper provides some basic definitions in the area of formation flying, describes some of the strategic science missions planned in the National Aeronautics and Space Administration, and identifies some of the critical technologies needed to enable some of the most challenging space missions ever conceived which have realistic hopes of flying.

Leitner, Jesse↗
NASA NTRS2007

A Concept for In-space, System-level Validation of Spacecraft Precision Formation Flying

A number of international space agencies and organizations, to include the National Aeronautics and Space Administration (NASA), the European Space Agency (ESA), and the Centre National d'Etudes Spatiales (CNES), to name a few, have embraced the concept of spacecraft formation flying to revolutionize the capabilities of astronomy and Earth remote sensing from space. The concept has been around well over a decade and a wide array of technologies and capabilities have been developed to enable multiple spacecraft to collaborate in a highly-coupled manner as would be required for a formation flying mission. Furthermore, many relevant capabilities for formation flying have been demonstrated in the area of rendezvous and docking, loosely-controlled formations, and in missions with collaborating spacecraft with very precise metrology. .However, in considering the case of precision formation flying (PFF), i.e, when the relative geometry of multiple vehicles must be controlled on-board in a continuous and precise manner, there have been several missions proposed, but the realization in space has not yet occurred due to a range of issues. This paper will briefly examine those issues and present a concept for demonstrating a core capability for performing PFF, necessary for virtually any PFF mission concept, that will help to overcome the problems encountered in prior attempts and help to allay the risks to enable future PFF science missions.

Leitner, Jesse↗
NASA NTRS2007

SIMBOL-X: A Formation Flying Mission on HEO for Exploring the Universe

SIMBOL-X is a high energy new generation telescope covering by a single instrument a continuous energy range starting at classical X-rays and extending to hard X-rays, i.e. from 0.5 to 80 keV. It is using in this field a focalizing payload which until now was used for energy below 10 keV only, via the construction of a telescope distributed on two satellites flying in formation. SIMBOL-X permits a gain of two orders of magnitude in sensibility and spatial resolution in comparison to state of the art hard X-rays instruments. The mirror satellite will be in free flight on a high elliptical orbit and will target the object to observe very precisely, thus focusing the hard X-ray emission thanks to this mirror module. At the focal point area which is situated 20 meters behind the mirror satellite, the detector satellite maintains its position on a forced orbit thanks to a radio link with the mirror satellite and a lateral displacement sensor using a beam emitted onboard the mirror satellite. This configuration is said "formation flying". The location of the detector satellite shall be very finely tuned as it carries the focal plane of this distributed telescope. To provide science measurements, the Simbol-X orbit has been chosen High elliptic (HEO), which means elliptical orbit with a high perigee altitude. Preliminary studies where made with an orbit with an altitude of the perigee of 44000km and altitude of the apogee of 253000km. The orbit was seven days ground track repeated in order to maintain a perigee pass over the Malindi ground station to download scientific telemetry. But as studies went on, difficulties in mass budget, link budget, perigee maintenance and formation flying maintenance were raised. This was mainly due to the vicinity of the Moon and its disturbing effect on the satellites orbits. Alternative orbits have been proposed in order to demonstrate the feasibility of the mission. The problematic of bringing the two satellites from their injection orbit to their operational orbit 20 m apart from each other and then maintain this configuration is very challenging. It requires theoretical development of the relative motion between two satellites in high eccentric orbit with large differential disturbance on the two bodies. This paper will present the mission analysis for the Simbol-X satellites with the complex problematic of doing formation flying in high elliptic orbit.

Gamet, Philippe↗
NASA NTRS2009

Return to Flying Duties Following Centrifuge or Vibration Exposures

Introduction: In an effort to determine the human performance limits for vibration in spacecraft being developed by NASA, astronauts were evaluated during a simulated launch profile in a centrifuge/vibration environment and separate vibration-only simulation. Current USAF and Army standards for return to flight following centrifuge exposures require 12-24 hours to pass before a crewmember may return to flying duties. There are no standards on vibration exposures and return to flying duties. Based on direct observation and provocative neurological testing of the astronauts, a new standard for return to flying duties following centrifuge and/or vibration exposures was established. Methods: 13 astronaut participants were exposed to simulated launch profiles in a + 3.5 Gx bias centrifuge/vibration environment and separately on a vibration table at the NASA-Ames Research Center. Each subject had complete neurological evaluations pre- and post-exposure for the centrifuge/vibration runs with the NASA neurological function rating scale (NFRS). Subjects who participated in the vibration-only exposures had video oculography performed with provocative maneuvers in addition to the NFRS. NFRS evaluations occurred immediately following each exposure and at 1 hour post-run. Astronauts who remained symptomatic at 1 hour had repeat NFRS performed at 1 hour intervals until the crewmember was asymptomatic. Results: Astronauts in the centrifuge/vibration study averaged a 3-5 point increase in NFRS scores immediately following exposure but returned to baseline 3 hours post-run. Subjects exposed to the vibration-only simulation had a 1-3 point increase following exposure and returned to baseline within 1-2 hours. Pre- and post- vibration exposure video oculography did not reveal any persistent ocular findings with provocative testing 1 hour post-exposure. Discussion: Based on direct observations and objective measurement of neurological function in astronauts following simulated launch profiles, asymptomatic individuals are allowed to return to flying duties within 3 hours following centrifuge/vibration and 2 hours after vibration-only exposures.

Scheuring, Richard A.↗
NASA NTRS2005

Formation Flying of Tethered and Nontethered Spacecraft

A paper discusses the effect of the dynamic interaction taking place within a formation composed of a rigid and a deformable vehicle, and presents the concept of two or more tethered spacecraft flying in formation with one or more separated free-flying spacecraft. Although progress toward formation flight of nontethered spacecraft has already been achieved, the document cites potential advantages of tethering, including less consumption of fuel to maintain formation, very high dynamic stability of a rotating tethered formation, and intrinsically passive gravity-gradient stabilization. The document presents a theoretical analysis of the dynamics of a system comprising one free-flying spacecraft and two tethered spacecraft in orbit, as a prototype of more complex systems. The spacecraft are modeled as rigid bodies and the tether as a mass-less spring with structural viscous damping. Included in the analysis is a study of the feasibility of a centralized control system for maintaining a required formation in low Earth orbit. A numerical simulation of a retargeting maneuver is reported to show that even if the additional internal dynamics of the system caused by flexibility is considered, high pointing precision can be achieved if a fictitious rigid frame is used to track the tethered system, and it should be possible to position the spacecraft with centimeter accuracy and to orient the formation within arc seconds of the desired direction also in the presence of low Earth orbit environmental perturbations. The results of the study demonstrate that the concept is feasible in Earth orbit and point the way to further study of these hybrid tethered and free-flying systems for related applications in orbit around other Solar System bodies.

Quadrelli, Marco B.↗
NASA NTRS2004

Ka-Band Autonomous Formation Flying Sensor

Ka-band integrated range and bearing-angle formation sensor called the Autonomous Formation Flying (AFF) Sensor has been developed to enable deep-space formation flying of multiple spacecraft. The AFF Sensor concept is similar to that of the Global Positioning System (GPS), but the AFF Sensor would not use the GPS. The AFF Sensor would reside in radio transceivers and signal-processing subsystems aboard the formation-flying spacecraft. A version of the AFF Sensor has been developed for initial application to the two-spacecraft StarLight optical-interferometry mission, and several design investigations have been performed. From the prototype development, it has been concluded that the AFF Sensor can be expected to measure distances and directions with standard deviations of 2 cm and 1 arc minute, respectively, for spacecraft separations ranging up to about 1 km. It has also been concluded that it is necessary to optimize performance of the overall mission through design trade-offs among the performance of the AFF Sensor, the field of view of the AFF Sensor, the designs of the spacecraft and the scientific instruments that they will carry, the spacecraft maneuvers required for formation flying, and the design of a formation-control system.

Tien, Jeffrey↗
NASA NTRS2012

Flying Schedule-Matching Descents to Explore Flight Crews' Perceptions of Their Load and Task Feasibility

Multiple studies have investigated the development and use of ground-based (controller) tools to manage and schedule traffic in future terminal airspace. No studies have investigated the impacts that such tools (and concepts) could have on the flight-deck. To begin to redress the balance, an exploratory study investigated the procedures and actions of ten Boeing-747-400 crews as they flew eight continuous descent approaches in the Los Angeles terminal airspace, with the descents being controlled using speed alone. Although the study was exploratory in nature, four variables were manipulated: speed changes, route constraints, clearance phraseology, and winds. Despite flying the same scenarios with the same events and timing, there was at least a 50 second difference in the time it took crews to fly the approaches. This variation is the product of a number of factors but highlights potential difficulties for scheduling tools that would have to accommodate this amount of natural variation in descent times. The primary focus of this paper is the potential impact of ground scheduling tools on the flight crews performance and procedures. Crews reported "moderate to low" workload, on average; however, short periods of intense and high workload were observed. The non-flying pilot often reported a higher level of workload than the flying-pilot, which may be due to their increased interaction with the Flight Management Computer, when using the aircraft automation to assist with managing the descent clearances. It is concluded that ground-side tools and automation may have a larger impact on the current-day flight-deck than was assumed and that studies investigating this impact should continue in parallel with controller support tool development.

Martin, Lynne Hazel↗
NASA NTRS2015

Verification of a Remaining Flying Time Prediction System for Small Electric Aircraft

This paper addresses the problem of building trust in online predictions of a battery powered aircraft's remaining available flying time. A set of ground tests is described that make use of a small unmanned aerial vehicle to verify the performance of remaining flying time predictions. The algorithm verification procedure described here uses a fully functional vehicle that is restrained to a platform for repeated run-to-functional-failure experiments. The vehicle under test is commanded to follow a predefined propeller RPM profile in order to create battery demand profiles similar to those expected in flight. The fully integrated aircraft is repeatedly operated until the charge stored in powertrain batteries falls below a specified lower-limit. The time at which the lower-limit on battery charge is crossed is then used to measure the accuracy of remaining flying time predictions. Accuracy requirements are considered in this paper for an alarm that warns operators when remaining flying time is estimated to fall below a specified threshold.

Hogge, Edward F.↗