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At least 739 records · Page 41
All sourcesNASA NTRSDOE OSTI
NASA NTRS1986

On realizations of least-squares estimation and Kalman filtering by systolic arrays

Least-squares (LS) estimation is a basic operation in many signal processing problems. Given y = Ax + v, where A is a m x n coefficient matrix, y is a m x 1 observation vector, and v is a m x 1 zero mean white noise vector, a simple least-squares solution is finding the estimated vector x which minimizes the norm of /Ax-y/. It is well known that for an ill-conditioned matrix A, solving least-squares problems by orthogonal triangular (QR) decomposition and back substitution has robust numerical properties under finite word length effect since 2-norm is preserved. Many fast algorithms have been proposed and applied to systolic arrays. Gentleman-Kung (1981) first presented the trianglular systolic array for a basic Givens reduction. McWhirter (1983) used this array structure to find the least-squares estimation errors. Then by geometric approach, several different systolic array realizations of the recursive least-squares estimation algorithms of Lee et al (1981) were derived by Kalson-Yao (1985). Basic QR decomposition algorithms are considered in this paper and it is found that under a one-row time updating situation, the Householder transformation degenerates to a simple Givens reduction. Next, an improved least-squares estimation algorithm is derived by considering a modified version of fast Givens reduction. From this approach, the basic relationship between Givens reduction and Modified-Gram-Schmidt transformation can easily be understood. This improved algorithm also has simpler computational and inter-cell connection complexities while compared with other known least-squares algorithms and is more realistic for systolic array implementation.

Chen, M. J.↗
NASA NTRS1985

Evaluation and interpretation of Thematic Mapper ratios in equations for estimating corn growth parameters

Reflectance and agronomic Thematic Mapper (TM) data were analyzed to determine possible data transformations for evaluating several plant parameters of corn. Three transformation forms were used: the ratio of two TM bands, logarithms of two-band ratios, and normalized differences of two bands. Normalized differences and logarithms of two-band ratios responsed similarly in the equations for estimating the plant growth parameters evaluated in this study. Two-term equations were required to obtain the maximum predictability of percent ground cover, canopy moisture content, and total wet phytomass. Standard error of estimate values were 15-26 percent lower for two-term estimates of these parameters than for one-term estimates. The terms log(TM4/TM2) and (TM4/TM5) produced the maximum predictability for leaf area and dry green leaf weight, respectively. The middle infrared bands TM5 and TM7 are essential for maximizing predictability for all measured plant parameters except leaf area index. The estimating models were evaluated over bare soil to discriminate between equations which are statistically similar. Qualitative interpretations of the resulting prediction equations are consistent with general agronomic and remote sensing theory.

Dardner, B. R.↗
NASA NTRS1986

Error analysis of leaf area estimates made from allometric regression models

Biological net productivity, measured in terms of the change in biomass with time, affects global productivity and the quality of life through biochemical and hydrological cycles and by its effect on the overall energy balance. Estimating leaf area for large ecosystems is one of the more important means of monitoring this productivity. For a particular forest plot, the leaf area is often estimated by a two-stage process. In the first stage, known as dimension analysis, a small number of trees are felled so that their areas can be measured as accurately as possible. These leaf areas are then related to non-destructive, easily-measured features such as bole diameter and tree height, by using a regression model. In the second stage, the non-destructive features are measured for all or for a sample of trees in the plots and then used as input into the regression model to estimate the total leaf area. Because both stages of the estimation process are subject to error, it is difficult to evaluate the accuracy of the final plot leaf area estimates. This paper illustrates how a complete error analysis can be made, using an example from a study made on aspen trees in northern Minnesota. The study was a joint effort by NASA and the University of California at Santa Barbara known as COVER (Characterization of Vegetation with Remote Sensing).

Feiveson, A. H.↗
NASA NTRS1987

On the representation and estimation of spatial uncertainty

This paper describes a general method for estimating the nominal relationship and expected error (covariance) between coordinate frames representing the relative locations of objects. The frames may be known only indirectly through a series of spatial relationships, each with its associated error, arising from diverse causes, including positioning errors, measurement errors, or tolerances in part dimensions. This estimation method can be used to answer such questions as whether a camera attached to a robot is likely to have a particular reference object in its field of view. The calculated estimates agree well with those from an independent Monte Carlo simulation. The method makes it possible to decide in advance whether an uncertain relationship is known accurately enough for some task and, if not, how much of an improvement in locational knowledge a proposed sensor will provide. The method presented can be generalized to six degrees of freedom and provides a practical means of estimating the relationships (position and orientation) among objects, as well as estimating the uncertainty associated with the relationships.

Smith, Randall C.↗
NASA NTRS1988

Modeling human perception and estimation of kinematic responses during aircraft landing

The thrust of this research is to determine estimation accuracy of aircraft responses based on observed cues. By developing the geometric relationships between the outside visual scene and the kinematics during landing, visual and kinesthetic cues available to the pilot were modeled. Both fovial and peripheral vision was examined. The objective was to first determine estimation accuracy in a variety of flight conditions, and second to ascertain which parameters are most important and lead to the best achievable accuracy in estimating the actual vehicle response. It was found that altitude estimation was very sensitive to the FOV. For this model the motion cue of perceived vertical acceleration was shown to be less important than the visual cues. The inclusion of runway geometry in the visual scene increased estimation accuracy in most cases. Finally, it was shown that for this model if the pilot has an incorrect internal model of the system kinematics the choice of observations thought to be 'optimal' may in fact be suboptimal.

Schmidt, David K.↗
NASA NTRS1987

Release of magmatic water on Mars: Estimated timing and volumes

By estimating the total amount of water released by volcanic processes on Mars, the abundance of H2O at 10 m was estimated. This value was based on mapping volcanic units, estimating thicknesses and volumes, and using a 10 wt. percent value H2O from terrestrial analogs. By combining such estimates with crater count ages, it is also possible to estimate the timing of water release through Martian history.

Greeley, R.↗
NASA NTRS1988

Optimal post-experiment estimation of poorly modeled dynamic systems

Recently, a novel strategy for post-experiment state estimation of discretely-measured dynamic systems has been developed. The method accounts for errors in the system dynamic model equations in a more general and rigorous manner than do filter-smoother algorithms. The dynamic model error terms do not require the usual process noise assumptions of zero-mean, symmetrically distributed random disturbances. Instead, the model error terms require no prior assumptions other than piecewise continuity. The resulting state estimates are more accurate than filters for applications in which the dynamic model error clearly violates the typical process noise assumptions, and the available measurements are sparse and/or noisy. Estimates of the dynamic model error, in addition to the states, are obtained as part of the solution of a two-point boundary value problem, and may be exploited for numerous reasons. In this paper, the basic technique is explained, and several example applications are given. Included among the examples are both state estimation and exploitation of the model error estimates.

Mook, D. Joseph↗
NASA NTRS1989

Space shuttle propulsion estimation development verification

The application of extended Kalman filtering to estimating the Space Shuttle Propulsion performance, i.e., specific impulse, from flight data in a post-flight processing computer program is detailed. The flight data used include inertial platform acceleration, SRB head pressure, SSME chamber pressure and flow rates, and ground based radar tracking data. The key feature in this application is the model used for the SRB's, which is a nominal or reference quasi-static internal ballistics model normalized to the propellant burn depth. Dynamic states of mass overboard and propellant burn depth are included in the filter model to account for real-time deviations from the reference model used. Aerodynamic, plume, wind and main engine uncertainties are also included for an integrated system model. Assuming uncertainty within the propulsion system model and attempts to estimate its deviations represent a new application of parameter estimation for rocket powered vehicles. Illustrations from the results of applying this estimation approach to several missions show good quality propulsion estimates.

Rogers, Robert M.↗
NASA NTRS1988

Estimation of duration and mental workload at differing times of day by males and females

Two experiments are reported which investigated whether male and female operator duration estimation and subjective workload followed conventional circadian fluctuation. In the first experiment, twenty-four subjects performed a filled time-estimation task in a constant blacked-out, noise-reduced environment at 0800, 1200, 1600, and 2000 h. In the second experiment, twelve subjects performed an unfilled time estimation task in similar conditions at 0900, 1400, and 1900 h. At the termination of all experimental sessions, participants completed the NASA TLX workload assessment questionnaire as a measure of perceived mental workload. Results indicated that while physiological response followed an expected pattern, estimations of duration and subjective perception of workload showed no significant effects for time-of-day. In each of the experiments, however, there were significant differences in durational estimates and mental workload response depending upon the gender of the participant. Results are taken to support the assertion that subjective workload is responsive largely to task-related factors and indicates the important differences that may be expected due to operator gender.

Hancock, P. A.↗
NASA NTRS1989

Stochastic estimation of coherent structures in turbulent boundary layers

The stochastic estimation provides a means of estimating conditional averages from unconditional statistics, namely, the two-point correlation tensor. This technique is applied to three-dimensional data obtained in a fully turbulent boundary layer. The results of linear and nonlinear estimates are compared to the corresponding conditional averages and the agreement is found to be excellent, with little improvement for nonlinear estimates. Extensions of the technique to space-time estimates of one- and two-point conditional averages are also presented, the latter providing a means to examine structures associated with a given length scale.

Guezennec, Y. G.↗
NASA NTRS1989

The effects of clutter-rejection filtering on estimating weather spectrum parameters

The effects of clutter-rejection filtering on estimating the weather parameters from pulse Doppler radar measurement data are investigated. The pulse pair method of estimating the spectrum mean and spectrum width of the weather is emphasized. The loss of sensitivity, a measure of the signal power lost due to filtering, is also considered. A flexible software tool developed to investigate these effects is described. It allows for simulated weather radar data, in which the user specifies an underlying truncated Gaussian spectrum, as well as for externally generated data which may be real or simulated. The filter may be implemented in either the time or the frequency domain. The software tool is validated by comparing unfiltered spectrum mean and width estimates to their true values, and by reproducing previously published results. The effects on the weather parameter estimates using simulated weather-only data are evaluated for five filters: an ideal filter, two infinite impulse response filters, and two finite impulse response filters. Results considering external data, consisting of weather and clutter data, are evaluated on a range cell by range cell basis. Finally, it is shown theoretically and by computer simulation that a linear phase response is not required for a clutter rejection filter preceeding pulse-pair parameter estimation.

Davis, W. T.↗
NASA NTRS1989

Estimation of areal rainfall using the radar echo area time integral

The Area Time Integral (ATI) method of Doneaud et al. (1984) is extended to the measurement of cumulative areawide rainfall for periods up to 12 h. The extended ATI method is used to analyze data from the Florida Area Cumulus Experiment II. The relationship between radar estimated rain volume and radar-measured area covered with echoes is examined to test the possibility of obtaining values similar to conventional reflectivity-rainfall estimates of rainfall using only area measurements. The correlation between gage-estimated rain volume and radar estimated area covered with showers is also studied, focusing on the possible estimation of rain volume values using a small number of echo area observations.

Lopez, Raul E.↗
NASA NTRS1989

Estimating satellite pose and motion parameters using a novelty filter and neural net tracker

A system for determining the position, orientation and motion of a satellite with respect to a robotic spacecraft using video data is advanced. This system utilizes two levels of pose and motion estimation: an initial system which provides coarse estimates of pose and motion, and a second system which uses the coarse estimates and further processing to provide finer pose and motion estimates. The present paper emphasizes the initial coarse pose and motion estimation sybsystem. This subsystem utilizes novelty detection and filtering for locating novel parts and a neural net tracker to track these parts over time. Results of using this system on a sequence of images of a spin stabilized satellite are presented.

Lee, Andrew J.↗
NASA NTRS1990

A proposed Kalman filter algorithm for estimation of unmeasured output variables for an F100 turbofan engine

To develop advanced control systems for optimizing aircraft engine performance, unmeasurable output variables must be estimated. The estimation has to be done in an uncertain environment and be adaptable to varying degrees of modeling errors and other variations in engine behavior over its operational life cycle. This paper presents an approach to estimate unmeasured output variables by explicitly modeling the effects of off-nominal engine behavior as biases on the measurable output variables. A state variable model accommodating off-nominal behavior is developed for the engine, and Kalman filter concepts are used to estimate the required variables. Results are presented from nonlinear engine simulation studies as well as the application of the estimation algorithm on actual flight data. The formulation presented has a wide range of application since it is not restricted or tailored to the particular application described in the paper.

Alag, Gurbux S.↗
NASA NTRS1990

Sea ice-atmosphere interaction: Application of multispectral satellite data in polar surface energy flux estimates

The application of multi-spectral satellite data to estimate polar surface energy fluxes is addressed. To what accuracy and over which geographic areas large scale energy budgets can be estimated are investigated based upon a combination of available remote sensing and climatological data sets. The general approach was to: (1) formulate parameterization schemes for the appropriate sea ice energy budget terms based upon the remotely sensed and/or in-situ data sets; (2) conduct sensitivity analyses using as input both natural variability (observed data in regional case studies) and theoretical variability based upon energy flux model concepts; (3) assess the applicability of these parameterization schemes to both regional and basin wide energy balance estimates using remote sensing data sets; and (4) assemble multi-spectral, multi-sensor data sets for at least two regions of the Arctic Basin and possibly one region of the Antarctic. The type of data needed for a basin-wide assessment is described and the temporal coverage of these data sets are determined by data availability and need as defined by parameterization scheme. The titles of the subjects are as follows: (1) Heat flux calculations from SSM/I and LANDSAT data in the Bering Sea; (2) Energy flux estimation using passive microwave data; (3) Fetch and stability sensitivity estimates of turbulent heat flux; and (4) Surface temperature algorithm.

Steffen, K.↗
NASA NTRS1990

A proposed Kalman filter algorithm for estimation of unmeasured output variables for an F100 turbofan engine

To develop advanced control systems for optimizing aircraft engine performance, unmeasurable output variables must be estimated. The estimation has to be done in an uncertain environment and be adaptable to varying degrees of modeling errors and other variations in engine behavior over its operational life cycle. This paper represented an approach to estimate unmeasured output variables by explicitly modeling the effects of off-nominal engine behavior as biases on the measurable output variables. A state variable model accommodating off-nominal behavior is developed for the engine, and Kalman filter concepts are used to estimate the required variables. Results are presented from nonlinear engine simulation studies as well as the application of the estimation algorithm on actual flight data. The formulation presented has a wide range of application since it is not restricted or tailored to the particular application described.

Alag, Gurbux S.↗
NASA NTRS1991

Design of optimal second-order state estimators

The present consideration of the design of online computation-saving second-order state estimators for second-order vector-matrix differential systems proposes a class of such estimators which is proven to possess guaranteed convergence. A class of optimal second-order estimators is then obtained, and the conditions required for optimality are identified. The estimator proposed offers high performance in conjunction with online computation reductions sufficiently great to allow the estimation of the large number of state variables associated with control of large, flexible space structures represented by high-dimensional second-order systems.

Joshi, Suresh M.↗
NASA NTRS1991

Geodesy by radio interferometry - Water vapor radiometry for estimation of the wet delay

An important source of error in VLBI estimates of baseline length is unmodeled variations of the refractivity of the neutral atmosphere along the propagation path of the radio signals. This paper presents and discusses the method of using data from a water vapor radiomete (WVR) to correct for the propagation delay caused by atmospheric water vapor, the major cause of these variations. Data from different WVRs are compared with estimated propagation delays obtained by Kalman filtering of the VLBI data themselves. The consequences of using either WVR data or Kalman filtering to correct for atmospheric propagation delay at the Onsala VLBI site are investigated by studying the repeatability of estimated baseline lengths from Onsala to several other sites. The repeatability obtained for baseline length estimates shows that the methods of water vapor radiometry and Kalman filtering offer comparable accuracies when applied to VLBI observations obtained in the climate of the Swedish west coast. For the most frequently measured baseline in this study, the use of WVR data yielded a 13 percent smaller weighted-root-mean-square (WRMS) scatter of the baseline length estimates compared to the use of a Kalman filter. It is also clear that the 'best' minimum elevationi angle for VLBI observations depends on the accuracy of the determinations of the total propagation delay to be used, since the error in this delay increases with increasing air mass.

Elgered, G.↗