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At least 847 records · Page 47

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NASA NTRS2015

Cauchy Drag Estimation For Low Earth Orbiters

Recent work on minimum variances estimators based on Cauchy distributions appear relevant to orbital drag estimation. Samples form Cauchy distributions which are part of a class of heavy-tailed distributions, are characterized by long stretches of fairly small variation, punctuated by large variations that are many times larger than could be expected from a Gaussian. Such behavior can occur when solar storms perturb the atmosphere. In this context, the present work describes an embedding of the scalar Idan-Speyer Cauchy Estimator to estimate density corrections, within an Extended Kalman Filter that estimates the state of a low Earth orbiter. In contrast to the baseline Kalman approach, the larger formal errors of the present approach fully and conservatively bound the predictive error distribution, even in the face of unanticipated density disturbances of hundreds of percent.

Low Earth↗

NASA NTRS1995

Performance analysis of a GPS Interferometric attitude determination system for a gravity gradient stabilized spacecraft

The performance of an unaided attitude determination system based on GPS interferometry is examined using linear covariance analysis. The modelled system includes four GPS antennae onboard a gravity gradient stabilized spacecraft, specifically the Air Force's RADCAL satellite. The principal error sources are identified and modelled. The optimal system's sensitivities to these error sources are examined through an error budget and by varying system parameters. The effects of two satellite selection algorithms, Geometric and Attitude Dilution of Precision (GDOP and ADOP, respectively) are examined. The attitude performance of two optimal-suboptimal filters is also presented. Based on this analysis, the limiting factors in attitude accuracy are the knowledge of the relative antenna locations, the electrical path lengths from the antennae to the receiver, and the multipath environment. The performance of the system is found to be fairly insensitive to torque errors, orbital inclination, and the two satellite geometry figures-of-merit tested.

Stoll, John C.↗

DOE OSTI2020

Filtering adaptive output feedback control for multivariable nonlinear systems with mismatched uncertainties and unmodeled dynamics

This article synthesizes a filtering adaptive output feedback controller for multivariable nonlinear systems with mismatched uncertainties and unmodeled dynamics. The multivariable nonlinear systems under consideration have both matched and mismatched uncertainties, which satisfy the semiglobal Lipschitz condition. The unmodeled dynamics are bounded-input bounded-output stable. By adopting an estimation/cancellation strategy, a piecewise constant adaptive law drives the estimation error to zero at every time instant, which yields the adaptive parameters; a disturbance rejection control law is designed to compensate the nonlinear uncertainties within the bandwidth of low-pass filters. The matched uncertainties are cancelled directly by adopting their opposite in the control signal, while a dynamic inversion of the system is required to eliminate the effect of the mismatched uncertainties on the output. A feedforward control law is designed to track a given command. Since the virtual reference system defines the best performance that can be achieved by the closed-loop system, the uniform performance bounds are derived for the states and control signals via comparison. Both numerical and practical examples are provided to illustrate the effectiveness of the proposed filtering adaptive output feedback control architecture, comparisons with the model reference adaptive control demonstrates the superiority of the proposed control method.

filtering adaptive control, mismatched uncertainit↗

DOE OSTI2022

Decoding Golden Eagle Movement Behavior from High-Resolution, Variable-Rate Telemetry Data Through Bayesian Filtering

The recent advances in animal tracking technology have enabled the collection of a vast amount of in situ data regarding the movement of wildlife at high spatiotemporal resolution. These data are usually available at variable time resolutions and contains noise (error) originating from GPS fixes. Decoding movement characteristics, particularly of flying animals, from telemetry data while handling these factors is a challenging yet important task for conservation purposes. Typically, this task is broken into two subtasks: resampling, and model calibration. The resampling subtask converts the variable rate positional data into a constant time interval data, while the model calibration subtask uses the resampled data to tune time-invariant parameters of the proposed models. For telemetry data at high temporal resolutions (order of 1 second), it is very challenging to decouple noise from actual movements using interpolation-based resampling techniques. Any errors introduced during resampling can significantly alter the the calibration and prediction attributes of the movement model. We address this problem through a unified Bayesian state-space framework that can handle both the resampling and calibration tasks in a single step. In addition, we use the speed and heading of the bird from telemetry data to regularize the position information of the bird. We use a Kalman filtering approach to include these nonlinearly related motion parameters within the state space framework. We cross-validated to quantify how this inclusion affects the model performance in estimating true bird movements. The relationship between the true state of the bird and environmental and topographical covariates is then represented parametrically. These parameters are then tuned using stochastic sampling strategies like Markov Chain Monte Carlo (MCMC). We use the telemetry data collected from golden eagles in the western USA to demonstrate the applicability of this approach to build a predictive, probabilistic movement model. Our preliminary results show that this approach provides improved predictive performance in terms of capturing higher-order motion parameters such as angular and horizontal accelerations, which may have simpler and more direct relationships with environmental covariates than corresponding speeds. In this talk, we will demonstrate how this state-space approach benefits the prediction capabilities of a movement model in simulating golden eagle paths through a wind power plant in Wyoming given certain atmospheric conditions. The model outcomes are aimed at informing mitigation strategies that can minimize the potential for collisions of golden eagles with wind turbines.

Bayesian methods↗

NASA NTRS1996

ARTSN: An Automated Real-Time Spacecraft Navigation System

As part of the Deep Space Network (DSN) advanced technology program an effort is underway to design a filter to automate the deep space navigation process.The automated real-time spacecraft navigation (ARTSN) filter task is based on a prototype consisting of a FORTRAN77 package operating on an HP-9000/700 workstation running HP-UX 9.05. This will be converted to C, and maintained as the operational version. The processing tasks required are: (1) read a measurement, (2) integrate the spacecraft state to the current measurement time, (3) compute the observable based on the integrated state, and (4) incorporate the measurement information into the state using an extended Kalman filter. This filter processes radiometric data collected by the DSN. The dynamic (force) models currently include point mass gravitational terms for all planets, the Sun and Moon, solar radiation pressure, finite maneuvers, and attitude maintenance activity modeled quadratically. In addition, observable errors due to troposphere are included. Further data types, force and observable models will be ncluded to enhance the accuracy of the models and the capability of the package. The heart of the ARSTSN is a currently available continuous-discrete extended Kalman filter. Simulated data used to test the implementation at various stages of development and the results from processing actual mission data are presented.

Burkhart, P. Daniel↗

NASA NTRS1981

Sample data effects of high-pass filters

Four mathematical models of linear first and second order high pass washout filters were analyzed. These models were Euler's Integration, Zero-Order Hold, Bilinear Transformation, and Second-Order Adams-Bashforth Integration. Bode responses for each model at various sample rates were compared to the continuous filter response. Higher sample rates produced Bode responses approaching the continuous response and the Bilinear Transformation model produced the best responses over the frequency spectrum and sample rates. Pole location analysis of each model in the z-plane showed the Bilinear Transformation and Zero-Order Hold models gave stable poles regardless of time step size, whereas the other models did not display stable poles. A near constant gain error over the entire frequency spectrum was discovered in the Zero-Order Hold cases and a correction gain was calculated for the first-order high-pass filter case.

Chin, D. O.↗

NASA NTRS2001

Dynamic regulation of heart rate during acute hypotension: new insight into baroreflex function

To examine the dynamic properties of baroreflex function, we measured beat-to-beat changes in arterial blood pressure (ABP) and heart rate (HR) during acute hypotension induced by thigh cuff deflation in 10 healthy subjects under supine resting conditions and during progressive lower body negative pressure (LBNP). The quantitative, temporal relationship between ABP and HR was fitted by a second-order autoregressive (AR) model. The frequency response was evaluated by transfer function analysis. Results: HR changes during acute hypotension appear to be controlled by an ABP error signal between baseline and induced hypotension. The quantitative relationship between changes in ABP and HR is characterized by a second-order AR model with a pure time delay of 0.75 s containing low-pass filter properties. During LBNP, the change in HR/change in ABP during induced hypotension significantly decreased, as did the numerator coefficients of the AR model and transfer function gain. Conclusions: 1) Beat-to-beat HR responses to dynamic changes in ABP may be controlled by an error signal rather than directional changes in pressure, suggesting a "set point" mechanism in short-term ABP control. 2) The quantitative relationship between dynamic changes in ABP and HR can be described by a second-order AR model with a pure time delay. 3) The ability of the baroreflex to evoke a HR response to transient changes in pressure was reduced during LBNP, which was due primarily to a reduction of the static gain of the baroreflex.

Clinical Trial↗

NASA NTRS1998

Spectral Characterizations of the Clouds and the Earth's Radiant Energy System (CERES) Thermistor Bolometers using Fourier Transform Spectrometer (FTS) Techniques

Fourier Transform Spectrometer (FTS) techniques are being used to characterize the relative spectral response, or sensitivity, of scanning thermistor bolometers in the infrared (IR) region (2 - >= 100-micrometers). The bolometers are being used in the Clouds and the Earth's Radiant Energy System (CERES) program. The CERES measurements are designed to provide precise, long term monitoring of the Earth's atmospheric radiation energy budget. The CERES instrument houses three bolometric radiometers, a total wavelength (0.3- >= 150-micrometers) sensor, a shortwave (0.3-5-micrometers) sensor, and an atmospheric window (8-12-micrometers) sensor. Accurate spectral characterization is necessary for determining filtered radiances for longwave radiometric calibrations. The CERES bolometers spectral response's are measured in the TRW FTS Vacuum Chamber Facility (FTS - VCF), which uses a FTS as the source and a cavity pyroelectric trap detector as the reference. The CERES bolometers and the cavity detector are contained in a vacuum chamber, while the FTS source is housed in a GN2 purged chamber. Due to the thermal time constant of the CERES bolometers, the FTS must be operated in a step mode. Data are acquired in 6 IR spectral bands covering the entire longwave IR region. In this paper, the TRW spectral calibration facility design and data measurement techniques are described. Two approaches are presented which convert the total channel FTS data into the final CERES spectral characterizations, producing the same calibration coefficients (within 0.1 percent). The resulting spectral response curves are shown, along with error sources in the two procedures. Finally, the impact of each spectral response curve on CERES data validation will be examined through analysis of filtered radiance values from various typical scene types.

Thornhill, K. Lee↗

NASA NTRS1993

Quaternion normalization in spacecraft attitude determination

Attitude determination of spacecraft usually utilizes vector measurements such as Sun, center of Earth, star, and magnetic field direction to update the quaternion which determines the spacecraft orientation with respect to some reference coordinates in the three dimensional space. These measurements are usually processed by an extended Kalman filter (EKF) which yields an estimate of the attitude quaternion. Two EKF versions for quaternion estimation were presented in the literature; namely, the multiplicative EKF (MEKF) and the additive EKF (AEKF). In the multiplicative EKF, it is assumed that the error between the correct quaternion and its a-priori estimate is, by itself, a quaternion that represents the rotation necessary to bring the attitude which corresponds to the a-priori estimate of the quaternion into coincidence with the correct attitude. The EKF basically estimates this quotient quaternion and then the updated quaternion estimate is obtained by the product of the a-priori quaternion estimate and the estimate of the difference quaternion. In the additive EKF, it is assumed that the error between the a-priori quaternion estimate and the correct one is an algebraic difference between two four-tuple elements and thus the EKF is set to estimate this difference. The updated quaternion is then computed by adding the estimate of the difference to the a-priori quaternion estimate. If the quaternion estimate converges to the correct quaternion, then, naturally, the quaternion estimate has unity norm. This fact was utilized in the past to obtain superior filter performance by applying normalization to the filter measurement update of the quaternion. It was observed for the AEKF that when the attitude changed very slowly between measurements, normalization merely resulted in a faster convergence; however, when the attitude changed considerably between measurements, without filter tuning or normalization, the quaternion estimate diverged. However, when the quaternion estimate was normalized, the estimate converged faster and to a lower error than with tuning only. In last years, symposium we presented three new AEKF normalization techniques and we compared them to the brute force method presented in the literature. The present paper presents the issue of normalization of the MEKF and examines several MEKF normalization techniques.

Deutschmann, 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

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 NTRS1962

Application of Statistical Filter Theory to the Optimal Estimation of Position and Velocity on Board a Circumlunar Vehicle

Concepts from statistical filter theory are applied to the problem of in-flight determination of the position and velocity of a space vehicle for the purposes of midcourse guidance. The source of information is assumed to be an arbitrary sequence of measurements of any desired set of "observables" (e.g., space angles), the measurements being corrupted by additive errors so that the position and velocity are never known perfectly. A state transition approach is employed which leads naturally to a computational scheme that is readily implemented by a digital computer. The scheme can be regarded as a dynamical time-varying filter which weights the incoming observations in an optimal sense for use in producing an up-to-date optimal estimate of position and velocity. The advantages of the scheme are (1) it provides the best possible estimate (minimum error) based upon ensemble statistics of injection conditions and measurement errors; (2) it is extremely versatile, not requiring adherence to a predetermined observation schedule or reference trajectory; and (3) the computations are sufficiently simple to be practical in an on-board computer. A digital computer simulation of the proposed system is employed to demonstrate the feasibility of an all on-board system and to illustrate the performance attainable in a hypothetical physical situation.

SPACE VEHICLE↗

NASA NTRS1972

Improved navigation by combining VOR/DME information with air or inertial data

The improvement was determined in navigational accuracy obtainable by combining VOR/DME information (from one or two stations) with air data (airspeed and heading) or with data from an inertial navigation system (INS) by means of a maximum-likelihood filter. It was found that the addition of air data to the information from one VOR/DME station reduces the RMS position error by a factor of about 2, whereas the addition of inertial data from a low-quality INS reduces the RMS position error by a factor of about 3. The use of information from two VOR/DME stations with air or inertial data yields large factors of improvement in RMS position accuracy over the use of a single VOR/DME station, roughly 15 to 20 for the air-data case and 25 to 35 for the inertial-data case. As far as position accuracy is concerned, at most one VOR station need be used. When continuously updating an INS with VOR/DME information, the use of a high-quality INS (0.01 deg/hr gyro drift) instead of a low-quality INS (1.0 deg/hr gyro drift) does not substantially improve position accuracy.

Bobick, J. C.↗

NASA NTRS1977

VLBI (Very Long Baseline Interferometry) instrumental effects, part 1

Very Long Baseline Interferometry (VLBI) is a method for observation of extragalactic radio sources which appears to have potential for precise long-distance earth surveying, clock synchronization and spacecraft navigation. Many researchers have been working to establish the accuracy of VLBI observations. The intent of the work reported here is to review the principal components of the VLBI instrument in order to estimate and/or bound the systematic error contributions. In this first of a series of articles, the definitions and tools which are needed in order to apply filter transfer-function analysis to the VLBI receiver are established and they are used to estimate the sensitivity of the VLBI receiver to plausible filter variations.

Layland, J. W.↗

NASA NTRS1981

Computer aided manual tracking

A scheme was developed to assist the human operator by augmenting an optic sight manual tracking loop with target rate estimates from a computer control algorithm which can either be a Kalman Filter or an alpha, beta, gamma filter. The idea is for the computer to provide rate tracking while the human operator is responsible for nullifying the tracking error. A simple schematic is shown to illustrate the implementation of this concept. A hybrid real-time man-in-loop simulation was used to compare the tracking performance of the same flight trajectory with or without this form of computer-aided track. Preliminary results show the advantage of computer-aided track against high speed aircraft at close range. However, good tracking before target state estimator maturity becomes more critical for aided track than without. Results are presented for a constant velocity flight trajectory.

Yin, Y. K.↗

NASA NTRS1983

Experiments using least square lattice filters for the identification of structural dynamics

An approach for identifying the dynamics of large space structures is applied to a free-free beam. In this approach the system's order is determined on-line, along with mode shapes, using recursive lattice filters which provide a least square estimate of the measurement data. The mode shapes determined are orthonormal in the space of the measurements and, hence, are not the natural modes of the structure. To determine the natural modes of the structure, a method based on the fast Fourier transform is used on the outputs of the lattice filter. These natural modes are used to obtain the modal amplitude time series which provides the input data for an output error parameter identification scheme that identifies the ARMA parameters of the difference equation model of the modes. the approach is applied to both simulated and experimental data.

Sundararajan, N.↗

NASA NTRS1982

Performance of staggered quadrature modulations over nonlinear satellite channels with uplink noise and intersymbol interference

In this paper, the performance of staggered quadrature modulations over nonlinear satellite channels is analyzed. The effects of uplink noise and intersymbol interference caused by transmitter filtering are included. The approach taken employs computational techniques based on moments of the interference. The expressions for the system bit error rate are derived for a general transponder model characterized by AM-AM and AM-PM conversion characteristics. Specific numerical results are presented for a hard-limited satellite repeater using staggered quadrature overlapped raised cosine (SQORC) and minimum-shift-keying (MSK) modulations.

Simon, M. K.↗

NASA NTRS1983

The effects of digitizing rate and phase distortion errors on the shock response spectrum

Some of the methods used for acquisition and digitization of high-frequency transients in the analysis of pyrotechnic events, such as explosive bolts for spacecraft separation, are discussed with respect to the reduction of errors in the computed shock response spectrum. Equations are given for maximum error as a function of the sampling rate, phase distortion, and slew rate, and the effects of the characteristics of the filter used are analyzed. A filter is noted to exhibit good passband amplitude, phase response, and response to a step function is a compromise between the flat passband of the elliptic filter and the phase response of the Bessel filter; it is suggested that it be used with a sampling rate of 10f (5 percent).

Wise, J. H.↗