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At least 91 records · Page 5
All sourcesNASA NTRSDOE OSTI
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 NTRS1997

Robot Position Sensor Fault Tolerance

Robot systems in critical applications, such as those in space and nuclear environments, must be able to operate during component failure to complete important tasks. One failure mode that has received little attention is the failure of joint position sensors. Current fault tolerant designs require the addition of directly redundant position sensors which can affect joint design. A new method is proposed that utilizes analytical redundancy to allow for continued operation during joint position sensor failure. Joint torque sensors are used with a virtual passive torque controller to make the robot joint stable without position feedback and improve position tracking performance in the presence of unknown link dynamics and end-effector loading. Two Cartesian accelerometer based methods are proposed to determine the position of the joint. The joint specific position determination method utilizes two triaxial accelerometers attached to the link driven by the joint with the failed position sensor. The joint specific method is not computationally complex and the position error is bounded. The system wide position determination method utilizes accelerometers distributed on different robot links and the end-effector to determine the position of sets of multiple joints. The system wide method requires fewer accelerometers than the joint specific method to make all joint position sensors fault tolerant but is more computationally complex and has lower convergence properties. Experiments were conducted on a laboratory manipulator. Both position determination methods were shown to track the actual position satisfactorily. A controller using the position determination methods and the virtual passive torque controller was able to servo the joints to a desired position during position sensor failure.

Aldridge, Hal A.↗
NASA NTRS1991

SIRTF/IRS cryogenic grating drive mechanism (ARC second positioning at 4 K)

The requirements, design, and test results of a grating drive mechanism for the Infrared Spectrograph (IRS) science instrument on the proposed superfluid helium-cooled Space Infrared Telescope Facility (SIRTF) are described. The IRS grating drive mechanism, tested in the fall of 1989, satisfied all performance requirements in vacuum at 4 K. Measured mechanism performance included: 1.4 arc sec root-mean-square (rms) error positioning resolution; 2.2 arc sec rms position repeatability error, less than 10 millijoules/deg dissipated power; and 170 deg angular range of travel. Mechanisms that precisely position optical elements at very low cryogenic temperatures (at/below 4 K) are vital to the operating success of a number of proposed infrared scientific instruments like those in SIRTF.

Kubitschek, Michael J.↗
DOE OSTI2024

Using an Isotope Enabled Mass Balance to Evaluate Existing Land Surface Models

Abstract Land surface models (LSMs) play a crucial role in elucidating water and carbon cycles by simulating processes such as plant transpiration and evaporation from bare soil, yet calibration often relies on comparing LSM outputs of landscape total evapotranspiration ( ET ) and discharge with measured bulk fluxes. Discrepancies in partitioning into component fluxes predicted by various LSMs have been noted, prompting the need for improved evaluation methods. Stable water isotopes serve as effective tracers of component hydrologic fluxes, but data and model integration challenges have hindered their widespread application. Leveraging National Ecological Observation Network measurements of water isotope ratios at 16 US sites over 3 years combined with LSM‐modeled fluxes, we employed an isotope‐enabled mass balance framework to simulate ET isotope values ( δET ) within three operational LSMs (Mosaic, Noah, and VIC) to evaluate their partitioning. Models simulating δET values consistent with observations were deemed more reflective of water cycling in these ecosystems. Mosaic exhibited the best overall performance (Kling‐Gupta Efficiency of 0.28). For both Mosaic and Noah there were robust correlations between bare soil evaporation fraction and error (negative) as well as transpiration fraction and error (positive). We found the point at which errors are smallest ( x ‐intercept of the multi‐site regression) is at a higher transpiration fraction than is currently specified in the models. Which means that transpiration fraction is underestimated on average. Stable isotope tracers offer an additional tool for model evaluation and identifying areas for improvement, potentially enhancing LSM simulations and our understanding of land‐surface hydrologic processes.

58 GEOSCIENCES↗
NASA NTRS2000

Calibration of a Spacecraft Gyro Quadruplet

This work presents a new approach to gyro calibration where, in addition to being used for computing attitude that is needed in the calibration process, the gyro outputs are also used as measurements in a Kalman filter. Gyro calibration as well as calibration of other instruments occurs in two steps. In the first step, the instrument error parameters are estimated. During the second stage, those errors are continuously removed from the gyro readings. In the classical approach to gyro calibration, the gyro outputs are used to maintain or compute body orientation rather than being used as measurements in the context of filtering. In inertial navigation, for example, gyro errors cause erroneous computation of velocity and position, and then when the latter are compared to measured velocity and position, a great portion of the computed velocity and position errors can be determined. The latter errors are then fed into a Kalman filter (KF) that uses the INS error model to infer on the gyro errors. Similarly, when applying the classical approach to spacecraft (SC) altitude determination, the gyro outputs are used to compute the attitude and then attitude measurements are used to determine the attitude errors, which again using a KF, indicates what the gyro errors are. In the approach adopted in this work the gyro outputs are used as angular rate measurements and are compared to estimated angular rate measurements. However, this approach requires the knowledge of the angular rate. In the past, the estimated angular rate was computed in a rather simplistic way assuming that the rate was constant. In the present work, the estimated angular rate is derived using a KF whose input can be any kind of attitude measurement, therefore the angular rate experienced by the SC can be continuously changing, and yet a good estimate of the rate, necessary for calibration, can be obtained.

Harman, Richard R.↗
NASA NTRS1992

Subnanosecond GPS-based clock synchronization and precision deep-space tracking

Interferometric spacecraft tracking is accomplished by the Deep Space Network (DSN) by comparing the arrival time of electromagnetic spacecraft signals at ground antennas separated by baselines on the order of 8000 km. Clock synchronization errors within and between DSN stations directly impact the attainable tracking accuracy, with a 0.3-nsec error in clock synchronization resulting in an 11-nrad angular position error. This level of synchronization is currently achieved by observing a quasar which is angularly close to the spacecraft just after the spacecraft observations. By determining the differential arrival times of the random quasar signal at the stations, clock offsets and propagation delays within the atmosphere and within the DSN stations are calibrated. Recent developments in time transfer techniques may allow medium accuracy (50-100 nrad) spacecraft tracking without near-simultaneous quasar-based calibrations. Solutions are presented for a worldwide network of Global Positioning System (GPS) receivers in which the formal errors for DSN clock offset parameters are less than 0.5 nsec. Comparisons of clock rate offsets derived from GPS measurements and from very long baseline interferometry (VLBI), as well as the examination of clock closure, suggest that these formal errors are a realistic measure of GPS-based clock offset precision and accuracy. Incorporating GPS-based clock synchronization measurements into a spacecraft differential ranging system would allow tracking without near-simultaneous quasar observations. The impact on individual spacecraft navigation-error sources due to elimination of quasar-based calibrations is presented. System implementation, including calibration of station electronic delays, is discussed.

Dunn, C. E.↗
NASA NTRS1993

Lunar gravitational field estimation and the effects of mismodeling upon lunar satellite orbit prediction

Lunar spherical harmonic gravity coefficients are estimated from simulated observations of a near-circular low altitude polar orbiter disturbed by lunar mascons. Lunar gravity sensing missions using earth-based nearside observations with and without satellite-based far-side observations are simulated and least squares maximum likelihood estimates are developed for spherical harmonic expansion fit models. Simulations and parameter estimations are performed by a modified version of the Smithsonian Astrophysical Observatory's Planetary Ephemeris Program. Two different lunar spacecraft mission phases are simulated to evaluate the estimated fit models. Results for predicting state covariances one orbit ahead are presented along with the state errors resulting from the mismodeled gravity field. The position errors from planning a lunar landing maneuver with a mismodeled gravity field are also presented. These simulations clearly demonstrate the need to include observations of satellite motion over the far side in estimating the lunar gravity field. The simulations also illustrate that the eighth degree and order expansions used in the simulated fits were unable to adequately model lunar mascons.

Davis, John H.↗
NASA NTRS1974

Interplanetary navigation using pulsating radio sources

Radio beacons with distinguishing signatures exist in nature as pulsating radio sources (pulsars). These objects radiate well determined pulse trains over hundreds of megahertz of bandwidth at radio frequencies. Since they are at known positions, they can also be used as navigation beacons in interplanetary space. Pulsar signals are weak and dispersive when viewed from earth. If an omnidirectional antenna is connected to a wideband receiver (200 MHz bandwidth centered at 200 MHz) in which dispersion effects are removed, nominal spacecraft position errors of 1500 km can be obtained after 24 h of signal integration. An antenna gain of 10 db would produce errors as low as 150 km. Since the spacecraft position is determined from the measurement of the phase of a periodic signal, ambiguities occur in the position measurement. Simultaneous use of current spacecraft navigation schemes eliminates these ambiguities.

Downs, G. S.↗
NASA NTRS2005

Extreme ionospheric storms and their impact on WAAS

Satellite-based augmentation systems (SBAS) in the absence of selective availability, the ionosphere represents the largest source of positioning error for single-frequency users of the Global Positioning System (GPS).

ionosphere↗
NASA NTRS1988

Porous plug for reducing orifice induced pressure error in airfoils

A porous plug is provided for the reduction or elimination of positive error caused by the orifice during static pressure measurements of airfoils. The porous plug is press fitted into the orifice, thereby preventing the error caused either by fluid flow turning into the exposed orifice or by the fluid flow stagnating at the downstream edge of the orifice. In addition, the porous plug is made flush with the outer surface of the airfoil, by filing and polishing, to provide a smooth surface which alleviates the error caused by imperfections in the orifice. The porous plug is preferably made of sintered metal, which allows air to pass through the pores, so that the static pressure measurements can be made by remote transducers.

Elizabeth B Plentovich↗
NASA NTRS1991

Sub-nanosecond clock synchronization and precision deep space tracking

Interferometric spacecraft tracking is accomplished at the NASA Deep Space Network (DSN) by comparing the arrival time of electromagnetic spacecraft signals to ground antennas separated by baselines on the order of 8000 km. Clock synchronization errors within and between DSN stations directly impact the attainable tracking accuracy, with a 0.3 ns error in clock synchronization resulting in an 11 nrad angular position error. This level of synchronization is currently achieved by observing a quasar which is angularly close to the spacecraft just after the spacecraft observations. By determining the differential arrival times of the random quasar signal at the stations, clock synchronization and propagation delays within the atmosphere and within the DSN stations are calibrated. Recent developments in time transfer techniques may allow medium accuracy (50-100 nrad) spacecraft observations without near-simultaneous quasar-based calibrations. Solutions are presented for a global network of GPS receivers in which the formal errors in clock offset parameters are less than 0.5 ns. Comparisons of clock rate offsets derived from GPS measurements and from very long baseline interferometry and the examination of clock closure suggest that these formal errors are a realistic measure of GPS-based clock offset precision and accuracy. Incorporating GPS-based clock synchronization measurements into a spacecraft differential ranging system would allow tracking without near-simultaneous quasar observations. The impact on individual spacecraft navigation error sources due to elimination of quasar-based calibrations is presented. System implementation, including calibration of station electronic delays, is discussed.

Charles Dunn↗
NASA NTRS2003

Satellite Detection of Precipitation over the North Pacific

Intense extratropical winter cyclones often impact the West Coast of North America with strong winds and heavy precipitation. Several times during a winter season, short-term forecasts (24 - 48 hours) of these storms are seriously deficient with central pressure errors in the 10's of hPa and surface low position errors in the 100's of km. For example, 48-hr sea level pressure errors (forecast - observation) at buoy 46005 off the Oregon coast for the 2001 - 2002 winter season is plotted. In addition, two times the standard deviation (determined from pressure errors from the last four winter seasons) are also shown. It is evident from this figure that large forecast errors (i.e. greater than 10 hPa) occurred about 10 times this past winter at buoy 46005 with three events where the errors were 20 hPa. Beside large forecast errors of sea level pressure, numerical forecasts of precipitation for land falling cyclones can also be flawed. This is due in large part to the lack of accurate precipitation information over the ocean. Therefore, remote sensing techniques are the only viable option for obtaining accurate information on the distribution and intensity of precipitation over the North Pacific. Due to the radiative characteristics of precipitation sized hydrometeors at microwave frequencies, microwave sensors are able to detect precipitation over oceanic regions. Past studies have demonstrated the utility of passive microwave rainrate data for locating intense rainfall in rapidly deepening cyclones, in detecting developing polar mesocyclones and in determining frontal bands. There are currently many sources of microwave rainrate data: the Special Sensor Microwave Imager (SSM/I) (currently flying on three platforms), the Advanced Microwave Sounding Unit (AMSU-B) (currently flying on NOAA-15, NOAA-16, and NOAA-17), and the Tropical Rainfall Measuring Mission Microwave Imager (TMI). Data will soon be available from the Advanced Microwave Radiometer-EOS (AMSR-E) on the Aqua platform. In this paper, we present a new technique for mapping rainrate distributions over the North Pacific utilizing rainrate estimates from several microwave sensors and upper-tropospheric winds derived from geosynchronous satellite IR data. The goal of this work is to develop a way to obtain high temporal and spatial rainfall information over the North Pacific. This information will be used to support the verification of model derived precipitation distributions and to support the analysis of in situ measurements of rainfall during the Improvement of Microphysical Parameterization through Observational Verification Experiment (IMPROVE) field campaigns.

Smith, Jeremy↗
NASA NTRS1992

Non-linear dynamic compensation system

A non-linear dynamic compensation subsystem is added in the feedback loop of a high precision optical mirror positioning control system to smoothly alter the control system response bandwidth from a relatively wide response bandwidth optimized for speed of control system response to a bandwidth sufficiently narrow to reduce position errors resulting from the quantization noise inherent in the inductosyn used to measure mirror position. The non-linear dynamic compensation system includes a limiter for limiting the error signal within preselected limits, a compensator for modifying the limiter output to achieve the reduced bandwidth response, and an adder for combining the modified error signal with the difference between the limited and unlimited error signals. The adder output is applied to control system motor so that the system response is optimized for accuracy when the error signal is within the preselected limits, optimized for speed of response when the error signal is substantially beyond the preselected limits and smoothly varied therebetween as the error signal approaches the preselected limits.

Lin, Yu-Hwan↗