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NASA Stadan and Speopt optical and laser tracking sites dynamic position estimations from GEOS 1 and 2 observations, analyzing model error effects
Effective utilization of data from the GEOS-C satellite for geoidal mapping was explored. Particular attention was given to the accuracy of orbits calculated from one revolution. Results show one revolution solutions are less affected by geopotential coefficient error than multi-revolution solutions. Data were taken from two global network tracking stations.
Navigation of Mariner spacecraft to Jupiter and beyond will require greater accuracy of positional determination than heretofore obtained if the full experimental capabilities of this type of spacecraft are to be utilized. Advanced navigational techniques which will be available by 1977 include Very Long Baseline Interferometry (VLBI), three-way Doppler tracking (sometimes called quasi-VLBI), and two-way Doppler tracking. It is shown that VLBI and quasi-VLBI methods depend on the same basic concept, and that they impose nearly the same requirements on the stability of frequency standards at the tracking stations. It is also shown how a realistic modelling of spacecraft navigational errors prevents overspecifying the requirements to frequency stability.
MAGSAT Investigator-B tapes were preprocessed by (1) removing all data points with obvious erroneous values and location errors; (2) removing smaller spikes (typically 15 nT or more), and deleting data tracks with fewer than 20 points; and (3) removing a linear trend from each track. The remaining data were recorded on tape for use by the equivalent source mapping (ESMAP) program which uses a least squares algorithm to fit the magnetization parameter of the grid of equivalent source dipoles in the crust to satellite data acquired at different times and locations. ESMAP was implemented on the TASC computing system and modified to read preprocessed MAGSAT tapes and interface with TASC plotting software. Some verification of the software was accomplished. Gridded 1-degree mean values of gravity anomaly and sea surface undulation computed from SEASAT radar altimeter were obtained and brought on line.
The processing algorithms used for relating the apparent color of the ocean observed with the Coastal-Zone Color Scanner on Nimbus-7 to the concentration of phytoplankton pigments (principally the pigment responsible for photosynthesis, chlorophyll-a) are developed and discussed in detail. These algorithms are applied to the shelf and slope waters of the Middle Atlantic Bight and also to Sargasso Sea waters. In all, four images are examined, and the resulting pigment concentrations are compared to continuous measurements made along ship tracks. The results suggest that over the 0.08-1.5 mg/cu m range, the error in the retrieved pigment concentration is of the order of 30-40% for a variety of atmospheric turbidities. In three direct comparisons between ship-measured and satellite-retrieved values of the water-leaving radiance, the atmospheric correction algorithm retrieved the water-leaving radiance with an average error of about 10%. This atmospheric correction algorithm does not require any surface measurements for its application.
The solar tracking unit was developed to support the Laser Heterodyne Spectrometer (LHS) airborne instrument, but has application to a general class of airborne solar occultation research instruments. The unit consists of a mirror mounted on two gimbals, one of which is hollow. The mirror reflects a 7.6 cm (3.0 in.) diameter beam of sunlight through the hollow gimbal into the research instrument optical axis. A portion of the reflected sunlight is directed into a tracking telescope which uses a four quadrant silicon detector to produce the servo error signals. The colinearity of the tracker output beam and the research instrument optical axis is maintained to better than + or - 1 arc-minute. The unit is microcomputer controlled and is capable of stand alone operation, including automatic Sun acquisition or operation under the control of the research instrument.
The GCF upgrade task for NASA's Deep Space Network (DSN) is described. The DSN is a multimission telecommunications and radiometric data facility used to support space science, exploration, and applications by communicating with spacecraft and observing other radio sources. The GCF upgrade task is a six-year project designed to increase the data rate throughout capacity from 280 kbps to 2.272 Mbps from each tracking area to JPL, and 224 kbps from JPL to each tracking area. This would be accomplished by using a selective automatic repeat request error correction scheme in all throughput data.
A low earth satellite enhances global geodynamical parameters determination with GPS in two ways. First, it improves the GPS orbits, which in turn improve the estimates of other parameters. Secondly, a low earth satellite completes an orbit cycle in far shorter time (90 to 120 minutes) than do GPS satellites (12 hours); it observes more GPS satellites than a ground receiver does in shorter time and increases the correlation between GPS orbit errors. This reduces the error in the determination of nonrotational coordinate parameters, i.e., geocentric offset of ground tracking sites. Covariance results with the global geodynamical parameters modeled as constants, and as random-walk parameters to closer reflect the actual variations, are compared. The effects of using different GPS data quality and different ground tracking network are studied. The case of using two earth satellites in orthogonal orbital planes is also investigated.
Computation of precise orbits for the TOPEX/Poseidon (T/P) spacecraft is analyzed focusing on gravity field modeling, nonconservative force modeling, satellite tracking technologies, and orbit determination software. It was found that the radial orbit error budget for T/P allows 10 cm rms error due to gravity field mismodeling, 3 cm due to solid earth and ocean tides, and 6 cm due to radiative forces, and 3 cm due to atmospheric drag. It is concluded that the current models are capable of achieving the radial orbit error requirements.
A methodology based on general hydraulic relations for rivers has been developed to estimate the discharge (flow rate) of rivers using satellite remote sensing observations. The estimates of discharge, flow depth, and flow velocity are derived from remotely observed water surface area, water surface slope, and water surface height, and demonstrated for two reaches of the Yukon River in Alaska, at Eagle (reach length 34.7 km) and near Stevens Village (reach length 38.3 km). The method is based on fundamental equations of hydraulic flow resistance in rivers, including the Manning equation and the Prandtl-von Karman universal velocity distribution equation. The method employs some new hydraulic relations to help define flow resistance and height of the zero flow boundary in the channel. Estimates are made both with and without calibration. The water surface area of the river reach is measured by using a provisional version of the U.S. Geological Survey (USGS) Landsat based product named Dynamic Surface Water Extent (DSWE). The water surface height and slope measurements require a self-consistent datum, and are derived from observations from the Jason-2 satellite altimeter mission. At both reach locations, the Jason-2 radar altimeter non-winter heights consistently tracked the stage recorded at USGS streamgages with a standard deviation of differences (error) during the non-winter periods of less than 7%. Part of the error may be due to differences in the gage and altimeter crossing locations with respect to the range of stage change and the response to changes in discharge at the upstream and downstream locations. For the non-winter periods, the radar derived slope estimates (mean = 0.0003) were constant over the mission lifetime, and in agreement with previously measured USGS water surface slopes and slopes determined from USGS topographic maps. The accuracy of the mean of the uncalibrated daily estimates of discharge varied between reaches, ranging from 13% near Stevens Village (N = 90) to −21% at Eagle (N = 246) based on the absolute error, and 5% to −6% based on the error of the log of the estimates. Calibrating to the mean of USGS daily discharge estimates from the streamflow rating for the same period of record at each streamgage resulted in mean absolute errors ranging from 1% to 2%, and log errors ranging from 1% or less. The error pattern of the estimates shows that without calibration, even though the mean is well simulated, the high and low end values over the range of estimates may have significant bias.
Flap-based steering systems on blunt-body entry vehicles may improve flight performance relative to heritage bank-angle steering systems. Successful implementation of articulating aerodynamic flaps on a hypersonic entry vehicle requires an active control system to map angle of attack and sidelip angle commands to flap deflection commands. Here, a successive-linearization model prective control algorithm, as a linear quadratic regulator, are formulated, designed, and assessed to address this multiple input multiple output control problem. These two control algorithms are assessed under uncertainty in Monte Carlo simulations for various control profiles and vehicle configurations. Results indicate that while both control algorithms provide successful command tracking under uncertainty, the model predictive controller provides a lower mean and integral error, as well as greater robustness, relative to the linear-quadratic regulator.
Matlab software was written to provide smoothing of radar tracking data to simulate ADS-B (Automatic Dependent Surveillance-Broadcast) data in order to test a tactical conflict probe. The probe, called TSAFE (Tactical Separation-Assured Flight Environment), is designed to handle air-traffic conflicts left undetected or unresolved when loss-of-separation is predicted to occur within approximately two minutes. The data stream that is down-linked from an aircraft equipped with an ADS-B system would include accurate GPS-derived position and velocity information at sample rates of 1 Hz. Nation-wide ADS-B equipage (mandated by 2020) should improve surveillance accuracy and TSAFE performance. Currently, position data are provided by Center radar (nominal 12-sec samples) and Terminal radar (nominal 4.8-sec samples). Aircraft ground speed and ground track are estimated using real-time filtering, causing lags up to 60 sec, compromising performance of a tactical resolution tool. Offline smoothing of radar data reduces wild-point errors, provides a sample rate as high as 1 Hz, and yields more accurate and lag-free estimates of ground speed, ground track, and climb rate. Until full ADS-B implementation is available, smoothed radar data should provide reasonable track estimates for testing TSAFE in an ADS-B-like environment. An example illustrates the smoothing of radar data and shows a comparison of smoothed-radar and ADS-B tracking. This document is intended to serve as a guide for using the smoothing software.
We initiate a study of local operator algebras at the boundary of infinite tensor networks, using the mathematical theory of inductive limits. In particular, we consider tensor networks in which each layer acts as a quantum code with complementary recovery, a property that features prominently in the bulk-to-boundary maps intrinsic to holographic quantum error-correcting codes. In this case, we decompose the limiting Hilbert space and the algebras of observables in a way that keeps track of the entanglement in the network. As a specific example, we describe this inductive limit for the holographic Harlow-Pastawski-Preskill-Yoshida code model and relate its algebraic and error-correction features. We find that the local algebras in this model are given by the hyperfinite type II$_\infty$ factor. Next, we discuss other networks that build upon this framework and comment on a connection between type II factors and stabilizer circuits. We conclude with a discussion of multiscale entanglement renormalization ansatz networks in which complementary recovery is broken. We argue that this breaking possibly permits a limiting type III von Neumann algebra, making them more suitable ansätze for approximating subregions of quantum field theories.
In a long-haul sensor network, sensors are remotely deployed over a large geographical area to perform certain tasks, such as tracking and/or monitoring of one or more dynamic targets. A remote fusion center fuses the information provided by these sensors so that a final estimate of certain target characteristics – such as the position – is expected to possess much improved quality. In this paper, we pursue learning-based approaches for estimation and fusion of target states in longhaul sensor networks. In particular, we consider learning based on various implementations of artificial neural networks (ANNs). Finally, the joint effect of (i) imperfect communication condition, namely, link-level loss and delay, and (ii) computation constraints, in the form of low-quality sensor estimates, on ANN-based estimation and fusion, is investigated by means of analytical and simulation studies.
Purpose: External beam radiotherapy currently represents an important therapeutic strategy for the treatment of intraocular tumors. Accurate target localization and efficient compensation of involuntary eye movements are crucial to avoid deviations in dose distribution with respect to the treatment plan. This paper describes an eye tracking system (ETS) based on noninvasive infrared video imaging. The system was designed for capturing the tridimensional (3D) ocular motion and provides an on-line estimation of intraocular lesions position based on a priori knowledge coming from volumetric imaging. Methods: Eye tracking is performed by localizing cornea and pupil centers on stereo images captured by two calibrated video cameras, exploiting eye reflections produced by infrared illumination. Additionally, torsional eye movements are detected by template matching in the iris region of eye images. This information allows estimating the 3D position and orientation of the eye by means of an eye local reference system. By combining ETS measurements with volumetric imaging for treatment planning [computed tomography (CT) and magnetic resonance (MR)], one is able to map the position of the lesion to be treated in local eye coordinates, thus enabling real-time tumor referencing during treatment setup and irradiation. Experimental tests on an eye phantom and seven healthy subjects were performed to assess ETS tracking accuracy. Results: Measurements on phantom showed an overall median accuracy within 0.16 mm and 0.40° for translations and rotations, respectively. Torsional movements were affected by 0.28° median uncertainty. On healthy subjects, the gaze direction error ranged between 0.19° and 0.82° at a median working distance of 29 cm. The median processing time of the eye tracking algorithm was 18.60 ms, thus allowing eye monitoring up to 50 Hz. Conclusions: A noninvasive ETS prototype was designed to perform real-time target localization and eye movement monitoring during ocular radiotherapy treatments. The device aims at improving state-of-the-art invasive procedures based on surgical implantation of radiopaque clips and repeated acquisition of X-ray images, with expected positive effects on treatment quality and patient outcome.
A mountain-top-to-mountain-top optical communications demonstration was conducted between the JPL Table Mountain Facility (TMF), Wrightwood, California, and Strawberry Peak (SP), Lake Arrowhead, California, during the months of August and September of 2000. The link was nearly horizontal at an altitude of 2 km and spanned a range of 46.8 km. A 780-nm multibeam beacon broadcast from TMF was received by the JPL Optical Communications Demonstrator (OCD) located at SP. The received beacon was utilized as a pointing reference to retransmit an 852-nm communications laser beam, modulated at 400 Mb/s by a PN7 pseudo-random bit stream (PRBS) sequence. The long atmospheric path resulted in atmospheric-turbulence-induced angle-of-arrival fluctuations of the beacon at the OCD aperture. A .ne-steering control loop was used to track the resulting beacon centroid motion and update the pointing of the communications laser beam transmitted from SP to TMF. Fried parameters, or r0, inferred from focal spot sizes received at SP were 4 to 5 cm whereas, using the spot sizes received at TMF, they were 2 to 3 cm. In both cases, theory predicts larger r0 values. The predicted angle-of-arrival fluctuations compare well with measured rms displacements exhibited by the focal spots at either end of the link. An uncompensated error of ~1.1 rad in the x-axis and ~2 rad in the y-axis was obtained using centroid data logged by the OCD. Average bit-error rates of 10-5 were recorded for extended periods of time. An atmospheric coherence length r0 of 3 to 5 cm was inferred using the focal-plane spot size measured on the CCD tracking sensor and compared to a predicted value of 5 to 7 cm using reasonable atmospheric models. The irradiance bounds required for the CCD tracking sensor to perform centroiding was found to range from 2000 to 3000 integrated pixel counts, although a more reliable range was 600 to 3000, indicating a dynamic range of 6 to 11 dB. The motion of the spot on the focal plane was also recorded and yielded rms angle-of-arrival-induced focal-plane displacement of 9 to 11 m, compared to a predicted value of 7.8 to 11 m. The irradiance measurements made with the OCD clearly indicate that best tracking performance is obtained when the mean received signal is 2000 to 2200 counts. The best tracking performance resulted in an rms uncompensated error of 1.1 rad. The uncompensated error appeared to increase with either an increase or decrease in mean beacon-signal level. The rms uncompensated error determined by deriving the beacon displacement power spectral density from the beacon centroid-versustime data and the rejection function of the control loop yielded a higher value of 3.4 rad.
The use of radio tracking of a solar probe to estimate accurately the coefficient of the second zonal harmonic of the sun's gravitational field was examined. Preliminary results indicate that the coefficient can be estimated with a standard error of 10 to the minus 8th power or less, provided that the probe is equipped with a suitable drag-free system to compensate for the effects of non-gravitational accelerations. For signal paths that pass near the sun, dual-band ranging to the probe can provide the tracking accuracy needed to insure that the standard of error is equal to or less than 10 to minus 8th power. The possibility of achieving such accuracy with a single-band radio uplink and a dual-band downlink is discussed.
This paper uses a two-level model predictive control-based approach for the coordinated control and energy management of an integrated system that includes photovoltaic (PV) generation, energy storage, and building loads. Novel features of the proposed local controller include (1) the ability to simultaneously manage building loads and energy storage to achieve different operational objectives such as energy efficiency, economic cost efficiency, demand response and grid optimization through the design of specific power trajectory tracking performance functionals, (2) an energy trim function that minimizes the impact of solar forecasting errors on system performance, and (3) the design of a state of charge controller that uses day-ahead forecast of solar power and building loads to intialize energy storage at the start of each day. The local controller is tested in simulation using an exemplary system with PV generation, energy storage and dispatchable building loads. Two sample days with different PV forecasts and multiple case scenarios are considered, and the performance of the algorithm in managing the real and reactive net building load trajectories and the ramp rate of PV injections into the utility network are evaluated. The simulations are based on actual forecasted and measured PV data, and the results show that the local controller meets the tracking requirements for real and reactive power within the operating constraints of the building.