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All sourcesNASA NTRSDOE OSTI
NASA NTRS1981

Relative performance of algorithms for autonomous satellite orbit determination

Limited word size in contemporary microprocessors causes numerical problems in autonomous satellite navigation applications. Numerical error introduced in navigation computations performed on small wordlength machines can cause divergence of sequential estimation algorithms. To insure filter reliability, square root algorithms have been adopted in many applications. The optimal navigation algorithm requires a careful match of the estimation algorithm, dynamic model, and numerical integrator. In this investigation, the relationship of several square root filters and numerical integration methods is evaluated to determine their relative performance for satellite navigation applications. The numerical simulations are conducted using the Phase I GPS constellation to determine the orbit of a LANDSAT-D type satellite. The primary comparison is based on computation time and relative estimation accuracy.

Tapley, B. D.↗
NASA NTRS1995

Flight test evaluation of the E-systems Differential GPS category 3 automatic landing system

Test flights were conducted to evaluate the capability of Differential Global Positioning System (DGPS) to provide the accuracy and integrity required for International Civil Aviation Organization (ICAO) Category (CAT) III precision approach and landings. These test flights were part of a Federal Aviation Administration (FAA) program to evaluate the technical feasibility of using DGPS based technology for CAT III precision approach and landing applications. An IAI Westwind 1124 aircraft (N24RH) was equipped with DGPS receiving equipment and additional computing capability provided by E-Systems. The test flights were conducted at NASA Ames Research Center's Crows Landing Flight Facility, Crows Landing, California. The flight test evaluation was based on completing 100 approaches and landings. The navigation sensor error accuracy requirements were based on ICAO requirements for the Microwave Landing System (MLS). All of the approaches and landings were evaluated against ground truth reference data provided by a laser tracker. Analysis of these approaches and landings shows that the E-Systems DGPS system met the navigation sensor error requirements for a successful approach and landing 98 out of 100 approaches and landings, based on the requirements specified in the FAA CAT III Level 2 Flight Test Plan. In addition, the E-Systems DGPS system met the integrity requirements for a successful approach and landing or stationary trial for all 100 approaches and landings and all ten stationary trials, based on the requirements specified in the FAA CAT III Level 2 Flight Test Plan.

Kaufmann, David N.↗
NASA NTRS1998

Flight Evaluation of Center-TRACON Automation System Trajectory Prediction Process

Two flight experiments (Phase 1 in October 1992 and Phase 2 in September 1994) were conducted to evaluate the accuracy of the Center-TRACON Automation System (CTAS) trajectory prediction process. The Transport Systems Research Vehicle (TSRV) Boeing 737 based at Langley Research Center flew 57 arrival trajectories that included cruise and descent segments; at the same time, descent clearance advisories from CTAS were followed. Actual trajectories of the airplane were compared with the trajectories predicted by the CTAS trajectory synthesis algorithms and airplane Flight Management System (FMS). Trajectory prediction accuracy was evaluated over several levels of cockpit automation that ranged from a conventional cockpit to performance-based FMS vertical navigation (VNAV). Error sources and their magnitudes were identified and measured from the flight data. The major source of error during these tests was found to be the predicted winds aloft used by CTAS. The most significant effect related to flight guidance was the cross-track and turn-overshoot errors associated with conventional VOR guidance. FMS lateral navigation (LNAV) guidance significantly reduced both the cross-track and turn-overshoot error. Pilot procedures and VNAV guidance were found to significantly reduce the vertical profile errors associated with atmospheric and airplane performance model errors.

Williams, David H.↗
NASA NTRS1978

Performance evaluation of integrated guidance and navigation systems

The method of linear covariance analysis is applied to the study of an aerospace vehicle integrated guidance-and-navigation system. This requires that the rms trajectory deviations of the vehicle be computed along with the rms errors of the navigation system. The technique is used to examine the performance of the shuttle orbiter vehicle's guidance-and-navigation system during the terminal phase of the landing. Essentially the same rms trajectory deviations were obtained from a single covariance run as from a 30-sample Monte-Carlo run set. Of particular interest in the study was the result that rms trajectory deviations for the integrated-system were generally significantly larger than the rms navigation errors.

Tao, Y. C.↗
NASA NTRS2016

Image Navigation and Registration Performance Assessment Tool Set for the GOES-R Advanced Baseline Imager and Geostationary Lightning Mapper

The GOES-R Flight Project has developed an Image Navigation and Registration (INR) Performance Assessment Tool Set (IPATS) for measuring Advanced Baseline Imager (ABI) and Geostationary Lightning Mapper (GLM) INR performance metrics in the post-launch period for performance evaluation and long term monitoring. For ABI, these metrics are the 3-sigma errors in navigation (NAV), channel-to-channel registration (CCR), frame-to-frame registration (FFR), swath-to-swath registration (SSR), and within frame registration (WIFR) for the Level 1B image products. For GLM, the single metric of interest is the 3-sigma error in the navigation of background images (GLM NAV) used by the system to navigate lightning strikes. 3-sigma errors are estimates of the 99.73rd percentile of the errors accumulated over a 24-hour data collection period. IPATS utilizes a modular algorithmic design to allow user selection of data processing sequences optimized for generation of each INR metric. This novel modular approach minimizes duplication of common processing elements, thereby maximizing code efficiency and speed. Fast processing is essential given the large number of sub-image registrations required to generate INR metrics for the many images produced over a 24-hour evaluation period. Another aspect of the IPATS design that vastly reduces execution time is the off-line propagation of Landsat based truth images to the fixed grid coordinates system for each of the three GOES-R satellite locations, operational East and West and initial checkout locations. This paper describes the algorithmic design and implementation of IPATS and provides preliminary test results.

Image Navigation↗
NASA NTRS2016

Image Navigation and Registration (INR) Performance Assessment Tool Set (IPATS) for the GOES-R Advanced Baseline Imager and Geostationary Lightning Mapper

The GOES-R Flight Project has developed an Image Navigation and Registration (INR) Performance Assessment Tool Set (IPATS) for measuring Advanced Baseline Imager (ABI) and Geostationary Lightning Mapper (GLM) INR performance metrics in the post-launch period for performance evaluation and long term monitoring. For ABI, these metrics are the 3-sigma errors in navigation (NAV), channel-to-channel registration (CCR), frame-to-frame registration (FFR), swath-to-swath registration (SSR), and within frame registration (WIFR) for the Level 1B image products. For GLM, the single metric of interest is the 3-sigma error in the navigation of background images (GLM NAV) used by the system to navigate lightning strikes. 3-sigma errors are estimates of the 99.73rd percentile of the errors accumulated over a 24 hour data collection period. IPATS utilizes a modular algorithmic design to allow user selection of data processing sequences optimized for generation of each INR metric. This novel modular approach minimizes duplication of common processing elements, thereby maximizing code efficiency and speed. Fast processing is essential given the large number of sub-image registrations required to generate INR metrics for the many images produced over a 24 hour evaluation period. Another aspect of the IPATS design that vastly reduces execution time is the off-line propagation of Landsat based truth images to the fixed grid coordinates system for each of the three GOES-R satellite locations, operational East and West and initial checkout locations. This paper describes the algorithmic design and implementation of IPATS and provides preliminary test results.

Image Registration↗
NASA NTRS1997

Error Analysis System for Spacecraft Navigation Using the Global Positioning System (GPS)

The Flight Dynamics Division (FDD) at the National Aeronautics and Space Administration (NASA) Goddard Space Flight Center (GSFC) is currently developing improved space-navigation filtering algorithms to use the Global Positioning System (GPS) for autonomous real-time onboard orbit determination. In connection with a GPS technology demonstration on the Small Satellite Technology Initiative (SSTI)/Lewis spacecraft, FDD analysts and programmers have teamed with the GSFC Guidance, Navigation, and Control Branch to develop the GPS Enhanced Orbit Determination Experiment (GEODE) system. The GEODE system consists of a Kalman filter operating as a navigation tool for estimating the position, velocity, and additional states required to accurately navigate the orbiting Lewis spacecraft by using astrodynamic modeling and GPS measurements from the receiver. A parallel effort at the FDD is the development of a GPS Error Analysis System (GEAS) that will be used to analyze and improve navigation filtering algorithms during development phases and during in-flight calibration. For GEAS, the Kalman filter theory is extended to estimate the errors in position, velocity, and other error states of interest. The estimation of errors in physical variables at regular intervals will allow the time, cause, and effect of navigation system weaknesses to be identified. In addition, by modeling a sufficient set of navigation system errors, a system failure that causes an observed error anomaly can be traced and accounted for. The GEAS software is formulated using Object Oriented Design (OOD) techniques implemented in the C++ programming language on a Sun SPARC workstation. The Phase 1 of this effort is the development of a basic system to be used to evaluate navigation algorithms implemented in the GEODE system. This paper presents the GEAS mathematical methodology, systems and operations concepts, and software design and implementation. Results from the use of the basic system to evaluate navigation algorithms implemented on GEODE are also discussed. In addition, recommendations for generalization of GEAS functions and for new techniques to optimize the accuracy and control of the GPS autonomous onboard navigation are presented.

Truong, S. H.↗
NASA NTRS1997

Using APEX to Model Anticipated Human Error: Analysis of a GPS Navigational Aid

The interface development process can be dramatically improved by predicting design facilitated human error at an early stage in the design process. The approach we advocate is to SIMULATE the behavior of a human agent carrying out tasks with a well-specified user interface, ANALYZE the simulation for instances of human error, and then REFINE the interface or protocol to minimize predicted error. This approach, incorporated into the APEX modeling architecture, differs from past approaches to human simulation in Its emphasis on error rather than e.g. learning rate or speed of response. The APEX model consists of two major components: (1) a powerful action selection component capable of simulating behavior in complex, multiple-task environments; and (2) a resource architecture which constrains cognitive, perceptual, and motor capabilities to within empirically demonstrated limits. The model mimics human errors arising from interactions between limited human resources and elements of the computer interface whose design falls to anticipate those limits. We analyze the design of a hand-held Global Positioning System (GPS) device used for radical and navigational decisions in small yacht recalls. The analysis demonstrates how human system modeling can be an effective design aid, helping to accelerate the process of refining a product (or procedure).

VanSelst, Mark↗
NASA NTRS1976

Position error propagation in the simplex strapdown navigation system

The results of an analysis of the effects of deterministic error sources on position error in the simplex strapdown navigation system were documented. Improving the long term accuracy of the system was addressed in two phases: understanding and controlling the error within the system, and defining methods of damping the net system error through the use of an external reference velocity or position. Review of the flight and ground data revealed error containing the Schuler frequency as well as non-repeatable trends. The only unbounded terms are those involving gyro bias and azimuth error coupled with velocity. All forms of Schuler-periodic position error were found to be sufficiently large to require update or damping capability unless the source coefficients can be limited to values less than those used in this analysis for misalignment and gyro and accelerometer bias. The first-order effects of the deterministic error sources were determined with a simple error propagator which provided plots of error time functions in response to various source error values.

Source record↗
NASA NTRS1979

A Ganymede lander mission

The paper addresses the dynamical problem and question of technical feasibility associated with delivering a simple, semi-hard lander to one of the Galilean satellites, Ganymede. Emphasis is placed on the identification of a viable, not necessarily optimal, baseline trajectory and maneuver sequence. Simplicity is stressed in the lander's use of two fixed-impulse solid rockets for landing maneuvers. It is shown through an error analysis that navigation and maneuver execution errors can be compensated on the baseline descent trajectory by controlling just the thrust direction. Finally, specific subsystem capabilities needed on the lander to achieve a successful touchdown within a specific performance envelope are also identified.

Boain, R. J.↗
NASA NTRS2007

Mars Reconnaissance Orbiter Interplanetary Cruise Navigation

Carrying six science instruments and three engineering payloads, the Mars Reconnaissance Orbiter (MRO) is the first mission in a low Mars orbit to characterize the surface, subsurface, and atmospheric properties with unprecedented detail. After a seven-month interplanetary cruise, MRO arrived at Mars executing a 1.0 km/s Mars Orbit Insertion (MOI) maneuver. MRO achieved a 430 km periapsis altitude with the final orbit solution indicating that only 10 km was attributable to navigation prediction error. With the last interplanetary maneuver performed four months before MOI, this was a significant accomplishment. This paper describes the navigation analyses and results during the 210-day interplanetary cruise. As of August 2007 MRO has returned more than 18 Terabits of scientific data in support of the objectives set by the Mars Exploration Program (MEP). The robust and exceptional interplanetary navigation performance paved the way for a successful MRO mission.

You, Tung-Han↗
NASA NTRS1974

Worst error analysis of batch filter and sequential filter in the approach phase of spacecraft navigation problems

The worst error performance of the sequential filter is compared with the performance of the batch filter which is still in general use in the deep space tracking. An approach phase of a spacecraft on a typical mission to the planet Mars is considered. The estimated parameters include the position and the speed of the spacecraft, nongravitational acceleration acting on the spacecraft, and the locations of the tracking stations.

Nishimura, T.↗
NASA NTRSDate not supplied

Generalized Augmented-State Covariance Analysis for Spaceflight

The use of linear covariance analysis techniques, also known as LinCov, has been used extensively for more than a half century for spaceflight applications. Originally, its primary purpose was to facilitate navigation analysis. For many past and current applications, the specific implementations only support navigation studies still. When the concept of an augmented-state linear covariance analysis approach was initially introduced that allowed for both navigation and trajectory dispersion analysis, the enhancement was motivated and primarily utilized to support navigation filter tuning and error budget analysis. Relatively few utilize this alternate augmented-state formulation of LinCov due to its additional complexity. The untapped potential of the augmented-state linear covariance analysis technique slowly unfolded in the past two-decades as its capability to rapidly and reliably capture the integrated closed-loop guidance, navigation, and control (GN&C) system performance became more apparent. Even with this dual purpose of generating insights to both navigation errors along with trajectory and delta-v dispersions, the core theoretical development had a heavy emphasis on the impacts of the navigation system and largely neglected the details of the actual guidance, targeting, and control systems. This paper extends the navigation-centric theoretical development by formulating a generalized augmented-state covariance analysis (GAUSCOV) technique that allows for the intricacies of a variety of targeting and control strategies along with ground planning and mission operations to be more formally included in assessing the impacts to spaceflight GN&C system performance.

Linear Covariance Analysis↗
NASA NTRS1979

A navigation algorithm for single channel low-cost GPS receiver

A sequential navigation algorithm for a navigator using the Global Positioning System satellites is developed and tested for both noise-free and noisy system models. Data from a six-hour flight from California to Hawaii (C5A aircraft) simulates a true user to test the accuracy of the user's position for a sequential navigation system. For error reduction in the user's position in the sequential navigation system (considering 100 m as a maximum average error tolerated by any low-cost GPS user) an analysis of error sources in the sequential system has led to the use of range-ephemeris rate to translate ranges to a common point in time and to use velocity aiding at the time of a satellite disappearance. To reduce the user's position and velocity errors in a noisy navigation system an 'alpha-beta' two-pole filter is implemented whose optimum alpha is obtained experimentally. A user's position error of 73 m at noise range error of 30.48 (1sigma) is achieved.

Parsiani, H.↗