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NASA NTRS1991

Quaternion normalization in additive EKF for spacecraft attitude determination

This work introduces, examines, and compares several quaternion normalization algorithms, which are shown to be an effective stage in the application of the additive extended Kalman filter (EKF) to spacecraft attitude determination, which is based on vector measurements. Two new normalization schemes are introduced. They are compared with one another and with the known brute force normalization scheme, and their efficiency is examined. Simulated satellite data are used to demonstrate the performance of all three schemes. A fourth scheme is suggested for future research. Although the schemes were tested for spacecraft attitude determination, the conclusions are general and hold for attitude determination of any three dimensional body when based on vector measurements, and use an additive EKF for estimation, and the quaternion for specifying the attitude.

Bar-Itzhack, I. Y.↗

NASA NTRS1991

Technology 2001: The Second National Technology Transfer Conference and Exposition, volume 1

Papers from the technical sessions of the Technology 2001 Conference and Exposition are presented. The technical sessions featured discussions of advanced manufacturing, artificial intelligence, biotechnology, computer graphics and simulation, communications, data and information management, electronics, electro-optics, environmental technology, life sciences, materials science, medical advances, robotics, software engineering, and test and measurement.

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NASA NTRS1992

Kolmogorov Behavior of Near-Wall Turbulence and Its Application in Turbulence Modeling

The near-wall behavior of turbulence is re-examined in a way different from that proposed by Hanjalic and Launder and followers. It is shown that at a certain distance from the wall, all energetic large eddies will reduce to Kolmogorov eddies (the smallest eddies in turbulence). All the important wall parameters, such as friction velocity, viscous length scale, and mean strain rate at the wall, are characterized by Kolmogorov microscales. According to this Kolmogorov behavior of near-wall turbulence, the turbulence quantities, such as turbulent kinetic energy, dissipation rate, etc. at the location where the large eddies become Kolmogorov eddies, can be estimated by using both direct numerical simulation (DNS) data and asymptotic analysis of near-wall turbulence. This information will provide useful boundary conditions for the turbulent transport equations. As an example, the concept is incorporated in the standard k-epsilon model which is then applied to channel and boundary flows. Using appropriate boundary conditions (based on Kolmogorov behavior of near-wall turbulence), there is no need for any wall-modification to the k-epsilon equations (including model constants). Results compare very well with the DNS and experimental data.

Shih, Tsan-Hsing↗

NASA NTRS1991

Computer graphics testbed to simulate and test vision systems for space applications

A system was developed for displaying computer graphics images of space objects and the use of the system was demonstrated as a testbed for evaluating vision systems for space applications. In order to evaluate vision systems, it is desirable to be able to control all factors involved in creating the images used for processing by the vision system. Considerable time and expense is involved in building accurate physical models of space objects. Also, precise location of the model relative to the viewer and accurate location of the light source require additional effort. As part of this project, graphics models of space objects such as the Solarmax satellite are created that the user can control the light direction and the relative position of the object and the viewer. The work is also aimed at providing control of hue, shading, noise and shadows for use in demonstrating and testing imaging processing techniques. The simulated camera data can provide XYZ coordinates, pitch, yaw, and roll for the models. A physical model is also being used to provide comparison of camera images with the graphics images.

Cheatham, John B.↗

NASA NTRS1992

Identification of aerodynamic coefficients using computational neural networks

Precise, smooth aerodynamic models are required for implementing adaptive, nonlinear control strategies. Accurate representations of aerodynamic coefficients can be generated for the complete flight envelope by combining computational neural network models with an Estimation-Before-Modeling paradigm for on-line training information. A novel method of incorporating first-partial-derivative information is employed to estimate the weights in individual feedforward neural networks for each aerodynamic coefficient. The method is demonstrated by generating a model of the normal force coefficient of a twin-jet transport aircraft from simulated flight data, and promising results are obtained.

Linse, Dennis J.↗

NASA NTRS1992

Upscale integration of normalized difference vegetation index - The problem of spatial heterogeneity

An analysis is conducted of the correspondence between the normalized difference vegetation index (NDVI) calculated from average reflectances, or M(NDVI), and the I(NDVI) that is integrated from individual NDVIs, by simulating AVHRR data from high spatial resolution SPOT 1 radiometer and Landsat TM data. The West African and French sites analyzed at 300-1000 m scale show a strong correlation between the two types of index; the relationship is almost perfectly linear, with a slope that is somewhat dependent on vegetation cover. Effecting the scale change using M(NDVI) instead of I(NDVI) does not introduce significant errors.

Aman, Angora↗

NASA NTRS1991

Navigation accuracy analysis for the TDRSS Onboard Navigation System (TONS) experiment on EP/EUVE

A navigation accuracy analysis of the TONS (TDRSS Onboard Navigation System) experiment on the Explorer Platform/Extreme Ultraviolet Explorer (EP/EUVE) is reported. The analysis process includes both sequential estimation covariance analysis and the processing of 'realistic' simulated tracking data. The sensitivity of the navigation accuracy to force modeling and measurement errors is evaluated as a function of the tracking schedule and the process noise model tuning parameters.

Gramling, C. J.↗

NASA NTRS1992

Modeling and simulation of mobile satellite propagation

Mobile satellite systems are subject to severe fading due to blockage of the line-of-sight (LOS) path by roadside vegetation. A thorough understanding of the fading effects is necessary for the design of a reliable land mobile satellite system (LMSS). Analytical and empirical models are presented for predicting fade statistics for vegetative shadowing of mobile satellite terminals. A software simulator for generating simulated fade data is also presented. A physical model relating physical path parameters to propagation model parameters is presented, and results using the model are shown.

Barts, R. M.↗

NASA NTRS1990

NASA supporting studies for microgravity research on eye movements

The purpose of the work on this project was to provide support for ground-based studies on the effects of gravity on eye movements. The effects of microgravity on the optokinetic eye movements of humans are investigated. OKN was induced by having subjects watch 3.3 deg stripes moving at 35 deg/s for 45 s in a binocular, head-fixed apparatus. The field (hor., 88 deg; vert., 72 deg), was rotated about axes that were upright or tilted 45 deg or 90 deg. The head was upright or tilted 45 deg on the body. Head-horizontal (yaw axis) and head-vertical (pitch axis) components of OKN were recorded with electro-oculography (EOG). Slow phase velocity vectors were determined relative to gravity. With the head upright, the axis of eye rotation during yaw axis OKN was coincident with the stimulus axis and the spatial vertical. With the head tilted 45 deg on the body, a persistent vertical component of eye velocity developed during yaw axis stimulation, and there was an average shift of the axis of eye rotation toward the spatial vertical of approximately 18 deg in six subjects. During oblique optokinetic stimulation with the head upright, the axis of eye rotation shifted 12 deg toward the spatial vertical. When the head was tilted, the axis of eye rotation rotated to the other side of the spatial vertical by 5.4 deg during the same oblique stimulation. This counter-rotation of the axis of eye rotation is similar to the 'Muller (E) effect', in which the perception of the upright counter-rotates to the opposite side of the spatial vertical when subjects are tilted in darkness. The data were simulated by a model of OKN. Despite the short OKAN time constants, strong horizontal to vertical cross-coupling was produced if the horizontal and vertical time constants were in proper ratio, and there was no suppression of nystagmus orthogonal to the stimulus direction. This shows that the spatial orientation of OKN can be due to a restructuring of the system matrix of velocity storage as a function of gravity. It is concluded that although human OKAN is weak, velocity storage orients the slow phase velocity of OKN towards the spatial vertical.

Cohen, Bernard↗

NASA NTRS1991

3-D laser radar simulation for autonomous spacecraft landing

A sophisticated 3D laser radar sensor simulation, developed and applied to the task of autonomous hazard detection and avoidance, is presented. This simulation includes a backward ray trace to sensor subpixels, incoherent subpixel integration, range dependent noise, sensor point spread function effects, digitization noise, and AM-CW modulation. Specific sensor parameters, spacecraft lander trajectory, and terrain type have been selected to generate simulated sensor data.

Reiley, Michael F.↗

NASA NTRS1993

Estimation of solar backscatter ultraviolet albedo using ground-based Umkehr measurements

A retrieval method was developed to estimate the solar backscatter ultraviolet (SBUV) satellite albedo for the ozone profiler wavelengths using ground-based ultraviolet measurements. For the present investigation the Umkehr was used as the ground-based ultraviolet measurement. Simulated SBUV data and Umkehr data theoretically computed from a priori ozone profiles observed by the SAGE II satellite were used to develop the retrieval algorithm and to test its capability. The test indicated that albedos for the SBUV ozone profiler wavelengths should allow estimates to a precision of +/- 5 percent or better, depending on the accuracy of the ultraviolet measurement. Retrievals using actual Umkehr observations were also performed to provide a preliminary look at the magnitude and annual variation of retrieved albedos. A case study was performed, comparing retrieved albedos with SBUV-measured albedos. The SBUV albedo change was seen to be approximately twice as large as the albedo changes estimated by the Umkehr method. Results of the investigation suggest that the method of estimation may be useful for determining the drift rate of the SBUV calibration.

Deluisi, John J.↗

NASA NTRS1993

Estimating free-body modal parameters from tests of a constrained structure

Hardware advances in suspension technology for ground tests of large space structures provide near on-orbit boundary conditions for modal testing. Further advances in determining free-body modal properties of constrained large space structures have been made, on the analysis side, by using time domain parameter estimation and perturbing the stiffness of the constraints over multiple sub-tests. In this manner, passive suspension constraint forces, which are fully correlated and therefore not usable for spectral averaging techniques, are made effectively uncorrelated. The technique is demonstrated with simulated test data.

Cooley, Victor M.↗

NASA NTRS1992

Infrared, microwave, and spaceborne radar simulations of a deep convective system using a 3-D cloud ensemble method

A 3D cloud model is used to simulate the storm structure, and the results are linked to microwave and infrared radiative transfer models for simulation of aircraft observations. Spaceborne radar data are also simulated along the aircraft flight track. The cloud and radiative model simulations are studied and compared with aircraft observations. The initial results indicate that the 3D cloud model is capable of simulating the major features of observed storm systems when given a representative atmospheric sounding to initialize the convective systems. The simulations of infrared and microwave radiances provide reasonably good comparisons with the observations.

Yeh, H.-Y. M.↗

NASA NTRS1993

A study of multiscalar mixing

A model for passive mixing of multiple scalars in homogeneous turbulence is developed. This model is based on the time-evolving mapping closure methodology. Calculations from the model are compared against heat conduction simulations (HCS) data. The agreement is excellent at the early stages of mixing and at the later stages it is fair.

Girimaji, Sharath S.↗

NASA NTRS1985

The relative importance of mass and wind data in the FGGE observing system

There are two theoretical arguments that have been used to discuss the relative importance of mass and wind data in numerical weather prediction (NWP). We will analyze these arguments in this section as clearly as possible in order to draw conclusions which may help to interpret experimental results on four-dimensional data assimilation, simulations of future observing systems, as well as give guidance on how to improve the efficiency with which we use the present observing system.

Kalnay, E.↗

NASA NTRS1991

MHD shocks in coronal mass ejections

The primary objective of this research program is the study of the magnetohydrodynamic (MHD) shocks and nonlinear simple waves produced as a result of the interaction of ejected lower coronal plasma with the ambient corona. The types of shocks and nonlinear simple waves produced for representative coronal conditions and disturbance velocities were determined. The wave system and the interactions between the ejecta and ambient corona were studied using both analytic theory and numerical solutions of the time-dependent, nonlinear MHD equations. Observations from the SMM coronagraph/polarimeter provided both guidance and motivation and are used extensively in evaluating the results. As a natural consequence of the comparisons with the data, the simulations assisted in better understanding the physical interactions in coronal mass ejections (CME's).

Steinolfson, R. S.↗

NASA NTRS1993

Geometric analysis of satellite laser ranging data

The analysis of simultaneous laser data is investigated using the method of trilateration. Analysis of data from 1987 to 1992 is presented with selected baseline rates and station positions. The use of simultaneous Etalon data is simulated to demonstrate the additional global coverage these satellites provide. Trilateration has a great potential for regional deformation studies with monthly LAGEOS American solutions between 3-12 millimeters.

Conklin, Brion↗

NASA NTRS1993

Remote sounding of tropospheric minor constituents

The etalon interferometer, or Fabry-Perot interferometer (FPI), with its high throughput and high spectral resolution was widely used in the remote-sensing measurements of the earth's atmospheric composition, winds, and temperatures. The most recent satellite instruments include the Fabry-Perot interferometer flown on the Dynamics Explorer-2 (DE-2) and the High Resolution Doppler Imager (HRDI) to be flown on the Upper Atmosphere Research Satellite (UARS). These instruments measure the Doppler line profiles of the emission and absorption of certain atmospheric species (such as atomic oxygen) in the visible spectral region. The successful space flight of DE-FPI and the test and delivery of UARS-HRDI demonstrated the extremely high spectral resolution and ruggedness of the etalon system for the remote sensing of earth and planetary atmospheres. Recently, an innovative FPI focal plane detection technique called the Circle-to-Line Interferometer Optical (CLIO) system was invented at the Space Physics Research Laboratory (SPRL). The CLIO simplifies the FPI focal plane detection process by converting the circular rings or fringes into a linear pattern similar to that produced by a conventional spectrometer, while retaining the throughput advantage of the etalon interferometer. CLIO makes the use of linear array detectors more practical and efficient with FPI, the combination of FPI and CLIO represents a very promising new technique for the remote sensing of the lower atmospheres of Earth, Mars, Venus, Neptune, and other planets. The Multiorder Etalon Spectrometer (MOES), as a combination of the rugged etalon and the CLIO, compares very favorably to other spaceborne optical instruments in terms of performance versus complexity. The feasibility of an advanced etalon spectrometer for the remote sensing of tropospheric trace species, particularly carbon monoxide (CO), nitrous oxide (N2O), and methane (CH4) was discussed. The etalon atmospheric spectroscopy techniques are described, instrument design and related technical issues are discussed. The primary objective is to establish the concept of atmospheric spectroscopy with the CLIO and etalon system and its applications for the measurements of tropospheric trace species analyze system requirements and performance, determine the feasibility of components and subsystem implementation with available technology, and develop inversion algorithm for retrieval simulation and data analysis.

Drayson, S. Roland↗