Engineering Papers⌕ Search

SEARCH · Engineering Papers

Results for “tracking errors”

Search indexed NASA NTRS and DOE OSTI research on propulsion, heat transfer, battery materials and energy systems. Follow report and document links to the original sources.

Quote a phrase for an exact phrase match. Source license links do not imply unrestricted reuse.

At least 1,603 records · Page 89
All sourcesNASA NTRSDOE OSTI
NASA NTRS1983

Satellite altimetry

Progress in satellite altimetry accuracy, together with geoid surface measurements, is reviewed, and future programs are outlined. The Skylab, Geos-3, and Seasat spacecraft all carried altimeters for observing ocean topography, wind speed, and wave height from space. Data were gathered on the geoid and gravity anomalies over ocean areas, leading to determinations of the mesoscale variability of the oceans and a preliminary data base on ocean circulation. Satellite altimeters are currently accurate to 2 cm over a period of several years, and radial errors have been reduced to 50 cm with Seasat. Mean sea surfaces are measured with decimeter accuracy, a level of precision expected for altimetry when improved Doppler tracking, laser tracking, and the introduction of a GPS-based tracking system are implemented. The Shuttle is regarded as a prime vehicle for testing new altimetry techniques.

Marsh, J. G.↗
NASA NTRS1986

Results from 1984 airborne Doppler lidar wind measurements

Observations made with the revised Airborne Doppler Lidar System (ADLS) during research flights in the summer of 1984 are described. The functioning of the ADLS system is described. The research flights measured the flow around Mt. Shasta about 3 km above the surrounding terrain as well as the flow in the area of the Carquenez Strait in the Sacramento River Valley. The flight tracks are described and the resulting scan radial velocities are shown and discussed. The results demonstrate the success of the modifications made in order to correct major error sources present in the 1981 flights of the ADLS system.

Rothermel, Jeffry↗
NASA NTRS1991

A vision-based end-point control for a two-link flexible manipulator

The measurement and control of the end-effector position of a large two-link flexible manipulator are investigated. The system implementation is described and an initial algorithm for static end-point positioning is discussed. Most existing robots are controlled through independent joint controllers, while the end-effector position is estimated from the joint positions using a kinematic relation. End-point position feedback can be used to compensate for uncertainty and structural deflections. Such feedback is especially important for flexible robots. Computer vision is utilized to obtain end-point position measurements. A look-and-move control structure alleviates the disadvantages of the slow and variable computer vision sampling frequency. This control structure consists of an inner joint-based loop and an outer vision-based loop. A static positioning algorithm was implemented and experimentally verified. This algorithm utilizes the manipulator Jacobian to transform a tip position error to a joint error. The joint error is then used to give a new reference input to the joint controller. The convergence of the algorithm is demonstrated experimentally under payload variation. A Landmark Tracking System (Dickerson, et al 1990) is used for vision-based end-point measurements. This system was modified and tested. A real-time control system was implemented on a PC and interfaced with the vision system and the robot.

Obergfell, Klaus↗
NASA NTRS1994

An analysis of carrier phase jitter in an MPSK receiver utilizing map estimation

The use of 8 and 16 PSK TCM to support satellite communications in an effort to achieve more bandwidth efficiency in a power-limited channel has been proposed. This project addresses the problem of carrier phase jitter in an M-PSK receiver utilizing the high SNR approximation to the maximum aposteriori estimation of carrier phase. In particular, numerical solutions to the 8 and 16 PSK self-noise and phase detector gain in the carrier tracking loop are presented. The effect of changing SNR on the loop noise bandwidth is also discussed. These data are then used to compute variance of phase error as a function of SNR. Simulation and hardware data are used to verify these calculations. The results show that there is a threshold in the variance of phase error versus SNR curves that is a strong function of SNR and a weak function of loop bandwidth. The M-PSK variance thresholds occur at SNR's in the range of practical interest for the use of 8 and 16-PSK TCM. This suggests that phase error variance is an important consideration in the design of these systems.

Osborne, William P.↗
NASA NTRS1994

First assessment of GPS-based reduced dynamic orbit determination on TOPEX/Poseidon

The reduced dynamic Global Positioning System (GPS) tracking technique has been applied for the first time as part of the GPS experiment on TOPEX/Poseidon. This technique employs local geometric position corrections to reduce orbit errors caused by the mismodeling of satellite forces. Results for a 29-day interval in early 1993 are evaluated through postfit residuals and formal errors, comparison with GPS and laser/DORIS dynamic solutions, comparisons on 6-hr overlaps of adjacent 30-hr data arcs, altimetry closure and crossover analysis. Reduced dynamic orbits yield slightly better crossover agreement than other techniques and appear to be accurate in altitude to about 3 cm RMS.

Yunck, T. P.↗
NASA NTRS2000

Measuring Postglacial Rebound with GPS and Absolute Gravity

We compare vertical rates of deformation derived from continuous Global Positioning System (GPS) observations and episodic measurements of absolute gravity. We concentrate on four sites in a region of North America experiencing postglacial rebound. The rates of uplift from gravity and GPS agree within one standard deviation for all sites. The GPS vertical deformation rates are significantly more precise than the gravity rates, primarily because of the denser temporal spacing provided by continuous GPS tracking. We conclude that continuous GPS observations are more cost efficient and provide more precise estimates of vertical deformation rates than campaign style gravity observations where systematic errors are difficult to quantify.

Larson, Kristine M.↗
NASA NTRS2003

Analysis and Forecast of Two Storms Characterized by Extreme Deepening Rates

Between 25 and 27 December 1999 two very intense cyclones, named Lothar and Martin, swept across northern and western France causing substantial life and property loss. In this work, the finite volume general circulation model and data assimilation system (fvDAS) developed at the Data Assimilation Office of the NASA Goddard Space and Flight Center is being used to investigate these storms. In the first part of this article the dynamics of the storms is analyzed, and some important mechanisms are unveiled. The second part describes a set of eleven data assimilation experiments to study the impact of different data types on the automated analyses. Cloud-track winds provided by EUMETSAT and surface winds from QuikSCAT are being used. These data are assimilated with a range of different parameter settings of the forecast error covariance model. The results show that generally the additional wind data set have positive impacts on the analyses: particularly, the analysis of Lothar can be slightly improved by using the Eumetsat winds, and the analysis of Martin can be strongly improved by using the full-resolution QuikSCAT winds with a more localized influence. The third part of this article is focused on the forecast of Lothar which is very well predicted in the 1-5 day range by the fvDAS system.

Reale, Oreste↗
NASA NTRS2002

Relative Navigation of Formation-Flying Satellites

This paper compares autonomous relative navigation performance for formations in eccentric, medium and high-altitude Earth orbits using Global Positioning System (GPS) Standard Positioning Service (SPS), crosslink, and celestial object measurements. For close formations, the relative navigation accuracy is highly dependent on the magnitude of the uncorrelated measurement errors. A relative navigation position accuracy of better than 10 centimeters root-mean-square (RMS) can be achieved for medium-altitude formations that can continuously track at least one GPS signal. A relative navigation position accuracy of better than 15 meters RMS can be achieved for high-altitude formations that have sparse tracking of the GPS signals. The addition of crosslink measurements can significantly improve relative navigation accuracy for formations that use sparse GPS tracking or celestial object measurements for absolute navigation.

Long, Anne↗
NASA NTRS2007

Derivation and Application of a Global Albedo yielding an Optical Brightness To Physical Size Transformation Free of Systematic Errors

Orbital object data acquired via optical telescopes can play a crucial role in accurately defining the space environment. Radar systems probe the characteristics of small debris by measuring the reflected electromagnetic energy from an object of the same order of size as the wavelength of the radiation. This signal is affected by electrical conductivity of the bulk of the debris object, as well as its shape and orientation. Optical measurements use reflected solar radiation with wavelengths much smaller than the size of the objects. Just as with radar, the shape and orientation of an object are important, but we only need to consider the surface electrical properties of the debris material (i.e., the surface albedo), not the bulk electromagnetic properties. As a result, these two methods are complementary in that they measure somewhat independent physical properties to estimate the same thing, debris size. Short arc optical observations such as are typical of NASA's Liquid Mirror Telescope (LMT) give enough information to estimate an Assumed Circular Orbit (ACO) and an associated range. This information, combined with the apparent magnitude, can be used to estimate an "absolute" brightness (scaled to a fixed range and phase angle). This absolute magnitude is what is used to estimate debris size. However, the shape and surface albedo effects make the size estimates subject to systematic and random errors, such that it is impossible to ascertain the size of an individual object with any certainty. However, as has been shown with radar debris measurements, that does not preclude the ability to estimate the size distribution of a number of objects statistically. After systematic errors have been eliminated (range errors, phase function assumptions, photometry) there remains a random geometric albedo distribution that relates object size to absolute magnitude. Measurements by the LMT of a subset of tracked debris objects with sizes estimated from their radar cross sections indicate that the random variations in the albedo follow a log-normal distribution quite well. In addition, this distribution appears to be independent of object size over a considerable range in size. Note that this relation appears to hold for debris only, where the shapes and other properties are not primarily the result of human manufacture, but of random processes. With this information in hand, it now becomes possible to estimate the actual size distribution we are sampling from. We have identified two characteristics of the space debris population that make this process tractable and by extension have developed a methodology for performing the transformation.

Mulrooney, Dr. Mark K.↗
NASA NTRS2011

Estimating Contrail Climate Effects from Satellite Data

An automated contrail detection algorithm (CDA) is developed to exploit six of the infrared channels on the 1-km MODerate-resolution Imaging Spectroradiometer (MODIS) on the Terra and Aqua satellites. The CDA is refined and balanced using visual error analysis. It is applied to MODIS data taken by Terra and Aqua over the United States during 2006 and 2008. The results are consistent with flight track data, but differ markedly from earlier analyses. Contrail coverage is a factor of 4 less than other retrievals and the retrieved contrail optical depths and radiative forcing are smaller by approx.30%. The discrepancies appear to be due to the inability to detect wider, older contrails that comprise a significant amount of the contrail coverage. An example of applying the algorithm to MODIS data over the entire Northern Hemisphere is also presented. Overestimates of contrail coverage are apparent in some tropical regions. Methods for improving the algorithm are discussed and are to be implemented before analyzing large amounts of Northern Hemisphere data. The results should be valuable for guiding and validating climate models seeking to account for aviation effects on climate.

Minnis, Patrick↗
DOE OSTI2016

Reconstruction of implanted marker trajectories from cone-beam CT projection images using interdimensional correlation modeling

Purpose: Cone-beam CT (CBCT) is a widely used imaging modality for image-guided radiotherapy. Most vendors provide CBCT systems that are mounted on a linac gantry. Thus, CBCT can be used to estimate the actual 3-dimensional (3D) position of moving respiratory targets in the thoracic/abdominal region using 2D projection images. The authors have developed a method for estimating the 3D trajectory of respiratory-induced target motion from CBCT projection images using interdimensional correlation modeling. Methods: Because the superior–inferior (SI) motion of a target can be easily analyzed on projection images of a gantry-mounted CBCT system, the authors investigated the interdimensional correlation of the SI motion with left–right and anterior–posterior (AP) movements while the gantry is rotating. A simple linear model and a state-augmented model were implemented and applied to the interdimensional correlation analysis, and their performance was compared. The parameters of the interdimensional correlation models were determined by least-square estimation of the 2D error between the actual and estimated projected target position. The method was validated using 160 3D tumor trajectories from 46 thoracic/abdominal cancer patients obtained during CyberKnife treatment. The authors’ simulations assumed two application scenarios: (1) retrospective estimation for the purpose of moving tumor setup used just after volumetric matching with CBCT; and (2) on-the-fly estimation for the purpose of real-time target position estimation during gating or tracking delivery, either for full-rotation volumetric-modulated arc therapy (VMAT) in 60 s or a stationary six-field intensity-modulated radiation therapy (IMRT) with a beam delivery time of 20 s. Results: For the retrospective CBCT simulations, the mean 3D root-mean-square error (RMSE) for all 4893 trajectory segments was 0.41 mm (simple linear model) and 0.35 mm (state-augmented model). In the on-the-fly simulations, prior projections over more than 60° appear to be necessary for reliable estimations. The mean 3D RMSE during beam delivery after the simple linear model had established with a prior 90° projection data was 0.42 mm for VMAT and 0.45 mm for IMRT. Conclusions: The proposed method does not require any internal/external correlation or statistical modeling to estimate the target trajectory and can be used for both retrospective image-guided radiotherapy with CBCT projection images and real-time target position monitoring for respiratory gating or tracking.

60 APPLIED LIFE SCIENCES↗
NASA NTRS2017

Biomass Retrieval from L-Band Polarimetric UAVSAR Backscatter and PRISM Stereo Imagery

The forest above-ground biomass (AGB) and spatial distribution of vegetation elements have profound effects on the productivity and biodiversity of terrestrial ecosystems. In this paper, we evaluated biomass estimation from L-band Synthetic Aperture Radar (SAR) data acquired by National Aeronautics and Space Administration (NASA) Uninhabited Aerial Vehicle SAR (UAVSAR) and the improvement of accuracy by adding canopy height information derived from stereo imagery acquired by Japan Aerospace Exploration Agency (JAXA) Panchromatic Remote Sensing Instrument for Stereo Mapping (PRISM) on-board the Advanced Land Observing Satellite (ALOS). Various models for prediction of forest biomass from UAVSAR data were investigated at pixel sizes of 1/4 ha (50 m x 50 m) and 1 ha. The variance inflation factor (VIF) was calculated for each of the explanatory variables in multivariable regression models to assess the multi-collinearity between explanatory variables. In addition, the t-and p-values were used to interpret the significance of the coefficients of each explanatory variables. The R(exp. 2), Root Mean Square Error (RMSE), bias and Akaike information criterion (AIC), and leave-one-out cross-validation (LOOCV) and bootstrapping were used to validate models. At 1/4-ha scale, the R(exp. 2) and RMSE of biomass estimation from a model using a single track of polarimetric UAVSAR data were 0.59 and 52.08 Mg/ha. With canopy height from PRISM as additional independent variable, R(exp. 2) increased to 0.76 and RMSE decreased to 39.74 Mg/ha (28.24%). At 1-ha scale, the RMSE of biomass estimation based on UAVSAR data of a single track was 39.42 Mg/ha with a R(exp. 2) of 0.77. With the canopy height from PRISM, R(exp. 2) increased to 0.86 and RMSE decreased to 29.47 Mg/ha (20.18%). The models using UAVSAR data alone underestimated biomass at levels above approximately 150 Mg/ha showing the saturation phenomenon. Adding canopy height from PRISM stereo imagery significantly improved the biomass estimation and elevated the saturation level in estimating biomass. Combined use of UAVSAR data acquired from opposite directions (odd and even tracks) slightly improved the biomass estimation.Combined use of UAVSAR data acquired from opposite directions (odd and even tracks) slightly improved the biomass estimation at 1/4-ha scale, R(exp. 2) increased from 0.59 to 0.66 and RMSE reduced from 52.08 to 48.57 Mg/ha. Averaging multiple acquisitions of UAVSAR data from the same look azimuth direction did not improve biomass estimation. A biomass map derived from NASA's LVIS (Laser Vegetation Imaging System) wave-form data was used as a reference for evaluation of the biomass maps from these models. The study has also shown that the errors decreased when deciduous, evergreen, and mixed forests were modeled separately but the improvement was not significant

Zhang, Zhiyu↗
NASA NTRS2000

Low-Cost Tracking Ground Terminal Designed to Use Cryogenically Cooled Electronics

A computer-controlled, tracking ground terminal will be assembled at the NASA Glenn Research Center at Lewis Field to receive signals transmitted by the Glenn's Direct Data Distribution (D3) payload planned for a shuttle flight in low Earth orbit. The terminal will enable direct data reception of up to two 622-megabits-per-second (Mbps) beams from the space-based, K-band (19.05-GHz) transmitting array at an end-user bit error rate of up to 10(exp -12). The ground terminal will include a 0.9-m-diameter receive-only Cassegrain reflector antenna with a corrugated feed horn incorporating a dual circularly polarized, K-band feed assembly mounted on a multiaxis, gimbaled tracking pedestal as well as electronics to receive the downlink signals. The tracking system will acquire and automatically track the shuttle through the sky for all elevations greater than 20 above the horizon. The receiving electronics for the ground terminal consist of a six-pole microstrip bandpass filter, a three-stage monolithic microwave integrated circuit (MMIC) amplifier, and a Stirling cycle cryocooler (1 W at 80 K). The Sterling cycle cryocooler cools the front end of the receiver, also known as the low-noise amplifier (LNA), to about 77 K. Cryocooling the LNA significantly increases receiver performance, which is necessary so that it can use the antenna, which has an aperture of only 0.9 m. The following drawing illustrates the cryoterminal.

Wald, Lawrence W.↗
DOE OSTI2021

A Method for Estimating Time-Series PV Production Loss From Solar Tracking Failures

Solar tracking system failures can dramatically reduce photovoltaic (PV) system energy output through suboptimal irradiance capture and self-shading loss. Detecting tracker failures is not always straightforward; unlike other common PV system failures like inverter outages and blown fuses which take portions of a system completely offline, tracker failures only partially reduce output power and can go unnoticed as a result. Additionally, tracker failures can take one of several forms, each with their own loss characteristics. Here we present two methods of detecting tracker failure events from time-series production data and a method for estimating the associated production loss. Compared with existing detection methods, the proposed power-based detection method showed 0-17% reductions in Type I error rate depending on weather conditions. Here, the loss model estimated production loss with low error (mean bias error = -2.3 %, root-mean-squared error = 6%) in a rudimentary validation.

14 SOLAR ENERGY↗
NASA NTRS2004

Mars Exploration Rovers navigation results

The twin Mars Exploration Rovers, Spirit and Opportunity, were launched on June 10, 2003(dagger), and July 8, 2003, from Cape Canaveral, Florida. Spirit and Opportunity were targeted for landings at Gusev Crater (arrival on January 4, 2004) and Meridiani Planum (arrival on January 25, 2004). The primary navigation challenge was to deliver each spacecraft to the desired atmospheric entry interface point with sufficient accuracy such that each lander would touch down within a specified landing ellipse (about 70 km x 5 km) determined to be safe for landing and also judged to be scientifically interesting. In order to achieve landing within the target ellipse, precise control of the inertial entry flight path angle (FPA) at atmospheric entry was required. The maximum allowable errors in FPA following TCM-5 (trajectory correction maneuver #5) at Entry (E) - 2 days were +/-0.12(deg) (3(sigma)) for Spirit and +/-0.14(deg) (3(sigma)) for Opportunity. Achieving these entry delivery accuracies necessitated significant improvements to the interplanetary avigation system used for MER. These improvements included new processes and software for orbit determination, propulsive maneuver design, and entry, descent, and landing (EDL) trajectory simulation. The actual achieved atmospheric entry accuracies for Spirit and Opportunity significantly exceeded the requirements. At the navigation data cutoff for the TCM-5 final design, the orbit determination FPA knowledge error was +/-0.028(deg) (3(sigma) ) for Spirit and +/-0.035(deg) (3(sigma)) for Opportunity. Because of exceptionally accurate navigation performance, TCM-5 (E - 2 days) and TCM-6 (E - 4 hours) were canceled for both Spirit and Opportunity. The actual landing locations (determined from in-situ Doppler tracking between the MER rovers and the Mars Odyssey orbiter) differed from the target landing points by 10.1 km (downtrack) for Spirit and 24.6 km (downtrack) for Opportunity. The majority of the landing position offsets for both landers was primarily caused by variations in atmosphere and spacecraft aerodynamic modeling from what was predicted. The amount of the landing position offset caused by navigation-only errors was only 3.3 km (uptrack) for Spirit and 9.7 km (downtrack) for Opportunity.

Mars Exploration Rover (MER)↗
NASA NTRS2004

Mars Exploration Rovers navigation results

The twin Mars Exploration Rovers, Spirit and Opportunity, were launched on June 10, 2003, and July 8, 2003, from Cape Canaveral, Florida. Spirit and Opportunity were targeted for landings at Gusev Crater (arrival on January 4, 2004) and Meridiani Planum (arrival on January 25, 2004). The primary navigation challenge was to deliver each spacecraft to the desired atmospheric entry interface point with sufficient accuracy such that each lander would touch down within a specified landing ellipse (about 70 km x 5 km) determined to be safe for landing and also judged to be scientifically interesting. In order to achieve landing within the target ellipse, precise control of the inertial entry flight path angle (FPA) at atmospheric entry was required. The maximum allowable errors in FPA following TCM-5 (trajectory correction maneuver #5) at Entry (E) -2 days were +/-0.12 deg(3 sigma) for Spirit and +/-0.14 deg(3 sigma) for Opportunity. Achieving these entry delivery accuracies necessitated significant improvements to the interplanetary navigation system used for MER. These improvements included new processes and software for orbit determination, propulsive maneuver design, and entry, descent, and landing (EDL) trajectory simulation. The actual achieved atmospheric entry accuracies for Spirit and Opportunity significantly exceeded the requirements. At the navigation data cutoff for the TCM-5 final design, the orbit determination FPA knowledge error was 0.028 deg(3 sigma) for Spirit and 0.035 deg(3 sigma) for Opportunity. Because of exceptionally accurate navigation performance, TCM-5 (E - 2 days) and TCM-6 (E - 4 hours) were canceled for both Spirit and Opportunity. The actual landing locations (determined from in-situ Doppler tracking between the MER rovers and the Mars Odyssey orbiter) differed from the target landing points by 10.1 km (downtrack) for Spirit and 24.6 km (downtrack) for Opportunity. The majority of the landing position offsets for both landers was primarily caused by variations in atmosphere and spacecraft aerodynamic modeling from what was predicted. The amount of the landing position offset caused by navigation-only errors was only 3.3 km (uptrack) for Spirit and 9.7 km (downtrack) for Opportunity.

Mars Exploration Rover (MER)↗
DOE OSTI2014

WE-G-BRD-03: Development of a Real-Time Optical Tracking Goggle System (OTGS) for Intracranial Stereotactic Radiotherapy

Purpose: Optical tracking systems (OTS) are an acceptable alternative to frame-based stereotactic radiotherapy (SRT). However, current surface-based OTS lack the ability to target exclusively rigid/bony anatomical features. We propose a novel marker-based optical tracking goggle system (OTGS) that provides real-time guidance based on the nose/facial bony anatomy. This ongoing study involves the development and characterization of the OTGS for clinical implementation in intracranial stereotactic radiotherapy. Methods: The OTGS consists of eye goggles, a custom thermoplastic nosepiece, and 6 infrared markers pre-attached to the goggles. A phantom and four healthy volunteers were used to evaluate the calibration/registration accuracy, intrafraction accuracy, interfraction reproducibility, and end-to-end accuracy of the OTGS. The performance of the OTGS was compared with that of the frameless SonArray system and cone-beam computed tomography (CBCT) for volunteer and phantom cases, respectively. The performance of the OTGS with commercial immobilization devices and under treatment conditions (i.e., couch rotation and translation range) was also evaluated. Results: The difference in the calibration/registration accuracy of 24 translations or rotation combinations between CBCT and in-house OTS software was within 0.5 mm/0.4°. The mean intrafraction and interfraction accuracy among the volunteers was 0.004+/−0.4mm with −0.09+/−0.5° (n=6,170) and −0.26+/−0.8mm with 0.15+/0.8° (n=11), respectively. The difference in end-to-end accuracy between the OTGS and CBCT was within 1.3 mm/1.1°. The predetermined marker pattern (1) minimized marker occlusions, (2) allowed for continuous tracking for couch angles +/− 90°, (3) and eliminated individual marker misplacement. The device was feasible with open and half masks for immobilization. Conclusion: Bony anatomical localization eliminated potential errors due to facial hair changes and/or soft tissue deformation. The OTGS offers a workflow-friendly, patient-friendly solution for intracranial SRT, while being comparable to other real-time options. The minimum rotation uncertainty of the OTGS can be combined with CBCT to ensure maximum accuracy for high-precision SRT.

60 APPLIED LIFE SCIENCES↗
DOE OSTI2016

Lagrangian particle tracking applied to high-speed tomographic particle imaging velocimetry

We are investigating the accuracy of Lagrangian analysis of time-resolved, 3D velocity measurements in turbulent flames obtained using high-speed tomographic particle image velocimetry (TPIV). A particle-tracking algorithm was implemented in MATLAB to extract Lagrangian statistics from the velocity fields. The accuracy of Lagrangian statistics depends on the accuracy of the estimated particle trajectories. Errors associated with the spatial and temporal resolutions of high-speed TPIV experiments were evaluated using a direct numerical simulation (DNS) of an isotropic turbulent flow. LPT was then implemented onto TPIV measurements of a laminar counterflow flame. Results calculated with LPT were compared to known results of quantities measured with an Eulerian approach.

47 OTHER INSTRUMENTATION↗