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Denaro, Robert P.

Publications and source records attributed to Denaro, Robert P..

Worldwide differential GPS for Space Shuttle landing operations

Worldwide differential Global Positioning System (WWDGPS) is viewed as an effective method of offering continuous high-quality navigation worldwide. The concept utilizes a network with as few as 33 ground stations to observe most of the error sources of GPS and provide error corrections to users on a worldwide basis. The WWDGPS real-time GPS tracking concept promises a threefold or fourfold improvement in accuracy for authorized dual-frequency users, and in addition maintains an accurate and current ionosphere model for single-frequency users. A real-time global tracking network also has the potential to reverse declarations of poor health on marginal satellites, increasing the number of satellites in the constellation and lessening the probability of GPS navigation outage. For Space Shuttle operations, the use of WWDGPS-aided P-code equipment promises performance equal to or better than other current landing guidance systems in terms of accuracy and reliability. This performance comes at significantly less cost to NASA, which will participate as a customer in a system designed as a commercial operation serving the global civil navigation community.

Loomis, Peter V. W.↗

GPS vertical axis performance enhancement for helicopter precision landing approach

Several areas were investigated for improving vertical accuracy for a rotorcraft using the differential Global Positioning System (GPS) during a landing approach. Continuous deltaranging was studied and the potential improvement achieved by estimating acceleration was studied by comparing the performance on a constant acceleration turn and a rough landing profile of several filters: a position-velocity (PV) filter, a position-velocity-constant acceleration (PVAC) filter, and a position-velocity-turning acceleration (PVAT) filter. In overall statistics, the PVAC filter was found to be most efficient with the more complex PVAT performing equally well. Vertical performance was not significantly different among the filters. Satellite selection algorithms based on vertical errors only (vertical dilution of precision or VDOP) and even-weighted cross-track and vertical errors (XVDOP) were tested. The inclusion of an altimeter was studied by modifying the PVAC filter to include a baro bias estimate. Improved vertical accuracy during degraded DOP conditions resulted. Flight test results for raw differential results excluding filter effects indicated that the differential performance significantly improved overall navigation accuracy. A landing glidepath steering algorithm was devised which exploits the flexibility of GPS in determining precise relative position. A method for propagating the steering command over the GPS update interval was implemented.

Denaro, Robert P.↗