Engineering topics

Harman, R.

Publications and source records attributed to Harman, R..

8 records

NASA NTRS2004

An Algorithm for Converting Static Earth Sensor Measurements into Earth Observation Vectors

An algorithm has been developed that converts penetration angles reported by Static Earth Sensors (SESs) into Earth observation vectors. This algorithm allows compensation for variation in the horizon height including that caused by Earth oblateness. It also allows pitch and roll to be computed using any number (greater than 1) of simultaneous sensor penetration angles simplifying processing during periods of Sun and Moon interference. The algorithm computes body frame unit vectors through each SES cluster. It also computes GCI vectors from the spacecraft to the position on the Earth's limb where each cluster detects the Earth's limb. These body frame vectors are used as sensor observation vectors and the GCI vectors are used as reference vectors in an attitude solution. The attitude, with the unobservable yaw discarded, is iteratively refined to provide the Earth observation vector solution.

Harman, R.↗

NASA NTRS2004

Testing of Gyroless Estimation Algorithms for the Fuse Spacecraft

This paper documents the testing and development of magnetometer-based gyroless attitude and rate estimation algorithms for the Far Ultraviolet Spectroscopic Explorer (FUSE). The results of two approaches are presented, one relies on a kinematic model for propagation, a method used in aircraft tracking, and the other is a pseudolinear Kalman filter that utilizes Euler's equations in the propagation of the estimated rate. Both algorithms are tested using flight data collected over a few months after the failure of two of the reaction wheels. The question of closed-loop stability is addressed. The ability of the controller to meet the science slew requirements, without the gyros, is analyzed.

Harman, R.↗

NASA NTRS2001

Image Mission Attitude Support Experiences

The spin-stabilized Imager for Magnetopause to Aurora Global Exploration (IMAGE) is the National Aeronautics and Space Administration's (NASA's) first Medium-class Explorer Mission (MIDEX). IMAGE was launched into a highly elliptical polar orbit on March 25, 2000 from Vandenberg Air Force Base, California, aboard a Boeing Delta II 7326 launch vehicle. This paper presents some of the observations of the flight dynamics analyses during the launch and in-orbit checkout period through May 18, 2000. Three new algorithms - one algebraic and two differential correction - for computing the parameters of the coning motion of a spacecraft are described and evaluated using in-flight data from the autonomous star tracker (AST) on IMAGE. Other attitude aspects highlighted include support for active damping consequent upon the failure of the passive nutation damper, performance evaluation of the AST, evaluation of the Sun sensor and magnetometer using AST data, and magnetometer calibration.

Ottenstein, N.↗

NASA NTRS1994

In-flight estimation of gyro noise on the Upper Atmosphere Research Satellite (UARS) and Extreme Ultraviolet Explorer (EUVE) missions

This paper characterizes the low-frequency noise response of the Teledyne dry rotor inertial reference unit (DRIRU) gyroscopes on the Upper Atmosphere Research Satellite (UARS) and the Extreme Ultraviolet Explorer (EUVE). The accuracy of spacecraft attitude estimation algorithms that use gyro data for propagating the spacecraft attitude is sensitive to gyro noise. EUVE gyro data were processed to validate a single-axis gyro noise model, which is used onboard various spacecraft. The paper addresses the potential impact of temperature effects on the gyro noise model and the overall impact on attitude determination accuracy. The power spectral density (PSD) of the gyro noise is estimated from UARS in-flight data by Fast Fourier Transform (FFT). The role of actuator dynamics on the PSD function is also discussed.

Lee, M.↗

NASA NTRS1993

The attitude accuracy consequences of on-orbit calibration of the Extreme Ultraviolet Explorer attitude sensors by the Flight Dynamics Facility at Goddard Space Flight Center

The science mission of the Extreme Ultraviolet Explorer (EUVE) requires attitude solutions with uncertainties of 27, 16.7, 16.7 arcseconds (3 sigma) around the roll, pitch, and yaw axes, respectively. The primary input to the attitude determination process is provided by two NASA standard fixed-head star trackers (FHSTs) and a Teledyne dry rotor inertial reference unit (DRIRU) 2. The attitude determination requirements approach the limits attainable with the FHSTs and DRIRU. The Flight Dynamics Facility (FDF) at Goddard Space Flight Center (GSFC) designed and executed calibration procedures that far exceeded the extent and the data volume of any other FDF-supported mission. The techniques and results of this attempt to obtain attitude accuracies at the limit of sensor capability and the results of analysis of the factors that limit the attitude accuracy are the primary subjects of this paper. The success of the calibration effort is judged by the resulting measurement residuals and comparisons between ground- and onboard-determined attitudes. The FHST star position residuals have been reduced to less tha 4 arcsec per axis -- a value that appears to be limited by the sensor capabilities. The FDF ground system uses a batch least-squares estimator to determine attitude. The EUVE onboard computer (OBC) uses an extended Kalman filter. Currently, there are systematic differences between the two attitude solutions that occasionally exceed the mission requirements for 3 sigma attitude uncertainty. Attempts to understand and reduce these differences are continuing.

Hashmall, J.↗

NASA NTRS1993

Postlaunch calibration of spacecraft attitude instruments

The accuracy of both onboard and ground attitude determination can be significantly enhanced by calibrating spacecraft attitude instruments (sensors) after launch. Although attitude sensors are accurately calibrated before launch, the stresses of launch and the space environment inevitably cause changes in sensor parameters. During the mission, these parameters may continue to drift requiring repeated on-orbit calibrations. The goal of attitude sensor calibration is to reduce the systematic errors in the measurement models. There are two stages at which systematic errors may enter. The first occurs in the conversion of sensor output into an observation vector in the sensor frame. The second occurs in the transformation of the vector from the sensor frame to the spacecraft attitude reference frame. This paper presents postlaunch alignment and transfer function calibration of the attitude sensors for the Compton Gamma Ray Observatory (GRO), the Upper Atmosphere Research Satellite (UARS), and the Extreme Ultraviolet Explorer (EUVE).

Davis, W.↗

NASA NTRS1992

Recent Goddard Space Flight Center (GSFC) experience with on-orbit calibration of attitude sensors

The results of on-orbit calibration for several satellites by the flight Dynamics Facility (FDF) at GSFC are reviewed. The examples discussed include attitude calibrations for sensors, including fixed-head star trackers, fine sun sensors, three-axis magnetometers, and inertial reference units taken from recent experience with the Compton Gamma Ray observatory, the Upper Atmosphere Research Satellite, and the Extreme Ultraviolet Explorer calibration. The methods used and the results of calibration are discussed, as are the improvements attained from in-flight calibration.

Davis, W.↗

NASA NTRS1990

Gamma Ray Observatory (GRO) dynamics simulator requirements and mathematical specifications, revision 1

The requirements and mathematical specifications for the Gamma Ray Observatory (GRO) Dynamics Simulator are presented. The complete simulator system, which consists of the profie subsystem, simulation control and input/output subsystem, truth model subsystem, onboard computer model subsystem, and postprocessor, is described. The simulator will be used to evaluate and test the attitude determination and control models to be used on board GRO under conditions that simulate the expected in-flight environment.

Harman, R.↗