Engineering topics

Harman, R. R.

Publications and source records attributed to Harman, R. R..

7 records

NASA NTRS1999

Angular-Rate Estimation Using Delayed Quaternion Measurements

This paper presents algorithms for estimating the angular-rate vector of satellites using quaternion measurements. Two approaches are compared one that uses differentiated quaternion measurements to yield coarse rate measurements, which are then fed into two different estimators. In the other approach the raw quaternion measurements themselves are fed directly into the two estimators. The two estimators rely on the ability to decompose the non-linear part of the rotas rotational dynamics equation of a body into a product of an angular-rate dependent matrix and the angular-rate vector itself. This non unique decomposition, enables the treatment of the nonlinear spacecraft (SC) dynamics model as a linear one and, thus, the application of a PseudoLinear Kalman Filter (PSELIKA). It also enables the application of a special Kalman filter which is based on the use of the solution of the State Dependent Algebraic Riccati Equation (SDARE) in order to compute the gain matrix and thus eliminates the need to compute recursively the filter covariance matrix. The replacement of the rotational dynamics by a simple Markov model is also examined. In this paper special consideration is given to the problem of delayed quaternion measurements. Two solutions to this problem are suggested and tested. Real Rossi X-Ray Timing Explorer (RXTE) data is used to test these algorithms, and results are presented.

Azor, R.↗

NASA NTRS1996

Experience Gained From Launch and Early Orbit Support of the Rossi X-Ray Timing Explorer (RXTE)

this paper reports the results to date of early mission support provided by the personnel of the Goddard Space Flight Center Flight Dynamics Division (FDD) for the Rossi X-Ray Timing Explorer (RXTE) spacecraft. For this mission, the FDD supports onboard attitude determination and ephemeris propagation by supplying ground-based orbit and attitude solutions and calibration results. The first phase of that support was to provide launch window analyses. As the launch window was determined, acquisition attitudes were calculated and calibration slews were planned. postlaunch, these slews provided the basis for ground determined calibration. Ground determined calibration results are used to improve the accuracy of onboard solutions. The FDD is applying new calibration tools designed to facilitate use of the simultaneous, high-accuracy star observations from the two RXTE star trackers for ground attitude determination and calibration. An evaluation of the performance of these tools is presented. The FDD provides updates to the onboard star catalog based on preflight analysis and analysis of flight data. The in-flight results of the mission support in each area are summarized and compared with pre-mission expectations.

Fink, D. R.↗

NASA NTRS1993

The results of the in-flight attitude sensor calibration for the Arthur Holly Compton Gamma Ray Observatory

The Arthur Holly Compton Gamma Ray Observatory (GRO) was launched by the shuttle Atlantis in April 1991. This paper presents the results of the attitude sensor calibration that was performed during the early mission. The GSFC Flight Dynamics Facility (FDF) performed an alignment calibration of the two fixed-head star trackers (FHST's) and two fine Sun sensors (FSS's) on board Compton GRO. The results show a 27-arcsecond shift between the bore sights of the FHST's with respect to prelaunch measurements. The alignments of the two FSS's shifted by 0.20 and 0.05 degree. During the same time period, the Compton GRO science teams performed an alignment calibration of the science instruments with respect to the attitude reported by the on board computer (OBC). In order to preserve these science alignments, FDF adjusted the overall alignments of the FHST's and FSS's, obtained by the FDF calibration, such that when up linked to the OBC, the shift in the OBC-determined attitude is minimized. FDF also calibrated the inertial reference unit (IRU), which consists of three dual-axis gyroscopes. The observed gyro bias matched the bias that was solved for by the OBC. This bias drifted during the first 6 days after release. The results of the FDF calibration of scale factor and alignment shifts showed changes that were of the same order as their uncertainties.

Davis, W. S.↗

NASA NTRS1990

Gamma Ray Observatory (GRO) OBC attitude error analysis

This analysis involves an in-depth look into the onboard computer (OBC) attitude determination algorithm. A review of TRW error analysis and necessary ground simulations to understand the onboard attitude determination process are performed. In addition, a plan is generated for the in-flight calibration and validation of OBC computed attitudes. Pre-mission expected accuracies are summarized and sensitivity of onboard algorithms to sensor anomalies and filter tuning parameters are addressed.

Harman, R. R.↗

NASA NTRS1990

True covariance simulation of the EUVE (extreme ultra violet explorer) update filter

This paper presents a covariance analysis of the performance and sensitivity of the attitude determination Extended Kalman Filter (EKF) used by the onboard computer (OBC) of the Extreme Ultra Violet Explorer (EUVE) spacecraft. The linearized dynamics and measurement equations of the error states are used in formulating the 'truth model' describing the order of the systems involved. The 'design model' used by the OBC EKF is then obtained by reducing the order of the truth model. The covariance matrix of the EKF which uses the reduced order model is not the correct covariance of the EKF estimation error. A 'true covariance analysis' has to be carried out in order to evaluate the correct accuracy of the OBC generated estimates. The results of such analysis are presented which indicate both the performance and the sensitivity of the OBC EKF.

Bar-Itzhack, I. Y.↗

NASA NTRS1990

True covariance simulation of the EUVE update filter

This paper presents a covariance analysis of the performance and sensitivity of the attitude determination Extended Kalman Filter (EKF) used by the On Board Computer (OBC) of the Extreme Ultra Violet Explorer (EUVE) spacecraft. The linearized dynamics and measurement equations of the error states are used in formulating the 'truth model' describing the real behavior of the systems involved. The 'design model' used by the OBC EKF is then obtained by reducing the order of the truth model. The covariance matrix of the EKF which uses the reduced order model is not the correct covariance of the EKF estimation error. A 'true covariance analysis' has to be carried out in order to evaluate the correct accuracy of the OBC generated estimates. The results of such analysis are presented which indicate both the performance and the sensitivity of the OBC EKF.

Bar-Itzhack, I. Y.↗

NASA NTRS1989

True covariance simulation of the EUVE update filter

A covariance analysis of the performance and sensitivity of the attitude determination Extended Kalman Filter (EKF) used by the On Board Computer (OBC) of the Extreme Ultra Violet Explorer (EUVE) spacecraft is presented. The linearized dynamics and measurement equations of the error states are derived which constitute the truth model describing the real behavior of the systems involved. The design model used by the OBC EKF is then obtained by reducing the order of the truth model. The covariance matrix of the EKF which uses the reduced order model is not the correct covariance of the EKF estimation error. A true covariance analysis has to be carried out in order to evaluate the correct accuracy of the OBC generated estimates. The results of such analysis are presented which indicate both the performance and the sensitivity of the OBC EKF.

Bar-Itzhack, Itzhack Y.↗