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Phatak, A. V.

Publications and source records attributed to Phatak, A. V..

At least 19 records
All sourcesNASA NTRSDOE OSTI
NASA NTRS1990

Kalman filter based range estimation for autonomous navigation using imaging sensors

The ability to detect and locate obstacles using on-board sensors and modify the nominal trajectory is necessary for safe landing of an autonomous lander on Mars. This paper examines some of the issues in the location of objects using a sequence of images from a passive sensor, and describes a Kalman filter approach to improve the range estimation to obstacles. The filter is also used to track features in the images leading to a significant reduction of search effort in the feature extraction step of the algorithm. The lack of suitable flight imagery data presents a problem in the verification of concepts for obstacle detection. An experiment is designed to acquire a sequence of images along with sensor motion parameters and the range estimation results using this imagery are presented.

Sridhar, B.↗
NASA NTRS1989

The visually guided control of simulated altitude

Simulated "flights" over three different ground textures were used to examine people's ability to extract optical information useful for active regulation of altitude. The textures were regularly spaced lines as follows: 1) orthogonal to the direction of flight (latitude texture); 2) parallel to the direction of flight (meridian texture); and 3) both parallel and orthogonal (square texture). Visual constant velocity forward flight simulations were displayed on a CRT screen, and subjects asked to maintain one of three initial altitudes using a rate control stick. This task was made difficult by the presence of lateral (irrelevant) and vertical (relevant) "wind gusts." The attitude never varied as winds, forward speed, and vertical rate control resulted in only translational movements. Adjusted root mean square errors (ARMSE) showed altitude regulation was more difficult at higher altitudes and when flying over meridian textures. Refined analysis of a single subject's data showed that this was due both to poorer regulation of the vertical wind disturbance and to a tendency to confuse the lateral wind disturbance for a vertical disturbance.

Vision↗
NASA NTRS1986

Evaluation of the usefulness of various simulation technology options for TERPS enhancement

Current approved terminal instrument procedures (TERPS) do not permit the full exploitation of the helicopter's unique flying characteristics. Enhanced TERPS need to be developed for a host of non-standard landing sites and navigation aids. Precision navigation systems such as microwave landing systems (MLS) and the Global Positioning System (GPS) open the possibility of curved paths, steep glide slopes, and decelerating helicopter approaches. This study evaluated the feasibility, benefits, and liabilities of using helicopter cockpit simulators in place of flight testing to develop enhanced TERPS criteria for non-standard flight profiles and navigation equipment. Near-term (2 to 5 year) requirements for conducting simulator studies to verify that they produce suitable data comparable to that obtained from previous flight tests are discussed. The long-term (5 to 10 year) research and development requirements to provide necessary modeling for continued simulator-based testing to develop enhanced TERPS criteria are also outlined.

Phatak, A. V.↗
NASA NTRS1985

Navigation and flight director guidance for the NASA/FAA helicopter MLS curved approach flight test program

The navigation and flight director guidance systems implemented in the NASA/FAA helicopter microwave landing system (MLS) curved approach flight test program is described. Flight test were conducted at the U.S. Navy's Crows Landing facility, using the NASA Ames UH-lH helicopter equipped with the V/STOLAND avionics system. The purpose of these tests was to investigate the feasibility of flying complex, curved and descending approaches to a landing using MLS flight director guidance. A description of the navigation aids used, the avionics system, cockpit instrumentation and on-board navigation equipment used for the flight test is provided. Three generic reference flight paths were developed and flown during the test. They were as follows: U-Turn, S-turn and Straight-In flight profiles. These profiles and their geometries are described in detail. A 3-cue flight director was implemented on the helicopter. A description of the formulation and implementation of the flight director laws is also presented. Performance data and analysis is presented for one pilot conducting the flight director approaches.

Phatak, A. V.↗
NASA NTRS1984

Sensitivity analysis of helicopter IMC decelerating steep approach and landing performance to navigation system parameters

The present investigation is concerned with a sensitivity analysis of the Decelerated Steep Approach and Landing (DSAL) maneuver to on-board and ground-based navigation system parameters. The Instrument Meteorological Conditions (IMC) DSAL maneuver involves decelerating to zero range rate while tracking the localizer and glideslope. The considered study investigated the performance of the navigation systems using Constant Deceleration Profile (CDP) guidance and a six degrees glideslope trajectory. A closed-loop computer simulation of the UH1H helicopter DSAL system was developed for the sensitivity analysis. Conclusions on system performance parameter sensitivity are discussed.

Karmali, M. S.↗
NASA NTRS1984

Evaluation of a real-time predictive guidance law for landing VTOL aircraft at sea

A piloted simulation evaluation was conducted to assess the merits of a predictive lull/swell guidance law for landing a vertical takeoff and landing aircraft at sea. Two cases were evaluated. The first was performed by the pilot without the aid of the lull/swell guidance indicator, which indicates a landing opportunity. The second was performed in a similar manner with the aid of the guidance indicator. The pilot was instructed to use the guidance indicator only as a landing aid. The results indicated the pilots were able to visually determine ship lulls and swells prior to landing. However, use of the lull/swell guidance resulted in increased pilot confidence in the existence of a landing opportunity, which resulted in significantly shorter hover waiting times prior to landing. The performance of the lull/swell guidance was conservative, in that it forecast the onset of deck lulls and swells later than the pilot could detect them, but with greater reliability and therefore greater pilot confidence. In no instances did the guidance algorithm predict a false ship lull with which the pilot did not agree.

Paulk, C. H., Jr.↗
NASA NTRS1983

Investigation of image enhancement techniques for the development of a self-contained airborne radar navigation system

This study was devoted to an investigation of the feasibility of applying advanced image processing techniques to enhance radar image characteristics that are pertinent to the pilot's navigation and guidance task. Millimeter (95 GHz) wave radar images for the overwater (i.e., offshore oil rigs) and overland (Heliport) scenario were used as a data base. The purpose of the study was to determine the applicability of image enhancement and scene analysis algorithms to detect and improve target characteristics (i.e., manmade objects such as buildings, parking lots, cars, roads, helicopters, towers, landing pads, etc.) that would be helpful to the pilot in determining his own position/orientation with respect to the outside world and assist him in the navigation task. Results of this study show that significant improvements in the raw radar image may be obtained using two dimensional image processing algorithms. In the overwater case, it is possible to remove the ocean clutter by thresholding the image data, and furthermore to extract the target boundary as well as the tower and catwalk locations using noise cleaning (e.g., median filter) and edge detection (e.g., Sobel operator) algorithms.

Phatak, A. V.↗
NASA NTRS1983

VTOL shipboard letdown guidance system analysis

Alternative letdown guidance strategies are examined for landing of a VTOL aircraft onboard a small aviation ship under adverse environmental conditions. Off line computer simulation of shipboard landing task is utilized for assessing the relative merits of the proposed guidance schemes. The touchdown performance of a nominal constant rate of descent (CROD) letdown strategy serves as a benchmark for ranking the performance of the alternative letdown schemes. Analysis of ship motion time histories indicates the existence of an alternating sequence of quiescent and rough motions called lulls and swells. A real time algorithms lull/swell classification based upon ship motion pattern features is developed. The classification algorithm is used to command a go/no go signal to indicate the initiation and termination of an acceptable landing window. Simulation results show that such a go/no go pattern based letdown guidance strategy improves touchdown performance.

Phatak, A. V.↗
NASA NTRS1983

Ship motion pattern directed VTOL letdown guidance

This paper examines ship motion pattern directed letdown guidance strategies for landing a VTOL aircraft onboard a small aviation ship under adverse environmental conditions. Off-line computer simulation of the shipboard landing task is utilized for assessing the relative merits of the proposed guidance schemes. A sum of seventy sinusoids representation is used to model the ship motion time histories. The touchdown performance of a nonimal constant-rate-of-descent (CROD) letdown strategy serves as a benchmark for ranking the performance of the alternative letdown schemes.

Phatak, A. V.↗
NASA NTRS1982

Modeling human target acquisition in ground-to-air weapon systems

The problems associated with formulating and validating mathematical models for describing and predicting human target acquisition response are considered. In particular, the extension of the human observer model to include the acquisition phase as well as the tracking segment is presented. Relationship of the Observer model structure to the more complex Standard Optimal Control model formulation and to the simpler Transfer Function/Noise representation is discussed. Problems pertinent to structural identifiability and the form of the parameterization are elucidated. A systematic approach toward the identification of the observer acquisition model parameters from ensemble tracking error data is presented.

Phatak, A. V.↗
NASA NTRS1982

Modeling methodology for MLS range navigation system errors using flight test data

Flight test data was used to develop a methodology for modeling MLS range navigation system errors. The data used corresponded to the constant velocity and glideslope approach segment of a helicopter landing trajectory. The MLS range measurement was assumed to consist of low frequency and random high frequency components. The random high frequency component was extracted from the MLS range measurements. This was done by appropriate filtering of the range residual generated from a linearization of the range profile for the final approach segment. This range navigation system error was then modeled as an autoregressive moving average (ARMA) process. Maximum likelihood techniques were used to identify the parameters of the ARMA process.

Karmali, M. S.↗
NASA NTRS1982

Sensitivity analysis of helicopter IMC decelerating steep approach and landing performance to navigation system parameters

Results of a study to investigate, by means of a computer simulation, the performance sensitivity of helicopter IMC DSAL operations as a function of navigation system parameters are presented. A mathematical model representing generically a navigation system is formulated. The scenario simulated consists of a straight in helicopter approach to landing along a 6 deg glideslope. The deceleration magnitude chosen is 03g. The navigation model parameters are varied and the statistics of the total system errors (TSE) computed. These statistics are used to determine the critical navigation system parameters that affect the performance of the closed-loop navigation, guidance and control system of a UH-1H helicopter.

Karmali, M. S.↗
NASA NTRS1981

Modeling of the aircraft in-trail-following task during profile descent

The cockpit display of traffic information (CDTI) system concepts enable the pilot to observe the surrounding air traffic pattern. The impact of such a system is far reaching in terms of improved safety, pilot and controller workload, and aircraft fuel efficiency. One direct payoff is the ability to distribute the ATC workload to the pilot in such tasks as merging and spacing. The CDTI application of spacing approach aircraft in the terminal area is addressed. In-trail-following/CDTI experiments were performed using realistic cockpit simulators and profile descent approach scenarios. Based on collected experimental simulator data, pilot models were developed which include state estimation, decision making and flight control aspects. These models were coupled with models of aircraft and CDTI equipment to study the dynamic phenomena and stability of strings of aircraft along various approach patterns.

Goka, T.↗
NASA NTRS1980

Analytical methodology for determination of helicopter IFR precision approach requirements

A systematic analytical approach to the determination of helicopter IFR precision approach requirements is formulated. The approach is based upon the hypothesis that pilot acceptance level or opinion rating of a given system is inversely related to the degree of pilot involvement in the control task. A nonlinear simulation of the helicopter approach to landing task incorporating appropriate models for UH-1H aircraft, the environmental disturbances and the human pilot was developed as a tool for evaluating the pilot acceptance hypothesis. The simulated pilot model is generic in nature and includes analytical representation of the human information acquisition, processing, and control strategies. Simulation analyses in the flight director mode indicate that the pilot model used is reasonable. Results of the simulation are used to identify candidate pilot workload metrics and to test the well known performance-work-load relationship. A pilot acceptance analytical methodology is formulated as a basis for further investigation, development and validation.

Phatak, A. V.↗
NASA NTRS1980

An investigation of automatic guidance concepts to steer a VTOL aircraft to a small aviation facility ship

A detailed system model of a VTOL aircraft approaching a small aviation facility ship was developed and used to investigate several approach guidance concepts. A preliminary anaysis of the aircraft-vessel landing guidance requirements was conducted. The various subelements and constraints of the flight system are described including the landing scenario, lift fan aircraft, state rate feedback flight control, MLS-based navigation, sea state induced ship motion, and wake turbulence due to wind-over-deck effects. These elements are integrated into a systems model with various guidance concepts. Guidance is described in terms of lateral, vertical, and longitudinal axes steering modes and approach and landing phases divided by a nominal hover (or stationkeeping) point defined with respect to the landing pad. The approach guidance methods are evaluated, and the two better steering concepts are studied by both single pass and Monte Carlo statistical simulation runs. Four different guidance concepts are defined for further analysis for the landing phase of flight.

Sorensen, J. A.↗
NASA NTRS1979

A piloted simulator investigation of helicopter precision decelerating approaches to hover to determine single-pilot IFR /SPIFR/ requirements

The results of single-pilot instrument flight rules (SPIFR) experiments conducted on the NASA-Ames V/STOLAND simulator are presented. Several factors having a significant impact on requirements for helicopter SPIFR decelerating, steep approaches to landing are considered: (1) approach weather conditions, (2) flight path geometry, (3) deceleration guidance law, (4) level of stability and command augmentation, (5) cockpit display sophistication, (6) accuracy of navigation aids, and (7) helipad lighting and visual aids. Particular emphasis is placed on the relative effects of deceleration profile, control augmentation, and flight director parameters on pilot performance, workload, and opinion rating. Problems associated with the development of a pilot acceptance analytical methodology are outlined.

Phatak, A. V.↗
NASA NTRS1975

Evaluation of optimal control type models for the human gunner in an Anti-Aircraft Artillery (AAA) system

The selection of the structure of optimal control type models for the human gunner in an anti aircraft artillery system is considered. Several structures within the LQG framework may be formulated. Two basic types are considered: (1) kth derivative controllers; and (2) proportional integral derivative (P-I-D) controllers. It is shown that a suitable criterion for model structure determination can be based on the ensemble statistics of the tracking error. In the case when the ensemble tracking steady state error is zero, it is suggested that a P-I-D controller formulation be used in preference to the kth derivative controller.

Phatak, A. V.↗