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At least 181 records · Page 10

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NASA NTRS1990

Compensating user position for GPS ephemeris error

A method for canceling the effect of GPS ephemeris error on user position is proposed. In this method, the baseline vectors from the reference stations to the user are estimated without adjusting the GPS ephemeris. The user position is computed by adjustment using differenced data from the user and each station separately and averaging the results with weights inversely proportional to the lengths of the baselines. Alternatively, the differenced data can be averaged in a similar manner before the user position is estimated. The averaging procedure cancels most of the ephemeris error because the error is proportional to the length of the baseline. A numerical simulation is performed to demonstrate and evaluate the method. Two reference stations with perfectly known locations are assumed to be placed several hundred kilometers apart. A user receiver with a poorly known location is located between the stations. The user positions are first estimated separately using data from the user and each station and then averaged. The averaging reduces the error by about one order of magnitude.

Wu, J. T.↗

NASA NTRS1992

Position determination of spacecraft at Mars using earth-based differential tracking

The presence of two or more landed or orbiting spacecraft at a planet provides the opportunity to perform extremely accurate earth-based navigation by simultaneously acquiring Doppler data and either Same-Beam Interferometry (SBI) or ranging data. Covariance analyses were performed to investigate the accuracy with which lander and rover positions on the surface of Mars can be determined. Simultaneous acquisition of Doppler and ranging data from a lander and rover over two or more days enables determination of all components of their relative position to under 20 m. Acquiring one hour of Doppler and SBI enables three-dimensional lander-rover relative position determination to better than 5 m. Twelve hours of Doppler and either SBI or ranging from a lander and a low circular or half synchronous circular Mars orbiter makes possible lander absolute position determination to tens of meters.

Kahn, Robert D.↗

NASA NTRS1992

Implementation of robotic force control with position accommodation

As the need for robotic manipulation in fields such as manufacturing and telerobotics increases, so does the need for effective methods of controlling the interaction forces between the manipulators and their environment. Position Accommodation (PA) is a form of robotic force control where the nominal path of the manipulator is modified in response to forces and torques sensed at the tool-tip of the manipulator. The response is tailored such that the manipulator emulates a mechanical impedance to its environment. PA falls under the category of position-based robotic force control, and may be viewed as a form of Impedance Control. The practical implementations are explored of PA into an 18 degree-of-freedom robotic testbed consisting of two PUMA 560 arms mounted on two 3 DOF positioning platforms. Single and dual-arm architectures for PA are presented along with some experimental results. Characteristics of position-based force control are discussed, along with some of the limitations of PA.

Ryan, Michael J.↗

NASA NTRS1991

Office of Space Flight standard spaceborne Global Positioning System user equipment project

The Global Positioning System (GPS) provides users autonomous, real-time navigation capability. A vehicle equipped with GPS user equipment can receive and process signals transmitted by a constellation of GPS satellites and derive from the resulting measurements the vehicle's position and velocity. Specified accuracies range from 16 to 76 meters and 0.1 to 1.0 meters/second for position and velocity, respectively. In a rendezvous and docking scenario, the use of a technique called relative GPS can provide range and range rate accuracies on the order of 1 meter and 0.01 meters/second, respectively. Relative GPS requires both vehicles to be equipped with GPS user equipment and a data communication link for transmission of GPS data and GPS satellite selection coordination information. Through coordinated satellite selection, GPS measurement errors common to both users are cancelled and improved relative position and velocity accuracies are achieved. The background, the design approach, the expected performance and capabilities, the development plan, and the project status are described. In addition, a description of relative GPS, the possible GPS hardware and software configurations, and its application to automated rendezvous and capture are presented.

Saunders, Penny E.↗

NASA NTRS1993

Helicopter approach capability using the differential global positioning system

The results of flight tests to determine the feasibility of using the Global Positioning System (GPS) in the differential mode (DGPS) to provide high accuracy, precision navigation, and guidance for helicopter approaches to landing are presented. The airborne DGPS receiver and associated equipment is installed in a NASA UH-60 Black Hawk helicopter. The ground-based DGPS reference receiver is located at a surveyed test site and is equipped with a real-time VHF data link to transmit correction information to the airborne DGPS receiver. The corrected airborne DGPS information, together with the preset approach geometry, is used to calculate guidance commands which are sent to the aircraft's approach guidance instruments. The use of DGPS derived guidance for helicopter approaches to landing is evaluated by comparing the DGPS data with the laser tracker truth data. Both standard (3 deg) and steep (6 deg and 9 deg) glideslope straight-in approaches were flown. DGPS positioning accuracy based on a time history analysis of the entire approach was 0.2 m (mean) +/- 1.8 m (2 sigma) laterally and -2.0 m (mean) +/- 3.5 m (2 sigma) vertically for 3 deg glideslope approaches, -0.1 m (mean) +/- 1.5 m (2 sigma) laterally and -1.1 m (mean) +/- 3.5 m (2 sigma) vertically for 6 deg glideslope approaches and 0.2 m (mean) +/- 1.3 m (2 sigma) laterally and -1.0 m (mean) +/- 2.8 m (2 sigma) vertically for 9 deg glideslope approaches. DGPS positioning accuracy at the 200 ft decision height (DH) on a standard 3 deg slideslope approach was 0.3 m (mean) +/- 1.5 m (2 sigma) laterally and -2.3 m (mean) +/- 1.6 m (2 sigma) vertically. These errors indicate that the helicopter position based on DGPS guidance satisfies the International Civil Aviation Organization (ICAO) Category 1 (CAT 1) lateral and vertical navigational accuracy requirements.

Kaufmann, David N.↗

NASA NTRS1992

Estimation of the absolute position of mobile systems by an optoelectronic processor

A method that determine the absolute position of a mobile system with a hybrid optoelectronic processor has been developed. Position estimates are based on an analysis of circular landmarks that are detected by a TV camera attached to the mobile system. The difference between the known shape of the landmark and its image provides the information needed to determine the absolute position of the mobile system. For robust operation, the parameters of the landmark image are extracted at high speeds using an optical processor that performs an optical Hough transform. The coordinates of the mobile system are computed from these parameters in a digital co-processor using fast algorithms. Different sources of position estimation errors have also been analyzed, and consequent algorithms to improve the navigation performance of the mobile system have been developed and evaluated by both computer simulation and experiments.

Feng, Liqiang↗

NASA NTRS1993

Helicopter approach capability using the differential Global Positioning System

The results of flight tests to determine the feasibility of using the Global Positioning System (GPS) in the differential mode (DGPS) to provide high accuracy, precision navigation and guidance for helicopter approaches to landing are presented. The airborne DGPS receiver and associated equipment is installed in a NASA UH-60 Black Hawk helicopter. The ground-based DGPS reference receiver is located at a surveyed test site and is equipped with a real-time VHF data link to transmit correction information to the airborne DGPS receiver. The corrected airborne DGPS information, together with the preset approach geometry, is used to calculate guidance commands which are sent to the aircraft's approach guidance instruments. The use of DGPS derived guidance for helicopter approaches to landing is evaluated by comparing the DGPS data with the laser tracker truth data. Both standard (3 degrees) and steep (6 degrees and 9 degrees) glidescope straight-in approaches were flown. DGPS positioning accuracy based on a time history analysis of the entire approach was 0.2 m (mean) +/- 1.8 m (2 sigma) laterally and -2.0 m (mean) +/- 3.5 m (2 sigma) vertically for 3 degree glidescope approaches, -0.1 m (mean) +/- 1.5 m (2 sigma) laterally and -1.1 m (mean) +/- 3.5 m (2 sigma) vertically for 6 degree glidescope approaches, and 0.2 m (mean) +/- 1.3 m (2 sigma) laterally and -1.0 m (mean) +/- 2.8 (2 sigma) vertically for 9 degree glidescope approaches. DGPS positioning accuracy at the 200 ft decision height on a standard 3 degree glidescope approach was 0.3 m (mean) +/- 1.5 m (2 sigma) laterally and -2.3 m (mean) +/- 1.6 m (2 sigma) vertically. These errors indicate that the helicopter position based on DGPS guidance satisfies the International Civil Aviation Organization Category 1 lateral and vertical accuracy requirements.

Kaufmann, David N.↗

NASA NTRS1993

Analysis of differences between seating positions in simulators and orbiters

Crew comments indicate that Space Shuttle simulator seats place crewmembers in a position different from that of the actual Orbiter seats. The crew feel that they launch in a different position, and with a different reach and visibility, from that in which they had trained. This study examined three factors in differences between training and flight positions. Key dimensions, which were considered important to spatial orientation, were compared in the Orbiters and simulators. These were dimensions such as seat back to glare shield and seat pan to overhead. The differences between flight and training crew equipment, and how these differences may contribute to the problem were discussed with engineers and technicians responsible for the equipment. Eye position measurements were taken on subjects to assess any differences that could be attributed to different ingress methods in the Orbiters and the simulators. This report presents the data, analysis, and recommendations.

Mongan, Philip T.↗

NASA NTRS1993

On positivity preserving finite volume schemes for compressible Euler equations

Positivity preserving property of first and higher order finite volume schemes for one and two dimensional compressible Euler equations of gas dynamics is considered. A general framework is established which shows the positivity of density and pressure whenever the underlying one dimensional first order building block based on exact or approximate Riemann solver and the reconstruction are both positivity preserving. Appropriate limitation to achieve high order positivity preserving reconstruction is described.

Perthame, Benoit↗

NASA NTRS1993

Determination of radio-frame position for Earth and Jupiter from Ulysses encounter tracking

Radio metric tracking data acquired from the Ulysses spacecraft about its encounter with Jupiter in February 1992 allow an accurate measurement of some components of the orbital elements describing the positions of the Earth and Jupiter with respect to extragalactic radio sources. Range and Doppler data acquired from the Earth while the spacecraft is far from any planet provide an estimate of the spacecraft trajectory relative to the orbit of the Earth. Doppler data near Jupiter provide an accurate position determination of the spacecraft with respect to Jupiter. Very Long Baseline Interferometry observations of the spacecraft with respect to the distant radio sources provide a direct measure of the spacecraft position in the radio reference frame. Combining these measurements provides a means to estimate the locations of the Earth and Jupiter in the radio reference frame. One of the three Euler angles describing the orientation of the Earth's orbit in the radio frame has been determined to an accuracy of 50 nanoradians; the result agrees with other recent determinations of this orientation. The position of Jupiter at the time of Ulysses encounter has been determined to 15 nanoradians in ecliptic latitude and longitude.

Folkner, W. M.↗

NASA NTRS1994

Practical formulation of a positively conservative scheme

Approximate Riemann solvers have been highly successful for computing the Euler/Navier-Stokes equations, but linearized Riemann solvers are known to fail occasionally by predicting non-physical states with negative density or internal energy. Positively conservative schemes, in contrast, guarantee physical solutions from realistic input. The Harten-Lax-van Leer-Einfeldt (HLLE) scheme is a typical example of a positively conservative scheme. However, the HLLE scheme is highly dissipative at contact discontinuities and shear layers and thus it is not applicable to practicle simulations. An existing modification to the HLLE scheme, known as HLLEM, enhances the resolution to that of the Roe scheme. However, this modification violates the positivity of density and internal energy. Precise derivation of the modification yields a quatratic inequality and thus requires a case-by-case treatment. This Note describes a new, modified HLLE scheme that satisfies the positively conservative condition approximately. Sample computationa are included to demonstrate the resolution and the robustness of the scheme.

Obayashi, Shigeru↗

NASA NTRS1995

Measuring Pixel-Position Errors On CCD Imagers

Deviations of positions of pixels on charge-coupled-device (CCD) image detector from nominal rectangular grid pattern measured by method in which coherent-light interference fringes used as reference pattern. Conceived for use in determining pixel-position errors in astrometric cameras flown aboard spacecraft. Also applied to determination of similar errors in (and calibration of) terrestrial CCD cameras used as position sensors; for example, position-measuring cameras that are parts of robotic systems.

Shaklan, Stuart B.↗

NASA NTRS1996

Ion Thruster Support and Positioning System

A system for supporting and selectively positioning an ion thruster relative to a surface of a spacecraft includes three angularly spaced thruster support assemblies. Each thruster support assembly includes a frame which has a rotary actuator mounted thereon. The rotary actuator is connected to an actuator member which is rotatably connected to a thruster attachment member connected to a body of the thruster. A stabilizer member is rotatably mounted to the frame and to the thruster attachment member. The thruster is selectively movable in the pitch and yaw directions responsive to movement of the actuator members by the actuators on the thruster support assemblies. A failure of any one actuator on a thruster support assembly will generally still enable limited thruster positioning capability in two directions. In a retracted position the thruster attachment members are held in nested relation in saddles supported on the frames of the thruster support assemblies. The thruster is securely held in the retracted position during periods of high loading such as during launch of the spacecraft.

Haag, Thomas W.↗

NASA NTRS1996

Positioning and Microvibration Control by Electromagnets of an Air Spring Vibration Isolation System

Active positioning and microvibration control has been attempted by electromagnets equipped in a bellows-type, air-spring vibration isolation system. Performance tests have been carried out to study the effects. The main components of the system's isolation table were four electromagnetic actuators and controllers. The vibration isolation table was also equipped with six acceleration sensors for detecting microvibration of the table. The electromagnetic actuators were equipped with bellows-type air springs for passive support of the weight of the item placed on the table, with electromagnets for active positioning, as well as for microvibration control, and relative displacement sensors. The controller constituted a relative feedback system for positioning control and an absolute feedback system for vibration isolation control. In the performance test, a 1,490 kg load (net weight of 1,820 kg) was placed on the vibration isolation table, and both the positioning and microvibration control were carried out electromagnetically. Test results revealed that the vibration transmission was reduced by 95%.

Watanabe, Katsuhide↗

NASA NTRS1997

Global Positioning System Antenna Fixed Height Tripod Adapter

An improved Global Positioning em antenna adaptor allows fixed antenna height measurements by removably attaching an adaptor plate to a conventional surveyor's tripod. Antenna height is controlled by an antenna boom which is a fixed length rod. The antenna is attached to one end of the boom. The opposite end of the boom tapers to a point sized to fit into a depression at the center of survey markers. The boom passes through the hollow center of a universal ball joint which is mounted at the center of the adaptor plate so that the point of the rod can be fixed in the marker's central depression. The mountains of the ball joint allow the joint to be moved horizontally in any direction relative to the tripod. When the ball joint is moved horizontally, the angle between the boom and the vertical changes because the boom's position is fixed at its lower end. A spirit level attached to the rod allows an operator to determine when the boom is plumb. The position of the ball joint is adjusted horizontally until the boom is plumb. At that time the antenna is positioned exactly over the center of the monument and the elevation of the antenna is precisely set by the length of the boom.

Dinardo, Steven J.↗

NASA NTRS1998

Ion Thruster Support and Positioning System

Haag, Thomas W.↗

NASA NTRS1960

Determination of Azimuth Angle at Burnout for Placing a Satellite Over a Selected Earth Position

Expressions are presented for relating the satellite position in the orbital plane with the projected latitude and longitude on a rotating earth surface. An expression is also presented for determining the azimuth angle at a given burnout position on the basis of a selected passage position on the earth's surface. Examples are presented of a satellite launched eastward and one launched westward, each passing over a selected position sometime after having completed three orbits. Incremental changes from the desired latitude and longitude due to the earth's oblateness are included in the iteration for obtaining the azimuth angles of the two examples. The results for both cases are then compared with those obtained from a computing program using an oblate rotating earth. Changes from the selected latitude and longitude resulting from incremental changes from the burn-out azimuth angle and latitude are also analyzed.

Skopinski, T. H.↗

NASA NTRS1960

Problems Involved in an Emergency Method of Guiding a Gliding Vehicle from High Altitudes to a High Key Position

An investigation has been conducted to determine the problems involved in an emergency method of guiding a gliding vehicle from high altitudes to a high key position (initial position) above a landing field. A jet airplane in a simulated flameout condition, conventional ground-tracking radar, and a scaled wire for guidance programming on the radar plotting board were used in the tests. Starting test altitudes varied from 30,000 feet to 46,500 feet, and starting positions ranged 8.4 to 67 nautical miles from the high key. Specified altitudes of the high key were 12,000, 10,000 or 4,000 feet. Lift-drag ratios of the aircraft of either 17, 16, or 6 were held constant during any given flight; however, for a few flights the lift-drag ratio was varied from 11 to 6. Indicated airspeeds were held constant at either 160 or 250 knots. Results from these tests indicate that a gliding vehicle having a lift-drag ratio of 16 and an indicated approach speed of 160 knots can be guided to within 800 feet vertically and 2,400 feet laterally of a high key position. When the lift-drag ratio of the vehicle is reduced to 6 and the indicated approach speed is raised to 250 knots, the radar controller was able to guide the vehicle to within 2,400 feet vertically and au feet laterally of the high key. It was also found that radar stations which give only azimuth-distance information could control the glide path of a gliding vehicle as well as stations that receive azimuth-distance-altitude information, provided that altitude information is supplied by the pilot.

Jewel, Joseph W., Jr.↗