Theory and Applications of Kalman Filtering
Kalman filtering applications in space navigation, underwater operations, surface navigation, and Gauss-Markov processes
C. T. Leondes↗
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Some applications of Kalman filtering in space guidance
Linear optimal recursive filtering techniques for space navigation
Bellantoni, J. F.↗
The use of statistics in guidance analysis
Statistical analysis of space navigation systems based on multivariate Gaussian distributions and linear perturbation theory
Galli, D. H.↗
A parallel between Keplerian integrals and integrals of the adjoint equations
Keplerian integrals analogy to integrals of adjoint equations suggested by optimum space navigation trajectories considerations
Burns, I. F.↗
Recursive filter initialization.
Description of an initialization technique which partially accounts for the interrelation between the true-state vector errors when recursive filtering is applied in space navigation systems. The technique reduces the undesirable transient effects of the first few measurements and inhibits filter divergence when the interval between measurements is inordinately large. The key feature of this technique is the inclusion of the effect of a number of pseudo-measurements of certain orbital parameters into the initial covariance matrix. The pseudo-measurement technique has been shown to be useful when reinitialization of the error covariance matrix is required to prevent filter divergence.
Battin, R. H.↗
Evaluation of Skylab earth laser beacon imagery
During the Skylab 3 and 4 missions the Skylab spacecraft was illuminated by a low power argon ion and dye laser. The earth laser beacon was studied visually by the astronauts. In addition, they collected 35 mm hand-held color photographs of the beacons. Photographs are shown that were obtained on Skylab 3 and Skylab 4. The imagery collected during the Skylab mission was analyzed to evaluate the utility of beacon lasers as terrestial 'artificial stars' for space navigation. The analyses of the imagery revealed two unusual features of the earth laser beacon: (1) The beacon, even though of a low power (approximately 1 watt), is considerably brighter than any other terrain feature and is readily visible on imagery at a distance in excess of 1500 km (900 miles). (2) Another feature of the beacon is its large size. The typical beacon extends over about 5 resolution areas with a characteristic dimension of about 200 m.
Piech, K. R.↗
A history of the deep space network
The Deep Space Network (DSN) has been managed and operated by the Jet Propulsion Laboratory (JPL) under NASA contract ever since NASA was formed in late 1958. The Tracking and data acquisition tasks of the DSN are markedly different from those of the other NASA network, STDN. STDN, which is an amalgamation of the satellite tracking network (STADAN) and the Manned Space Flight Network (MSFN), is primarily concerned with supporting manned and unmanned earth satellites. In contrast, the DSN deals with spacecraft that are thousands to hundreds of millions of miles away. The radio signals from these distant craft are many orders of magnitude weaker than those from nearby satellites. Distance also makes precise radio location more difficult; and accurate trajectory data are vital to deep space navigation in the vicinities of the other planets of the solar system. In addition to tracking spacecraft and acquiring data from them, the DSN is required to transmit many thousands of commands to control the sophisticated planetary probes and interplanetary monitoring stations. To meet these demanding requirements, the DSN has been compelled to be in the forefront of technology.
Corliss, W. R.↗
F. Gomez Arias' rocket vehicle project
Research done by Spanish pioneer rocket scientists in the 19th century was investigated with major emphasis placed on F. Gomez Arias' rocket vehicle project. Arias, considered the world's first designer of rocket propelled, manned aircraft, was interested in solving the problem of space navigation. Major concerns included ascent and direction of heavier-than-airmachines, as well as ascent and direction of balloons.
Carreras, R.↗
An extensive bibliography on long baseline interferometry
Long baseline interferometry has grown from a simple concept of an optical device for detecting light fringes to a highly theoretical and sophisticated system assisted by computers and modern electronic components. The areas of applications include radio astronomy, radio science, geodesy, tectonics, space navigation, and seismology.
Benjauthrit, B.↗
Large scale state estimation algorithms for DSN tracking station location determination
Estimation of precise tracking station locations for deep space navigation is based on combining state estimates derived from a multitude of planetary encounter missions with planet direction information provided by the planetary ephemeris. Procedures for reducing the dimensionality of the station location estimation problem and for analytically correcting estimates for ephemeris updates have been developed. Using Householder transforms the large scale state estimation problem is decomposed into a sequence of dynamically uncoupled problems of lower dimension. The effect of an ephemeris update is shown to be adequately approximated by Brouwer-Clemence Set III perturbations for the earth-moon barycenter and the target planet for each mission.
Ellis, J.↗
Proceedings of a workshop: Multidisciplinary Use of the Very Long Baseline Array
The National Research Council organized a workshop to gather together experts in very long baseline interometry, astronomy, space navigation, general relativity and the earth sciences. The purpose of the workshop was to provide a forum for consideration of the various possible multi-disciplinary uses of the very long baseline array. Geophysical investigations received major attention. Geodesic uses of the very long baseline array were identified as were uses for fundamental astronomy investigations. Numerous specialized uses were identified.
Source record↗
Introduction to magnetic bearings
Multi-axis suspension has several advantages over single axis system, in that it provides control of an object with precision in two or three orthogonal axes. In this report, we discuss the primary use of magnetic-bearing suspension and it's relevance to what was formally known as NASA's Annular Suspension and Pointing System (ASPS). This system is an experimental pointing system with applications for the space shuttle and the space station programs. The objectives behind this magnetic suspension research project are to provide insight to the use of the ASPS configuration, to control the solar panels of the space station. This is important to maintain the correct position of the panels in relation to the sun and orbiting space station for the continuous supply of solar energy. Since the panels are suspended, they can be aligned with minimum outside interference. The approach of using magnetic suspension technology guarantees mechanical isolation since there are no contacting surfaces. This isolation reduces vibration transmission and mechanical wear which in turn extends the life of the payload and of the carrier. It should be noted that ASPS has a high pointing accuracy along the line of 0.01 arc-second. This research will be done in a laboratory setting by incorporating five bearing stations and one motion control station. We will attempt to suspend an object of dead weight similar to that of a solar panel. The long term applications may include deep-space navigation, fire control in weapon systems, and an improved mass transit system.
Skowronski, Lori↗
Test Results for the Automated Rendezvous and Capture System
The Automated Rendezvous and Capture (AR&C) system was designed and tested at NASA's Marshall Space Flight Center (MSFC) to demonstrate technologies and mission strategies for automated rendezvous and docking of spacecraft in Earth orbit, The system incorporates some of the latest innovations in Global Positioning, System space navigation, laser sensor technologies and automated mission sequencing algorithms. The system's initial design and integration was completed in 1998 and has undergone testing at MSFC. This paper describes the major components of the AR&C system and presents results from the official system tests performed in MSFC's Flight Robotics Laboratory with digital simulations and hardware in the loop tests. The results show that the AR&C system can safely and reliably perform automated rendezvous and docking missions in the absence of system failures with 100 percent success. When system failures are included, the system uses its automated collision avoidance maneuver logic to recover in a safe manner. The primary objective of the AR&C project is to prove that by designing a safe and robust automated system, mission operations cost can be reduced by decreasing the personnel required for mission design, preflight planning and training required for crewed rendezvous and docking missions.
Cruzen, Craig↗
CCSDS concept paper: Delta-DOR
This Concept Paper proposes the development of Consultative Committee for Space Data Systems (CCSDS) standards for the deep space navigation technique known as 'delta-DOR' (Delta Differential One-Way Ranging).
delta-DOR↗
Astrometry at 24 and 43 GHz
We describe the goals and initial results of a collaboration formed to survey extragalactic objects at radio frequencies of 24 and 43 GHz This survey is for extending the International Celestial Reference Frame (ICRF) that is the current coordinate system for astrometry and wh ich is the angular inertial frame of deep space navigation. In princ iple, the extension should lead to a more stable reference frame. We report upon our initial three 24-hour observing sessions involving about 100 radio sources at the VLBA.
astrometry↗
A Multi-Sensor Approach To Estimation of Tropospheric Delays
We will discuss techniques for optima1 integration of atmospheric measurements from collocated GPS receiver, pointed WVR, and a barometer, capitalizing on the unique strength of each sensor, and minimizing the impact of the sensor's weaknesses. The goal is to improve our ability to estimate line of sight (LOS) total atmospheric delay, which is required in support of certain high precision applications, such as radio science, and deep space navigation. The benefits from improved atmospheric sensing extend to many other applications such as geodesy and time transfer.
optical integration↗
DSN Beowulf Cluster-Based VLBI Correlator
The NASA Deep Space Network (DSN) requires a broadband VLBI (very long baseline interferometry) correlator to process data routinely taken as part of the VLBI source Catalogue Maintenance and Enhancement task (CAT M&E) and the Time and Earth Motion Precision Observations task (TEMPO). The data provided by these measurements are a crucial ingredient in the formation of precision deep-space navigation models. In addition, a VLBI correlator is needed to provide support for other VLBI related activities for both internal and external customers. The JPL VLBI Correlator (JVC) was designed, developed, and delivered to the DSN as a successor to the legacy Block II Correlator. The JVC is a full-capability VLBI correlator that uses software processes running on multiple computers to cross-correlate two-antenna broadband noise data. Components of this new system (see Figure 1) consist of Linux PCs integrated into a Beowulf Cluster, an existing Mark5 data storage system, a RAID array, an existing software correlator package (SoftC) originally developed for Delta DOR Navigation processing, and various custom- developed software processes and scripts. Parallel processing on the JVC is achieved by assigning slave nodes of the Beowulf cluster to process separate scans in parallel until all scans have been processed. Due to the single stream sequential playback of the Mark5 data, some ramp-up time is required before all nodes can have access to required scan data. Core functions of each processing step are accomplished using optimized C programs. The coordination and execution of these programs across the cluster is accomplished using Pearl scripts, PostgreSQL commands, and a handful of miscellaneous system utilities. Mark5 data modules are loaded on Mark5 Data systems playback units, one per station. Data processing is started when the operator scans the Mark5 systems and runs a script that reads various configuration files and then creates an experiment-dependent status database used to delegate parallel tasks between nodes and storage areas (see Figure 2). This script forks into three processes: extract, translate, and correlate. Each of these processes iterates on available scan data and updates the status database as the work for each scan is completed. The extract process coordinates and monitors the transfer of data from each of the Mark5s to the Beowulf RAID storage systems. The translate process monitors and executes the data conversion processes on available scan files, and writes the translated files to the slave nodes. The correlate process monitors the execution of SoftC correlation processes on the slave nodes for scans that have completed translation. A comparison of the JVC and the legacy Block II correlator outputs reveals they are well within a formal error, and that the data are comparable with respect to their use in flight navigation. The processing speed of the JVC is improved over the Block II correlator by a factor of 4, largely due to the elimination of the reel-to-reel tape drives used in the Block II correlator.
Rogstad, Stephen P.↗
The LBA Calibrator Survey of Southern Compact Extragalactic Radio Sources - LCS1
We present a catalogue of accurate positions and correlated flux densities for 410 flat-spectrum, compact extragalactic radio sources previously detected in the Australia Telescope 20 GHz (AT20G) survey. The catalogue spans the declination range [-90deg, -40deg] and was constructed from four 24-h very long baseline interferometry (VLBI) observing sessions with the Australian Long Baseline Array at 8.3 GHz. The VLBI detection rate in these experiments is 97 per cent, the median uncertainty of the source positions is 2.6 mas and the median correlated flux density on projected baselines longer than 1000 km is 0.14 Jy. The goals of this work are (1) to provide a pool of southern sources with positions accurate to a few milliarcsec, which can be used for phase-referencing observations, geodetic VLBI and space navigation; (2) to extend the complete flux-limited sample of compact extragalactic sources to the Southern hemisphere; and (3) to investigate the parsec-scale properties of high-frequency selected sources from the AT20G survey. As a result of this VLBI campaign, the number of compact radio sources south of declination -40deg which have measured VLBI correlated flux densities and positions known to milliarcsec accuracy has increased by a factor of 3.5.
Petrov, Leonid↗