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Assessing the Needs of NASA's Near Real-Time Earth Observation Products

"The 2017-2027 Decadal Survey for Earth Science and Applications from Space stated that NASA's Earth Science with planned implementation of applications provides sustained earth observations for societal benefits [1]. The Decadal Survey indicated that data latency is invaluable for time-sensitive applications including disaster risk reduction, wildland fire carbon emissions quantification, real-time measurements of the state of the hydrologic systems and many more. Data latency refers to the time between earth observation and data products available to users. During the past 13 years, NASA's Land, Atmosphere Near Real-Time Capability for Earth Observing Systems (LANCE) continues to provide free access to earth observation products that are made available much quicker than routine processing allows. The latency of most LANCE data products is Near Real-time (NRT) which is defined as less than three hours from satellite observations [2]. LANCE is managed by the Earth Science Data and Information System (ESDIS) Project at NASA Goddard Space Flight Center [3], and a User Working Group (UWG) is responsible for providing guidance to LANCE. LANCE data are used by direct users and brokers who add value to the data [4]. NASA Earth Applied Sciences Program (ASP) is one of the primary users of LANCE, which collaborates with partner organizations and provides support to scientists to solve problems in applications of earth observations. ASP promotes the use of LANCE NRT data products to demonstrate applications in decision making, facilitates end-user feedback to the science team to improve data products, and provides information on future demands for research. LANCE supports applications that need a rapid response including detecting wildland fires and volcanic eruptions, tracking smoke, ash and dust plumes, monitoring air quality and tracking extreme weather events such as hurricanes, landslides, and floods. To gather feedback regarding the availability, accessibility and actionability of NASA's NRT data products for societal benefit, three surveys and a few discussions with experts involved in the topic within ASP were conducted from the perspective of users. Feedback has been collected from users who are interested in using low latency NASA data within application communities of agriculture, disasters, water resources, health and air quality, ecological conservation, wildland fires and capacity building. Analysis-ready NRT data products in a variety of formats have been mentioned many times in the collected feedback, especially for applied users with little to no experience using research-grade earth observation products. Users prefer to have products that can be easily integrated into their existing workflows and take their analysis to the data. HDF5 is a commonly used data format for research, but typically requires some conversion to a more friendly format for applications and regular use in decision-making. Users prefer the GeoTIFF data format that can be directly ingested into a GIS mapping software and platform for data analysis and visualization. For example, LANCE’s fire, flood, SO2 and Black Marble Nighttime Blue/Yellow Composite data products have been integrated into NASA Disasters Mapping Portal, which is an GIS-based open data portal, for users in the disaster management community. There are 291 LANCE NRT layers available through GIBS and Worldview, where users can download a snapshot in GeoTIFF format. Operational users expect data to be processed as close to the user as possible. The collected feedback indicates that LANCE fire products within 3 hours latency would meet the needs of the wildland fire community. The ideal latency for volcanic application is 10-15 minutes. Users in Volcanic Ash Advisory Centers (VAAC) reported that the first forecast volcanic product should be issued within 75 minutes from the volcano eruption [5]. Overall, for disaster applications, data latency within 3 hours is useful while latency greater than 12 hours is not timely enough for operational use. Capacity building and training are critical for users to be able to access, interpret and use data products and tools for their decision making, especially for applied users with limited experience using earth observation products. LANCE data products have been used in a number of capacity building projects domestically and internationally [6]. As LANCE continues to bring new products into the system, users request training to utilize LANCE new and upcoming data products and capabilities in their applications. Due to the limitation of bandwidth and downstream flow paths, users in some developing countries need tools to select and download data for a specific area of interest instead of bulk downloads. The collected feedback also shows the lack of available SAR satellite low latency data products. The advantages of SAR to monitor conditions and changes on the ground through darkness, clouds, volcanic ash, and other atmospheric conditions, are appealing to low latency users. For example, terabytes of low latency but cloudy optical images are not helpful in rapidly identifying the extent of flood or fire impacts. LANCE could be complemented with low latency measurements via the upcoming NASA-ISRO Synthetic Aperture Radar (NISAR) mission [7]. Requests for higher spatial resolution products are expressed. A user from the wildland fire management community reported that products with 30-m spatial resolution could be used to detect small fires. The 30-m Landsat OLI fire data is now part of NASA’s Fire Information for Resource Management System (FIRMS) US/Canada [8]. Within the open and free NASA resources, LANCE disseminates NRT data products in a manner that allows them to be accessible and understandable to both scientific and applied users. In many application areas, latency plays an important or even decisive role where low latency earth observations help people to observe areas of interest, detect and track changes in the environment and make timely decisions. NASA’s Earth Applied Sciences Program promotes the use of LANCE NRT products and builds a bridge between application users and research teams. The collected feedback indicates data latency within 3 hours is useful for most of the applications, and shows the needs of user-friendly, analysis-ready products, and requests training on LANCE’s new and upcoming data products. User feedback has been provided to LANCE UWG for guidance and recommendations, and for translating findings into something actionable.

Tian Yao↗

Overview of an Exploratory, Real-Time, Multi-Pilot Simulation Study of Early eVTOL Operations at Non-Towered Vertiports

This paper provides a report out on an exploratory, multi-aircraft/multi-pilot, real-time simulation study conducted by NASA of early commercial powered-lift, Urban Air Mobility (UAM) operations at a non-towered vertiport. As used in this paper, vertiport refers to the primary ground and airspace elements facilitating the takeoff and landing of electric vertical takeoff and landing (eVTOL) aircraft with central emphasis on a vertipad, i.e. the physical touch-down and lift-off area and surrounding approach , departure, local pattern procedures. The study, known as the Piloted UML-2 ConOps Study (PUCS), had two high-level goals. The first goal was providing preliminary insights and observations relevant to the piloting and flight operations of early, commercial UAM operations aligned with the initial stage of the FAA’s Advanced Air Mobility (AAM) Implementation Plan and the second level NASA’s UAM Maturity Level (UML) scale. The second goal was evaluating a novel, medium-fidelity, extensible, many-pilot, real-time simulation capability known as the UAM Flyers developed by NASA. The Flyers are intended to allow rapid development, screening, evaluation, and demonstrations of potential Concepts of Operation (ConOps) for UAM flight operations and airspace management in a modular and low-cost, real-time, human-in-the-loop rapid simulation prototyping environment. For this study, ten Flyer cockpits were configured to evaluate flight operations through a non-towered vertiport with pilot interfaces and displays (external and in-cockpit) appropriate for operations under visual flight rules (VFR) and employing flight and communication procedures representative of current operations at non-towered airports. The presented results include an achieved operational tempo; durations of individual flight tasks for approaches and departures; off-nominal events and triggers; and pilot comments regarding potential procedural and technology improvements.

Urban Air Mobility↗

Real-Time Science Decisioning During High Tempo-High Intensity Mission Operations and the Role of Analogs

Introduction: NASA’s VIPER mission presents a unique operational paradigm within the history of robotic spaceflight. The proximity of the Moon to the Earth and the terrain elements (surface characteristics, light/shadow dynamics, communication links) of the lunar South Polar landing site create unprecedented operational conditions between these two planetary bodies. Apollo era lunar science and exploration included humans in situ to operate instruments and assimilate observational inputs in real-time. Previous lunar orbital missions have worked to operational timescales, e.g., decisional timelines and communication exchanges, that were weeks in length. Mars rover missions have worked to operational timescales, e.g., decisional timelines and communication exchanges between Mars and Earth, that were hours, days, and weeks in length. In the case of the VIPER mission, our operational decisioning for rover driving and instrument commanding will be compressed to minute-scale timeframes. These operational conditions directly impact the manner and speed with which the VIPER Science Team (VST) is required to synthesize and analyze data and produce timely science-driven decisions throughout surface mission operations. The VST shall provide mission enhancing scientific input to guide rover traverse planning and drill site confirmation and selection throughout surface operations. Further, the VST input will be of vital importance to the mission’s ability to maximize science return and to meet broader NASA objectives for future lunar in-situ resource utilization (ISRU)and exploration activities. The VST co-located in the Mission Science Center (MSC) will be responsive to the tactical operational cadence of the Mission Operations Center (MOC) and will provide further strategic and Long-Term Planning (LTP) guidance to the mission. The VIPER Science Operations & Integration(SO&I)team has developed an architecture that is focused on the infusion of science-decisioning into the operational framework and execution cadence of VIPER. NASA analog research has played a significant role in the construction of the VIPER science operations systems. As an example, the SO&I team has led analog missions that have focused on bringing together expertise in the sciences (natural, applied and social) and in operations in service of learning how to build and hold together interdisciplinary work environments and what tools are needed to support high tempo, high intensity integrated decisioning. These experiences have provided an essential foundation of knowledge to the VIPER team. Those analogs that specifically influenced the VIPER science operations construct were identified through a process of comparative analysis to prioritize those that offered relevance in whole or in part, and those that did not. The analog research output that provided extensibility to the VIPER science operations architecture included remote teams of humans and robots in cooperation (synchronous and asynchronous) with simulated earthbound systems, engineering and science teams, and the integrated assembly of tools that supported scientific analysis and data synthesis and provided infrastructure for the remote testing framework. Analogs which included real-time data monitoring, synthesis, visualization and access in a democratized and operationalized manner were of particular interest to the development of the VIPER MSC toolset both in terms of the technology and the processes used to develop the supporting infrastructure. We anticipate that each subsequent mission to the lunar south pole, whether with robots or humans, will be able to optimize science and exploration return by evolving strategies to infuse real-time collaborative science-decisioning. Furthermore, these efforts will result in a foundation for science operations development in support of human-robotic exploration of deep space and Mars. NASA analogs can continue to provide the opportunity to prepare, test and iterate on the operational concepts and tools that will support these ever-expanding space exploration efforts. Our presentation will include an overview of the VIPER Science Operations & Integration development process and specifics on what aspects of analog research have had a significant impact on our work systems.

D S S Lim↗

Real-Time Dose Prediction for Artemis Missions

As large solar energetic particle (SEP) events can add significant radiation dose to astronauts in a short period of time and even induce acute clinical responses during missions, they present a concern for manned space flight operation. To assist the operations team in modeling and monitoring organ doses and any possible acute radiation-induced risks to astronauts during SEP events in real time, ARRT (Acute Radiation Risks Tool) 1.0 has been developed and successfully tested for Artemis I mission. The ARRT 2.0 described in this work integrates an established SEP forecasting model – UMASEP-100, further enabling real-time dose prediction for the upcoming Artemis II and following missions. With the new module linking with UMASEP-100 outputs in real time, the total BFO doses of most significant events can be communicated at the time of onset and hours before the peak. This is based on a flux-dose formula identified from comparing UMASEP-100 results with transport calculation for the events during 1994-2013 and validated with events outside that period. ARRT 2.0 also shows capability to distinguish minor events from significant ones to screen false alarms that will cause disruptions for space activities. This improvement provides additional information for operational teams to make timely decisions in contingent scenarios of severe SEP events to mitigate radiation exposure.

S Hu↗

Real-Time Dose Prediction for Artemis Missions

As large solar energetic particle (SEP) events can add significant radiation dose to astronauts in a short period of time and even induce acute clinical responses during missions, they present a concern for manned space flight operation. To assist the operations team in modeling and monitoring organ doses and any possible acute radiation-induced risks to astronauts during SEP events in real time, ARRT (Acute Radiation Risks Tool) 1.0 has been developed and successfully tested for Artemis I mission. The ARRT 2.0 described in this work integrates an established SEP forecasting model – UMASEP-100, further enabling real-time dose prediction for the upcoming Artemis II and following missions. With the new module linking with UMASEP-100 outputs in real time, the total BFO doses of most significant events can be communicated at the time of onset and hours before the peak. This is based on a flux-dose formula identified from comparing UMASEP-100 results with transport calculation for the events during 1994-2013 and validated with events outside that period. ARRT 2.0 also shows capability to distinguish minor events from significant ones to screen false alarms that will cause disruptions for space activities. This improvement provides additional information for operational teams to make timely decisions in contingent scenarios of severe SEP events to mitigate radiation exposure.

Shaowen Hu↗

Impact of the May 2024 Gannon Storm on Low Earth Orbit Dosimetric Quantities: Comparisons of the NAIRAS Model -Real Time and Re-analysis- with ISS Data

The solar storm of May 2024, the Gannon storm, led to a display of aurora over the globe. One of the less known effects of that storm is on the radiation doses in low-Earth orbit: it first led to a Forbush decrease in dose rates and then to a Solar Energetic Particle (SEP) event that increased the total dose suffered near the international space station. The Nowcast of Aerospace Ionizing RAdiation System (NAIRAS) model predicts dosimetric and radiative flux quantities for assessing human radiation exposure levels and radiation effects on flight electronic systems from the surface of the Earth to deep space. It runs in near-real-time at the CCMC, but also has a run-on-request that allows for a more precise computation thanks to carefully processed data. NAIRAS was able to compute the effects of the Gannon storm at the ISS in real-time and provide ideas of the doses encountered by the astronauts and the experiments in and outside of the station. In this work, we show the simulations of the doses encountered during the storm and compare them with several measurements at the ISS. This work shows the capabilities of NAIRAS to address the problem of the SEP events at low Earth orbit and its real-time capabilities.

Guillaume Gronoff↗

SatCORPS Global Cloud Composite (GCC): the Design and Delivery of A High Quality, High Resolution, Global Cloud Product Available in Near-Real Time

The NASA Satellite ClOud and Radiation Property retrieval System (SatCORPS) supports the development of an analysis ready and cloud-optimized data transformation pipeline and geospatial service enablement of a global cloud composite (GCC) product derived from global geostationary satellite imagery. This geospatial service will be available at high temporal and spatial resolution via the SatCORPS web mapping application for visualization and analysis as well as direct ingestion to common geospatial software and custom programming. The resulting global cloud composite products from the processing pipeline can then be geospatially-service enabled as ArcGIS Image Services and Open Geospatial Consortium (OGC) Web Mapping/Coverage Services for visualization and analysis via a web mapping application and common geospatial software. Near real time global observations are created through the composition of five geostationary satellites that provides modelling and forecasting communities with the capability to provide high quality and timely information to start the projection process. The Global Cloud Composite product combines information from geostationary satellites, GOES-16, GOES-17, Himawari-8, Meteosat-11 and Meteosat-9 to create a single global composite netcdf file and images using the different products within the netcdf file. The SatCORPS team, though our Global Cloud Composite (GCC) product and web-based visualization tools including Geographical Information System (GIS) services provide near real time global cloud product information to both automated processes and traditional web users that is timely and high quality derived from geostationary satellites. The Global Cloud Composite product takes advantage of the scalable processing resources provided by the AWS batch service to provide new composites every thirty minutes. Because information from each of the low earth orbiting satellites is available on schedules tuned to the specific satellite, the processing algorithm temporally composites the final dataset as each satellite’s information becomes available. The SatCORPS team has leveraged our experience using Amazon Web Services (AWS) to build a low latency high availability tool that allows end users both human and automated to acquire high quality and high-resolution Geostationary Earth Orbiting (GEO) information at zero cost to the end user. This presentation will describe how we architected and implemented the service as well as lessons learned based on our experiences both developing and operating the system. The lessons learned include how we integrated multiple services including Amazon Batch, Amazon S3 and Amazon Lambda service to create a low cost but high-performance processing system that is capable of identifying and processing the most appropriate satellite overpass information into global cloud composites. We will also describe our web-based tools including our Geographic Information System that can be used for visualization and analysis. The products from the processing can be geospatially-service enabled as ArcGIS Image Services and Open Geospatial Consortium (OGC) Web Mapping/Coverage Services for visualization and analysis via a web mapping application and common geospatial software. The SatCORPS Global Composite Cloud product provides sophisticated global composited cloud research products with very low latency that we see that as filling a rapidly growing need in the research and modelling community with no up-front nor ongoing costs associated with downloading or using the information.

AWS AMCE SMCE GCC SATCORPS GLOBAL CLOUD COMPOSITE ↗

A Real-Time Control System for a Mobile Redundant 7DOF Arm

This paper describes the design and implementation of a real-time control system with multiple modes of operation for a mobile redundant dexterous manipulator. The paper describes the hardware and software components of the VME bus environment. Experimental results on real-time control of the Robotics Research arm using the manipulator control system are also presented in the paper.

avoidance angle control↗

Residue detection for real-time removal of paint from metallic surfaces

Paint stripping from large steel ships and other metallic surfaces is a major issue in the maintenance and refurbishing of structures, and environmental concerns are greatly limiting the possible options. As a result, waterjet with water recycling has become the leading form of paint stripping and robotic manipulators with scanning bridges were constructed by various manufacturers to address this need. The application of such scanning bridges is slow and their access is constrained by the complex shape of the ship hull and various features on the surface. To overcome these limitations, a robotic system that is called Ultrastrip (UltraStrip Systems, Inc., Stuart, FL) is developed. This system uses magnetic wheels to attach the stripper to the structure and travel on it while performing paint stripping. To assure efficient paint stripping feedback data is required to control the travel speed by monitoring the paint thickness before and during the stripping process. Efforts at JPL are currently underway to develop the required feedback capability to assure effective paint stripping. Various possible sensors were considered and issues that can affect the sensitivity, reliability and applicability of the sensors are being investigated with emphasis on measuring the initial conditions of the paint. Issues that affect the sensory data in dynamic conditions are addressed while providing real-time real feedback for the control of the paint stripper speed of travel.

NDT↗

Real-time Sub-cm Differential Orbit Determination of two Low-Earth Orbiters with GPS Bias Fixing

An effective technique for real-time differential orbit determination with GPS bias fixing is formulated. With this technique, only real-time GPS orbits and clocks are needed (available from the NASA Global Differential GPS System with 10-20 cm accuracy). The onboard, realtime orbital states of user satellites (few meters in accuracy) are used for orbit initialization and integration. An extended Kalman filter is constructed for the estimation of the differential orbit between the two satellites as well as a reference orbit, together with their associating dynamics parameters. Due to close proximity of the two satellites and of similar body shapes, the differential dynamics are highly common and can be tightly constrained which, in turn, strengthens the orbit estimation. Without explicit differencing of GPS data, double-differenced phase biases are formed by a transformation matrix. Integer-valued fixing of these biases are then performed which greatly strengthens the orbit estimation. A 9-day demonstration between GRACE orbits with baselines of approx.200 km indicates that approx.80% of the double-differenced phase biases can successfully be fixed and the differential orbit can be determined to approx.7 mm as compared to the results of onboard K-band ranging.

global positioning system (GPS)↗

Validation of Real-Time Data Processing for the Ground and Air-MSPI Systems

JPL is currently developing the multi-angle spectro-polarimetric imager (MSPI), targeted for the Aerosol-Cloud-Ecosystems (ACE) mission, as defined in the National Academies 2007 Decadal Survey. In preparation for the space instrument, the MSPI team has built two incremental camera systems (Ground- and Air-MSPI) to improve understanding of the proposed architecture. Ground-MSPI is a gimballed instrument used primarily for stationary observation and characterization of the imager and optics. The ER-2 based Air-MSPI operates in a step-and-stare mode, providing multi-angle imaging of a static target. This mode-of-operation simulates the observation scenario of the space instrument. Physically, MSPI is a pushbroom camera with a specialized frontend. Before imaging, light entering the camera passes through a pair of photoelastic modulators and a set of pattern polarizers. These optical elements act on the light to make polarimetric extraction computationally feasible. Calculating polarimetric parameters from the imager's data stream requires a real-time least-squares computation that produces coefficients of a truncated time-series expansion of the image. As reported in, the data processing algorithm can operate in real-time on a Xilinx Virtex-5 FPGA. Moving beyond verification with an onboard data source, the algorithm has been validated on a commercial development board interfaced with the ground camera. In addition, the algorithm has been instantiated within the Air-MSPI electronics board's FPGA, and in situ first-light has been achieved.

real-time data processing↗

Multi-Mission Simulation and Visualization for Real-Time Telemetry Display, Playback and EDL Event Reconstruction

he Jet Propulsion Laboratory's Entry, Descent and Landing (EDL) Reconstruction Task has developed a software system that provides mission operations personnel and analysts with a real time telemetry-based live display, playback and post-EDL reconstruction capability that leverages the existing high-fidelity, physics-based simulation framework and modern game engine-derived 3D visualization system developed in the JPL Dynamics and Real Time Simulation (DARTS) Lab. Developed as a multi-mission solution, the EDL Telemetry Visualization (ETV) system has been used for a variety of projects including NASA's Mars Science Laboratory (MSL), NASA'S Low Density Supersonic Decelerator (LDSD) and JPL's MoonRise Lunar sample return proposal.

Entry, Descent and Landing (EDL) Reconstruction↗

Enhancements to NASA's Land Atmosphere Near Real-Time Capability for EOS (LANCE)

NASA's Land, Atmosphere Near real-time Capability for EOS (LANCE) supports application users interested in monitoring a wide variety of natural and man-made phenomena. Near Real- Time (NRT) data and imagery from the AIRS, AMSR2, MISR, MLS, MODIS, OMPS, OMI and VIIRS instruments are available much quicker than routine processing allows. Most data products are available within 3 hours from satellite observation. NRT imagery are generally available 3-5 hours after observation. This article describes the LANCE and the enhancements made to the LANCE over the last year. These enhancements include the addition of NRT products from AMSR2, MISR, OMPS and VIIRS. In addition, the selection of LANCE NRT imagery that can be interactively viewed through Worldview and the Global Imagery Browse Services (GIBS) has been expanded. Next year, data from the MOPITT will be added to the LANCE.

data products↗

Real-time simulation of dynamically deformable finite element models using modal analysis and spectral Lanczos decomposition methods

We present two efficient methods for simulating real-time behavior of a dynamically deformable 3D object modeled by finite element equations. The first method is based on modal analysis, which uses the most significant vibration modes of the object to compute the deformations in real-time for applied forces. The second method uses the spectral Lanczos decomposition to obtain the explicit solutions of the finite element equations.

medical↗

Real-time rapid leakage estimation for deep space habitats using exponentially-weighted adaptively-refined search

The recent accelerated growth in space-related research and development activities makes the near-term need for long-term extraterrestrial habitats evident. Such habitats must operate under continuous disruptive conditions arising from extreme environments like meteoroid impacts, extreme temperature fluctuations, galactic cosmic rays, destructive dust, and seismic events. Loss of air or atmospheric leakage from a habitat poses safety challenges that demand proper attention. Such leakage may arise from micro-meteoroid impacts, crack growth, bolt/rivet loosening, and seal deterioration. In this paper, leakage estimation in deep space habitats is posed as an inverse problem. A forward pressure-based dynamical model is formulated for atmospheric leakage. Experiments are performed on a small-scaled pressure chamber where different leakage scenarios are emulated and corresponding pressure values are measured. An exponentially-weighted adaptively-refined search (EWARS) algorithm is developed and validated for the inverse problem of real-time leakage estimation. It is demonstrated that the proposed methodology can achieve real-time estimation and tracking of constant and variable leaks with accuracy.

Deep space habitats↗

Enhanced Flight Dynamics Models with Aerodynamic Interference for Real-Time Simulation of VTOL Concept Vehicles

In an effort to establish common models to support the Advanced Air Mobility (AAM) community, NASA has designed a fleet of VTOL configuration reference models. Advanced Rotorcraft Technologies (ART) in cooperation with the NASA Ames Aeromechanics branch has developed FLIGHTLAB simulation models for several of these AAM VTOL concept vehicles. These simulation models are real-time capable while maintaining accurate flight dynamic characteristics with enhanced interference simulation by extracting important modeling parameters from Viscous Vortex Particle Method (VVPM). The focus of this paper is threefold. First, it introduces the simulation models developed and describes their modeling characteristics important to control and flight dynamics simulation. Second, the method for deriving the interference coefficients between model components such as rotors and wings is outlined. Implementation of the method for the lift+cruise and tiltwing models are discussed in detail. Third, the accuracy of the interference enhancement is assessed, with emphasis placed on the impacts to trim and flight dynamic characteristics. The interference enhancement method is further used to evaluate configuration design decisions by quantifying performance aspects of interference. This research effort culminated in simulation models for the AAM VTOL concept vehicles, with proper interference and real-time capability.

Flight Dynamics↗

A real time spectrum to dose conversion system

A system has been developed which permits the determination of dose in real time or near real time directly from the pulse-height output of a radiation spectrometer. The technique involves the use of the resolution matrix of a spectrometer, the radiation energy-to-dose conversion function, and the geometrical factors, although the order of matrix operations is reversed. The new technique yields a result which is mathematically identical to the standard method while requiring no matrix manipulations or resolution matrix storage in the remote computer. It utilizes only a single function for each type dose required and each geometric factor involved.

Farmer, B. J.↗

Procedure for estimating stability and control parameters from flight test data by using maximum likelihood methods employing a real-time digital system

A maximum likelihood parameter estimation procedure and program were developed for the extraction of the stability and control derivatives of aircraft from flight test data. Nonlinear six-degree-of-freedom equations describing aircraft dynamics were used to derive sensitivity equations for quasilinearization. The maximum likelihood function with quasilinearization was used to derive the parameter change equations, the covariance matrices for the parameters and measurement noise, and the performance index function. The maximum likelihood estimator was mechanized into an iterative estimation procedure utilizing a real time digital computer and graphic display system. This program was developed for 8 measured state variables and 40 parameters. Test cases were conducted with simulated data for validation of the estimation procedure and program. The program was applied to a V/STOL tilt wing aircraft, a military fighter airplane, and a light single engine airplane. The particular nonlinear equations of motion, derivation of the sensitivity equations, addition of accelerations into the algorithm, operational features of the real time digital system, and test cases are described.

Grove, R. D.↗