Search NASA⌕ Search

SEARCH · Search NASA

Results for “Clutter”

Search indexed NASA NTRS and DOE OSTI research on propulsion, heat transfer, battery materials and energy systems. Follow report and document links to the original sources.

Quote a phrase for an exact phrase match. Source license links do not imply unrestricted reuse.

At least 55 records · Page 3
All sourcesNASA NTRSDOE OSTI
NASA NTRS2017

Computationally Efficient Motion Planning Algorithms for Agile Autonomous Vehicles in Cluttered Environments

Fast, real-time motion planning of an agile, autonomous vehicle in a cluttered environment, with many geometrically-fixed obstacles, is a very complex problem, especially because of the vehicle dynamics constraints and resource constrained computational capabilities onboard the vehicle. In this paper, we present computationally-efficient versions of our novel motion planning algorithm called the Spherical Expansion and Sequential Convex Programming (SE–SCP) algorithm. The SE–SCP algorithm first uses a spherical-expansion-based randomized sampling algorithm to explore the workspace. Oncea path is found from the start position to the goal position, the algorithm computes a locally optimal trajectory, within its homotopy class for a desired cost function, by solving a sequence of convex optimization problems. Thus, the SE–SCP algorithm is anytime locally optimal and the trajectory is globally optimal if the number of samples tends to infinity. In this paper, we further enhance the computational efficiency of the SE–SCP algorithm using uni-directional and bi-directional rewiring techniques. We also present a detailed proof of the local optimality characteristics of the new SE–SCP algorithms for aspecial case of vehicle dynamics. Simulation examples involving quadrotor and spacecraft help demonstrate the effectiveness of our new algorithms.

Bandyopadhyay, Saptarshi↗
NASA NTRS2017

Distributed Spatiotemporal Motion Planning for Spacecraft Swarms in Cluttered Environments

This paper focuses on trajectory planning for spacecraft swarms in cluttered environments, like debris fields or the asteroid belt. Our objective is to reconfigure the spacecraft swarm to a desired formation in a distributed manner while minimizing fuel and avoiding collisions among themselves and with the obstacles. In our prior work we proposed a novel distributed guidance algorithm for spacecraft swarms in static environments.1 In this paper, we present the Multi-Agent Moving-Obstacles Spherical Expansion and Sequential Convex Programming (MAMO SE–SCP) algorithm that extends our prior work to include spatiotemporal constraints such as time-varying, moving obstacles and desired time-varying terminal positions. In the MAMO SE–SCP algorithm, each agent uses a spherical-expansion-based sampling algorithm to cooperatively explore the time-varying environment, a distributed assignment algorithm to agree on the terminal position for each agent, and a sequential-convex-programming-based optimization step to compute the locally-optimal trajectories from the current location to the assigned time-varying terminal position while avoiding collision with other agent and the moving obstacles. Simulations results demonstrate that the proposed distributed algorithm can be used by a spacecraft swarm to achieve a time-varying, desired formation around an object of interest in a dynamic environment with many moving and tumbling obstacles.

Hadaegh, Fred Y.↗
NASA NTRS1989

K-distribution and polarimetric terrain radar clutter

A multivariate K-distribution is proposed to model the statistics of fully polarimetric radar data from earth terrain with polarizations HH, HV, VH, and VV. In this approach, correlated polarizations of radar signals, as characterized by a covariance matrix, are treated as the sum of N n-dimensional random vectors; N obeys the negative binomial distribution with a parameter alpha and mean N-bar. Subsequently, an n-dimensional K-distribution, with either zero or nonzero mean, is developed in the limit of infinite N-bar or illuminated area. The probability density function (PDF) of the K-distributed vector normalized by its Euclidean norm is independent of the parameter alpha and is the same as that derived from a zero-mean Gaussian-distributed random vector.

Yueh, S. H.↗
NASA NTRS2005

Surface Clutter Removal in Airborne Radar Sounding Data from the Dry Valleys, Antarctica

We have collected roughly 1,000 line-km of airborne radar sounding data over glaciers, rock/ice glaciers, permafrost, subsurface ice bodies, ice-covered saline lakes, and glacial deposits in Taylor and Beacon Valley. These data are being analyzed in order to develop techniques for discriminating between subsurface and off-nadir echoes and for detecting and characterizing subsurface interfaces. The identification of features on Mars exhibiting morphologies consistent with ice/rock mixtures, near-surface ice bodies and near-surface liquid water, and the importance of such features to the search for water on Mars, highlights the need for appropriate terrestrial analogs and analysis techniques in order to prepare for radar sounder missions to Mars. Climatic, hydrological, and geological conditions in the Dry Valleys of Antarctica are analogous in many ways to those on Mars. A crucial first step in the data analysis process is the discrimination of echo sources in the radar data. The goal is to identify all returns from the surface of off-nadir topography in order to positively identify subsurface echoes. This process will also be critical for radar data that will be collected in areas of Mars exhibiting significant topography, so that subsurface echoes are identified unambiguously. The positive detection and characterization of subsurface (including sub-ice) water is a primary goal of NASA's Mars exploration program. Our data over the Dry Valleys provides an opportunity to implement techniques we are developing to accomplish these goals.

Holt, J. W.↗
NASA NTRS1992

Signal processing for airborne doppler radar detection of hazardous wind shear as applied to NASA 1991 radar flight experiment data

Radar data collected during the 1991 NASA flight tests have been selectively analyzed to support research directed at developing both improved as well as new algorithms for detecting hazardous low-altitude windshear. Analysis of aircraft attitude data from several flights indicated that platform stability bandwidths were small compared to the data rate bandwidths which should support an assumption that radar returns can be treated as short time stationary. Various approaches at detection of weather returns in the presence of ground clutter are being investigated. Non-coventional clutter rejection through spectrum mode tracking and classification algorithms is a subject of continuing research. Based upon autoregressive modeling of the radar return time sequence, this approach may offer an alternative to overcome errors in conventional pulse-pair estimates. Adaptive filtering is being evaluated as a means of rejecting clutter with emphasis on low signal-to-clutter ratio situations, particularly in the presence of discrete clutter interference. An analysis of out-of-range clutter returns is included to illustrate effects of ground clutter interference due to range aliasing for aircraft on final approach. Data are presented to indicate how aircraft groundspeed might be corrected from the radar data as well as point to an observed problem of groundspeed estimate bias variation with radar antenna scan angle. A description of how recorded clutter return data are mixed with simulated weather returns is included. This enables the researcher to run controlled experiments to test signal processing algorithms. In the summary research efforts involving improved modelling of radar ground clutter returns and a Bayesian approach at hazard factor estimation are mentioned.

Baxa, Ernest G., Jr.↗
NASA NTRS1999

MOLA-derived Roughness Data Used to Predict Surface Scattering for Mars Subsurface Radar Sounding

The Mars Express orbiter, to be launched by the European Space Agency in 2003, will carry a low-frequency radar sounding instrument, MARSIS (Mars Advanced Radar for Subsurface and Ionospheric Sounding). The primary goal of MARSIS is to map the distribution of water, both solid and (if present) liquid, in the upper several km of the martian crust. Detecting discontinuities in the crust, such as an ice-water transition, presents many challenges for a Mars orbital radar sounder. One challenge that must be overcome is the presence of radar scattering (echoes) from the surface of Mars, expected to be detected by the sounder antennas at the same time as any echoes aris-ing from subsurface interfaces. As the transmitted spherical wavefront spreads within the crust of Mars,. it also interacts with surface topography at off-nadir positions, creating a "clutter" signal that can mask the subsurface echoes. The MARSIS instrument will utilize Doppler filtering to limit the off-nadir clutter in the along-track direction, and a nadir-null secondary antenna to identify strong off-nadir clutter from the cross-track direction. To evaluate the effects of off-nadir surface clutter and the capability of these schemes to reduce the clutter, it is necessary to predict the range of scattering behavior that may be expected from martian surface topography. In this paper, we utilize Mars Orbital Laser Altimeter (MOLA) data from the current Mars Global Surveyor mission to characterize the topographic roughness of a variety of martian terrain types, at scales relevant to the MARSIS clutter problem. Segments of MOLA altimetry profiles are reduced to the topographic parameters rms slope and fractal dimension, which then are used as inputs to a near-nadir radar scattering model to predict the strength of the clutter signal. Additional information is contained in the original extended abstract.

Plaut, J. J.↗
NASA NTRS1994

Limitation on the use of a spaceborne SAR for rain measurements

A proof-of-concept experiment for remote sensing of precipitation by SAR is part of the SIR-C/X-SAR experiment. This thesis presents a feasibility study and recommendations for detection of precipitation using SIR-C/X-SAR. The principal limitation to rain measurement from a spaceborne SAR is the poor SCR (signal-to-clutter ratio). This is in part due to the system configuration and largely due to the large magnitude of echoes associated with the surface component. Two geometries apply: off-vertical and vertical pointing angles. Here we present calculations for both. With vertical geometry a large clutter component is associated with range sidelobes of the chirped transmitter pulse. To overcome this problem a narrow transmitted pulse (3 mu sec) processed without dechirping was used. Since the magnitude of the clutter over the ocean is high it is recommended that data in the chirped mode be obtained over the forest due to the significantly lower backscatter associated with it at nadir. With these recommendations, at nadir, it is believed that rain rates greater than 5 mm/hr may be detected. The use of a better weighting function that gives lower sidelobe levels than that used (a raised cos(exp 2)) is also recommended. At off-vertical look angles all the range cells have a large clutter component associated with them due to the geometry. The use of higher angles of incidence (theta greater than 60 deg) is recommended because of better SCR at these angles. With this recommendation, at off-vertical, it is believed that rain rates greater than 10 mm/hr may be detected. Various other techniques are described and recommended to improve the minimum detectable precipitation rate. These include trying to subtract the estimate of the clutter from the combined signal and clutter and trying to separate the Doppler of the rain echo and the surface echo. With these recommendations it is believed that it is possible to detect precipitation as low as 1 mm/hr at vertical and greater than 5 mm/hr at off-vertical look angles.

Ahamad, Atiq↗
NASA NTRS1992

Spectrum Modal Analysis for the Detection of Low-Altitude Windshear with Airborne Doppler Radar

A major obstacle in the estimation of windspeed patterns associated with low-altitude windshear with an airborne pulsed Doppler radar system is the presence of strong levels of ground clutter which can strongly bias a windspeed estimate. Typical solutions attempt to remove the clutter energy from the return through clutter rejection filtering. Proposed is a method whereby both the weather and clutter modes present in a return spectrum can be identified to yield an unbiased estimate of the weather mode without the need for clutter rejection filtering. An attempt will be made to show that modeling through a second order extended Prony approach is sufficient for the identification of the weather mode. A pattern recognition approach to windspeed estimation from the identified modes is derived and applied to both simulated and actual flight data. Comparisons between windspeed estimates derived from modal analysis and the pulse-pair estimator are included as well as associated hazard factors. Also included is a computationally attractive method for estimating windspeeds directly from the coefficients of a second-order autoregressive model. Extensions and recommendations for further study are included.

Kunkel, Matthew W.↗
NASA NTRS1994

Maximum-likelihood spectral estimation and adaptive filtering techniques with application to airborne Doppler weather radar

This dissertation focuses on the signal processing problems associated with the detection of hazardous windshears using airborne Doppler radar when weak weather returns are in the presence of strong clutter returns. In light of the frequent inadequacy of spectral-processing oriented clutter suppression methods, we model a clutter signal as multiple sinusoids plus Gaussian noise, and propose adaptive filtering approaches that better capture the temporal characteristics of the signal process. This idea leads to two research topics in signal processing: (1) signal modeling and parameter estimation, and (2) adaptive filtering in this particular signal environment. A high-resolution, low SNR threshold maximum likelihood (ML) frequency estimation and signal modeling algorithm is devised and proves capable of delineating both the spectral and temporal nature of the clutter return. Furthermore, the Least Mean Square (LMS) -based adaptive filter's performance for the proposed signal model is investigated, and promising simulation results have testified to its potential for clutter rejection leading to more accurate estimation of windspeed thus obtaining a better assessment of the windshear hazard.

Lai, Jonathan Y.↗
NASA NTRS1996

Performance of the NASA Airborne Radar with the Windshear Database for Forward-Looking Systems

This document describes the simulation approach used to test the performance of the NASA airborne windshear radar. An explanation of the actual radar hardware and processing algorithms provides an understanding of the parameters used in the simulation program. This report also contains a brief overview of the NASA airborne windshear radar experimental flight test results. A description of the radar simulation program shows the capabilities of the program and the techniques used for certification evaluation. Simulation of the NASA radar is comprised of three steps. First, the choice of the ground clutter data must be made. The ground clutter is the return from objects in or nearby an airport facility. The choice of the ground clutter also dictates the aircraft flight path since ground clutter is gathered while in flight. The second step is the choice of the radar parameters and the running of the simulation program which properly combines the ground clutter data with simulated windshear weather data. The simulated windshear weather data is comprised of a number of Terminal Area Simulation System (TASS) model results. The final step is the comparison of the radar simulation results to the known windshear data base. The final evaluation of the radar simulation is based on the ability to detect hazardous windshear with the aircraft at a safe distance while at the same time not displaying false alerts.

Switzer, George F.↗
NASA NTRS1994

Certification of windshear performance with RTCA class D radomes

Superposition testing of detection range performance forms a digital signal for input into a simulation of signal and data processing equipment and algorithms to be employed in a sensor system for advanced warning of hazardous windshear. For suitable pulse-Doppler radar, recording of the digital data at the input to the digital signal processor furnishes a realistic operational scenario and environmentally responsive clutter signal including all sidelobe clutter, ground moving target indications (GMTI), and large signal spurious due to mainbeam clutter and/or RFI respective of the urban airport clutter and aircraft scenarios (approach and landing antenna pointing). For linear radar system processes, a signal at the same point in the process from a hazard phenomena may be calculated from models of the scattering phenomena, for example, as represented in fine 3 dimensional reflectivity and velocity grid structures. Superposition testing furnishes a competing signal environment for detection and warning time performance confirmation of phenomena uncontrollable in a natural environment.

Mathews, Bruce D.↗