Gimballess Inertial Navigation Systems. Semi- Annual Progress Report, 1 Nov. 1964 - 30 Apr. 1965
Accelerometers for sensing angular velocity in gimballess inertial navigation system
INERTIAL NAVIGATION↗
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Cybersecurity Attacks in Vehicular Sensors
Today's modern vehicles contain anywhere from sixty to one-hundred sensors and exhibit the characteristics of Cyber-Physical-Systems (CPS). There is a high degree of coupling, cohesiveness, and interactions among vehicle's CPS components (e.g., sensors, devices, systems, systems-of-systems) across sensing, communication, and control layers. Cyber-attacks in the sensing or communication layers can compromise the security of the control layer. This paper provides a detailed review of potential cyber threats related to the sensing layer. Notably, the focus is mainly towards two categories of sensors: vehicle dynamics sensors (e.g., Tire Pressure Monitoring Systems (TPMS), magnetic encoders, and inertial sensors) and environment sensors (e.g., Light Detection and Ranging (LiDAR), ultrasonic, camera, Radio Detection and Ranging (Radar) systems, and Global Positioning System (GPS) units). Furthermore, the paper also offers perspectives through existing countermeasures from literature and stresses the need for data-driven cybersecurity solutions.
97 MATHEMATICS AND COMPUTING↗
Isolated planar gyroscope with internal radial sensing and actuation
The present invention discloses an inertial sensor comprising a planar mechanical resonator with embedded sensing and actuation for substantially in-plane vibration and having a central rigid support for the resonator. At least one excitation or torquer electrode is disposed within an interior of the resonator to excite in-plane vibration of the resonator and at least one sensing or pickoff electrode is disposed within the interior of the resonator for sensing the motion of the excited resonator. In one embodiment, the planar resonator includes a plurality of slots in an annular pattern; in another embodiment, the planar mechanical resonator comprises four masses; each embodiment having a simple degenerate pair of in-plane vibration modes.
Shcheglov, Kirill V.↗
The adaptation of a strap down formulation for processing inertial platform data
An estimator propagation formulation which ultilizes dynamic data (attitude and sensed acceleration information) from a gimballed inertial platform has been developed to aid in the Shuttle post-flight trajectory reconstruction process and aerodynamic coefficient determination studies. Unlike the classical inertial algorithms, this formulation yields a six degree-of-freedom fully coupled state and attitude estimate. Furthermore, this inertial version is shown to be independent of initial unknown platform misalignments. Results obtained using actual Inertial Measurement Unit (IMU) data and Aerodynamic Coefficient Identification Package (ACIP) strap down data from Shuttle flights are presented.
Heck, M. L.↗
An investigation of quasi-inertial attitude control for a solar power satellite
An efficient means, a quasi-inertial attitude mode, is developed for maintaining the normal solar orientation of a space satellite for power collection in a synchronous orbit. Formulae are presented which establish the basic parametric properties for ideal quasi-inertial attitude and phasing. An active control system is necessary to compensate for the energy loss since energy dissipation in widely oscillating flexible bodies produces an instability of the quasi-inertial attitude in the sense that the spacecraft will tumble at the orbit rate. A fixed terminal time and state optimal control problem is formulated and an algorithm for determining the optimal control as a means for the periodical attitude and phase compensation is developed. The vehicle orientation affected by internal disturbance (structural flexibility) and external disturbances (e.g., drag forces) is maintained by a specialized controller design.
Juang, J.-N.↗
Plasticity of Neurovestibular Systems Following Micro- and Hyper-Gravity Exposure and Readaptation to Earth's 1G
The gravity-sensing organs sense the sum of inertial force due to head translation and head orientation relative to gravity. Normally gravity is constant, and yet the neural sensors show remarkable plasticity. When the force of gravity changes, such as in spaceflight or during centrifugation, the neurovestibular system responds by regulating its neural output, and this response is similar for the vertebrate utricular nerve afferents and for the statocyst hair cell in invertebrates. First, we examine the response of utricular afferents in toadfish following exposure to G on two orbital missions (STS-90 and 95). Within the first day after landing, magnitude of neural response to an applied acceleration was significantly elevated, and re-adaptation back to control values occurred within approximately 30 hours. Time course of return to normal approximately parallels the decrease in vestibular disorientation in astronauts following return. Next, we use well-controlled hyper-G experiments in the vertebrate model to address: If G leads to adaptation and subsequent re-adaptation neural processes, does the transfer from 1G to hyper-G impart the opposite effects and do the effects accompanying transfer from the hyper-G back to the 1G conditions resemble as an analog the transfer from 1G to the microG Results show a biphasic pattern in reaction to 3G exposures: an initial sensitivity up-regulation (3- and 4-day) followed by a significant decrease after longer exposure. Return to control values is on the order of 4-8 days. Utricular sensitivity is strongly regulated up or down by gravity load and the duration of exposure. Interestingly, we found no correlation of response and hair cell synaptic body counts despite the large gain difference between 4- and 16-Day subjects. Lastly, we examine responses of statocyst receptors in land snail following exposure to G on two unmanned Russian Orbital missions (Foton M-2 and -3). Here, we have the ability to measure the output directly from the hair cells. Similar to afferents in vertebrates the hair cells increased their response sensitivity to vestibular stimulation. Two major pieces of information are needed: the precise vertebrate hair cell response to altered gravity and the impact of longer duration exposures on sensory plasticity.
Boyle, Richard D.↗
Artemis I Orion IMU Flight Performance
The Orion flight software’s parity algorithm runs onboard to verify all three OIMUs (Orion Inertial Measurement Units) are sensing relatively uniform rate and acceleration and to quickly identify any unit which is in significant disagreement with the other two units. During the Artemis-I Wet Dress Rehearsal tests and Launch Countdowns, one of the three OIMUs regularly reported an anomalous parity signature for a brief period of time during sensor warm up. This paper will review this anomalous performance on the pad and review flight data with the intent to supplement the findings of the initial root cause investigation. Outside of this start up behavior, initial investigation into Artemis I flight data did not reveal any behavior of the OIMUs outside of preflight expectations. Flight data from any significant parity events and relevant IMU calibrations will be presented. A brief discussion of impacts to future Artemis mission operations strategy will be provided.
Robert Earl↗
Unconventional inertial sensors.
Inertial sensors reviewing ring laser, electrostatic fluid sphere, magnetic resonance, superconductivity gyroscope, relativistic rotating tensor, vortex rate and quantum mechanical effect sensing
INERTIAL ACCELEROMETER↗
The Microwave Anisotropy Probe (MAP) Attitude Control System
The Microwave Anisotropy Probe mission is designed to produce a map of the cosmic microwave background radiation over the entire celestial sphere by executing a fast spin and a slow precession of its spin axis about the Sun line to obtain a highly interconnected set of measurements. The spacecraft attitude is sensed and controlled using an Inertial Reference Unit, two Autonomous Star Trackers, a Digital Sun Sensor, twelve Coarse Sun Sensors, three Reaction Wheel Assemblies, and a propulsion system. This paper describes the design of the attitude control system that carries out this mission and presents some early flight experience.
Markley, F. Landis↗
The Microwave Anisotropy Probe (MAP) Mission
The Microwave Anisotropy Probe mission is designed to produce a map of the cosmic microwave background radiation over the entire celestial sphere by executing a fast spin and a slow precession of its spin axis about the Sun line to obtain a highly interconnected set of measurements. The spacecraft attitude is sensed and controlled using an Inertial Reference Unit, two Autonomous Star Trackers, a Digital Sun Sensor, twelve Coarse Sun Sensors, three Reaction Wheel Assemblies, and a propulsion system. This paper describes the design of the attitude control system that carries out this mission and presents some early flight experience.
Markley, F. Landis↗
The Microwave Anisotropy Probe (MAP) Mission
The Microwave Anisotropy Probe mission is designed to produce a map of the cosmic microwave background radiation over the entire celestial sphere by executing a fast spin and a slow precession of its spin axis about the Sun line to obtain a highly interconnected set of measurements. The spacecraft attitude is sensed and controlled using an inertial reference unit, two star trackers, a digital sun sensor, twelve coarse sun sensors, three reaction wheel assemblies, and a propulsion system. This paper presents an overview of the design of the attitude control system to carry out this mission and presents some early flight experience.
Markley, F. Landis↗
The Attitude Control System for the Wilkinson Microwave Anisotropy Probe
The Wilkinson Microwave Anisotropy Probe mission produces a map of the cosmic microwave background radiation over the entire celestial sphere by executing a fast spin and a slow precession of its spin axis about the Sun line to obtain a highly interconnected set of measurements. The spacecraft attitude is sensed and controlled using an inertial reference unit, two star trackers, a digital sun sensor, twelve coarse sun sensors, three reaction wheel assemblies, and a propulsion system. Sufficient attitude knowledge is provided to yield instrument pointing to a standard deviation (l sigma) of 1.3 arc-minutes per axis. In addition, the spacecraft acquires and holds the sunline at initial acquisition and in the event of a failure, and slews to the proper orbit adjust orientations and to the proper off-sunline attitude to start the compound spin. This paper presents an overview of the design of the attitude control system to carry out this mission and presents some early flight experience.
Markley, F. Landis↗
Using Fiducial Markers for Pose Estimation of an OSWEC in a Wave Tank: Preprint
In this study, we consider a novel method of sensing the motion of a wave energy converter during testing in a wave flume under the influence of incoming waves. The wave energy converter considered in our research is an oscillating surge wave energy converter, which is a hinged paddle that responds to incoming waves. Motion sensing is normally done with inertial sensors, which can hinder the motion due to suspended cables that carry power and transmit signals. Our proposed method is contactless and can be implemented economically. A camera is used to record different marker patterns affixed to the moving paddle and the motion deduced by pose estimation algorithms. Fiducial markers are commonly used for robot localization and in augmented reality. There are many types of fiducial markers, including ArUco-type markers which are accurate, fast and robust. The system consists of markers attached to the paddle element and recorded using a machine vision camera. A pose estimation algorithm is then applied to the detected markers to estimate the tilt of the paddle. In this work, we examine the challenges of image acquisition and calibration for underwater targets, compare the motion obtained by this new system with a calibrated tilt sensor and identify areas where the new system may be superior.
computer vision↗
INTELSAT 4 in orbit liquid slosh tests and problems in the theoretical analysis of the data
The destabilizing effect of the liquid on attitude nutation stability was determined from an extensive series of inorbit tests. The liquid slosh driving frequency ratio (rotor nutation frequency/rotor spin rate) was varied over the range of 0.58 to 0.70 for the tests by rotating the spacecraft antenna platform at different rates in inertial space. A rotor mounted accelerometer sensed the spacecraft nutation. The observed time constant for the nutation angle increase or decrease was corrected for the stabilizing contribution of the platform mounted pendulum dampers to yield the net destabilizing dedamping contribution from the liquid slosh. The in orbit tests show two unexpected maxima in the dedamping contribution at driving frequency ratios that vary with the propellant loading. The rotor nutation frequency at the maxima was about one-third of the lowest mode liquid slosh frequency given by ground test data for unspun tanks, and thus did not correspond to a simple resonance of the liquid. Ground tests with spinning systems produced the same maxima, but the phenomenon is not yet understood.
Slabinski, V. J.↗
Final shuttle-derived atmospheric database: Development and results from thirty-two flights
The final Shuttle-derived atmospheric data base is presented. The relational data base is comprised of data from 32 Space Transportation System (STS) descent flights, to include available meteorology data taken in support of each flight. For the most part, the available data are restricted to the middle atmosphere. In situ accelerations, sensed by the tri-redundant Inertial Measurement Unit (IMU) to an accuracy better than 1 mg, are combined with post-flight Best Estimate Trajectory (BET) information and predicted, flight-substantiated Orbiter aerodynamics to provide determinations up to altitudes of 95 km. In some instances, alternate accelerometry data with micro-g resolution were utilized to extend the data base well into the thermosphere. Though somewhat limited, the ensemble of flights permit a reasonable sampling of monthly, seasonal, and latitudinal variations which can be utilized for atmospheric science investigations and model evaluations and upgrades as appropriate. More significantly, the unparallel vertical resolution in the Shuttle-derived results indicate density shears normally associated with internal gravity waves or local atmospheric instabilities. Consequently, these atmospheres can also be used as stress-atmospheres for Guidance, Navigation and Control (GN and C) system development and analysis as part of any advanced space vehicle design activities.
Findlay, John T.↗
Planar reorientation of a free-free beam in space using embedded electromechanical actuators
It is demonstrated that the planar reorientation of a free-free beam in zero gravity space can be accomplished by periodically changing the shape of the beam using embedded electromechanical actuators. The dynamics which determine the shape of the free-free beam is assumed to be characterized by the Euler-Bernoulli equation, including material damping, with appropriate boundary conditions. The coupling between the rigid body motion and the flexible motion is explained using the angular momentum expression which includes rotatory inertia and kinematically exact effects. A control scheme is proposed where the embedded actuators excite the flexible motion of the beam so that it rotates in the desired sense with respect to a fixed inertial reference. Relations are derived which relate the average rotation rate to the amplitudes and the frequencies of the periodic actuation signal and the properties of the beam. These reorientation maneuvers can be implemented by using feedback control.
Kolmanovsky, Ilya V.↗
Micro Navigator
Miniature high-performance low-mass space avionics systems are desired for planned future outer planetary exploration missions (i.e. Europa Orbiter/Lander, Pluto-Kuiper Express). The spacecraft fuel and mass requirements enabling orbit insertion is the driving requirement. The Micro Navigator is an integrated autonomous Guidance, Navigation & Control (GN&C)micro-system that would provide the critical avionics function for navigation, pointing, and precision landing. The Micro Navigator hardware and software allow fusion of data from multiple sensors to provide a single integrated vehicle state vector necessary for six degrees of freedom GN&C. The benefits of this MicroNavigator include: 1) The Micro Navigator employs MEMS devices that promise orders of magnitude reductions in mass power and volume of inertial sensors (accelerometers and gyroscopes), celestial sensing devices (startracker, sun sensor), and computing element; 2) The highly integrated nature of the unit will reduce the cost of flight missions. a) The advanced miniaturization technologies employed by the Micro Navigator lend themselves to mass production, and therefore will reduce production cost of spacecraft. b) The integral approach simplifies interface issues associated with discrete components and reduces cost associated with integration and test of multiple components; and 3) The integration of sensors and processing elements into a single unit will allow the Micro Navigator to encapsulate attitude information and determination functions into a single object. This is particularly beneficial for object-oriented software architectures that are used in advanced spacecraft. Additional information is contained in the original extended abstract.
Blaes, B. R.↗
The Second Skin: A Wearable Sensor Suite that Enables Real-Time Human Biomechanics Tracking Through Deep Learning
Objective: Real-time determination of human kinematics and kinetics could advance biomechanics research and enable valuable applications of biofeedback and generalizable exoskeleton control. Here, this work aims to investigate a taskindependent, user-independent method for obtaining precise realtime joint state estimation across lower-body joints during a wide variety of tasks. Methods: We developed a generalizable sensing approach using a suit comprised of inertial measurement units (IMUs) and pressure insoles. With the suit, we collected a dataset of 33 tasks commonly performed during construction and hazardous waste cleanup (N = 10). We then trained deep learning user-independent, task-agnostic models to estimate joint lowerbody kinematics and dynamics using only worn sensor data. We likewise computed joint kinematics and dynamics analytically from sensor data to serve as a comparison tool for model results. Results: Our models achieved overall angle estimation root-meansquared-errors (RMSE) of 6.56±.92°, 8.60±1.01°, 7.58±.89°, and 6.00±.73° compared to 13.9±.1.3°, 15.31±1.0°, 10.76±.70°, and 7.56±.48° via analytical methods at the lower back, hip, knee, and ankle, respectively. Likewise, our models achieved overall normalized moment estimation RMSEs of .207±.069 Nm/kg, .242±.044 Nm/kg, .202±.038 Nm/kg, and .193±.034 Nm/kg compared to .306±.036 Nm/kg, .407±.021 Nm/kg, 1.18 ±.022 Nm/kg, and 1.73±.071 Nm/kg via analytical methods at the lower back, hip, knee, and ankle, respectively. Conclusion: These results are comparable to other state-of-the-art wearable sensing systems, establishing deep learning as a viable sensing approach that generalizes to new users and tasks. Significance: This work shows promise for enabling accurate real-world biomechanical data collection and enhancement of biofeedback systems and wearable robot control.
Casey, Ryan T. F. [Georgia Institute of Technology↗