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NASA NTRS1984

A Fault Tolerant System for an Integrated Avionics Sensor Configuration

An aircraft sensor fault tolerant system methodology for the Transport Systems Research Vehicle in a Microwave Landing System (MLS) environment is described. The fault tolerant system provides reliable estimates in the presence of possible failures both in ground-based navigation aids, and in on-board flight control and inertial sensors. Sensor failures are identified by utilizing the analytic relationships between the various sensors arising from the aircraft point mass equations of motion. The estimation and failure detection performance of the software implementation (called FINDS) of the developed system was analyzed on a nonlinear digital simulation of the research aircraft. Simulation results showing the detection performance of FINDS, using a dual redundant sensor compliment, are presented for bias, hardover, null, ramp, increased noise and scale factor failures. In general, the results show that FINDS can distinguish between normal operating sensor errors and failures while providing an excellent detection speed for bias failures in the MLS, indicated airspeed, attitude and radar altimeter sensors.

Caglayan, A. K.↗

NASA NTRS1989

The influence of platform attitude dynamics on the Doppler frequency synthesis of SIR-B ocean data near Hurricane Josephine

The Space Shuttle Challenger was maneuvered into an SAR data-acquisition mode to capture a SIR-B scene of Hurricane Josephine, which presented itself as an unscheduled target of opportunity during NASA Mission 41-G during October 1984. Steeply sloped seas approaching 10 m in height were observed several hundred km in advance of the hurricane track. Mission attitude data indicate that the Shuttle pitch, roll, and yaw were unstable during the data take. The statistical clutterlock used by the ground SAR processor yields a Doppler frequency estimate that tracks the Shuttle yaw variation but is ambiguous with a single discontinuity equal to one multiple of the radar pulse repetition frequency. The SIR-B signal data have been compressed under several Doppler parameterizations to investigate the ambiguity of the clutterlock. Resultant ocean images are analyzed for their contrast and resolution properties.

Tilley, David G.↗

NASA NTRS1991

Strategies for the study of flightcrew behavior

The performance of any flightcrew at any given time is determined by multiple factors ranging from characteristics of individual crewmembers to the regulations governing flight operations. Attention is given to microcoding of communications, survey data on crewmember attitudes as indicators of culture and crew resource management (CRM) training effects, and systematic observation of crew behavior. Consideration is given to advanced CRM training of evaluators, analyses of crew behavior by aircraft type and characteristics, and survey data on crew reactions to line oriented flight training.

Helmreich, Robert L.↗

NASA NTRS2003

Synthetic Vision Enhances Situation Awareness and RNP Capabilities for Terrain-Challenged Approaches

The Synthetic Vision Systems (SVS) Project of Aviation Safety Program is striving to eliminate poor visibility as a causal factor in aircraft accidents as well as enhance operational capabilities of all aircraft through the display of computer generated imagery derived from an onboard database of terrain, obstacle, and airport information. To achieve these objectives, NASA 757 flight test research was conducted at the Eagle-Vail, Colorado airport to evaluate three SVS display types (Head-Up Display, Head-Down Size A, Head-Down Size X) and two terrain texture methods (photo-realistic, generic) in comparison to the simulated Baseline Boeing-757 Electronic Attitude Direction Indicator and Navigation / Terrain Awareness and Warning System displays. These independent variables were evaluated for situation awareness, path error, and workload while making approaches to Runway 25 and 07 and during simulated engine-out Cottonwood 2 and KREMM departures. The results of the experiment showed significantly improved situation awareness, performance, and workload for SVS concepts compared to the Baseline displays and confirmed the retrofit capability of the Head-Up Display and Size A SVS concepts. The research also demonstrated that the pathway and pursuit guidance used within the SVS concepts achieved required navigation performance (RNP) criteria.

Kramer, Lynda J.↗

NASA NTRS2004

Flight Test Evaluation of Synthetic Vision Concepts at a Terrain Challenged Airport

NASA's Synthetic Vision Systems (SVS) Project is striving to eliminate poor visibility as a causal factor in aircraft accidents as well as enhance operational capabilities of all aircraft through the display of computer generated imagery derived from an onboard database of terrain, obstacle, and airport information. To achieve these objectives, NASA 757 flight test research was conducted at the Eagle-Vail, Colorado airport to evaluate three SVS display types (Head-up Display, Head-Down Size A, Head-Down Size X) and two terrain texture methods (photo-realistic, generic) in comparison to the simulated Baseline Boeing-757 Electronic Attitude Direction Indicator and Navigation/Terrain Awareness and Warning System displays. The results of the experiment showed significantly improved situation awareness, performance, and workload for SVS concepts compared to the Baseline displays and confirmed the retrofit capability of the Head-Up Display and Size A SVS concepts. The research also demonstrated that the tunnel guidance display concept used within the SVS concepts achieved required navigation performance (RNP) criteria.

Kramer, Lynda J.↗

NASA NTRS2007

Detection of Digital Elevation Model Errors Using X-band Weather Radar

Flight in Instrument Meteorological Conditions requires pilots to manipulate flight controls while referring to a Primary Flight Display. The Primary Flight Display indicates aircraft attitude along with, in some cases, many other state variables such as altitude, speed, and guidance cues. Synthetic Vision Systems have been proposed that overlay the traditional information provided on Primary Flight Displays onto a scene depicting the location of terrain and other geo-spatial features.Terrain models used by these displays must have sufficient quality to avoid providing misleading information. This paper describes how X-band radar measurements can be used as part of a monitor, and/or maintenance system, to quantify the integrity of terrain models that are used by systems such as Synthetic Vision. Terrain shadowing effects, as seen by the radar, are compared in a statistical manner against estimated shadow feature elements extracted from the stored terrain model from the perspective of the airborne observer. A test statistic is defined that enables detection of errors as small as the range resolution of the radar. Experimental results obtained from two aircraft platforms hosting certified commercial-off-the-shelf X-band radars test the premise and illustrate its potential.

Young, Steven D.↗

NASA NTRS2010

Investigation of Control System and Display Variations on Spacecraft Handling Qualities for Docking with Stationary and Rotating Targets

This paper documents the investigation into the manual docking of a preliminary version of the Crew Exploration Vehicle with stationary and rotating targets in Low Earth Orbit. The investigation was conducted at NASA Langley Research Center in the summer of 2008 in a repurposed fixed-base transport aircraft cockpit and involved nine evaluation astronauts and research pilots. The investigation quantified the benefits of a feed-forward reaction control system thruster mixing scheme to reduce translation-into-rotation coupling, despite unmodeled variations in individual thruster force levels and off-axis center of mass locations up to 12 inches. A reduced rate dead-band in the phase-plane attitude controller also showed some promise. Candidate predictive symbology overlaid on a docking ring centerline camera image did not improve handling qualities, but an innovative attitude status indicator symbol was beneficial. The investigation also showed high workload and handling quality problems when manual dockings were performed with a rotating target. These concerns indicate achieving satisfactory handling quality ratings with a vehicle configuration similar to the nominal Crew Exploration Vehicle may require additional automation.

Jackson, E. Bruce↗

NASA NTRS1992

Target pitch angle for the microburst escape maneuver

Recovery performance of a commuter-type aircraft in a microburst encounter is studied using a constant-pitch-attitude strategy and flight path optimization. Results obtained indicate that the pitch attitude which maximized climb rate in a wind shear condition is strongly dependent on whether the aircraft is subjected to a horizontal shear or a downdraft. The pitch attitude which maximizes ground clearance depends on the altitude of the encounter, the strength of the microburst, and the initial position of the aircraft with respect to the downburst core. Best results are obtained at relatively low target pitch angles, in severe wind shear encounters at very low altitudes. A technique for maximizing ground clearance involves maintaining a low pitch attitude early in the encounter, followed by a gradual pitch-up that ceases when the wind shear has been excited.

Mulgund, Sandeep S.↗

NASA NTRS1985

Cockpit resource management - Exploring the attitude-performance linkage

Measured attitudes regarding cockpit management were contrasted for pilots whose line flying performance was independently evaluated by check airmen as above or below average. A highly significant discriminant function was obtained indicating that these attitudes are significant predictors of behavior. The performance of 95.7 percent of the pilots was correctly classified by the analysis. Implications of the results for cockpit resource management training and pilot selection are discussed.

Helmreich, R. L.↗

NASA NTRS1972

Effect of stabilization on VTOL aircraft in hovering flight

A motion simulator study was conducted to determine the effects of roll and pitch stabilization on the handling qualities and control power requirements of VTOL aircraft during hover and short-distance maneuvering flight. Three levels of stabilization complexity were compared: (1) no stabilization, (2) rate stabilization, and (3) attitude stabilization. Control sensitivities and stabilization gains were optimized prior to comparison. Results are presented to show how the optimum systems were determined and how they compared with each other at different levels of control power. Comparisons were made both in calm air and in the presence of roll disturbances. Results indicate the attitude-stabilized system provides the best handling qualities for the least amount of control power.

Greif, R. K.↗

NASA NTRS1980

Air speed and attitude probe

An air speed and attitude probe characterized by a pivot shaft normally projected from a data boom and supported thereby for rotation about an axis of rotation coincident with the longitudinal axis of the shaft is described. The probe is a tubular body supported for angular displacement about the axis of rotation and has a fin mounted on the body for maintaining one end of the body in facing relation with relative wind and has a pair of transducers mounted in the body for providing intelligence indicative of total pressure and static pressure for use in determining air speed. A stack of potentiometers coupled with the shaft to provide intelligence indicative of aircraft attitude, and circuitry connecting the transducers and potentiometers to suitable telemetry circuits are described.

Baker, G. J.↗

NASA NTRS2021

Analysis of Mars 2020 Perseverance Entry, Descent, and Landing Attitude Initialization Performance

The Mars 2020 Perseverance rover successfully landed at Jezero Crater on February 18, 2021. To perform this feat, the entry, descent, and landing navigation filter must be initialized with an estimate of the spacecraft state, which includes attitude from the cruise attitude control subsystem. Accuracy of this initial attitude estimate has an impact on important metrics such as touchdown velocity. This paper presents a post-landing reconstruction of the attitude initialization error budget, showing that the requirement of 0.15 deg ($3\sigma$, per axis) was met. Each error source is described and analyzed, including flight telemetry where possible. Analysis of the error budget shows that it is driven by systematic sun sensor errors, star-scanner-to-sun-sensor alignment stability, and inertial-measurement-unit-to-sun-sensor alignment stability. Finally, a contingency plan to initialize the navigation filter in the event of a star scanner failure is presented. While this plan was not needed in flight, results indicate that the attitude initialization requirement could have still been met in this off-nominal scenario.

Lo, Kevin D.↗

NASA NTRS1991

Pinhole cameras as sensors for atomic oxygen in orbit; application to attitude determination of the LDEF

Images produced by pinhole cameras using film sensitive to atomic oxygen provide information on the ratio of spacecraft orbital velocity to the most probable thermal speed of oxygen atoms, provided the spacecraft orientation is maintained stable relative to the orbital direction. Alternatively, as it is described, information on the spacecraft attitude relative to the orbital velocity can be obtained, provided that corrections are properly made for thermal spreading and a co-rotating atmosphere. The LDEF orientation, uncorrected for a co-rotating atmosphere, was determined to be yawed 8.0 minus/plus 0.4 deg from its nominal attitude, with an estimated minus/plus 0.35 deg oscillation in yaw. The integrated effect of inclined orbit and co-rotating atmosphere produces an apparent oscillation in the observed yaw direction, suggesting that the LDEF attitude measurement will indicate even better stability when corrected for a co-rotating atmosphere. The measured thermal spreading is consistent with major exposure occurring during high solar activity, which occurred late during the LDEF mission.

Peters, Palmer N.↗

NASA NTRS1992

Pinhole cameras as sensors for atomic oxygen in orbit: Application to attitude determination of the LDEF

Images produced by pinhole cameras using film sensitive to atomic oxygen provide information on the ratio of spacecraft orbital velocity to the most probable thermal speed of oxygen atoms, provided the spacecraft orientation is maintained stable relative to the orbital direction. Alternatively, information on the spacecraft attitude relative to the orbital velocity can be obtained, provided that corrections are properly made for thermal spreading and a corotating atmosphere. The Long Duration Exposure Facility (LDEF) orientation, uncorrected for a corotating atmosphere, was determined to be yawed 8.0 +/- 0.4 degrees from its nominal attitude, with an estimated +/- 0.35 degree oscillation in yaw. The integrated effect of inclined orbit and corotating atmosphere produces an apparent oscillation in the observed yaw direction, suggesting that the LDEF attitude measurement will indicate even better stability when corrected for a corotating atmosphere. The measured thermal spreading is consistent with major exposure occurring during high solar activity, which occurred late during the LDEF mission.

Peters, Palmer N.↗

NASA NTRS1991

Outcomes of crew resource management training

Participants' self-reports and measures of attitudes regarding flightdeck management indicate that crew resource management training is favorably received and causes highly significant, positive changes in attitudes regarding crew coordination and personal capabilities. However, a subset of participants reacted negatively to the training and showed boomerangs (negative change) in attitudes. Explorations into the causes of this effect pinpoint personality factors and group dynamics as critical determinants of reactions to training and of the magnitude and direction of attitude changes. Implications of these findings for organizations desiring to enhance crew effectiveness are discussed, and areas of needed additional research are described.

Helmreich, Robert L.↗

NASA NTRS1974

The ATS-F interferometer - A precision wide field-of-view attitude sensor

An RF phase interferometer has been integrated into the ATS-F spacecraft attitude control system. Laboratory measurements indicate that the interferometer is capable of determining spacecraft attitude in pitch and roll to an accuracy of 0.18 deg over a field-of-view of plus or minus 12.5 deg about the spacecraft normal axis with an angular resolution of 0.004 deg. The system is completely solid state, weighs 17 pounds, and consumes 12.5 W of DC power.

Teichman, M. A.↗

NASA NTRS1996

Attitude Estimation Using Modified Rodrigues Parameters

In this paper, a Kalman filter formulation for attitude estimation is derived using the Modified Rodrigues Parameters. The extended Kalman filter uses a gyro-based model for attitude propagation. Two solutions are developed for the sensitivity matrix in the Kalman filter. One is based upon an additive error approach, and the other is based upon a multiplicative error approach. It is shown that the two solutions are in fact equivalent. The Kalman filter is then used to estimate the attitude of a simulated spacecraft. Results indicate that then new algorithm produces accurate attitude estimates by determining actual gyro biases.

Crassidis, John L.↗

NASA NTRS1972

Star scanner attitude determination for the OSO-7 spacecraft.

Calculation of the inertial orientation of the OSO-7 spacecraft from the times at which known stars or planets transit planes fixed in the spacecraft. Both the reference planes and the timing information are provided by the star scanner instrument aboard the spacecraft, while the star identification and the statistical estimation of a set of parameters describing the spacecraft attitude are accomplished in a ground station computer facility. A recursive least-squares determination is made of a vector of first-order differential corrections to the attitude state vector. Preliminary analysis indicates the system accuracy to be 3 arc min in each attitude Euler angle.

Mackison, D. L.↗