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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.

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NASA NTRS1999

Attitude Determination Using Two Vector Measurements

Many spacecraft attitude determination methods use exactly two vector measurements. The two vectors are typically the unit vector to the Sun and the Earth's magnetic field vector for coarse "sun-mag" attitude determination or unit vectors to two stars tracked by two star trackers for fine attitude determination. TRIAD, the earliest published algorithm for determining spacecraft attitude from two vector measurements, has been widely used in both ground-based and onboard attitude determination. Later attitude determination methods have been based on Wahba's optimality criterion for n arbitrarily weighted observations. The solution of Wahba's problem is somewhat difficult in the general case, but there is a simple closed-form solution in the two-observation case. This solution reduces to the TRIAD solution for certain choices of measurement weights. This paper presents and compares these algorithms as well as sub-optimal algorithms proposed by Bar-Itzhack, Harman, and Reynolds. Some new results will be presented, but the paper is primarily a review and tutorial.

Markley, F. Landis↗
NASA NTRS2007

Mapped Landmark Algorithm for Precision Landing

A report discusses a computer vision algorithm for position estimation to enable precision landing during planetary descent. The Descent Image Motion Estimation System for the Mars Exploration Rovers has been used as a starting point for creating code for precision, terrain-relative navigation during planetary landing. The algorithm is designed to be general because it handles images taken at different scales and resolutions relative to the map, and can produce mapped landmark matches for any planetary terrain of sufficient texture. These matches provide a measurement of horizontal position relative to a known landing site specified on the surface map. Multiple mapped landmarks generated per image allow for automatic detection and elimination of bad matches. Attitude and position can be generated from each image; this image-based attitude measurement can be used by the onboard navigation filter to improve the attitude estimate, which will improve the position estimates. The algorithm uses normalized correlation of grayscale images, producing precise, sub-pixel images. The algorithm has been broken into two sub-algorithms: (1) FFT Map Matching (see figure), which matches a single large template by correlation in the frequency domain, and (2) Mapped Landmark Refinement, which matches many small templates by correlation in the spatial domain. Each relies on feature selection, the homography transform, and 3D image correlation. The algorithm is implemented in C++ and is rated at Technology Readiness Level (TRL) 4.

Johnson, Andrew↗
NASA NTRS2005

MER-DIMES : a planetary landing application of computer vision

During the Mars Exploration Rovers (MER) landings, the Descent Image Motion Estimation System (DIMES) was used for horizontal velocity estimation. The DIMES algorithm combines measurements from a descent camera, a radar altimeter and an inertial measurement unit. To deal with large changes in scale and orientation between descent images, the algorithm uses altitude and attitude measurements to rectify image data to level ground plane. Feature selection and tracking is employed in the rectified data to compute the horizontal motion between images. Differences of motion estimates are then compared to inertial measurements to verify correct feature tracking. DIMES combines sensor data from multiple sources in a novel way to create a low-cost, robust and computationally efficient velocity estimation solution, and DIMES is the first use of computer vision to control a spacecraft during planetary landing. In this paper, the detailed implementation of the DIMES algorithm and the results from the two landings on Mars are presented.

landing systems↗
NASA NTRS1972

Determination of angles of attack and sideslip from radar data and a roll-stabilized platform

Equations for angles of attack and sideslip relative to both a rolling and nonrolling body axis system are derived for a flight vehicle for which radar and gyroscopic attitude data are available. The method is limited to application where a flat, nonrotating earth may be assumed. The gyro measures attitude relative to an inertial reference in an Euler angle sequence. In particular, a pitch, yaw, and roll sequence is used as an example in the derivation. Sample calculations based on flight data are presented to illustrate the method. Results obtained with the present gyro method are compared with another technique that uses onboard camera data.

Preisser, J. S.↗
NASA NTRS1974

An elementary magnetic attitude control system

A three-axis closed-loop attitude-control system for earth-observatory momentum-bias spacecraft is proposed. A horizon scanner and magnetometer are employed to measure attitude errors; no yaw sensor is required. Appropriate control signals are generated and used to command variable-strength electromagnets, which interact with the geomagnetic field to reduce observed errors. This system provides for initial acquisition, precession control, nutation damping, and pitch-axis momentum control. All functions are performed autonomously - no ground-station interaction is required. Analytical expressions predicting system response are compared with numerical solutions of the governing equations, and with the results of the application of Floquet Theory.-

Stickler, A. C.↗
NASA NTRS2018

Technology Review of Wind-Tunnel Angle Measurement

Angle measurements are fundamental measurements in wind-tunnel testing, and are integral for most, if not all, wind-tunnel tests. Aerodynamic tests generally rely on angle or attitude measurement for research or testing objectives with demands of high accuracy and repeatable measurements. This paper reviews historical and recent developments in wind-tunnel angle measurement systems. The review covers sensor technologies including on-board and o-body measurement solutions. On-board sensor solutions, such as accelerometers, gyroscopes, and electrolytic bubbles, are compared with o-body solutions, such as laser interferometers and photogrammetry. Benefits, use cases, and limitations for each of the technologies are discussed to help guide wind-tunnel user selection, and provide direction for further research in sensor technologies which may provide enhanced measurement capability.

Toro, Kenneth G.↗
NASA NTRS1979

SIRIO: One year of station keeping

The strategy followed in maintaining the station point and the results achieved are described. The method used for orbit determination is presented. Azimuth and elevation data from SHF antennas were used as input for the determination. An estimation of the uncertainty of the orbit was given and a comparison was made between determinations performed using the method here described and determinations performed using VHF ranging data. Also, the difference in using data from a single SHF station or two stations was shown. In the area of attitude determination, a study was carried out for predicting the spacecraft spin axis precession. The model used was explained and then the agreement between predicted and measured attitude outlined.

Palutan, F.↗
NASA NTRS2008

Model Attitude and Deformation Measurements at the NASA Glenn Research Center

The NASA Glenn Research Center is currently participating in an American Institute of Aeronautics and Astronautics (AIAA) sponsored Model Attitude and Deformation Working Group. This working group is chartered to develop a best practices document dealing with the measurement of two primary areas of wind tunnel measurements, 1) model attitude including alpha, beta and roll angle, and 2) model deformation. Model attitude is a principle variable in making aerodynamic and force measurements in a wind tunnel. Model deformation affects measured forces, moments and other measured aerodynamic parameters. The working group comprises of membership from industry, academia, and the Department of Defense (DoD). Each member of the working group gave a presentation on the methods and techniques that they are using to make model attitude and deformation measurements. This presentation covers the NASA Glenn Research Center s approach in making model attitude and deformation measurements.

Woike, Mark R.↗
NASA NTRS1993

Miniature wide field-of-view star trackers for spacecraft attitude sensing and navigation

Introducing a family of miniature, wide field-of-view star trackers for low cost, high performance spacecraft attitude determination and navigation applications. These devices, derivative of the WFOV Star Tracker Camera developed cooperatively by OCA Applied Optics and the Lawrence Livermore National Laboratory for the Brilliant Pebbles program, offer a suite of options addressing a wide range of spacecraft attitude measurement and control requirements. These sensors employ much wider fields than are customary (ranging between 20 and 60 degrees) to assure enough bright stars for quick and accurate attitude determinations without long integration intervals. The key benefit of this approach are light weight, low power, reduced data processing loads and high information carrier rates for wide ACS bandwidths. Devices described range from the proven OCA/LLNL WFOV Star Tracker Camera (a low-cost, space-qualified star-field imager utilizing the spacecraft's own computer and centroiding and position-finding), to a new autonomous subsystem design featuring dual-redundant cameras and completely self-contained star-field data processing with output quaternion solutions accurate to 100 micro-rad, 3 sigma, for stand-alone applications.

Mccarty, William↗
NASA NTRS2005

Hubble Space Telescope Angular Velocity Estimation During the Robotic Servicing Mission

In 2004 NASA began investigation of a robotic servicing mission for the Hubble Space Telescope (HST). Such a mission would require estimates of the HST attitude and rates in order to achieve a capture by the proposed Hubble robotic vehicle (HRV). HRV was to be equipped with vision-based sensors, capable of estimating the relative attitude between HST and HRV. The inertial HST attitude is derived from the measured relative attitude and the HRV computed inertial attitude. However, the relative rate between HST and HRV cannot be measured directly. Therefore, the HST rate with respect to inertial space is not known. Two approaches are developed to estimate the HST rates. Both methods utilize the measured relative attitude and the HRV inertial attitude and rates. First, a nonlinear estimator is developed. The nonlinear approach estimates the HST rate through an estimation of the inertial angular momentum. The development includes an analysis of the estimator stability given errors in the measured attitude. Second, a linearized approach is developed. The linearized approach is a pseudo-linear Kalman filter. Simulation test results for both methods are given, including scenarios with erroneous measured attitudes. Even though the development began as an application for the HST robotic servicing mission, the methods presented are applicable to any rendezvous/capture mission involving a non-cooperative target spacecraft.

Thienel, Julie K.↗
NASA NTRS2001

Fast Quaternion Attitude Estimation from Two Vector Measurements

Many spacecraft attitude determination methods use exactly two vector measurements. The two vectors are typically the unit vector to the Sun and the Earth's magnetic field vector for coarse "sun-mag" attitude determination or unit vectors to two stars tracked by two star trackers for fine attitude determination. Existing closed-form attitude estimates based on Wahba's optimality criterion for two arbitrarily weighted observations are somewhat slow to evaluate. This paper presents two new fast quaternion attitude estimation algorithms using two vector observations, one optimal and one suboptimal. The suboptimal method gives the same estimate as the TRIAD algorithm, at reduced computational cost. Simulations show that the TRIAD estimate is almost as accurate as the optimal estimate in representative test scenarios.

Markley, F. Landis↗
NASA NTRS1991

The in-flight calibration of the Hubble Space Telescope attitude sensors

A detailed review of the in-flight calibration of the Hubble Space Telescope attitude sensors is presented. The review, which covers the period from the April 24, 1990, launch of the spacecraft until the time of this writing (June 1991), describes the calibrations required and accuracies achieved for the four principal attitude sensing systems on the spacecraft: the magnetometers, the fixed head star trackers, the gyroscopes, and the fine guidance sensors (FGS's). In contrast to the other three sensor groups, the Hubble Telecope's FGS's are unique in the precision and performance levels being attempted; spacecraft control and astrometric research at the near-milliarcsecond level are the ultimate goals. FGS calibration accuracies at the 20-milliarcsecond level have already been achieved, and plans for new data acquisitions and reductions that should substantially improve these results are in progress. A summary of the basic attributes of each of the four sensor groups with respect to its usage as an attitude measuring system is presented, followed by a discussion of the calibration items of interest for that group. The calibration items are as follows: for the magnetometers, the corrections for the spacecraft's static and time-varying magnetic fields; for the fixed-head star trackers, their relative alignments and use in performing onboard attitude updates; for the gyroscopes, their scale factors, alignments, and drift rate biases; and for the FGS's, their magnifications, optical distortions, and alignments. The discussion covers the procedures used for each calibration, as well as the order of the calibrations within the general flow of orbital verification activities. It also includes a synopsis of current plans for the eventual calibration of the FGS's to achieve their near-milliarcsecond design accuracy. The conclusions include a table indicating the current and predicted ultimate accuracies for each of the calibration items.

Welter, Gary L.↗
NASA NTRS1975

Geometrical procedures for the analysis of spacecraft attitude and bias determinability

Geometrical procedures are presented for predicting the determinability of spacecraft attitude and bias parameters. An analysis is presented on three common attitude measurements: sun angle, nadir angle, and sun-to-earth mid-scan rotation angle. First, the geometry of these measurements is considered for an arbitrary fixed location of the spacecraft; then the effect of orbital motion is analyzed. The results are summarized in a set of simple geometrical rules. The application of these rules to the Synchronous Meteorological Satellite-2 (SMS-2) is discussed. As a result of this geometrical analysis, modifications were made to the SMS-2 bias determination schedule which substantially enhanced the determinability of attitude sensor biases.

Wertz, J. R.↗
NASA NTRS1966

Azimuth axis optical alignment system Final report

Azimuth axis optical alignment system to monitor and measure attitude or angular position of remote object about azimuth axis using phase information imposed on returning beam of light

POLARIZED LIGHT↗
NASA NTRS1974

Pioneer Venus orbiter

The orbiter mission of the Pioneer Venus probe is discussed. In accordance with the low-cost Pioneer Venus concept, NASA intends to use the same basic spacecraft, known as the bus, for the execution of the two missions. The bus will be equipped with all of the subsystems common to the probe and orbiter missions (for example, thermal control, solar cells and power supply, attitude measurement and control, telemetry and communication electronics, and auxiliary propulsion unit). For the 1977 mission, the bus will be equipped with the large and small probes and a special antenna system. For the orbiter mission, the bus will be equipped with a retro-propulsion motor and a high-gain antenna. A diagram of the system envisaged is shown.

Source record↗
NASA NTRS1974

ERTS 1 flight evaluation report, 23 July 1974 to 23 October 1974

Analyses of ERTS-1 performance during the ninth quarter of its operation are presented. Topics discussed include orbital parameters, power subsystem, attitude control subsystem, command/clock subsystem, telemetry subsystem, orbit adjust subsystem, magnetic moment compensating assembly, unified S band/premodulation processor, electrical interface subsystem, thermal subsystem, narrowband tape recorders, wideband telemetry subsystem, attitude measurement sensor, wideband video tape recorders, return beam vidicon subsystem, multispectral scanner subsystem, and data collection system.

Source record↗