Two-body linear guidance matrices
Analytical expressions for two-body linear guidance matrices in velocity dependent coordinate system for variant motion equation solutions
COORDINATE SYSTEM↗
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Users manual for flight control design programs
Computer programs for the design of analog and digital flight control systems are documented. The program DIGADAPT uses linear-quadratic-gaussian synthesis algorithms in the design of command response controllers and state estimators, and it applies covariance propagation analysis to the selection of sampling intervals for digital systems. Program SCHED executes correlation and regression analyses for the development of gain and trim schedules to be used in open-loop explicit-adaptive control laws. A linear-time-varying simulation of aircraft motions is provided by the program TVHIS, which includes guidance and control logic, as well as models for control actuator dynamics. The programs are coded in FORTRAN and are compiled and executed on both IBM and CDC computers.
Nalbandian, J. Y.↗
Vertical Motion Simulator -- A Unique Facility for Piloted GNC Research
This material is for presentation at the annual meeting of the NASA Engineering and Safety Center (NESC) Guidance, Navigation, and Control (GNC) Technical Discipline Team (TDT), on 22 July 2020. The briefing is entitled “Vertical Motion Simulator – A Unique Facility for Piloted GNC Research.” It provides a technical description of key VMS features and a high-level overview of some large bodies of work conducted in the VMS over the past 40 years.
Vertical Motion Simulator↗
Study of effects of uncertainties of comet and asteroid encounter and contact guidance requirements. Part 2: Tumbling problem studies
The problem of determining the rotational motion of a tumbling celestial body of the asteroid type using spacecraft-acquired data is addressed. The rotational motion of the body is modeled by free-Eulerian motion of a triaxial, rigid body and its translational motion with respect, to a nonrotating, observing spacecraft, which is not thrusting, is assumed to be uniform during the time observations are made. The mathematical details which form the basis for a digital simulation of the motion and observations are presented. Two algorithms for determining the motion from observations for the special case of uniform rotational motion are given.
Cochran, J. E., Jr.↗
Study of the Use of a Terminal Controller Technique for Reentry Guidance of a Capsule-Type Vehicle
A study has been made of the use o f a terminal controller technique i n the guidance of a high-drag, variable-lift reentry vehicle to a desired landing point. The technique uses linearized equations of motion attained by the perturbation of the dependent variables from those of a reference trajectory. The guidance system continuously predicts the terminal range error and uses this error to control the angle of attack of the vehicle in an on-off manner until the predicted range error is within +-O.1 degrees of the required arc or +-6.9 miles.
Foudriat, Edwin C.↗
Guidance and flight control demonstration in a helicopter flight environment using a laser-gyro inertial navigation system
The present flight test program results indicate that an all-digital inertial sensing system can be used in helicopter flight guidance and control, provided that the rotor rotation-induced motions are filtered from body rate and accelerometer signals before they are used in the feedback control system. Attention is given to the problem posed by the different repetition rates used by each of the manufacturers involved in the procurement of such all-digital subsystems. Autopilot designers must accordingly predict the need for filters and install them where called for in the sensor software. Two alternatives to this method are explored. Recent technological developments indicate that strapped down inertial systems will replace vertical and direction gyros as well as body rate accelerometers in future aircraft systems.
Schmidt, S. F.↗
Global models: Robot sensing, control, and sensory-motor skills
Robotics research has begun to address the modeling and implementation of a wide variety of unstructured tasks. Examples include automated navigation, platform servicing, custom fabrication and repair, deployment and recovery, and science exploration. Such tasks are poorly described at onset; the workspace layout is partially unfamiliar, and the task control sequence is only qualitatively characterized. The robot must model the workspace, plan detailed physical actions from qualitative goals, and adapt its instantaneous control regimes to unpredicted events. Developing robust representations and computational approaches for these sensing, planning, and control functions is a major challenge. The underlying domain constraints are very general, and seem to offer little guidance for well-bounded approximation of object shape and motion, manipulation postures and trajectories, and the like. This generalized modeling problem is discussed, with an emphasis on the role of sensing. It is also discussed that unstructured tasks often have, in fact, a high degree of underlying physical symmetry, and such implicit knowledge should be drawn on to model task performance strategies in a methodological fashion. A group-theoretic decomposition of the workspace organization, task goals, and their admissible interactions are proposed. This group-mechanical approach to task representation helps to clarify the functional interplay of perception and control, in essence, describing what perception is specifically for, versus how it is generically modeled. One also gains insight how perception might logically evolve in response to needs of more complex motor skills. It is discussed why, of the many solutions that are often mathematically admissible to a given sensory motor-coordination problem, one may be preferred over others.
Schenker, Paul S.↗
Simulation Development and Analysis of Crew Vehicle Ascent Abort
NASA's Commercial Crew Program is an integral step in its journey to Mars as it would expedite development of space technologies and open up partnership with U.S. commercial companies. NASA reviews and independent assessment of Commercial Crew Program is fundamental to its success, and being able to model a commercial crew vehicle in a simulation rather than conduct a live test would be a safer, faster, and less expensive way to assess and certify the capabilities of the vehicle. To this end, my project was to determine the feasibility of using a simulation tool named SOMBAT version 2.0 to model a multiple parachute system for Commercial Crew Program simulation. The main tasks assigned to me were to debug and test the main parachute system model, (capable of simulating one to four main parachute bodies), and to utilize a graphical program to animate the simulation results. To begin tackling the first task, I learned how to use SOMBAT by familiarizing myself with its mechanics and by understanding the methods used to tweak its various parameters and outputs. I then used this new knowledge to set up, run, and analyze many different situations within SOMBAT in order to explore the limitations of the parachute model. Some examples of parameters that I varied include the initial velocity and orientation of the falling capsule, the number of main parachutes, and the location where the parachutes were attached to the capsule. Each parameter changed would give a different output, and in some cases, would expose a bug or limitation in the model. A major bug that I discovered was the inability of the model to handle any number of parachutes other than three. I spent quite some time trying to debug the code logically, but was unable to figure it out until my mentor taught me that digital simulation limitations can occur when some approximations are mistakenly assumed for certain in a physical system. This led me to the realization that unlike in all of the programming classes I have taken thus far that focus on pure logic, simulation code focuses on mimicking the physical world with some approximation and can have inaccuracies or numerical instabilities. Learning from my mistake, I adopted new methods to analyze these different simulations. One method the student used was to numerically plot various physical parameters using MATLAB to confirm the mechanical behavior of the system in addition to comparing the data to the output from a separate simulation tool called FAST. By having full control over what was being outputted from the simulation, I could choose which parameters to change and to plot as well as how to plot them, allowing for an in depth analysis of the data. Another method of analysis was to convert the output data into a graphical animation. Unlike the numerical plots, where all of the physical components were displayed separately, this graphical display allows for a combined look at the simulation output that makes it much easier for one to see the physical behavior of the model. The process for converting SOMBAT output for EDGE graphical display had to be developed. With some guidance from other EDGE users, I developed a process and created a script that would easily allow one to display simulations graphically. Another limitation with the SOMBAT model was the inability for the capsule to have the main parachutes instantly deployed with a large angle between the air speed vector and the chutes drag vector. To explore this problem, I had to learn about different coordinate frames used in Guidance, Navigation & Control (J2000, ECEF, ENU, etc.) to describe the motion of a vehicle and about Euler angles (e.g. Roll, Pitch, Yaw) to describe the orientation of the vehicle. With a thorough explanation from my mentor about the description of each coordinate frame, as well as how to use a directional cosine matrix to transform one frame to another, I investigated the problem by simulating different capsule orientations. In the end, I was able to show that this limitation could be avoided if the capsule is initially oriented antiparallel to its velocity vector.
Wong, Chi S.↗
Neighboring optimal guidance for aeroassisted noncoplanar orbital transfer
The fuel-optimal control problem in aeroassisted noncoplanar orbital transfer is addressed. The equations of motion for the atmospheric maneuver are nonlinear and the optimal (nominal) trajectory and control are obtained. In order to follow the nominal trajectory under actual conditions, a neighboring optimum guidance scheme is designed using linear quadratic regulator theory for onboard real-time implementation. One of the state variables is used as the independent variable in preference to the time. The weighting matrices in the performance index are chosen by a combination of a heuristic method and an optimal modal approach. The necessary feedback control law is obtained in order to minimize the deviations from the nominal conditions. The results are presented to a typical aeroassisted noncoplanar orbital transfer problem.
Naidu, D. S.↗
Revisiting Optimal Guidance Solution for Vertical Landing and Take-Off
The vertical landing and take-off are crucial phases of a rocket-powered spacecraft's powered descent and ascent trajectories, during which its motion is confined to a single (vertical) axis. It is well-known that the minimum-propellant guidance solutions for vertical landing and take-off in a vacuum, consist of only one coast and one full-thrust arc and no singular arc exists in these problems. However, an exact solution for the vertical descent problem is not found in the literature. In the present work, exact guidance solutions for the optimal vertical landing and take-off are presented that are valid for arbitrary boundary conditions. The time-based and switching function-based guidance law implementations are discussed and their performance is compared using lunar descent and ascent simulations.
powered descent↗
Dynamical interpretation of conditional patterns
While great progress is being made in characterizing the 3-D structure of organized turbulent motions using conditional averaging analysis, there is a lack of theoretical guidance regarding the interpretation and utilization of such information. Questions concerning the significance of the structures, their contributions to various transport properties, and their dynamics cannot be answered without recourse to appropriate dynamical governing equations. One approach which addresses some of these questions uses the conditional fields as initial conditions and calculates their evolution from the Navier-Stokes equations, yielding valuable information about stability, growth, and longevity of the mean structure. To interpret statistical aspects of the structures, a different type of theory which deals with the structures in the context of their contributions to the statistics of the flow is needed. As a first step toward this end, an effort was made to integrate the structural information from the study of organized structures with a suitable statistical theory. This is done by stochastically estimating the two-point conditional averages that appear in the equation for the one-point probability density function, and relating the structures to the conditional stresses. Salient features of the estimates are identified, and the structure of the one-point estimates in channel flow is defined.
Adrian, R. J.↗
Explicit Low-Thrust Guidance for Reference Orbit Targeting
The problem of a low-thrust spacecraft controlled to a reference orbit is addressed in this paper. A simple and explicit low-thrust guidance scheme with constrained thrust magnitude is developed by combining the fundamental equations of motion for constrained systems from analytical dynamics with a Lyapunov-based method. Examples are given for a spacecraft controlled to a reference trajectory in the circular restricted three body problem.
low-thrust guidance↗
Vision based obstacle detection and grouping for helicopter guidance
Electro-optical sensors can be used to compute range to objects in the flight path of a helicopter. The computation is based on the optical flow/motion at different points in the image. The motion algorithms provide a sparse set of ranges to discrete features in the image sequence as a function of azimuth and elevation. For obstacle avoidance guidance and display purposes, these discrete set of ranges, varying from a few hundreds to several thousands, need to be grouped into sets which correspond to objects in the real world. This paper presents a new method for object segmentation based on clustering the sparse range information provided by motion algorithms together with the spatial relation provided by the static image. The range values are initially grouped into clusters based on depth. Subsequently, the clusters are modified by using the K-means algorithm in the inertial horizontal plane and the minimum spanning tree algorithms in the image plane. The object grouping allows interpolation within a group and enables the creation of dense range maps. Researchers in robotics have used densely scanned sequence of laser range images to build three-dimensional representation of the outside world. Thus, modeling techniques developed for dense range images can be extended to sparse range images. The paper presents object segmentation results for a sequence of flight images.
Sridhar, Banavar↗
Rotorcraft Research at the NASA Vertical Motion Simulator
In the 1970 s the role of the military helicopter evolved to encompass more demanding missions including low-level nap-of-the-earth flight and operation in severely degraded visual environments. The Vertical Motion Simulator (VMS) at the NASA Ames Research Center was built to provide a high-fidelity simulation capability to research new rotorcraft concepts and technologies that could satisfy these mission requirements. The VMS combines a high-fidelity large amplitude motion system with an adaptable simulation environment including interchangeable and configurable cockpits. In almost 30 years of operation, rotorcraft research on the VMS has contributed significantly to the knowledge-base on rotorcraft performance, handling qualities, flight control, and guidance and displays. These contributions have directly benefited current rotorcraft programs and flight safety. The high fidelity motion system in the VMS was also used to research simulation fidelity. This research provided a fundamental understanding of pilot cueing modalities and their effect on simulation fidelity.
Aponso, Bimal Lalith↗
Important Research Problems in Missile and Spacecraft Structural Dynamics, 1961
An attempt is made to indicate the research studies which should be vigorously supported in order to provide necessary information for the solution of structural dynamic problems of missile and space vehicles. The problem areas are discussed in terms of the disciplines or functions required in their solution. Among the latter are: (1) interactions of the complete system and the environment, (2) criteria for design conditions and performance, (3) interactions of aerodynamic forces with flexible structures, (4) motion of liquids, (5) vibration, (6) impulsive loading and transient responses, (7) guidance and control, (8) testing, and (9) materials considerations. In addition, some correlation is provided for identifying the problems in terms of the environmental conditions in which they occur.
MISSILE↗
Low thrust station keeping guidance for a 24- hour satellite.
Low thrust station keeping guidance scheme for gravity gradient stabilized 24-hour satellite, solving equations of motion for near circular equatorial orbit
Hunziker, R. R.↗
Low-thrust station keeping guidance for a 24-hour satellite
Low thrust station keeping guidance scheme for gravity gradient stabilized 24-hour satellite, solving equations of motion for near circular equatorial orbit
Hunziker, R. R.↗
Lightweight Video-Camera Head
Compact, lightweight video camera head constructed by remounting lens and charge-coupled-device image detector from small commercial video camera in separate assembly. Useful in robotics, artificial vision, and vision guidance systems. Designed to be mounted on visor of helmet to monitor motions of eyes in experiments on vestibulo-ocular reflexes.
Proctor, David R.↗