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Strapdown inertia system for V/STOL program with theoretical error analysis using Kalman filter estimation theory and computer simulation
The structural properties of Higher harmonic Aeroacoustic Rotor Test (HART I) blades have been measured using the original set of blades tested in the wind tunnel in 1994. A comprehensive rotor dynamics analysis is performed to address the effect of the measured blade properties on airloads, blade motions, and structural loads of the rotor. The measurements include bending and torsion stiffness, geometric offsets, and mass and inertia properties of the blade. The measured properties are correlated against the estimated values obtained initially by the manufacturer of the blades. The previously estimated blade properties showed consistently higher stiffnesses, up to 30% for the flap bending in the blade inboard root section. The measured offset between the center of gravity and the elastic axis is larger by about 5% chord length, as compared with the estimated value. The comprehensive rotor dynamics analysis was carried out using the measured blade property set for HART I rotor with and without HHC (Higher Harmonic Control) pitch inputs. A significant improvement on blade motions and structural loads is obtained with the measured blade properties.
The structural properties of higher harmonic Aeroacoustic Rotor Test (HART I) blades were measured using the original set of blades tested in the German-dutch wind tunnel (DNW) in 1994. the measurements include bending and torsion stiffness, geometric offsets, and mass and inertia properties of the blade. the measured properties were compared to the estimated values obtained initially from the blade manufacturer. The previously estimated blade properties showed consistently higher stiffness, up to 30 percent for the flap bending in the blade inboard root section.
Using the De Vries models for thermal conductivity and heat capacity, thermal inertia was determined as a function of soil moisture for 12 classes of soil types ranging from sand to clay. A coupled heat and moisture balance model was used to describe the thermal behavior of the top soil, while microwave remote sensing was used to estimate the soil moisture content of the same top soil. Soil hydraulic parameters are found to be very highly correlated with the combination of soil moisture content and thermal inertia at the same moisture content. Therefore, a remotely sensed estimate of the thermal behavior of the soil from diurnal soil temperature observations and an independent remotely sensed estimate of soil moisture content gives the possibility of estimating soil hydraulic properties by remote sensing.
ODIN/RLV is a digital computing system for the synthesis and optimization of reusable launch vehicle preliminary designs. The system consists of a library of technology modules in the form of independent computer programs and an executive program, ODINEX, which operates on the technology modules. The technology module library contains programs for estimating all major military flight vehicle system characteristics, for example, geometry, aerodynamics, economics, propulsion, inertia and volumetric properties, trajectories and missions, steady state aeroelasticity and flutter, and stability and control. A general system optimization module, a computer graphics module, and a program precompiler are available as user aids in the ODIN/RLV program technology module library.
Understanding the processes that led Venus to its current state and will drive its future evolution is a major objective of the next generation of orbiters. In this work we analyze the retrieval of the spin vector, the tidal response and the moment of inertia of Venus with VERITAS, a NASA Discovery-class mission. By simulating a systematic joint analysis of Doppler tracking data and tie points provided by the onboard synthetic aperture radar we show that VERITAS will provide accuracies (3σ) in the estimates of the tidal Love number k_2 to 4.6×10^(-4), its tidal phase lag to 0.05°, and the moment of inertia factor to 9.8×10^(-4) (0.3% of the expected value). Applying these results to recent models of the Venus interior, we show that VERITAS will provide much improved constraints on the interior structure of the planet.
The spin period to precession period ratio of a non-axisymmetric spin-stabilized spacecraft, the Advanced Composition Explorer (ACE), was used to estimate the remaining mass and distribution of fuel within its propulsion system. This analysis was undertaken once telemetry suggested that two of the four fuel tanks had no propellant remaining, contrary to pre-launch expectations of the propulsion system performance. Numerical integration of possible fuel distributions was used to calculate moments of inertia for the spinning spacecraft. A Fast Fourier Transform (FFT) of output from a dynamics simulation was employed to relate calculated moments of inertia to spin and precession periods. The resulting modeled ratios were compared to the actual spin period to precession period ratio derived from the effect of post-maneuver nutation angle on sun sensor measurements. A Monte Carlo search was performed to tune free parameters using the observed spin period to precession period ratio over the life of the mission. This novel analysis of spin and precession periods indicates that at the time of launch, propellant was distributed unevenly between the two pairs of fuel tanks, with one pair having approximately 20% more propellant than the other pair. Furthermore, it indicates the pair of the tanks with less fuel expelled all of its propellant by 2014 and that approximately 46 kg of propellant remains in the other two tanks, an amount that closely matches the operational fuel accounting estimate. Keywords: Fuel Distribution, Moments of Inertia, Precession, Spin, Nutation
Navigation of the orbit phase of the Near Earth steroid Rendezvous (NEAR) mission will re,quire determination of certain physical parameters describing the size, shape, gravity field, attitude and inertial properties of Eros. Prior to launch, little was known about Eros except for its orbit which could be determined with high precision from ground based telescope observations. Radar bounce and light curve data provided a rough estimate of Eros shape and a fairly good estimate of the pole, prime meridian and spin rate. However, the determination of the NEAR spacecraft orbit requires a high precision model of Eros's physical parameters and the ground based data provides only marginal a priori information. Eros is the principal source of perturbations of the spacecraft's trajectory and the principal source of data for determining the orbit. The initial orbit determination strategy is therefore concerned with developing a precise model of Eros. The original plan for Eros orbital operations was to execute a series of rendezvous burns beginning on December 20,1998 and insert into a close Eros orbit in January 1999. As a result of an unplanned termination of the rendezvous burn on December 20, 1998, the NEAR spacecraft continued on its high velocity approach trajectory and passed within 3900 km of Eros on December 23, 1998. The planned rendezvous burn was delayed until January 3, 1999 which resulted in the spacecraft being placed on a trajectory that slowly returns to Eros with a subsequent delay of close Eros orbital operations until February 2001. The flyby of Eros provided a brief glimpse and allowed for a crude estimate of the pole, prime meridian and mass of Eros. More importantly for navigation, orbit determination software was executed in the landmark tracking mode to determine the spacecraft orbit and a preliminary shape and landmark data base has been obtained. The flyby also provided an opportunity to test orbit determination operational procedures that will be used in February of 2001. The initial attitude and spin rate of Eros, as well as estimates of reference landmark locations, are obtained from images of the asteroid. These initial estimates are used as a priori values for a more precise refinement of these parameters by the orbit determination software which combines optical measurements with Doppler tracking data to obtain solutions for the required parameters. As the spacecraft is maneuvered; closer to the asteroid, estimates of spacecraft state, asteroid attitude, solar pressure, landmark locations and Eros physical parameters including mass, moments of inertia and gravity harmonics are determined with increasing precision. The determination of the elements of the inertia tensor of the asteroid is critical to spacecraft orbit determination and prediction of the asteroid attitude. The moments of inertia about the principal axes are also of scientific interest since they provide some insight into the internal mass distribution. Determination of the principal axes moments of inertia will depend on observing free precession in the asteroid's attitude dynamics. Gravity harmonics are in themselves of interest to science. When compared with the asteroid shape, some insight may be obtained into Eros' internal structure. The location of the center of mass derived from the first degree harmonic coefficients give a direct indication of overall mass distribution. The second degree harmonic coefficients relate to the radial distribution of mass. Higher degree harmonics may be compared with surface features to gain additional insight into mass distribution. In this paper, estimates of Eros physical parameters obtained from the December 23,1998 flyby will be presented. This new knowledge will be applied to simplification of Eros orbital operations in February of 2001. The resulting revision to the orbit determination strategy will also be discussed.
MMS Overview Recall from Conrads presentation earlier today MMS launch: March 13, 2015 on an Atlas V from Space Launch Complex 40, Cape Canaveral, Florida MMS Observatory Separation: five minute intervals spinning at 3 rpm approximately 1.5 hours after launch MMS Science Goals: study magnetospheric plasma physics and understand the processes that cause power grids, communication disruptions and Aurora formation Mission: 4 identical spacecraft in tetrahedral formation with variable size1.2 x 12 RE in Phase 1, with apogee on dayside to observe bow shock1.2 x 25 RE in Phase 2, with apogee on night side to observe magneto tail Challenges Tight attitude control box, orbit and formation maintenance requirements Maneuvers on thrusters every two weeks Delta-H Spin axis direction and spin rate maintenance Delta-V Orbit and Formation maintenance Mission phase transitions AGS support Smart targeting prediction of Spin-Axis attitude in the presence of environmental torques to stay within the science attitude Determination of the spacecraft attitude and spin rate (sensitive to knowledge of inertia tensor)Calibrations to improve attitude determination results and improve orbit maneuvers Mass properties (Center of Mass, and inertia tensor for nutation and coning) Accelerometer bias (sensitive to the accuracy of the rate estimates) Sensor alignments.
The JT9D jet engine exhibits a TSFC loss of about 1 percent in the initial 50 flight cycles of a new engine. These early losses are caused by seal-wear induced opening of running clearances in the engine gas path. The causes of this seal wear have been identified as flight induced loads which deflect the engine cases and rotors, causing the rotating blades to rub against the seal surfaces, producing permanent clearance changes. The real level of flight loads encountered during airplane acceptance testing and revenue service and the engine's response in the dynamic flight environment were investigated. The feasibility of direct measurement of these flight loads and their effects by concurrent measurement of 747/JT9D propulsion system aerodynamic and inertia loads and the critical engine clearance and performance changes during 747 flight and ground operations was evaluated. A number of technical options were examined in relation to the total estimated program cost to facilitate selection of the most cost effective option. It is concluded that a flight test program meeting the overall objective of determining the levels of aerodynamic and inertia load levels to which the engine is exposed during the initial flight acceptance test and normal flight maneuvers is feasible and desirable. A specific recommended flight test program, based on the evaluation of cost effectiveness, is defined.
A number of simple density models for the moon are discussed. The considered models are consistent with the lunar mass and moment of inertia, the latest information on the seismic velocity of the lunar crust and mantle, and assorted estimates of temperature in the lunar interior. New material presented includes the implications for density models of recent seismic evidence for a thin, high velocity layer beneath the lunar crust and for a zone of partial melting below 1000 km depth. The consequences of a dense, iron-rich central core are also explored.
Orbit determination during the post-rendezvous phases of the Comet Rendezvous/Asteroid Flyby mission is described. The orbit determination process is discussed, with emphasis placed on optical imaging of landmarks and Doppler tracking. Rotational dynamics are introduced for the cometary nucleus. State estimation errors are given for spacecraft trajectory prediction and cometary nucleus attitude prediction. Estimation errors are also given for parameters that describe the cometary nucleus such as moments of inertia and gravity harmonics. The orbit determination performance in support of science observations while in orbit about the nucleus is described.
A computer program implements a thrust impulse measurement (TIM) filter, which processes data on changes in velocity and attitude of a spacecraft to estimate the small impulsive forces and torques exerted by the thrusters of the spacecraft reaction control system (RCS). The velocity-change data are obtained from line-of-sight-velocity data from Doppler measurements made from the Earth. The attitude-change data are the telemetered from an inertial measurement unit (IMU) aboard the spacecraft. The TIM filter estimates the threeaxis thrust vector for each RCS thruster, thereby enabling reduction of cumulative navigation error attributable to inaccurate prediction of thrust vectors. The filter has been augmented with a simple mathematical model to compensate for large temperature fluctuations in the spacecraft thruster catalyst bed in order to estimate thrust more accurately at deadbanding cold-firing levels. Also, rigorous consider-covariance estimation is applied in the TIM to account for the expected uncertainty in the moment of inertia and the location of the center of gravity of the spacecraft. The TIM filter was built with, and depends upon, a sigma-point consider-filter algorithm implemented in a Python-language computer program.
Three rectangular monoplane wings having rounded tips were tested on the N.A.C.A. spinning balance in the 5-foot vertical wind tunnel. The airfoil sections used were the N.A.C.A. 0009, 23018, and 6718. The aerodynamic characteristics of the models and a prediction of the angles of sideslip for steady spins are given. There is included an estimate of the yawing moment that must be furnished by parts of the airplane to balance the inertia couples and wing yawing moments for spinning equilibrium. The predicted angles of sideslip and yawing moments required for spinning equilibrium for a Clark Y wing with the same form are included for comparison.
Thin, subvisible cirrus (SVC) clouds at the tropical tropopause have been observed by a number of methods in a variety of observational programs, including in situ sampling and aircraft and space-based lidar. Modeling studies suggest that these clouds play an important role in dehydrating tropospheric air as it enters the stratosphere. This is because particles large enough to have significant fall speeds can form under the conditions of slow cooling that are implied by the large horizontal extent of the SVC sheets. The IR radiation that these clouds absorb, and the upward vertical motion this implies, also makes them candidates for a tropical troposphere-to-stratosphere mass transfer mechanism. They may also play a role in the earth's radiation budget. These sheets were observed on five flights during the Tropical Ozone Transport Experiment (TOTE) by the NASA Langley DIAL lidar aboard NASA's DC-8 research aircraft operating during December 1995 and February 1996 south of Hawaii. The relationship of the SVC's observed during TOTE to convection was not a simple one. One class of SVC's are within 1000 km of the persistent strong convection near 15S (the SPCZ). Trajectory analyses indicated that the SVC air masses have in fact passed through the SPCZ within a few days of observation. These clouds are very close to the tropopause, with maximum potential temperatures not much higher than 370K, consistent with in situ water and total water measurements near the tropopause made during the Stratosphere Troposphere Exchange Project in January 1987 at Darwin, Australia. A second class of SVC's are not immediately downstream of convection. These clouds tend to be higher, reaching potential temperatures of 390K or more. Trajectory analyses indicate that the air in these SVC's originates either in the equatorial western Pacific or along the subtropical jet. In any case, the warm temperatures the SVC air masses encounter just prior to the observation time along the back trajectory imply that the clouds cannot be residual particles from cirrus blowoff, but must form locally as the air move upward and equatorward south of Hawaii. Since all the parcels have encountered colder temperatures than those at the time of observation early in their history, subsynoptic scale temperatures colder than the analysis temperatures appear to be required to explain the formation of ice particles. In fact, the sloping shapes of the SVC's do suggest that they are gravity or inertia-gravity waves. In situ meteorological measurements made by the ER-2 within a day of the DC-8 remote lidar observations show a gravity wave structure near the equator with an estimated period of about 30 hours. This is sufficiently long to allow large particles to form and fall out (thus allowing dehydration). Other ER-2 flights south of Hawaii at other times of year show gravity and inertia-gravity waves with a poleward wavenumber component and significant (5 degrees peak to peak) temperature perturbation.
An investigation was made to determine the spinning characteristics of Clark Y monoplane wings with different plan forms. A rectangular wing and a wing tapered 5:2, both with rounded tips, were tested on the N.A.C.A. spinning balance in the 5-foot vertical wind tunnel. The aerodynamic characteristics of the models and a prediction of the angles of sideslip for steady spins are given. Also included is an estimate of the yawning moment that must be furnished by the parts of the airplane to balance the inertia couples and wing yawing moment for spinning equilibrium. The effects on the spin of changes in plan form and of variations of some of the important parameters are discussed and the results are compared with those for a rectangular wing with square tips. It is concluded that for a conventional monoplane using Clark Y wing the sideslip will be algebraically larger for the wing with the rounded tip than for the wing with the square tip and will be largest for the tapered wing. The effect of plan form on the spin will vary with the type of airplane; and the provision of a yawing-moment coefficient of -0.025 (i.e., opposing the spin) by the tail, fuselage, and interference effects will insure against the attainment of equilibrium on a steady spin for any of the plan forms tested and for any of the parameters used in the analysis.
The author has identified the following significant results. Contoured analyses of moisture availability, moisture flux, sensible heat flux, thermal inertia, and day and nighttime temperatures over a Missouri watershed for a date in June and in September show that forests and creeks exhibit the highest values of moisture availability, whereas farmlands and villages are relatively dry. The distribution of moisture availability over agricultural districts differs significantly between the two cases. This difference is attributed to a change in the surface's vegetative canopy between June and September, with higher moisture availabilities found in the latter case. Horizontal variations of moisture, however, do indicate some relationship between moisture availability and both local rainfall accumulations and the nature of the terrain.
The mathematical developments and their computer program implementation for the Space Shuttle propulsion parameter estimation project are summarized. The estimation approach chosen is the extended Kalman filtering with a modified Bryson-Frazier smoother. Its use here is motivated by the objective of obtaining better estimates than those available from filtering and to eliminate the lag associated with filtering. The estimation technique uses as the dynamical process the six degree equations-of-motion resulting in twelve state vector elements. In addition to these are mass and solid propellant burn depth as the ""system'' state elements. The ""parameter'' state elements can include aerodynamic coefficient, inertia, center-of-gravity, atmospheric wind, etc. deviations from referenced values. Propulsion parameter state elements have been included not as options just discussed but as the main parameter states to be estimated. The mathematical developments were completed for all these parameters. Since the systems dynamics and measurement processes are non-linear functions of the states, the mathematical developments are taken up almost entirely by the linearization of these equations as required by the estimation algorithms.