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At least 1,117 records · Page 62

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NASA NTRS1991

Spatial operator approach to flexible multibody system dynamics and control

The inverse and forward dynamics problems for flexible multibody systems were solved using the techniques of spatially recursive Kalman filtering and smoothing. These algorithms are easily developed using a set of identities associated with mass matrix factorization and inversion. These identities are easily derived using the spatial operator algebra developed by the author. Current work is aimed at computational experiments with the described algorithms and at modelling for control design of limber manipulator systems. It is also aimed at handling and manipulation of flexible objects.

Rodriguez, G.↗

NASA NTRS1991

Knowledge acquisition for expert systems using statistical methods

A common problem in the design of expert systems is the definition of rules from data obtained in system operation or simulation. A statistical method for generating rule bases from numerical data, motivated by an example based on aircraft navigation with multiple sensors is presented. The specific objective is to design an expert system that selects a satisfactory suite of measurements from a dissimilar, redundant set, given an arbitrary navigation geometry and possible sensor failures. The systematic development of a Navigation Sensor Management (NSM) Expert System from Kalman Filter covariance data is described. The development method invokes two statistical techniques: Analysis-of-Variance (ANOVA) and the ID3 algorithm. The ANOVA technique indicates whether variations of problem parameters give statistically different covariance results, and the ID3 algorithm identifies the relationships between the problem parameters using probabilistic knowledge extracted from a simulation example set.

Belkin, Brenda L.↗

NASA NTRS1987

Enhanced global positioning system delta-range processing

A circuit is shown which utilizes signals transmitted from global positioning system satellites to create change in phase signals. The change in phase signals are measured over a predetermined time interval, one· second, and stored. The stored signals are applied to a Kalman filter and back to the storage unit so that each one second time interval includes the information from all previous time intervals. This accumulated information is referred to as accumulated Delta-Range information which permits a more rapid determination of position by the circuit.

Alison Brown↗

NASA NTRS1990

Random field estimation approach to robot dynamics

The difference equations of Kalman filtering and smoothing recursively factor and invert the covariance of the output of a linear state-space system driven by a white-noise process. Here it is shown that similar recursive techniques factor and invert the inertia matrix of a multibody robot system. The random field models are based on the assumption that all of the inertial (D'Alembert) forces in the system are represented by a spatially distributed white-noise model. They are easier to describe than the models based on classical mechanics, which typically require extensive derivation and manipulation of equations of motion for complex mechanical systems. With the spatially random models, more primitive locally specified computations result in a global collective system behavior equivalent to that obtained with deterministic models. The primary goal of applying random field estimation is to provide a concise analytical foundation for solving robot control and motion planning problems.

Rodriguez, Guillermo↗

NASA NTRS1990

Estimation of synoptic fields of middle atmosphere parameters from Nimbus-7 LIMS profile data

The most widely used version of the Nimbus-7 middle atmosphere dataset is the set of high quality, daily, and zonal Fourier coefficients that resolve information out to six wavenumbers at 12 UTC. A Kalman filter algorithm was applied to the original profile data in order to generate those fields for the data archive or LAMAT product. The characteristics and implementation of the algorithm are described in some detail, along with examples of the output for each of the LIMS parameters.

Remsberg, Ellis E.↗

NASA NTRS1991

Optimizing aircraft performance with adaptive, integrated flight/propulsion control

The Performance-Seeking Control (PSC) integrated flight/propulsion adaptive control algorithm presented was developed in order to optimize total aircraft performance during steady-state engine operation. The PSC multimode algorithm minimizes fuel consumption at cruise conditions, while maximizing excess thrust during aircraft accelerations, climbs, and dashes, and simultaneously extending engine service life through reduction of fan-driving turbine inlet temperature upon engagement of the extended-life mode. The engine models incorporated by the PSC are continually upgraded, using a Kalman filter to detect anomalous operations. The PSC algorithm will be flight-demonstrated by an F-15 at NASA-Dryden.

Smith, R. H.↗

NASA NTRS1989

Linear estimation and control studies of vibration suppression of SCOLE flexible mast

A Kalman filter and a controller are presented for vibration suppression of the Spacecraft Control Laboratory Experiment flexible mast mounted in the cantilevered configuration. Mode shapes and frequencies of the structure obtained from a finite element analysis are used to compute the controller and filter gains. The paper presents results and discussion from simulation and experimental studies. Comparison of experimental results with those obtained by simulation show close agreement.

Ghosh, D.↗

NASA NTRS1990

Calibration and operation of a large space-based optical interferometer

The on-orbit calibration of the optics, structure, and control systems of the CSI Focus Mission Interferometer (FMI) is described. The calibration involves the estimation and propagation of both positional and rotational parameters and the propagation of both positional and rotational parameters at the nanometer/nanoradian level. It is shown that, given a nanometer class metrology system to monitor positional changes of critical optical elements, this calibration procedure should enable the FMI to perform 50 picoradian astrometry. The same Kalman filter that implements the initializing calibration of the interferometer baselines and internal pathlengths will also participate in the astrometric measurements of stellar positions.

Laskin, R. A.↗

NASA NTRS1990

Performance evaluation of a Doppler radar system for wind shear detection

Nonlinear stochastic differential equations are used to model wind shear, and extended Kalman filters are used to generate state estimates from measurements received from a Doppler radar onboard an aircraft. Likelihood-ratio tests are then used to detect the presence of wind shear. The performance of the system is evaluated by deriving theoretical expressions for the false alarm and miss error probabiilties. The approach uses a Fokker-Planck equation. The overall methodology is general and should be of interest in other applications.

Khalaf, Camille S.↗

NASA NTRS1991

Three-dimensional simulations of wintertime ozone variability in the lower stratosphere

The evolution of ozone has been calculated for the winters of 1979 and 1989 using winds derived from the stratospheric data assimilation system STRATAN. The ozone fields calculated using this technique are found to compare well with satellite-measured fields for simulations of 2-3 months. This paper presents comparisons of model fields with both satellite and sonde measurements to verify that stratospheric transport processes are properly represented by this modeling technique. Attention is focused on the Northern Hemisphere middle and high latitudes at the 10-hPa level and below, where transport processes are most important to the ozone distribution. First-order quantities and derived budgets from both the model and satellite data are presented. By sampling the model with a limb-viewing satellite and then Kalman filtering the 'observations' of the model, it is shown that transient subplanetary-scale features that are essential to the ozone budget are missed by the satellite system.

Rood, Richard B.↗

NASA NTRS1990

Application of a novel multi-stage signal parameter estimator to high dynamic GPS receivers

The performance of a novel multistage estimator when applied to the estimation of the position, velocity, and acceleration of high dynamic Global Positioning System (GPS) receivers is discussed. For the present application, a two-stage specialization of the more general estimation scheme is considered, wherein the first-stage algorithm is selected to be a modified least-squares algorithm operating upon the differential signal model and referred to as differential least-squares (DLS) and the second stage is simply an extended Kalman filter (EKF). In terms of the threshold on received carrier power-to-noise power spectral density ratio (CNR), when compared to the single-stage EKF algorithm, the DLS-EKF algorithm is about 1.5-2.0 dB better in terms of threshold and outperforms the crossproduct AFC (automatic frequency control) loop by 2-5 dB. For the case when data modulation is present, the proposed scheme provides an improvement of about 6 dB in terms of CNR compared to an earlier approximate MLE (maximum likelihood estimation) scheme. There are also very significant improvements in terms of other performance measures.

Kumar, R.↗

NASA NTRS1991

Linear quadratic servo control of a reusable rocket engine

The paper deals with the development of a design method for a servo component in the frequency domain using singular values and its application to a reusable rocket engine. A general methodology used to design a class of linear multivariable controllers for intelligent control systems is presented. Focus is placed on performance and robustness characteristics, and an estimator design performed in the framework of the Kalman-filter formalism with emphasis on using a sensor set different from the commanded values is discussed. It is noted that loop transfer recovery modifies the nominal plant noise intensities in order to obtain the desired degree of robustness to uncertainty reflected at the plant input. Simulation results demonstrating the performance of the linear design on a nonlinear engine model over all power levels during mainstage operation are discussed.

Musgrave, Jeffrey L.↗

NASA NTRS1991

Systematic methods for knowledge acquisition and expert system development

Nine cooperating rule-based systems, collectively called AUTOCREW which were designed to automate functions and decisions associated with a combat aircraft's subsystems, are discussed. The organization of tasks within each system is described; performance metrics were developed to evaluate the workload of each rule base and to assess the cooperation between the rule bases. Simulation and comparative workload results for two mission scenarios are given. The scenarios are inbound surface-to-air-missile attack on the aircraft and pilot incapacitation. The methodology used to develop the AUTOCREW knowledge bases is summarized. Issues involved in designing the navigation sensor selection expert in AUTOCREW's NAVIGATOR knowledge base are discussed in detail. The performance of seven navigation systems aiding a medium-accuracy INS was investigated using Kalman filter covariance analyses. A navigation sensor management (NSM) expert system was formulated from covariance simulation data using the analysis of variance (ANOVA) method and the ID3 algorithm. ANOVA results show that statistically different position accuracies are obtained when different navaids are used, the number of navaids aiding the INS is varied, the aircraft's trajectory is varied, and the performance history is varied. The ID3 algorithm determines the NSM expert's classification rules in the form of decision trees. The performance of these decision trees was assessed on two arbitrary trajectories, and the results demonstrate that the NSM expert adapts to new situations and provides reasonable estimates of the expected hybrid performance.

Belkin, Brenda L.↗

NASA NTRS1991

Quaternion normalization in additive EKF for spacecraft attitude determination

This work introduces, examines and compares several quaternion normalization algorithms, which are shown to be an effective stage in the application of the additive extended Kalman filter to spacecraft attitude determination, which is based on vector measurements. Three new normalization schemes are introduced. They are compared with one another and with the known brute force normalization scheme, and their efficiency is examined. Simulated satellite data are used to demonstate the performance of all four schemes.

Bar-Itzhack, I. Y.↗

NASA NTRS1991

Attitude control system conceptual design for the GOES-N spacecraft series

The attitude determination sensing and processing of the system are considered, and inertial reference units, star trackers, and beacons and landmarks are discussed as well as an extended Kalman filter and expected attitude-determination performance. The baseline controller is overviewed, and a spacecraft motion compensation (SMC) algorithm, disturbance environment, and SMC performance expectations are covered. Detailed simulation results are presented, and emphasis is placed on dynamic models, attitude estimation and control, and SMC disturbance accommmodation. It is shown that the attitude control system employing gyro/star tracker sensing and active three-axis control with reaction wheels is capable of maintaining attitude errors of 1.7 microrad or less on all axes in the absence of attitude disturbances, and that the sensor line-of-sight pointing errors can be reduced to 0.1 microrad by SMC.

Markley, F. L.↗

NASA NTRS1991

On state estimation for an orbiting single tether system

The effects of instrumentation accuracy and configuration on estimation error are studied for the small expendable-tether deployment system (SEDS) using a continuous-discrete extended Kalman filter (CDEKF) state estimator. A twelfth order model that incorporates the rigid body modes of the tether as well as the satellite attitude dynamics is developed. Simulation results using the model and the estimator indicate that the originally planned instrumentation package could not estimate the state vector adequately. Recommendations are made and results presented that reduce the estimation error by adding instruments and increasing selected measurement accuracies.

Greene, Michael E.↗

NASA NTRS1991

Compensator design for stability enhancement with collocated controllers

A continuum model rather than a finite element model is used. The optimal compensator design is formulated as a stochastic regulator problem and is shown to be solvable by the general infinite-dimensional theory developed by the author despite the lack of exponential stabilizability. Infinite-dimensional steady-state Riccati equations characterizing the feedback control gain and the Kalman filter gain operators can be solved explicitly. The associated performance indexes including the mean-square control-effort are calculated in closed form. As a first approximation, the compensator transfer function can be realized as a bank of bandpass filters in parallel centered at the undamped mode frequencies. Numerical calculations for the gain and bandwidths for a typical configuration are presented. The performance of the compensator is evaluated when in fact in the true model there is no actuator noise. The theoretical problem involved is to show that the infinite-dimensional stochastic process is asymptotically stationary. It is possible to calculate the steady-state covariance in closed form and thereby calculate performance indexes of interest explicitly, facilitating the choice of optimal design parameters.

Balakrishnan, A. V.↗

NASA NTRS1992

Two AFC Loops For Low CNR And High Dynamics

Two alternative digital automatic-frequency-control (AFC) loops proposed to acquire (or reacquire) and track frequency of received carrier radio signal. Intended for use where carrier-to-noise ratios (CNR's) low and carrier frequency characterized by high Doppler shift and Doppler rate because of high relative speed and acceleration, respectively, between transmitter and receiver. Either AFC loops used in place of phase-locked loop. New loop concepts integrate ideas from classical spectrum-estimation, digital-phase-locked-loop, and Kalman-Filter theories.

Hinedi, Sami M.↗