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202508 HAIIC IR Images with Attitude Data at BNF
This campaign aims to collect infrared imagery using a custom data acquisition system to improve and validate a previously developed attitude estimation algorithm, with a focus on ensuring reliable performance at higher altitudes. The system integrates a Boson+320 infrared camera, a VN-200 IMU for recording attitude data synchronized with image acquisition, and a Raspberry Pi 4B+ for onboard processing and storage. Image orientation was controlled using a Gremsy T7 gimbal. The primary dataset spans roll angles from −40° to 40° and pitch angles from −20° to 40°, sampled at 1° increments. Additional, smaller datasets were also collected at 2.5° angular intervals.
Temperature readout system for a strapdown gyro system
Temperature readout system for strapdown IMU assembly
Mission SL-3 (AS 207/CM 117/IMU 31) G and N error analysis (Skylab 3)
Data are presented on G and N system performance and operation for the CM. Data of measured CM IMU test data are included.
Failure detection and isolation methods for redundant gimballed inertial measurement units.
Skewed alignment of two redundant conventional inertial measuring units permits nonambiguous detection and isolation of hard and soft failures in real time by an airborne computer. Accelerometer outputs and gimbal readouts are monitored periodically, and attitude rate and velocity error vectors are computed from these data. Magnitudes of these vectors provide failure detection, and projection of these error vectors onto the coordinate axes of the two clusters permits isolation. A detailed Monte Carlo simulation of one version of the mechanization as applied to Space Shuttle boost trajectories demonstrates effectiveness down to very low levels of inertial instrument performance failures. The results indicate that worst case overall navigation performance occurs when accelerometer failures are of the order of 20 sigma and gyro failures are about 100 sigma for conventional state-of-the-art IMU instruments.
Redundancy management of inertial systems.
The paper reviews developments in failure detection and isolation techniques applicable to gimballed and strapdown systems. It examines basic redundancy management goals of improved reliability, performance and logistic costs, and explores mechanizations available for both input and output data handling. The meaning of redundant system reliability in terms of available coverage, system MTBF, and mission time is presented and the practical hardware performance limitations of failure detection and isolation techniques are explored. Simulation results are presented illustrating implementation coverages attainable considering IMU performance models and mission detection threshold requirements. The implications of a complete GN&C redundancy management method on inertial techniques are also explored.
Apollo 15 mission report: Apollo 15 guidance, navigation, and control system performance analysis report (supplement 1)
This report contains the results of additional studies which were conducted to confirm the conclusions of the MSC Mission Report and contains analyses which were not completed in time to meet the mission report deadline. The LM IMU data were examined during the lunar descent and ascent phases. Most of the PGNCS descent absolute velocity error was caused by platform misalignments. PGNCS radial velocity divergence from AGS during the early part of descent was partially caused by PGNCS gravity computation differences from AGS. The remainder of the differences between PGNCS and AGS velocity were easily attributable to attitude reference alignment differences and tolerable instrument errors. For ascent the PGNCS radial velocity error at insertion was examined. The total error of 10.8 ft/sec was well within mission constraints but larger than expected. Of the total error, 2.30 ft/sec was PIPA bias error, which was suspected to exist pre-lunar liftoff. The remaining 8.5 ft/sec is most probably satisified with a large pre-liftoff planform misalignment.
Apollo 16 mission Report. Supplement 1: Apollo 16 guidance, navigation, and control system performance analysis report
The results are reported of additional studies which were conducted to supplement conclusions drawn in the MSC Mission Report and analyses which were not completed in time to meet the Mission Report dealine. A detailed evaluation of the Abort Guidance System sensor assembly and results from the investigation of the X gyro loop anomaly are included. Further evidence is presented substantiating the excellent LM IMU performance obtained from preliminary indications. A detailed study is presented of the procedural changes implemented on Apollo 16 to diminish the number and duration of interruptions to the CSM DAP attitude maneuver during P20 Option 5 operations.
Design of a GN and C system to meet reliability goals
This paper analyzes the reliability of the guidance, navigation, and control (GNC) portion of an avionics system for the Space Shuttle Orbiter. This analysis shows how the GNC design is affected by the need to achieve an acceptable probability of successful completion of a mission and of safe return to an airport. It varies the redundancy of the inertial measurement unit (IMU), computers, and other time-critical elements. It also includes the reliability of the flight control electronics and of the nontime-critical sensors on a phase-by-phase basis. It shows that quadruple redundancy in certain subsystems, high quality parts, and cross-strapping on orbit are required.
A study of Space Shuttle approach and landing navigation with conventional navaids
Four candidate navigation systems for the Space Shuttle Orbiter approach and landing phase are evaluated in detail. These include three conventional navaid systems and a single-station one-way Doppler system. In each case a Kalman filter is assumed to be mechanized in the onboard computer, blending the navaid data with IMU and altimeter data. Filter state dimensions ranging from 6 to 24 are involved in the candidate systems. Comprehensive truth models with state dimensions ranging from 63 to 82 are formulated and used to generate detailed performance projections. The detailed results are summarized, compared, and interpreted, the filter designs are reviewed, and suggestions are made concerning possible software improvements.
Space shuttle entry and landing navigation analysis
A navigation system for the entry phase of a Space Shuttle mission which is an aided-inertial system which uses a Kalman filter to mix IMU data with data derived from external navigation aids is evaluated. A drag pseudo-measurement used during radio blackout is treated as an additional external aid. A comprehensive truth model with 101 states is formulated and used to generate detailed error budgets at several significant time points -- end-of-blackout, start of final approach, over runway threshold, and touchdown. Sensitivity curves illustrating the effect of variations in the size of individual error sources on navigation accuracy are presented. The sensitivity of the navigation system performance to filter modifications is analyzed. The projected overall performance is shown in the form of time histories of position and velocity error components. The detailed results are summarized and interpreted, and suggestions are made concerning possible software improvements.
Space shuttle post-entry and landing analysis. Volume 1: Candidate system evaluations
The general purpose of this study is to aid in the evaluation and design of multi-sensor navigation schemes proposed for the orbiter. The scope of the effort is limited to the post-entry, energy management, and approach and landing mission phases. One candidate system based on conventional navigation aids is illustrated including two DME (Distance Measuring Equipment) stations and ILS (Instrument Landing System) glide slope and localizer antennas. Some key elements of the system not shown are the onboard IMUs (Inertial Measurement Units), altimeters, and a computer. The latter is programmed to mix together (filter) the IMU data and the externally-derived data. A completely automatic, all-weather landing capability is required. Since no air-breathing engines will be carried on orbital flights, there will be no chance to go around and try again following a missed approach.
Space shuttle post-entry and landing analysis. Volume 2: Appendices
Four candidate navigation systems for the space shuttle orbiter approach and landing phase are evaluated in detail. These include three conventional navaid systems and a single-station one-way Doppler system. In each case, a Kalman filter is assumed to be mechanized in the onboard computer, blending the navaid data with IMU and altimeter data. Filter state dimensions ranging from 6 to 24 are involved in the candidate systems. Comprehensive truth models with state dimensions ranging from 63 to 82 are formulated and used to generate detailed error budgets and sensitivity curves illustrating the effect of variations in the size of individual error sources on touchdown accuracy. The projected overall performance of each system is shown in the form of time histories of position and velocity error components.
Space shuttle navigation analysis
A detailed analysis of space shuttle navigation for each of the major mission phases is presented. A covariance analysis program for prelaunch IMU calibration and alignment for the orbital flight tests (OFT) is described, and a partial error budget is presented. The ascent, orbital operations and deorbit maneuver study considered GPS-aided inertial navigation in the Phase III GPS (1984+) time frame. The entry and landing study evaluated navigation performance for the OFT baseline system. Detailed error budgets and sensitivity analyses are provided for both the ascent and entry studies.
Space Shuttle Earth Observation sensors pointing and stabilization requirements study
The shuttle orbiter inertial measurement unit (IMU), located in the orbiter cabin, is used to supply inertial attitude reference signals; and, in conjunction with the onboard navigation system, can provide a pointing capability of the navigation base accurate to within plus or minus 0.5 deg for earth viewing missions. This pointing accuracy can degrade to approximately plus or minus 2.0 deg for payloads located in the aft bay due to structural flexure of the shuttle vehicle, payload structural and mounting misalignments, and calibration errors with respect to the navigation base. Drawbacks to obtaining pointing accuracy by using the orbiter RCS jets are discussed. Supplemental electromechanical pointing systems are developed to provide independent pointing for individual sensors, or sensor groupings. The missions considered and the sensors required for these missions and the parameters of each sensor are described. Assumptions made to derive pointing and stabilization requirements are delineated.
Kalman filter divergence and aircraft motion estimators
Kalman filters designed for many aerospace systems turn out to be unsatisfactory. The estimate errors become large compared to the errors predicted by the theory ('divergence'). One of the principal causes of this failure is that the system model contains states or modes that are undisturbed by the modeled process noise, and are neutrally stable (NS). One cure for such problems is periodic restarting of a time-varying Kalman filter. Other cures include minimum variance observers with eigenvalue constraints, added noise, pole-shifting, and destabilization. Several examples are given, including effective time-invariant estimators for the longitudinal and lateral motions of an airplane where several NS modes are undisturbed by wind gusts. An interpretation of these estimators as a 'strapdown IMU' without accelerometers, gimbaled gyros, or servos is given.
Star tracker error analysis: Roll-to-pitch nonorthogonality
An error analysis is described on an anomaly isolated in the star tracker software line of sight (LOS) rate test. The LOS rate cosine was found to be greater than one in certain cases which implied that either one or both of the star tracker measured end point unit vectors used to compute the LOS rate cosine had lengths greater than unity. The roll/pitch nonorthogonality matrix in the TNB CL module of the IMU software is examined as the source of error.
Shuttle program. Onorbit navigation integrator results for typical shuttle orbits
Three types of navigation onorbit numerical integrators were evaluated: (1) power integrators with no delta-V incorporation, just coasting (using Taylor series expansion integrators); (2) coasting integrators using the Cowell method of special perturbations; and (3) coasting integrator using the Pines variation of parameter perturbation method. Results show that the super G integrator is a very simple and effective for 2 and 4 second time steps. Since IMU delta-V data can be easily incorporated in the integration scheme, its use as the standard onorbit navigation propagator for the maintenance of the current state was implemented in the onboard navigation software. The Pines formulation method with a Runge-Kutta-Gill fourth-order integrator method produces excellent results up to 300 second time steps. On orbit prediction with this method was implemented in the onboard onorbit navigation scheme. The Runge-Kutta third order, using Cowell's method, is an excellent general purpose determination integrator for time steps up to a 60 second duration.