Results for “Autonomous Mitigation” — Page 9

NASA NTRSDate not supplied

Optical Modem Enabling Broadband Datacom Links for Crewed Cis-Lunar Missions

We report on the design, development, and testing of our high-power broadband optical modem supporting NASA’s crewed Artemis-2 mission. The O2O modem will be mounted in the crewed Orion module and provide a broadband 505,000 km bi-directional optical link back to earth while en route to the moon. The full-duplex modem consists of a high-power optical transmitter and receiver optimized for serially-concatenated pulse-position modulation (SCPPM). The transmitter is a master-oscillator power-amplifier optical architecture using efficient cladding-pumped amplification in erbium-ytterbium co-doped fiber. The transmitter outputs up to 1 W at ≈1550 nm (limited for eye safety) and supports 6 different user-rates ranging from 20.39 Mb/s to 260.95 Mb/s using PPM16 and PPM32 modulation formats. The optical receiver supports two user-rates: 10.19 Mb/s and 20.39 Mb/s with both rates employing PPM32. The narrowband receiver filtering is optimized to simultaneously accept four separate wavelength channels to mitigate atmospherics through spatial diversity. A configurable interleaver provides additional protection against atmospherics-based signal fading and a powerful soft-decision error correction scheme enables highly sensitive detection. The measured sensitivities at the two bit-rates are -73.8 and -71.8dBm, respectively. The architecture was designed for reliable operation in space, featuring automatic hardware interlocks, pump sparing for the amplifiers, and autonomous operation of all internal hardware and software control loops. The protoflight unit (PFU) was put through rigorous environmental testing which included pyroshock, vibration, electromagnetic interference/compatibility, and thermal-vacuum testing. The modem successfully passed all the environmental screening and has been declared at Technology Readiness Level (TRL) 6.

space communications↗

NASA NTRS2013

Terminal Guidance Navigation for an Asteroid Impactor Spacecraft

Near Earth Asteroids could potentially cause a great deal of devastation if one were to impact the Earth. If such an asteroid were found, the next step would be to mitigate the threat by one of several options, the most viable of which is to deflect the asteroids trajectory such that it misses the Earth by hitting it at a very high velocity with a spacecraft. The technology to perform such a deflection has been demonstrated by the Deep Impact (DI) mission, which successfully collided with comet Tempel 1 in July 2005 using an onboard autonomous navigation system, called AutoNav, for the terminal phase of the mission. In this paper, we evaluate the ability of AutoNav to impact a wide range of scenarios that an deflection mission could encounter, varying parameters such as the approach velocity, phase angle, size of the asteroid, and the determination of spacecraft attitude. Using realistic Monte Carlo simulations, we tabulated the probability of success of the deflection as a function of these parameters, and find the highest sensitivity to be due the spacecraft attitude determination mode. We conclude with some recommendations for future work.

autonomous navigation↗

NASA NTRS2020

Hybrid Electric MC-12 Ground Testing Plan Chapter

In the commercial aviation world, hybrid/electric propulsion is a promising technology for fuel, emissions, and noise reduction in support of the challenging goals established by 2050 EU Flightpath/SRIA, NASA ARMD Strategic Implementation Plan, and the US Air Force ATTAM programs. Ongoing results indicate operational benefits are possible in those three technical areas. Considering military applications, hybrid/electric propulsion may yield further significant improvements by enabling new, unorthodox mission capabilities. Potential benefits are expected in the areas of vehicle signature reduction (lower noise, lower exhaust signature), usage in enhanced flight environments, minimized human-in-the-loop workload by offering a platform compatible with future goals of autonomous operations facilitation, maintenance cost reductions, and performance burst/dash energy. Additional synergies are likely when used in conjunction with energy weapons. Some potential areas of mutual interest could include, dusty operations capability, remote supply capability, extended surveillance, dispatch able power, fuel-flexible vehicles, and autonomous rescue equipment. Many of the key technologies that have been demonstrated in ground operation must now be qualified for altitude conditions. We expect to have many flight qualified powertrain systems over the next decade for military planners to choose from for new future battlefield capability. This requires new flight-weight and flight-efficient powertrain components, fault tolerant power management, and electromagnetic interference mitigation technologies. Moreover, initial studies indicate some combination of ambient and cryogenic thermal management and relatively high bus voltages when compared to state of practice will be required to achieve a net system benefit. Developing all these powertrain technologies within a realistic aircraft architectural geometry and under realistic operational conditions requires a unique electric aircraft test bed. The MC-12 surveillance aircraft is an ideal military aircraft for demonstrating some of the benefits of incorporating hybrid electric propulsion. This report details an approach for full-scale ground-based altitude testing the hybrid electric MC-12 powertrain through a full flight profile.

military electric aircraft propulsion↗

NASA NTRS2013

The ISIS Mission Concept: An Impactor for Surface and Interior Science

The Impactor for Surface and Interior Science (ISIS) mission concept is a kinetic asteroid impactor mission to the target of NASA's OSIRIS-REx (Origins-Spectral Interpretation-Resource Identification-Security-Regolith Explorer) asteroid sample return mission. The ISIS mission concept calls for the ISIS spacecraft, an independent and autonomous smart impactor, to guide itself to a hyper-velocity impact with 1999 RQ36 while the OSIRIS-REx spacecraft observes the collision. Later the OSIRIS-REx spacecraft descends to reconnoiter the impact site and measure the momentum imparted to the asteroid through the impact before departing on its journey back to Earth. In this paper we discuss the planetary science, human exploration and impact mitigation drivers for mission, and we describe the current mission concept and flight system design.

cratering experiment↗

NASA NTRSDate not supplied

Developing a Cybersecurity Architecture for Extensible Traffic Management (xTM)

This paper explores the development of a cybersecurity architecture tailored for Extensible Traffic Management (xTM) to address emerging challenges in managing diverse aerial vehicles within the National Airspace System (NAS). Driven by technological advances and the rise of uncrewed aerial systems (UAS), urban air mobility (UAM), and high-altitude traffic (ETM), the NAS is undergoing a paradigm shift. Traditional air traffic management, reliant on traditional Federal Aviation Administration (FAA) control, will give way to decentralized coordination among autonomous and semi-autonomous systems. The proposed xTM Security Architecture, designed as a high-level framework, focuses on ensuring the confidentiality, integrity, and availability of data and operations in this evolving ecosystem. Utilizing threat modeling, the research identifies potential risks across key flight phases, operations and use cases to offer security control recommendations. Key objectives include analyzing interactions between novel airspace entrants and existing NAS traffic, cataloging vulnerabilities, and developing mitigative strategies to ensure safety, operational stability, and secure data exchanges. This research lays the groundwork for regulatory and industry adaptation, providing critical insights into managing cybersecurity risks in this complex, multi-domain environment.

UAM↗

NASA NTRS2024

SupportU: Smart UAS Program for the Population by Offering Resources and Tools to the Unhoused

Global warming, challenging economic conditions, the opioid epidemic, and other widespread problems, have impacted people globally, particularly over the past several years. Preventable diseases like the common cold and the effects of heat stroke have become increasingly prevalent due to these issues. It is estimated that 150 million people of the world’s population are unhoused globally, with many dwelling in unsafe and unsanitary conditions while lacking access to basic hygienic items and other essentials. Unsanitary conditions coupled with this lack of access exacerbates and prolongs health problems and harms quality of life. Traditional methods of aid, such as homeless shelters and meal programs, face numerous challenges such as having limited reach and resources. To address these problems, the Smart UAS Program for the Population by Offering Resources and Tools to the Unhoused (SUPPORT U) utilizes Uncrewed Aircraft Systems (UAS) to deliver resources to the unhoused and those in need of basic aid, prior to and during extreme temperature conditions, and after natural disasters in rural, suburban, and urban areas. The UA is envisioned to be an autonomous aircraft capable of efficiently distributing essential supplies, including blankets, water, food, and medicine. The UAS fleet relies on advanced navigation and communication technologies to accurately identify unhoused people and efficiently and safely distribute materials to them. This will be done through a machine learning algorithm. By focusing on identified “homeless clusters”, places where unhoused individuals are concentrated, the UAS network increases access to critical resources, thereby helping to mitigate some of the external risks to the health of unhoused individuals. The UA can also be used during crises, such as by transporting supplies to medical tents that are stationed in difficult-to-reach areas suffering from natural disasters.

Samuel Beard↗

NASA NTRSDate not supplied

Crew Autonomy Through Self-Scheduling: Guidelines for Crew Scheduling Performance Envelope and Mitigation Strategies

NASA’s future long duration exploration missions (LDEMs) will encounter increasing communication transmission delays as they move farther from Earth-based ground stations. Because crews can no longer rely on real-time support from ground planners, they will have to self-schedule their own operational timelines effectively and efficiently. To enable this, our team develops Playbook, a mission planning and scheduling tool. Our research focuses on quantifying scheduling performance using Playbook to inform the design and development of future features aimed at streamlining timeline creation. We also aim to propose standards and guidelines for autonomous crews in LDEMs. This year, we discuss preliminary results from HERA Campaign 6.

self-scheduling↗

NASA NTRS2024

Workshop on the Role of Design Assurance in System-Wide Safety’s Safety Demonstrator Series

This report summarizes a three-hour hybrid in-person/online workshop on June 7, 2024 on the topic of design assurance and the Safety Demonstrator Series (SDS), which was held at NASA Ames Research Center. The SDS provides an operational demonstration of, and recommendations for, requirements and standards necessary to monitor, assess, and mitigate risks to assure safety in disaster-oriented operations. Over sixty NASA personnel participated in the workshop. Four main topics were discussed: (1) assurance needs for the Safety Demonstrator Series, (2) assurance and the In-Time Aviation Safety Management System (IASMS), (3) in-time assurance: existing efforts and future opportunities, and (4) demonstrating assurance tools in the Safety Demonstrators. Key takeaways are as follows: 1. Design assurance tools can be used to assure an In-Time Aviation Safety Management System, the systems that comprise it, and other systems or missions. Assurance must consider both systems and components and include the interactions between elements in both a systems/aircraft context and a systems-of-systems/airspace context. 2. Design-time assurance activities can support the identification of monitors needed for operational assurance activities (i.e., the “monitor” function in the monitor-assess-mitigate paradigm at the heart of the IASMS concept). 3. A major opportunity for design-time assurance tools to contribute to the IASMS concept is to support rapid re-validation of systems. This will be particularly important for (1) supporting novel operations in the IASMS, where operational data may disprove design-time assumptions (motivating re-analysis of system safety) and (2) adapting technologies (e.g., AI/ML for autonomous operations) to new operational domains, where there may be new or different safety considerations not included in the initial scope of operations. 4. There are several design assurance tools under development in the System-Wide Safety project that can support assurance of Services, Functions, and Capabilities (SFCs) in the Safety Demonstrators. Transitioning these tools from one-off research projects into a functioning part of IASMS assurance will require closer integration between these tools. 5. It is not clear whether the role of design assurance tools is primarily as a part of IASMS architecture or as an external check on IASMS. The workshop consisted of four discussion topics initiated via four lightning talks by System-Wide Safety researchers. Discussions utilized Mural to engage both in-person and online participants in the hybrid format. Polls and surveys were also utilized to gather participant input. The workshop closed with a reflection activity for participants, as well as new ideas for collaboration and coordination of ongoing System-Wide Safety research.

design assurance↗

NASA NTRSDate not supplied

Gateway at the Crossroads of Sustainable Lunar Exploration

The Gateway Program has made substantial design and development progress toward delivering a small, human-tended lunar space station purposefully designed to enable sustainable human exploration. The Program integrates partners and providers organizationally and physically as part of the spacecraft. The Power and Propulsion Element (PPE) and the Habitation and Logistics Outpost (HALO) with the European System Providing Refueling, Infrastructure and Telecommunications (ESPRIT) HALO Lunar Communications System (HLCS) have begun manufacturing the long lead components and will be launched first as a Co-Manifested Vehicle (CMV). The International Habitat (I-Hab) and ESPRIT Refueling Module (ERM) are passing life cycle milestones and include capabilities key for human crewmembers, such as windows, private sleeping quarters, and galley functions. The Logistics Module (LM) may provide a variety of services to Gateway depending on each mission. Requirements for the airlock have been developed, including requests that it support the integrated spacecraft with functions like augmenting heat rejection capabilities, and interfaces with new spacesuits will soon be developed in more detail. As a critical element of the architecture for solar system exploration, Gateway implements key tenets and features of international interoperability standards necessary to operate with multiple visiting vehicles and lunar assets, especially avionics, communications, and docking. Specific choices such as software architecture and standards, power standards, and robotics standards make it possible to utilize heritage or proprietary technology, yet still operate as one spacecraft. Engineering teams are evaluating many possible future missions to be executed at or utilizing the Gateway. The system architecture protects for an evolvable, extensible, and flexible capability. Designing systems robust enough to serve as a cornerstone of exploration activities for decades while remaining adaptable is not without its challenges. The detailed integration activities have revealed challenges and the need to mature key technologies. Refueling is a key component of achieving long life for Gateway, with unique operations to plan, safety concerns to mitigate, and risk reduction activities to conduct to better understand the system. The constraints and impacts of the design of visiting vehicles is also an important concern, with orientation constraints, control of attitude and orbit of the Gateway with docked visiting vehicles. Tradeoffs between robust maintainable systems and lightweight, compact systems must be balanced. Opportunities still exist for adding additional advanced capabilities to increase and extend Gateway’s benefits, such as intravehicular robotics, autonomous Guidance Navigation and Control (GN&C), and augmented control propulsion, heat rejection, or other services.

Molly S Anderson↗

NASA NTRSDate not supplied

Gateway at the Crossroads of Sustainable Lunar Exploration

The Gateway Program has made substantial design and development progress toward delivering a small, human-tended lunar space station purposefully designed to enable sustainable human exploration. The Program integrates partners and providers organizationally and physically as part of the spacecraft. The Power and Propulsion Element (PPE) and the Habitation and Logistics Outpost (HALO) with the European System Providing Refueling, Infrastructure and Telecommunications (ESPRIT) HALO Lunar Communications System (HLCS) have begun manufacturing the long lead components and will be launched first as a Co-Manifested Vehicle (CMV). The International Habitat (I-Hab) and ESPRIT Refueling Module (ERM) are passing life cycle milestones and include capabilities key for human crewmembers, such as windows, private sleeping quarters, and galley functions. The Logistics Module (LM) may provide a variety of services to Gateway depending on each mission. Requirements for the airlock have been developed, including requests that it support the integrated spacecraft with functions like augmenting heat rejection capabilities, and interfaces with new spacesuits will soon be developed in more detail. As a critical element of the architecture for solar system exploration, Gateway implements key tenets and features of international interoperability standards necessary to operate with multiple visiting vehicles and lunar assets, especially avionics, communications, and docking. Specific choices such as software architecture and standards, power standards, and robotics standards make it possible to utilize heritage or proprietary technology, yet still operate as one spacecraft. Engineering teams are evaluating many possible future missions to be executed at or utilizing the Gateway. The system architecture protects for an evolvable, extensible, and flexible capability. Designing systems robust enough to serve as a cornerstone of exploration activities for decades while remaining adaptable is not without its challenges. The detailed integration activities have revealed challenges and the need to mature key technologies. Refueling is a key component of achieving long life for Gateway, with unique operations to plan, safety concerns to mitigate, and risk reduction activities to conduct to better understand the system. The constraints and impacts of the design of visiting vehicles is also an important concern, with orientation constraints, control of attitude and orbit of the Gateway with docked visiting vehicles. Tradeoffs between robust maintainable systems and lightweight, compact systems must be balanced. Opportunities still exist for adding additional advanced capabilities to increase and extend Gateway’s benefits, such as intravehicular robotics, autonomous Guidance Navigation and Control (GN&C), and augmented control propulsion, heat rejection, or other services.

Molly S Anderson↗

NASA NTRS2013

A System for Fault Management for NASA's Deep Space Habitat

NASA's exploration program envisions the utilization of a Deep Space Habitat (DSH) for human exploration of the space environment in the vicinity of Mars and/or asteroids. Communication latencies with ground control of as long as 20+ minutes make it imperative that DSH operations be highly autonomous, as any telemetry-based detection of a systems problem on Earth could well occur too late to assist the crew with the problem. A DSH-based development program has been initiated to develop and test the automation technologies necessary to support highly autonomous DSH operations. One such technology is a fault management tool to support performance monitoring of vehicle systems operations and to assist with real-time decision making in connection with operational anomalies and failures. Toward that end, we are developing Advanced Caution and Warning System (ACAWS), a tool that combines dynamic and interactive graphical representations of spacecraft systems, systems modeling, automated diagnostic analysis and root cause identification, system and mission impact assessment, and mitigation procedure identification to help spacecraft operators (both flight controllers and crew) understand and respond to anomalies more effectively. In this paper, we describe four major architecture elements of ACAWS: Anomaly Detection, Fault Isolation, System Effects Analysis, and Graphic User Interface (GUI), and how these elements work in concert with each other and with other tools to provide fault management support to both the controllers and crew. We then describe recent evaluations and tests of ACAWS on the DSH testbed. The results of these tests support the feasibility and strength of our approach to failure management automation and enhanced operational autonomy.

Fault management↗

NASA NTRS2013

A System for Fault Management and Fault Consequences Analysis for NASA's Deep Space Habitat

NASA's exploration program envisions the utilization of a Deep Space Habitat (DSH) for human exploration of the space environment in the vicinity of Mars and/or asteroids. Communication latencies with ground control of as long as 20+ minutes make it imperative that DSH operations be highly autonomous, as any telemetry-based detection of a systems problem on Earth could well occur too late to assist the crew with the problem. A DSH-based development program has been initiated to develop and test the automation technologies necessary to support highly autonomous DSH operations. One such technology is a fault management tool to support performance monitoring of vehicle systems operations and to assist with real-time decision making in connection with operational anomalies and failures. Toward that end, we are developing Advanced Caution and Warning System (ACAWS), a tool that combines dynamic and interactive graphical representations of spacecraft systems, systems modeling, automated diagnostic analysis and root cause identification, system and mission impact assessment, and mitigation procedure identification to help spacecraft operators (both flight controllers and crew) understand and respond to anomalies more effectively. In this paper, we describe four major architecture elements of ACAWS: Anomaly Detection, Fault Isolation, System Effects Analysis, and Graphic User Interface (GUI), and how these elements work in concert with each other and with other tools to provide fault management support to both the controllers and crew. We then describe recent evaluations and tests of ACAWS on the DSH testbed. The results of these tests support the feasibility and strength of our approach to failure management automation and enhanced operational autonomy

System Effects Analysis↗

NASA NTRS2003

A Study on the Effects of J2 Perturbations on a Drag-Free Control System for Spacecraft in Low Earth Orbit

Low Earth Orbit (LEO) missions provide a unique means of gathering information about many of Earth s aspects such as climate, atmosphere, and gravitational field. Among the greatest challenges of LEO missions are designing, predicting, and maintaining the spacecraft orbit. The predominant perturbative forces acting on a spacecraft in LEO are J2 and higher order gravitational components, the effects of which are fairly easy to predict, and atmospheric drag, which causes the greatest uncertainty in predicting spacecraft ephemeris. The continuously varying atmospheric drag requires increased spacecraft tracking in order to accurately predict spacecraft location. In addition, periodic propulsive maneuvers typically must be planned and performed to counteract the effects of drag on the spacecraft orbit. If the effects of drag could be continuously and autonomously counteracted, the uncertainty in ephemeris due to atmospheric drag would essentially be eliminated from the spacecraft dynamics. One method of autonomous drag compensation that has been implemented on some missions is drag-free control. Drag-free control of a spacecraft was initially proposed in the 1960's and is discussed extensively by Lange. His drag-free control architecture consists of a free-floating proof mass enclosed within a spacecraft, isolating it from external disturbance forces such as atmospheric drag and solar radiation pressure. Under ideal conditions, internal disturbance forces can be ignored or mitigated, and the orbit of the proof mass depends only on gravitational forces. A sensor associated with the proof mass senses the movement of the spacecraft relative to the proof mass. Using the sensor measurements, the spacecraft is forced to follow the orbit of the proof mass by using low thrust propulsion, thus counteracting any non-gravitational disturbance forces. If the non-gravitational disturbance forces are successfully removed, the spacecraft s orbit will be affected only by well-known gravitational forces and will thus be easier to predict.

Vess, Melissa Fleck↗

NASA NTRS2020

Medical Data Architecture Prototype Development - Summary of Recent Work and Proposed Ideas for Upcoming Work

The Medical Data Architecture (MDA) project supports the Exploration Medical Capability (ExMC) risk to minimize or reduce the risk of adverse health outcomes and decrements in performance due to in-flight medical capabilities on human exploration missions. To mitigate this risk, the ExMC MDA project addresses the technical limitations identified in ExMC Gap Med 07: We do not have the capability to comprehensively process medically-relevant information to support medical operations during exploration missions, and in ExMC Gap Med 10: We do not have the capability to provide computed medical decision support during exploration missions. These gaps recognize the need for a comprehensive medical data management system and the accompanying computational support to provide autonomous medical care during long duration exploration missions. As the MDA matures—including the capability to comprehensively process and discover medically-relevant information to support medical operations during exploration missions—project focus will shift to maturing and extending the MDA platform to enable clinical decision support and real-time guidance. To date, the MDA foundational architecture has recommended exploration medical system Level of Care IV requirements through a series of test bed prototype developments and analog demonstrations. The next stage in the development will focus on more autonomous clinical decision making necessary to address challenges in executing a self-contained medical system that enables health care both with and without assistance from ground support. A thorough understanding of current state of medical decision support systems, advanced machine learning algorithms and vast and varied data sources is required. The development of a clinical decision support for exploration missions (Level of Care V) roadmap is needed: one that assesses of current state of the art of clinical decision support systems (CDSS), interoperability issues, identification of challenges in health and performance monitoring, obtaining and processing information from biosensors, knowledge and data management, data integration and fusion, and advanced algorithm development. This roadmap must also include rapid prototype development in the areas of data processing, advanced analysis and prediction of medical events, and treatment based on medically relevant information processing and evidence-based best practices. In this presentation, an overview of the relevant issues and the beginning framework of a Level of Care V CDSS development roadmap will be provided.

Krihak, M.↗

NASA NTRS2015

Crew-Aided Autonomous Navigation Project

Manual capability to perform star/planet-limb sightings provides a cheap, simple, and robust backup navigation source for exploration missions independent from the ground. Sextant sightings from spacecraft were first exercised in Gemini and flew as the loss-of-communications backup for all Apollo missions. This study seeks to procure and characterize error sources of navigation-grade sextants for feasibility of taking star and planetary limb sightings from inside a spacecraft. A series of similar studies was performed in the early/mid-1960s in preparation for Apollo missions, and one goal of this study is to modernize and update those findings. This technique has the potential to deliver significant risk mitigation, validation, and backup to more complex low-TRL automated systems under development involving cameras.

Holt, Greg↗

NASA NTRS1992

The Lunar Transit Telescope - A moon-based strip search of the universe

The Lunar Transit Telescope (LTT), a unique, nonmoving astronomical survey telescope, is described. The autonomous operation of the soft-landed telescope is discussed and scientific programs enabled by LTT data are listed. The moon is discussed as a viable spacecraft for this mission. In particular, perturbations to the moon's stable rotation are shown to negligibly impact LTT image quality. The stable bearing properties of the lunar regolith are shown suitable for LTT support, as well. Meteoroid impacts on the telescope optics are shown to be a minor problem. A cosmic ray mitigation system which ensures data integrity is described. An opportunity for international collaboration in the reception of LTT data is proposed.

Mcgraw, John T.↗

NASA NTRS2016

Fast Kalman Filtering for Relative Spacecraft Position and Attitude Estimation for the Raven ISS Hosted Payload

The Raven ISS Hosted Payload will feature several pose measurement sensors on a pan/tilt gimbal which will be used to autonomously track resupply vehicles as they approach and depart the International Space Station. This paper discusses the derivation of a Relative Navigation Filter (RNF) to fuse measurements from the different pose measurement sensors to produce relative position and attitude estimates. The RNF relies on relative translation and orientation kinematics and careful pose sensor modeling to eliminate dependence on orbital position information and associated orbital dynamics models. The filter state is augmented with sensor biases to provide a mechanism for the filter to estimate and mitigate the offset between the measurements from different pose sensors.

estimation↗

NASA NTRS2016

Fast Kalman Filtering for Relative Spacecraft Position and Attitude Estimation for the Raven ISS Hosted Payload

The Raven ISS Hosted Payload will feature several pose measurement sensors on a pan/tilt gimbal which will be used to autonomously track resupply vehicles as they approach and depart the International Space Station. This paper discusses the derivation of a Relative Navigation Filter (RNF) to fuse measurements from the different pose measurement sensors to produce relative position and attitude estimates. The RNF relies on relative translation and orientation kinematics and careful pose sensor modeling to eliminate dependence on orbital position information and associated orbital dynamics models. The filter state is augmented with sensor biases to provide a mechanism for the filter to estimate and mitigate the offset between the measurements from different pose sensors

estimation↗