SEARCH · Search NASA

Results for “attitude algorithms”

Search indexed NASA NTRS and DOE OSTI research on propulsion, heat transfer, battery materials and energy systems. Follow report and document links to the original sources.

SourceResearch connectionFrom yearThrough year

Quote a phrase for an exact phrase match. Source license links do not imply unrestricted reuse.

At least 163 records · Page 9

All sources NASA NTRS DOE OSTI

NASA NTRS1996

ATTDES: An Expert System for Satellite Attitude Determination and Control

The design, analysis, and flight operations of satellite attitude determintion and attitude control systems require extensive mathematical formulations, optimization studies, and computer simulation. This is best done by an analyst with extensive education and experience. The development of programs such as ATTDES permit the use of advanced techniques by those with less experience. Typical tasks include the mission analysis to select stabilization and damping schemes, attitude determination sensors and algorithms, and control system designs to meet program requirements. ATTDES is a system that includes all of these activities, including high fidelity orbit environment models that can be used for preliminary analysis, parameter selection, stabilization schemes, the development of estimators covariance analyses, and optimization, and can support ongoing orbit activities. The modification of existing simulations to model new configurations for these purposes can be an expensive, time consuming activity that becomes a pacing item in the development and operation of such new systems. The use of an integrated tool such as ATTDES significantly reduces the effort and time required for these tasks.

Mackison, Donald L.↗

NASA NTRS1998

Autonomous Attitude Sensor Calibration (ASCAL)

In this paper, an approach to increase the degree of autonomy of flight software is proposed. We describe an enhancement of the Attitude Determination and Control System by augmenting it with self-calibration capability. Conventional attitude estimation and control algorithms are combined with higher level decision making and machine learning algorithms in order to deal with the uncertainty and complexity of the problem.

Peterson, Chariya↗

NASA NTRS1999

ASCAL: Autonomous Attitude Sensor Calibration

Abstract In this paper, an approach to increase the degree of autonomy of flight software is proposed. We describe an enhancement of the Attitude Determination and Control System by augmenting it with self-calibration capability. Conventional attitude estimation and control algorithms are combined with higher level decision making and machine learning algorithms in order to deal with the uncertainty and complexity of the problem.

Peterson, Chariya↗

NASA NTRS2002

Direct Fault Tolerant RLV Altitude Control: A Singular Perturbation Approach

In this paper, we present a direct fault tolerant control (DFTC) technique, where by "direct" we mean that no explicit fault identification is used. The technique will be presented for the attitude controller (autopilot) for a reusable launch vehicle (RLV), although in principle it can be applied to many other applications. Any partial or complete failure of control actuators and effectors will be inferred from saturation of one or more commanded control signals generated by the controller. The saturation causes a reduction in the effective gain, or bandwidth of the feedback loop, which can be modeled as an increase in singular perturbation in the loop. In order to maintain stability, the bandwidth of the nominal (reduced-order) system will be reduced proportionally according to the singular perturbation theory. The presented DFTC technique automatically handles momentary saturations and integrator windup caused by excessive disturbances, guidance command or dispersions under normal vehicle conditions. For multi-input, multi-output (MIMO) systems with redundant control effectors, such as the RLV attitude control system, an algorithm is presented for determining the direction of bandwidth cutback using the method of minimum-time optimal control with constrained control in order to maintain the best performance that is possible with the reduced control authority. Other bandwidth cutback logic, such as one that preserves the commanded direction of the bandwidth or favors a preferred direction when the commanded direction cannot be achieved, is also discussed. In this extended abstract, a simplistic example is proved to demonstrate the idea. In the final paper, test results on the high fidelity 6-DOF X-33 model with severe dispersions will be presented.

Zhu, J. J.↗

NASA NTRS2012

Tele-Operated Lunar Rover Navigation Using Lidar

Near real-time tele-operated driving on the lunar surface remains constrained by bandwidth and signal latency despite the Moon s relative proximity. As part of our work within NASA s Human-Robotic Systems Project (HRS), we have developed a stand-alone modular LIDAR based safeguarded tele-operation system of hardware, middleware, navigation software and user interface. The system has been installed and tested on two distinct NASA rovers-JSC s Centaur2 lunar rover prototype and ARC s KRex research rover- and tested over several kilometers of tele-operated driving at average sustained speeds of 0.15 - 0.25 m/s around rocks, slopes and simulated lunar craters using a deliberately constrained telemetry link. The navigation system builds onboard terrain and hazard maps, returning highest priority sections to the off-board operator as permitted by bandwidth availability. It also analyzes hazard maps onboard and can stop the vehicle prior to contacting hazards. It is robust to severe pose errors and uses a novel scan alignment algorithm to compensate for attitude and elevation errors.

Pedersen, Liam↗

NASA NTRS1995

Telemetry down-link Doppler as an attitude sensor for spin stabilized spacecraft

The communications antenna on a spin stabilized spacecraft is seldom located on the spin axis, hence, the antenna is in motion relative to the center of mass of the spacecraft. The Doppler shift observed at the ground or space relay communications receivers will include oscillations whose frequency and amplitude are functions of the motion of the antenna and the attitude of the spacecraft relative to the line of sight (LOS). This functional dependence creates the possibility of estimating attitude parameters from Doppler measurements. This paper presents mathematical models of Doppler oscillations from spinning spacecraft, including the effects of nutation. Algorithms for estimating spin rate, attitude and nutation angle are described. Results of analysis of Doppler tracking of GOES-8 and WIND are also discussed.

Hendry, S. D.↗

NASA NTRS2006

Deep impact attitude estimator design and flight performance

In July, 2005 Deep Impact successfully impacted comet Tempel-1 and imaged the crater evolution. To achieve this, an onboard autonomous navigation system had to estimate the trajectory and maneuver the Impactor spacecraft into the comet's path. A similar system, operating on the Flyby spacecraft, calculated the impact location for imaging. At the heart of each autonomous navigation system is the attitude and gyro bias estimator using star trackers and gyros. The encounter geometry and timing placed stringent demands on attitude bias magnitude and drift calling for sequenced tuning of the respective filters. This paper describes the attitude and gyro bias estimator algorithms, the estimator flight performance and particular challenges overcome by the team leading up to a spectacular encounter.

Tempel-1↗

NASA NTRS2000

Magnetometer-Only Attitude and Rate Estimates for Spinning Spacecraft

A deterministic algorithm and a Kalman filter for gyroless spacecraft are used independently to estimate the three-axis attitude and rates of rapidly spinning spacecraft using only magnetometer data. In-flight data from the Wide-Field Infrared Explorer (WIRE) during its tumble, and the Fast Auroral Snapshot Explorer (FAST) during its nominal mission mode are used to show that the algorithms can successfully estimate the above in spite of the high rates. Results using simulated data are used to illustrate the importance of accurate and frequent data.

Challa, M.↗

NASA NTRS1978

Attitude control of a flexible spacecraft

An algorithm is presented for designing optimal low order compensators for high order systems and it is applied to the title problem where many vibration modes are excited by the control torque. These low order compensators are compared with the full order optimal compensator and found to be less sensitive to modeling errors and to provide near optimal attitude regulation.

Martin, G. D.↗

NASA NTRS1988

Spacecraft alignment estimation

A numerically well-behaved factorized methodology is developed for estimating spacecraft sensor alignments from prelaunch and inflight data without the need to compute the spacecraft attitude or angular velocity. Such a methodology permits the estimation of sensor alignments (or other biases) in a framework free of unknown dynamical variables. In actual mission implementation such an algorithm is usually better behaved than one that must compute sensor alignments simultaneously with the spacecraft attitude, for example by means of a Kalman filter. In particular, such a methodology is less sensitive to data dropouts of long duration, and the derived measurement used in the attitude-independent algorithm usually makes data checking and editing of outliers much simpler than would be the case in the filter.

Shuster, Malcolm D.↗

NASA NTRS1993

Thrust Vector Control Algorithm Design for the Cassini Spacecraft

A preliminary design of the Cassini Thrust Vector Control algorithm which controls the spacecraft attitude during main engine burns is described. The discussion includes software architecture, sensor/actuator characteristics, and vehicle dynamics, as well as controller design and margin analysis via clasical methods, and performance evaluation via simulation.

Algorithm↗

NASA NTRS1990

Satellite stabilization using space leeches

A control algorithm for satellite stabilization using a space leech is presented. The space leech is assumed to have n reaction wheels with known moments of inertia about their axis of rotation. All mass properties of the satellite are assumed to be unknown. The algorithm brings the satellite to a specified attitude trajectory. Simulations were performed to demonstrate the controller. The model parameters and specific algorithm used and the results obtained are presented.

Walker, Michael W.↗

NASA NTRS1990

Optimization of the effective GPS data rate

Ohio University's Avionics Engineering Center is performing research directed towards the integration of the NAVSTAR Global Positioning System (GPS) and the Inertial Navigation System (INS) for attitude and heading determination. The integration of GPS/INS offers synergistic benefits. INS gyro drift error can be compensated by the long-term stability of GPS by means of an in-flight data monitoring algorithm. Using GPS data as a reference is more advantageous than implementing an additional INS since GPS offers a dissimilar redundancy to the attitude and heading determination configuration. In converse, the short-term stability of the INS can be used to correct or substitute for faulty GPS data due to tracking loop phase lag or data gaps because of satellite shielding. The optimization of the effective GPS data rate is essential for the proper execution of an integrated GPS/INS in-flight algorithm. GPS attitude and heading information must be consistently available during INS outages. Present research efforts involve the development of an in-flight algorithm that maximizes the potential of integrated GPS/INS. This algorithm determines the acceptable limits of phase lag that the GPS tracking loop introduces to the flight control system (FCS) during the transmission of information. Once these calculated limits are exceeded, INS data are used to insure the continuous availability of attitude and heading information to the flight control system.

Mcintyre, David S.↗

NASA NTRS2011

POSE Algorithms for Automated Docking

POSE (relative position and attitude) can be computed in many different ways. Given a sensor that measures bearing to a finite number of spots corresponding to known features (such as a target) of a spacecraft, a number of different algorithms can be used to compute the POSE. NASA has sponsored the development of a flash LIDAR proximity sensor called the Vision Navigation Sensor (VNS) for use by the Orion capsule in future docking missions. This sensor generates data that can be used by a variety of algorithms to compute POSE solutions inside of 15 meters, including at the critical docking range of approximately 1-2 meters. Previously NASA participated in a DARPA program called Orbital Express that achieved the first automated docking for the American space program. During this mission a large set of high quality mated sensor data was obtained at what is essentially the docking distance. This data set is perhaps the most accurate truth data in existence for docking proximity sensors in orbit. In this paper, the flight data from Orbital Express is used to test POSE algorithms at 1.22 meters range. Two different POSE algorithms are tested for two different Fields-of-View (FOVs) and two different pixel noise levels. The results of the analysis are used to predict future performance of the POSE algorithms with VNS data.

Heaton, Andrew F.↗

NASA NTRS2002

Automated Escape Guidance Algorithms for An Escape Vehicle

An escape vehicle was designed to provide an emergency evacuation for crew members living on a space station. For maximum escape capability, the escape vehicle needs to have the ability to safely evacuate a station in a contingency scenario such as an uncontrolled (e.g., tumbling) station. This emergency escape sequence will typically be divided into three events: The fust separation event (SEP1), the navigation reconstruction event, and the second separation event (SEP2). SEP1 is responsible for taking the spacecraft from its docking port to a distance greater than the maximum radius of the rotating station. The navigation reconstruction event takes place prior to the SEP2 event and establishes the orbital state to within the tolerance limits necessary for SEP2. The SEP2 event calculates and performs an avoidance burn to prevent station recontact during the next several orbits. This paper presents the tools and results for the whole separation sequence with an emphasis on the two separation events. The fust challenge includes collision avoidance during the escape sequence while the station is in an uncontrolled rotational state, with rotation rates of up to 2 degrees per second. The task of avoiding a collision may require the use of the Vehicle's de-orbit propulsion system for maximum thrust and minimum dwell time within the vicinity of the station vicinity. The thrust of the propulsion system is in a single direction, and can be controlled only by the attitude of the spacecraft. Escape algorithms based on a look-up table or analytical guidance can be implemented since the rotation rate and the angular momentum vector can be sensed onboard and a-priori knowledge of the position and relative orientation are available. In addition, crew intervention has been provided for in the event of unforeseen obstacles in the escape path. The purpose of the SEP2 burn is to avoid re-contact with the station over an extended period of time. Performing this maneuver properly requires knowledge of the orbital state, which is obtained during the navigation state reconstruction event. Since the direction of the delta-v of the SEPI maneuver is a random variable with respect to the Local Vertical Local Horizontal (LVLH) coordinate system, calculating the required SEP2 burn is a challenge. This problem was solved using a neural network as a model-free function approximation technique.

Flanary, Ronald↗

NASA NTRS2004

On the Constrained Attitude Control Problem

In this paper, we consider various classes of constrained attitude control (CAC) problem in single and multiple spacecraft settings. After categorizing attitude constraints into four distinct types, we provide an overview of the existing approaches to this problem. We then proceed to further expand on a recent algorithmic approach to the CAC problem. The paper concludes with an example demonstrating the viability of the proposed algorithm for a multiple spacecraft constrained attitude reconfiguration scenario.

semidefinite programming↗

NASA NTRS1987

Robotic vision/sensing for space applications

A review is presented of efforts currently in progress at the NASA/Johnson Space Center and Rice University, the accomplishments to date, and some of the anticipated future developments. Both systems and algorithms are discussed. The evolution of future vision/sensing is projected to included the fusion of multisensors ranging from microwave to optical with multimode capability to include position, attitude, recognition, and motion parameters. The algorithms for information extraction are expected to incorporate aspects of intelligence and knowledge for the interpolation and extrapolation of the needed data. The key features of the overall system design will be small size and weight, fast signal processing, robust algorithms, and accurate parameter determination. These aspects of vision/sensing are also discussed.

Krishen, Kumar↗

NASA NTRS1996

Investigation of Models and Estimation Techniques for GPS Attitude Determination

Much work has been done in the Flight Dynamics Analysis Branch (FDAB) in developing algorithms to met the new and growing field of attitude determination using the Global Positioning SYstem (GPS) constellation of satellites. Flight Dynamics has the responsibility to investigate any new technology and incorporate the innovations in the attitude ground support systems developed to support future missions. The work presented here is an investigative analysis that will produce the needed adaptation to allow the Flight Dynamics Support System (FDSS) to incorporate GPS phase measurements and produce observation measurements compatible with the FDSS. A simulator was developed to produce the necessary measurement data to test the models developed for the different estimation techniques used by FDAB. This paper gives an overview of the current modeling capabilities of the simulator models and algorithms for the adaptation of GPS measurement data and results from each of the estimation techniques. Future analysis efforts to evaluate the simulator and models against inflight GPS measurement data are also outlined.

Garrick, J.↗