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Results for “POSITION ERROR”

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.

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At least 19 records
All sourcesNASA NTRSDOE OSTI
NASA NTRS1976

Position error propagation in the simplex strapdown navigation system

The results of an analysis of the effects of deterministic error sources on position error in the simplex strapdown navigation system were documented. Improving the long term accuracy of the system was addressed in two phases: understanding and controlling the error within the system, and defining methods of damping the net system error through the use of an external reference velocity or position. Review of the flight and ground data revealed error containing the Schuler frequency as well as non-repeatable trends. The only unbounded terms are those involving gyro bias and azimuth error coupled with velocity. All forms of Schuler-periodic position error were found to be sufficiently large to require update or damping capability unless the source coefficients can be limited to values less than those used in this analysis for misalignment and gyro and accelerometer bias. The first-order effects of the deterministic error sources were determined with a simple error propagator which provided plots of error time functions in response to various source error values.

Source record↗
NASA NTRS1987

Digital program for calculating static pressure position error

A computer program written to calculate the static pressure position error of airspeed systems contains five separate methods for determining position error, of which the user may select from one to five at a time. The program uses data from both the test aircraft and the ground-based radar to calculate the error. In addition, some of the methods require rawinsonde data or an atmospheric analysis, or both. The program output lists the corrections to Mach number, altitude, and static pressure that are due to position error. Reference values such as angle of attack, angle of sideslip, indicated Mach number, indicated pressure altitude, stagnation pressure, and total temperature are also listed.

Johnson, J. Blair↗
NASA NTRS1995

Measuring Pixel-Position Errors On CCD Imagers

Deviations of positions of pixels on charge-coupled-device (CCD) image detector from nominal rectangular grid pattern measured by method in which coherent-light interference fringes used as reference pattern. Conceived for use in determining pixel-position errors in astrometric cameras flown aboard spacecraft. Also applied to determination of similar errors in (and calibration of) terrestrial CCD cameras used as position sensors; for example, position-measuring cameras that are parts of robotic systems.

Shaklan, Stuart B.↗
NASA NTRS1974

Analytical expressions for position error in triangulation solution of point in space for several station configurations

Analytical expressions are derived to first order for the rms position error in the triangulation solution of a point object in space for several ideal observation-station configurations. These expressions provide insights into the nature of the dependence of the rms position error on certain of the experimental parameters involved. The station geometries examined are: (1) the configuration of two arbitrarily located stations; (2) the symmetrical circular configuration of two or more stations with equal elevation angles; and (3) the circular configuration of more than two stations with equal elevation angles, when one of the stations is permitted to drift around the circle from its position of symmetry. The expressions for the rms position error are expressed as functions of the rms line-of-sight errors, the total number of stations of interest, and the elevation angles.

Long, S. A. T.↗
NASA NTRS1984

Air data position-error calibration using state reconstruction techniques

During the highly maneuverable aircraft technology (HiMAT) flight test program recently completed at NASA Ames Research Center's Dryden Flight Research Facility, numerous problems were experienced in airspeed calibration. This necessitated the use of state reconstruction techniques to arrive at a position-error calibration. For the HiMAT aircraft, most of the calibration effort was expended on flights in which the air data pressure transducers were not performing accurately. Following discovery of this problem, the air data transducers of both aircraft were wrapped in heater blankets to correct the problem. Additional calibration flights were performed, and from the resulting data a satisfactory position-error calibration was obtained. This calibration and data obtained before installation of the heater blankets were used to develop an alternate calibration method. The alternate approach took advantage of high-quality inertial data that was readily available. A linearized Kalman filter (LKF) was used to reconstruct the aircraft's wind-relative trajectory; the trajectory was then used to separate transducer measurement errors from the aircraft position error. This calibration method is accurate and inexpensive. The LKF technique has an inherent advantage of requiring that no flight maneuvers be specially designed for airspeed calibrations. It is of particular use when the measurements of the wind-relative quantities are suspected to have transducer-related errors.

Whitmore, S. A.↗
NASA NTRS2016

Position Error Covariance Matrix Validation and Correction

In order to calculate operationally accurate collision probabilities, the position error covariance matrices predicted at times of closest approach must be sufficiently accurate representations of the position uncertainties. This presentation will discuss why the Gaussian distribution is a reasonable expectation for the position uncertainty and how this assumed distribution type is used in the validation and correction of position error covariance matrices.

Frisbee, Joe, Jr.↗
NASA NTRS1978

The effect of landing system coverage and path geometry on lateral position errors at the runway threshold

The results of an analytical study performed to determine the effect of the azimuth coverage of a Microwave Landing System (MLS) on the ability of an airplane, with an initial navigation position estimate error, to navigate to the runway threshold are presented. The test path chosen for this study consists of an initial straight segment leading into a 130 deg turn with a 2286 m radius and ending in a straight-in final approach segment. The test path configuration was varied by changing the MLS azimuth coverage angle and the final approach length. The aircraft was positioned with an inital offset to the left or right of the desired path along the line of intersection with the MLS azimuth coverage. A fast time computer simulation program, using a simplistic point mass model of the airplane, was used for this study. The data from this study indicates that the lateral position errors at the runway are primarily a function of the final approach length. The effect of the azimuth coverage on the lateral position errors was restricted by the turn characteristics of the horizontal steering control laws.

Vicroy, D. D.↗
NASA NTRS2007

Visual End-Effector Position Error Compensation for Planetary Robotics

This paper describes a vision-guided manipulation algorithm that improves arm end-effector positioning to subpixel accuracy and meets the highly restrictive imaging and computational constraints of a planetary robotic flight system. Analytical, simulation-based, and experimental analyses of the algorithm's effectiveness and sensitivity to camera and arm model error is presented along with results on several prototype research systems and 'ground-in-the-loop' technology experiments on the Mars Exploration Rover (MER) vehicles. A computationally efficient and robust subpixel end-effector fiducial detector that is instrumental to the algorithm's ability to achieve high accuracy is also described along with its validation results on MER data.

vision-guided manipulation algorithm↗
NASA NTRS2007

Visual end-effector position error compensation for planetary robotics

This paper describes a vision-guided manipulation algorithm that improves arm end-effector positioning to subpixel accuracy and meets the highly restrictive imaging and computational constraints of a planetary robotic flight system. Analytical, simulation-based, and experimental analyses of the algorithm's effectiveness and sensitivity to camera and arm model error is presented along with results on several prototype research systems and ground-in-the-loop technology experiments on the Mars Exploration Rover (MER) vehicles. A computationally efficient and robust subpixel end-effector fiducial detector that is instrumental to the algorithm's ability to achieve high accuracy is also described along with its validation results on MER data.

Nickels, Kevin↗
NASA NTRS2006

Vision-based end-effector position error compensation

This paper describes a computationally efficient algorithm that provides the ability to accurately place an arm end-effector on a target designated in an image using low speed feed back from a fixed stero camera.

error vector↗
NASA NTRS1989

Precision Segmented Reflector figure control system architecture

A control system architecture for an actively controlled segmented reflector is described along with a design realization for achieving precision alignment of reflector panels. Performance requirements are derived in part from the Large Deployable Reflector, which is a representative mission, and error allocations are made which consider mirror panel surface errors, position measurement and figure estimation, and position control of both quasi-static and dynamic disturbances. The design uses multiple wavelength interferometric edge sensors and voice coil actuators in conjunction with a hybrid control strategy to correct panel position errors. A unit cell shown to be central to the concept is analyzed. The cell integrates the sensing, actuation, and mechanical functions of a control module together with a reflector panel to form a unitized assembly.

Mettler, E.↗
DOE OSTI2022

Distant Observer™ [SWR-12-09]

Distant Observer™ (DO) is an optical measurement tool, designed for parabolic trough solar collectors, that determines reflector slope error, absorber position error, and the combined errors based on images of the receiver-tube reflection taken from different angles. We have demonstrated that DO can provide a measurement accuracy of 0.25 mrad for the slope and receiver position errors. DO has two implementation versions: ground-based and drone-driven. As we pursue efforts to lower the capital and installation costs of parabolic trough solar collectors, it is essential to maintain high optical performance. The Distant Observer™ (DO) tool, developed by engineers at NREL, is a fast and highly accurate tool that provides complete characterization of the performance of the optical components which include the mirror panels and thermal receiver. This tool is very useful for testing both prototype and operational modules. The Distant Observer™ is an optical measurement tool for parabolic solar collectors that measures reflector slope error, absorber position error and the combined errors. Reflector slope errors occur for many reasons including imperfection in structural frame design, manufacturing and assembly. Absorber position error can be caused by poor structural design, poor installation, sag from the absorber weight, or change in the structure over time.

Ihas, Benjamin↗
DOE OSTI2024

Correcting Turbulence-induced Errors in Fiber Positioning for the Dark Energy Spectroscopic Instrument

Highly multiplexed, robotic, fiber-fed spectroscopic surveys are observing tens of millions of stars and galaxies. For many systems, accurate positioning relies on imaging the fibers in the focal plane and feeding that information back to the robotic positioners to correct their positions. Inhomogeneities and turbulence in the air between the focal plane and the imaging camera can affect the measured positions of fibers, limiting the accuracy with which fibers can be placed on targets. For the Dark Energy Spectroscopic Instrument, we dramatically reduced the effect of turbulence on measurements of positioner locations in the focal plane by taking advantage of stationary positioners and the correlation function of the turbulence. We were able to reduce positioning errors from 7.3 to 3.5 μm, speeding the survey by 1.6% under typical conditions.

46 INSTRUMENTATION RELATED TO NUCLEAR SCIENCE AND ↗
NASA NTRS1972

Synthesis of hover autopilots for rotary-wing VTOL aircraft

The practical situation is considered where imperfect information on only a few rotor and fuselage state variables is available. Filters are designed to estimate all the state variables from noisy measurements of fuselage pitch/roll angles and from noisy measurements of both fuselage and rotor pitch/roll angles. The mean square response of the vehicle to a very gusty, random wind is computed using various filter/controllers and is found to be quite satisfactory although, of course, not so good as when one has perfect information (idealized case). The second part of the report considers precision hover over a point on the ground. A vehicle model without rotor dynamics is used and feedback signals in position and integral of position error are added. The mean square response of the vehicle to a very gusty, random wind is computed, assuming perfect information feedback, and is found to be excellent. The integral error feedback gives zero position error for a steady wind, and smaller position error for a random wind.

Hall, W. E.↗