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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 NTRSDate not supplied

Multipath Mitigation via Clustering for Position Estimation Refinement in Urban Environments

Position estimation using global navigation satellite systems (GNSS) suffers from poor accuracy within urban canyons due to significant signal disruption caused by tall buildings. This issue can be attributed to the GNSS signals reflecting off buildings resulting in severe multipath reflections which degrade the receiver's performance. In this paper, we introduce an innovative approach to filter GNSS satellite measurements to improve the accuracy of the estimated position by leveraging a clustering algorithm. This approach utilizes a predictive GNSS availability service to filter out non-line-of-sight measurements. Then, a subset of line-of-sight satellite measurement combinations are evaluated using a clustering algorithm. When combined, results show these techniques can reduce the mean horizontal error measured in an urban canyon by nearly an order of magnitude, from ~ 18 meters to ~ 2 meters when using a single point positioning solver.

GPS↗
NASA NTRSDate not supplied

Multipath Mitigation via Clustering for Position Estimation Refinement in Urban Environments

Position estimation using global navigation satellite systems (GNSS) suffers from poor accuracy within urban canyons due to significant signal disruption caused by tall buildings. This issue can be attributed to the GNSS signals reflecting off buildings resulting in severe multipath reflections which degrade the receiver's performance. In this paper, we introduce an innovative approach to filter GNSS satellite measurements to improve the accuracy of the estimated position by leveraging a clustering algorithm. This approach utilizes a predictive GNSS availability service to filter out non-line-of-sight measurements. Then, a subset of line-of-sight satellite measurement combinations are evaluated using a clustering algorithm. When combined, results show these techniques can reduce the mean horizontal error measured in an urban canyon by nearly an order of magnitude, from ~ 18 meters to ~ 2 meters when using a single point positioning solver.

GPS↗
NASA NTRS1990

Positional estimation techniques for an autonomous mobile robot

Techniques for positional estimation of a mobile robot navigation in an indoor environment are described. A comprehensive review of the various positional estimation techniques studied in the literature is first presented. The techniques are divided into four different types and each of them is discussed briefly. Two different kinds of environments are considered for positional estimation; mountainous natural terrain and an urban, man-made environment with polyhedral buildings. In both cases, the robot is assumed to be equipped with single visual camera that can be panned and tilted and also a 3-D description (world model) of the environment is given. Such a description could be obtained from a stereo pair of aerial images or from the architectural plans of the buildings. Techniques for positional estimation using the camera input and the world model are presented.

Nandhakumar, N.↗
NASA NTRS1979

Experimental determination of position-estimate accuracy using back-azimuth signals from a microwave landing system

Flight tests using the Boeing 737 airplane to obtain position estimates with back azimuth signals from a microwave landing system (MLS) are discussed. The equations and logic used to generate a navigation position estimate in the MLS back azimuth signal environment are described. The error in the navigation position estimate is determined. A summary of the Boeing 737 position estimate update process is described. The navigation position estimate error calculated flight data and radar tracking information is analyzed. The position estimate error data using the MLS inputs are compared with error data obtained during dual distance measuring equipment updates.

Knox, C. E.↗
NASA NTRS2005

A Landmark Based Position Estimation for Pinpoint Landing on Mars

Real-time position estimation for a descent lander is a critical technological need for many of NASA's planned in situ missions including landing on a number of bodies at locations of greatest scientific interest and sample return. In particular, it enables the capability to land precisely and safely in a scientifically promising but hazardous site and is a key technology to be demonstrated by NASA in the next decade. The key challenge of pinpoint landing (PPL) is how to localize the lander by recognizing the landmarks (craters) in the landing area and match them positively to a preexisting landmark database while the spacecraft is descending. In this paper, a real-time landmark based position estimation technique for pinpoint landing is suggested. This system includes three crucial components: (1) real time landmark detection, (2) real-time landmark matching and (3) state (both position and velocity) estimation. We discuss the performance analysis of this system. Finally, we show that the suggested technology is able to deliver a spacecraft to less than 100 m from a pre-selected landing site on Mars.

Pinpoint landing↗
DOE OSTI2026

Supervised Learning-Based Spatial Position Estimation with Vertical Displacement for Hovering UAV Wireless Power Transfer

This study presents a supervised learning-based spatial position estimation approach for wireless power transfer (WPT) systems supporting hovering unmanned aerial vehicle (UAV) charging. Unlike stationary charging scenarios, hovering UAVs introduce continuous lateral misalignment and vertical displacement, leading to variations in magnetic coupling and reduced power transfer efficiency. To address this challenge, the proposed method estimates the relative spatial position of the receiver coil using only electrical measurements obtained at the secondary side. A supervised learning model is trained to map output voltage and current features to spatial coordinates, enabling position awareness without requiring external sensors, vision systems, or communication links. The sensing functionality is inherently integrated into the WPT system, allowing simultaneous power transfer and localization through the same magnetic interface. Experimental validation is conducted on a laboratory-scale prototype under varying lateral offsets and air-gap conditions. In addition, spline-based interpolation is employed to increase spatial data density for training. The results demonstrate that the proposed framework can capture spatial variations associated with both lateral and vertical displacement, providing reliable position estimation under hovering conditions. This work establishes a hardware-efficient, sensorless solution for UAV wireless charging and serves as a baseline for advanced data-driven position estimation methods in dynamic WPT systems.

Asa, Erdem [ORNL] (ORCID:0000000190884812)↗
NASA NTRS1984

A comparison of two position estimate algorithms that use ILS localizer and DME information. Simulation and flight test results

Simulation and flight tests were conducted to compare the accuracy of two algorithms designed to compute a position estimate with an airborne navigation computer. Both algorithms used ILS localizer and DME radio signals to compute a position difference vector to be used as an input to the navigation computer position estimate filter. The results of these tests show that the position estimate accuracy and response to artificially induced errors are improved when the position estimate is computed by an algorithm that geometrically combines DME and ILS localizer information to form a single component of error rather than by an algorithm that produces two independent components of error, one from a DMD input and the other from the ILS localizer input.

Knox, C. E.↗
NASA NTRS1990

A positional estimation technique for an autonomous land vehicle in an unstructured environment

This paper presents a solution to the positional estimation problem of an autonomous land vehicle navigating in an unstructured mountainous terrain. A Digital Elevation Map (DEM) of the area in which the robot is to navigate is assumed to be given. It is also assumed that the robot is equipped with a camera that can be panned and tilted, and a device to measure the elevation of the robot above the ground surface. No recognizable landmarks are assumed to be present in the environment in which the robot is to navigate. The solution presented makes use of the DEM information, and structures the problem as a heuristic search in the DEM for the possible robot location. The shape and position of the horizon line in the image plane and the known camera geometry of the perspective projection are used as parameters to search the DEM. Various heuristics drawn from the geometric constraints are used to prune the search space significantly. The algorithm is made robust to errors in the imaging process by accounting for the worst care errors. The approach is tested using DEM data of areas in Colorado and Texas. The method is suitable for use in outdoor mobile robots and planetary rovers.

Talluri, Raj↗
NASA NTRS1986

Precision of vertical position estimates from very long baseline interferometry

It is found that the precision of VLBI measurements of vertical crustal motions is limited by errors in the modeling of the propagation delay through the earth's neutral atmosphere, and by errors in finding the orientation of a fixed crust coordinate system in the VLBI reference frame. The repeatability of baseline length measurements study indicates a vertical position precision of about 8 cm, averaged over 13 sites and 4.5 years of data, while the repeatability of vertical position estimates for a Richmond, FL site is found to yield a precision of about 7 cm for 42 observations made over an 11-month period. An overall precision of 8 cm for a 24-hour VLBI observing session is obtained, and the effects of earth orientation parameter errors is contingent on the distances between the VLBI sites.

Herring, T. A.↗
DOE OSTI2022

Validation of the strike point position estimation with the local expansion method for MAST upgrade on the DIII-D tokamak

A local expansion method has been proposed for estimating the strike point position for the advanced divertor configuration on the MAST Upgrade tokamak. The paper discusses the application and assesses the performance of the technique on a long-legged divertor plasma configuration on an operating device - the DIII-D tokamak. A comparison of the spatial location of the outer strike point estimated with the local expansion method against the plasma boundary reconstruction and divertor diagnostics on the DIII-D tokamak is reported. A good agreement with the equilibrium reconstruction and diagnostic data is achieved with respect to estimation of the spatial location of the outer strike point for the long-legged divertor plasma discharge.

73 NUCLEAR PHYSICS AND RADIATION PHYSICS↗
NASA NTRS2005

Attitude and position estimation on the Mars Exploration Rovers

NASA/JPL 's Mars Exploration Rovers acquire their attitude upon command and autonomously propagate their attitude and position. The rovers use accelerometers and images of the sun to acquire attitude, autonomously searching the sky for the sun with a pointable camera. To propagate the attitude and position the rovers use either accelerometer and gyro readings or gyro readings and wheel odometiy, depending on the nature of the movement ground operators are commanding. Where necessary, visual odometry is performed on images to fine tune the position updates, particularly in high slip environments. The capability also exists for visual odometry attitude updates. This paper describes the techniques used by the rovers to acquire and maintain attitude and position knowledge, the accuracy which is obtainable, and lessons learned after more than one year in operation.

attitude estimation↗
NASA NTRS2007

Using Visual Odometry to Estimate Position and Attitude

A computer program in the guidance system of a mobile robot generates estimates of the position and attitude of the robot, using features of the terrain on which the robot is moving, by processing digitized images acquired by a stereoscopic pair of electronic cameras mounted rigidly on the robot. Developed for use in localizing the Mars Exploration Rover (MER) vehicles on Martian terrain, the program can also be used for similar purposes on terrestrial robots moving in sufficiently visually textured environments: examples include low-flying robotic aircraft and wheeled robots moving on rocky terrain or inside buildings. In simplified terms, the program automatically detects visual features and tracks them across stereoscopic pairs of images acquired by the cameras. The 3D locations of the tracked features are then robustly processed into an estimate of overall vehicle motion. Testing has shown that by use of this software, the error in the estimate of the position of the robot can be limited to no more than 2 percent of the distance traveled, provided that the terrain is sufficiently rich in features. This software has proven extremely useful on the MER vehicles during driving on sandy and highly sloped terrains on Mars.

Maimone, Mark↗
NASA NTRS1989

Satellite-map position estimation for the Mars rover

A method for locating the Mars rover using an elevation map generated from satellite data is described. In exploring its environment, the rover is assumed to generate a local rover-centered elevation map that can be used to extract information about the relative position and orientation of landmarks corresponding to local maxima. These landmarks are integrated into a stochastic map which is then matched with the satellite map to obtain an estimate of the robot's current location. The landmarks are not explicitly represented in the satellite map. The results of the matching algorithm correspond to a probabilistic assessment of whether or not the robot is located within a given region of the satellite map. By assigning a probabilistic interpretation to the information stored in the satellite map, researchers are able to provide a precise characterization of the results computed by the matching algorithm.

Hayashi, Akira↗
DOE OSTI2026

A data-driven approach to real-time vertical position estimation for NSTX-U vertical stability control

In this paper, a database of 77 996 plasma equilibrium reconstructions from 727 discharges during the initial operation of the NSTX-U spherical tokamak is analyzed to develop a statistically robust model of the plasma vertical position for real-time control. A variety of regression models are developed and tested, ranging in complexity from linear models to deep neural networks, and including input signals ranging from the four pairs of flux loops used historically on NSTX-U up to the full set of 389 real-time signals available to the plasma control system. A linear model based on 140 real-time magnetics signals is found to offer excellent accuracy, with a coefficient of determination R 2 = 0.906. The robustness of this model to limited training data, new operating scenarios, and signal errors is tested, and a procedure is demonstrated to tune the model parameters to optimize its robustness. A time-dependent plasma equilibrium solver, TokaMaker, is used to simulate vertical stability control in NSTX-U, demonstrating that it should be possible to iteratively tune the parameters of a linear vertical position model to stabilize both positive and negative triangularity plasmas in future experiments.

magnetic diagnostics↗
NASA NTRS1999

Position Estimation Verification Testing for the Video Guidance Sensor and Dynamic Overhead Target Simulator

The Video Guidance Sensor, part of the Automated Rendezvous and Capture mechanism, is due to undergo formal qualification testing at Marshall Space Flight Center. Before it undergoes this qualification, a test was needed to verify repeatability of the sensor, and to allow different sensor configurations to be compared. This test was developed at the Flight Robotics Laboratory. The test uses a software script to drive the sensor target to the same position and thus allows sensor runs to be compared. The sensor target is the Dynamic Overhead Target Simulator. The simulator uses encoders as its position indicator. Distance Measuring Device's were used to independently verify the software script, the sensor reading, and the target position. The test area, sensor, and other test equipment are briefly described. The actual data is tabulated and will serve as a baseline for future tests. The software script was found to be adequate for the test. Position repeatability was acceptable for all the equipment. The system test is now ready to be used in formal qualification testing.

Gaines, Joseph↗
NASA NTRS1972

Mars lander position estimation in the presence of ephemeris biases.

The process of estimating the location of a spacecraft landed on the surface of Mars is investigated through the application of statistical estimation techniques to earth-based radio tracking data. The spacecraft location and the tracking geometry and schedule are consistent with Viking-type mission constraints. With mission control requirements in mind, the investigation is restricted to analysis of a short data arc (approximately 3 days). Statistics of the spacecraft location are obtained through analysis of (direct-link) tracking data for the landed spacecraft and through simultaneous analysis of tracking data for both a landed and an orbiting spacecraft. These estimates include the effects of model uncertainties in the ephemeris of Mars, tracking station locations, the Mars rotational period, the Mars gravity field, and the orientation of Mars axis of rotation. The most significant of these effects is shown to be due to the Mars ephemeris uncertainty. A dual spacecraft tracking technique is presented for substantially reducing these ephemeris effects.

Blackshear, W. T.↗