ALBERT

Description: An attitude control law is derived to realize linear unforced error dynamics with the attitude error defined in terms of rotation group algebra (rather than vector algebra). Euler parameters are used in the rotational dynamics model because they are globally nonsingular, but only the minimal three Euler parameters are used in the error dynamics model because they have no nonlinear mathematical constraints to prevent the realization of linear error dynamics. The control law is singular only when the attitude error angle is exactly pi rad about any eigenaxis, and a simple intuitive modification at the singularity allows the control law to be used globally. The forced error dynamics are nonlinear but stable. Numerical simulation tests show that the control law performs robustly for both initial attitude acquisition and attitude control.

Description: The global linearization (inversion) of rigid-body rotational dynamics is reviewed, and representations in terms of quaternions and direction cosines are compared. Certain properties common to quaternions and direction cosines that make their use preferable to Euler angles and that simplify the inversion procedure are described. Applications of the inversion procedure for state estimation and attitude control are discussed. To avoid complexities caused by aerodynamics, an example of direct inversion for linear feedback control of spacecraft attitude is given.

Description: The chance to integrate two emerging telecommunications technologies together, the Ku-band satellite communication (SATCOM) and cellular, offered the unique opportunity to package a truly stand-alone capability to reconstitute telecommuications service. Terrestrial cellular telephone services have proven to be an essential tool for dealing with local emergencies to the extent that they survive and remain operable, as in the San Francisco earthquake. Cellular telephones can provide emergency coordinators the flexibility of wireless mobility in the field via the Public Switched Network (PSN) to coordinate emergency services. However, not all areas are covered by cellular service; existing cellular and PSN service availability could be limited by the congestion and competition for the dial tone that occurs in emergencies. It was realized that a critical need exists for a rapidly deployable stand-alone cellular capability coupled with alternate connectivity to bypass congested or damaged PSN links. Existing commercial Ku-band satellite communications have provided alternate routing links in some cases to support emergency communications. An emergency operational capability was conceived that integrates these technologies into a rapidly deployable and transportable package that provides both local and long distance telephone services to an area that has suffered widespread telecommunications outages or has been totally isolated from the world.

Description: Algorithms are described for integration of Differential Global Positioning System (DGPS) data with Inertial Navigation System (INS) data to provide an integrated DGPS/INS navigation system. The objective is to establish the benefits that can be achieved through various levels of integration of DGPS with INS for precision navigation. An eight state Kalman filter integration was implemented in real-time on a twin turbo-prop transport aircraft to evaluate system performance during terminal approach and landing operations. A fully integrated DGPS/INS system is also presented which models accelerometer and rate-gyro measurement errors plus position, velocity, and attitude errors. The fully integrated system was implemented off-line using range-domain (seventeen-state) and position domain (fifteen-state) Kalman filters. Both filter integration approaches were evaluated using data collected during the flight test. Flight-test data consisted of measurements from a 5 channel Precision Code GPS receiver, a strap-down Inertial Navigation Unit (INU), and GPS satellite differential range corrections from a ground reference station. The aircraft was laser tracked to determine its true position. Results indicate that there is no significant improvement in positioning accuracy with the higher levels of DGPS/INS integration. All three systems provided high-frequency (e.g., 20 Hz) estimates of position and velocity. The fully integrated system provided estimates of inertial sensor errors which may be used to improve INS navigation accuracy should GPS become unavailable, and improved estimates of acceleration, attitude, and body rates which can be used for guidance and control. Precision Code DGPS/INS positioning accuracy (root-mean-square) was 1.0 m cross-track and 3.0 m vertical. (This AGARDograph was sponsored by the Guidance and Control Panel.)

Description: The evolution in the use of state estimation is traced for the analysis of aircraft flight data. A unifying mathematical framework for state estimation is reviewed, and several examples are presented that illustrate a general approach for checking instrument accuracy and data consistency, and for estimating variables that are difficult to measure. Recent applications associated with research aircraft flight tests and airline turbulence upsets are described. A computer program for aircraft state estimation is discussed in some detail. This document is intended to serve as a user's manual for the program called SMACK (SMoothing for AirCraft Kinematics). The diversity of the applications described emphasizes the potential advantages in using SMACK for flight-data analysis.

Description: The computer program SMACK (SMoothing for AirCraft Kinematics) is designed to provide flightpath reconstruction of aircraft forces and motions from measurements that are noisy or incomplete. Additionally, SMACK provides a check on instrument accuracy and data consistency. The program can be used to analyze data from flight-test experiments prior to their use in performance, stability and control, or aerodynamic modeling calculations. It can also be used in the analysis of aircraft accidents, where the actual forces and motions may have to be determined from a very limited data set. Application of a state-estimation method for flightpath reconstruction is possible because aircraft forces and motions are related by well-known equations of motion. The task of postflight state estimation is known as a nonlinear, fixed-interval smoothing problem. SMACK utilizes a backward-filter, forward-smoother algorithm to solve the problem. The equations of motion are used to produce estimates that are compared with their corresponding measurement time histories. The procedure is iterative, providing improved state estimates until a minimum squared-error measure is achieved. In the SMACK program, the state and measurement models together represent a finite-difference approximation for the six-degree-of-freedom dynamics of a rigid body. The models are used to generate time histories which are likely to be found in a flight-test measurement set. These include onboard variables such as Euler angles, angular rates, and linear accelerations as well as tracking variables such as slant range, bearing, and elevation. Any bias or scale-factor errors associated with the state or measurement models are appended to the state vector and treated as constant but unknown parameters. The SMACK documentation covers the derivation of the solution algorithm, describes the state and measurement models, and presents several application examples that should help the analyst recognize the potential advantages of using state estimation. Complete instructions are given for preparing a coding list for problem solution by SMACK. The use of SMACK as part of an overall flight-test methodology is illustrated, as well as its application for analysis of a windshear accident. The details required for installing the program are presented, including sample output listings to facilitate testing. SMACK is written in FORTRAN 77 for DEC VAX series computers running VMS. Two versions of the source code are provided, a single precision version, which can be ported to Cray series computers, and a VAX double precision version. SMACK can call routines from the commercial package IMSL, or replacement routines which are provided can be used. SMACK solution variables to be plotted are written to an ASCII plot file. A sample plotting program, which is designed to be used with the DISSPLA graphics package, is included; however this program can easily be modified for use with other xy plotting packages. The double precision version requires 10Mb of RAM for execution under VMS. SMACK is available in DEC VAX BACKUP format on a 9-track 1600 BPI magnetic tape (standard distribution) or on a TK50 tape cartridge. This program was developed in 1991. DEC, VAX, and VMS are trademarks of Digital Equipment Corporation. DISSPLA is a trademark of Computer Associates, Inc. IMSL is a registered trademark of IMSL, Inc.

Description: Work done on the NASA-Ames data base of digital flight records from airliners involved in severe turbulence incidences is summarized. The summary includes descriptions of the archived cases, data processing procedures, estimated errors, analysis procedures, and significant results to date. Thirteen severe turbulence cases are listed.

Description: A need has arisen for efficient, blazed, symmetric gratings for use as beam splitters in far and extreme ultraviolet interferometers. In particular, the development of an all-reflection, far ultraviolet spatial heterodyne interferometer can benefit tremendously from such a grating. To fulfill this need, we have manufactured a mechanically ruled grating with a V-groove profile blazed for H Lyman-alpha at 1216 A. We present the grating performance at Lyman-alpha in the context of its application to the spatial heterodyne interferometer.