Attitude determination using vector observations: A fast optimal matrix algorithm

The attitude matrix minimizing Wahba's loss function is computed directly by a method that is competitive with the fastest known algorithm for finding this optimal estimate. The method also provides an estimate of the attitude error covariance matrix. Analysis of the special case of two vector observations identifies those cases for which the TRIAD or algebraic method minimizes Wahba's loss function

Simultaneous quaternion estimation (QUEST) and bias determination

Tests of a new method for the simultaneous estimation of spacecraft attitude and sensor biases, based on a quaternion estimation algorithm minimizing Wahba's loss function are presented. The new method is compared with a conventional batch least-squares differential correction algorithm. The estimates are based on data from strapdown gyros and star trackers, simulated with varying levels of Gaussian noise for both inertially-fixed and Earth-pointing reference attitudes. Both algorithms solve for the spacecraft attitude and the gyro drift rate biases. They converge to the same estimates at the same rate for inertially-fixed attitude, but the new algorithm converges more slowly than the differential correction for Earth-pointing attitude. The slower convergence of the new method for non-zero attitude rates is believed to be due to the use of an inadequate approximation for a partial derivative matrix. The new method requires about twice the computational effort of the differential correction. Improving the approximation for the partial derivative matrix in the new method is expected to improve its convergence at the cost of increased computational effort

Study of the effects of ethylene oxide-freon 12 upon properties of polymers and metallic surfaces Final report, 10 Oct. 1964 - 31 Mar. 1966

Physical, mechanical, and electrical tests to determine the effects on polymeric products after exposure to ethylene oxide-Freon 1

Minimal parameter solution of the orthogonal matrix differential equation

As demonstrated in this work, all orthogonal matrices solve a first order differential equation. The straightforward solution of this equation requires n sup 2 integrations to obtain the element of the nth order matrix. There are, however, only n(n-1)/2 independent parameters which determine an orthogonal matrix. The questions of choosing them, finding their differential equation and expressing the orthogonal matrix in terms of these parameters are considered. Several possibilities which are based on attitude determination in three dimensions are examined. It is shown that not all 3-D methods have useful extensions to higher dimensions. It is also shown why the rate of change of the matrix elements, which are the elements of the angular rate vector in 3-D, are the elements of a tensor of the second rank (dyadic) in spaces other than three dimensional. It is proven that the 3-D Gibbs vector (or Cayley Parameters) are extendable to other dimensions. An algorithm is developed employing the resulting parameters, which are termed Extended Rodrigues Parameters, and numerical results are presented of the application of the algorithm to a fourth order matrix

A general model for attitude determination error analysis

An overview is given of a comprehensive approach to filter and dynamics modeling for attitude determination error analysis. The models presented include both batch least-squares and sequential attitude estimation processes for both spin-stabilized and three-axis stabilized spacecraft. The discussion includes a brief description of a dynamics model of strapdown gyros, but it does not cover other sensor models. Model parameters can be chosen to be solve-for parameters, which are assumed to be estimated as part of the determination process, or consider parameters, which are assumed to have errors but not to be estimated. The only restriction on this choice is that the time evolution of the consider parameters must not depend on any of the solve-for parameters. The result of an error analysis is an indication of the contributions of the various error sources to the uncertainties in the determination of the spacecraft solve-for parameters. The model presented gives the uncertainty due to errors in the a priori estimates of the solve-for parameters, the uncertainty due to measurement noise, the uncertainty due to dynamic noise (also known as process noise or measurement noise), the uncertainty due to the consider parameters, and the overall uncertainty due to all these sources of error

Attitude Determination Using Two Vector Measurements

Many spacecraft attitude determination methods use exactly two vector measurements. The two vectors are typically the unit vector to the Sun and the Earth's magnetic field vector for coarse "sun-mag" attitude determination or unit vectors to two stars tracked by two star trackers for fine attitude determination. TRIAD, the earliest published algorithm for determining spacecraft attitude from two vector measurements, has been widely used in both ground-based and onboard attitude determination. Later attitude determination methods have been based on Wahba's optimality criterion for n arbitrarily weighted observations. The solution of Wahba's problem is somewhat difficult in the general case, but there is a simple closed-form solution in the two-observation case. This solution reduces to the TRIAD solution for certain choices of measurement weights. This paper presents and compares these algorithms as well as sub-optimal algorithms proposed by Bar-Itzhack, Harman, and Reynolds. Some new results will be presented, but the paper is primarily a review and tutorial

Pre-Service Teacher Attitudes toward Inclusion in the Classroom

A survey was conducted of students at West Chester University regarding their attitudes toward inclusion. The study was based upon previous studies by Margevica, Tubele, Bolton, Doan, & McGinley (2017) that examined Latvian students’ attitudes toward inclusion. Deng (2008) created a survey that examined the attitudes of educators in China towards inclusion. According to the National Center for Education Statistics (2016), 95 percent of 6- to 21-year-old students with disabilities are served in general education school settings. The survey was administered to declared education majors, undergraduate and graduate, who were in attendance to randomly selected classes that represented a range of education majors and/or minors. Participants answered 21 questions that analyzed three factors of inclusion: positive effects of inclusion, negative effects inclusion, and benefits of segregated special education classes. This study found that there is a significant difference between males and females with regards to the negative effects of inclusion. However, further research is required to determine the exact cause of this contrast. This study provides a foundation for further investigation into what factors impact student attitudes towards inclusion

Rotor response for transient unbalance changes in a nonlinear simulation

Transient unbalance shifts were determined not to excite a rotor instability in the high pressure turbomachinery of the Space Shuttle Main Engine using the current rotor dynamic models. Sudden unbalance changes of relatively small magnitudes during fast-speed ramps showed stable nonsynchronous motion depending on the resultant unbalance distribution at subsequent high speed dwells. Transient moment unbalance may initiate a limit cycle subsynchronous response that shortly decays, but a persistent subsynchronous with large amplitudes was never achieved. These limit cycle subsynchronous amplitudes appear to be minimized with lower unbalance magnitudes, which indicates improved rotor balancing would sustain synchronous motion only. The transient unbalance phenomenon was determined to be an explanation for synchronous response shifts often observed during engine tests

Chemical approaches to carbon dioxide utilization for manned Mars missions

Use of resources available in situ is a critical enabling technology for a permanent human presence in space. A permanent presence on Mars, e.g., requires a large infrastructure to sustain life under hostile conditions. As a resource on Mars, atmospheric CO2 is as follows: abundant; available at all points on the surface; of known presence; chemically simple; and can be obtained by simple compression. Many studies focus on obtaining O2 and the various uses for O2 including life support and fuel; discussion of CO, the coproduct from CO2 fixation revolves around its uses as a fuel, being oxidized back to CO2. Several new proposals are studied for CO2 fixation through chemical, photochemical, and photoelectrochemical means. For example, the reduction of CO2 to hydrocarbons such as acetylene (C2H2) can be accomplished with H2. C2H2 has a theoretical vacuum specific impulse of approx. 375 secs. Potential uses were also studied of CO2, as obtained or further reduced to carbon, as a reducing agent in metal oxide processing to form metals or metal carbides for use as structural or power materials; the CO2 can be recycled to generate O2 and CO

Continuing engineering education - Who really needs it? What is the market for continuing education?

Market research study of continuing education for engineers in industr