True covariance simulation of the EUVE update filter

A covariance analysis of the performance and sensitivity of the attitude determination Extended Kalman Filter (EKF) used by the On Board Computer (OBC) of the Extreme Ultra Violet Explorer (EUVE) spacecraft is presented. The linearized dynamics and measurement equations of the error states are derived which constitute the truth model describing the real behavior of the systems involved. The design model used by the OBC EKF is then obtained by reducing the order of the truth model. The covariance matrix of the EKF which uses the reduced order model is not the correct covariance of the EKF estimation error. A true covariance analysis has to be carried out in order to evaluate the correct accuracy of the OBC generated estimates. The results of such analysis are presented which indicate both the performance and the sensitivity of the OBC EKF

A Novel Attitude Determination Algorithm for Spinning Spacecraft

This paper presents a single frame algorithm for the spin-axis orientation-determination of spinning spacecraft that encounters no ambiguity problems, as well as a simple Kalman filter for continuously estimating the full attitude of a spinning spacecraft. The later algorithm is comprised of two low order decoupled Kalman filters; one estimates the spin axis orientation, and the other estimates the spin rate and the spin (phase) angle. The filters are ambiguity free and do not rely on the spacecraft dynamics. They were successfully tested using data obtained from one of the ST5 satellites

Autonomous navigation system based on GPS and magnetometer data

This invention is drawn to an autonomous navigation system using Global Positioning System (GPS) and magnetometers for low Earth orbit satellites. As a magnetometer is reliable and always provides information on spacecraft attitude, rate, and orbit, the magnetometer-GPS configuration solves GPS initialization problem, decreasing the convergence time for navigation estimate and improving the overall accuracy. Eventually the magnetometer-GPS configuration enables the system to avoid costly and inherently less reliable gyro for rate estimation. Being autonomous, this invention would provide for black-box spacecraft navigation, producing attitude, orbit, and rate estimates without any ground input with high accuracy and reliability

Rigid Body Rate Inference from Attitude Variation

In this paper we research the extraction of the angular rate vector from attitude information without differentiation, in particular from quaternion measurements. We show that instead of using a Kalman filter of some kind, it is possible to obtain good rate estimates, suitable for spacecraft attitude control loop damping, using simple feedback loops, thereby eliminating the need for recurrent covariance computation performed when a Kalman filter is used. This considerably simplifies the computations required for rate estimation in gyro-less spacecraft. Some interesting qualities of the Kalman filter gain are explored, proven and utilized. We examine two kinds of feedback loops, one with varying gain that is proportional to the well known Q matrix, which is computed using the measured quaternion, and the other type of feedback loop is one with constant coefficients. The latter type includes two kinds; namely, a proportional feedback loop, and a proportional-integral feedback loop. The various schemes are examined through simulations and their performance is compared. It is shown that all schemes are adequate for extracting the angular velocity at an accuracy suitable for control loop damping

On the Extraction of Angular Velocity from Attitude Measurements

In this paper we research the extraction of the angular rate vector from attitude information without differentiation, in particular from quaternion measurements. We show that instead of using a Kalman filter of some kind, it is possible to obtain good rate estimates, suitable for spacecraft attitude control loop damping, using simple feedback loops, thereby eliminating the need for recurrent covariance computation performed when a Kalman filter is used. This considerably simplifies the computations required for rate estimation in gyro-less spacecraft. Some interesting qualities of the Kalman filter gain are explored, proven and utilized. We examine two kinds of feedback loops, one with varying gain that is proportional to the well known Q matrix, which is computed using the measured quaternion, and the other type of feedback loop is one with constant coefficients. The latter type includes two kinds; namely, a proportional feedback loop, and a proportional-integral feedback loop. The various schemes are examined through simulations and their performance is compared. It is shown that all schemes are adequate for extracting the angular velocity at an accuracy suitable for control loop damping

Angular-Rate Estimation Using Quaternion Measurements

In most spacecraft (SC) there is a need to know the SC angular rate. Precise angular rate is required for attitude determination, and a coarse rate is needed for attitude control damping. Classically, angular rate information is obtained from gyro measurements. These days, there is a tendency to build smaller, lighter and cheaper SC, therefore the inclination now is to do away with gyros and use other means and methods to determine the angular rate. The latter is also needed even in gyro equipped satellites when performing high rate maneuvers whose angular-rate is out of range of the on board gyros or in case of gyro failure. There are several ways to obtain the angular rate in a gyro-less SC. When the attitude is known, one can differentiate the attitude in whatever parameters it is given and use the kinematics equation that connects the derivative of the attitude with the satellite angular-rate and compute the latter. Since SC usually utilize vector measurements for attitude determination, the differentiation of the attitude introduces a considerable noise component in the computed angular-rate vector

Global Superdiffusion of Weak Chaos

A class of kicked rotors is introduced, exhibiting accelerator-mode islands (AIs) and {\em global} superdiffusion for {\em arbitrarily weak} chaos. The corresponding standard maps are shown to be exactly related to generalized web maps taken modulo an ``oblique cylinder''. Then, in a case that the web-map orbit structure is periodic in the phase plane, the AIs are essentially {\em normal} web islands folded back into the cylinder. As a consequence, chaotic orbits sticking around the AI boundary are accelerated {\em only} when they traverse tiny {\em ``acceleration spots''}. This leads to chaotic flights having a quasiregular {\em steplike} structure. The global weak-chaos superdiffusion is thus basically different in nature from the strong-chaos one in the usual standard and web maps.Comment: REVTEX, 4 Figures: fig1.jpg, fig2.ps, fig3.ps, fig4.p

Hubble Space Telescope Angular Velocity Estimation During the Robotic Servicing Mission

In 2004 NASA began investigation of a robotic servicing mission for the Hubble Space Telescope (HST). Such a mission would require estimates of the HST attitude and rates in order to achieve a capture by the proposed Hubble robotic vehicle (HRV). HRV was to be equipped with vision-based sensors, capable of estimating the relative attitude between HST and HRV. The inertial HST attitude is derived from the measured relative attitude and the HRV computed inertial attitude. However, the relative rate between HST and HRV cannot be measured directly. Therefore, the HST rate with respect to inertial space is not known. Two approaches are developed to estimate the HST rates. Both methods utilize the measured relative attitude and the HRV inertial attitude and rates. First, a non-linear estimator is developed. The nonlinear approach estimates the HST rate through an estimation of the inertial angular momentum. Second, a linearized approach is developed. The linearized approach is a pseudo-linear Kalman filter. Simulation test results for both methods are given. Even though the development began as an application for the HST robotic servicing mission, the methods presented are applicable to any rendezvous/capture mission involving a non-cooperative target spacecraft

Chaotic Diffusion on Periodic Orbits: The Perturbed Arnol'd Cat Map

Chaotic diffusion on periodic orbits (POs) is studied for the perturbed Arnol'd cat map on a cylinder, in a range of perturbation parameters corresponding to an extended structural-stability regime of the system on the torus. The diffusion coefficient is calculated using the following PO formulas: (a) The curvature expansion of the Ruelle zeta function. (b) The average of the PO winding-number squared, $w^{2}$, weighted by a stability factor. (c) The uniform (nonweighted) average of $w^{2}$. The results from formulas (a) and (b) agree very well with those obtained by standard methods, for all the perturbation parameters considered. Formula (c) gives reasonably accurate results for sufficiently small parameters corresponding also to cases of a considerably nonuniform hyperbolicity. This is due to {\em uniformity sum rules} satisfied by the PO Lyapunov eigenvalues at {\em fixed} $w$. These sum rules follow from general arguments and are supported by much numerical evidence.Comment: 6 Tables, 2 Figures (postscript); To appear in Physical Review

Band Distributions for Quantum Chaos on the Torus

Band distributions (BDs) are introduced describing quantization in a toral phase space. A BD is the uniform average of an eigenstate phase-space probability distribution over a band of toral boundary conditions. A general explicit expression for the Wigner BD is obtained. It is shown that the Wigner functions for {\em all} of the band eigenstates can be reproduced from the Wigner BD. Also, BDs are shown to be closer to classical distributions than eigenstate distributions. Generalized BDs, associated with sets of adjacent bands, are used to extend in a natural way the Chern-index characterization of the classical-quantum correspondence on the torus to arbitrary rational values of the scaled Planck constant.Comment: 12 REVTEX page