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AIAA SciTech Forum

作者： Perumalla, Aniruddha Khamvilai, Thanakorn Axten, Rachel Johnson, Eric Chakraborty, Anusna Yadegar, Joseph Penn State Univ Dept Aerosp Engn University Pk PA 16802 USA UtopiaCompress Corp Los Angeles CA 90064 USA

ISBN: (数字)9781624107115

ISBN: (纸本)9781624107115

In recent years, numerous applications for unmanned aircraft systems (UAS) have emerged, such as manufacturing inspections and reconnaissance. Ensuring safety is crucial for integrating UAS into the National Airspace System (NAS);this integration is being conducted on the basis of a century of experience that has made manned aircraft operations incredibly safe. A key challenge for unmanned flight is the inability to "detect-and-avoid" (DAA) obstacles. Various DAA systems have been proposed in recent years, each employing different sensor modalities. Cooperative systems enable air vehicles to exchange state information, while devices like the Automatic Dependent Surveillance-Broadcast (ADS-B) and Traffic Collision Avoidance System (TCAS) use satellite navigation sensors and transponders, respectively, to broadcast position data. Additionally, the Airborne Collision Avoidance System (ACAS) led to the creation of the ACAS-XU standard for unmanned aircraft. The DAA capability for UAS must be extended to address non-cooperative intruders. This paper introduces an integrated vision-based passive collision alert system (PCAS) and guidance system that is designed to detect and optimally avoid collision with non-cooperative intruders. The system can adhere to recently-introduced regulations for safety zones and can be customized pre-flight. Hardware-in-the-loop (HITL) simulation demonstrates the feasibility for deployment on UAS in a plug-and-play fashion.

关键词： Model Predictive Control Airborne Collision Avoidance System Passive sensors Unmanned Aircraft System National Airspace System Automatic Dependent Surveillance Broadcast guidance System Satellite navigation Experimental Aircraft Aircraft Operations

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Extending Enhanced Visual Operations to Urban Air Mobility: Requirements and Approaches 40

Extending Enhanced Visual Operations to Urban Air Mobility: ...

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IEEE/AIAA 40th Digital Avionics systems Conference (DASC)

作者： Veneruso, Paolo Opromolla, Roberto Fasano, Giancarmine Burgio, Gilberto Gentile, Giacomo Tiana, Carlo Univ Naples Federico II Dept Ind Engn Naples Italy Collins Aerosp Appl Res & Technol Rome Italy Collins Aerosp Head Up Guidance Syst Portland OR USA

ISBN: (纸本)9781665434201

This paper addresses the possibility to exploit Enhanced Vision systems (EVS) for landing operations within the Urban Air Mobility (UAM) framework. First, an analysis of sensing requirements is carried out in terms of sensors' Field of View (FOV), operational range, resolution, and frame rate. These requirements are estimated considering different factors such as airspace structure and possible landing trajectories, navigation performance, and wind conditions. A preliminary assessment of the level of maturity of the available technologies is obtained as a result of the comparison of the EVS state of the art and the estimated visual requirements for the UAM scenarios. Finally, the performance of sensing systems fulfilling the previously defined requirements is assessed within a numerical simulation framework able to realistically reproduce UAM landing scenarios including trajectory/attitude disturbances. Specifically, visual-based techniques for pose estimation with respect to a vertiport are developed and then integrated within a multi-sensor fusion architecture combining other sources such as inertial sensors.

关键词： Urban Air Mobility Unmanned Aircraft systems vision-aided navigation Enhanced Flight Vision systems autonomous landing

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Combined control and navigation approach to the robotic capture of space vehicles

Combined control and navigation approach to the robotic capt...

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IAF Astrodynamics Symposium 2021 at the 72nd International Astronautical Congress, IAC 2021

作者： Pavanello, Zeno Branz, Francesco Francesconi, Alessandro Cenedese, Angelo Antonello, Riccardo Basana, Federico Iob, Pietro Vertuani, Davide Massari, Mauro Colombo, Camilla Lovera, Marco Invernizzi, Davide Ghignoni, Pietro Ticozzi, Lorenzo Borelli, Giacomo Opromolla, Roberto Grassi, Michele Fasano, Giancarmine Nocerino, Alessia Lombardi, Carlo Vela, Claudio Garciad, Irene Huertas Simplicio, Pedro Univ. Degli Studi di Padova Padua Italy Dip. di Scienze e Tecnologie Aerospaziali Politecnico di Milano Milan Italy Dip. di Ingegneria Industriale Univ. Degli Studi di Napoli "Federico II" Napoli Italy Estec European Space Agency Noordwijk Netherlands

ISBN: (纸本)9781713843078

The potentialities of In-Orbit Servicing (IOS) to extend the operational life of satellites and the need to implement Active Debris Removal (ADR) to effectively tackle the space debris problem are well known among the space community. Research on technical solutions to enable this class of missions is thriving, also pushed by the development of new generation sensors and control systems. Among private companies, space agencies and universities, the European Space Agency (ESA) has been developing technologies in this field for decades. Several solutions have been proposed over the years to safely capture orbital objects, the majority relying on robotic systems. A promising option is the employment of an autonomous spacecraft (chaser) equipped with a highly dexterous robotic arm able to perform the berthing with a resident space object. This operation poses complex technical challenges both during the approach phase and after contact. In this respect, the design of an effective, reliable, and robust guidance, navigation and Control (GNC) system, for which several algorithmic architectures and hardware configurations are possible, plays a key role to ensure safe mission execution. This work presents the outcomes of a research activity performed by a consortium of universities under contract with ESA with the goal to develop the navigation and control subsystems of a GNC system for controlling a chaser equipped with a redundant manipulator. Both the final approach until capture and the target stabilization phase after capture are considered in the study. The proposed solution aims at the implementation of a combined control strategy. Robust control methods are adopted to design control laws for the uncertain, nonlinear dynamics of the chaser and of the complete chaser-target stack after capture. Visual-based solutions, i.e., relying on active/passive electro- optical sensors, are selected for relative navigation. A complete sensor suite for relative and absolute navigat

关键词： Manipulators

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A study on docking guidance navigation algorithm of AUV by combining inertial navigation sensor and docking guidance sensor

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Journal of Institute of Control, Robotics and systems 2019年第7期25卷 647-656页

作者： Kim, Gyu-Hyeon Lee, Jihong Lee, Phil-Yeob Kim, Ho Sung Lee, Hansol Mechatronics Engineering of Chiingnam National University Korea Republic of Hanwka Systems Korea Republic of

This paper describes a docking guidance navigation algorithm for autonomous underwater vehicles (AUVs). To dock an AUV to a docking station installed underwater, a set of inertial navigation sensors used for conventional AUV navigation and a set of docking guidance sensors for docking missions are used. A docking guidance sensor typically measures the relative distance and attitude between the AUV and the docking station. As many different sensors are used, a precise position and attitude estimation technique, considering both types of sensors, is needed. Therefore, we designed a serial filter chain for estimating the orientation, position, and relative distance. Considering the non-holonomic characteristics of an AUV in the underwater environment, we first estimated the attitude by separating the position and the attitude. Then, the position of the AUV was estimated on the basis of the estimated attitude. Finally, we estimated the relative distance from the docking station to the estimated AUV position. This paper contributes to the following topics: 1) position and attitude estimation considering non-holonomic characteristics of AUVs;and ii) precision estimation algorithm for docking guidance using docking guidance sensors. © ICROS 2019.

关键词： Autonomous underwater vehicles

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Development of GNC for Optimal Relative Spacecraft Trajectories

Development of GNC for Optimal Relative Spacecraft Trajector...

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IEEE/ION Position, Location and navigation Symposium (PLANS)

作者： Harris, Wyatt Linville, Dax Hess, Joshuah Cobb, Richard Air Force Inst Technol Dept Aeronaut & Astronaut Engn Wright Patterson AFB OH 45433 USA

ISBN: (纸本)9781728102443

Satellite rendezvous and proximity operations (RPO) require guidance, navigation, and Control (GNC) systems that can effectively and efficiently manipulate a spacecraft's position with respect to another space object. This study develops a modular spacecraft GNC architecture capable of utilizing various combinations of optimal guidance, feedback control, and navigation filtering subsystems. To demonstrate the architecture, the system is implemented in simulation and is shown to be capable of commanding RPO maneuvers in a highly constrained space environment. A complex rendezvous scenario is examined using a variety of controllers, navigation filters, and sensor combinations. The scenario considers two spacecraft: a maneuvering inspector spacecraft, and a non-maneuvering resident space object (RSO). The inspector must navigate through a debris field, avoiding pre-determined keep-out zones while on an optimal path to rendezvous with the RSO. To do this, the proposed GNC architecture operates by tracking an optimal reference trajectory, generated by the guidance subsystem a priori. Two different types of full-state feedback controllers are compared to track the desired trajectory. A full state estimate is provided by any of four different types of navigation filters using simulated measurement information from on-board sensors. Four different types of sensor suites are simulated, capable of producing combinations of position, velocity, angles, and range measurements. Results demonstrate the system's ability to track an optimal trajectory, as well as the ability to quickly and easily modify the architecture using different options for each GNC subsystem. The architecture is intended to serve as a basis for future GNC research for satellite RPO.

关键词： Spacecraft GNC Optimal Control GPOPS-ii Matlab Simulink

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Investigation and realisation of integrated navigation system using optimal pseudo sensor enhancement method

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IET RADAR SONAR AND navigation 2019年第5期13卷 839-849页

作者： Madany, Yasser M. El-Badawy, El-Sayed A. Ismail, Nour Eldin H. Soliman, Adel M. Alexandria Univ Fac Engn Elect Engn Dept Commun & Elect Sect Alexandria Egypt

The rapid development of intelligent navigation systems has speed development for its uses in military and civilian applications. On-board integrated navigation and multiple sensors are essential for real-time data update. Using multiple sensors may sever from the disconnection of the readings due to sensor(s) transient faults. So, the need for sensor(s) transient fault correction becomes an important action to improve performance. In this study, a novel proposed optimal pseudo sensor enhancement method (OPSEM) is introduced, investigated and implemented. The proposed OPSEM has multiple missions: (i) optimal arrangement for the sensors architecture, (ii) detecting, isolating, and compensating for the sensor(s) transient fault. The simulation results of the traditional and the proposed OPSEMs for multiple sensor architecture have been obtained, analysed and compared. Also, the proposed OPSEM has been applied to the proportional navigation guidance law to check for the improved performance. Finally, the integrated OPSEM navigation system has been realised and implemented. The proposed OPSEM practical system has been examined using unmanned aerial vehicle and fixed wing aircrafts to illustrate the improved operation of the proposed OPSEM system.

关键词： navigation autonomous aerial vehicles sensor fusion path planning aircraft control proportional navigation guidance law integrated OPSEM navigation system integrated navigation system optimal pseudosensor enhancement method intelligent navigation systems military applications civilian applications transient fault correction on-board integrated navigation unmanned aerial vehicle multiple sensor architecture fixed wing aircraft

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sensor DATA QUALITY AND ANGULAR RATE DOWN-SELECTION ALGORITHMS ON SLS EM-1 41st

SENSOR DATA QUALITY AND ANGULAR RATE DOWN-SELECTION ALGORITH...

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41st Annual American-Astronautical-Society Rocky Mountain Section guidance, navigation and Control Conference

作者： Park, Thomas Oliver, Emerson Smith, Austin ESSCA Dynam Concepts Inc Guidance Nav & Mission Anal Branch EV42 Huntsville AL 35806 USA NASA Guidance Nav & Mission Anal Branch EV42 MSFC Huntsville AL 35811 USA

ISBN: (纸本)9780877036494

The NASA Space Launch System Block I launch vehicle is equipped with an Inertial navigation System (INS) and multiple Rate Gyro Assemblies (RGA) that are used in the guidance, navigation, and Control (GN&C) algorithms. The INS provides the inertial position, velocity, and attitude of the vehicle along with both angular rate and specific force measurements. Additionally, multiple sets of co-located rate gyros supply angular rate data. The collection of angular rate data, taken along the launch vehicle, is used to separate out vehicle motion from flexible body dynamics. Since the system architecture uses redundant sensors, the capability was developed to evaluate the health (or validity) of the independent measurements. A suite of sensor Data Quality (SDQ) algorithms is responsible for assessing the angular rate data from the redundant sensors. When failures are detected, SDQ will take the appropriate action and disqualify or remove faulted sensors from forward processing. Additionally, the SDQ algorithms contain logic for down-selecting the angular rate data used by the GN&C software from the set of healthy measurements. This paper provides an overview of the algorithms used for both fault-detection and measurement down selection.

关键词： Inertial navigation systems

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The eyes of LITENING 13

The eyes of LITENING

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Conference on Airborne Intelligence, Surveillance, Reconnaissance (ISR) systems and Applications XiiI

作者： Moser, Eric K. Northrop Grumman Mission Syst 600 Hicks Rd Rolling Meadows IL 60008 USA

ISBN: (纸本)9781510600690

LITENING is an airborne system-of-systems providing long-range imaging, targeting, situational awareness, target tracking, weapon guidance, and damage assessment, incorporating a laser designator and laser range finders, as well as non-thermal and thermal imaging systems, with multi-sensor boresight. Robust operation is at a premium, and subsystems are partitioned to modular, swappable line-replaceable-units (LRUs) and shop-replaceable-units (SRUs). This presentation will explore design concepts for sensing, data storage, and presentation of imagery associated with the LITENING targeting pod. The "eyes" of LITENING are the electro-optic sensors. Since the initial LITENING ii introduction to the US market in the late 90s, as the program has evolved and matured, a series of spiral functional improvements and sensor upgrades have been incorporated. These include laser-illuminated imaging, and more recently, color sensing. While aircraft displays are outside of the LITENING system, updates to the available viewing modules have also driven change, and resulted in increasingly effective ways of utilizing the targeting system. One of the latest LITENING spiral upgrades adds a new capability to display and capture visible-band color imagery, using new sensors. This is an augmentation to the system's existing capabilities, which operate over a growing set of visible and invisible colors, infrared bands, and laser line wavelengths. A COTS visible-band camera solution using a CMOS sensor has been adapted to meet the particular needs associated with the airborne targeting use case.

关键词： Targeting electro-optics weapon guidance navigation infrared sensors

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An innovative approach to air data sensor FDIR for commercial aircraft

An innovative approach to air data sensor FDIR for commercia...

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AIAA guidance, navigation, and Control Conference, 2016

作者： Bošković, Jovan D. Jackson, Joseph A. Intelligent and Autonomous Control Systems Group Scientific Systems Company Inc. WoburnMA01801 United States

ISBN: (数字)9781624103896

ISBN: (纸本)9781624103896

To prevent loss of control in commercial aircraft, SSCI developed the SYMPTOM (sensor Integrity Management, Prognostics & Fault Accommodation) technology for fault management of True Air Speed (TAS), angle-of-attack and sideslip sensors. Two innovative technologies have been developed under the SYMPTOM framework: (i) The concept of Software sensor (SWS) that uses GPS information, aircraft dynamic model, and altitude, attitude & attitude rate measurements to rapidly and accurately estimate air sensor data and wind effects in real-time;and (ii) The concept of Virtual sensor (VS) and related algorithms used to estimate the TAS information using GPS signals and wind estimates. VS and SWS algorithms have been integrated with our VERIFY technology, based on statistical testing of estimation residuals, to rapidly detect the failure and minimize false alarms under wind gusts. The resulting Failure Detection Subsystem triggers the Fault Identification module that runs multiple hypothesis testing algorithm on parallel estimators to estimate failure-related parameters, and disambiguates between failures that have a similar effect on the closed-loop system. The resulting estimates are used in the Prognostics Module to compute Remaining Useful Life (RUL) of the sensor based on regression techniques. Parameter estimates are in turn used in the Fault Accommodation module to achieve robust failure mitigation. We also carried out initial design of suitable performance metrics for each of the modules and for the overall SYMPTOM system. In this paper we describe the results obtained and discuss plans for future work in this area. © 2016, American Institute of Aeronautics and Astronautics Inc, AIAA. All rights reserved.

关键词： Angle of attack

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An innovative navigation and guidance system for small unmanned aircraft using low-cost sensors

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AIRCRAFT ENGINEERING AND AEROSPACE TECHNOLOGY 2015年第6期87卷 540-545页

作者： Sabatini, Roberto Cappello, Francesco Ramasamy, Subramanian Gardi, Alessandro Clothier, Reece RMIT Univ Sch Aerosp Mech & Mfg Engn Melbourne Vic Australia

Purpose - The purpose of this paper is to design a compact, light and relatively inexpensive navigation and guidance system capable of providing the required navigation performance (RNP) in all phases of flight of small unmanned aircrafts (UA), with a special focus on precision approach and landing. Design/methodology/approach - Two multi-sensor architectures for navigation and guidance of small UA are proposed and compared in this paper. These architectures are based, respectively, on a standard extended Kalman filter (EKF) approach and a more advanced unscented Kalman filter (UKF) approach for data fusion of global navigation satellite systems (GNSS), micro-electro-mechanical system (MEMS)-based inertial measurement unit (IMU) and vision-based navigation (VBN) sensors. Findings - The EKF-based VBN-IMU-GNSS-aircraft dynamics model (ADM) (VIGA) system and the UKF-based system (VIGA+) performances are compared in a small UA integration scheme (i.e. AEROSONDE UA platform) exploring a representative cross-section of this UA operational flight envelope, including high-dynamics manoeuvres and CAT-I to CAT-iiI precision approach tasks. The comparison shows that the position and attitude accuracy of the proposed VIGA and VIGA+ systems are compatible with the RNP specified in the various UA flight profiles, including precision approach down to CAT-ii. Originality/value - The novelty aspect is the augmentation by ADM in both architectures to compensate for the MEMS-IMU sensor shortcomings in high-dynamics attitude determination tasks. Additionally, the ADM measurements are pre-filtered by an UKF with the purpose of increasing the ADM attitude solution stability time in the UKF-based system.

关键词： Aircraft dynamics models Extended/Unscented Kalman filter Low-cost sensors Required navigation performance Unmanned aircraft Vision based navigation

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