Altitude Damping of Space-Stable Inertial Navigation Systems

In order to stabilize the altitude calculation in an inertial navigation system, an altimeter is commonly used. In a conventional local-level mechanization, this is generally accomplished by correcting the vertical channel integrators with the difference between the inertial system and altimeter indication of vertical position. However, in a space-stable system the procedure is not as clear since a vertical channel is not physically present. Three altitude damping mechanizations for a space-stable inertial navigation system are proposed. The equivalent local-level mechanizations are then found by comparing error propagation equations in a common coordinate frame.     

Comparison of Error Propagation in Local-Level and Space-Stable Inertial Systems

A comparison of the error propagation in a local-level reference frame is derived for two inertial navigation systems; one has a local-level configuration, and the other has a space-stable configuration. The error propagation is shown to be equivalent for the two cases considered. This equivalence is demonstrated by starting with the error propagation equations for the space-stable system and transforming them to a local-level reference frame. The transformed equations are then compared with the classical local-level error equations, and the equivalence is noted. The specific implementation used in each case considers velocity damping but not altitude damping.     

Stability Measurement Problems and Techniques for Operational Airborne Pulse Doppler Radar

In the deployment of pulse Doppler (PD) radar, determination of phase and amplitude stability is the most difficult measurement problem. Unique requirements are placed on pulse and carrier stability so that the radar can perform in strong clutter. Because of subclutter visibility and sensitivity specifications, coherent noise, which is insignificant for noncoherent pulse radars, becomes extremely important. In solving the measurement problem, special support equipment was developed which is considered to have reached such a degree of refinement that it is probably one of the most technically advanced pieces of field test equipment supporting any operational radar. This paper discusses stability requirements, sources of instability, and the combination of techniques selected for verification of compliance of the PD radar with the stability requirements. The results of a program to develop special field support equipment to satisfy the measurement requirements are emphasized. Results of field experience and the special training required of military field personnel to enable them to effectively use this relatively complex support equipment are discussed.     

Kalman Filter Design Considerations for Space-Stable Inertial Navigation Systems

Terrestrial inertial navigation is typically performed using an instrumented platform stabilized in a ?local-level? configuration for convenient generation of geographic navigation information. The local-level geographic reference must be maintained by torquing the system gyros, a requirement which may be incompatible with high-precision inertial sensors currently under development. Gyro torquing in a gimballed navigation system can be avoided by employing a ?space-stable? mechanization of the platform where an inertial, rather than geographic, reference is used for navigation calculations. The software design problems associated with this concept, especially those related to the application of Kalman filtering, are the principle focus of this paper. Although the space-stable configuration has been used extensively for spacecraft navigation and guidance, it has not been widely applied to terrestrial navigation, either for air or marine applications. The chief problem in this application is to perform navigation in local-level coordinates, using system outputs generated in an inertial reference frame. It can be demonstrated that, although the navigation system error dynamics are identical for the local-level and space-stable configurations, the dynamics of the sensor errors which drive these systems are quite different. These differences in sensor error propagation characteristics impose new requirements for the design of procedures to accomplish system calibration, alignment, and reset. This paper outlines a Kalman filtering approach which is applicable to all of the above procedures, and presents numerical results to demonstrate its effectiveness.     

Applications of Mininum Variance Reduced-State Estimators

This paper presents an algorithm for a class of suitably constrained reduced-order filters which minimize the variance of the estimated variables. The algorithm generates both the filter gain history and the true estimation error covariance. The algorithm provides a quantitative criterion which can be used to measure the performance of any reduced-order estimator. Both continuous and discrete estimators are considered. Several examples are treated including an application of the technique to a hybrid navigation system of high order.     

The Kalman Filter Applied to Aerospace and Electronic Systems

The evolution of the application of the Kalman filter in the aerospace arena is traced. The major programs that were the driving forces for the filter's acceptance are noted, as are the specific threads of activity for refining and enhancing the initial contribution. These efforts brought the fundamental ideas presented by Kalman to the point where actual application was possible. Clearly the concepts of the Kalman filter are now "mature." This is also noted and substantiated.     

Transmission Lines and the Environment

The confused and conflicting state of environmental criteria for transmission lines is discussed. The demands thrust upon electric utilities by pressure groups and legislation provide unsatisfactory guidance for environmental considerations. Environmental considerations are necessary for transmision lines, but realistic, flexible rules must be developed to balance protection of the ecology and the need for electrical energy.     

Geolocation of frequency-hopping transmitters via satellite

An analysis of satellite-communications terminal geolocation performed by means of interception of ground terminal uplink transmissions in which a number of spaceborne interceptors transpond the frequency band of interest to terrestrial location for processing is presented. Interception regions for prototypical terminals and satellites are calculated and the results are presented parametrically as a function of uplink signal-to-noise ratio (SNR). The optimum angular separation of the interceptor satellites is found, and the effect of nonoptimal separation is discussed, as are the practical limitations involved in implementing this geolocation system