Differential GPS/inertial navigation approach/landing flight testresults

In November 1990, a differential GPS/inertial flight test was conducted to acquire a system performance database and demonstrate automatic landing using an integrated differential GPS/INS with barometric and radar altimeters. Flight test results obtained from postflight data analysis are presented. These results include characteristics of DGPS/inertial error, using a laser tracker as a reference. In addition, data are provided on the magnitude of the differential correlations and vertical channel performance with and without radar altimeter augmentation. Flight test results show one sigma DGPS/inertial horizontal errors of 9 ft and one sigma DGPS inertial vertical errors of 15 ft. Without selective availability effects, the differential corrections are less than 10 ft and are dominated by receiver unique errors over the time period of an approach. Therefore, the one sigma performance of the autonomous GPS (8-ft horizontal and 20-ft vertical) is very similar to the DGPS/inertial performance. Postprocessed results also demonstrate significant improvements in vertical channel performance when GPS/inertial is aided with radar altimeter along with a low-resolution terrain map     

Synergism of binocular and motion stereo for passive ranging

Range measurements to objects in the world relative to mobile platforms such as ground or air vehicles are critical for visually aided navigation and obstacle detection/avoidance. An approach is presented that consists of a synergistic combination of two types of passive ranging method: binocular stereo and motion stereo. We show a new way to model the errors in binocular and motion stereo in conjunction with an inertial navigation system (INS) and derive the appropriate Kalman filter to refine the estimates from these two stereo ranging techniques. We present results using laboratory images that show that refined estimates can be optimally combined to give range values which are more accurate than any one of the individual estimates from binocular and motion stereo. By incorporating a blending filter, the approach has the potential of providing accurate, dense range measurements for all the pixels in the field of view (FOV)     

Protein crystal growth aboard the U.S. space shuttle flights STS-31 and STS-32.

The first microgravity protein crystal growth experiments were performed on Spacelab I by Littke and John. These experiments indicated that the space grown crystals, which were obtained using a liquid-liquid diffusion system, were larger than crystals obtained by the same experimental system on earth. Subsequent experiments were performed by other investigators on a series of space shuttle missions from 1985 through 1990. The results from two of these shuttle flights (STS-26 and STS-29) have been described previously. The results from these missions indicated that the microgravity grown crystals for a number of different proteins were larger, displayed more uniform morphologies, and yielded diffraction data to significantly higher resolutions than the best crystals of these proteins grown on earth. This paper presents the results obtained from shuttle flight STS-32 (flown in January, 1990) and preliminary results from the most recent shuttle flight, STS-31 (flown in April, 1990).     

INS/GPS operational concept demonstration (OCD) High Gear program

On February 10, 1993 an Air Force F-16 dropped an INS/GPS modified GBU-15 from an altitude of 35,000 feet and a downrange distance of 88,000 feet in adverse weather. The guided weapon impacted within 6 meters of the target, demonstrating the potential of INS/GPS technology to significantly improve air-to-surface munitions strategies and tactics. This landmark flight was successfully followed by five additional drops with varying attitudes, downrange distances and weather conditions. OCD was designated an Air Force High Gear program, allowing streamlined acquisition and reporting procedures, in response to Operation Desert Storm experience highlighting the need for attacking high-value targets from high altitude in adverse weather. OCD met it's objective to build and demonstrate an INS/GPS weapon in an operationally representative environment. Results of the demonstration show there is low technical risk associated with development of INS/GPS munitions considered for the Joint Direct Attack Munitions (JDAM) program