Robust extended Kalman filter with input estimation for maneuver tracking

This study investigates the problem of tracking a satellite performing unknown continuous maneuvers. A new method is proposed for estimating both the state and maneuver acceleration of the satellite. The estimation of the maneuver acceleration is obtained by the combination of an unbiased minimum-variance input and state estimation method and a low-pass filter. Then a threshold-based maneuver detection approach is developed to determinate the start and end time of the unknown maneuvers. During the maneuvering period, the estimation error of the maneuver acceleration is modeled as the sum of a fluctuation error and a sudden change error. A robust extended Kalman filter is developed for dealing with the acceleration estimate error and providing state estimation. Simulation results show that, compared with the Unbiased Minimum-variance Input and State Estimation (UMISE) method, the proposed method has the same position estimation accuracy, and the velocity estimation error is reduced by about 5 times during the maneuver period. Besides, the acceleration detection and estimation accuracy of the proposed method is much higher than that of the UMISE method.     

Solar Energetic Particle Charge States: An Overview

The ionic charge distributions of solar energetic particles (SEP) as observed in interplanetary space provide fundamental information about the origin of these particles, and the acceleration and propagation processes at the Sun and in interplanetary space. In this paper we review the measurements of ionic charge states of energetic particles in interplanetary space and discuss their implication for our understanding of SEP sources, and acceleration and propagation processes.     

Stochastic Acceleration of Energetic Particles in the Heliosphere

In this paper we assess possible roles of stochastic acceleration by random electric field and plasma motion in the production and transport of energetic particles in the heliosphere. Stochastic acceleration can occur in the presence of multiple small-scale magnetohydrodynamic waves propagating in different directions. Usually, this type of stochastic acceleration is closely related to particle pitch angle scattering or parallel diffusion. Given the values of the parallel diffusion coefficient inferred from the observations of cosmic ray modulation or other energetic particle phenomena in the heliosphere, stochastic acceleration by small-scale waves is much slower than acceleration by shock waves and it is also much slower than adiabatic cooling by the expansion of the solar wind; thus it is considered as inefficient for producing heliospheric energetic particles or for the modulation of cosmic rays. Another type of stochastic acceleration occurs when particles go through random compressions or expansions due to large-scale plasma motion. This acceleration mechanism could be very fast when the correlation time of the fluctuations in plasma compression is short compared to the diffusion time. Particle acceleration by an ensemble of small shock waves or intermittent long wavelength compressible turbulence belongs to this category. It tends to establish an asymptotic p ^?3 universal distribution function quickly if there is no or little large-scale adiabatic cooling. Such a particle distribution will contain an infinite amount of pressure. Back reaction from the pressure is expected to modify the amplitude of plasma waves to an equilibrium state. At that point, the pressure of accelerated particles must remain finite and the accelerated particles could approach a p ^?5 distribution function.     

Energetic Particle Observations

The characteristics of solar energetic particles (SEP) as observed in interplanetary space provide fundamental information about the origin of these particles, and the acceleration and propagation processes at the Sun and in interplanetary space. Furthermore, energetic particles provide information on the development and structure of coronal mass ejections as they propagate from the solar corona into the interplanetary medium. In this paper we review the measurements of energetic particles in interplanetary space and discuss their implication for our understanding of the sources, and of acceleration and propagation processes.     

Protons in flares

This work addresses the role of non-thermal protons as a means of transporting energy in stellar atmospheres. The most dramatic transient visible phenomena are flares, the best studied of which are from the Sun. It is believed that energetic particles take a fundamental part in flare development, but it is controversial as to whether protons or electrons play the dominant role. This review is aimed at helping resolve the controversy. We start by outlining acceleration mechanisms for energetic particles, on the premise that the acceleration site is in the corona. The propagation of a proton beam through the atmosphere is discussed, together with the radiation signatures it would produce. Chromospheric evaporation is expected as the beam reaches the dense part of the atmosphere. Direct observational evidence for energetic protons is reviewed, from gamma-ray production involving energies >30 MeV to H polarization, which is significant at energies 100 keV. Proton beams can be detected in the corona via slowly-drifting type III bursts, while they can be directly sampled by spacecraft and, at energies >1 GeV, by detectors on the Earth. A number of key flare observations and energy arguments are debated from the viewpoint of protons versus electrons. The conclusion is that primary non-thermal protons are much more important, in terms of total energy, than non-thermal electrons in flares, and that the bulk of the energetic electrons are secondary.     

Shell type supernova remnants

The possibility of observing gamma ray emission from supernova remnants is discussed. It is shown that this could be possible in the 100 MeV band accessible to satellite instruments, but that confusion with the Galactic background is a major problem. At TeV energies and with modern imaging atmospheric cherenkov telescopes the situation should be much better and at least some of the nearby remnants may be detectable. Positive detections in both bands would provide a decisive test of current theoretical ideas on particle acceleration in supernova remnants and the origin of the Galactic cosmic rays.     

Particle Acceleration in the Heliosphere: Implications for Astrophysics

There has been a remarkable discovery concerning particles that are accelerated in the solar wind. At low energies, in the region where the particles are being accelerated, the spectrum of the accelerated particles is always the same: when expressed as a distribution function, the spectrum is a power law in particle speed with a spectral index of ?5, and a rollover at higher particle speeds that can often be described as exponential. This common spectral shape cannot be accounted for by any conventional acceleration mechanism, such as diffusive shock acceleration or traditional stochastic acceleration. It has thus been necessary to invent a new acceleration mechanism to account for these observations, a pump mechanism in which particles are pumped up in energy through a series of adiabatic compressions and expansions. The conditions under which the pump acceleration is the dominant acceleration mechanism are quite general and are likely to occur in other astrophysical plasmas. In this paper, the most compelling observations of the ?5 spectra are reviewed; the governing equation of the pump acceleration mechanism is derived in detail; the pump acceleration mechanism is applied to acceleration at shocks; and, as an illustration of the potential applicability of the pump acceleration mechanism to other astrophysical plasmas, the pump mechanism is applied to the acceleration of galactic cosmic rays in the interstellar medium.     

Turbulence, Magnetic Reconnection in Turbulent Fluids and Energetic Particle Acceleration

Turbulence is ubiquitous in astrophysics. It radically changes many astrophysical phenomena, in particular, the propagation and acceleration of cosmic rays. We present the modern understanding of compressible magnetohydrodynamic (MHD) turbulence, in particular its decomposition into Alfvén, slow and fast modes, discuss the density structure of turbulent subsonic and supersonic media, as well as other relevant regimes of astrophysical turbulence. All this information is essential for understanding the energetic particle acceleration that we discuss further in the review. For instance, we show how fast and slow modes accelerate energetic particles through the second order Fermi acceleration, while density fluctuations generate magnetic fields in pre-shock regions enabling the first order Fermi acceleration of high energy cosmic rays. Very importantly, however, the first order Fermi cosmic ray acceleration is also possible in sites of magnetic reconnection. In the presence of turbulence this reconnection gets fast and we present numerical evidence supporting the predictions of the Lazarian and Vishniac (Astrophys. J. 517:700–718, 1999) model of fast reconnection. The efficiency of this process suggests that magnetic reconnection can release substantial amounts of energy in short periods of time. As the particle tracing numerical simulations show that the particles can be efficiently accelerated during the reconnection, we argue that the process of magnetic reconnection may be much more important for particle acceleration than it is currently accepted. In particular, we discuss the acceleration arising from reconnection as a possible origin of the anomalous cosmic rays measured by Voyagers as well as the origin cosmic ray excess in the direction of Heliotail.     

Current Fragmentation and Particle Acceleration in Solar Flares

Particle acceleration in solar flares remains an outstanding problem in plasma physics and space science. While the observed particle energies and timescales can perhaps be understood in terms of acceleration at a simple current sheet or turbulence site, the vast number of accelerated particles, and the fraction of flare energy in them, defies any simple explanation. The nature of energy storage and dissipation in the global coronal magnetic field is essential for understanding flare acceleration. Scenarios where the coronal field is stressed by complex photospheric motions lead to the formation of multiple current sheets, rather than the single monolithic current sheet proposed by some. The currents sheets in turn can fragment into multiple, smaller dissipation sites. MHD, kinetic and cellular automata models are used to demonstrate this feature. Particle acceleration in this environment thus involves interaction with many distributed accelerators. A series of examples demonstrate how acceleration works in such an environment. As required, acceleration is fast, and relativistic energies are readily attained. It is also shown that accelerated particles do indeed interact with multiple acceleration sites. Test particle models also demonstrate that a large number of particles can be accelerated, with a significant fraction of the flare energy associated with them. However, in the absence of feedback, and with limited numerical resolution, these results need to be viewed with caution. Particle in cell models can incorporate feedback and in one scenario suggest that acceleration can be limited by the energetic particles reaching the condition for firehose marginal stability. Contemporary issues such as footpoint particle acceleration are also discussed. It is also noted that the idea of a “standard flare model” is ill-conceived when the entire distribution of flare energies is considered.     

漂浮基空间机器人捕获卫星过程动力学模拟及捕获后混合体运动的RBF神经网络控制

 讨论了漂浮基空间机器人在轨捕获目标卫星过程的碰撞动力学建模,以及捕获操作结束后空间机器人与卫星混合体的稳定控制问题。首先采用多刚体动力学建模方法并结合空间机器人捕获目标卫星过程中的碰撞动力学特性,建立了漂浮基空间机器人在轨捕获漂浮卫星过程的动力学模型,并在此基础上计算出完成捕获操作后空间机器人与目标卫星混合体关节的运动速度。然后针对卫星及空间机器人系统惯性参数均是未知的复杂情况,应用上述模型、神经网络控制理论和Lyapunov稳定性理论,设计了空间机器人与卫星混合体在捕获过程碰撞冲击影响下稳定运动的高斯径向基函数神经网络控制方案,以达到对捕获卫星的有效控制。此外,高斯径向基函数神经网络控制方案具有不需要测量和反馈载体位置、移动速度与加速度的显著优点。系统数值仿真证实了上述控制方案的有效性。     

Observational Aspects of Particle Acceleration in Large Solar Flares

Solar flares efficiently accelerate electrons to several tens of MeV and ions to 10 GeV. The acceleration is usually thought to be associated with magnetic reconnection occurring high in the corona, though a shock produced by the Coronal Mass Ejection (CME) associated with a flare can also accelerate particles. Diagnostic information comes from emission at the acceleration site, direct observations of Solar Energetic Particles (SEPs), and emission at radio wavelengths by escaping particles, but mostly from emission from the chromosphere produced when the energetic particles bombard the footpoints magnetically connected to the acceleration region. This paper provides a review of observations that bear upon the acceleration mechanism.     

Ionic Charge States of Solar Energetic Particles: A Clue to the Source

The ionic charge of solar energetic particles (SEP) as observed in interplanetary space is an important parameter for the diagnostic of the plasma conditions at the source region and provides fundamental information about the acceleration and propagation processes at the Sun and in interplanetary space. In this paper we review the new measurements of ionic charge states with advanced instrumentation onboard the SAMPEX, SOHO, and ACE spacecraft that provide for the first time ionic charge measurements over the wide energy range of ∼0.01 to 70 MeV/nuc (for Fe), and for many individual SEP events. These new measurements show a strong energy dependence of the mean ionic charge of heavy ions, most pronounced for iron, indicating that the previous interpretation of the mean ionic charge being solely related to the ambient plasma temperature was too simplistic. This energy dependence, in combination with models on acceleration, charge stripping, and solar and interplanetary propagation, provides constraints for the temperature, density, and acceleration time scales in the acceleration region. The comparison of the measurements with model calculations shows that for impulsive events with a large increase of Q _Fe(E) at energies ≤1 MeV/nuc the acceleration occurs low in the corona, typically at altitudes ≤0.2 R _S .     

Meteors and the abundance of interplanetary matter

Estimates of the spatial density of interplanetary dust are derived from meteor, accretion and zodiacial cloud observations. When the most recent data are considered it is found that there is no longer any serious discrepancy between the extrapolated meteor values and those from the other sources and a density distribution is obtained which extends from meteoroids capable of producing the brightest optical meteors to particles approaching the limiting size beyond which they are removed from the solar system by solar radiation pressure. Impacts on rocket and satellite vehicles lead to much higher estimates of spatial densities and it is concluded that they originate from particles in geocentric orbits belonging to a dust cloud encompassing the earth. The evidence tends to support the view that these particles are captured from the interplanetary dust cloud rather than being produced, as suggested by Whipple, through the impact of meteorites on the moon.Some suggestions are made for the direction of future rocket and satellite investigations.Contribution to the COPERS symposium on The Interplanetary medium, held in Paris on June 19, 1962.     

Microphysics of Quasi-parallel Shocks in Collisionless Plasmas

Shocks in collisionless plasmas require dissipation mechanisms which couple fields and particles at scales much less than the conventional collisional mean free path. For quasi-parallel geometries, where the upstream magnetic field makes a small angle to the shock normal direction, wave-particle coupling produces a broad transition zone with large amplitude, nonlinear magnetic pulsations playing an important role. At high Mach numbers, ion reflection and acceleration are dominant processes which control the structure and dissipation at the shock. Accelerated particles produce a precursor, or foreshock, characterized by low frequency magnetic waves which are convected by the plasma flow into the shock transition zone. The interplay between energetic particles, waves, ion reflection and acceleration leads to a complicated interdependent system. This review discusses the spacecraft observations which have motivated the current view of the high Mach number quasi-parallel shock, and the theories and simulation studies which have led to a better understanding of the microphysics on which the quasi-parallel shock depends.     

Stochastic Acceleration by Turbulence

The subject of this paper is stochastic acceleration by plasma turbulence, a process akin to the original model proposed by Fermi. We review the relative merits of different acceleration models, in particular the so called first order Fermi acceleration by shocks and second order Fermi by stochastic processes, and point out that plasma waves or turbulence play an important role in all mechanisms of acceleration. Thus, stochastic acceleration by turbulence is active in most situations. We also show that it is the most efficient mechanism of acceleration of relatively cool non relativistic thermal background magnetized plasma particles. In addition, it can preferentially accelerate electrons relative to protons as is needed in many astrophysical radiating sources, where usually there are no indications of presence of shocks. We also point out that a hybrid acceleration mechanism consisting of initial acceleration by turbulence of background particles followed by a second stage acceleration by a shock has many attractive features. It is demonstrated that the above scenarios can account for many signatures of the accelerated electrons, protons and other ions, in particular ³He and ⁴He, seen directly as Solar Energetic Particles and through the radiation they produce in solar flares.     

CAVORT: A Radar Pulse Train Optimum Processor for Accelerating Targets

The CAVORT analog radar signal processor for matched filtering of coherent pulse trains from targets displaying significant radial acceleration is described. CAVORT employs a scanning technique to search repeatedly through trial pairs of values for Doppler and Doppler rate. When a target appears, it is detected, and the best-fitting pair of values determined. The principle of operation is illustrated, using photographs of waveforms generated by the equipment. The resuilts of satellite observations are included. It is demonstrated that the experimental CAVORT which integrates half-second segments of signal gives satisfactory estimates of acceleration.     

The Cusp as a Source of Magnetospheric Energetic Particles, Currents, and Electric Fields: A New Paradigm

Energetic particle instrumentation on the Polar satellite has discovered that significant fluxes of energetic particles are continuously present in the region of the dayside magnetosphere where they cannot be stably trapped. This region is associated with either open magnetic field lines or a magnetic topology associated with pseudo-trapping. Two distinct features [Time-Energy Dispersion (TED) signatures and Cusp Energetic Particle (CEP) events] are observed in these energetic particle fluxes that strongly suggest a local acceleration of mostly shocked solar wind particles. As the solar wind particles ram themselves into the cusp geometry, they form diamagnetic cavities with strong turbulence that are capable of accelerating particles to energies of 100s and 1000s of kiloelectronvolts. This process forms a layer of energetic particles on the magnetopause as well as permits such particles to enter via drift the equatorial nightside magnetosphere to distances as close as six Earth radii under the influence of gradient and curvature effects in the local magnetic field. The fluxes of these particles have all of the properties associated with the ring current and can supply the magnitude of the cross tail current required. ISEE-1 energetic particle data and their pitch angle distributions [PAD] are examined at the magnetic equatorial plane on the night side to investigate and possibly validate the insights gains from the Polar data and energetic particle trajectory tracing in a realistic magnetic field. The existence and properties of butterfly-type PADs strongly supports the concept of a dayside high latitude source of energetic particle fluxes. Because the CEP process is impulsive and time variable the charge separation produced by the drifting electrons (eastward) and ions (westward) on the magnetospheric nightside may be responsible for the cross tail electric field that has been ascribed to the reconnection/convection process.     

Nonclassical Transport and Particle-Field Coupling: from Laboratory Plasmas to the Solar Wind

Understanding transport of thermal and suprathermal particles is a fundamental issue in laboratory, solar-terrestrial, and astrophysical plasmas. For laboratory fusion experiments, confinement of particles and energy is essential for sustaining the plasma long enough to reach burning conditions. For solar wind and magnetospheric plasmas, transport properties determine the spatial and temporal distribution of energetic particles, which can be harmful for spacecraft functioning, as well as the entry of solar wind plasma into the magnetosphere. For astrophysical plasmas, transport properties determine the efficiency of particle acceleration processes and affect observable radiative signatures. In all cases, transport depends on the interaction of thermal and suprathermal particles with the electric and magnetic fluctuations in the plasma. Understanding transport therefore requires us to understand these interactions, which encompass a wide range of scales, from magnetohydrodynamic to kinetic scales, with larger scale structures also having a role. The wealth of transport studies during recent decades has shown the existence of a variety of regimes that differ from the classical quasilinear regime. In this paper we give an overview of nonclassical plasma transport regimes, discussing theoretical approaches to superdiffusive and subdiffusive transport, wave–particle interactions at microscopic kinetic scales, the influence of coherent structures and of avalanching transport, and the results of numerical simulations and experimental data analyses. Applications to laboratory plasmas and space plasmas are discussed.     

Computer modeling of test particle acceleration at oblique shocks

We review the basic techniques and results of numerical codes used to model the acceleration of charged particles at oblique, fast-mode, collisionless shocks. The emphasis is upon models in which accelerated particles (ions) are treated as test particles, and particle dynamics is calculated by numerically integrating along exact phase-space orbits. We first review the case where ions are sufficiently energetic so that the shock can be approximated by a planar discontinuity, and where the electromagnetic fields on both sides of the shock are defined at the outset of each computer run. When the fields are uniform and static, particles are accelerated by the scatter-free drift acceleration process at a single shock encounter. We review the characteristics of scatter-free drift acceleration by considering how an incident particle distribution is modified by interacting with a shock. Next we discuss drift acceleration when magnetic fluctuations are introduced on both sides of the shock, and compare these results with those obtained under scatter-free conditions. We describe the modeling of multiple shock encounters, discuss specific applications, and compare the model predictions with theory. Finally, we review some recent numerical simulations that illustrate the importance of shock structure to both the ion injection process and to the acceleration of ions to high energies at quasi-perpendicular shocks.     

Acceleration of Solar-Energetic Particles by Shocks

Our current understanding of the acceleration of solar-energetic particles is reviewed. The emphasis in this paper is on analytic theory and numerical modeling of the physics of diffusive shock acceleration. This mechanism naturally produces an energy spectrum that is a power law over a given energy interval that is below a characteristic energy where the spectrum has a break, or a rollover. This power law is a common feature in the observations of all types of solar-energetic particles, and not necessarily just those associated with shock waves (e.g. events associated with impulsive solar flares which are often described in terms of resonant stochastic acceleration). Moreover, the spectral index is observed to have remarkably little variability from one event to the next (about 50%). Any successful acceleration mechanism must be able to produce this feature naturally and have a resulting power-law index that does not depend on physical parameters that are expected to vary considerably. Currently, only diffusive shock acceleration does this.