Online INS/GPS integration with a radial basis function neural network

Most of the present navigation systems rely on Kalman filtering to fuse data from global positioning system (GPS) and the inertial navigation system (INS). In general, INS/GPS integration provides reliable navigation solutions by overcoming each of their shortcomings, including signal blockage for GPS and growth of position errors with time for INS. Present Kalman filtering INS/GPS integration techniques have some inadequacies related to the stochastic error models of inertial sensors, immunity to noise, and observability. This paper aims to introduce a multi-sensor system integration approach for fusing data from INS and GPS utilizing artificial neural networks (ANN). A multi-layer perceptron ANN has been recently suggested to fuse data from INS and differential GPS (DGPS). Although being able to improve the positioning accuracy, the complexity associated with both the architecture of multi-layer perceptron networks and its online training algorithms limit the real-time capabilities of this technique. This article, therefore, suggests the use of an alternative ANN architecture. This architecture is based on radial basis function (RBF) neural networks, which generally have simpler architecture and faster training procedures than multi-layer perceptron networks. The INS and GPS data are first processed using wavelet multi-resolution analysis (WRMA) before being applied to the RBF network. The WMRA is used to compare the INS and GPS position outputs at different resolution levels. The RBF-ANN module is then trained to predict the INS position errors and provide accurate positioning of the moving platform. Field-test results have demonstrated that substantial improvement in INS/GPS positioning accuracy could be obtained by applying the combined WRMA and RBF-ANN modules.     

Recursive mode star identification algorithms

Star identification can be accomplished by several different available algorithms that identify the stars observed by a star tracker. However, efficiency and reliability remain key issues and the availability of new active pixel cameras requires new approaches. Two novel algorithms for recursive mode star identification are presented here. The first approach is derived by the spherical polygon search (SP-search) algorithm, it was used to access all the cataloged stars observed by the sensor field-of-view (FOV) and recursively add/remove candidate cataloged stars according to the predicted image motion induced by camera attitude dynamics. Star identification is then accomplished by a star pattern matching technique which identifies the observed stars in the reference catalog. The second method uses star neighborhood information and a catalog neighborhood pointer matrix to access the star catalog. In the recursive star identification process, and under the assumption of "slow" attitude dynamics, only the stars in the neighborhood of previously identified stars are considered for star identification in the succeeding frames. Numerical tests are performed to validate the absolute and relative efficiency of the proposed methods.     

Nonlinear problems of physics of the geomagnetic pulsations

The current state of research involving manifestations of nonlinearity in geomagnetic pulsations is reviewed. Traditionally, the attention of researchers was focused on the effects of resonant interaction of geomagnetic pulsations with small groups of energetic particles, which actually means the study of the quasi-linear relaxation of radiation belt ions, the modulation of auroral electron fluxes, etc. The present review concentrates on the problem of the nonlinear effect influence of pulsations on the backgroud (cold) plasma and on the geomagnetic field. This kind of interaction results in a significant modification of the plasma distribution in the magnetosphere. Self-consistent wave structures—solitons and vortices may occur as well. Such nonlinear effects contribute to physics of geomagnetic pulsations and are also of fundamental importance for general physics. Another set of more narrow problems considered in the review, is related to phenomenological modeling of fluctuational and critical phenomena in the magnetosphere. The essence of our approach is to present the magnetosphere as a black box, whose properties should be determined by the statistical characteristics of its output signals. This approach to phenomenology can be a useful supplement to the methods of microscopic modeling aimed at detecting nonlinear manifestations of geomagnetic pulsations.     

Steady magnetospheric convection: A review of recent results

Theoretical pressure balance arguments have implied that steady convection is hardly possible in the terrestrial magnetotail and that steady energy input necessarily generates a cyclic loading-unloading sequence, i.e., repetitive substorms. However, observations have revealed that enhanced solar wind energy input to the magnetospheric system may either lead to substorm activity or enhanced but steady convection. This topic is reviewed with emphasis on several recent case studies of the Steady Magnetospheric Convection (SMC) events. In these cases extensive data sets from both satellite and ground-based instruments from various magnetospheric and ionospheric regions were available.Accurate distinction of the spatial and temporal scales of the magnetospheric processes is vital for correct interpretation of the observations during SMC periods. We show that on the large scale, the magnetospheric configuration and plasma convection are stable during SMC events, but that both reveal considerable differences from their quiet-time assemblies. On a shorter time scale, there are numerous transient activations which are similar to those found during substorms, but which presumably originate from a more distant tail reconnection process, and map to the poleward boundary of the auroral oval. The available observations and the unresolved questions are summarized here.The tail magnetic field during SMC events resembles both substorm growth and recovery phases in the neartail and midtail, respectively, but this configuration may remain stable for up to ten hours. Based on observations and model results we discuss how the magnetospheric system avoids pressure balance problems when the plasma convects earthward.Finally, the importance of further coordinated studies of SMC events is emphasized. Such studies may shed more light on the substorm dynamics and help to verify quantitatively the theoretical models of the convecting magnetosphere.     

The Lightning And Radio Emission Detector (LRD) instrument

The Lightning and Radio Emission Detector (LRD) instrument will be carried by the Galileo Probe into Jupiter's atmosphere. The LRD will verify the existence of lightning in the atmosphere and will determine the details of many of its basic characteristics. The instrument, operated in its magnetospheric mode at distances of about 5, 4, 3, and 2 planetary radii from Jupiter's center, will also measure the radio frequency (RF) noise spectrum in Jupiter's magnetosphere. The LRD instrument is composed of a ferritecore radio frequency antenna ( 100 Hz to 100 kHz) and two photodiodes mounted behind individual fisheye lenses. The output of the RF antenna is analyzed both separately and in coincidence with the optical signals from the photodiodes. The RF antenna provides data both in the frequency domain (with three narrow-band channels, primarily for deducing the physical properties of distant lightning) and in the time domain with a priority scheme (primarily for determining from individual RF waveforms the physical properties of closeby-lightning).     

Study of maximum electron density NmF2 at Karachi and Islamabad during solar minimum (1996) and solar maximum (2000) and its comparison with IRI

The monthly hourly medians of maximum electron density, N_mF₂, at two Pakistani ionospheric stations, Karachi and Islamabad, have been determined for solar minimum (1996) and solar maximum (2000) and compared with IRI predictions using the URSI coefficients. At night and pre-noon period the N_mF₂ values at both stations are almost equal during the 2 years. However, at post-noon the values at Karachi are considerably larger than those at Islamabad due to the equatorial or geomagnetic anomaly. Karachi (geomag. coord. 16.44°N, 139.08°E) lies near the region of the equatorial anomaly (+20 and −20 geomagnetic latitude), so most of the N_mF₂ values at Karachi are larger than those at Islamabad (geomag. coord. 24.46°N, 145.67°E). The maximum monthly values of N_mF₂ show a semi-annual variation at Karachi and Islamabad both during 1996 and 2000 as predicted by IRI.     

An assessment of galactic cosmic radiation quality considering heavy ion track structures within the cellular environment.

Beyond the magnetic influence of the Earth, the flux of galactic cosmic radiation (GCR) represents a radiological concern for long-term manned space missions. Current concepts of radiation quality and equivalent dose are inadequate for accurately specifying the relative biological "efficiency" of low doses of such heavily ionising radiations, based as they are on the single parameter of Linear Energy Transfer (LET). Such methods take no account of the mechanisms, nor of the highly inhomogeneous spatial structure, of energy deposition in radiation tracks. DNA damage in the cell nucleus, which ultimately leads to the death or transformation of the cell, is usually initiated by electrons liberated from surrounding molecules by the incident projectile ion. The characteristics of these emitted "delta-rays", dependent primarily upon the charge and velocity of the ion, are considered in relation to an idealised representation of the cellular environment. Theoretically calculated delta-ray energy spectra are multiplied by a series of weighting algorithms designed to represent the potential for DNA insult in this environment, both in terms of the quantity and quality of damage. By evaluating the resulting curves, and taking into account the energy spectra of heavy ions in space, a relative measure of the biological relevance of the most abundant GCR species is obtained, behind several shielding configurations. It is hoped that this method of assessing the radiation quality of galactic cosmic rays will be of value when considering the safety of long-term manned space missions.     

The 2.5 to 5 microns spectrum of comet Halley from the IKS instrument of Vega

Results of the 2.5–5 micron spectroscopic channel of the IKS instrument on Vega are reported and the data reduction process is described. H₂O and CO₂ molecules have been detected with production rates of 10³⁰ s⁻¹ and 1.5 10²⁸ s⁻¹ respectively. Emission features between 3.3 and 3.7 microns are tentatively attributed to CH - bearing compounds - CO is marginally detected with a mixing ratio CO/H₂O 0.2. OH emission and H₂O - ice absorption might also be present in the spectra.     

Study of cosmic rays and light flashes on board Space Station MIR: the SilEye experiment.

The SilEye experiment aims to study the cause and processes related to the anomalous Light Flashes (LF) perceived by astronauts in orbit and their relation with Cosmic Rays. These observations will be also useful in the study of the long duration manned space flight environment. Two PC-driven silicon detector telescopes have been built and placed aboard Space Station MIR. SilEye-1 was launched in 1995 and provided particles track and LF information; the data gathered indicate a linear dependence of FLF(Hz) ( 4 2) 10(3) 5.3 1.7 10(4) Fpart(Hz) if South Atlantic Anomaly fluxes are not included. Even though higher statistic is required, this is an indication that heavy ion interactions with the eye are the main LF cause. To improve quality and quantity of measurements, a second apparatus, SilEye-2, was placed on MIR in 1997, and started work from August 1998. This instrument provides energetic information, which allows nuclear identification in selected energy ranges; we present preliminary measurements of the radiation field inside MIR performed with SilEye-2 detector in June 1998.     

Metabolic changes in rats subjected to space flight for 18.5 days in the biosatellite Cosmos 936

From an investigation of the activity of six glucocorticoid dependent liver enzymes, the existence of chronic, transient, stress-induced hypercorticosteronaemia during flight is probable. This hypercorticosteronaemia arises from weightlessness and induces gluconeogenesis. Weightlessness also caused substantial increases in liver glycogen level. The increased lipolytic activity and that of lipoprotein lipase in several groups of animals could be interpreted as enhancement of fat mobilization and utilization under the influence of stress. As this latter enhancement was also found in ground-based controls, it may have been due to the stress of handling rather than to space flight per se.