{"project":{"acronym":"","projectId":9849,"title":"Advanced Filtering Techniques Applied to Spaceflight","primaryTaxonomyNodes":[{"taxonomyNodeId":10978,"taxonomyRootId":8816,"parentNodeId":10973,"level":3,"code":"TX17.2.5","title":"Rendezvous, Proximity Operations, and Capture Sensor Processing and Processors","definition":"This area includes all types of sensor processing algorithms, software, and firmware, to convert raw sensor data into relative navigation measurements, including range, bearing, relative position, relative velocity or Doppler, accelerations, and relative position and attitude (pose). This area also includes algorithms necessary for calibration of sensors, and for the control of sensors (i.e. automatic gain control). This area also includes compute elements specifically designed to accommodate rendezvous and capture measurement processing.","exampleTechnologies":"Vis. Cam. Vehicle Centroid/Bearing; IR cam. Vehicle Centroid/Bearing; Retroreflector Centroid/Bearing; Landmark (i.e. crater) Bearing; Terrain Feature Bearing; Laser Retro Range & Bearing; Laser Vehicle Range & Bearing; Relative GPS (LEO); Relative GPS Beyond LEO; Coop RF Range, Doppler (Veh-to-Veh); Coop RF bearing (veh-to-veh); Non-Coop RF Range, Bearing, Doppler (Veh-to-Veh); Marman Ring tracking; Illum Retro 2D Image 6DOF pose; Coop LIDAR 6DOF pose; Coop Vis. Cam. 6DOF pose; Coop. RF/Radar pose; Non-Coop. Vis. Cam. 6DOF pose; Non-Coop. Stereo Vis 6DOF Pose; Non-Coop. IR Cam. 6DOF pose; Non-Coop. LIDAR-based 6DOF pose; Non-Coop. RF-based 6DOF pose; Terrain-Relative Visible 6DOF pose; Terrain-Relative LIDAR 6DOF pose; Camera Automatic Gain Control (AGC); High performance space flight computing elements; Relative Navigation Sensor imbedded pose and terrain-relative navigation processing; LIDAR calibration; IR Camera calibration","hasChildren":false,"hasInteriorContent":true}],"startTrl":2,"currentTrl":3,"endTrl":3,"benefits":"Most of the applications for NASA apply here as well. Once packaged, these algorithms will provide a powerful tool to spacecraft designers and will be easy to implement and test. IST-Rolla strives to make all commercial products as user friendly, and applicable in as many cases as possible. Furthermore, these set of algorithms along with the EKF, the unscented Kalman filter will be made into a tool box that can be sold to educational organizations for teaching courses on estimation and orbit determination as well as companies like aerospace, automotive industry for use in design.
The algorithms provided by IST-Rolla, the theta-D, CBF and neural network estimator, will be set up so that the end user can provide the current estimate and the measurements, then the filter will adjust to those measurements and provide an estimate. This will be packaged into a C code, and an attempt will be made to create a filtering toolbox for MATLAB as well. These steps will allow the end user to apply and adapt these filters and with the analysis provided by IST-Rolla in Phase I and Phase II, the user will know exactly what to expect from the algorithms. The accuracy and efficiency will be a valuable asset to NASA's repertoire of orbit determination technologies.","description":"IST-Rolla developed two nonlinear filters for spacecraft orbit determination during the Phase I contract. The theta-D filter and the cost based filter, CBF, were developed and used in various orbit determination scenarios. The scenarios were application to low Earth orbit, range only, and range and range rate estimation. The modified state observer was also developed to estimate uncertainty in the dynamic model besides estimation of orbital states. Phase I research showed that there is a problem with the linear-like form that is used by many nonlinear filters such as the State Dependant Riccati Equation filter (SDRE filter), and the theta-D and CBF. A study of the observability led to important discoveries about the lack of observabilty in some formulations. Detailed study of the working of the proposed nonlinear filters in terms of observability and their application to more precise orbit determination and model uncertainty estimation will be undertaken in Phase II. Also learned from Phase I, IST-Rolla will focus more on how and where these nonlinear filters can help NASA. There will be three main applications studied during Phase II: interplanetary orbit determination, space debris tracking, and interplanetary landing spacecraft tracking. These applications were chosen because of their relevance to current NASA missions and the nonlinearity of the measurements involved should show the need for the nonlinear filters. Furthermore, working algorithms and software will be given to NASA to test on ongoing applications.","startYear":2011,"startMonth":6,"endYear":2013,"endMonth":12,"statusDescription":"Completed","principalInvestigators":[{"contactId":207327,"canUserEdit":false,"firstName":"Jason","lastName":"Searcy","fullName":"Jason Searcy","fullNameInverted":"Searcy, Jason","primaryEmail":"jsearcy@istrolla.com","publicEmail":true,"nacontact":false}],"programDirectors":[{"contactId":206378,"canUserEdit":false,"firstName":"Jason","lastName":"Kessler","fullName":"Jason L Kessler","fullNameInverted":"Kessler, Jason L","middleInitial":"L","primaryEmail":"jason.l.kessler@nasa.gov","publicEmail":true,"nacontact":false}],"programExecutives":[{"contactId":215154,"canUserEdit":false,"firstName":"Jennifer","lastName":"Gustetic","fullName":"Jennifer L Gustetic","fullNameInverted":"Gustetic, Jennifer L","middleInitial":"L","primaryEmail":"jennifer.l.gustetic@nasa.gov","publicEmail":true,"nacontact":false}],"programManagers":[{"contactId":62051,"canUserEdit":false,"firstName":"Carlos","lastName":"Torrez","fullName":"Carlos Torrez","fullNameInverted":"Torrez, Carlos","primaryEmail":"carlos.torrez@nasa.gov","publicEmail":true,"nacontact":false}],"projectManagers":[{"contactId":3164253,"canUserEdit":false,"firstName":"Chris","lastName":"Dsouza","fullName":"Chris Dsouza","fullNameInverted":"Dsouza, Chris","primaryEmail":"chris.dsouza-1@nasa.gov","publicEmail":true,"nacontact":false},{"contactId":461333,"canUserEdit":false,"firstName":"Theresa","lastName":"Stanley","fullName":"Theresa M Stanley","fullNameInverted":"Stanley, Theresa M","middleInitial":"M","primaryEmail":"theresa.m.stanley@nasa.gov","publicEmail":true,"nacontact":false}],"website":"","libraryItems":[],"transitions":[{"transitionId":65878,"projectId":9849,"partner":"Other","transitionDate":"2011-06-01","path":"Advanced From","relatedProjectId":8482,"relatedProject":{"acronym":"","projectId":8482,"title":"Advanced Filtering Techniques Applied to Spaceflight","startTrl":1,"currentTrl":3,"endTrl":3,"benefits":"Most of the applications for NASA apply here as well. Once packaged, these algorithms will provide a powerful tool to spacecraft designers and will be easy to implement and test. IST-Rolla strives to make all commercial products as user friendly, and applicable in as many cases as possible. Furthermore, these set of algorithms along with the EKF, the unscented Kalman filter will be made into a tool box that can be sold to educational organizations for teaching courses on estimation and orbit determination.
The algorithms provided by IST-Rolla, the theta-D, CBF and neural network estimator, will be set up so that the end user can provide the current estimate and the measurements, then the filter will adjust to those measurements and provide an estimate. This will be packaged into a C code, and an attempt will be made to create a filtering toolbox for MATLAB as well. These steps will allow the end user to apply and adapt these filters and with the analysis provided by IST-Rolla in Phase I and Phase II, the user will know exactly what to expect from the algorithms. The accuracy and efficiency will be a valuable asset to NASA's repertoire of orbit determination technologies.","description":"Spacecraft need accurate position and velocity estimates in order to control their orbits. Some missions require more accurate estimates than others, but nearly all missions need some type of orbit determination. IST-Rolla seeks to provide highly accurate algorithms that do not overpower the spacecraft's computer. Many new, powerful algorithms exist such as the particle filter and the unscented Kalman filter, but most of them involve integrating several state vectors, and those integrations devour the computing power available. IST-Rolla will implement the รจ-D technique, the cost based filter (CBF), and the neural network estimator for orbit determination(developed by IST-Rolla Engineers) and analyze the results. These filters are nonlinear and might provide better accuracy than the extended Kalman filter (EKF) which is widely used, without being computationally cumbersome as the particle filter and unscented Kalman filter. The theta-D technique approximates the solution to the filter-related Ricatti Equation. The CBF is an attempt to formulation of the filter under an 'optimal' framework. The neural network estimator works to estimate the modeling errors online so that the estimates become more accurate.","startYear":2010,"startMonth":1,"endYear":2010,"endMonth":7,"statusDescription":"Completed","website":"","program":{"acronym":"SBIR/STTR","active":true,"description":"
The NASA SBIR and STTR programs fund the research, development, and demonstration of innovative technologies that fulfill NASA needs as described in the annual Solicitations and have significant potential for successful commercialization. If you are a small business concern (SBC) with 500 or fewer employees or a non-profit RI such as a university or a research laboratory with ties to an SBC, then NASA encourages you to learn more about the SBIR and STTR programs as a potential source of seed funding for the development of your innovations.
The SBIR and STTR programs have 3 phases:
The SBIR and STTR Phase I contracts last for 6 months with a maximum funding of $125,000, and Phase II contracts last for 24 months with a maximum funding of $750,000 - $1.5 million.
Opportunity for Continued Technology Development Post-Phase II:
The NASA SBIR/STTR Program currently has in place two initiatives for supporting its small business partners past the basic Phase I and Phase II elements of the program that emphasize opportunities for commercialization. Specifically, the NASA SBIR/STTR Program has the Phase II Enhancement (Phase II-E) and Phase II eXpanded (Phase II-X) contract options.
Please review the links below to obtain more information on the SBIR/STTR programs.
Provides an overview of the SBIR and STTR programs as implemented by NASA
Provides access to the annual SBIR/STTR Solicitations containing detailed information on the program eligibility requirements, proposal instructions and research topics and subtopics
Schedule and links for the SBIR/STTR solicitations and selection announcements
Federal and non-Federal sources of assistance for small business
Search our complete archive of awarded project abstracts to learn about what NASA has funded
Still have questions? Visit the program FAQs
","programId":73,"responsibleMd":{"acronym":"STMD","canUserEdit":false,"city":"","external":false,"linkCount":0,"organizationId":4875,"organizationName":"Space Technology Mission Directorate","organizationType":"NASA_Mission_Directorate","naorganization":false,"organizationTypePretty":"NASA Mission Directorate"},"responsibleMdId":4875,"stockImageFileId":36648,"title":"Small Business Innovation Research/Small Business Tech Transfer"},"lastUpdated":"2024-1-10","releaseStatusString":"Released","viewCount":410,"endDateString":"Jul 2010","startDateString":"Jan 2010"},"infoText":"Advanced from another project within the program","infoTextExtra":"Another project within the program (Advanced Filtering Techniques Applied to Spaceflight)","dateText":"June 2011"},{"transitionId":65879,"projectId":9849,"transitionDate":"2013-12-01","path":"Closed Out","closeoutDocuments":[{"title":"Final Summary Chart","file":{"fileExtension":"pdf","fileId":305993,"fileName":"SBIR_2009_2_FSC_O4.04-8246","fileSize":204220,"objectId":65879,"objectType":{"lkuCodeId":1841,"code":"TRANSITION_FILES","description":"Transition Files","lkuCodeTypeId":182,"lkuCodeType":{"codeType":"OBJECT_TYPE","description":"Object Type"}},"fileSizeString":"199.4 KB"},"transitionId":65879,"fileId":305993}],"infoText":"Closed out","infoTextExtra":"","dateText":"December 2013"}],"responsibleMd":{"acronym":"STMD","canUserEdit":false,"city":"","external":false,"linkCount":0,"organizationId":4875,"organizationName":"Space Technology Mission Directorate","organizationType":"NASA_Mission_Directorate","naorganization":false,"organizationTypePretty":"NASA Mission Directorate"},"program":{"acronym":"SBIR/STTR","active":true,"description":"The NASA SBIR and STTR programs fund the research, development, and demonstration of innovative technologies that fulfill NASA needs as described in the annual Solicitations and have significant potential for successful commercialization. If you are a small business concern (SBC) with 500 or fewer employees or a non-profit RI such as a university or a research laboratory with ties to an SBC, then NASA encourages you to learn more about the SBIR and STTR programs as a potential source of seed funding for the development of your innovations.
The SBIR and STTR programs have 3 phases:
The SBIR and STTR Phase I contracts last for 6 months with a maximum funding of $125,000, and Phase II contracts last for 24 months with a maximum funding of $750,000 - $1.5 million.
Opportunity for Continued Technology Development Post-Phase II:
The NASA SBIR/STTR Program currently has in place two initiatives for supporting its small business partners past the basic Phase I and Phase II elements of the program that emphasize opportunities for commercialization. Specifically, the NASA SBIR/STTR Program has the Phase II Enhancement (Phase II-E) and Phase II eXpanded (Phase II-X) contract options.
Please review the links below to obtain more information on the SBIR/STTR programs.
Provides an overview of the SBIR and STTR programs as implemented by NASA
Provides access to the annual SBIR/STTR Solicitations containing detailed information on the program eligibility requirements, proposal instructions and research topics and subtopics
Schedule and links for the SBIR/STTR solicitations and selection announcements
Federal and non-Federal sources of assistance for small business
Search our complete archive of awarded project abstracts to learn about what NASA has funded
Still have questions? Visit the program FAQs
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