1998 - Draper Laboratory

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Guidance, Navigation, and Control Autonomy: Just as miniature applications have been(GN&C): those words epitomize enabled by modern electronics, autonomy is being enabledDraper Laboratory and represent those by powerful yet inexpensive computers capable oftechnologies required to make systems performing the complex decision and control tasksperform such useful functions as fly to otherwise performed by human operators. Autonomousthe moon, launch satellites to system needs are being driven by economic and safetyprescribed orbits, accurately point satellite antennas, factors. Key applications include the Air Forceautonomously fly helicopters in surveillance missions, sailsubmarines autonomously in long-duration missions, orguide competent munitions accurately.Uninhabited Combat Aircraft (UCAV) and robust abortsfor reusable launch rockets. The successful developmentof autonomous systems will require a wide range oftechnologies. These new levels of autonomy are a naturalWe are proud to perform vital functions in theextension of our traditional GN&C role.development of these systems: concept development,The following six papers authored by the GN&C technicaltrade studies, requirements analyses, and algorithmstaff show the breadth and depth of our technical work:development to achieve GN&C functions for modernnaval and aerospace systems. We use advancedmathematical methods, modern computer tools, andhigh-fidelity simulations to develop our ideas, validateour designs, and support their implementation inchallenging first-of-the-kind applications.“An Integrated Safety Analysis Methodology for EmergingAir Transport Technologies,” by D. Allinger, G. Rosch, andJ. Kuchar (MIT) explains a reliability model analysis andsimulation tool that gives NASA, the FAA, and the airlineindustry one means to investigate a complex problemfacing our air traffic industry.Three trends are driving modern GN&C applications:C. D’Souza developed and evaluated a new guidance lawcomplexity, miniaturization, and autonomy.approach in his paper “An Optimal Guidance Law forComplexity: Complexity affects us in the increasingly large Planetary Landing.”number of design parameters and in what must be taken“A Control Lyapunov Function Approach to Robustinto account to achieve the demanding performanceStabilization of Nonlinear Systems,” by M. McConley, B.requirements of modern applications. For example, theAppleby, and M. Dahleh and E. Feron (MIT) describes aspace station attitude controller is made “complex” by thesystematic approach to generate a nonlinear control law,need to consider the high-order solar panel flex modedynamics.Complexity trends cause us to devise computer-basedmethods to develop suitable GN&C system designs.Indeed, we are able to develop complex systemssuccessfully because of the rapid advances in real-timecomputer technology.which gives locally optimal performance and is provablyrobust to bounded disturbances.“Relative and Differential GPS Data Transfer and ErrorAnalysis,” by R. Phillips explicitly defines high-performanceGPS measurement processing approaches, their performancecharacteristics, and their domain of applicability.Draper is performing fundamental research intoMiniaturization: Modern electronics and sensor methods for extracting image information and we aretechnologies enable complex functions to be achieved invery small packages. Today’s guidance systems are 10,000times smaller than those of 40 years ago—a trend that islikely to continue. Everyday, new applications becomeplausible and challenge our designers to model the uniquecharacteristics of these applications and devise innovativeways to solve specialized problems in areas such ascompetent munitions, personal navigators, hypervelocityapplying those methods to medical imaging as well asaerospace problems. “Segmentation of MR Images UsingCurve Evolution and Prior Information” by H. Pien, M.Desai, and J. Shah (Northeastern) illustrates oneapplication.“INS/GPS Technology Trends for Military Systems,” byG. Schmidt, Director of Draper’s Guidance TechnologyCenter, details the future of military navigation systemsvehicles, microsats, and biomedical instrumentation.Introductionapplications and their underlying drivers.
BiographyGeorge SchmidtGeorge Schmidt began his career at Draper in 1961 as a part-time undergraduate studentemployee, then became a research assistant, and finally a member of the technical staff in 1965. Heis currently Director of the Guidance Technology Center and Associate Director of Guidance,Navigation, and Control. His major activities have been in GN&C system design for missiles,aircraft, and manned spacecraft; Kalman filtering applications; and integration techniques for highresolutionsynthetic aperture radars, Global Positioning Systems (GPS), and inertial sensors. Since1968 he has served the NATO Advisory group for Aerospace Research and Development in manypositions, including as a U.S. member of the Guidance and Control Panel. He has participated inseveral U.S. Department of Defense committees, the two most recent being the DDR&E PrecisionStrike Architecture Study and the Defense Science Board Task Force on GPS. He has a facultyappointment as a Lecturer in Aeronautics and Astronautics at MIT. He is a member of the AmericanInstitute of Aeronautics and Astronautics, the Institute of Electrical and Electronics Engineers, andthe Institute of Navigation. He is an elected member of the Russian Federation, Academy of Navigation and Motion Control. Mr. Schmidt is anauthor or contributing author of more than 60 technical papers and reports, encyclopedia articles, and textbooks. He is the Editor-in-Chief of theAIAA Journal of Guidance, Control, and Dynamics. He received SB and SM degrees in Aeronautics and Astronautics from the Massachusetts Instituteof Technology and an ScD in Instrumentation also from the Massachusetts Institute of Technology.e-mail: gschmidt@draper.comINS/GPS Technology Trends for Military Systems /Biography1
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Letter from thePresident and CEO,Vi
Page 4 and 5: Information TechnologyMilton AdamsE
Page 6 and 7: BiographyMilton Adams has been at D
Page 9 and 10: Figure 1 represents a functional de
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Page 15 and 16: Table 2. ATFM performance evaluatio
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Page 31 and 32: References[1] Ball, J.A. and A.J. v
Page 35 and 36: Relative and Differential GPSData T
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Page 49 and 50: Experimental ResultsThe results of
Page 51 and 52: Table 1. A summary of segmentation
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Page 67 and 68: Concluding RemarksRecent progress i
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BiographyJeffrey Borenstein is curr
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process step. Process information i
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Figure 4. Control chart for boron d
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References[1] Barbour, N., J. Conne
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Draper Laboratory continues to engi
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Validating the Validating Tool:Defi
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calculates miscellaneous terms, suc
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Table 1. Suggested specification sh
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User Accuracy as aFunction of Simul
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20-min averaging, this clock lockin
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Table 2. Sample high-level summary
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AcknowledgmentR.L. Greenspan, J.A.
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Systems IntegrationRich MartoranaPe
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BiographyAnthony Kourepenis is an A
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control is employed to maintain the
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Table 1. Summary of automotive yaw
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Resolution (60 Hz) deg/h10000000100
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References[1] Greiff, P., B. Boxenh
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Guidance, Navigation, and Control A
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An Integrated Safety AnalysisMethod
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Infrastructure ModelsSystemRequirem
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Figures 6 and 7 illustrate the bloc
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Notice that each flight track descr
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Table 7. Safety statistics at 1700-
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Guidance, Navigation, and Control A
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An Optimal Guidance Law forPlanetar
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Note that the states in the three d
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Crossrange (Kft)10090807060504030Cl
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The 1997 Charles StarkDraper PrizeT
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The 1997 Charles StarkDraper Prize1
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“Draper encourages its personnel
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Gimballed Vibrating GyroscopeHaving
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Optical Source Isolator withPolariz
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Hunting Suppressor forPolyphase Ele
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Sensor Having an Off-Frequency Driv
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proof mass from transients and enha
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1997 Published PapersThe following
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monitoring of space structures and
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measured by kinematic degrees of fr
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i.e., what percent of the earth’s
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McConley, M. W.; Dahleh, M. A.; Fer
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unaffordable, or even misguided. Bu
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The Draper DistinguishedPerformance
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Educational Activitiesat Draper Lab
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1998 - Draper Laboratory

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