Mr. Edward F. Romero Profile

Edward F. Romero

at Sandia National Labs

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Proceedings Article | 12 August 2009 Paper

Laser tracker TSPI uncertainty quantification via centrifuge trajectory

Edward Romero, Thomas Paez, Timothy Brown, Timothy Miller

Proceedings Volume 7463, 74630H (2009) https://doi.org/10.1117/12.824385

KEYWORDS: Computer programming, Atmospheric turbulence, Cameras, Onboard cameras, Digital imaging, Imaging systems, Error analysis, Fourier transforms, Digital cameras, Velocity measurements

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Sandia National Laboratories currently utilizes two laser tracking systems to provide time-space-position-information (TSPI) and high speed digital imaging of test units under flight. These laser trackers have been in operation for decades under the premise of theoretical accuracies based on system design and operator estimates. Advances in optical imaging and atmospheric tracking technology have enabled opportunities to provide more precise six degree of freedom measurements from these trackers. Applying these technologies to the laser trackers requires quantified understanding of their current errors and uncertainty. It was well understood that an assortment of variables contributed to laser tracker uncertainty but the magnitude of these contributions was not quantified and documented. A series of experiments was performed at Sandia National Laboratories large centrifuge complex to quantify TSPI uncertainties of Sandia National Laboratories laser tracker III. The centrifuge was used to provide repeatable and economical test unit trajectories of a test-unit to use for TSPI comparison and uncertainty analysis. On a centrifuge, testunits undergo a known trajectory continuously with a known angular velocity. Each revolution may represent an independent test, which may be repeated many times over for magnitudes of data practical for statistical analysis. Previously these tests were performed at Sandia's rocket sled track facility but were found to be costly with challenges in the measurement ground truth TSPI. The centrifuge along with on-board measurement equipment was used to provide known ground truth position of test units. This paper discusses the experimental design and techniques used to arrive at measures of laser tracker error and uncertainty.

Proceedings Article | 20 August 2008 Paper

Application of stereo laser tracking methods for quantifying flight dynamics-II

Timothy Miller, Edward Romero, Hubert Schreier, Michael Valley

Proceedings Volume 7090, 709003 (2008) https://doi.org/10.1117/12.795959

KEYWORDS: Digital image correlation, Cameras, Computer programming, Calibration, Imaging systems, Speckle pattern, Image processing, Missiles, Onboard cameras, Distortion

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Conventional tracking systems measure time-space-position data and collect imagery to quantify the flight dynamics of tracked targets. A major obstacle that severely impacts the accuracy of the target characterization is atmospheric turbulence induced distortion of the tracking laser beam and imagery degradations. Tracking occurs in a continuously changing atmosphere resulting in rapid variations in the tracking laser beam and distorted imagery. These atmospheric effects, combined with other degradation effects such as measurement system motion, defocus blur, and spatially varying noise, severely limit the viability and accuracy of many tracking and imagery-based analysis methods. In 2007, using a high speed sled test, the feasibility of quantifying flight dynamics with stereo laser tracking and multi-video imagery was demonstrated. The technique acquires stereo views (two or more) of a moving test article that has an applied random speckle (dot) pattern painted on the surface to provide unique tracking points. The stereo views are reconciled via coordinate transformations and correlation of the transformed images. The 2007 results demonstrated that dual laser tracker data can be used to update camera calibration data for stereo imaging to extend the image correlation approach to moving field of view applications such as missile tracking and missile performance characterization, e.g., attitude measurements. However, these results were predominantly qualitative in nature, focusing on the degree of correlation. This paper will present quantitative results from 2008 outdoor centrifuge tests and assess the digital image correlation accuracy for time varying attitude and position measurements.

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