Transition from Centroid-Based to Landmark-Based Optical Navigation During OSIRIS-REx Navigation Campaign at Asteroid Bennu
No abstract available
Adam, Coralie D.↗
Engineering topics
Gaskell, Robert W.
Publications and source records attributed to Gaskell, Robert W..
Surface Modeling to Support Small-Body Spacecraft Exploration and Proximity Operations
In order to simulate physically plausible surfaces that represent geologically evolved surfaces, demonstrating demanding surface-relative guidance navigation and control (GN&C) actions, such surfaces must be made to mimic the geological processes themselves. A report describes how, using software and algorithms to model body surfaces as a series of digital terrain maps, a series of processes was put in place that evolve the surface from some assumed nominal starting condition. The physical processes modeled in this algorithmic technique include fractal regolith substrate texturing, fractally textured rocks (of empirically derived size and distribution power laws), cratering, and regolith migration under potential energy gradient. Starting with a global model that may be determined observationally or created ad hoc, the surface evolution is begun. First, material of some assumed strength is layered on the global model in a fractally random pattern. Then, rocks are distributed according to power laws measured on the Moon. Cratering then takes place in a temporal fashion, including modeling of ejecta blankets and taking into account the gravity of the object (which determines how much of the ejecta blanket falls back to the surface), and causing the observed phenomena of older craters being progressively buried by the ejecta of earlier impacts. Finally, regolith migration occurs which stratifies finer materials from coarser, as the fine material progressively migrates to regions of lower potential energy.
Riedel, Joseph E.↗
High Resolution Global Topography of Itokawa from Hayabusa Imaging and LIDAR Data
This viewgraph document reviews the topography of the Itokawa asteroid. It summarizes some of the relevant information about the asteroid, and how using the imaging from Hayabusa and LIDAR data, a topographic image of Itokawa was derived.
Itokawa asteroid↗
High Resolution Global Topography of Eros from NEAR Imaging and LIDAR Data
Principal Data Products: Ensemble of L-maps from SPC, Spacecraft state, Asteroid pole and rotation. Secondary Products: Global topography model, inertia tensor, gravity. Composite high resolution topography. Three dimensional image maps.
LIDAR↗
Landmark navigation and target characterization in a simulated Itokawa encounter
A simulated asteroid Itokawa was constructed from Ostro's latest radar model adding craters, rocks and fractal surfacing. Images were constructed from this model with known spacecraft positions and orientations, and asteroid pole and shape as 'ground truth', using available values for the Hayabusa camera parameters, and following the proposed encounter scenario.
stereophotoclinometry↗
Small body simulations for navigation approach and landing
Small body simulations have played a significant role in the planning and development of many recent missions to asteroids and comets.
simulation↗
High resolution shape and topography of Eros - preliminary results from NEAR imaging data
Explore the source record for details and available documents.
Eros↗
Martian surface simulations
Computer generated surfaces have been created to aid in imaging, landing and rover studies for Mars and the moon. They are also being applied to the study of cratering histories. The surfaces are generated in steps which attempt to mimic geologic episodes. Surface roughness is realized fractally, while craters and other specific features have shapes and distributions dictated by observation. Surface materials are assigned appropriate albedos, making the images more realistic. With the inclusion of correlations between crater and rock distributions, the simulations are beginning to acquire a predictive capability.
Gaskell, Robert W.↗
Confirmation of saturation equilibrium conditions in crater populations
We have continued work on realistic numerical models of cratered surfaces, as first reported at last year's LPSC. We confirm the saturation equilibrium level with a new, independent test. One of us has developed a realistic computer simulation of a cratered surface. The model starts with a smooth surface or fractal topography, and adds primary craters according to the cumulative power law with exponent -1.83, as observed on lunar maria and Martian plains. Each crater has an ejecta blanket with the volume of the crater, feathering out to a distance of 4 crater radii. We use the model to test the levels of saturation equilibrium reached in naturally occurring systems, by increasing crater density and observing its dependence on various parameters. In particular, we have tested to see if these artificial systems reach the level found by Hartmann on heavily cratered planetary surfaces, hypothesized to be the natural saturation equilibrium level. This year's work gives the first results of a crater population that includes secondaries. Our model 'Gaskell-4' (September, 1992) includes primaries as described above, but also includes a secondary population, defined by exponent -4. We allowed the largest secondary from each primary to be 0.10 times the size of the primary. These parameters will be changed to test their effects in future models. The model gives realistic images of a cratered surface although it appears richer in secondaries than real surfaces are. The effect of running the model toward saturation gives interesting results for the diameter distribution. Our most heavily cratered surface had the input number of primary craters reach about 0.65 times the hypothesized saturation equilibrium, but the input number rises to more than 100 times that level for secondaries below 1.4 km in size.
Hartmann, William K.↗
Large-scale topography of Io - Implications for internal structure and heat transfer
Recent stereographic methods have been applied to Voyager 1 images in order to determine the shape and large-scale topography of Io. The best triaxial figure of semiaxes of 1830.0, 1818.7, and 1815.3 kilometers is consistent with a differentiated satellite in hydrostatic equilibrium. It is suggested that many of the broad topographic swells and basins noted may be due to isostatic responses to thermal changes in the lithosphere-asthenosphere system. Results support the picture of increasing heat flow converting the basal lithosphere into a lower-density asthenosphere, resulting in isostatic uplift. It is shown that lithospheric thicknesses ranging from 5-100 km may results in elevation variations of up to 1 km.
Gaskell, Robert W.↗