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NASA NTRS2000

The Geoscience Laser Altimeter System (GLAS) for the ICESAT Mission

The Laser In space Technology Experiment, Shuttle Laser Altimeter and the Mars Observer Laser Altimeter have demonstrated accurate measurements of atmospheric backscatter and Surface heights from space. The recent MOLA measurements of the Mars surface have 40 cm vertical resolution and have reduced the global uncertainty in Mars topography from a few km to about 5 m. The Geoscience Laser Altimeter System (GLAS) is a next generation lidar for Earth orbit being developed as part of NASA's Icesat Mission. The GLAS design combines a 10 cm precision surface lidar with a sensitive dual wavelength cloud and aerosol lidar. GLAS will precisely measure the heights of the Earth's polar ice sheets, establish a grid of accurate height profiles of the Earth's land topography, and profile the vertical backscatter of clouds and aerosols on a global scale. GLAS is being developed to fly on a small dedicated spacecraft in a polar orbit with a 590 630 km altitude at inclination of 94 degrees. GLAS is scheduled to launch in the summer 2001 and to operate continuously for a minimum of 3 years with a goal of 5 years. The primary mission for GLAS is to measure the seasonal and annual changes in the heights of the Greenland and Antarctic ice sheets. GLAS will continuously measure the vertical distance from orbit to the Earth's surface with 1064 nm pulses from a ND:YAG laser at a 40 Hz rate. Each 5 nsec wide laser pulse is used to produce a single range measurement, and the laser spots have 66 m diameter and about 170 m center-center spacings. When over land GLAS will profile the heights of the topography and vegetation. The GLAS receiver uses a 1 m diameter telescope and a Si APD detector. The detector signal is sampled by an all digital receiver which records each surface echo waveform with I nsec resolution and a stored echo record lengths of either 200, 400, or 600 samples. Analysis of the echo waveforms within the instrument permits discrimination between cloud and surface echoes. Ground based echo analysis permits precise ranging, determining the roughness or slopes of the surface as well as the vertical distributions of vegetation illuminated by the laser. Accurate knowledge of the laser beam's pointing angle is needed to prevent height biases when over sloped surfaces. For surfaces with 2 deg. slopes, knowledge of pointing angle of the beam's centroid to about 8 urad is needed to achieve 10 cm height accuracy. GLAS uses a stellar reference system (SRS) to determine the pointing angle of each laser firing relative to inertial space. The SRS uses a high precision star camera oriented toward local zenith and a gyroscope to determine the inertial orientation of the SRS optical bench. The far field pattern of each laser is measured pulse relative to the star camera with a laser reference system (LRS). Optically measuring each laser far field pattern relative to the orientation of the star camera and gyroscope permits the precise pointing angle of each laser pulse to be determined. GLAS will also determine the vertical distributions of clouds and aerosols by measuring the vertical profile of laser energy backscattered by the atmosphere at both 1064 and 532 nm. The 1064 nm measurements use the Si APD detector and profile the height and vertical structure of thicker clouds. The measurements at 532 nm use new highly sensitive photon counting, detectors, and measure the height distributions of very thin Clouds and aerosol layers. With averaging these can be used to determine the height of the planetary boundary layer. The instrument design and expected performance will be discussed.

Abshire, James B.↗
NASA NTRS2002

GFO Altimeter Engineering Assessment Report

The U.S. Navy's Geosat Follow-On (GFO) Mission, launched on February 20, 1998, is one of a series of altimetric satellites which include Seasat, Geosat, ERS-1, and TOPEX/POSEIDON (T/P). The purpose of this report is to document the GFO altimeter performance determined from the analyses and results performed by NASA's GSFC and Wallops altimeter, calibration team. It is the second of an anticipated series of NASA's GSFC and Wallops GFO performance documents, each of which will update assessment results. This report covers the performance from instrument acceptance by the Navy on November 29, 2000, to the end of Cycle 20 on November 21, 2001. Data derived from GFO will lead to improvements in the knowledge of ocean circulation, ice sheet topography, and climate change. In order to capture the maximum amount of information from the GFO data, accurate altimeter calibrations are required for the civilian data set which NOAA will produce. Wallops Flight Facility has provided similar products for the Geosat and T/P missions and is doing the same for GFO.

Lockwood, Dennis W.↗
NASA NTRS2003

GFO Altimeter Engineering Assessment Report. Update: The First 43 Cycles Since Acceptance, November 29, 2000 to November 30, 2002, Version 1

The U.S. Navy's Geosat Follow-On (GFO) Mission, launched on February 20, 1998, is one of a series of altimetric satellites which include Seasat, Geosat, ERS-1, and TOPEX/POSEIDON (T/P). The purpose of this report is to document the GFO altimeter performance determined from the analyses and results performed by NASA's GSFC and Wallops altimeter, calibration team. It is the third of an anticipated series of NASA's GSFC and Wallops GFO performance documents, each of which will update assessment results. This report covers the performance from instrument acceptance by the Navy on November 29, 2000, to the end of Cycle 42 on November 30, 2002. Data derived from GFO will lead to improvements in the knowledge of ocean circulation, ice sheet topography, and climate change. In order to capture the maximum amount of information from the GFO data, accurate altimeter calibrations are required for the civilian data set which NOAA will produce. Wallops Flight Facility has provided similar products for the Geosat and T/P missions and is doing the same for GFO.

Hancock, D. W., III↗
NASA NTRS2003

Validating NASA's Airborne Multikilohertz Microlaser Altimeter (Microaltimeter) by Direct Comparison of Data Taken Over Ocean City, Maryland Against an Existing Digital Elevation Model

NASA's Airborne Multikilohertz Microlaser Altimeter (Microaltimeter) is a scanning, photon-counting laser altimeter, which uses a low energy (less than 10 microJuoles), high repetition rate (approximately 10 kHz) laser, transmitting at 532 nm. A 14 cm diameter telescope images the ground return onto a segmented anode photomultiplier, which provides up to 16 range returns for each fire. Multiple engineering flights were made during 2001 and 2002 over the Maryland and Virginia coastal area, all during daylight hours. Post-processing of the data to geolocate the laser footprint and determine the terrain height requires post- detection Poisson filtering techniques to extract the actual ground returns from the noise. Validation of the instrument's ability to produce accurate terrain heights will be accomplished by direct comparison of data taken over Ocean City, Maryland with a Digital Elevation Model (DEM) of the region produced at Ohio State University (OSU) from other laser altimeter and photographic sources. The techniques employed to produce terrain heights from the Microaltimeter ranges will be shown, along with some preliminary comparisons with the OSU DEM.

Abel, Peter↗
NASA NTRS2003

Geoscience Laser Altimeter System (GLAS) on the ICESat Mission: Initial Science Measurement Performance

The Geoscience Laser Altimeter System is the space lidar on the NASA ICESat mission. Its design combines an altimeter with 5 cm precision with a laser pointing angle determination system and a dual wavelength cloud and aerosol lidar. GLAS measures the range to the Earth s surface with 1064 nm laser pulses. Each laser pulse produces a precision pointing measurement from the stellar reference system (SRS) and an echo pulse waveform, which permits range determination and waveform spreading analysis. The single shot ranging accuracy is < 10 cm for ice surfaces with slopes < 2 degrees. GLAS also measures atmospheric backscatter profiles at both 1064 and 532 nm. The 1064 nm measurements use an analog Si APD detector and measure the height and profile the backscatter signal from thicker clouds. The measurements at 532 nm use photon counting detectors, and will measure the vertical height distributions of optically thin clouds and aerosol layers Before launch, the measurement performance of GLAS was evaluated using a lidar test instrument called the Bench Check Equipment (BCE). The BCE was developed in parallel with GLAS and served as an inverse altimeter, inverse lidar and a stellar source simulator. It was used to simulate the range of expected optical inputs to the GLAS receiver by illuminating its telescope with simulated background light as well as laser echoes with known powers, energy levels, widths and delay times. The BCE also allowed monitoring of the transmitted laser energy, the angle measurements of the SRS, the co-alignment of the transmitted laser beam to the receiver line of sight, and performance of the flight science algorithms. Performance was evaluated during the GLAS development, before and after environmental tests, and after delivery to the spacecraft. The ICESat observatory was launched into a 94 degree inclination, 590 km altitude circular polar orbit on January 12,2003. Beginning in early February, GLAS was powered on tested in stages. Its 1064 nm optical receiver was evaluated in a several tests using both solar background light and an internal test source. Laser 1 was activated on February 20,2003. GLAS operated with Laser 1 for 38 continuous days on orbit using its 1064 nm receiver channel, producing over 130 million individual laser measurements of the Earth s surface and atmosphere. These nadir-pointed measurements fell along the ICESat s ground track, and spanned more than 4 cycles of the initial 8-day ICESat repeat orbit. The initial GLAS measurement set shows strong echo pulses from ranging to the surface topography, oceans, ice sheets and cloud tops, as well as profiles of clouds and aerosols. The GLAS measurements have unprecedented vertical and angular resolution, and show nearly continuous height profiles of ice, land and ocean surfaces or cloud tops, as well profiles of backscatter from thin clouds and aerosol layers. Examples of these GLAS measurements and an initial assessment of its science measurement performance will be presented.

Abshire, James B.↗
NASA NTRS2003

Achieving and Validating the 1-centimeter Orbit: JASON-1 Precision Orbit Determination Using GPS, SLR, DORIS and Altimeter data

Jason-1, launched on December 7, 2001, is continuing the time series of centimeter level ocean topography observations as the follow-on to the highly successful TOPEX/POSEIDON (T/P) radar altimeter satellite. The precision orbit determination (POD) is a critical component to meeting the ocean topography goals of the mission. Jason-1 is no exception and has set a 1 cm radial orbit accuracy goal, which represents a factor of two improvement over what is currently being achieved for T/P. The challenge to precision orbit determination (POD) is both achieving the 1 cm radial orbit accuracy and evaluating and validating the performance of the 1 cm orbit. Fortunately, Jason-1 POD can rely on four independent tracking data types including near continuous tracking data from the dual frequency codeless BlackJack GPS receiver. In addition, to the enhanced GPS receiver, Jason-1 carries significantly improved SLR and DORIS tracking systems along with the altimeter itself. We demonstrate the 1 cm radial orbit accuracy goal has been achieved using GPS data alone in a reduced dynamic solution. It is also shown that adding SLR data to the GPS-based solutions improves the orbits even further. In order to assess the performance of these orbits it is necessary to process all of the available tracking data (GPS, SLR, DORIS and altimeter crossover differences) as either dependent or independent of the orbit solutions. It was also necessary to compute orbit solutions using various combinations of the four available tracking data in order to independently assess the orbit performance. Towards this end, we have greatly improved orbits determined solely from SLR+DORIS data by applying the reduced dynamic solution strategy. In addition, we have computed reduced dynamic orbits based on SLR, DORIS and crossover data that are a significant improvement over the SLR and DORIS based dynamic solutions. These solutions provide the best performing orbits for independent validation of the GPS-based reduced dynamic orbits.

Luthcke, Scott B.↗
NASA NTRS2003

ICESAT Laser Altimeter Pointing, Ranging and Timing Calibration from Integrated Residual Analysis

On January 12, 2003 the Ice, Cloud and land Elevation Satellite (ICESat) was successfully placed into orbit. The ICESat mission carries the Geoscience Laser Altimeter System (GLAS), which has a primary measurement of short-pulse laser- ranging to the Earth s surface at 1064nm wavelength at a rate of 40 pulses per second. The instrument has collected precise elevation measurements of the ice sheets, sea ice roughness and thickness, ocean and land surface elevations and surface reflectivity. The accurate geolocation of GLAS s surface returns, the spots from which the laser energy reflects on the Earth s surface, is a critical issue in the scientific application of these data. Pointing, ranging, timing and orbit errors must be compensated to accurately geolocate the laser altimeter surface returns. Towards this end, the laser range observations can be fully exploited in an integrated residual analysis to accurately calibrate these geolocation/instrument parameters. ICESat laser altimeter data have been simultaneously processed as direct altimetry from ocean sweeps along with dynamic crossovers in order to calibrate pointing, ranging and timing. The calibration methodology and current calibration results are discussed along with future efforts.

Luthcke, Scott B.↗
NASA NTRS2004

TOPEX Radar Altimeter Engineering Assessment Report Update: Side B Turn-On to January 1, 2004

This is the eleventh in a series of TOPEX Radar Engineering Assessment Reports, The initial TOPEX Radar Altimeter Engineering Assessment Report, in February 1994, presented performance results for the NASA Radar Altimeter on the TOPEX/POSEIDON spacecraft, from the time of its launch in August 1992 to February 1994. Since the time of that initial report and prior to this report, there have been nine interim supplemental Engineering Assessment Reports, issued in March 1995, May 1996, March 1997, June 1998, August 1999, September 2000, June 2001, March 2002 and again in May 2003.The sixth supplement in September 2000 was the first assessment report that addressed Side B performance, and presented the altimeter performance from the turn-on of Side B until the end of calendar year 1999. This report extends the performance assessment of Side B to the end of calendar year 2003 and includes the performance assessment of Jason-1, the TOPEX follow-on mission, launched on December 7, 2001.

Hancock, David W., III↗
NASA NTRS2004

GFO Altimeter Engineering Assessment Report. Update: The First 65 Cycles Since Acceptance, November 29, 2000 to December 9, 2003, Version 1

The U.S. Navy's Geosat Follow-On (GFO) Mission, launched February 10, 1998, is one of a series of altimetric satellites which include Seasat, Geosat, ERS-1, and TOPEX/POSEIDON (T/P). The purpose of this report is to document the GFO altimeter performance determined from the analyses and results performed by NASA's GSFC and Wallops altimeter calibration team. It is the fourth of an anticipated series of NASA's GSFC and Wallops GFO performance documents, each of which will update assessment results. This report covers the performance from instrument acceptance by the Navy on November 29, 2000, to the end of Cycle 65 on December 9, 2003. Data derived from GFO will lead to improvements in the knowledge of ocean circulation, ice sheet topography, and climate change. In order to capture the maximum amount of information from the GFO data, accurate altimeter calibrations are required for the civilian data set which NOAA will produce. Wallops Flight Facility has provided similar products for the Geosat and T/P missions and is doing the same for GFO.

Hancock, D. W., III↗
NASA NTRS2006

Night and Day: The Opacity of Clouds Measured by the Mars Orbiter Laser Altimeter (MOLA)

The Mars Orbiter Laser Altimeter (MOLA) [l] on the Mars Global Surveyor spacecraft ranged to clouds over the course of nearly two Mars years [2] using an active laser ranging system. While ranging to the surface, the instrument was also able to measure the product of the surface reflectivity with the two-way atmospheric transmission at 1064 nm. Furthermore, the reflectivity has now been mapped over seasonal cycles using the passive radiometric capability built into MOLA [3]. Combining these measurements, the column opacity may be inferred. MOLA uniquely provides these measurements both night and day. This study examines the pronounced nighttime opacity of the aphelion season tropical water ice clouds, and the indiscernibly low opacity of the southern polar winter clouds. The water ice clouds (Figure 1) do not themselves trigger the altimeter but have measured opacities tau > 1.5 and are temporally and spatially correlated with temperature anomalies predicted by a Mars Global Circulation Model (MGCM) that incorporates cloud radiative effects [4]. The south polar CO2 ice clouds trigger the altimeter with a very high backscatter cross-section over a thickness of 3-9 m and are vertically dispersed over several km, but their total column opacities lie well below the MOLA measurement limit of tau = 0.7. These clouds correspond to regions of supercooled atmosphere that may form either very large specularly reflecting particles [2] or very compact, dense concentrations (>5x10(exp 6)/cu m) of 100-p particles

Neumann, G. A.↗
NASA NTRS2006

The Mercury Laser Altimeter Instrument for the MESSENGER Mission

The Mercury Laser Altimeter (MLA) is one of the payload science instruments on the MErcury Surface, Space ENvironment, GEochemistry, and Ranging (MESSENGER) mission, which launched on 3 August 2004. The altimeter will measure the round trip time-of-flight of transmitted laser pulses reflected from the surface of the planet that, in combination with the spacecraft orbit position and pointing data, gives a high-precision measurement of surface topography referenced to Mercury's center of mass. The altimeter measurements will be used to determine the planet's forced librations by tracking the motion of large-scale topographic features as a function of time. MLA's laser pulse energy monitor and the echo pulse energy estimate will provide an active measurement of the surface reflectivity at 1064 nm. This paper describes the instrument design, prelaunch testing, calibration, and results of post-launch testing.

Cavanaugh, John F.↗
NASA NTRS2003

Topography Experiment (TOPEX) Software Document Series Volume 7: TOPEX Mission Radar Altimeter Engineering Assessment Report, February 1994

This document describes the GSFC/WFF analysis of the on-orbit engineering data from the TOPEX radar altimeter, to establish altimeter performance. In accordance with Project guidelines, neither surface truth nor precision orbital data are used for the engineering assessment of the altimeter. The use of such data would imply not only a more intensive and complete performance evaluation, but also a calibration. Such evaluations and.calibrations are outside the scope of this document and will be presented in a separate Verification Report.

Hancock, David W., III↗
NASA NTRS2006

Robust Control for the Mercury Laser Altimeter

Mercury Laser Altimeter Science Algorithms is a software system for controlling the laser altimeter aboard the Messenger spacecraft, which is to enter into orbit about Mercury in 2011. The software will control the altimeter by dynamically modifying hardware inputs for gain, threshold, channel-disable flags, range-window start location, and range-window width, by using ranging information provided by the spacecraft and noise counts from instrument hardware. In addition, because of severe bandwidth restrictions, the software also selects returns for downlink.

Rosenberg, Jacob S.↗
NASA NTRS2011

Test Port for Fiber-Optic-Coupled Laser Altimeter

A test port designed as part of a fiber optic coupled laser altimeter receiver optical system allows for the back-illumination of the optical system for alignment verification, as well as illumination of the detector(s) for testing the receiver electronics and signal-processing algorithms. Measuring the optical alignment of a laser altimeter instrument is difficult after the instrument is fully assembled. The addition of a test port in the receiver aft-optics allows for the back-illumination of the receiver system such that its focal setting and boresight alignment can be easily verified. For a multiple-detector receiver system, the addition of the aft-optics test port offers the added advantage of being able to simultaneously test all the detectors with different signals that simulate the expected operational conditions. On a laser altimeter instrument (see figure), the aft-optics couple the light from the receiver telescope to the receiver detector(s). Incorporating a beam splitter in the aft-optics design allows for the addition of a test port to back-illuminate the receiver telescope and/or detectors. The aft-optics layout resembles a T with the detector on one leg, the receiver telescope input port on the second leg, and the test port on the third leg. The use of a custom beam splitter with 99-percent reflection, 1-percent transmission, and a mirrored roof can send the test port light to the receiver telescope leg as well as the detector leg, without unduly sacrificing the signal from the receiver telescope to the detector. The ability to test the receiver system alignment, as well as multiple detectors with different signals without the need to disassemble the instrument or connect and reconnect components, is a great advantage to the aft-optics test port. Another benefit is that the receiver telescope aperture is fully back-illuminated by the test port so the receiver telescope focal setting vs. pressure and or temperature can be accurately measured (as compared to schemes where the aperture is only partially illuminated). Fiber-optic coupling the test port also allows for the modularity of testing the receiver detectors with a variety of background and signal laser sources without the need of using complex optical set-ups to optimize the efficiency of each source.

Ramos Izquierdo, Luis↗
NASA NTRS2012

Performance Considerations for the SIMPL Single Photon, Polarimetric, Two-Color Laser Altimeter as Applied to Measurements of Forest Canopy Structure and Composition

The Slope Imaging Multi-polarization Photon-counting Lidar (SIMPL) is a multi-beam, micropulse airborne laser altimeter that acquires active and passive polarimetric optical remote sensing measurements at visible and near-infrared wavelengths. SIMPL was developed to demonstrate advanced measurement approaches of potential benefit for improved, more efficient spaceflight laser altimeter missions. SIMPL data have been acquired for wide diversity of forest types in the summers of 2010 and 2011 in order to assess the potential of its novel capabilities for characterization of vegetation structure and composition. On each of its four beams SIMPL provides highly-resolved measurements of forest canopy structure by detecting single-photons with 15 cm ranging precision using a narrow-beam system operating at a laser repetition rate of 11 kHz. Associated with that ranging data SIMPL provides eight amplitude parameters per beam unlike the single amplitude provided by typical laser altimeters. Those eight parameters are received energy that is parallel and perpendicular to that of the plane-polarized transmit pulse at 532 nm (green) and 1064 nm (near IR), for both the active laser backscatter retro-reflectance and the passive solar bi-directional reflectance. This poster presentation will cover the instrument architecture and highlight the performance of the SIMPL instrument with examples taken from measurements for several sites with distinct canopy structures and compositions. Specific performance areas such as probability of detection, after pulsing, and dead time, will be highlighted and addressed, along with examples of their impact on the measurements and how they limit the ability to accurately model and recover the canopy properties. To assess the sensitivity of SIMPL's measurements to canopy properties an instrument model has been implemented in the FLIGHT radiative transfer code, based on Monte Carlo simulation of photon transport. SIMPL data collected in 2010 over the Smithsonian Environmental Research Center, MD are currently being modelled and compared to other remote sensing and in situ data sets. Results on the adaptation of FLIGHT to model micropulse, single'photon ranging measurements are presented elsewhere at this conference. NASA's ICESat-2 spaceflight mission, scheduled for launch in 2016, will utilize a multi-beam, micropulse, single-photon ranging measurement approach (although non-polarimetric and only at 532 nm). Insights gained from the analysis and modelling of SIMPL data will help guide preparations for that mission, including development of calibration/validation plans and algorithms for the estimation of forest biophysical parameters.

Dabney, Philip W.↗
NASA NTRS2014

A Long Distance Laser Altimeter for Terrain Relative Navigation and Spacecraft Landing

A high precision laser altimeter was developed under the Autonomous Landing and Hazard Avoidance (ALHAT) project at NASA Langley Research Center. The laser altimeter provides slant-path range measurements from operational ranges exceeding 30 km that will be used to support surface-relative state estimation and navigation during planetary descent and precision landing. The altimeter uses an advanced time-of-arrival receiver, which produces multiple signal-return range measurements from tens of kilometers with 5 cm precision. The transmitter is eye-safe, simplifying operations and testing on earth. The prototype is fully autonomous, and able to withstand the thermal and mechanical stresses experienced during test flights conducted aboard helicopters, fixed-wing aircraft, and Morpheus, a terrestrial rocket-powered vehicle developed by NASA Johnson Space Center. This paper provides an overview of the sensor and presents results obtained during recent field experiments including a helicopter flight test conducted in December 2012 and Morpheus flight tests conducted during March of 2014.

Pierrottet, Diego F.↗
NASA NTRS2018

In-Flight Characterization of the Lunar Orbiter Laser Altimeter Instrument Pointing and Far-Field Pattern

The Lunar Orbiter Laser Altimeter (LOLA) aboard the Lunar Reconnaissance Orbiter (LRO) has collected nearly seven billion measurements of surface height on the Moon with an absolute accuracy of ∼1 m and a precision of ∼10 cm. Converting time-of-flight laser altimeter measurements to topographic elevations requires accurate knowledge of the laser pointing with respect to the spacecraft body-fixed coordinate system. To that end, we have utilized altimetric crossovers from LOLA, as well as bidirectional observations of the LOLA laser and receiver boresight via an Earth-based laser tracking ground station. Based on a sample of ∼780,000 globally distributed crossovers from the circular-orbit phase of LRO's mission (∼27 months), we derive corrections to the LOLA laser boresight. These corrections improve the cross-track and along-track agreement of the crossovers by 24% and 33%, respectively, yielding RMS residuals of ∼10 m. Since early in the LRO mission, the bidirectional laser tracking experiments have confirmed a pointing anomaly when the LOLA instrument is facing toward deep space or the night side of the Moon and have allowed the reconstruction of the laser far-field pattern and receiver telescope pointing. By conducting such experiments shortly after launch and nearly eight years later, we have directly measured changes in the laser characteristics and obtained critical data to understand the laser behavior and refine the instrument pointing model. The methods and results presented here are also relevant to the design, fabrication, and operation of future planetary laser altimeters and their long-term behavior in the space environment.

Barker, M. K.↗
NASA NTRS1993

Evaluation of the TOPEX/Poseidon Altimeter System Over the Great Lakes

The TOPEX/POSEIDON altimeter measurement system is evaluated over the Great Lakes. Using in situ lake level measurements, the temporal variations in lake level are removed from the altimeter measurements, thus permitting the performance of the altimeter system to be assessed.

TOPEX/POSEIDON↗