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NASA NTRS1996

Receiver design, performance analysis, and evaluation for space-borne laser altimeters and space-to-space laser ranging systems

We report here the design and the performance measurements of the breadboard receiver of the Geoscience Laser Altimeter System (GLAS). The measured ranging accuracy was better than 2 cm and 10 cm for 5 ns and 30 ns wide received laser pulses under the expected received signal level, which agreed well with the theoretical analysis. The measured receiver sensitivity or the link margin was also consistent with the theory. The effects of the waveform digitizer sample rate and resolution were also measured.

Davidson, Frederic M.↗

NASA NTRS2016

State Estimation for Tensegrity Robots

Tensegrity robots are a class of compliant robots that have many desirable traits when designing mass efficient systems that must interact with uncertain environments. Various promising control approaches have been proposed for tensegrity systems in simulation. Unfortunately, state estimation methods for tensegrity robots have not yet been thoroughly studied. In this paper, we present the design and evaluation of a state estimator for tensegrity robots. This state estimator will enable existing and future control algorithms to transfer from simulation to hardware. Our approach is based on the unscented Kalman filter (UKF) and combines inertial measurements, ultra wideband time-of-flight ranging measurements, and actuator state information. We evaluate the effectiveness of our method on the SUPERball, a tensegrity based planetary exploration robotic prototype. In particular, we conduct tests for evaluating both the robot's success in estimating global position in relation to fixed ranging base stations during rolling maneuvers as well as local behavior due to small-amplitude deformations induced by cable actuation.

robot↗

NASA NTRS1998

Fiber-Optic Coupled Lidar Receiver System to Measure Stratospheric Ozone

The measurement of ozone in the atmosphere has become increasingly important over the past two decades. Significant increases of ozone concentrations in the lower atmosphere, or troposphere, and decreases in the upper atmosphere, or stratosphere, have been attributed to man-made causes. High ozone concentrations in the troposphere pose a health hazard to plants and animals and can add to global warming. On the other hand, ozone in the stratosphere serves as a protective barrier against strong ultraviolet (UV) radiation from the sun. Man-made CFC's (chlorofluorocarbons) act as a catalyst with a free oxygen atom and an ozone molecule to produce two oxygen molecules therefore depleting the protective layer of ozone in the stratosphere. The beneficial and harmful effects of ozone require the study of ozone creation and destruction processes in the atmosphere. Therefore, to provide an accurate model of these processes, an ozone lidar system must be able to be used frequently with as large a measurement range as possible. Various methods can be used to measure atmospheric ozone concentrations. These include different airborne and balloon measurements, solar occulation satellite techniques, and the use of lasers in lidar (high detection and ranging,) systems to probe the atmosphere. Typical devices such as weather balloons can only measure within the direct vicinity of the instrument and are therefore used infrequently. Satellites use solar occulation techniques that yield low horizontal and vertical resolution column densities of ozone.

Harper, David Brent↗

NASA NTRS1990

Preliminary error budget for an optical ranging system: Range, range rate, and differenced range observables

Future missions to the outer solar system or human exploration of Mars may use telemetry systems based on optical rather than radio transmitters. Pulsed laser transmission can be used to deliver telemetry rates of about 100 kbits/sec with an efficiency of several bits for each detected photon. Navigational observables that can be derived from timing pulsed laser signals are discussed. Error budgets are presented based on nominal ground stations and spacecraft-transceiver designs. Assuming a pulsed optical uplink signal, two-way range accuracy may approach the few centimeter level imposed by the troposphere uncertainty. Angular information can be achieved from differenced one-way range using two ground stations with the accuracy limited by the length of the available baseline and by clock synchronization and troposphere errors. A method of synchronizing the ground station clocks using optical ranging measurements is presented. This could allow differenced range accuracy to reach the few centimeter troposphere limit.

Folkner, W. M.↗

NASA NTRS1981

Navigation Using X-Ray Pulsars

Approximately one dozen X-ray pulsars are presently known which emit strong stable pulses with periods of 0.7 to approximately 1000 s. By comparing the arrival times of these pulses at a spacecraft and at the Earth (via an Earth orbiting satellite), a three dimensional position of the spacecraft can be determined. One day of data from a small onboard X-ray detector yields a three dimensional position accurate to approximately 150 km. This accuracy is independent of spacecraft distance from the Earth. Present techniques for determining the two spacecraft coordinates other than range measure angles and thus degrade with increasing spacecraft range. Thus navigation using X-ray pulsars will always be superior to present techniques in measuring these two coordinates for sufficiently distant spacecraft. At present, the break even point occurs near the orbit of Jupiter. The Crab pulsar can also be used to obtain one transverse coordinate with an accuracy of approximately 20 km.

Chester, T. J.↗

NASA NTRS1993

Application of high precision two-way S-band ranging to the navigation of the Galileo Earth encounters

The application of high-accuracy S/S-band (2.1 GHz uplink/2.3 GHz downlink) ranging to orbit determination with relatively short data arcs is investigated for the approach phase of each of the Galileo spacecraft's two Earth encounters (8 December 1990 and 8 December 1992). Analysis of S-band ranging data from Galileo indicated that under favorable signal levels, meter-level precision was attainable. It is shown that ranginging data of sufficient accuracy, when acquired from multiple stations, can sense the geocentric angular position of a distant spacecraft. Explicit modeling of ranging bias parameters for each station pass is used to largely remove systematic ground system calibration errors and transmission media effects from the Galileo range measurements, which would otherwise corrupt the angle finding capabilities of the data. The accuracy achieved using the precision range filtering strategy proved markedly better when compared to post-flyby reconstructions than did solutions utilizing a traditional Doppler/range filter strategy. In addition, the navigation accuracy achieved with precision ranging was comparable to that obtained using delta-Differenced One-Way Range, an interferometric measurement of spacecraft angular position relative to a natural radio source, which was also used operationally.

Pollmeier, Vincent M.↗

NASA NTRS2008

Application of Ruze Equation for Inflatable Aperture Antennas

Inflatable aperture reflector antennas are an emerging technology that NASA is investigating for potential uses in science and exploration missions. As inflatable aperture antennas have not been proven fully qualified for space missions, they must be characterized properly so that the behavior of the antennas can be known in advance. To properly characterize the inflatable aperture antenna, testing must be performed in a relevant environment, such as a vacuum chamber. Since the capability of having a radiofrequency (RF) test facility inside a vacuum chamber did not exist at NASA Glenn Research Center, a different methodology had to be utilized. The proposal to test an inflatable aperture antenna in a vacuum chamber entailed performing a photogrammetry study of the antenna surface by using laser ranging measurements. A root-mean-square (rms) error term was derived from the photogrammetry study to calculate the antenna surface loss as described by the Ruze equation. However, initial testing showed that problems existed in using the Ruze equation to calculate the loss due to errors on the antenna surface. This study utilized RF measurements obtained in a near-field antenna range and photogrammetry data taken from a laser range scanner to compare the expected performance of the test antenna (via the Ruze equation) with the actual RF patterns and directivity measurements. Results showed that the Ruze equation overstated the degradation in the directivity calculation. Therefore, when the photogrammetry study is performed on the test antennas in the vacuum chamber, a more complex equation must be used in light of the fact that the Ruze theory overstates the loss in directivity for inflatable aperture reflector antennas.

Welch, Bryan W.↗

NASA NTRS2000

The GRACE Mission: Meeting the Technical Challenges

The Gravity Recovery and Climate Experiment (GRACE) Mission is scheduled for launch in June 2001. Within the first year of the GRACE Mission, the project has a minimum science requirement to deliver a new model of the Earth's static geoid with an error of less than 1 cm to spherical harmonic degree seventy (70). However, the performance of the GRACE Mission is designed to exceed this minimum requirement by a factor of 25 or more. For spherical harmonic degrees of up to 40, we expect to improve the current knowledge of the gravity field by one thousand (1000x). The GRACE Mission uses the satellite-to-satellite tracking (SST) technique. The twin GRACE satellites are the instruments that measure the nonuniformities in the Earth's gravity field. Nonuniformities in the gravity field cause the relative distance between the centers-of-mass of the two satellites to vary as they fly over the Earth. Atmospheric drag is the largest non-gravitational disturbing force. Drag is measured and will be used to correct changes in the satellite-to-satellite range measured by an SST microwave link. The microwave link will measure changes in the range between the two GRACE satellites with an error approaching 1 micron. We will discuss how these instrumentation requirements affect the configuration, the mass balance, the thermal control and the aerodynamic design of the satellites, and the design of the microwave SST link and the accelerometer. Finally, the question of how noise in these components limits the overall accuracy of the gravity models will be addressed.

Davis, E. S.↗

NASA NTRS1989

A long-range laser velocimeter for the National Full-Scale Aerodynamics Complex: New developments and experimental application

A long-range laser velocimeter (LV) developed for remote operation from within the flow fields of the large wind tunnels of the National Full-Scale Aerodynamics Complex is described. Emphasis is placed on recent improvements in optical hardware as well as recent additions to data acquisition and processing techniques. The system has been upgraded from a dual-beam, single-color LV with focal range to 10 m, to a dual-beam, two-color LV with focal range to 20 m. At the new extended measurement range (between 10 and 20 m), signals are photon-resolved, and a photon correlation technique is applied to acquire and process the LV signals. This technique permits recovery of the velocity probability distributions at a particular measurement location from which the mean components of velocity and the corresponding normal stress components of turbulence are obtained. The method used for data reduction is outlined in detail, and a discussion of measurement accuracy is made. To study the performance of the LV and verify the measurement accuracy, laboratory measurements were made in the flow field of a 10 cm-diameter, 30-m/sec axisymmetric jet. A discussion of the requirements and techniques used to seed the flow is made, and boundary-layer surveys of mean velocity and turbulence intensity of the streamwise component and the component normal to the surface are presented.

Reinath, Michael S.↗

NASA NTRS1986

A study of 35-ghz radar-assisted orbital maneuvering vehicle/space telescope docking

An experiment was conducted to study the effects of measuring range and range rate information from a complex radar target (a one-third scale model of the Edwin P. Hubble Space Telescope). The radar ranging system was a 35-GHz frequency-modulated continuous wave unit developed in the Communication Systems Branch of the Information and Electronic Systems Laboratory at Marshall Space Flight Cneter. Measurements were made over radar-to-target distances of 5 meters to 15 meters to simulate the close distance realized in the final stages of space vehicle docking. The Space Telescope model target was driven by an antenna positioner through a range of azimuth and elevation (pitch) angles to present a variety of visual aspects of the aft end to the radar. Measurements were obtained with and without a cube corner reflector mounted in the center of the aft end of the model. The results indicate that range and range rate measurements are performed significantly more accurately with the cooperative radar reflector affixed. The results further reveal that range rate (velocity) can be measured accurately enough to support the required soft docking with the Space Telescope.

Mcdonald, M. W.↗

NASA NTRS1972

Improved laser ranging accuracy through dynamic threshold compensation

During a polar motion experiment (in which two laser ranging systems on a north-south line simultaneously tracked a satellite to determine motion of the pole), techniques for improving both the range noise and range bias were demonstrated. The corrections to the measured ranges (based on received signal levels relative to a fixed correction that would have been applied if pulse height information was not available) are given. It was shown that even existing long pulse systems (20 to 40 nsec duration) can be improved to the 20 to 30 cm level of precision without major or expensive changes to the system.

Johnson, T. S.↗

NASA NTRS1971

ATS simultaneous and turnaround ranging experiments

This report explains the data reduction and spacecraft position determination used in conjunction with two ATS experiments - Trilateration and Turnaround Ranging - and describes in detail a multilateration program that is used for part of the data reduction process. The process described is for the determination of the inertial position of the satellite, and for formating input for related programs. In the trilateration procedure, a geometric determination of satellite position is made from near simultaneous range measurements made by three different tracking stations. Turnaround ranging involves two stations; one, the master station, transmits the signal to the satellite and the satellite retransmits the signal to the slave station which turns the signal around to the satellite which in turn retransmits the signal to the master station. The results of the satellite position computations using the multilateration program are compared to results of other position determination programs used at Goddard. All programs give nearly the same results which indicates that because of its simplicity and computational speed the trilateration technique is useful in obtaining spacecraft positions for near synchronous satellites.

Watson, J. S.↗

NASA NTRS2008

First Laser Altimeter Measurements of Mercury from the MESSENGER Flyby

The Mercury Laser Altimeter performed the first laser ranging measurements to Mercury during the Mercury Surface, Space ENvironment, GEochemistry, and Ranging (MESSENGER) flyby in January 2008. The instrument successfully ranged to 600 km at an off-nadir angle >60 and to >1600 km in the nadir direction.

Sun, Xiaoli↗

NASA NTRS1982

Global Positioning System Time Transfer Receiver (GPS/TTR) prototype design and initial test evaluation

Time transfer equipment and techniques used with the Navigation Technology Satellites were modified and extended for use with the Global Positioning System (GPS) satellites. A prototype receiver was built and field tested. The receiver uses the GPS L1 link at 1575 MHz with C/A code only to resolve a measured range to the satellite. A theoretical range is computed from the satellite ephemeris transmitted in the data message and the user's coordinates. Results of user offset from GPS time are obtained by differencing the measured and theoretical ranges and applying calibration corrections. Results of the first field test evaluation of the receiver are presented.

Oaks, J.↗

DOE OSTI2025

Measurement of the mean excitation energy of liquid argon

The mean excitation energy (I-value) of liquid argon is a critical input for energy estimation in neutrino oscillation experiments. It is measured to be 199 +4 -5 eV using the range of 402.2 MeV protons from the Fermilab Linac. This compares to the author's recent evaluation of (197 ± 7) eV based on a combination of an oscillator strength distribution analysis, gaseous argon range measurements, sparse stopping power data on solid argon, and an extrapolation of data on the effect of phase from other substances. Using all sources of information, we recommend a value of (198 ± 4) eV for liquid argon, which is significantly higher than 188 eV, from ICRU-37's gaseous argon evaluation, commonly used in Monte Carlo codes such as Geant4.

47 OTHER INSTRUMENTATION↗

NASA NTRS1975

An operational satellite scatterometer for wind vector measurements over the ocean

Performance requirements and design characteristics of a microwave scatterometer wind sensor for measuring surface winds over the oceans on a global basis are described. Scatterometer specifications are developed from user requirements of wind vector measurement range and accuracy, swath width, resolution cell size and measurement grid spacing. A detailed analysis is performed for a baseline fan-beam scatterometer design, and its performance capabilities for meeting the SeaSat-A user requirements. Various modes of operation are discussed which will allow the resolution of questions concerning the effects of sea state on the scatterometer wind sensing ability and to verify design boundaries of the instrument.

Grantham, W. L.↗

NASA NTRS1988

Solar Spectrum (SOLSPEC) measurement from 180 to 3000 nanometers

The SOLSPEC experiment, planned for the Atmospheric Laboratory for Applications and Science (ATLAS 1) NASA mission, is described. The purpose of this experiment is the measurement of the absolute solar irradiances in the wavelength range from 180 to 3000 nm and the variabilities of the solar irradiances in this wavelength range. Measurements of the irradiances and variabilities are used in: (1) solar-terrestrial/planetary relationships, in particular aeronomy of the stratosphere and mesosphere; (2) climatoglogy; and (3) solar physics.

Thuiller, G.↗

NASA NTRS1988

On the design issues for a spaceborne rain mapping radar

The design concept for the spaceborne rain mapping radar for the Tropical Rain Measuring Mission (TRMM) of Thiele (1987) is examined. The TRMM requirements for sampling strategy, spatial and height resolutions, observable altitude, and rain rate measurement range are described. The adaptive scanning and nadir Doppler measurement modes for the radar are discussed.

Li, F. K.↗