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NASA NTRS2020

Autonomous Optical-only Navigation for Deep Space Missions

Navigation of spacecraft for interplanetary missions is typically performed on the ground using a two-way radio link to obtain the necessary tracking data. Due to the limited number of antenna capable of tracking these spacecraft, it would be advantageous to have a navigation capability that is entirely self-contained onboard a spacecraft. A camera mounted on a spacecraft is theoretically capable of enabling self-navigating spacecraft, and has been demonstrated in limited circumstances in past missions. Fundamentally, the technique involves using various natural or artificial targets as observational beacons to determine the observers position in space. In this paper, the technique of optical-only navigation is described, including discussions of what types of observations are used, and results of analysis showing the accuracies achievable for various mission types across the Solar System is discussed.

Bhaskaran, Shyam↗

NASA NTRSDate not supplied

Satellite orbit predictor

An analog aid to determine satellite coverage of Emergency Locator Transmitters Emergency Position Indicating Radio Beacon (ELT/EPIRB) distress incidence is discussed. The satellite orbit predictor is a graphical aid for determining the relationship between the satellite orbit, antenna coverage of the spacecraft and coverage of the Local User Terminal. The predictor allows the user to quickly visualize if a selected position will probably be detected and is composed of a base map and a satellite track overlay for each satellite.A table of equator crossings for each satellite is included.

Friedman, Morton l.↗

NASA NTRS1991

Preliminary navigation accuracy analysis for the TDRSS Onboard Navigation System (TONS) experiment on EP/EUVE

A Tracking and Data Relay Satellite System (TDRSS) Onboard Navigation System (TONS) is currently being developed by NASA to provide a high accuracy autonomous navigation capability for users of TDRSS and its successor, the Advanced TDRSS (ATDRSS). The fully autonomous user onboard navigation system will support orbit determination, time determination, and frequency determination, based on observation of a continuously available, unscheduled navigation beacon signal. A TONS experiment will be performed in conjunction with the Explorer Platform (EP) Extreme Ultraviolet Explorer (EUVE) mission to flight quality TONS Block 1. An overview is presented of TONS and a preliminary analysis of the navigation accuracy anticipated for the TONS experiment. Descriptions of the TONS experiment and the associated navigation objectives, as well as a description of the onboard navigation algorithms, are provided. The accuracy of the selected algorithms is evaluated based on the processing of realistic simulated TDRSS one way forward link Doppler measurements. The analysis process is discussed and the associated navigation accuracy results are presented.

Gramling, C. J.↗

NASA NTRS1992

Spacecraft navigation at Mars using earth-based and in situ radio tracking techniques

A survey of earth-based and in situ radiometric data types and results from a number of studies investigating potential radio navigation performance for spacecraft approaching/orbiting Mars and for landed spacecraft and rovers on the surface of Mars are presented. The performance of Doppler, ranging and interferometry earth-based data types involving single or multiple spacecraft is addressed. This evaluation is conducted with that of in situ data types, such as Doppler and ranging measurements between two spacecraft near Mars, or between a spacecraft and one or more surface radio beacons.

Thurman, S. W.↗

NASA NTRS1979

Tracking The Double Eagle

Last summer a trio of aeronauts made aviation history. Ben Abruzzo, Maxie Anderson and Larry Newman, all of Albuquerque, New Mexico, piloted their balloon Double Eagle I1 from Presque Isle, Maine to Miserey, France, some 50 miles from Paris. They were the first to negotiate a successful Atlantic crossing in a freeflying balloon after a score of attempts over a span of more than a century. A year earlier, Abruzzo and Anderson had made an unsuccessful try in their predecessor balloon Double Eagle. On that occasion, a NASA-developed satellite beacon helped save their lives. Carried aboard the balloon, the simple, seven-pound beacon continuously transmitted signals to NASA's Nimbus-6 satellite. Nimbus relayed the signals to monitors at Goddard Space Flight Center, enabling Goddard to compute the balloon's position. Position reports were then telephoned regularly to Double Eagle's control center at Bedford, Massachusetts. This monitoring system proved invaluable when the balloon encountered trouble several days after liftoff.

Source record↗

NASA NTRS1981

Design of a laser system for instantaneous location of a longwall shearer

Calculations and measurements for the design of a laser system for instantaneous location of a longwall shearer were made. The designs determine shearer location to approximately one foot. The roll, pitch, and yaw angles of the shearer track are determined to approximately two degrees. The first technique uses the water target system. A single silicon sensor system and three gallium arsenide laser beams are used in this technique. The second technique is based on an arrangement similar to that employed in aircraft omnidirectional position finding. The angle between two points is determined by combining information in an onmidirectional flash with a scanned, narrow beam beacon. It is concluded that this approach maximizes the signal levels.

Stein, R.↗

NASA NTRS1997

Limits to the Stability of Phase Transfer from Ground to Space

An alternative to having a primary frequency standard on board a spacecraft is to phase lock a simple oscillator on the spacecraft to a microwave tone transmitted from the ground. The received tone is transponded and rebroadcast to the ground. The round trip phase is measured, and used to correct for effects on time scales longer than the round trip light travel time. This method is used with the TDRSS relay satellites, and will be used for the Japanese space VLBI mission VSOP. There are several sources of error introduced by this process. The most important error source is a loss of the on board standard for all times that the satellite is out of contact with a ground tracking station. The fractional loss will be greater than 10% for almost any orbit, even with a network of several ground tracking stations, and it will be considerably worse for a low earth orbit. Only a geostationary orbit can eliminate this problem. Another error source is connected to the previous one. Round trip phase tracking can remove, after the fact, link effects during a tracking pass on time scales greater than the round trip light travel time. However, there will be a jump in the spacecraft clock when multiple passes are connected (e.g. when the spacecraft is reacquired after passing out of sight). These jumps will be equal in magnitude (except for a geometrical factor) to the accuracy with which the spacecraft orbit is known. With a GPS receiver and GPS-like beacon on a spacecraft, the orbit can be known to a few cm, giving timing jumps on the order of 100 picoseconds. Even with a geostationary orbit, these jumps would occur any time the link was interrupted due to mechanical or electrical problems.

Linfield, Roger P.↗

NASA NTRS1975

Sequential filtering applied to the determination of tracking station locations

The extended sequential filter has been applied to the problem of dynamically determining the geocentric coordinates of two laser satellite tracking stations. This filter provides significant advantages over the classical batch methods through (1) fewer iterations required for convergence, (2) wider radius of convergence, and (3) availability of the parameter estimate evolution. Processing the data sequentially readily identifies the data arcs required to minimize the effects of geopotential model errors. By means of the Smithsonian standard earth 2 and the Goddard earth model 1 geopotentials to reduce laser range observations of the Beacon Explorer-C satellite, it is demonstrated that a two-pass arc is optimal for estimating the height of one station and all coordinates of the second station while minimizing the effect of geopotential model error. These two-pass estimates are in good agreement with other determinations that utilize considerably more data as well as different satellites.

Schutz, B. E.↗

NASA NTRS2012

The Evolution and Fate of Saturn's Stratospheric Vortex: Infrared Spectroscopy from Cassini

The planet-encircling springtime storm in Saturn's troposphere (December 2010-July 2011) produced dramatic perturbations to stratospheric temperatures, winds and composition at mbar pressures that persisted long after the tropospheric disturbance had abated. Observations from the Cassini Composite Infrared Spectrometer (CIRS), supported by ground-based imaging from the VISIR instrument on the Very Large Telescope,is used to track the evolution of a large, hot stratospheric anticyclone between January 2011 and the present day. The evolutionary sequence can be divided into three phases: (I) the formation and intensification of two distinct warm airmasses near 0.5 mbar between 25 and 35N (one residing directly above the convective storm head) between January-April 2011, moving westward with different zonal velocities; (II) the merging of the warm airmasses to form the large single 'stratospheric beacon' near 40N between April and June 2011, dissociated from the storm head and at a higher pressure (2 mbar) than the original beacons; and (III) the mature phase characterized by slow cooling and longitudinal shrinkage of the anticyclone since July 2011, moving west with a near-constant velocity of 2.70+/-0.04 deg/day (-24.5+/-0.4 m/s at 40N). Peak temperatures of 220 K at 2 mbar were measured on May 5th 2011 immediately after the merger, some 80 K warmer than the quiescent surroundings. Thermal winds hear calculations in August 2011 suggest clockwise peripheral velocities of 200400 mls at 2 mbar, defining a peripheral collar with a width of 65 degrees longitude (50,000 km in diameter) and 25 degrees latitude. Stratospheric acetylene (C2H2) was uniformly enhanced by a factor of three within the vortex, whereas ethane (C2H6) remained unaffected. We will discuss the thermal and chemical characteristics of Saturn's beacon in its mature phase, and implications for stratospheric vortices on other giant planets.

Fletcher, Leigh N.↗

NASA NTRSDate not supplied

Integrated Precision Landing Performance and Technology Assessments of a Human-Scale Mars Lander Using a Generalized Simulation Framework

Human-scale missions to Mars will likely require multiple landers delivered precisely to designated locations. The current NASA human Mars reference architecture assumes delivery of three 25 t payloads from a 1- or 5-Sol orbit to the surface with a landing precision of 50 m to ensure logistics are located near the habitat. While initial navigation estimates improve with on-orbit ground tracking, errors increase during post-deorbit coast. Likewise, Mars atmospheric variability and forecasting uncertainty means that the entry vehicle guidance, navigation, and control systems must be robust to accommodate landing during any time of day or Mars year, including during dust storms. Precision landing technologies are currently being assessed to determine if onboard navigation sensors are sufficient to enable the landing accuracy required or if additional navigation aids such as surface or orbiting beacons will be needed. This study evaluates the system performance requirements to meet the desired landing accuracy for the reference vehicle design and entry, descent, and landing concept of operations. A detailed six degree-of-freedom integrated performance simulation framework is used to perform the assessment and demonstrate that under current assumptions, onboard navigation sensors are sufficient to support precision landing.

spacecraft navigation↗

NASA NTRS2022

Integrated Precision Landing Performance and Technology Assessments of a Human- Scale Mars Lander Using a Generalized Simulation Framework

Chen, Po-Ting↗

NASA NTRS2012

The Origin and Evolution of Saturn's 2011-2012 Stratospheric Vortex

The planet-encircling springtime storm in Saturn's troposphere (December 2010-July 2011, Fletcher, L.N. et al. [2011]. Science 332, 1413-1414; Sánchez-Lavega, A. et al. [2011]. Nature 475, 71-74; Fischer, G. et al. [2011]. Nature 475, 75-77) produced dramatic perturbations to stratospheric temperatures, winds and composition at mbar pressures that persisted long after the tropospheric disturbance had abated. Thermal infrared (IR) spectroscopy from the Cassini Composite Infrared Spectrometer (CIRS), supported by ground-based IR imaging from the VISIR instrument on the Very Large Telescope and the MIRSI instrument on NASA's IRTF, is used to track the evolution of a large, hot stratospheric anticyclone between January 2011 and March 2012. The evolutionary sequence can be divided into three phases: (I) the formation and intensification of two distinct warm airmasses near 0.5 mbar between 25 and 35degN (B1 and B2) between January-April 2011, moving westward with different zonal velocities, B1 residing directly above the convective tropospheric storm head; (II) the merging of the warm airmasses to form the large single 'stratospheric beacon' near 40degN (B0) between April and June 2011, disassociated from the storm head and at a higher pressure (2 mbar) than the original beacons, a downward shift of 1.4 scale heights (approximately 85 km) post-merger; and (III) the mature phase characterised by slow cooling (0.11 +/- 0.01 K/day) and longitudinal shrinkage of the anticyclone since July 2011. Peak temperatures of 221.6 +/- 1.4 K at 2 mbar were measured on May 5th 2011 immediately after the merger, some 80 K warmer than the quiescent surroundings. From July 2011 to the time of writing, B0 remained as a long-lived stable stratospheric phenomenon at 2 mbar, moving west with a near-constant velocity of 2.70 +/- 0.04 deg/day (24.5 +/- 0.4 m/s at 40degN relative to System III longitudes). No perturbations to visible clouds and hazes were detected during this period. With no direct tracers of motion in the stratosphere, we use thermal windshear calculations to estimate clockwise peripheral velocities of 200-400 m/s at 2 mbar around B0. The peripheral velocities of the two original airmasses were smaller (70-140 m/s). In August 2011, the size of the vortex as defined by the peripheral collar was 65deg longitude (50,000 km in diameter) and 25deg latitude. Stratospheric acetylene (C2H2) was uniformly enhanced by a factor of three within the vortex, whereas ethane (C2H6) remained unaffected. The passage of B0 generated a new band of warm stratospheric emission at 0.5 mbar at its northern edge, and there are hints of warm stratospheric structures associated with the beacons at higher altitudes (p < 0.1 mbar) than can be reliably observed by CIRS nadir spectroscopy. Analysis of the zonal windshear suggests that Rossby wave perturbations from the convective storm could have propagated vertically into the stratosphere at this point in Saturn's seasonal cycle, one possible source of energy for the formation of these stratospheric anticyclones.

evolution↗

NASA NTRS1992

Confidence range estimate of extended source imagery acquisition algorithms via computer simulations

Spatial acquisition using the sun-lit Earth as a beacon source provides several advantages over active beacon-based systems for deep-space optical communication systems. However, since the angular extend of the Earth image is large compared to the laser beam divergence, the acquisition subsystem must be capable of resolving the image to derive the proper pointing orientation. The algorithms used must be capable of deducing the receiver location given the blurring introduced by the imaging optics and the large Earth albedo fluctuation. Furthermore, because of the complexity of modelling the Earth and the tracking algorithms, an accurate estimate of the algorithm accuracy can only be made via simulation using realistic Earth images. An image simulator was constructed for this purpose, and the results of the simulation runs are reported.

Chen, CHIEN-C.↗

NASA NTRS1996

The smart highway project: Smart highways, smart vehicles, smart engineering

The Smart Highway project is a six mile, limited access roadway being built between Interstate 81 and Blacksburg, Virginia. The initial construction segment will be two miles long and is designed to serve as a test bed and test track for Intelligent Transportation Systems (ITS) research. The Center for Transportation Research (CTR) at Virginia Tech is developing three evaluation tools for its ITS research including DYNAVIMTS (a software framework), and the FLASH Lab (a 1/15th scale model highway and vehicle system). The Smart Highway rounds out the Center's evaluation methodology by allowing full scale operational tests, evaluations, and research under both experimental and conventional traffic conditions. Currently under development is a concept for a fully automated highway using a 'Cooperative Infrastructure Managed System' which involves ultra wide band communication beacons installed in the infrastructure with appropriate sensors, receivers and processors on board the vehicles. The project is part of the research program funded by the National Automated Highway System Consortium. The CTR hopes to develop the automated concept to prototype status by 1997. Other smart transportation and smart engineering concepts are proposed. This presentation will address the goals and objectives of the Smart Highway project, overview its status and importance to the region, and identify some of the transportation technology now under development and planned in the future.

Pethtel, Ray D.↗

NASA NTRS2004

DORIS satellite antenna maps derived from long-term residuals time series

Recent studies have shown that phase pattern models for the Jason-1 GPS antenna significantly benefit GPS-based precise orbit determination (POD) for the satellite. We have used a similar technique to derive DORIS receiver antenna maps, using all available DORIS tracking data over long time periods (from 1993.0 to 2004.0). We demonstrate that the derived correction models are satellite specific. For a given satellite, year-to-year estimations show clear systematic patterns. Some of these systematic patterns are attributable to the derivative of the multi-path effects in the direction of the satellite velocity. For early SPOT data, the patterns can be explained by an offset in the TAI time tagging (typically 8 (mu)s). In a second step, we have applied the SPOT2 antenna correction models in precise orbit determination and in the positioning of ground beacons. Preliminary results on DORIS/SPOT2 show that application of the DORIS antenna maps lead to a slight improvement of the derived POD and geodetic results (typically less than 5%).

precise orbit determination (POD)↗

NASA NTRS1973

A determination of the earth tidal amplitude and phase from the orbital perturbations of the Beacon Explorer C spacecraft

An analysis of the orbital inclination of the Beacon Explorer C spacecraft over a period of nearly five months in 1970 revealed a very clear and distinctive perturbation caused by the earth and ocean tides. The perturbation has a full amplitude of about 1.8 seconds of arc and a period of about 85 days. This amplitude is approximately 15% smaller than would be expected from the solid-earth tide alone and is shifted slightly in phase. The perturbation can be represented almost exactly by a Love number of k sub 2 = 0.245 with a phase lag of 3.2 degrees. The data used were laser range measurements obtained by a NASA Goddard Space Flight Center tracking system in Greenbelt, Maryland.

Smith, D. E.↗

NASA NTRS2007

Hybrid Automated Diagnosis of Discrete/Continuous Systems

A recently conceived method of automated diagnosis of a complex electromechanical system affords a complete set of capabilities for hybrid diagnosis in the case in which the state of the electromechanical system is characterized by both continuous and discrete values (as represented by analog and digital signals, respectively). The method is an integration of two complementary diagnostic systems: (1) beacon-based exception analysis for multi-missions (BEAM), which is primarily useful in the continuous domain and easily performs diagnoses in the presence of transients; and (2) Livingstone, which is primarily useful in the discrete domain and is typically restricted to quasi-steady conditions. BEAM has been described in several prior NASA Tech Briefs articles: "Software for Autonomous Diagnosis of Complex Systems" (NPO-20803), Vol. 26, No. 3 (March 2002), page 33; "Beacon-Based Exception Analysis for Multimissions" (NPO-20827), Vol. 26, No. 9 (September 2002), page 32; "Wavelet-Based Real-Time Diagnosis of Complex Systems" (NPO-20830), Vol. 27, No. 1 (January 2003), page 67; and "Integrated Formulation of Beacon-Based Exception Analysis for Multimissions" (NPO-21126), Vol. 27, No. 3 (March 2003), page 74. Briefly, BEAM is a complete data-analysis method, implemented in software, for real-time or off-line detection and characterization of faults. The basic premise of BEAM is to characterize a system from all available observations and train the characterization with respect to normal phases of operation. The observations are primarily continuous in nature. BEAM isolates anomalies by analyzing the deviations from nominal for each phase of operation. Livingstone is a model-based reasoner that uses a model of a system, controller commands, and sensor observations to track the system s state, and detect and diagnose faults. Livingstone models a system within the discrete domain. Therefore, continuous sensor readings, as well as time, must be discretized. To reason about continuous systems, Livingstone uses monitors that discretize the sensor readings using trending and thresholding techniques. In development of the a hybrid method, BEAM results were sent to Livingstone to serve as an independent source of evidence that is in addition to the evidence gathered by Livingstone standard monitors. The figure depicts the flow of data in an early version of a hybrid system dedicated to diagnosing a simulated electromechanical system. In effect, BEAM served as a "smart" monitor for Livingstone. BEAM read the simulation data, processed the data to form observations, and stored the observations in a file. A monitor stub synchronized the events recorded by BEAM with the output of the Livingstone standard monitors according to time tags. This information was fed to a real-time interface, which buffered and fed the information to Livingstone, and requested diagnoses at the appropriate times. In a test, the hybrid system was found to correctly identify a failed component in an electromechanical system for which neither BEAM nor Livingstone alone yielded the correct diagnosis.

Park, Han↗

NASA NTRS2022

Enabling a Larger Deep Space Mission Suite: A Deep Space Network Queuing Antenna for Demand Access

The advent of deep space small spacecraft, as exemplified by the Mars Cubesat One (MarCO), Lunar Trailblazer, Janus, the Escape and Plasma Acceleration and Dynamics Explorers (EscaPADE), and the thirteen Artemis 1 missions, opens the possibility that a much larger number of deep space spacecraft may be launched over the next 10 years and beyond. While scientifically exciting, the prospect of a (much) larger mission suite raises significant challenges for the current approach to ground stations and mission operations. We have been investigating an integrated approach for ground stations and missions operations to enable new modes of operation while maintaining the capabilities of the current operational techniques. This integrated approach is built around three core capabilities: (1) A queuing antenna that enables monitoring the status of a much larger number of spacecraft, and allows spacecraft to transmit requests for telemetry with NASA’s Deep Space Network (DSN); (2) a flexible scheduling system that expands the current DSN scheduling services to enable allocating time on DSN antennas in near real-time; and (3) a cloud-based ground data system that can be spun up and down according to how tracks are assigned by the flexible scheduling system. We shall show that an 18 meter DSN queuing antenna equipped with cyrogenic receivers would enable use of the DSN Demand Access Service for small spacecraft throughout the inner Solar System, thus providing service to a large mission suite. We first discuss the architecture of the queuing antenna and its supporting systems, including, for instance, the service required to generate the schedule for the queueing antenna (which dictates how it slews to monitor multiple spacecraft in a day of operations). Next, we describe the signaling scheme used to encode a request, which is inherited from the already operational DSN Beacon Tone Service, and describe two alternative ways to detect the incoming tone at the ground station, one based on maximum likelihood estimation (MLE), and another one based on Fast-Fourier Transfer (FFT) processing. We then use these results to estimate the maximum range at which a request can be reliably detected as a function of the spacecraft and ground station communication capabilities. Finally, the last part of this part of this paper briefly describes the prototyping effort undertaken at Morehead State University (MSU) and JPL to demonstrate the viability of this new DSN demand access. In particular, we describe the suite of tests conducted using MSU’s 21 meter ground station to validate its use a queuing antenna.

Mattle, Emily↗