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This paper describes the JPL discovery of an integrated trajectory, and the tracking and orbit determination suuport provided by JPL's Deep Space Network and Multimission Navigation Team in support of the final targeting for lunar insertion.
Convoys are collections of vehicles that share similar velocity profiles. In the sense-and follow convoy construct, a vehicle can follow a member of an existing convoy resulting in convoy chaining. We prove conditions under which this can occur such that the resulting convoy chain is bounded and the velocities of all members converge to the leader velocity through locally distributed control algorithms. To assess the approach, we utilize a six degree-of-freedom rigid body vehicle dynamics model for each agent. A dynamic inversion based control law is used to track the desired trajectory generated by the convoy algorithms. To simulate the system, we utilize Unity, a cross-platform game engine, where 3-dimensional terrain, building, and vehicle data can be visualized. Numerous simulations are presented to illustrate the concept.
Convoys are collections of vehicles that share similar velocity profiles. In the sense-and follow convoy construct, a vehicle can follow a member of an existing convoy resulting in convoy chaining. We prove conditions under which this can occur such that the resulting convoy chain is bounded and the velocities of all members converge to the leader velocity through locally distributed control algorithms. To assess the approach, we utilize a six degree-of-freedom rigid body vehicle dynamics model for each agent. A dynamic inversion based control law is used to track the desired trajectory generated by the convoy algorithms. To simulate the system, we utilize Unity, a cross-platform game engine, where 3-dimensional terrain, building, and vehicle data can be visualized. Numerous simulations are presented to illustrate the concept. Link to video file below:
Scientific exploration of Venus using an atmospheric probe requires relaying telemetry to Earth as the probe descends through the atmosphere to the surface of Venus. Using the flyby spacecraft to relay the probe telemetry to Earth will require precise carrier-to-probe pointing accuracy of the relay spacecraft’s antenna. NASA’s Deep Atmosphere Venus Investigation of Noble gases, Chemistry, and Imaging (DAVINCI) mission uses this carrier-to-probe relay technique. Although DAVINCI includes a coherent cross-link for science, this is not baselined for navigation tracking. This paper explores the potential effectiveness of cross-link tracking for reducing trajectory uncertainty and improving spacecraft-to-probe pointing.
This paper presents a novel, safe tracking control design method that learns the parameters of an uncertain Euler-Lagrange (EL) system online using adaptive learning laws. A barrier function (BF) is first used to transform the full-state constrained EL-dynamics into an equivalent unconstrained dynamics. An adaptive tracking controller is then developed along with the parameter update law in the transformed state space such that the states remain bounded for all time within a prescribed bound. A stability analysis is developed that considers the EL-dynamics’ uncertainty, yielding a semi-globally uniformly ultimately bounded (SGUUB) tracking error and the parameter estimation error. The controller design is validated in simulations using a two-link planar manipulator. The results show the proposed method’s ability to track the reference trajectory while remaining inside each of the predefined state bounds.
To support Lunar Reconnaissance Orbiter’s extended science missions, an algorithm for autonomous optimization of fast occultation avoidance maneuvers was developed. The fast attitude maneuvers are inserted to the spacecraft attitude control system as trajectories to be tracked. Executing maneuvers in this way requires transmission and storage of a large number of time-tagged attitude waypoints on the spacecraft. For more efficient day-to-day operations, an interpolating filter was designed to perform onboard interpolation between sparse samples of commands. The interpolating filter – called FastXMan for efficient fast maneuvering – was patched into LRO’s flight software in late 2023 and is presently operational. This paper presents an overview of the issues related to the practical implementation of the filter and illustrates the flight performance of the new scheme.
Soft robots are challenging to model and control due to their poorly defined kinematics and nonlinear dynamics. Recently, Koopman operator theory has been shown capable of constructing control-oriented soft robot models from data. However, building these models requires extensive data collection and they do not necessarily generalize well outside of the training observations. This paper presents a more data-efficient and generalizable approach to soft robot modeling that first identifies a physics-based Koopman model then supplements it with a data-driven residual Koopman model. The resulting combined model is linear and thus compatible with real-time model-based control techniques such as Model Predictive Control (MPC). The efficacy of the approach is demonstrated on several simulated systems and on a real soft robot arm, where it is shown to generate models that are more accurate than purely physics-based models and require less data to construct than purely data-driven models. Using a model-based controller, the soft arm is able to successfully track end effector trajectories, perform a pick-and-place task, and write on a dry-erase board, showcasing the applicability of this framework to increase the capabilities of soft robotic systems.
One of the foremost requirements for accurate in-flight safety monitoring of autonomous unmanned aerial vehicles (UAVs) is tracking of their flight trajectory. Existing UAVs leverage autonomous flight functionalities based on trajectory generation algorithms developed in robotic applications such as polynomial or spline curves in order to facilitate kinematic smoothness, minimum vibrations and fuel efficiency. However in practice, the actual path may be subjected to unexpected local weather conditions, unexpected obstacles along the path or abrupt traffic changes in the low-altitude airspace resulting in large errors of the predicted time-of-arrival at way-points. In this study, an approach to quantify and propagate uncertainty in 4D trajectories is proposed. The paper presents a simple error interval propagation method based on the expected cruise speed of the UAV and its associated uncertainty. The uncertainty is then propagated in time to estimate reasonable confidence intervals on the times-of-arrival of the vehicle at each way-point as well as along the entire flight-path. The uncertainty propagation is demonstrated on a state-of-the-art trajectory generation algorithm based on non-uniform rational B-spline (NURBS) curves. Further, the effect of a stationary wind field is incorporated in the uncertainty propagation approach. The proposed method is implemented on synthetic and real data obtained from flight experiments with a small UAV.
The tracking and data system support of the launch, near-earth, and deep space phases of the Pioneer 10 mission, which sent a Pioneer spacecraft into a flyby of Jupiter that would eventually allow the spacecraft to escape the solar system is discussed. The support through the spacecraft's second trajectory correction is reported. During this period, scientific instruments aboard the spacecraft registered information relative to interplanetary particles and fields, and radiometric data generated by the network continued to improve knowledge of the celestial mechanics of the solar system. In addition to network support activity detail, network performance and special support activities are covered.
A unique global array of 20 radio telescopes provided 24-h telemetry acquisition of meteorological data from the Vega balloons and differential VLBI measurements of their trajectories. Initial Doppler-tracking analysis indicates mean zonal wind velocities of 69 + or - 1 and 66 + or - 1 m/sec at the Vega 1 and Vega 2 float heights, and discloses an anomaly in the Vega 2 trajectory above the mountains in Aphrodite Terra.
An interim demonstration was performed of the time transfer capability of the NAVSTAR GPS system using a single NTS satellite. Measurements of time difference (pseudo-range) are made from the NTS tracking network and at the participating observatories. The NTS network measurements are used to compute the NTS orbit trajectory. The central NTS tracking station has a time link to the Naval Observatory UTC (USNO,MC1) master clock. Measurements are used with the NTS receiver at the remote observatory, the time transfer value UTC (USNO,MC1)-UTC (REMOTE, VIA NTS) is calculated. Intercomparisons were computed using predicted values of satellite clock offset and ephemeus.
Existing work concerning two or more manipulators simultaneously grasping and transferring a common load is continued and extended. Specifically considered is the case of one or more arms being kinematically redundant. Some existing results in the modeling and control of single redundant arms and multiple manipulators are reviewed. The cooperating situation is modeled in terms of a set of coordinates representing object motion and internal object squeezing. Nominal trajectories in these coordinates are produced via actuator load distribution algorithms introduced previously. A controller is developed to track these desired object trajectories while making use of the kinematic redundancy to additionally aid the cooperation and coordination of the system. It is shown how the existence of kinematic redundancy within the system may be used to enhance the degree of cooperation achievable.
Here, we report analyses by synchrotron X-ray fluorescence microscopy of the elemental composition of eight candidate impact features extracted from the Stardust Interstellar Dust Collector (SIDC). Six of the features were unambiguous tracks, and two were crater-like features. Five of the tracks are so-called midnight tracks that is, they had trajectories consistent with an origin either in the interstellar dust stream or as secondaries from impacts on the Sample Return Capsule (SRC). In a companion paper reporting synchrotron X-ray diffraction analyses of ISPE candidates, we show that two of these particles contain natural crystalline materials: the terminal particle of track 30contains olivine and spinel, and the terminal particle of track 34 contains olivine. Here, we show that the terminal particle of track 30, Orion, shows elemental abundances, normalized to Fe, that are close to CI values, and a complex, fine-grained structure. The terminal particle of track 34, Hylabrook, shows abundances that deviate strongly from CI, but shows little fine structure and is nearly homogenous. The terminal particles of other midnight tracks, 29 and 37, had heavy element abundances below detection threshold. A third, track28, showed a composition inconsistent with an extraterrestrial origin, but also inconsistent with known spacecraft materials. A sixth track, with a trajectory consistent with secondary ejecta from an impact on one of the spacecraft solar panels, contains abundant Ce and Zn. This is consistent with the known composition of the glass covering the solar panel. Neither crater-like feature is likely to be associated with extraterrestrial materials. We also analyzed blank aerogel samples to characterize background and variability between aerogel tiles. We found significant differences in contamination levels and compositions, emphasizing the need for local background subtraction for accurate quantification.
New surface damage models are presented that predict the heat shield erosion due to dust particle impact when a spacecraft enters the Martian atmosphere. Existing models were based on Apollo-era experimental data and approximate methods for tracking the dust particle trajectories through the shock layer. These legacy methods will be compared against new results based on more sophisticated particle tracking methods and recent experimental data.
New products from the TOMS (Total Ozone Mapping Spectrometer) >satellite instrument can resolve pollution events in tropical and mid-latitudes, Over the past several years, we have developed tropospheric ozone data sets by two methods. The modified-residual technique [Hudson and Thompson, 1998; Thompson and Hudson, 1999] uses v. 7 TOMS total ozone and is applicable to tropical regimes in which the wave-one pattern in total ozone is observed. The TOMSdirect method [Hudson et at., 2000] represents a new algorithm that uses TOMS radiances to extract tropospheric ozone in regions of constant stratospheric ozone and tropospheric ozone displaying high mixing ratios and variability characteristic of pollution, Absorbing aerosols (dust and smoke; Herman et at., 1997 Hsu et al., 1999), a standard TOMS product, provide transport and/or source marker information to interpret tropospheric ozone. For the Nimbus 7/TOMS observing period (1979-1992), modified-residual TTO (tropical tropospheric ozone) appears as two maps/month at I-degree latitude 2-degree longitude resolution at a homepage and digital data are available (20S to 20N) by ftp at http://metosrv2. umd.edu/~tropo/ 14y_data.d. Preliminary modified-residual TTO data from the operational Earth-Probe/TOMS (1996- present) are posted in near-real-time at the same website. Analyses with the new tropospheric ozone and aerosol data are illustrated by the following (I)Signals in tropical tropospheric ozone column and smoke amount during ENSO (El Nino-Southern Oscillation) events, e.g. 1982-1983 and the intense ENSO induced biomass fires of 1997-1998 over the Indonesian region [Thompson et a[, 2000a, Thompson and Hudson, 1999]. (2) Trends in tropospheric ozone and smoke aerosols in various tropical regions (Atlantic, Pacific, Africa, Brazil). No significant trends were found for ozone from1980-1990 [Thompson and Hudson, 19991 although smoke aerosols increased during the period [Hsu et al.,1999]. (3) Temporal and spatial offsets ("paradoxes") in tropical tropospheric ozone and smoke aerosol in regions of greatest tropical biomass burning [Thompson et at., 1996;2000b]. (4) Trans-boundary pollution tracking. With an air parcel (trajectory) model, smoke aerosol and ozone and dust plumes can be tracked across oceans (e.g., Asia to North America; North America to Europe) and national boundaries, e.g. Indonesia to Singapore and Malaysia during the 1997 ENSO fires.
A scheme was developed to assist the human operator by augmenting an optic sight manual tracking loop with target rate estimates from a computer control algorithm which can either be a Kalman Filter or an alpha, beta, gamma filter. The idea is for the computer to provide rate tracking while the human operator is responsible for nullifying the tracking error. A simple schematic is shown to illustrate the implementation of this concept. A hybrid real-time man-in-loop simulation was used to compare the tracking performance of the same flight trajectory with or without this form of computer-aided track. Preliminary results show the advantage of computer-aided track against high speed aircraft at close range. However, good tracking before target state estimator maturity becomes more critical for aided track than without. Results are presented for a constant velocity flight trajectory.
Wiener filters in phase locked loop design, noting tracking function for orbital trajectory, derivation of optimum filter and noise bandwidth
Simultaneous recording of rocket trajectory and rapid auroral variations using high sensitivity image orthicon TV system