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Technology is currently available to support real-time on-board knowledge of the position of a low earth orbitor at the 5-15 meter level using the civilian broadcast GPS signal with sophisticated models and filtering techniques onboard the spacecraft.
To enhance NASA’s precision landing capabilities, in conjunction with the development of a novel active terrain relative navigation (ATRN) and terrain mapping system, denoted SHERIF, this work performed a comparative analysis between both deep-learning (DL) based and geometric approaches to hazard detection (HD) and safe-site-identification (SSI) through hardware-in-the loop testing on the Six degree-of-freedom Tendon Actuated Robot (STAR). The Standalone Hazard Evaluation and Refinement using Instrument Findings (SHERIF) system is capable of ingesting sensor data at an asynchronous rate, stitching successive terrain scans together to yield a high-resolution digital elevation map (DEM), performing absolute and relative localization using novel 3D feature extraction and matching methods, and HD/SSI activities. The DL-based HD/SSI algorithm provides a modular alternative to classical geometric approaches which have performance times that scale with map resolution. As the adoption of AI solutions become more prevalent for autonomous system decision making, it is prudent to explore the utility of such solutions in applications where they traditionally excel, such as image classification. Along with the development of a DL-based HD system, this work performed the first comparative analysis between DL and geometric approaches to HD/SSI using real sensor data from real-time testing in a relevant environment.
The CoOperative Blending of Autonomous Landing Technologies (COBALT) instrument is a terrestrial test platform for development and maturation of guidance, navigation and control (GN&C) technologies for precision landing. The project is developing a third-generation Langley Research Center (LaRC) navigation doppler lidar (NDL) for ultra-precise velocity and range measurements, which will be integrated and tested with the Jet Propulsion Laboratory (JPL) lander vision system (LVS) for terrain relative navigation (TRN) position estimates. These technologies together provide precise navigation knowledge that is critical for a controlled and precise touchdown. The COBALT hardware will be integrated in 2017 into the GN&C subsystem of the Xodiac rocket-propulsive vertical test bed (VTB) developed by Masten Space Systems, and two terrestrial flight campaigns will be conducted: one open-loop (i.e., passive) and one closed-loop (i.e., active).
To meet NASA’s challenge to return humans to the Moon in 2024 and establish a sustainable presence in 2028 requires advances in autonomous spacecraft navigation. The Safe and Precise Landing Integrated Capabilities Evolution (SPLICE) project, which leverages previous work at NASA to develop multi-mission precision landing and hazard avoidance technologies, is using a multi-faceted approach to achieve the advanced landing requirements. In addition to increasing the technology readiness level of key sensors and developing high performance space computing, SPLICE uses simulations to determine navigation requirements and evaluate sensor performance. The effort evaluates various precision landing concepts of operations, not only for the lunar human and robotic missions, but also for potential missions to other solar system destinations. This paper summarizes the six degree-of-freedom high fidelity simulation framework, trajectory design methodology, and sensor models being considered for a variety of precision lander missions. Initial results of the navigation sensor performance for a human Mars mission are presented. Finally, trade and sensitivity studies are outlined for future work to fully characterize sensor performance assumptions and modifications required to achieve precision landing and hazard avoidance.
A tool used to calculate dilution of precision (DOP) was created in order to assist the Space Communications and Navigation (SCaN) program to analyze current and future user missions. The SCaN Center for Engineering, Networks, Integration, and Communication (SCENIC) is developing a new user interface (UI) to augment and replace the capabilities of currently used commercial software, such as Systems Tool Kit (STK). The DOP tool will be integrated in the SCENIC UI and will be used to analyze the accuracy of navigation solutions. This tool was developed using MATLAB and free and open-source tools to save cost and to use already existing orbital software libraries. GPS DOP data was collected and used for validation purposes. The similarities between the DOP tool results and GPS data show that the DOP tool is performing correctly. Additional improvements can be made in the DOP tool to improve its accuracy and performance in analyzing navigation solutions.
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.
The LunaNet Interoperability Specification (LNIS) is a set of standards currently under development by NASA, ESA, and JAXA, which define a common, interoperable set of services and interfaces for lunar communication and navigation. The LNIS includes specifications for the GNSS-like Augmented Forward Signal (AFS). The LANS (Lunar Augmented Navigation Service) will be comprised of Multiple LunaNet Service Provider (LNSP) nodes broadcasting the AFS, such as NASA’s LCRNS (Lunar Communications Relay and Navigation Systems), ESA’s Moonlight LCNS (Lunar Communication and Navigation Services) and the Japan LNSS (Lunar Navigation Satellite System). The LANS will provide a GNSS-like capability enabling orbiting and surface users in lunar space (such as Artemis) to estimate their position, velocity and time as described in Giordano et al., (2023). Initial capabilities will focus on providing service to the lunar South pole region. The specification of AFS defines two orthogonal signal components on a single carrier, with the in-phase component (AFS-I) being a lower-chip-rate data channel tailored for applications where low SWaP is critical (e.g., IoT devices or search and rescue), and the quadrature component (AFS-Q) being a high-chip-rate data-less pilot signal for high-precision, robust lunar navigation and positioning applications. An initial description of AFS was provided in the LNIS, (2023), and initial analysis results were shown in Dafesh, et al., (2024). In this work, we provide rationale for updates to the LNIS that define key aspects of the signal including the primary spreading code designs for the data and pilot channels, and a three-tiered overlay code approach for the pilot channel that provides flexible signal acquisition alternatives, rapid time dissemination and robust frame Sync. The paper also describes a robust data sync word that is designed to enable frame Sync. for low-SWaP receivers that only use the I channel, as well as a low-density parity check code (LDPC) data message encoding design and interleaving definition. The work further describes the impact of the updated AFS design in terms of improved acquisition performance, interference resistance, navigation message capabilities and rapid absolute time dissemination for users able to access clock and ephemeris data over an external network. The cross-correlation and synchronization performance of the AFS design is also compared to potential alternatives, further providing rationale for the final signal design configuration.
The LunaNet Interoperability Specification (LNIS) is a set of standards currently under development by NASA, ESA, and JAXA, which define a common, interoperable set of services and interfaces for lunar communication and navigation. The LNIS includes specifications for the GNSS-like Augmented Forward Signal (AFS). The LANS (Lunar Augmented Navigation Service) will be comprised of Multiple LunaNet Service Provider (LNSP) nodes broadcasting the AFS, such as NASA’s LCRNS (Lunar Communications Relay and Navigation Systems), ESA’s Moonlight LCNS (Lunar Communication and Navigation Services) and the Japan LNSS (Lunar Navigation Satellite System). The LANS will provide a GNSS-like capability enabling orbiting and surface users in lunar space (such as Artemis) to estimate their position, velocity and time as described in Giordano et al., (2023). Initial capabilities will focus on providing service to the lunar South pole region. The specification of AFS defines two orthogonal signal components on a single carrier, with the in-phase component (AFS-I) being a lower-chip-rate data channel tailored for applications where low SWaP is critical (e.g., IoT devices or search and rescue), and the quadrature component (AFS-Q) being a high-chip-rate data-less pilot signal for high-precision, robust lunar navigation and positioning applications. An initial description of AFS was provided in the LNIS, (2023), and initial analysis results were shown in Dafesh, et al., (2024). In this work, we provide rationale for updates to the LNIS that define key aspects of the signal including the primary spreading code designs for the data and pilot channels, and a three-tiered overlay code approach for the pilot channel that provides flexible signal acquisition alternatives, rapid time dissemination and robust frame Sync. The paper also describes a robust data sync word that is designed to enable frame Sync. for low-SWaP receivers that only use the I channel, as well as a low-density parity check code (LDPC) data message encoding design and interleaving definition. The work further describes the impact of the updated AFS design in terms of improved acquisition performance, interference resistance, navigation message capabilities and rapid absolute time dissemination for users able to access clock and ephemeris data over an external network. The cross-correlation and synchronization performance of the AFS design is also compared to potential alternatives, further providing rationale for the final signal design configuration.
LunaNet provides a common set of interoperable specifications for communication and position, navigation and time (PNT) services and interfaces soon to be implemented in lunar vicinity. The LunaNet Interoperability Specification (LNIS) provides the design for the GNSS-like Augmented Forward Signal (AFS), which enables orbiting and surface users in lunar space, such as Artemis, to estimate their position, velocity, and time. The specification of AFS defines two orthogonal signal components on a single carrier: the in-phase component (AFS-I), a lower-chip-rate data channel tailored for applications where low SWaP (Size, Weight, and Power) is critical (e.g., IoT devices or search and rescue), and the quadrature component (AFS-Q), a high-chip-rate data-less pilot signal for high-precision, robust lunar navigation and positioning applications. An initial description of AFS was provided in [1], with initial analysis results shown in [2] and [3] and the current signal in space description provided in [4]. As part of NASA's Lunar Communication Relay and Navigation Systems (LCRNS) project, this work expands upon the initial analysis results and proposes a new expanded set of AFS-Q spreading codes that exceed the cross-correlation and autocorrelation sidelobe performance of L1C and other GNSS signals, while providing additional expansion capabilities for future provider satellites. A set of 420 codes was selected from a Weil-based code derived from the prime number 10247, which is larger than the 10243 prime number used to derive Beidou’s B1C Weil sequences. Both the initial set of 210 codes and the expanded set of 420 codes are shown to provide the best cross-correlation of any 10230-chip satellite navigation codes. The performance is demonstrated for hierarchical sets of spreading codes optimized and organized in sets of 30 codes. The new codes were developed using an optimization approach and correlation methodology described in [5]. The work also compares LunaNet’s AFS to terrestrial GNSS signals in terms of acquisition, tracking, and data demodulation performance. Performance is evaluated for receivers that only track the 1.023 MCPS data channel spreading code for low SWaP IoT use cases, as well as for receivers that track both the 1.023 MCPS data channel and the 5.115 MCPS pilot channel spreading code for high-performance use cases. Performance is assessed in the presence of interference and thermal noise. The analysis is performed in terms of expected operating conditions on the lunar surface. Several unique flexibility aspects of the augmented forward signal are described, including the use of the Q channel’s secondary and tertiary codes to enable variable coherent integrations during acquisition. This is compared to GNSS signals such as L5/E5 and MBOC in terms of achievable processing gain for interference mitigation versus acquisition complexity. The work details acquisition and tracking techniques used to optimally acquire and track the primary, secondary, and tertiary codes on the Q channel, as well as acquisition of the I channel spreading code. Acquisition of the 8 ms Q channel spreading code is also compared to joint acquisition of the I and Q channel primary codes in noise and interference environments.
LunaNet provides a common set of interoperable specifications for communication and position, navigation and time (PNT) services and interfaces soon to be implemented in lunar vicinity. The LunaNet Interoperability Specification (LNIS) provides the design for the GNSS-like Augmented Forward Signal (AFS), which enables orbiting and surface users in lunar space, such as Artemis, to estimate their position, velocity, and time. The specification of AFS defines two orthogonal signal components on a single carrier: the in-phase component (AFS-I), a lower-chip-rate data channel tailored for applications where low SWaP (Size, Weight, and Power) is critical (e.g., IoT devices or search and rescue), and the quadrature component (AFS-Q), a high-chip-rate data-less pilot signal for high-precision, robust lunar navigation and positioning applications. An initial description of AFS was provided in LNIS 2023, with initial analysis results shown in Dafesh 2024 and Dafesh 2025, and the current signal in space description provided in LNIS 2025. As part of NASA's Lunar Communication Relay and Navigation Systems (LCRNS) project, this work expands upon the initial analysis results and proposes a new expanded set of AFS-Q spreading codes that exceed the cross-correlation and autocorrelation sidelobe performance of L1C and other GNSS signals, while providing additional expansion capabilities for future service satellites. A set of 420 codes was selected from a Weil-based code derived from the prime number 10247, which is larger than the 10243 prime number used to derive BeiDou’s B1C Weil sequences. Both the initial set of 210 codes and the expanded set of 420 codes are shown to provide the best cross-correlation of any 10230-chip satellite navigation codes. The performance is demonstrated for hierarchical sets of spreading codes optimized and organized in sets of 30 codes. The work also compares LunaNet’s AFS to terrestrial GNSS signals in terms of acquisition, tracking, and data demodulation performance. Performance is evaluated for receivers that only track the 1.023 MCPS data channel spreading code for low SWaP IoT use cases, as well as for receivers that track both the 1.023 MCPS data channel and the 5.115 MCPS pilot channel spreading code for high-performance use cases. Performance is assessed in the presence of interference and thermal noise. The analysis is performed in terms of expected operating conditions on the lunar surface. Several unique flexibility aspects of the augmented forward signal are described, including the use of the Q channel’s secondary and tertiary codes to enable variable coherent integrations during acquisition. This is compared to GNSS signals such as L5/E5 and MBOC in terms of achievable processing gain for interference mitigation versus acquisition complexity. The work details acquisition and tracking techniques used to optimally acquire and track the primary, secondary, and tertiary codes on the Q channel, as well as acquisition of the I channel spreading code. Acquisition of the 8 ms, Q channel spreading code is also compared to joint acquisition of the I and Q channel primary codes in noise and interference environments
The navigation filter architecture successfully deployed on the Morpheus flight vehicle is presented. The filter was developed as a key element of the NASA Autonomous Landing and Hazard Avoidance Technology (ALHAT) project and over the course of 15 free fights was integrated into the Morpheus vehicle, operations, and flight control loop. Flight testing completed by demonstrating autonomous hazard detection and avoidance, integration of an altimeter, surface relative velocity (velocimeter) and hazard relative navigation (HRN) measurements into the onboard dual-state inertial estimator Kalman flter software, and landing within 2 meters of the vertical testbed GPS-based navigation solution at the safe landing site target. Morpheus followed a trajectory that included an ascent phase followed by a partial descent-to-landing, although the proposed filter architecture is applicable to more general planetary precision entry, descent, and landings. The main new contribution is the incorporation of a sophisticated hazard relative navigation sensor-originally intended to locate safe landing sites-into the navigation system and employed as a navigation sensor. The formulation of a dual-state inertial extended Kalman filter was designed to address the precision planetary landing problem when viewed as a rendezvous problem with an intended landing site. For the required precision navigation system that is capable of navigating along a descent-to-landing trajectory to a precise landing, the impact of attitude errors on the translational state estimation are included in a fully integrated navigation structure in which translation state estimation is combined with attitude state estimation. The map tie errors are estimated as part of the process, thereby creating a dual-state filter implementation. Also, the filter is implemented using inertial states rather than states relative to the target. External measurements include altimeter, velocimeter, star camera, terrain relative navigation sensor, and a hazard relative navigation sensor providing information regarding hazards on a map generated on-the-fly.
The growth of global demand for air transportation has put increasing strain on the nation's air traffic management system. To relieve this strain, the International Civil Aviation Organization has urged all nations to adopt Performance-Based Navigation (PBN), which can help to reduce air traffic congestion, decrease aviation fuel consumption, and protect the environment. NASA has developed a Terminal Area Precision Scheduling and Spacing (TAPSS) system that can support increased use of PBN during periods of high traffic, while supporting fuel-efficient, continuous descent approaches. In the original development of this system, arrival aircraft are assigned fuel-efficient Area Navigation (RNAV) Standard Terminal Arrival Routes before their initial descent from cruise, with routing defined to a specific runway. The system also determines precise schedules for these aircraft that facilitate continuous descent through the assigned routes. To meet these schedules, controllers are given a set of advisory tools to precisely control aircraft. The TAPSS system has been evaluated in a series of human-in-the-loop (HITL) air traffic simulations during 2010 and 2011. Results indicated increased airport arrival throughput up to 10 over current operations, and maintained fuel-efficient aircraft decent profiles from the initial descent to landing with reduced controller workload. This paper focuses on results from a joint NASA and FAA HITL simulation conducted in 2012. Due to the FAA rollout of the advance terminal area PBN procedures at mid-sized airports first, the TAPSS system was modified to manage arrival aircraft as they entered Terminal Radar Approach Control (TRACON). Dallas-Love Field airport (DAL) was selected by the FAA as a representative mid-sized airport within a constrained TRACON airspace due to the close proximity of a major airport, in this case Dallas-Ft Worth International Airport, one of the busiest in the world. To address this constraint, RNAV routes and Required Navigation Performance with the particular capability known as Radius-to-Fix (RNP-RF) approaches to a short final were used. The purpose of this simulation was to get feedback on how current operations could benefit with the TAPSS system and also to evaluate the efficacy of the advisory tools to support the broader use of PBN in the US National Airspace System. For this NASA-FAA joint experiment, an Air Traffic Control laboratory at NASA Ames was arranged to simulate arrivals into DAL in Instrument Meteorological Conditions utilizing parallel dependent approaches, with two feeder positions that handed off traffic to one final position. Four FAA controllers participated, alternately covering these three positions. All participants were Full-Performance Level terminal controllers and members of the National Air Traffic Controllers Association. During the simulation, PBN arrival operations were compared and contrasted in three conditions. They were the Baseline, where none of the TAPSS systems TRACON controller decision support advisories were provided, the Limited Advisories, reflecting the existing but dormant capabilities of the current terminal automation equipment with providing a subset of the TAPSS systems advisories; numerical delay, landing sequence, and runway assignment information, and the Full Advisories, with providing the following in addition to the ones in the Limited condition; trajectory slot markers, timelines of estimated times of arrivals and sched
Precision testing of navigation gyroscopes on high acceleration centrifuge for determination of drift coefficients
The author has identified the following significant results. Results of photointerpretation indicated that ERTS is a good classifier of forest and nonforest lands (90 to 95 percent accurate). Photointerpreters could make this separation as accurately as signature analysis of the computer compatible tapes. Further breakdowns of cover types at each site could not be accurately classified by interpreters (60 percent) or computer analysts (74 percent). Exceptions were water, wet meadow, and coniferous stands. At no time could the large bark beetle infestations (many over 300 meters in size) be detected on ERTS images. The ERTS wavebands are too broad to distinguish the yellow, yellow-red, and red colors of the dying pine foliage from healthy green-yellow foliage. Forest disturbances could be detected on ERTS color composites about 90 percent of the time when compared with six-year-old photo index mosaics. ERTS enlargements (1:125,000 scale, preferably color prints) would be useful to forest managers of large ownerships over 5,000 hectares (12,500 acres) for broad area planning. Black-and-white enlargements can be used effectively as aerial navigation aids for precision aerial photography where maps are old or not available.
Sensitivity and short-term stability high. Design combines superconductivity and magnetic levitation to achieve linear-acceleration sensitivity greater than conventional linear accelerometers, and short-term angular stability better than conventional gyroscopes. Improved accelerometer used to increase precision in inertial navigation and surveying, as sensitive multiple-axis seismic sensor, as component of tensor gravity gradiometer, or to sense accelerations of stabilized platforms or spacecraft.
The C130 Earth Resources Aircraft provides a platform for a variety of sensors that collect data in support of terrestrial and atmospheric projects sponsored by NASA in coordination with Federal, state, university, and industry investigators. This data is applied to research in the areas of forestry, agriculture, land use and land cover analysis, hydrology, geology, photogrammetry, oceanography, meteorology, and other earth science disciplines. The C130 is a platform aircraft flying up to 25,000 feet above sea level at speeds between 150 and 330 knots True Air Speed. The aircraft is capable of precise flight line navigation by means of an optical borescope from which line guidance is provided to the pilots.
Report discusses feasibility of using Global Positioning System (GPS) to resolve short-term fluctuations (days or hours) in locations of points on crust of Earth to within centimeters or millimeters. With full constellation of satellites and ground receiving stations, system provides rapid (within 12 hours) determinations of variations in orientation. Measurements used to enhance precision of spacecraft navigation and in geophysical and meteorological studies of daily exchanges of angular momentum among fluid core, crust and mantle, oceans, and atmosphere.
A special-purpose software Global Positioning System (GPS) receiver designed for remote sensing with reflected GPS signals is described in Delay/Doppler-Mapping GPS-Reflection Remote-Sensing System (NPO-30385), which appears elsewhere in this issue of NASA Tech Briefs. The input accepted by this program comprises raw (open-loop) digitized GPS signals sampled at a rate of about 20 MHz. The program processes the data samples to perform the following functions: detection of signals; tracking of phases and delays; mapping of delay, Doppler, and delay/Doppler waveforms; dual-frequency processing; coherent integrations as short as 125 s; decoding of navigation messages; and precise time tagging of observable quantities. The software can perform these functions on all detectable satellite signals without dead time. Open-loop data collected over water, land, or ice and processed by this software can be further processed to extract geophysical information. Possible examples include mean sea height, wind speed and direction, and significant wave height (for observations over the ocean); bistatic-radar terrain images and measures of soil moisture and biomass (for observations over land); and estimates of ice age, thickness, and surface density (for observations over ice).