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NASA NTRS2003

Navigation Concepts for the James Webb Space Telescope

This paper evaluates the performance that can be achieved using candidate ground and onboard navigation approaches for operation of the James Webb Space Telescope, which will be in an orbit about the Sun-Earth L2 libration point. The ground navigation approach processes standard range and Doppler measurements from the Deep Space Network The onboard navigation approach processes celestial object measurements and/or ground-to- spacecraft Doppler measurements to autonomously estimate the spacecraft s position and velocity and Doppler reference frequency. Particular attention is given to assessing the absolute position and velocity accuracy that can be achieved in the presence of the frequent spacecraft reorientations and momentum unloads planned for this mission. The ground navigation approach provides stable navigation solutions using a tracking schedule of one 30-minute contact per day. The onboard navigation approach that uses only optical quality celestial object measurements provides stable autonomous navigation solutions. This study indicates that unmodeled changes in the solar radiation pressure cross-sectional area and modeled momentum unload velocity changes are the major error sources. These errors can be mitigated by modeling these changes, by estimating corrections to compensate for the changes, or by including acceleration measurements.

Long, Anne↗

NASA NTRS1993

Radar Investigations of Earth-Approaching Asteroids

Much useful information about physical and dynamical properties can be obtained from radar observations of near-Earth asteroids that come within reach of the Arecibo and Goldstone telescopes.

resolution of echoes Doppler frequency synthesize ↗

NASA NTRS2006

A Perspective on DSN System Performance Analysis

This paper discusses the performance analysis effort being carried out in the NASA Deep Space Network. The activity involves root cause analysis of failures and assessment of key performance metrics. The root cause analysis helps pinpoint the true cause of observed problems so that proper correction can be effected. The assessment currently focuses on three aspects: (1) data delivery metrics such as Quantity, Quality, Continuity, and Latency; (2) link-performance metrics such as antenna pointing, system noise temperature, Doppler noise, frequency and time synchronization, wide-area-network loading, link-configuration setup time; and (3) reliability, maintainability, availability metrics. The analysis establishes whether the current system is meeting its specifications and if so, how much margin is available. The findings help identify the weak points in the system and direct attention of programmatic investment for performance improvement.

Deep Space Network (DSN)↗

NASA NTRS2008

On Combining Thermal-Infrared and Radio-Occultation Data of Saturn's Atmosphere

Radio-occultation and thermal-infrared measurements are complementary investigations for sounding planetary atmospheres. The vertical resolution afforded by radio occultations is typically approximately 1 km or better, whereas that from infrared sounding is often comparable to a scale height. On the other hand, an instrument like CIRS can easily generate global maps of temperature and composition, whereas occultation soundings are usually distributed more sparsely. The starting point for radio-occultation inversions is determining the residual Doppler-shifted frequency, that is the shift in frequency from what it would be in the absence of the atmosphere. Hence the positions and relative velocities of the spacecraft, target atmosphere, and DSN receiving station must be known to high accuracy. It is not surprising that the inversions can be susceptible to sources of systematic errors. Stratospheric temperature profiles on Titan retrieved from Cassini radio occultations were found to be very susceptible to errors in the reconstructed spacecraft velocities (approximately equal to 1 mm/s). Here the ability to adjust the spacecraft ephemeris so that the profiles matched those retrieved from CIRS limb sounding proved to be critical in mitigating this error. A similar procedure can be used for Saturn, although the sensitivity of its retrieved profiles to this type of error seems to be smaller. One issue that has appeared in inverting the Cassini occultations by Saturn is the uncertainty in its equatorial bulge, that is, the shape in its iso-density surfaces at low latitudes. Typically one approximates that surface as a geopotential surface by assuming a barotropic atmosphere. However, the recent controversy in the equatorial winds, i.e., whether they changed between the Voyager (1981) era and later (after 1996) epochs of Cassini and some Hubble observations, has made it difficult to know the exact shape of the surface, and it leads to uncertainties in the retrieved temperature profiles of one to a few kelvins. This propagates into errors in the retrieved helium abundance, which makes use of thermal-infrared spectra and synthetic spectra computed with retrieved radio-occultation temperature profiles. The highest abundances are retrieved with the faster Voyager-era winds, but even these abundances are somewhat smaller than those retrieved from the thermal-infrared data alone (albeit with larger formal errors). The helium abundance determination is most sensitive to temperatures in the upper troposphere. Further progress may include matching the radio-occultation profiles with those from CIRS limb sounding in the upper stratosphere.

Flasar, F. M.↗

NASA NTRS2018

Commissioning of NASA's 3rd Generation Tracking and Data Relay Satellites (TDRS KLM)

In the summer of 2017, the third and final spacecraft of the 3rd generation of the Tracking and Data Relay Satellites (TDRS) launched aboard an Atlas V rocket from Complex 41 on the Eastern Test Range. Finishing final testing and integration in the first quarter of 2018, the TDRS-M communication and navigation satellite completes a constellation that began service in the early 1980s. The 3rd generation of spacecraft, TDRS-K, L, and M, not only provided beneficial systems engineering lessons in handling anomalous Radio Frequency and Doppler interference as well as integrating new spacecraft into an aging ground support infrastructure, but also supplies NASA with a valuable test bed for new operational concepts and technologies useful in defining the future architecture of the NASA Space Network. This paper presents an overview of the TDRS-K, L, and M missions, including transfer orbit, Level 5 bus and payload testing, and finally NASA-led Level 6 testing, which includes active TDRS System (TDRSS) users. Highlights include relevant testing results, commissioning challenges, and lessons learned. The final discussion includes a brief overview of future NASA communication and navigation technologies and network architectures.

Data Relay↗

NASA NTRS2022

Mars 2020 Entry, Descent, and Landing as Observed by Radio Science Techniques at UHF and X-band Frequencies

On February 18, 2021, NASA’s Mars 2020 Rover “Perseverance” conducted the Entry, Descent, and Landing (EDL) sequence to land safely on the surface of Mars at Jezero Crater. Due to the criticality of the EDL sequence, redundant telecommunications strategies were utilized to observe the event. The rover transmitted an X-band (8.4 GHz) signal encoded with Multiple Frequency Shift Keying tones direct-to-Earth and a UHF (401.5 MHz) signal with 8 kbps encoded telemetry to orbiters, which relayed the signal back to Earth at X-band. NASA’s Deep Space Network complexes at Goldstone, California and Madrid, Spain received the direct-to-Earth X-band signal. Two of the largest steerable radio telescopes in the world, the 100-meter Green Bank Telescope in West Virginia and the Effelsberg 100-meter Radio Telescope in Germany also received the UHF carrier signal on Earth. During the EDL event, full spectrum recordings of the UHF and X-band signals were captured at these observatories using open-loop receivers. Real-time and post-processing signal analysis to determine power level, received frequency, and Doppler shift allowed determination of the spacecraft’s health and safety state during critical sequences, including event detection such as atmospheric entry, plasma blackouts, and parachute deployment. Simultaneous observations of the UHF and X-band radio links allow for redundancy in the event of a fault and greatly improve confidence in Doppler event detection.

Gladden, Roy↗

NASA NTRS2016

Center of Mass Estimation for a Spinning Spacecraft Using Doppler Shift of the GPS Carrier Frequency

A sequential filter is presented for estimating the center of mass (CM) of a spinning spacecraft using Doppler shift data from a set of onboard Global Positioning System (GPS) receivers. The advantage of the proposed method is that it is passive and can be run continuously in the background without using commanded thruster firings to excite spacecraft dynamical motion for observability. The NASA Magnetospheric Multiscale (MMS) mission is used as a test case for the CM estimator. The four MMS spacecraft carry star cameras for accurate attitude and spin rate estimation. The angle between the spacecraft nominal spin axis (for MMS this is the geometric body Z-axis) and the major principal axis of inertia is called the coning angle. The transverse components of the estimated rate provide a direct measure of the coning angle. The coning angle has been seen to shift slightly after every orbit and attitude maneuver. This change is attributed to a small asymmetry in the fuel distribution that changes with each burn. This paper shows a correlation between the apparent mass asymmetry deduced from the variations in the coning angle and the CM estimates made using the GPS Doppler data. The consistency between the changes in the coning angle and the CM provides validation of the proposed GPS Doppler method for estimation of the CM on spinning spacecraft.

Spacecraft↗

NASA NTRS2016

Center of Mass Estimation for a Spinning Spacecraft Using Doppler Shift of the GPS Carrier Frequency

Estimation↗

NASA NTRS1993

Frequency Swept Diode-pumped Single Frequency TM,Ho:YLiF Laser for spaceborne Doppler Lidar

Optical heterodyne experiments involving the photomixing of two single frequency, deode-pumped thulium holmium yttrium lithium flouride lasers are described. Operated in external frquency stabilization loops, the lasers exhibit 1MHz short term stability, and are photomixed and offset-locked at 140 MHz. Summation of sine wave modulation onto the PZT control voltage on one laser results in frequency swept operation over a continuous tuning range of 160 MHz.

Doppler Lidar Optical heterodyne experiments↗

NASA NTRS1976

The delta Doppler technique for LDV measurements at long distances

A technique for measuring velocity, referred to as a Delta Doppler technique, was presented. This technique determines scattering source velocities by measuring the difference in Doppler shifts of two different frequencies. By transmitting the two frequencies along the same path, a moving fringe pattern is established such that a nonmoving scatterer at the sensing volume would see an intensity variation exactly equal to the difference in the transmitted frequencies. If the particle has a velocity component along an axis which bisects the angle formed by the transmitter and receiver axes, a Doppler shift in the difference frequency can be measured and the velocity component computed. The frequency measured would correspond to the difference in Doppler frequencies that two laser Doppler velocimeters using separate frequencies (the same frequencies as used previously) would have measured, thus the term Delta Doppler.

Cliff, W. C.↗

NASA NTRS2019

A Frequency Diversity Algorithm for Extending the Radar Doppler Velocity Nyquist Interval

Compact millimeter wavelength radars have been widely used for applications such as remote sensing of clouds, guidance avionics and recently, automotive navigation. However, the short wavelength of these radars limit their maximum unambiguous Doppler velocity. A common solution to this problemis to subsequently unfold the Doppler velocity estimate with the staggered pulse repetition time (PRT) algorithm, which requires two different PRTs to be employed in sequence. This work investigates a novel and potentially more rapid method to extend the Doppler velocity Nyquist interval. The investigated algorithm uses a pair of frequency diverse pulses separated by a short time lag for Doppler velocity estimation while the unambiguous range still corresponds to the pulse repetition time employed.

V Venkatesh↗

NASA NTRS1980

RF spectrometers for heterodyne receivers

Several types of spectrometers developed for radio astronomy receivers which utilize RF filters, multiple oscillators and mixers, digital autocorrelators and acoustic/optic devices are considered. The RF spectrometer developed at GSFC to provide wide bandwidths (greater than 1 GHz) as well as high resolution (5MHz) is described. The 128 channel filter bank is divided into high and low resolution sections. The high resolution section is tunable by providing a second mixer ahead of the filter bank. This is necessary because infrared receivers which use gas lasers as local oscillators are only tunable to specific laser frequencies. To compensate for astronomical Doppler shifts and molecule frequency differences a second local oscillator and mixer is needed. A diagram of the RF section of the filter bank is shown. The RF spectrometer is shown to be the best means of achieving ultra-wide bandwidths for infrared heterodyne receivers. For high resolution with a large number of channels, the acousto/optical spectrometer is the principle instrument, particularly for balloon or space flight applications.

Buhl, D.↗

NASA NTRS1985

Gyrating ions and large-amplitude monochromatic MHD waves upstream of the earth's bow shock

Episodes of nearly monochromatic, low-frequency (0.03 Hz) hydromagnetic waves are occasionally observed upstream of the earth's bow shock. High time resolution (3 s) measurements of two-dimensional ion distributions during two nearly monochromatic wave events reveal that the ion distributions asociated with these waves are 'gyrating ions.' Such distributions consists of suprathermal ions with parallel and perpendicular velocities confined to a fairly narrow range of (nonzero) values. The ions are also often confined to a fairly narrow range of gyrophase angle ('gyrophase bunched'). In one of the two cases, the observed frequency of the waves agrees quite well with the Doppler shifted resonance frequency of waves in right-hand resonance with the observed gyrating ions. In the second case, the observed frequency is lower than the predicted frequency by a factor of 1.5-2.

Thomsen, M. F.↗

NASA NTRS1989

High-frequency electrostatic waves near earth's bow shock

Electrostatic wave measurements from the Active Magnetospheric Particle Tracer Explorer Ion Release Module have been used to investigate the wave modes and their possible generation mechanisms in the earth's bow shock and magnetosheath. It is demonstrated that electrostatic waves are present in the bow shock and magnetosheath with frequencies above the maximum frequency for Doppler-shifted ion acoustic waves, yet below the plasma frequency. Waves in this frequency range are tentatively identified as electron beam mode waves. Data from 45 bow shock crossings are then used to investigate possible correlations between the electrostatic wave properties and the near-shock plasma parameters. The most significant relationships found are anticorrelations with Alfven Mach number and electron beta. Mechanisms which might produce electron beams in the shock and magnetosheath are discussed in terms of the correlation study results. These mechanisms include acceleration by the cross-shock electric field and by lower hybrid frequency waves. A magnetosheath 'time of flight' mechanism, in analogy to the electron foreshock region, is introduced as another possible beam generation mechanism.

Onsager, T. G.↗

NASA NTRS1973

Doppler compensation by shifting transmitted object frequency within limits

A system and method are disclosed for position locating, deriving centralized air traffic control data, and communicating via voice and digital signals between a multiplicity of remote aircraft, including supersonic transports, and a central station. Such communication takes place through a synchronous satellite relay station. Side tone ranging patterns, as well as the digital and voice signals, are modulated on a carrier transmitted from the central station and received on all of the supersonic transports. Each aircraft communicates with the ground stations via a different frequency multiplexed spectrum. Supersonic transport position is derived from a computer at the central station and supplied to a local air traffic controller. Position is determined in response to variable phase information imposed on the side tones at the aircrafts. Common to all of the side tone techniques is Doppler compensation for the supersonic transport velocity.

Laughlin, C. R., Jr.↗

NASA NTRS1972

Measurement of the power spectral density of phase of the hydrogen maser

Hydrogen masers are being developed for the Deep Space Network as improved frequency standards, in order to achieve better timing accuracies, reduced Doppler residuals, and lower phase noise in the tracking system. Performance data for the masers are given in two forms: time domain performance, useful for analyzing time keeping systems and Doppler systems; and frequency domain performance, useful for analyzing tracking systems. Particular attention is given to frequency domain performance, as obtained from both time domain measurements and direct measurements.

Sward, A.↗

NASA NTRS1993

Radio Doppler navigation of interplanetary spacecraft using different data processing modes

Doppler shift measurements derived from closed-loop radio tracking of distant spacecraft by ground stations of the Deep Space Network (DSN) are one of the principal means used for interplanetary navigation. This paper describes an investigation of the navigation accuracy that can be achieved with two-way coherent X-band (7.2 to 8.4 GHz) Doppler phase and frequency data; both theoretical and practical aspects of the two Doppler formulations are addressed. A new filtering strategy is also proposed, which differs from current approaches in that most of the ground system calibration errors affecting the Doppler data are represented as filter parameters, in addition to the spacecraft trajectory parameters. Error covariance computations for application of the proposed filter to a navigation scenario derived from the Mars Observer mission are provided, in order to assess the performance that might be obtained in practice. The results indicate that with a phase formulation of the Doppler data and the new filter, navigation accuracies of 15 km at Mars (0.05 microrad in an angular sense) are possible with the DSN's present X-band Doppler tracking system.

Thurman, S. W.↗

NASA NTRS1994

Doppler Navigation of Interplanetary Spacecraft Using Different Data Processing Modes

This paper presents an investigation of the navigation accuracy that can be achieved with two-way coherent X-band Doppler phase and frequency data; both theoretical and practical aspects of the two Doppler formulations are addressed.

navigation accuracy↗