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NASA NTRS1977

Correlation tracking study for meter-class solar telescope on space shuttle

The theory and expected performance level of correlation trackers used to control the pointing of a solar telescope in space using white light granulation as a target were studied. Three specific trackers were modeled and their performance levels predicted for telescopes of various apertures. The performance of the computer model trackers on computer enhanced granulation photographs was evaluated. Parametric equations for predicting tracker performance are presented.

Smithson, R. C.↗

NASA NTRS1985

Retinally stabilized differential resolution television display

A remote television viewing system employing an eye tracker is disclosed, wherein a small region of the image appears in high resolution, and the remainder of the image appears in low resolution. The eye tracker monitors the position of the viewer's line of sight. The eye tracker position data is transmitted to the remote television camera and control. Both the remote camera and television display are adapted to have selectable high-resolution and low resolution raster scan modes. The position data from the eye tracker is used to determine the point at which the high-resolution scan is to commence. The video data defining the observed image is encoded in a novel format, wherein in each data field, the data representing the position of the high resolution region of predetermined size appears first, followed by the high resolution zone video data and then the low-resolution region data. As the viewer's line of sight relative to the displayed image changes, the position of the high resolution region changes to track the viewer's line of sight.

Ruoff, C. F., Jr.↗

NASA NTRS1985

Star field simulator

A Star Field Simulator has been developed to serve as a source of radiation for the ASTRO Star Tracker. The star tracker and simulator are components of a motion compensation test facility located at Marshall Space Flight Center in Huntsville, Alabama. Preflight tests and simulations using various levels of guide stars are performed in the test facility to establish performance of the motion compensation system before being used in a flight environment. The ASTRO Star Tracker operates over a wide dynamic range of irradiance corresponding to visual stellar magnitudes of -0.8 to 8. A minimum of three simulated guide stars with variable magnitudes are needed to fully test the Star Tracker performance under simulated mission conditions.

Source record↗

NASA NTRS1984

Inertially referenced instrument pointing platform with momentum compensated articulation

The characteristics of the Mariner Mark II Integrated Platform Pointing and Attitude Control System (IPPACS) microstep actuator with momentum compensation and the IPPACS optical reference tracker are examined, and the advantages of this new technology are identified. The momentum-compensated articulation acts to prevent platform articulation activity from disturbing the spacecaft. This guarantees dynamic stability, ensures a quiescent pointing environment, and decouples the design of the platform from the design of the spacecraft. A microstep actuator with harmonic drive provides platform angular step resolution to 0.5 arcsec for precision pointing of instruments. An optical reference tracker boresighted with scientific instruments guarantees accurate target-referenced closed-loop pointing. An IPPACS star and target tracker with 1 to 10 arcsec accuracy and wide 11 x 17 degrees field of view has been derived from Advanced Star and Target Reference Optical Sensor (ASTROS) CCD star tracker technology, greatly enhancing the optical referencing capabilities of future multimission interplanetary spacecraft.

Bell, C. E.↗

NASA NTRS1997

Star Identification Without Attitude Knowledge: Testing with X-Ray Timing Experiment Data

As the budget for the scientific exploration of space shrinks, the need for more autonomous spacecraft increases. For a spacecraft with a star tracker, the ability to determinate attitude from a lost in space state autonomously requires the capability to identify the stars in the field of view of the tracker. Although there have been efforts to produce autonomous star trackers which perform this function internally, many programs cannot afford these sensors. The author previously presented a method for identifying stars without a priori attitude knowledge specifically targeted for onboard computers as it minimizes the necessary computer storage. The method has previously been tested with simulated data. This paper provides results of star identification without a priori attitude knowledge using flight data from two 8 by 8 degree charge coupled device star trackers onboard the X-Ray Timing Experiment.

Ketchum, Eleanor↗

NASA NTRS2010

Magnetospheric Multiscale (MMS) Mission Attitude Ground System Design

This paper describes the attitude ground system (AGS) design to be used for support of the Magnetospheric MultiScale (MMS) mission. The AGS exists as one component of the mission operations control center. It has responsibility for validating the onboard attitude and accelerometer bias estimates, calibrating the attitude sensors and the spacecraft inertia tensor, and generating a definitive attitude history for use by the science teams. NASA's Goddard Space Flight Center (GSFC) in Greenbelt, Maryland is responsible for developing the MMS spacecraft, for the overall management of the MMS mission, and for mission operations. MMS is scheduled for launch in 2014 for a planned two-year mission. The MMS mission consists of four identical spacecraft flying in a tetrahedral formation in an eccentric Earth orbit. The relatively tight formation, ranging from 10 to 400 km, will provide coordinated observations giving insight into small-scale magnetic field reconnection processes. By varying the size of the tetrahedron and the orbital semi-major axis and eccentricity, and making use of the changing solar phase, this geometry allows for the study of both bow shock and magnetotail plasma physics, including acceleration, reconnection, and turbulence. The mission divides into two phases for science; these phases will have orbit dimensions of 1.2 x 12 Earth radii in the first phase and 1.2x25 Earth radii in the second in order to study the dayside magnetopause and the nightside magnetotail, respectively. The orbital periods are roughly one day and three days for the two mission phases. Each of the four MMS spacecraft will be spin stabilized at 3 revolutions per minute (rpm), with the spin axis oriented near the ecliptic north pole but tipped approximately 2.5 deg towards the Sun line. The main body of each spacecraft will be an eight-sided platform with diameter of 3.4 m and height of 1.2 m. Several booms are attached to this central core: two axial booms of 14.9 m length, two radial magnetometer booms of 5 m length, and four radial wire booms of 60 m length. Attitude and orbit control will use a set of axial and radial thrusters. A four-head star tracker and a slit-type digital Sun sensor (DSS) provide input for attitude determination. In addition, an accelerometer will be used for closed-loop orbit maneuver control. The primary AGS product will be a daily definitive attitude history. Due to power limitations, the star tracker and accelerometer data will not be available at all times. However, tracker data from at least 10 percent of each orbit and continuous DSS data will be provided. An extended Kalman filter (EKF) will be used to estimate the three-axis attitude (i.e., spin axis orientation and spin phase) and rotation rate for all times when the tracker data is valid. For other times, the attitude is generated by assuming a constant angular momentum vector in the inertial frame. The DSS sun pulse will provide a timing signal to maintain an accurate spin phase. There will be times when the Sun is occulted and DSS data is not available. If this occurs at the start or end of a definitive attitude product, then the spin phase will be extrapolated using the mean rate determined by the EKF.

Sedlak, Joseph E.↗

NASA NTRS2013

Three-Axis Attitude Estimation With a High-Bandwidth Angular Rate Sensor

A continuing challenge for modern instrument pointing control systems is to meet the increasingly stringent pointing performance requirements imposed by emerging advanced scientific, defense, and civilian payloads. Instruments such as adaptive optics telescopes, space interferometers, and optical communications make unprecedented demands on precision pointing capabilities. A cost-effective method was developed for increasing the pointing performance for this class of NASA applications. The solution was to develop an attitude estimator that fuses star tracker and gyro measurements with a high-bandwidth angular rotation sensor (ARS). An ARS is a rate sensor whose bandwidth extends well beyond that of the gyro, typically up to 1,000 Hz or higher. The most promising ARS sensor technology is based on a magnetohydrodynamic concept, and has recently become available commercially. The key idea is that the sensor fusion of the star tracker, gyro, and ARS provides a high-bandwidth attitude estimate suitable for supporting pointing control with a fast-steering mirror or other type of tip/tilt correction for increased performance. The ARS is relatively inexpensive and can be bolted directly next to the gyro and star tracker on the spacecraft bus. The high-bandwidth attitude estimator fuses an ARS sensor with a standard three-axis suite comprised of a gyro and star tracker. The estimation architecture is based on a dual-complementary filter (DCF) structure. The DCF takes a frequency- weighted combination of the sensors such that each sensor is most heavily weighted in a frequency region where it has the lowest noise. An important property of the DCF is that it avoids the need to model disturbance torques in the filter mechanization. This is important because the disturbance torques are generally not known in applications. This property represents an advantage over the prior art because it overcomes a weakness of the Kalman filter that arises when fusing more than one rate measurement. An additional advantage over prior art is that, computationally, the DCF requires significantly fewer real-time calculations than a Kalman filter formulation. There are essentially two reasons for this: the DCF state is not augmented with angular rate, and measurement updates occur at the slower gyro rate instead of the faster ARS sampling rate. Finally, the DCF has a simple and compelling architecture. The DCF is exactly equivalent to flying two identical attitude observers, one at low rate and one at high rate. These attitude observers are exactly of the form currently flown on typical three-axis spacecraft.

Bayard, David S.↗

NASA NTRS2009

Necessary and Sufficient Conditions for Attitude Estimation in Fractionated Spacecraft Systems

This paper addresses the problem of attitude estimation in fractionated spacecraft clusters. Each module in the cluster may have either a star-tracker, a relative attitude sensor, or both. Using results in nonlinear ob- servability theory, we provide graph-theoretic sufficient conditions for the attitude of every module to be observable. In particular we show that the attitude of every module in the cluster can be observed if every module has either a star tracker with non-collinear stars, or there is a path through the sensing network from a module with a star tracker to the module without a star tracker, and each of the relative measurements along the path has either multiple non-collinear beacons or a single beacon that is not parallel to the rotation vector of the target module.

Blackmore, Lars↗

NASA NTRS2017

Small Orbital Stereo Tracking Camera Technology Development

Any exploration vehicle assembled or Spacecraft placed in LEO or GTO must pass through this debris cloud and survive. Large cross section, low thrust vehicles will spend more time spiraling out through the cloud and will suffer more impacts.Better knowledge of small debris will improve survival odds. Current estimated Density of debris at various orbital attitudes with notation of recent collisions and resulting spikes. Orbital Debris Tracking and Characterization has now been added to NASA Office of Chief Technologists Technology Development Roadmap in Technology Area 5 (TA5.7)[Orbital Debris Tracking and Characterization] and is a technical gap in the current National Space Situational Awareness necessary to safeguard orbital assets and crews due to the risk of Orbital Debris damage to ISS Exploration vehicles. The Problem: Traditional orbital trackers looking for small, dim orbital derelicts and debris typically will stare at the stars and let any reflected light off the debris integrate in the imager for seconds, thus creating a streak across the image. The Solution: The Small Tracker will see Stars and other celestial objects rise through its Field of View (FOV) at the rotational rate of its orbit, but the glint off of orbital objects will move through the FOV at different rates and directions. Debris on a head-on collision course (or close) will stay in the FOV at 14 Km per sec. The Small Tracker can track at 60 frames per sec allowing up to 30 fixes before a near-miss pass. A Stereo pair of Small Trackers can provide range data within 5-7 Km for better orbit measurements.

Bryan, Tom↗

NASA NTRS2011

Magnetospheric Multiscale (MMS) Mission Attitude Ground System Design

This paper describes the attitude ground system (AGS) design to be used for support of the Magnetospheric MultiScale (MMS) mission. The AGS exists as one component of the mission operations control center. It has responsibility for validating the onboard attitude and accelerometer bias estimates, calibrating the attitude sensors and the spacecraft inertia tensor, and generating a definitive attitude history for use by the science teams. NASA's Goddard Space Flight Center (GSFC) in Greenbelt, Maryland is responsible for developing the MMS spacecraft, for the overall management of the MMS mission, and for mission operations. MMS is scheduled for launch in 2014 for a planned two-year mission. The MMS mission consists of four identical spacecraft flying in a tetrahedral formation in an eccentric Earth orbit. The relatively tight formation, ranging from 10 to 400 km, will provide coordinated observations giving insight into small-scale magnetic field reconnection processes. By varying the size of the tetrahedron and the orbital semi-major axis and eccentricity, and making use of the changing solar phase, this geometry allows for the study of both bow shock and magnetotail plasma physics, including acceleration, reconnection, and turbulence. The mission divides into two phases for science; these phases will have orbit dimensions of l.2xl2 Earth radii in the first phase and l.2x25 Earth radii in the second in order to study the dayside magnetopause and the nightside magnetotail, respectively. The orbital periods are roughly one day and three days for the two mission phases. Each of the four MMS spacecraft will be spin stabilized at 3 revolutions per minute (rpm), with the spin axis oriented near the ecliptic north pole but tipped approximately 2.5 deg towards the Sun line. The main body of each spacecraft will be an eight-sided platform with diameter of 3.4 m and height of 1.2 m. Several booms are attached to this central core: two axial booms of 14.9 m length, two radial magnetometer booms of 5 m length, and four radial -wire booms of 60 m length. Attitude and orbit control will use a set of axial and radial thrusters. A four-head star tracker and a slit-type digital Sun sensor (DSS) provide input for attitude determination. In addition, an accelerometer will be· used for closed-loop orbit maneuver control. The primary AGS product will be a daily definitive attitude history. Due to power limitations; the star tracker and accelerometer data will not be available at all times. However, tracker data from at least 10 percent of each orbit and continuous DSS data will be provided. An extended Kalman filter (EKF) will be used to estimate the three-axis attitude (i.e., spin axis orientation and spin phase) and rotation rate for all times when the tracker data is valid. For other times, the attitude is generated by assuming a constant angular momentum vector in the inertial frame. The DSS sun pulse will provide a timing signal to maintain an accurate spin phase. There will be times when the Sun is occulted and DSS data is not available. If this occurs at the start or end of a definitive attitude product, then the spin phase will be extrapolated using the mean rate determined by the EKF.

Sedlak, Joseph E.↗

NASA NTRS2019

Beaconless Optical Communication System Constraints

Deep-space optical communication will enable increased science return and public engagement for robotic and manned missions. The IROC project is studying a beaconless optical communication system for Mars data downlink. A star tracker provides the optical communications pointing information in place of an uplink targeting beacon. The configuration presented in this paper includes a star tracker that is aligned co-boresighted with the optical communication axis. This co-boresight configuration was not discussed in prior work, as it was assumed that large Sun-Probe-Earth keep-out angle requirements for operation of the star tracker would cause significant communication outages. In this paper it is shown that the use of an optimal mechanical mounting angle combined with an advanced star tracker has the capability to yield up to 92% communication availability for an example five-year Mars mission.

Aretskin-Hariton, Eliot D.↗

NASA NTRS2022

SWIR Star Tracking

This work investigates the use of a star tracker that senses star light in the short wave infra-red wavelengths, specifically at the photometric H-band. The number of stars available for tracking and the corresponding photometric H-band magnitude is presented using information derived from the Two Micron All Sky Survey (2MASS) catalog. The probability of observing at least four stars in the star tracker’s field of view (FOV) at a given H-band magnitude or brighter is also presented. Finally, a notional short wave infra-red (SWIR) star tracker design is presented using the parameters calculated for the expected number of stars observed at the corresponding magnitudes in the photometric H-band. The results for the SWIR star tracker indicate the potential for a reduced FOV as compared to the visible wavelengths and relaxed star magnitude sensing requirements.

star tracking↗

NASA NTRS1972

Optical radiation from regions downstream of mercury bombardment thrusters.

Use of a 0.5-m focal length, plane grating monochromator to measure the radiance of spectral radiation emanating from regions downstream of a mercury bombardment thrustor in the wavelength range investigated was 2800 to 6000 A. This radiation was due primarily to the radiative decay of excited mercury atoms exhausted from the thrustor. Radiance values ranged from 10 to the minus 11th to 10 to the min scm/ster varying with wavelength. For resonant radiation, the spectral radiance may exceed 10 to the minus 8th W/sq cm/ster. From such radiance measurements, it was concluded that the thrustor background radiation should not interfere with the control functions of a star tracker viewing through the thrustor exhaust, provided that the tracker is designed to operate with a sufficiently small field of view. Problems may be encountered, however, during the spacecraft acquisition phase where a larger field of view may be required. Here the thrustor exhaust radiation may be comparable to the star light flux. This problem may be circumvented by locating the tracker view axis so as not to view downstream of the thrustor.

Milder, N. L.↗

NASA NTRS1976

Advanced application flight experiments precision attitude determination system. Volume 2: System tests

The performance capability of each of two precision attitude determination systems (PADS), one using a strapdown star tracker, and the other using a single-axis gimbal star tracker was measured in the laboratory under simulated orbit conditions. The primary focus of the evaluation was on the contribution to the total system accuracy by the star trackers, and the effectiveness of the software algorithms in functioning with actual sensor signals. A brief description of PADS, the laboratory test configuration and the test facility, is given along with a discussion of the data handling and display, laboratory computer programs, PADS performance evaluation programs, and the strapdown and gimbal system tests. Results are presented and discussed.

Source record↗

NASA NTRS1977

Investigation of the applications of GEOS-3 radar altimeter data in remote sensing of land and sea features

A number of GEOS-3 passes over the Atlantic Ocean and Southeastern U.S. are examined. Surface-truth and radar altimeter data comparisons are given in terms of surface correlation length, signal fluctuation characteristics, and altitude tracker dynamic response. Detailed analyses are given regarding spatial resolution and its dependency on angular backscatter behavior. These analyses include data from passes over ocean (diffuse scatter), land (large body scatter), and mirror-like inland water areas (pseudo-specular scatter). Altimeter data are examined for a pass over a large reservoir and marsh area of differing water levels; this geometry represents a stepchange in altitude which is usable in determination of the transient response of the tracker. The extent to which pulse-length limited operation pertains over-land is examined. A Wiener filter altitude algorithm is discussed which permits specification of tracker variance and geoidal spectral characteristics during operation.

Miller, L. S.↗

NASA NTRS1977

Performance tests of two precision attitude determination systems

Results of laboratory performance tests of two satellite attitude determination systems are given. One system employed a strapdown star tracker and gyro assembly, the other a single axis, gimballed star tracker and a gyro assembly. The laboratory tests simulated those orbit conditions which would be experienced on a three axis stabilized, earth pointed satellite in geosynchronous orbit. A ground-fixed laboratory test was performed in which system axes remained stationary in the laboratory coordinates while revolving star beams stimulated the star trackers. The laboratory instrumentation techniques used to meet the stringent accuracy requirements are described. Results are presented which show both systems met the performance goal of 3.6 arc seconds. Comparative analyses of both systems are also discussed.

Mcaloon, K. J.↗

NASA NTRS1978

Precision attitude determination for multimission spacecraft

Attitude determination algorithms for a multimission spacecraft are derived and their performance analyzed. The attitude determination system is composed of a strapdown Inertial Reference Unit (IRU), two fixed head star trackers, and an onboard computer. IRU data is processed to maintain real-time knowledge of spacecraft attitude relative to an inertial reference frame. Star tracker data is processed using Kalman filtering techniques to estimate and correct the attitude determination errors and the gyro drift compensation errors. The results of a star availability analysis for stellar, solar and earth pointing missions are presented. Linear covariance analysis techniques are used to evaluate nominal attitude determination performance, the effects of sensor measurement accuracy variations, the effects of errors in knowledge of sensor measurement accuracy, and the effects of star tracker misalignment errors. Results of a nonlinear simulation analysis of attitude determination performance are also presented. These analyses show that precision attitude determination for stellar, solar and earth pointing missions is achieved.

Murrell, J. W.↗

NASA NTRS1977

A relationship between eye movement patterns and performance in a precognitive tracking task

Eye movements made by various subjects in the performance of a precognitive tracking task are studied. The tracking task persented by an antiaircraft artillery (AAA) simulator has an input forcing function represented by a deterministic aircraft fly-by. The performance of subjects is ranked by two metrics. Good, mediocre, and poor trackers are selected for analysis based on performance during the difficult segment of the tracking task and over replications. Using phase planes to characterize both the eye movement patterns and the displayed error signal, a simple metric is developed to study these patterns. Two characterizations of eye movement strategies are defined and quantified. Using these two types of eye strategies, two conclusions are obtained about good, mediocre, and poor trackers. First, the eye tracker who used a fixed strategy will consistently perform better. Secondly, the best fixed strategy is defined as a Crosshair Fixator.

Repperger, D. W.↗