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NASA NTRS1999

A Diagnostic Analysis of the Kennedy Space Center LDAR Network: Cross-Sensor Studies - 2

Range dependencies in total (intracloud and cloud-to-ground) lightning observed by the Kennedy Space Center Lightning Detection and Ranging (LDAR) network are established through cross-comparison with other lightning sensors. Using total lightning observed by the Lightning Imaging Sensor (LIS), LDAR flash detection efficiency is shown to remain above 90% out to 90-100 km range, and to be below 25% at 200 km range. LDAR VHF source location error distributions are also determined as a function of range, and are found to be asymmetric with first moments increasing roughly as range squared. Range normalization schemes for total VHF source density are tested and shown to yield significant (up to 50%) skill improvements over uncorrected data, when compared with National Lightning Detection Network (NLDN) ground flash counts at hourly, daily, monthly and climatological time scales.

Boccippio, D. J.↗

NASA NTRS2001

A Diagnostic Analysis of the Kennedy Space Center LDAR Network 2. Cross-Sensor Studies

Range dependencies in total (intracloud and cloud to ground) lightning observed by the Kennedy Space Center Lightning Detection and Ranging (LDAR) network are established through cross comparison with other lightning sensors. Using total lightning observed from space by the Lightning Imaging Sensor (LIS), MAR flash detection efficiency is shown to remain above 90% out to 90-100 km range, and to be below 25% at 200 km range. MAR VHF source location error distributions are also determined as a function of range and are found to be asymmetric with standard deviation increasing roughly as r 2 . Range normalization schemes for total VHF source density are tested and shown to yield significant improvements in correlation with National Lightning Detection Network (NLDN) ground flash density at hourly, daily, monthly, and climatological timescales (up to 50% over uncorrected source densities using an exponential-in-range correction factor with 40-50 km e-folding scale).

Boccippio, D. J.↗

NASA NTRS2003

ICESAT Laser Altimeter Pointing, Ranging and Timing Calibration from Integrated Residual Analysis

On January 12, 2003 the Ice, Cloud and land Elevation Satellite (ICESat) was successfully placed into orbit. The ICESat mission carries the Geoscience Laser Altimeter System (GLAS), which has a primary measurement of short-pulse laser- ranging to the Earth s surface at 1064nm wavelength at a rate of 40 pulses per second. The instrument has collected precise elevation measurements of the ice sheets, sea ice roughness and thickness, ocean and land surface elevations and surface reflectivity. The accurate geolocation of GLAS s surface returns, the spots from which the laser energy reflects on the Earth s surface, is a critical issue in the scientific application of these data. Pointing, ranging, timing and orbit errors must be compensated to accurately geolocate the laser altimeter surface returns. Towards this end, the laser range observations can be fully exploited in an integrated residual analysis to accurately calibrate these geolocation/instrument parameters. ICESat laser altimeter data have been simultaneously processed as direct altimetry from ocean sweeps along with dynamic crossovers in order to calibrate pointing, ranging and timing. The calibration methodology and current calibration results are discussed along with future efforts.

Luthcke, Scott B.↗

NASA NTRS2003

ICESat Laser Altimeter Pointing, Ranging and Timing Calibration from Integrated Residual Analysis: A Summary of Early Mission Results

On January 12, 2003 the Ice, Cloud and land Elevation Satellite (ICESat) was successfully placed into orbit. The ICESat mission carries the Geoscience Laser Altimeter System (GLAS), which consists of three near-infrared lasers that operate at 40 short pulses per second. The instrument has collected precise elevation measurements of the ice sheets, sea ice roughness and thickness, ocean and land surface elevations and surface reflectivity. The accurate geolocation of GLAS's surface returns, the spots from which the laser energy reflects on the Earth's surface, is a critical issue in the scientific application of these data Pointing, ranging, timing and orbit errors must be compensated to accurately geolocate the laser altimeter surface returns. Towards this end, the laser range observations can be fully exploited in an integrated residual analysis to accurately calibrate these geolocation/instrument parameters. Early mission ICESat data have been simultaneously processed as direct altimetry from ocean sweeps along with dynamic crossovers resulting in a preliminary calibration of laser pointing, ranging and timing. The calibration methodology and early mission analysis results are summarized in this paper along with future calibration activities.

Scott B Luthcke↗

NASA NTRS2004

Recent Results in ICESat Geolocation Parameter Calibration from Range Residual Analysis

The Ice, Cloud and land Elevation Satellite (ICESat), launched on January 12, 2003, carries the Geoscience Laser Altimeter System (GLAS), which has a primary measurement of short-pulse laser-ranging to the Earths surface at 1064 nm wavelength at a rate of 40 pulses per second. The instrument has collected (at the time of this writing) over 540 million observations of the Earth's surface including precise elevation measurements of the ice sheets, sea ice roughness and thickness, ocean and land surface elevations and surface reflectivity. The accurate geolocation of GLASs surface returns, the spots from which the laser energy reflects on the Earths surface, is a critical issue in the scientific application of these data. Pointing, ranging, timing and orbit errors must be compensated to accurately geolocate the laser altimeter surface returns. Towards this end, the laser range observations can be fully exploited in an integrated residual analysis to accurately calibrate these geolocation/instrument parameters. The ICESat laser altimeter data have been simultaneously processed as direct altimetry from ocean sweeps and around-the-world scans along with dynamic crossovers in order to calibrate pointing ranging and timing. The analysis has resolved complex time varying signal resulting from thermal variations of instrument pointing and boresite shadowing. The calibration methodology and current calibration results are discussed along with future efforts and current geolocation accuracies.

Luthcke, Scott B.↗

NASA NTRS1978

A comparative study of optimum and suboptimum direct-detection laser ranging receivers

A summary of previously proposed receiver strategies for direct-detection laser ranging receivers is presented. Computer simulations are used to compare performance of candidate implementation strategies in the 1- to 100-photoelectron region. Under the condition of no background radiation, the maximum-likelihood and minimum mean-square error estimators were found to give the same performance for both bell-shaped and rectangular optical-pulse shapes. For signal energies greater than 100 photoelectrons, the root-mean-square range error is shown to decrease as Q to the -1/2 power for bell-shaped pulses and Q to the -1 power for rectangular pulses, where Q represents the average pulse energy. Of several receiver implementations presented, the matched-filter peak detector was found to be preferable. A similar configuration, using a constant-fraction discriminator, exhibited a signal-level dependent time bias.

Abshire, J. B.↗

NASA NTRS2005

Inference of Ice Cloud Properties from High-spectral Resolution Infrared Observations

The theoretical basis is explored for inferring the microphysical properties of ice crystal from high-spectral resolution infrared observations. A radiative transfer model is employed to simulate spectral radiances to address relevant issues. The extinction and absorption efficiencies of individual ice crystals, assumed as hexagonal columns for large particles and droxtals for small particles, are computed from a combination of the finite- difference time-domain (FDTD) technique and a composite method. The corresponding phase functions are computed from a combination of FDTD and an improved geometric optics method (IGOM). Bulk scattering properties are derived by averaging the single- scattering properties of individual particles for 30 particle size distributions developed from in situ measurements and for additional four analytical Gamma size distributions for small particles. The non-sphericity of ice crystals is shown to have a significant impact on the radiative signatures in the infrared (IR) spectrum; the spherical particle approximation for inferring ice cloud properties may result in an overest&ation of the optical thickness and an inaccurate retrieval of effective particle size. Furthermore, we show that the error associated with the use of the Henyey-Greenstein phase function can be as larger as 1 K in terms of brightness temperature for larger particle effective size at some strong scattering wavenumbers. For small particles, the difference between the two phase functions is much less, with brightness temperatures generally differing by less than 0.4 K. The simulations undertaken in this study show that the slope of the IR brightness temperature spectrum between 790-960/cm is sensitive to the effective particle size. Furthermore, a strong sensitivity of IR brightness temperature to cloud optical thickness is noted within the l050-1250/cm region. Based on this spectral feature, a technique is presented for the simultaneous retrieval of the visible optical thickness and effective particle size from high spectral resolution infrared data under ice cloudy con&tion. The error analysis shows that the uncertainty of the retrieved optical thickness and effective particle size has a small range of variation. The error for retrieving particle size in conjunction with an uncertainty of 5 K in cloud'temperature, or a surface temperature uncertainty of 2.5 K, is less than 15%. The corresponding e m r in the uncertainty of optical thickness is within 5-2096, depending on the value of cloud optical thickness. The applicability of the technique is demonstrated using the aircraft-based High- resolution Interferometer Sounder (HIS) data from the Subsonic Aircraft: Contrail and Cloud Effects Special Study (SUCCESS) in 1996 and the First ISCCP Regional Experiment - Arctic Clouds Experiment (FIRE-ACE) in 1998.

Huang, Hung-Lung↗

NASA NTRS1973

Hexagonal multiple phase-and-amplitude-shift-keyed signal sets

Selection of a particular signal set array for a bandwidth-constrained multiple phase-and-amplitude-shift-keyed (MPASK) communication system for a linear additive Gaussian noise channel requires consideration of factors such as average and/or peak power vs symbol error probability, signal amplitude dynamic range, simplicity of generation and detection, and number of bit errors per symbol error (Gray code properties). A simple technique is presented for generating and optimally detecting the honeycomb (hexagonal) signal set, i.e., the signal set that has the tightest sphere-packing properties. The symbol and bit error probability performance of this set is compared to other two-dimensional signal sets that have been investigated in the literature, and is shown to be slightly superior from an average power standpoint. The paper concludes with a comparison of all of these signal sets from the standpoint of the factors listed above.

Simon, M. K.↗

NASA NTRS2011

Flight Test Results of a GPS-Based Pitot-Static Calibration Method Using Output-Error Optimization for a Light Twin-Engine Airplane

As part of the NASA Aviation Safety Program (AvSP), a novel pitot-static calibration method was developed to allow rapid in-flight calibration for subscale aircraft while flying within confined test areas. This approach uses Global Positioning System (GPS) technology coupled with modern system identification methods that rapidly computes optimal pressure error models over a range of airspeed with defined confidence bounds. This method has been demonstrated in subscale flight tests and has shown small 2- error bounds with significant reduction in test time compared to other methods. The current research was motivated by the desire to further evaluate and develop this method for full-scale aircraft. A goal of this research was to develop an accurate calibration method that enables reductions in test equipment and flight time, thus reducing costs. The approach involved analysis of data acquisition requirements, development of efficient flight patterns, and analysis of pressure error models based on system identification methods. Flight tests were conducted at The University of Tennessee Space Institute (UTSI) utilizing an instrumented Piper Navajo research aircraft. In addition, the UTSI engineering flight simulator was used to investigate test maneuver requirements and handling qualities issues associated with this technique. This paper provides a summary of piloted simulation and flight test results that illustrates the performance and capabilities of the NASA calibration method. Discussion of maneuver requirements and data analysis methods is included as well as recommendations for piloting technique.

Martos, Borja↗

NASA NTRS2019

Assessing the Impact of Observations in a Multi-Year Reanalysis

Operational and quasi-operational weather prediction centers have been routinely assessing the contribution from various observing systems to reducing errors in short-range forecasts for a number of years now. The original technique, Forecast Sensitivity Observation Impact (FSOI), involves definition of a forecast error measure and evaluation of sensitivities with respect to changes in the observing system that require adjoint operators of both the underlying tangent linear model and corresponding analysis technique. The present work applies FSOI to Reanalysis and aims at providing an expanded view of the contribution of various observing systems over nearly 40 years of assimilation. Specifically, this study uses MERRA-2 given that its supporting software includes all ingredients necessary to calculate FSOI. Part of this work shows how the quality of forecasts improves over the course of the reanalysis, and examines forecast sensitivities relevant to FSOI. The assessment here finds, for example, that: conventional observations are a major player in reducing forecast error throughout the 40 years of reanalysis, even when their volume reduces from 45% in the earlier periods to about 5% in the modern era; satellite radiances, especially microwave instruments are major contributors to error reduction from the early single platform TIROS-N days to the current multi-platform scenario; infrared instruments play a secondary role to microwave but are significant still, with the peculiar result of fractional impacts contribution from modern hyperspectral instruments being roughly similar to those from early infrared instruments. The dependence of results on the chosen error measure is emphasized throughout.

Fabio L R Diniz↗

NASA NTRS1991

The TOPSAR interferometric radar topographic mapping instrument

We have augmented the NASA DC-8 Airborne Synthetic Aperture Radar (AIRSAR) instrument with a pair of C-band antennas displaced across the track to form an interferometer sensitive to topographic variations of the Earth's surface. The antennas were developed by Alenia Spazio under the sponsorship of the Italian Space Agency (ASI), and the AIRSAR instrument and modifications to it supporting TOPSAR were sponsored by NASA. A new data processor was developed at JPL for producing the topographic maps. As of May 1991, one engineering flight line over San Francisco, CA was reduced to a cartographically rectified topographic map. Analysis of the results indicates that statistical errors are in the range of 2 to 4 m, while systematic effects due to aircraft motion are in the range of 6 to 12 m. Future aircraft motion compensation algorithms should reduce the systematic variations to near zero, while the statistical errors could likely be reduced to 2 m or less with some processor improvements.

Zebker, Howard A.↗

NASA NTRS2000

Volcanic Signatures in Estimates of Stratospheric Aerosol Size, Distribution Width, Surface Area, and Volume Deduced from Global Satellite-Based Observations

Volcanic signatures in the stratospheric aerosol layer are revealed by two independent techniques which retrieve aerosol information from global satellite-based observations of particulate extinction. Both techniques combine the 4-wavelength Stratospheric Aerosol and Gas Experiment (SAGE) II extinction measurements (0.385 <= lambda <= 1.02 microns) with the 7.96 micron and 12.82 micron extinction measurements from the Cryogenic Limb Array Etalon Spectrometer (CLAES) instrument. The algorithms use the SAGE II/CLAES composite extinction spectra in month-latitude-altitude bins to retrieve values and uncertainties of particle effective radius R(sub eff), surface area S, volume V and size distribution width sigma(sub R). The first technique is a multi-wavelength Look-Up-Table (LUT) algorithm which retrieves values and uncertainties of R(sub eff) by comparing ratios of extinctions from SAGE II and CLAES (e.g., E(sub lambda)/E(sub 1.02) to pre-computed extinction ratios which are based on a range of unimodal lognormal size distributions. The pre-computed ratios are presented as a function of R(sub eff) for a given sigma(sub g); thus the comparisons establish the range of R(sub eff) consistent with the measured spectra for that sigma(sub g). The fact that no solutions are found for certain sigma(sub g) values provides information on the acceptable range of sigma(sub g), which is found to evolve in response to volcanic injections and removal periods. Analogous comparisons using absolute extinction spectra and error bars establish the range of S and V. The second technique is a Parameter Search Technique (PST) which estimates R(sub eff) and sigma(sub g) within a month-latitude-altitude bin by minimizing the chi-squared values obtained by comparing the SAGE II/CLAES extinction spectra and error bars with spectra calculated by varying the lognormal fitting parameters: R(sub eff), sigma(sub g), and the total number of particles N(sub 0). For both techniques, possible biases in retrieved-parameters caused by assuming a unimodal functional form are removed using correction factors computed from representative in situ measurements of bimodal size distributions. Some interesting features revealed by the LUT and PST retrievals include: (1) Increases in S and V (but not R(sub eff)) after the Ruiz and Kelut injections, (2) Increases in S, V, R(sub eff) after Pinatubo, (3) Post-Pinatubo increases in S, V, and R(sub eff) that are more rapid in the tropics than elsewhere, (4) Mid-latitude post-Pinatubo increases in R(sub eff) that lag increases in S and V, (5) S and V returning to pre-Pinatubo values sooner than R(sub eff) does, (6) Sharp increases in sigma(sub g), after Pinatubo and slight increases in sigma(sub g) after Ruiz, Etna, Kelut, Spurr and Rabaul, and (7) Gradual declines in the heights at which R(sub eff), S and V peak after Pinatubo.

Bauman, J. J.↗

NASA NTRS2019

Assessing the Impact of Observations in a Multi-Year Reanalysis (MERRA-2)

Operational and quasi-operational weather prediction centers have been routinely assessing the contribution from various observing systems to reducing errors in short-range forecasts for a number of years now. The original technique, Forecast Sensitivity-based Observation Impact (FSOI), involves definition of a forecast error measure and evaluation of sensitivities with respect to changes in the observations that require adjoint operators of both the underlying tangent linear model and corresponding analysis technique. The present work applies FSOI to reanalysis and aims at providing an expanded view of the contribution of various observing systems over nearly 40 years of assimilation. Specifically, this study uses MERRA-2 given that its supporting software includes all ingredients necessary to calculate FSOI. Part of this work shows how the quality of forecasts improves over the course of the reanalysis, and examines forecast sensitivities relevant to FSOI. The assessment here finds, for example, that: conventional observations are a major player in reducing forecast error throughout the 40 years of reanalysis, even when their volume reduces from 45\% in the earlier periods to about 5% in the modern era; satellite radiances, especially microwave instruments are major contributors to error reduction from the early single platform TIROS-N days to the current multi-platform scenario, though their fractional contribution reduces slightly from the early 2000's onward after the increased availability of wind observation from aircraft and atmospheric motion vectors, and the introduction of GPSRO; infrared instruments play a secondary role to microwave but are significant still, with the peculiar result of fractional impacts contribution from modern hyperspectral instruments being roughly similar to those from early infrared instruments. The dependence of results on the chosen error measure is emphasized throughout.

Todling, Ricardo↗

NASA NTRS2012

A Fast and Efficient Version of the TwO-Moment Aerosol Sectional (TOMAS) Global Aerosol Microphysics Model

This study develops more computationally efficient versions of the TwO-Moment Aerosol Sectional (TOMAS) microphysics algorithms, collectively called Fast TOMAS. Several methods for speeding up the algorithm were attempted, but only reducing the number of size sections was adopted. Fast TOMAS models, coupled to the GISS GCM II-prime, require a new coagulation algorithm with less restrictive size resolution assumptions but only minor changes in other processes. Fast TOMAS models have been evaluated in a box model against analytical solutions of coagulation and condensation and in a 3-D model against the original TOMAS (TOMAS-30) model. Condensation and coagulation in the Fast TOMAS models agree well with the analytical solution but show slightly more bias than the TOMAS-30 box model. In the 3-D model, errors resulting from decreased size resolution in each process (i.e., emissions, cloud processing wet deposition, microphysics) are quantified in a series of model sensitivity simulations. Errors resulting from lower size resolution in condensation and coagulation, defined as the microphysics error, affect number and mass concentrations by only a few percent. The microphysics error in CN70CN100 (number concentrations of particles larger than 70100 nm diameter), proxies for cloud condensation nuclei, range from 5 to 5 in most regions. The largest errors are associated with decreasing the size resolution in the cloud processing wet deposition calculations, defined as cloud-processing error, and range from 20 to 15 in most regions for CN70CN100 concentrations. Overall, the Fast TOMAS models increase the computational speed by 2 to 3 times with only small numerical errors stemming from condensation and coagulation calculations when compared to TOMAS-30. The faster versions of the TOMAS model allow for the longer, multi-year simulations required to assess aerosol effects on cloud lifetime and precipitation.

Lee, Yunha↗

NASA NTRS2006

Terrestrial Water Mass Load Changes from Gravity Recovery and Climate Experiment (GRACE)

Recent studies show that data from the Gravity Recovery and Climate Experiment (GRACE) is promising for basin- to global-scale water cycle research. This study provides varied assessments of errors associated with GRACE water storage estimates. Thirteen monthly GRACE gravity solutions from August 2002 to December 2004 are examined, along with synthesized GRACE gravity fields for the same period that incorporate simulated errors. The synthetic GRACE fields are calculated using numerical climate models and GRACE internal error estimates. We consider the influence of measurement noise, spatial leakage error, and atmospheric and ocean dealiasing (AOD) model error as the major contributors to the error budget. Leakage error arises from the limited range of GRACE spherical harmonics not corrupted by noise. AOD model error is due to imperfect correction for atmosphere and ocean mass redistribution applied during GRACE processing. Four methods of forming water storage estimates from GRACE spherical harmonics (four different basin filters) are applied to both GRACE and synthetic data. Two basin filters use Gaussian smoothing, and the other two are dynamic basin filters which use knowledge of geographical locations where water storage variations are expected. Global maps of measurement noise, leakage error, and AOD model errors are estimated for each basin filter. Dynamic basin filters yield the smallest errors and highest signal-to-noise ratio. Within 12 selected basins, GRACE and synthetic data show similar amplitudes of water storage change. Using 53 river basins, covering most of Earth's land surface excluding Antarctica and Greenland, we document how error changes with basin size, latitude, and shape. Leakage error is most affected by basin size and latitude, and AOD model error is most dependent on basin latitude.

Seo, K.-W.↗

NASA NTRS1992

Short-arc orbit determination using coherent X-band ranging data

The use of X-band frequencies in ground-spacecraft and spacecraft-ground telecommunication links for current and future robotic interplanetary missions makes it possible to perform ranging measurements of greater accuracy than previously obtained. It is shown that ranging data of sufficient accuracy, when acquired from multiple stations, can sense the geocentric angular position of a distant spacecraft. The application of high-accuracy S/X-band and X-band ranging to orbit determination with relatively short data arcs is investigated in planetary approach and encounter scenarios. Actual trajectory solutions for the Ulysses spacecraft constructed from S/X-band ranging and Doppler data are presented; error covariance calculations are used to predict the performance of X-band ranging and Doppler data. The Ulysses trajectory solutions indicate that the aim point for the spacecraft's February 1992 Jupiter encounter was predicted to a geocentric accuracy of 0.20 to 0.23/microrad. Explicit modeling of range bias parameters for each station pass is shown to largely remove systematic ground system calibration errors and transmission media effects from the Ulysses range measurements, which would otherwise corrupt the angle finding capabilities of the data. The Ulysses solutions were found to be reasonably consistent with the theoretical results, which suggest that angular accuracies of 0.08 to 0.1/microrad are achievable with X-band ranging.

Thurman, S. W.↗

NASA NTRS2016

Galaxy Strategy for Ligo-Virgo Gravitational Wave Counterpart Searches

In this work we continue a line of inquiry begun in Kanner et al. which detailed a strategy for utilizing telescopes with narrow fields of view, such as the Swift X-Ray Telescope (XRT), to localize gravity wave (GW) triggers from LIGO (Laser Interferometer Gravitational-Wave Observatory) / Virgo. If one considers the brightest galaxies that produce 50 percent of the light, then the number of galaxies inside typical GW error boxes will be several tens. We have found that this result applies both in the early years of Advanced LIGO when the range is small and the error boxes large, and in the later years when the error boxes will be small and the range large. This strategy has the beneficial property of reducing the number of telescope pointings by a factor 10 to 100 compared with tiling the entire error box. Additional galaxy count reduction will come from a GW rapid distance estimate which will restrict the radial slice in search volume. Combining the bright galaxy strategy with a convolution based on anticipated GW localizations, we find that the searches can be restricted to about 18 plus or minus 5 galaxies for 2015, about 23 plus or minus 4 for 2017, and about 11 plus or minus for 2020. This assumes a distance localization at the putative neutron star-neutron star (NS-NS) merger range mu for each target year, and these totals are integrated out to the range. Integrating out to the horizon would roughly double the totals. For localizations with r (rotation) greatly less than mu the totals would decrease. The galaxy strategy we present in this work will enable numerous sensitive optical and X-ray telescopes with small fields of view to participate meaningfully in searches wherein the prospects for rapidly fading afterglow place a premium on a fast response time.

galaxies: statistics aEuro" gamma-ray burst: gener↗

NASA NTRS1998

Development of Algorithms and Error Analyses for the Short Baseline Lightning Detection and Ranging System

NASA, at the John F. Kennedy Space Center (KSC), developed and operates a unique high-precision lightning location system to provide lightning-related weather warnings. These warnings are used to stop lightning- sensitive operations such as space vehicle launches and ground operations where equipment and personnel are at risk. The data is provided to the Range Weather Operations (45th Weather Squadron, U.S. Air Force) where it is used with other meteorological data to issue weather advisories and warnings for Cape Canaveral Air Station and KSC operations. This system, called Lightning Detection and Ranging (LDAR), provides users with a graphical display in three dimensions of 66 megahertz radio frequency events generated by lightning processes. The locations of these events provide a sound basis for the prediction of lightning hazards. This document provides the basis for the design approach and data analysis for a system of radio frequency receivers to provide azimuth and elevation data for lightning pulses detected simultaneously by the LDAR system. The intent is for this direction-finding system to correct and augment the data provided by LDAR and, thereby, increase the rate of valid data and to correct or discard any invalid data. This document develops the necessary equations and algorithms, identifies sources of systematic errors and means to correct them, and analyzes the algorithms for random error. This data analysis approach is not found in the existing literature and was developed to facilitate the operation of this Short Baseline LDAR (SBLDAR). These algorithms may also be useful for other direction-finding systems using radio pulses or ultrasonic pulse data.

Starr, Stanley O.↗