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This paper describes machine vision algorithms that enable precision guidance and hazard avoidance during small body exploration through onboard visual feature tracking and landmark recognition.
Improved navigational technology (such as the Microwave Landing System and the Global Positioning System) installed in modern aircraft will enable air traffic controllers to better utilize available airspace. Consequently, arrival traffic can fly approaches to parallel runways separated by smaller distances than are currently allowed. Previous simulation studies of advanced navigation approaches have found that controller workload is increased when there is a combination of aircraft that are capable of following advanced navigation routes and aircraft that are not. Research into Air Traffic Control automation at Ames Research Center has led to the development of the Center-TRACON Automation System (CTAS). The Final Approach Spacing Tool (FAST) is the component of the CTAS used in the TRACON area. The work in this paper examines, via simulation, the effects of FAST used for aircraft landing on closely spaced parallel runways. The simulation contained various combinations of aircraft, equipped and unequipped with advanced navigation systems. A set of simulations was run both manually and with an augmented set of FAST advisories to sequence aircraft, assign runways, and avoid conflicts. The results of the simulations are analyzed, measuring the airport throughput, aircraft delay, loss of separation, and controller workload.
A compilation of technical papers, from the 23rd annual Precise Time and Time Interval (PTTI) Applications and Planning Meeting, is presented. Papers were given in the following categories: (1) developments in rubidium, cesium, and hydrogen-based frequency standards, and in cryogenic and trapped-ion technology; (2) international and transnational applications of PTTI technology with emphasis on satellite laser tracking networks, GLONASS timing, comparison of national time scales and international communications; (3) applications of PTTI technology to the telecommunications, power distribution, platform positioning, and geophysical survey industries; (4) applications of PTTI technology to evolving military communications and navigation systems; and (5) dissemination of precise time and frequency by means of GPS, GLONASS, MILSTAR, Loran, and synchronous communications satellites.
A coherent Doppler lidar, referred to as Navigation Doppler Lidar (NDL), has been developed at NASA Langley Research Center for providing simultaneous but independent precision velocity and altitude measurements to a spacecraft’s navigation system during the final stages of landing, starting at approximately 5 km altitude. Onboard the Intuitive Machines NOVA-C lunar lander (also known as Odysseus), NDL provided fully reliable measurements within its intended operational range without any false alarms and demonstrated the sensitivity of coherent lidar by measuring velocity and range to the ground from up to 10 km altitude. The data collected during this mission illustrates the capability of NDL for future lunar and interplanetary missions, enhancing navigation accuracy and safety.
The Pacific Northwest National Laboratory has developed this positioning, navigation, and timing (PNT) profile for the Energy Sector at the request of the U.S. Department of Energy. The Department of Energy is the sector-specific agency for the Energy Sector and is responsible for providing guidance in the form of this PNT Profile, per Executive Order 13905, Strengthening National Resilience Through Responsible Use of Positioning, Navigation, and Timing Services (Executive Office of the President 2020) issued February 18, 2020. Executive Order 13905 directed the National Institute of Standards & Technology to develop a PNT Profile that is broadly applicable to all sectors and to serve as a foundation for sector-neutral guidance, NISTIR 8323 Foundational PNT Profile: Applying the Cybersecurity Framework for the Responsible Use of Positioning, Navigation, and Timing (PNT) Services. This document builds on NISTIR 8323 to identify and serve as the required Energy Sector specific guidance. For purposes of this PNT Profile, Energy Sector precise time is 0.5 µs (microseconds) to 1 µs accuracy. Currently, the electricity subsector has systems that use this level of precision time, but the oil and natural gas subsector currently does not. While the electricity subsector uses precision timing, it does not use positioning and/or navigation at this level of accuracy. For this reason, this PNT Profile will focus on only precise time for the electricity subsector.
The methodology used and the results obtained in the pre-flight testing of the Blackjack Global Positioning System (GPS) space receiver for the Vegetation Canopy Lidar Mission (VCL) and the Ice, Cloud, and Land Elevation Satellite (ICESat) spacecraft is described. Both real and simulated signals were used to: (1) assess the accuracy and coverage of the navigation solutions, (2) assess the accuracy and stability of the 1-PPS timing signal, (3) assess the precision of the carrier phase observable, and (4) measure the cold-start time to first fix. In addition, an anechoic chamber was used to measure the antenna phase centers with millimeter-level precision. While the test results have generally been excellent and are discussed in this paper, emphasis is placed on describing the test methodology. It is anticipated that future geodetic satellite missions using GPS for navigation, timing, and precise orbit determination (POD) can employ the same tests for pre-launch performance assessment of their particular receiver.
A time-controlled navigation system applicable to the descent phase of flight for airline transport aircraft was developed and simulated. The design incorporates the linear discrete-time sampled-data version of the linearized continuous-time system describing the aircraft's aerodynamics. Using optimal linear quadratic control techniques, an optimal deterministic control regulator which is implementable on an airborne computer is designed. The navigation controller assists the pilot in complying with assigned times of arrival along a four-dimensional flight path in the presence of wind disturbances. The strategic air traffic control concept is also described, followed by the design of a strategic control descent path. A strategy for determining possible times of arrival at specified waypoints along the descent path and for generating the corresponding route-time profiles that are within the performance capabilities of the aircraft is presented. Using a mathematical model of the Boeing 707-320B aircraft along with a Boeing 707 cockpit simulator interfaced with an Adage AGT-30 digital computer, a real-time simulation of the complete aircraft aerodynamics was achieved. The strategic four-dimensional navigation controller for longitudinal dynamics was tested on the nonlinear aircraft model in the presence of 15, 30, and 45 knot head-winds. The results indicate that the controller preserved the desired accuracy and precision of a time-controlled aircraft navigation system.
The MSP 2001 project will send an orbiter, a lander, and a rover to Mars in the 2001 opportunity. The lander will demonstrate precision landing at Mars by utilizing improved approach navigation and hypersonic aeromaneuvering.
In this presentation, the applicability of various aircraft navigation sensors to enhanced vision system design is discussed. First, the accuracy requirements of the FAA for precision landing systems are presented, followed by the current navigation systems and their characteristics. These systems include Instrument Landing System (ILS), Microwave Landing System (MLS), Inertial Navigation, Altimetry, and Global Positioning System (GPS). Finally, the use of navigation system data to improve enhanced vision systems is discussed. These applications include radar image rectification, motion compensation, and image registration.
We stand at the brink of an extraordinary transformation in the field of AI, driven by the convergence of generative AI and semantic technologies (e.g., knowledge graphs). This fusion holds immense potential and could redefine the future of scientific exploration, particularly in the realm of life sciences research. In this context, we shed light on the pivotal roles that Large Language Models (LLMs) and semantic technologies will play in advancing research, unearthing and comprehending life sciences information through innovative approaches, and empowering researchers to extract insights from NASA's extensive Life Sciences Data Archive. Within the NASA Life Sciences Portal (NLSP), the integration of LLMs and semantic technologies unlocks several advanced capabilities. First and foremost, it equips scientists with sophisticated tools to manage the ever-expanding wealth of scientific literature and data. Furthermore, it facilitates the creation of knowledge graphs that visually represent intricate relationships among biological entities, enabling comprehensive systems-level analysis. Additionally, the fusion of generative AI (including LLMs) and semantic technology can significantly benefit NASA's life sciences research by enhancing information retrieval and hypothesis generation. These tools enhance natural language understanding, facilitating knowledge discovery within NLSP. The overarching vision is to establish a cohesive knowledge ecosystem within NLSP, harnessing the power of LLMs and semantic technologies to synthesize and cross-reference data from diverse missions, disciplines, and research domains. This holistic approach ultimately deepens our understanding of how space environments impact life sciences data. To advance this initiative, we have launched LSKnowledge, aimed at enhancing the information retrieval capabilities of NLSP. In the short term, our primary goal is to develop a robust semantic search system. This system will empower HRP (Human Research Program) researchers to navigate NLSP data repositories more efficiently and precisely, catalyzing the process of hypothesis formation and scientific breakthroughs. To achieve this, we have employed pre-trained LLMs as part of a semantic search tool that can rank and highlight the most relevant records for user queries. To assess the tool's performance, we have curated a set of approximately 200 queries from subject matter experts (SMEs) and manually ranked the top records retrieved by both the current search system and the new semantic search, using SME judgments as the gold standard for relevancy. Herein, we present the results of our comparative analysis and illustrate how these findings have informed the fine-tuning of the system for enhanced performance. In the long term, our objectives include 1) retrieving publicly available information and integrating it with NLSP data to provide more precise answers to user queries, and 2) incorporating non-textual information from the NLSP database into our approach. In conclusion, the fusion of LLMs and semantic technologies within NLSP represents a pioneering stride towards reshaping the landscape of scientific discovery. This synergy not only equips researchers with powerful tools to navigate the burgeoning sea of information but also facilitates a deeper understanding of complex biological relationships, all while accelerating hypothesis generation and knowledge discovery. Through our initiative, LSKnowledge, we are committed to continually refining and expanding these capabilities, with the aim of not only enhancing information retrieval but also integrating diverse data sources to provide more precise insights. In the grand vision, NLSP strives to become the cornerstone of a comprehensive knowledge ecosystem, unraveling the enigmatic intricacies of life sciences phenomena in the context of space environments.
The international community of time metrology is facing a major challenge with the Selective Availability (SA) degradation of GPS satellite signals. At present there are 6 Block 1 satellites and 8 Block 2 satellites operating. According to the policy of the U.S. Department of Defence the Block 1 satellite signals will not be degraded, but these satellites are old with a finite life. The Block 2 satellites, which have all been launched since 1988, were subject to Selective Availability from March 25, 1990. The effect of SA should be to limit precision to about 100 meters for navigation and 167 ns for timing. A study was conducted in order to understand the nature of the actual introduced degradation, and to elaborate the means of removing the effects of this degradation on time transfer. This study concerns the time extraction from GPS satellites at NIST, USNO and Paris Observatory, and the comparison of atomic clocks between these laboratories by common view approach. The results show that when using the data taken over several days the time extraction can be achieved with uncertainty of a few tens of nanoseconds, while strict common-view has removed entirely the effects of SA during the periods under study.
A sample mission sequence is defined for a low earth orbit demonstration of Precision Formation Flying (PFF). Various guidance navigation and control strategies are discussed for use in the PFF experiment phases. A sample PFF experiment is implemented and tested in a realistic Hardware-in-the-Loop (HWIL) simulation using the Formation Flying Test Bed (FFTB) at NASA's Goddard Space Flight Center.
The initiative for human exploration of the Moon and Mars presents great technical challenges as well as new opportunities for scientific investigations. I will discuss recent developments in superconductivity and superfluidity that can be applied to solve some of these technical challenges. This includes biomedical imaging of astronauts using an array of SQUID magnetometers; resource exploration using SQUID as well as a SQUID-based gravitational gradiometer; measurement of rotational jitter of the Moon and of Mars, for improvement in GPS using a superfluid gyroscope; and the concept of a high precision superfluid clock recently proposed for navigation at JPL. Physicists can also participate as explorers in the Moon/Mars initiative. I will discuss a proposed experiment to search for the postulated strangelet particle (a dark matter candidate) by using the Moon or Mars as a giant detector. As suggest by Nobel Laureate Sheldon Glashow, a massive (approx. 1 ton) strangelet can generate a trail of seismic waves, as it traverses a celestial body. The pristine environments of the Moon and Mars, with their very low seismic backgrounds, are ideal for such an experiment. Very sensitive SQUID-based seismometers can be deployed to increase the sensitivity of strangelet detection.
The Application of Machine-learning Algorithms for On-board Asteroid Shape Model Determination project will develop an innovative system for spacecraft navigation to expand the capability of small spacecraft to meet the critical challenges associated with small-body exploration. Such challenges include accurate navigation in a microgravity environment and precision targeting of particular locations on an asteroid surface for sample collection. This on-board system will cut the computational "umbilical" back to Earth-currently necessary for the generation of a global shape model that requires thousands of images with sufficient resolution and adequate variation of incidence and emission angles, processed manually by a team of experts on Earth for several months. Small satellites have limited bandwidth and are unable to downlink the data volume required for this processing, restricting their ability to perform deep-space asteroid exploration.
A mercury-ion clock now at the breadboard stage of development (see figure) has a stability comparable to that of a hydrogen-maser clock: In tests, the clock exhibited an Allan deviation of between 2 x 10(exp -13) and 3 x 10(exp -13) at a measurement time of 1 second, averaging to about 10(exp -15) at 1 day. However, the clock occupies a volume of only about 2 liters . about a hundredth of the volume of a hydrogen-maser clock. The ion-handling parts of the apparatus are housed in a sealed vacuum tube, wherein only a getter pump is used to maintain the vacuum. Hence, this apparatus is a prototype of a generation of small, potentially portable high-precision clocks for diverse ground- and space-based navigation and radio science applications. Furthermore, this new ion-clock technology is about 100 times more stable and precise than the rubidium atomic clocks currently in use in the NAV STAR GPS Earth-orbiting satellites. In this clock, mercury ions are shuttled between a quadrupole and a 16-pole linear radio-frequency trap. In the quadrupole trap, the ions are tightly confined and optical state selection from a Hg-202 radio-frequency-discharge ultraviolet lamp is carried out. In the 16-pole trap, the ions are more loosely confined and atomic transitions resonant at frequency of about 40.507 GHz are interrogated by use of a microwave beam at that frequency. The trapping of ions effectively eliminates the frequency pulling caused by wall collisions inherent to gas-cell clocks. The shuttling of the ions between the two traps enables separation of the state-selection process from the clock microwave- resonance process, so that each of these processes can be optimized independently of the other. The basic ion-shuttling, two-trap scheme as described thus far is not new: it has been the basis of designs of prior larger clocks. The novelty of the present development lies in major redesigns of its physics package (the ion traps and the vacuum and optical subsystems) to effect the desired reduction of size to a volume of no more than a couple of liters. The redesign effort has included selection of materials for the vacuum tube, ion trap, and ultraviolet windows that withstand bakeout at a temperature of approx.450 C in preparation for sealing the tube to contain the vacuum. This part of the redesign effort follows the approach taken in the development of such other vacuum-tube electronic components as flight traveling- wave-tube amplifiers having operational and shelf lives as long as 15 years. The redesign effort has also included a thorough study of residual-gas-induced shifts of the ion-clock frequency and a study of alternative gases as candidates for use as a buffer gas within the sealed tube. It has been found that neon is more suitable than is helium, which has been traditionally used for this purpose, in that the pressure-induced frequency pulling by neon is between a third and a half of that of helium. In addition, because neon diffuses through solids much more slowly than does helium, the loss of neon by diffusion over the operational lifetime is expected to be negligible.
Among the methods used to guide spacecraft to their destinations, Optical Navigation (OpNav) remains an effective option. OpNav makes use of star fields and small body ephemerides to precisely locate spacecraft. To facilitate accurate OpNav, the small body ephemerides must be constantly updated; asteroid orbits accumulate errors each year of a few milliarcseconds. Through extended exposures, taken with strategic offsets, a least-squares solution can be found that determines updated ephemeris data. This updated data can also be used by occultation astronomers to gain further information about the small bodies, including their size and shape. Using the 24-inch telescope at the Caltech Table Mountain Observatory (TMO), we capture two or more 180 second exposures of each target. These images, combined with a file for the predicted background star field and two reference files, are then processed through a series of scripts and programs. Starting with a prediction file and two to five exposures of the asteroid, the data is processed. This original data is about 32MB per observation. Once the data are reduced to only Right Ascension and Declination for each target, the data are ready for delivery. This consists of text only, and for each target takes about 80 bytes; this resulting data reduction is about five orders of magnitude. This method produces observed positions that are refined by about 12 milliarcseconds, a refinement that is accomplished almost nowhere else. The occultation observations that are facilitated by the ephemerides being refined also produce results that are not possible in any other way from ground-based observations.
The applications of practical optical image sensing CCDs to interplanetary spacecraft precision science payload delivery are discussed. The increasing demand for precision and flexibility in spacecraft for proposed new missions is forcing a transition to autonomous onboard navigation and pointing control. Onboard processing of video data is a crucial element in this transition and is made possible by CCD imagers and microprocessors. The pending Halley's comet close flyby is used as an example to examine details of the sensor design and the data processing which will meet the requirements. Target body centerfinding for optical navigation, target body tracking signal processing, and CCD sensor heads are examined, and flow charts and block diagrams are given for each.
The accuracy of user navigation fix based on the NAVSTAR global positioning system is described. The trace of this matrix serves as a convenient navigation performance index and the square root of the trace is called geometric dilution of precision (GDOP). Certain theoretical results concerning the general properties of the navigation performance are derived. An efficient algorithm for the computation of GDOP is given. Applications of the results are illustrated by numerical examples.