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NASA NTRS2011

Autonomous Flight Rules - A Concept for Self-Separation in U.S. Domestic Airspace

Autonomous Flight Rules (AFR) are proposed as a new set of operating regulations in which aircraft navigate on tracks of their choice while self-separating from traffic and weather. AFR would exist alongside Instrument and Visual Flight Rules (IFR and VFR) as one of three available flight options for any appropriately trained and qualified operator with the necessary certified equipment. Historically, ground-based separation services evolved by necessity as aircraft began operating in the clouds and were unable to see each other. Today, technologies for global navigation, airborne surveillance, and onboard computing enable the functions of traffic conflict management to be fully integrated with navigation procedures onboard the aircraft. By self-separating, aircraft can operate with more flexibility and fewer restrictions than are required when using ground-based separation. The AFR concept is described in detail and provides practical means by which self-separating aircraft could share the same airspace as IFR and VFR aircraft without disrupting the ongoing processes of Air Traffic Control.

Wing, David J.↗
NASA NTRS2011

For Spacious Skies: Self-Separation with "Autonomous Flight Rules" in US Domestic Airspace

Autonomous Flight Rules (AFR) are proposed as a new set of operating regulations in which aircraft navigate on tracks of their choice while self-separating from traffic and weather. AFR would exist alongside Instrument and Visual Flight Rules (IFR and VFR) as one of three available flight options for any appropriately trained and qualified operator with the necessary certified equipment. Historically, ground-based separation services evolved by necessity as aircraft began operating in the clouds and were unable to see each other. Today, technologies for global precision navigation, emerging airborne surveillance, and onboard computing enable traffic conflict management to be fully integrated with navigation procedures onboard the aircraft. By self-separating, aircraft can operate with more flexibility and fewer flight restrictions than are required when using ground-based separation. The AFR concept proposes a practical means in which self-separating aircraft could share the same airspace as IFR and VFR aircraft without disrupting the ongoing processes of Air Traffic Control. The paper discusses the context and motivation for implementing self-separation in US domestic airspace. It presents a historical perspective on separation, the proposed way forward in AFR, the rationale behind mixed operations, and the expected benefits of AFR for the airspace user community.

Wing, David J.↗
NASA NTRS2012

Autonomous Rover Traverse and Precise Arm Placement on Remotely Designated Targets

This software controls a rover platform to traverse rocky terrain autonomously, plan paths, and avoid obstacles using its stereo hazard and navigation cameras. It does so while continuously tracking a target of interest selected from 10 20 m away. The rover drives and tracks the target until it reaches the vicinity of the target. The rover then positions itself to approach the target, deploys its robotic arm, and places the end effector instrument on the designated target to within 2-3-cm accuracy of the originally selected target. This software features continuous navigation in a fairly rocky field in an outdoor environment and the ability to enable the rover to avoid large rocks and traverse over smaller ones. Using point-and-click mouse commands, a scientist designates targets in the initial imagery acquired from the rover s mast cameras. The navigation software uses stereo imaging, traversability analysis, path planning, trajectory generation, and trajectory execution. It also includes visual target tracking of a designated target selected from 10 m away while continuously navigating the rocky terrain. Improvements in this design include steering while driving, which uses continuous curvature paths. There are also several improvements to the traversability analyzer, including improved data fusion of traversability maps that result from pose estimation uncertainties, dealing with boundary effects to enable tighter maneuvers, and handling a wider range of obstacles. This work advances what has been previously developed and integrated on the Mars Exploration Rovers by using algorithms that are capable of traversing more rock-dense terrains, enabling tight, thread-the-needle maneuvers. These algorithms were integrated on the newly refurbished Athena Mars research rover, and were fielded in the JPL Mars Yard. Forty-three runs were conducted with targets at distances ranging from 5 to 15 m, and a success rate of 93% was achieved for placement of the instrument within 2-3 cm of the target.

Nesnas, Issa A.↗
NASA NTRS1989

Pinpoint landing concepts for the Mars Rover Sample Return mission

From knowledge of hazards gained following Viking, several approaches are being pursued for making the Mars Rover Sample Return (MRSR) landing safer. With the pinpoint landing capability approach, a single landing site would be certified in advance of initiating the descent orbit, using pictures transmitted to earth from the orbiter. Onboard instruments would guide the lander to follow mapped terrain to the selected site. If navigation proves insufficiently accurate, a small number of scattered sites would be certified, and the lander would select the most accessible one in real time. Some early-site certification and navigation concepts are discussed. Some of the key problems to overcome include how to recognize hazards too small to be transmitted to earth, how to represent terrain features in the flight computer, how to overcome errors in inertial measurements during landing of over 12-hour duration, how to find the selected site in real time, and how to navigate to the selected site once it is found.

Klumpp, Allan R.↗
NASA NTRS1989

The use of aircraft and satellite remote sensing of phytoplankton chlorophyll concentrations in case 2 estuarine waters of the Chesapeake Bay

Two projects using remote sensing of phytoplankton chlorophyll concentrations in the Chesapeake Bay estuary were proposed. The first project used aircraft remote sensing with a compact radiometer system developed at NASA's Goddard Space Flight Center (GSFC), the Ocean Data Acquisition System (ODAS). ODAS includes three radiometers at 460, 490, and 520 nm, an infrared temperature sensor (PRT-5), Loran-C for navigation, and a data acquisition system using a PC and mass storage device. This instrument package can be flown in light aircraft at relatively low expense, permitting regular and frequent flights. Sixteen flights with ODAS were completed using the Virginia Institute of Marine Science's De Havilland 'Beaver'. The goal was to increase spatial and temporal resolution in assaying phytoplankton pigment concentrations in the Chesapeake. At present, analysis is underway of flight data collected between March and July 1989. The second project focused on satellite data gathered with the Nimbus-7 Coastal Zone Color Scanner (CZSC) between late 1978 and mid 1986. The problem in using CZSC data for the Chesapeake Bay is that the optical characteristics of this (and many) coastal and estuarine waters are distinct from those of the open ocean for which algorithms for computing pigment concentrations were developed. The successful use of CZCS data for the estuary requires development of site-specific algorithms and analytical approaches. Of principal importance in developing site-specific procedures is the availability of in-situ data on pigment concentrations. A significant data set was acquired from EPA's Chesapeake Bay Program in Annapolis, Maryland, and clear satellite scenes are being analyzed for which same-day sea truth measurements of pigment were obtained. Both the University of Miami and GSFC Seapak systems are being used in this effort. The main finding to date is an expected one, i.e., the algorithms developed for oceanic waters are inadequate to compute pigment concentrations for the Case 2 waters of the Chesapeake Bay. One reason is the overestimation of aerosol radiances by assuming that water-leaving radiance in Band 4 of CZCS (670 nm) is zero, an assumption that is invalid for the Bay. This prompted any attempts to iterative procedures for estimating the proportion of the Band 4 radiance that is actually attributable to aerosol by estimating the water-leaving component using optical data. A cruise on the Chesapeake the week of 7 August 1989 was conducted to collect additional optical data necessary to this task.

Harding, Lawrence W., Jr.↗
NASA NTRS1996

Planetary Atmosphere Dynamics and Radiative Transfer

This research program has dealt with two projects in the field of planetary atmosphere dynamics and radiative energy transfer, one theoretical and one experimental. The first project, in radiative energy transfer, incorporated the capability to isolate and quantify the contribution of individual atmospheric components to the Venus radiative balance and thermal structure to greatly improve the current understanding of the radiative processes occurring within the Venus atmosphere. This is possible by varying the mixing ratios of each gas species, and the location, number density and aerosol size distributions of the clouds. This project was a continuation of the work initiated under a 1992 University Consortium Agreement. Under the just completed grant, work has continued on the use of a convolution-based algorithm that provided the capability to calculate the k coefficients of a gas mixture at different temperatures, pressures and spectral intervals from the separate k-distributions of the individual gas species. The second primary goal of this research dealt with the Doppler wind retrieval for the Successful Galileo Jupiter probe mission in December, 1995. In anticipation of the arrival of Galileo at Jupiter, software development continued to read the radioscience and probe/orbiter trajectory data provided by the Galileo project and required for Jupiter zonal wind measurements. Sample experiment radioscience data records and probe/orbiter trajectory data files provided by the Galileo Radioscience and Navigation teams at the Jet Propulsion Laboratory, respectively, were used for the first phase of the software development. The software to read the necessary data records was completed in 1995. The procedure by which the wind retrieval takes place begins with initial consistency checks of the raw data, preliminary data reductions, wind recoveries, iterative reconstruction of the probe descent profile, and refined wind recoveries. At each stage of the wind recovery consistency is checked and maintained between the orbiter navigational data, the radioscience data, and the probe descent profile derived by the Atmospheric Instrument Team. Preliminary results show that the zonal winds at Jupiter increase with depth to approximately 150 m/s.

Atkinson, David H.↗
NASA NTRS2017

A Closer Look at the ABI on the GOES-R Series

The Advanced Baseline Imager (ABI) on board the Geostationary Operational Environmental Satellite-R (GOES-R) is America's next-generation geostationary advanced imager. GOES-R launched on 19 November 2016. The ABI is a state-of-the-art 16-band radiometer, with spectral bands covering the visible, near-infrared, and infrared portions of the electromagnetic spectrum. Many attributes of the ABI-such as spectral, spatial, and temporal resolution; radiometrics; and image navigation/registration-are much improved from the current series of GOES imagers. This paper highlights and discusses the expected improvements of each of these attributes. From ABI data many higher-level-derived products can be generated and used in a large number of environmental applications. The ABI's design allows rapid-scan and contiguous U.S. imaging automatically interleaved with full-disk scanning. In this paper the expected instrument attributes are covered, as they relate to signal-to-noise ratio, image navigation and registration, the various ABI scan modes, and other parameters. There will be several methods for users to acquire GOES-R imagery and products depending on their needs. These include direct reception of the imagery via the satellite downlink and an online-accessible archive. The information from the ABI on the GOES-R series will be used for many applications related to severe weather, tropical cyclones and hurricanes, aviation, natural hazards, the atmosphere, the ocean, and the cryosphere.

GOES-R↗
NASA NTRS2019

Resolved Imagery as a Tool for Space Science and Exploration

Of all the instruments commonly flown on exploration spacecraft, few are as flexible as the camera in the breadth of science problems they ad-dress. Even fewer instruments are so frequently called upon to simultaneously support scientific analysis, mission-critical navigation, and day-to-day operations. Thus, the authors find study of space imagery to be a naturally interdisciplinary endeavor where the pursuit of science and exploration are intertwined.

Christian, J. A.↗
NASA NTRSDate not supplied

A Notional Artemis Lunar Surface Exploration Package (ArLSEP) based on the Gandalf Staff Platform

Introduction: The Artemis program is planning to deliver crew and cargo to the lunar surface, but there is no current package for supporting lunar in-struments and experiments similar to the Apollo Lunar Surface Exploration Package (ALSEP). This abstract provides a possible concept for such a package using the Gandalf Staff Platform as a common core. Gandalf Staff: The Gandalf Staff is an early prototype system developed over FY’21/FY’22 using NASA Science Technology Mission Directorate (STMD) Center Information Fund (CIF) grants to de-sign, build and test “proof-of-concept” components. These components include a 24v battery powered monopole that powers a suite of subsystems, including a Graphical User Interface (GUI) for crew, surface voice and data communications, Lunar Search and Rescue (LunaSAR) navigation and communications, LiDAR, field site external lighting, 360-degree camera, and a geothermal instrument for measuring sub-surface temperature gradient. The staff can be carried independently by an Extra-Vehicular Activity (EVA) astronaut, or can be mounted into a tripod for “hands free” support at a surface site being investigated. The staff can be attached to an external solar array and power storage system for long-duration operations. [1,2] ALSEP: An ASLEP flew on each mission Apollo 12 to Apollo 17. For Apollo 11, a simplified packaged called the Early Apollo Scientific Experiments Pack-age (EASEP) was flown. Each package included a “Central Station” that provided the power and communications connected to a variety of instruments and sensors. The power was provided by a Radioisotope Thermoelectric Generator (RTG) fueled by Plutoni-um-238 generating 70 watts of power (initially, decayed over time) [3]. The communications system provide for direct to Earth data transfer from the lunar surface. Each pack-age was stowed externally in the Lunar Module (LM) Scientific Equipment (SEQ) bay with a mass up to 163 kg (Apollo 17). The crew unloaded the ALSEP from the LM and deployed the instruments on the lunar surface. Although designed to operate for only 1 year, many sites operated for up to 8 years successfully [4]. The Active Seismic Experiment (ASE) included 3 geophones for detecting seismic waves created by mortars and thumpers deployed by the crew. Other active experiments measured the lunar atmosphere, the heat flow in the subsurface, the lunar gravity and potential gravity waves, the lunar magnetic field, the solar wind and plasma interactions in cislunar space. Passive experiments included collectors for dust and cosmic rays, and retroreflectors for precise measurements of distance using a laser from Earth. The ALSEP program continues to generate insights into lunar formation and evolution. ArLSEP Concepts: The lunar surface science package for the Artemis program will hopefully exceed the capability of the ALSEP. There are multiple issues for discussion leading to the design of a new ArLSEP, needing requirements definition from the science community, NASA mission architecture, and NASA budget planners. 1. Delivery Mechanism Two possible projects currently provide capability to deliver scientific cargo to the lunar surface: 1) the Commercial Lunar Payload Services (CLPS) [5] and the Human Landing System (HLS) [6, 7]. Each project is controlled by a different organization within NASA and budgeted with different criteria although both support lunar exploration. The HLS system delivers crew (and potentially cargo) to human landing sites. If an ArLSEP is “predeployed” to such a site, the design must include power (either from the vehicle or independently) to keep the electronics functioning until deployed by the crew. If an ArLSEP is delivered on a vehicle after the crew is present on the lunar surface, safety protocols require adequate distance from the humans for impact from descent propelled sur-face regolith ejecta. This distance can not exceed the capability of the crew to walk (if no rover) to the vehicle for ArLSEP deployment. 2. Overall Guidelines The general design of ArLSEP will likely follow the ALSEP with a common system for communications and power; however, significant architecture differences between Apollo and Artemis exist. Power: The RTG will not be available for early Artemis missions nor likely follow-on Lunar Exploration Transportation Services (LETS) missions [8]. Thus, ArLSEP power must be supplied by solar arrays with sufficient battery capability to “keep alive” necessary electronics during any lunar surface eclipse period. Communication: The Artemis program is developing a series of communications satellites for lunar orbit to provide surface transmission of data and voice to Earth. Called “LunaNET”, this network is component useful for ArLSEP since south polar locations may not always have direct “line-of-sight” to Earth [9]. 3. Concept of Operations (ConOps) The general ConOps for ArLSEP is to deliver the package to lunar surface before the crew arrives, and then have the crew deploy the package after some period of time. This requires coordinated design (for power systems) and launch window (for schedule) on both the cargo and crew missions. Once the ArLSEP is deployed, it will operate autonomously for a number of years. It should be designed to be EVA compatible for crew maintenance and upgrade. 4. Notional Design (for discussion purpose only) The landing site near the South Pole is expected to have no eclipse cycle exceeding 5 days, so the “keep alive” power is 144 hours (6 days to include margin). A 12v ArLSEP will use rechargeable LiFePO4 cells, which are common in the Electric Vehicle (EV) industry. With a current of 5 amps and a 125 watt system, the mass is about 90kg. The comm. system and structure adds another 10kg, thus the “Central Station” is approximately 100kg. The solar power is collected on four arrays (each 2m above the surface), and the entire ArLSEP is designed to stow in a 2m x 1m x 1m volume. The experiment and instrument design will vary for each installation and add mass to the total (although they are expected to fit within the 2m3 volume). Seismic wave generation will likely not be provided with mortars, thus an electric “thumper” will be required. Active instruments such as imaging systems and sensing instruments will benefit from the additional power and communication capability provided by ArLSEP. Passive systems such as retroreflectors, witness plates, and cosmic dust collectors can be added to either the landing vehicle and/or the ArLSEP. With repeated HLS missions to the same human site, the ArLSEP can be expanded and easily maintained for long duration science collection on the lunar surface.

ALSEP↗
NASA NTRSDate not supplied

Tutorial on LuNaMaps Developed Tools andProcesses for Mapping the Lunar Surface

The main contribution of this project is the combined knowledge of terrain relative navigation experts and lunar scientists who are familiar with both the lunar orbital imagery and the instruments that collected the data as well as how a TRN system utilizes map data. This knowledge comes in the form of published technical papers, benchmark map data sets, and software tools that can help others automate the process of creating the necessary maps for their own landing sites in the future. This presentation provides a brief overview of the tools and processes developed by the project.

optical navigation↗
NASA NTRSDate not supplied

Technology Transfer Plan: LuNaMaps Project

The main contribution of this project is the combined knowledge of terrain relative navigation experts and lunar scientists who are familiar with both the lunar orbital imagery and the instruments that collected the data as well as how a TRN system utilizes map data. This knowledge comes in the form of published technical papers, benchmark map data sets, and software tools that can help others automate the process of creating the necessary maps for their own landing sites in the future. This document represents the project's plans to share all the lessons learned, processes developed, and applicable software tools with the public.

optical navigation↗
NASA NTRS1992

Project Magnet High-level Vector Survey Data Reduction

Since 1951, the U.S. Navy, under its Project MAGNET program, has been continuously collecting vector aeromagnetic survey data to support the U.S. Defense Mapping Agency's world magnetic and charting program. During this forty-year period, a variety of survey platforms and instrumentation configurations have been used. The current Project MAGNET survey platform is a Navy Orion RP-3D aircraft which has been specially modified and specially equipped with a redundant suite of navigational positioning, attitude, and magnetic sensors. A review of the survey data collection procedures and calibration and editing techniques applied to the data generated by this suite of instrumentation will be presented. Among the topics covered will be the determination of its parameters from the low-level calibration maneuvers flown over geomagnetic observatories.

Rachel J Coleman↗
NASA NTRS1971

Experiment D005: Star occultation navigation

The usefulness of star occultation measurements for space navigation and the determination of a horizon density profile which could be used to update atmospheric models for horizon-based measurement systems were studied. The time of occultation of a known star by a celestial body, as seen by an orbiting observer, determines a cylinder of position, the axis of which is the line through the star and the body center, and the radius of which is equal to the occulting-body radius. The dimming percentage, with respect to the altitude of this grazing ray from the star to the observer, is a percentage altitude for occultation. That is, the star can be assumed to be occulted when it reaches a predetermined percentage of its unattenuated value. The procedure used was to measure this attenuation with respect to time to determine the usefulness of the measurements for autonomous space navigation. In this experiment, the crewmembers had to accomplish star acquisition, identification, calibration, and tracking. Instrumentation was required only for measurement of the relative intensity of the star as it set into the atmosphere.

Silva, R. M.↗
NASA NTRS1971

Earth orbital experiment program and requirements study, volume 1, sections 1 - 6

A reference manual for planners of manned earth-orbital research activity is presented. The manual serves as a systems approach to experiment and mission planning based on an integrated consideration of candidate research programs and the appropriate vehicle, mission, and technology development requirements. Long range goals and objectives for NASA activities during the 1970 to 1980 time period are analyzed. The useful and proper roles of manned and automated spacecraft for implementing NASA experiments are described. An integrated consideration of NASA long range goals and objectives, the system and mission requirements, and the alternative implementation plans are developed. Specific areas of investigation are: (1) manned space flight requirements, (2) space biology, (3) spaceborne astronomy, (4) space communications and navigation, (5) earth observation, (6) supporting technology development requirements, (7) data management system matrices, (8) instrumentation matrices, and (9) biotechnology laboratory experiments.

Source record↗
NASA NTRS1989

An in-flight technique for wind measurement in support of the space shuttle program

A technique to use an aircraft to measure wind profiles in the altitude range of 1,500 to 18,200 m was demonstrated at NASA Ames-Dryden. This demonstration was initiated to determine if an aircraft could measure wind profiles in support of space shuttle launches. The Jimsphere balloon is currently the device used to measure pre-launch wind profiles for the space shuttle. However, it takes approximately an hour for the Jimsphere to travel through the altitudes of interest. If these wind instruments could be taken with an aircraft closer to launch in a more timely manner and with the same accuracy as a Jimsphere balloon, some uncertainties in the measurements could be removed. The aircraft used for this investigation was an F-104G which is capable of flight above 18,000 m. It had conventional research instrumentation to provide air data and flow angles along with a ring laser gyro inertial navigation system (INS) to provide inertial and Euler angle data. During the course of 17 flights, wind profiles were measured in 21 climbs and 18 descents. Preliminary comparisons between aircraft measured wind profiles and Jimsphere measured profiles show reasonable agreement (within 3 m/sec). Most large differences between the profiles can usually be explained by large spatial or time differences between the Jimsphere and aircraft measurements, the fact that the aircraft is not in a wings-level attitude, or INS shifts caused by aircraft maneuvering.

Bjarke, Lisa J.↗
NASA NTRS1990

Flight elements subpanel introduction and overview

Major objectives, milestones, key contacts, technology issues, accomplishments, and candidate programs are outlined. Topics addressed include: advanced avionics systems architectures; advanced information processing; avionics concepts; integrated Global Positioning System/guidance, navigation, and command concepts; advanced communication and telemetry; display and control concepts; advanced sensors and instrumentation; fault detection and fault management; advanced electric power, distribution, and control; EMA/power systems; and in-flight crew training. This presentation is represented by viewgraphs only.

Sollock, Paul E.↗
NASA NTRS1993

Finding the path to a better Mars rover

A Microrover Flight Experiment (MFEX) based on a basic Rocky 4 design and conducted in the framework of the NASA Mars Environmental Survey (MESUR) Pathfinder program is described. The MFEX rover design features six powered wheels attached by a set of 'bogie levers' to a single body. The rover is designed to perform technology, science, and mission experiments. Instruments on the rover mechanisms will determine wheel-soil interactions, detect hazards, and determine navigational errors. Science data will be gathered using an alpha-proton-X-ray spectrometer against one or more rocks, and possible soil. The pathfinder will also serve as an engineering test of a transport and landing system for the MESUR network mission and the rover will image the lander to assess its condition.

Pivirotto, Donna S.↗