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Search indexed NASA NTRS and DOE OSTI research on propulsion, heat transfer, battery materials and energy systems. Follow report and document links to the original sources.

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NASA NTRS1993

PC4CAST: A tool for DSN load forecasting and capacity planning

Effectively planning the use and evolution of the Deep Space Network (DSN) is a complex problem involving many parameters. The tool that models many of these complexities, yet requires simple structured inputs and provides concise easy-to-understand metrics to aid in the planning process is discussed. The tool, PC4CAST, is used for both load forecasting (predicting how well planned that DSN resources meet expected demand) and as a decision support tool in the capacity-planning process (determining the relative benefits of capacity expansion options). It is now in use in the TDA Planning Office, has been used in numerous studies, and is also being used by the JPL Multimission Operations System Office (MOSO) as an integral part of Resource Allocation Team activities. Experience using the tool has helped to identify additional requirements that will further improve the planning process, which can be met by future PC4CAST versions.

Loyola, S. J.↗
NASA NTRS1991

Measurement of the cooling capacity of an RMC-Cryosystems Model LTS 4.5-025 closed-cycle helium refrigerator

The cooling capacity of a recently purchased RMC-Cryosystems Model LTS 4.5-025 closed-cycle He refrigerator was measured over the range 4-35 K. It is found that the nominal cooling capacity of 250 mW is only met or exceeded over a narrow temperature range around 4.3 + or - 0.5 K, and that, above this range, there exists a considerable region of much lower cooling capacity, not exceeding about 100 mW. It is believed that this behavior results from use of a fixed-aperture Joule-Thompson expansion valve, and might be alleviated if the J-T valve could be adjusted to compensate for changing flow within the 5-20 K temperature range. Present performance may severely limit or prevent effective use in applications where an irreducible heat inflow exists which is greater than about 100 mW, yet substantially less than the quoted capacity at about 4 K.

De Zafra, R. L.↗
NASA NTRS1989

Lunar power system summary of studies for the lunar enterprise task force NASA-office of exploration

The capacity of global power systems must be increased by a factor of ten to provide the predicted power needs of electric power by the year 2050. The Lunar Power System (LPS) would collect solar energy at power bases located on opposing limbs of the moon as seen from Earth. LPS can provide dependable, economic, renewable, and environmentally benign solar energy to Earth. A preliminary engineering and cash flow model of the LPS was developed. Results are shown for a system scaled to a peak capacity of 355 GWe on Earth and to provide 13,600 GWe-Yrs of energy over a 70 year life cycle of construction and full operation. The growth in capacity of the reference system from start of installation on the moon in 2005 to completion of its nominal life cycle in the year 2070 is shown. World needs for power could be accommodated by expansion in capacity of the reference LPS beyond 344 GWe. This would be done by steadily incorporating newer technology during full operation and by establishing additional bases. The results presented encourage consideration of a faster paced program than is assumed herein.

Criswell, David R.↗
NASA NTRS1989

Queuing theory models for computer networks

A set of simple queuing theory models which can model the average response of a network of computers to a given traffic load has been implemented using a spreadsheet. The impact of variations in traffic patterns and intensities, channel capacities, and message protocols can be assessed using them because of the lack of fine detail in the network traffic rates, traffic patterns, and the hardware used to implement the networks. A sample use of the models applied to a realistic problem is included in appendix A. Appendix B provides a glossary of terms used in this paper. This Ames Research Center computer communication network is an evolving network of local area networks (LANs) connected via gateways and high-speed backbone communication channels. Intelligent planning of expansion and improvement requires understanding the behavior of the individual LANs as well as the collection of networks as a whole.

Galant, David C.↗
NASA NTRS2002

Computational Thermochemistry of Jet Fuels and Rocket Propellants

The design of new high-energy density molecules as candidates for jet and rocket fuels is an important goal of modern chemical thermodynamics. The NASA Glenn Research Center is home to a database of thermodynamic data for over 2000 compounds related to this goal, in the form of least-squares fits of heat capacities, enthalpies, and entropies as functions of temperature over the range of 300 - 6000 K. The chemical equilibrium with applications (CEA) program written and maintained by researchers at NASA Glenn over the last fifty years, makes use of this database for modeling the performance of potential rocket propellants. During its long history, the NASA Glenn database has been developed based on experimental results and data published in the scientific literature such as the standard JANAF tables. The recent development of efficient computational techniques based on quantum chemical methods provides an alternative source of information for expansion of such databases. For example, it is now possible to model dissociation or combustion reactions of small molecules to high accuracy using techniques such as coupled cluster theory or density functional theory. Unfortunately, the current applicability of reliable computational models is limited to relatively small molecules containing only around a dozen (non-hydrogen) atoms. We propose to extend the applicability of coupled cluster theory- often referred to as the 'gold standard' of quantum chemical methods- to molecules containing 30-50 non-hydrogen atoms. The centerpiece of this work is the concept of local correlation, in which the description of the electron interactions- known as electron correlation effects- are reduced to only their most important localized components. Such an advance has the potential to greatly expand the current reach of computational thermochemistry and thus to have a significant impact on the theoretical study of jet and rocket propellants.

Crawford, T. Daniel↗
NASA NTRS1978

A wide bandwidth CCD buffer memory system

A prototype system was implemented to demonstrate that CCD's can be applied advantageously to the problem of low power digital storage and particularly to the problem of interfacing widely varying data rates. CCD shift register memories (8K bit) were used to construct a feasibility model 128 K-bit buffer memory system. Serial data that can have rates between 150 kHz and 4.0 MHz can be stored in 4K-bit, randomly-accessible memory blocks. Peak power dissipation during a data transfer is less than 7 W, while idle power is approximately 5.4 W. The system features automatic data input synchronization with the recirculating CCD memory block start address. System expansion to accommodate parallel inputs or a greater number of memory blocks can be performed in a modular fashion. Since the control logic does not increase proportionally to increase in memory capacity, the power requirements per bit of storage can be reduced significantly in a larger system.

Siemens, K.↗
NASA NTRS1997

Performance Comparison Between NiH2 Dry Sinter and Slurry Electrode Cells

The electrical and thermal performance of dry sinter and slurry process electrode cells manufactured for the Hubble Space Telescope (HST) batteries have been characterized for a matrix of operating conditions over the temperature range from 14 to 86 F at various charge control levels. The dry sinter process electrode cells tested are similar to the onboard HST NiH2 cells. The slurry process electrode cells were developed to be less susceptible to electrode expansion and impedance changes with life. Both cell types were impregnated by the aqueous electrochemical process. Test conditions included standard capacity tests and electrical cycling using 96-minute cycling regimens incorporating gr depth-of-discharge (DOD) cycles. The dry sinter process electrodes have higher operating capacities to 1.20V/cell, but both electrode types have similar heat dissipation for the conditions tested. The results of the testing included cyclic heat generation during a typical 96-minute cycle, operating capacity data vs. cutoff voltage to generate a temperature-compensated voltage curve, and voltage characteristics suitable to develop a voltage prediction model. Analysis of data shows differences in the discharge voltage plateaus operating conditions evaluated. This is the basis for recommended changes in the battery charge control.

Armantrout, J. D.↗
NASA NTRS1980

Thermomechanical phenomena in high speed rubbing

An analytical approach is presented for the modeling of the thermomechanical interactions which occur in high speed sliding situations. These sliding contact problems which are characterized by active and interrelated thermal and mechanical phenomena could be called 'rub energetics' problems. Analytical models were developed to simulate two different rub situations: high energy braking of disk brakes and high speed rubs of gas path seals in turbine engines. The models proved to be particularly useful in predicting the severe temperatures and deformations near hot contact patches on the rubbing surfaces. The size of the hot patches is generally determined by normal load and the properties of the contacting materials. Temperatures at the contact patches can approach the melting point of the materials, especially at high sliding velocities. These high temperatures can lead to large amounts of near-surface deformation and high wear rates. Decreased contact temperatures can result from using materials with increased thermal conductivity and increased heat capacity or choosing mechanical properties (decreased stiffness, yield stress or coefficient of thermal expansion) which give larger hot spot size.

Kennedy, F. E.↗
NASA NTRS2019

Electra: A Modular-Based Expansion of NASA's Supercomputing Capability

NASA has increasingly relied on high-performance computing (HPC) re- sources for computational modeling, simulation, and data analysis to meet the science and engineering goals of its missions in space exploration, aeronautics, and Earth and space science. The NASA Advanced Supercomputing (NAS) Division at Ames Research Center in Silicon Valley, Calif., hosts NASA’s premier supercomputing resources, integral to achieving and enhancing the success of the agency’s missions. NAS provides a balanced environment, funded under the High-End Computing Capability (HECC) project, comprised of world-class supercomputers, including its flagship distributed-memory cluster, Pleiades; high-speed networking; and massive data storage facilities, along with multi-disciplinary support teams for user support, code porting and optimization, and large-scale data analysis and scientific visualization. However, as scientists have increased the fidelity of their simulations and engineers are conducting larger parameter-space studies, the requirements for supercomputing resources have been growing by leaps and bounds. With the facility housing the HECC systems reaching its power and cooling capacity, NAS undertook a prototype project to investigate an alternative approach for housing supercomputers. Modular supercomputing, or container-based computing, is an innovative concept for expanding NASA’s HPC capabilities. With modular supercomputing, additional containers—similar to portable storage pods—can be connected together as needed to accommodate the agency’s ever-increasing demand for computing resources. In addition, taking advantage of the local weather permits the use of cooling technologies that would additionally save energy and reduce annual water usage. The first stage of NASA’s Modular Supercomputing Facility (MSF) prototype, which resulted in a 1,000 square-foot module on a concrete pad with room for 16 compute racks, was completed in Fall 2016 and an SGI (now HPE) computer system, named Electra, was deployed there in early 2017. Cooling is performed via an evaporative system built into the module, and preliminary experience shows a Power Usage Effectiveness (PUE) measurement of 1.03. Electra achieved over a petaflop on the LINPACK benchmark, sufficient to rank number 96 on the November 2016 TOP500 list [14]. The system consists of 1,152 InfiniBand-connected Intel Xeon Broadwell-based nodes. Its users access their files on a facility-wide file system shared by all HECC compute assets via Mellanox MetroX InfiniBand extenders, which connect the Electra fabric to Lustre routers in the primary facility over fiber-optic links about 900 feet long. The MSF prototype has exceeded expectations and is serving as a blueprint for future expansions. In the remainder of this chapter, we detail how modular data center technology can be used to expand an existing compute resource. We begin by describing NASA’s requirements for supercomputing and how resources were provided prior to the integration of the Electra module-based system.

Biswas, Rupak↗
NASA NTRS1975

Optimizing airport runway improvement program - A dynamic programming approach

In order to reduce the air traffic delay in the terminal area, an immediate remedy is to increase airport capacity by an expansion of the existing runway system. The runway expansion program is often limited by budgetary constraints; the expensive facilities for a long-term improvement cannot be built at once. When a runway improvement strategy is being considered for a longer planning horizon, the investiment decision depends upon the interrelations of its composite periods. The problem, therefore, is to determine how time factor and investment decisions interact to yield an optimal improvement scheme that meets demand at a minimum cost. With this objective in mind, a dynamic programming methodology is employed to determine the optimal planning scheme. Also, an example runway improvement problem is tested to illustrate how a dynamic programming model is practical in actual application.

Yu, J. C.↗
NASA NTRSDate not supplied

Assessing Urban Heat in the Cincinnati and Covington Area to Inform Local Decision-Makers and Environmental Justice Initiatives

The Urban Heat Island effect is a phenomenon characterized by urban areas experiencing temperatures that are, on average, warmer than surrounding suburban and rural regions. Urban Heat Islands are fueled by expansive impervious surfaces, vehicle emissions, and insufficient urban green space. Densely populated urban centers like the Cincinnati, Ohio and Covington, Kentucky area can experience negative health impacts due to the Urban Heat Island. NASA DEVELOP partnered with Groundwork USA and Groundwork Ohio River Valley to combine environmental education and outreach with technical capacity building in NASA Earth observations. The DEVELOP team used Landsat 5 TM and ISS ECOSTRESS to calculate daytime and nighttime land surface temperature anomalies. The team found that the Cincinnati and Covington area was 8.32°F warmer during the day and 4.97°F warmer at night compared to non-urban areas. The team also ran the Natural Capital Project InVEST Urban Cooling Model to map a heat mitigation index for the study area. The heat mitigation index models the cooling capacity of each pixel and the effect of green spaces on the pixel’s ability to mitigate heat. Results show which communities are most vulnerable to impacts of increased urban heat. The team also assessed alternative tree canopy scenarios with the InVEST model to better understand the effectiveness of potential heat mitigation strategies. Increasing tree canopy cover by 25% in urbanized land cover types was found to reduce mean temperature across the study area by 0.87°F. Combining these results with work from Groundwork’s Climate Safe Neighborhoods program highlights the relationship between extreme heat and historical-race based housing practices in the region. Results provide partners at Groundwork with refined methodologies to support future education and outreach, as well as increase future capacity to NASA Earth observations.

Celeste Gambino↗
NASA NTRS1992

Control-structure-thermal interactions in analysis of lunar telescopes

The lunar telescope project was an excellent model for the CSTI study because a telescope is a very sensitive instrument, and thermal expansion or mechanical vibration of the mirror assemblies will rapidly degrade the resolution of the device. Consequently, the interactions are strongly coupled. The lunar surface experiences very large temperature variations that range from approximately -180 C to over 100 C. Although the optical assemblies of the telescopes will be well insulated, the temperature of the mirrors will inevitably fluctuate in a similar cycle, but of much smaller magnitude. In order to obtain images of high quality and clarity, allowable thermal deformations of any point on a mirror must be less than 1 micron. Initial estimates indicate that this corresponds to a temperature variation of much less than 1 deg through the thickness of the mirror. Therefore, a lunar telescope design will most probably include active thermal control, a means of controlling the shape of the mirrors, or a combination of both systems. Historically, the design of a complex vehicle was primarily a sequential process in which the basic structure was defined without concurrent detailed analyses or other subsystems. The basic configuration was then passed to the different teams responsible for each subsystem, and their task was to produce a workable solution without requiring major alterations to any principal components or subsystems. Consequently, the final design of the vehicle was not always the most efficient, owing to the fact that each subsystem design was partially constrained by the previous work. This procedure was necessary at the time because the analysis process was extremely time-consuming and had to be started over with each significant alteration of the vehicle. With recent advances in the power and capacity of small computers, and the parallel development of powerful software in structural, thermal, and control system analysis, it is now possible to produce very detailed analyses of intermediate designs in a much shorter period of time. The subsystems can thus be designed concurrently, and alterations in the overall design can be quickly adopted into each analysis; the design becomes an iterative process in which it is much easier to experiment with new ideas, configurations, and components. Concurrent engineering has the potential to produce efficient, highly capable designs because the effect of one subystem on another can be assessed in much more detail at a very early point in the program. The research program consisted of several tasks: scale a prototype telescope assembly to a 1 m aperture, develop a model of the telescope assembly by using finite element (FEM) codes that are available on site, determine structural deflections of the mirror surfaces due to the temperature variations, develop a prototype control system to maintain the proper shape of the optical elements, and most important of all, demonstrate the concurrent engineering approach with this example. In addition, the software used for the finite element models and thermal analysis was relatively new within the Program Development Office and had yet to be applied to systems this large or complex; understanding the software and modifying it for use with this project was also required. The I-DEAS software by Structural Dynamics Research Corporation (SDRC) was used to build the finite element models, and TMG developed by Maya Heat Transfer Technologies, Ltd. (which runs as an I-DEAS module) was used for the thermal model calculations. All control system development was accomplished with MATRIX(sub X) by Integrated Systems, Inc.

Thompson, Roger C.↗
NASA NTRS2020

Land management and climate change determine second‐generation bioenergy potential of the US Northern Great Plains

Bioenergy with carbon capture and storage (BECCS) has been proposed as a potential climate mitigation strategy raising concerns over trade‐offs with existing ecosystem services. We evaluate the feasibility of BECCS in the Upper Missouri River Basin (UMRB), a landscape with diverse land use, ownership, and bioenergy potential. We develop land‐use change scenarios and a switchgrass (Panicum virgatum L.) crop functional type to use in a land‐surface model to simulate second‐generation bioenergy production. By the end of this century, average annual switchgrass production over the UMRB ranges from 60 to 210 Tg dry mass/year and is dependent on the Representative Concentration Pathway for greenhouse gas emissions and on land‐use change assumptions. Under our simple phase‐in assumptions this results in a cumulative total production of 2,000–6,000 Tg C over the study period with the upper estimates only possible in the absence of climate change. Switchgrass yields decreased as average CO2 concentrations and temperatures increased, suggesting the effect of elevated atmospheric CO2 was small because of its C4 photosynthetic pathway. By the end of the 21st century, the potential energy stored annually in harvested switchgrass averaged between 1 and 4 EJ/year assuming perfect conversion efficiency, or an annual electrical generation capacity of 7,000–28,000 MW assuming current bioenergy efficiency rates. Trade‐offs between bioenergy and ecosystem services were identified, including cumulative direct losses of 1,000–2,600 Tg C stored in natural ecosystems from land‐use change by 2090. Total cumulative losses of ecosystem carbon stocks were higher than the potential ~300 Tg C in fossil fuel emissions from the single largest power plant in the region over the same time period, and equivalent to potential carbon removal from the atmosphere from using biofuels grown in the same region. Numerous trade‐offs from BECCS expansion in the UMRB must be balanced against the potential benefits of a carbon‐negative energy system.

climate change↗
NASA NTRSDate not supplied

Anthropogenic Pathways for Modeling and Managing Future Arctic Fires

Wildland fires, including extreme fire events and seasons, are becoming more common in the boreal and Arctic regions due to climate change. Current climate modeling approaches do not include country- or region-specific socioeconomic pathways that specifically address the drivers of and potential mitigation techniques for wildland fires. Forest management, energy extraction, and tourism, together with firefighting capacity and readiness as well as fuels treatment, can have a significant impact on future wildland fire risks and impacts. To assess the impacts of anthropogenic factors and to align with previous work done on shared socioeconomic pathways (SSPs), climate pathways for future wildfires up to 2050 were created for the states that compose the original Arctic Council countries: Canada, the United States, the Kingdom of Denmark, Iceland, Sweden, Norway, and Finland as well as the Russian Federation (with whom the other seven countries withdrew participation from in May 2022 due to the invasion and ongoing war in Ukraine). High and low fire activity and risk pathways for all states comprising the Arctic were made, with expert ‘best guess’ pathways for each state created separately to represent the middle of road. The low activity and low fire risk pathways, named “We Got This”, assume active fire suppression via citizenry participation and official land management, efficient and extensive fuel treatments, and consistent and active wildland firefighting for each new ignition. The high activity and high fire risk pathways, named “Let It Burn”, assume nearly the opposite, due to lack of government and community response and no action on climate change drivers that increase wildland fire risk. The ‘best guess’ pathway, named “The Fire Will Come”, indicates that some countries are currently on the pathway for less fire compared to other Arctic and Boreal states but not a ‘no-fire’ future. For example, in the Nordic countries, human ignition sources from tourism, timber and energy extraction, summer cottages, and expanding wildland-urban intermix due to exurban growth may increase. In North America, these same risks will apply but also may see an expansion of agriculture that increases the likelihood of open burning in croplands. Drier fuel condition and extreme heat events due to climate change create favorable conditions for extreme wildfires from any ignition source. Throughout the Arctic and boreal lightning is expected to increase, increasing the risk of tundra fires in addition to forest fires in hard-to-reach locations that are more difficult to coordinate and execute wildland firefighting. To move the future Arctic fire SSPs forward, several short-term and long-term actions must be completed. Certain data needs are required, like a harmonized pan-Arctic and pan-boreal fuels geospatial product, while also a need to refine and socialize current definitions of fire seasons and fire management – including developing an open-source system to track and share innovation, mitigation, and adaptation strategies across Arctic states.

Arctic↗
NASA NTRSDate not supplied

Content and Representation of Information Needed to Support Time-Constrained Problem Solving

NASA’s current mission-operations paradigm originated with Project Mercury and endured with minimum evolution through the Apollo Program, Space Shuttle Program, and ISS missions. At its foundation is a near-complete real-time dependence on a ground team to manage the combined state of the mission, vehicle, and crew. Utilizing many engineers and operators with broad and deep expertise; large, distributed datasets including extensive telemetry; and expansive analytical and computing power, this ground team has served as the safety net for crewed spaceflight missions over the past 60 years. This approach must change to address challenges associated with missions beyond low Earth orbit (BLEO), including infrequent resupply, reduced ability to evacuate, and delayed communications that prohibit real-time operational support. We anticipate that a necessary part of this change will be increased independence for the crew, as roles and responsibilities traditionally performed by ground teams move on board the vehicle. While many risks are associated with Earth-independent operations, one particular concern is ensuring that the crew will have adequate onboard support to perform urgent problem solving when communication with the ground is delayed or intermittent. A key resource that enables the ground team to respond to anomalies quickly and effectively is the extraordinary expertise and experience it possesses. It is comprised of 80+ experts on at any given time, with a combined 600+ years of system-specific experience across 22 unique console disciplines. A small crew will face the unprecedented challenge of independently responding to anomalies that have historically been handled by a team 20 times their size. Another important resource upon which the ground heavily relies to support procedure execution and anomaly response is data. The amount of telemetry data that each flight controller monitors is extensive. In addition, as the ground team works to further assess impacts, trouble shoot, identify workarounds, and oversee procedure execution, it accesses and synthesizes engineering and procedure information, as well as system build, test, and configuration documentation. It is not feasible nor useful to put all these data onboard as crews become more Earth independent. Each member of a small Mars mission small crew will have multiple roles beyond monitoring telemetry and data gathering, and multiple roles within anomaly resolution processes, thereby limiting their capacity for copious amounts of information. Moreover, while access is necessary, it alone is insufficient. Information will need to be compiled, refined, and represented appropriately to support the crew’s reduced attention and expertise. This work seeks to understand the content and representation of information needed to support time-constrained problem solving and decision making by the crew without real-time ground support. To build this understanding, we first surveyed the literature, focusing on how expert problem solvers construct and manipulate their mental models. Next, we interviewed expert problem solvers in spaceflight and analogous domains and surveyed industry solutions for data presentation. Finally, we analyzed current spaceflight operations by investigating flight controller anomaly resolution processes during ISS training simulations and real operational events. These methods led to creating a problem-solving framework that details common themes and features of attending to, assessing, analyzing, and acting on problems in complex, time-constrained domains. Using this framework and the results of our analysis, we identified conceptual data representations needed for crew-led problem-solving. Preliminary onboard user interface concepts to meet identified needs will be presented.

anomaly response↗
NASA NTRSDate not supplied

Investigating Low-Altitude Constellations of Ad-Hoc Lunar PNT System for Distributed Spacecraft Autonomy

In this study, we examine a low-altitude Lunar Position, Navigation, and Timing (LPNT) constellations and the localization performance of Centralized Extended Kalman Filter (CEKF) and Decentralized Extended Kalman Filter (DEKF) algorithms. The primary investigation involves a 100-node swarm operating at a 100 km altitude, in contrast to previous studies that examined a 21-node asset in a frozen-orbit at 5,500 km. The autonomous operation of large-scale swarm is based on two-way Inter-Satellite Link (ISL) measurements, which involve pseudoranges and relative velocities among swarm nodes. We perform a numerical assessment of the two filtering approaches, utilizing ‘fully sampled’ measurements from all available assets as well as ‘two ISL’ measurements where each spacecraft is restricted to only two antennas. This research includes an analysis of CEKF under 2-ISL constraints and evaluates the performance of DEKF in a 100-node swarm, which has not been explored in previous studies. In addition, we examine the impact of increasing the sampling frequency for DEKF, showing that the update cycle can be shortened from a 10-minute interval. A novel approach for ‘2-ISL limited’ DEKF will also be introduced, using a matching formulation that exhaustively enumerates all potential matches. This study provides valuable insights into large-scale distributed swarm operations, considering various filter configurations, sampling frequencies, matching strategies, and scalability of CEKF and DEKF for low-altitude LPNT applications. The Lunar PNT technology plays a key role in providing reliable and robust navigation services on the Moon's surface and the South pole, where the primary Lunar missions are planned. To support upcoming Lunar missions, including small satellites from NASA's Commercial Lunar Payload Services program, the Lunar PNT system must be adaptable to smaller platforms like CubeSats. Driven by the growing involvement of public and private exploration partnerships, the traditional low Earth orbit missions are shifting to beyond geosynchronous orbit [1]. These upcoming missions aim to foster a sustainable and innovative exploration program, in collaboration with commercial and international partners, to facilitate human expansion throughout the solar system and return new knowledge and opportunities to Earth [2]. As part of this trend, there are increasing efforts to utilize science missions in Lunar orbit to develop a non-dedicated and ad-hoc PNT network system. Two traditional approaches, the Deep Space Network (DSN) and the weak signal Global Positioning System (GPS), are established deep-space navigation technologies for missions beyond the geosynchronous orbit. Beginning in 1958, the DSN was developed to communicate with the Explorer 1 spacecraft based on the use of radiometric tracking in spacecraft navigation [3]. The DSN is capable of providing nearly unfettered coverage to spacecraft beyond low-Earth orbit (LEO), however, increased space mission volume has created concerns about future expectations of DSN usage for spacecraft navigation [4]. For cislunar mission applications, the position accuracy using DSN achieves 100 m (3σ) with at least three geometrically diverse ground stations when using radiometric tracking alone [5]. The DSN's dependence on Earth-based ground stations restricts its operational capabilities to periods of Earth visibility. This limitation, coupled with its poor localization performance, renders the DSN unsuitable for future lunar missions that demand continuous tracking and precise positioning. To satisfy the increasing requirements of DSN in Lunar applications, spacecrafts are also required to improve their onboard antenna power and efficiency of the transmission. However, there is an important aggregate cost trade between adding capabilities to every spacecraft and adding to a capacity on the ground that serves multiple spacecraft [6]. A weak GPS system can provide PNT service while the user spacecraft is bound to the Moon, leveraging a single, steerable high gain antenna with the relatively narrow beam which includes all the sources in its field of view [7]. However, the higher the altitude the receiver is above the GPS constellations, the poorer and the weaker are the relative geometry and the received signal powers, respectively, leading to a significant navigation accuracy reduction [8]. The transmitted power becomes weaker with increasing distance from the Earth as well as signals tracked from one of the side lobes of the GPS antenna pattern. As a results, the number of visible satellites and relative geometric condition of the GPS satellites at very high altitude drops dramatically and reduces the navigation solution accuracy. Therefore, the weak GPS system is also not an ideal way to provide PNT service to upcoming Lunar missions when considering its limited geometric condition and the recued navigation accuracy. Another navigation approach on the Moon is being developed, similar to the Global Navigation Satellite System (GNSS) on Earth, aiming to offer navigation service with continuous 24/7 coverage across the entire Lunar surface. For example, lunar communications relay and navigation systems (LCRNS) by NASA and Lunar navigation satellite systems (LNSS) by JAXA are designed to serve as dedicated Position, Navigation, and Timing (PNT) systems for the Moon. However, designing a dedicated LNSS and PNT service involves additional challenges, which are unique to the lunar environment, including limited payload capacity for the CubeSat platform, i.e., the size, weight, and power (SWaP) of the onboard clock, limited lunar ground monitoring stations, and limited financial investment as compared to the legacy Earth-GPS [9]. NASA’s focus on utilizing CubeSat platforms on the Moon leads to an alternative Lunar navigation platform that leverages the existing Lunar science and exploration assets. The small satellites used in Lunar missions can be used to create a low-cost, autonomous, ad-hoc, and on-demand mission-centric Lunar PNT swarm capable of providing PNT services to these low-cost lunar missions [10]. As upcoming Lunar missions will often operate at low-altitude about 30 km to 100 km for scientific observations and mapping purposes, the low-altitude orbital constellations could be employed to create an ad-hoc Lunar PNT system. However, several issues must be addressed, such as the instability of these orbits, which often require maintenance or are only suitable for short-duration missions, operating for fewer than 90 days. Additionally, at an altitude of 100 km, the satellites have a limited period during which they are above the horizon and capable of providing PNT service to users. The implementation of a non-dedicated, ad-hoc Lunar navigation constellation facilitates on-demand PNT services. A preliminary study of ad-hoc Lunar PNT system was conducted using 21 spacecraft in 5,5000 km altitude frozen orbits to test its feasibility and a basic performance of orbital asset localization among ad-hoc Lunar constellations in small satellites format [10]. These swarm assets are designed for autonomous localization with minimal Earth interaction, reducing dependency on bandwidth and ground resources. The design in [10] demonstrated the feasibility of a decentralized PNT approach, specifically employing a DEKF approach for state estimation, which helps minimize onboard operating costs. The DEKF method distributes computation across individual satellites, which lightens the computational load while maintaining accuracy in orbit ephemeris and clock offsets, similar to centralized systems [11]. In a follow-on study [12], each spacecraft was limited to 2 communications antennae, forcing the selection of measurements and scheduling spacecraft activities to perform the measurements. A matching algorithm is implemented to select the best measurements and schedule position estimation updates. The decentralized localization performance is also investigated with increasing levels of network degradation for swarm assets considering the impact of intermittent and permanent communication failure, to demonstrate the robustness and fidelity of the decentralized Lunar PNT service [13]. This study confirmed that the ad-hoc PNT constellations in frozen orbit are highly robust and resilient to communication failures. However, unlike frozen orbit swarm assets, the low-altitude satellites have a limited ground view at an altitude of 100 km, where the ad-hoc Lunar constellation consists of 98 low-altitude satellites, evenly distributed across seven circular polar orbital planes, alongside two satellites in a frozen orbit at an altitude of 5,500 km (Figure 1). Therefore, the number of satellites visible to ground users is significantly limited in low-altitude orbit constellations. As each visibility of a spacecraft remains intact for only a few ticks before it moves out of the field of view, the ground user encounters challenges in maintaining continuous navigation service, resulting in sparse availability and provision of Lunar PNT system. Consequently, service availability is primarily restricted to the Lunar South Pole region (Figure 2). Given these limitations and concerns, the localization performance of low-altitude swarm assets will be assessed in this study. We focus on the investigation of the localization performance of low-altitude swarm assets and ground users near the Lunar South Pole. The overall flow of the Lunar PNT simulation incorporates the DEKF approach of asset localization and the weighted least-squares approach in user localization (Figure 3). The autonomous Lunar PNT simulation is primarily implemented in MATLAB, where the DEKF based on the matching scheduler is implemented with Google’s OR-tools as a model builder and Gurobi optimization tool as a backend solver. The General Mission Analysis Tool (GMAT) is utilized to generate ephemeris data for swarm assets, and accounts for satellite orbital details, mass, and perturbations like solar radiation pressure and drag coefficients. Each ephemeris dataset is produced in the Moon International Celestial Reference Frame (ICRF) inertial coordinate system. For state estimation, the distributed swarm assets rely on two-way Inter-Satellite Link (ISL) measurements, which involve tracking pseudoranges and relative velocities between visible satellites and anchor nodes during each observation. Numerical evaluations of the decentralized localization process are conducted to demonstrate the feasibility of the low-altitude PNT system in providing reliable navigation services. The main approach involves using DEKF and CEKF to localize 100 satellites in low-altitude constellations, where the CEKF is implemented to serve as a baseline for comparing the performance of distributed algorithms. In both cases, we evaluate ‘fully sampled’ measurements from all available assets, and ‘two ISL’ measurements when spacecraft are constrained to have only two antennas. We test four estimation techniques: CEKF fully sampled, CEKF two ISL, DEKF fully sampled, and DEKF two ISL filters. As the DEKF update cycle is comprised of network setup, communication, and computations, a global broadcast network and 2-way ISL network setup will take from 4 to 6 minutes as maximum [12]. In this simulation, the DEKF update cycle is set to 10 minutes, including a 4-minute latency for obtaining and computing the actual measurement updates. We experiment an increased update cycle to demonstrate the feasibility and evaluate the impact on localization performance using various tuning values for measurement noise covariances (Figures 4 and 5). By comparing centralized and decentralized approaches using a matching algorithm, we analyze the influence of cross-correlation factors in the covariance matrix, assuming 100% reliability of all assets and measurements. The increased frequency and the adjustments of tuning parameters reveal distinct error patterns between the two scenarios. The localization accuracy of the swarm assets and ground users is assessed by taking the median error across 100 assets and one ground user (84.9°S, 137.5°E) over 7-day simulation period (Table 1). Since the user localization accuracy is significantly affected by the performance of the swarm assets, it is crucial to maintain high localization accuracy within the swarm. This study will continue to explore decentralized filtering for autonomous LPNT operations, with further investigation of an 'iterative' matching approach which enumerates every valid matching pair, planned for the following month.

Yeji Kim↗