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NASA NTRS2019

The Joint ESA/NASA Galileo/GPS Receiver Onboard the ISS – the GARISS Project

ESA and NASA conducted a joint Galileo/GPS space receiver experiment on-board the International Space Station (ISS). The objectives (Enderle 2017) of the joint project were to demonstrate the robustness of a combined Galileo/GPS waveform uploaded to NASA hardware already operating in the challenging space environment - the SCaN (Space Communications and Navigation) software defined radio (SDR) testbed (FPGA) - on-board the ISS. These activities data included the analysis of the Galileo/GPS signal and on-board Position/Velocity/Time (PVT) performance, processing of the Galileo/GPS raw data (code- and carrier phase) for Precise Orbit Determination (POD), and validate the added value of a space-borne dual GNSS receiver compared to a single-system GNSS receiver operating under the same conditions. This paper will provide a general overview of the Galileo/GPS experiment – called GARISS - on-board the ISS, describe design, test and validation and also the operations of the experiment. Further, the various analysis conducted in the con is joint project and also the results obtained will be presented with a focus on the (Precise) Orbit Determination results.

Enderle, Werner↗

NASA NTRS2022

Systematic Detection of Anomalous Ionospheric Perturbations Above LEOs From GNSS POD Data Including Possible Tsunami Signatures

In this article, we show the capability of a global navigation satellite system (GNSS) precise orbit determination (POD) low Earth orbit (LEO) data to detect anomalous ionospheric disturbances in the spectral range of the signals associated with earthquakes and tsunamis, applied to two of these events in Papua New Guinea (PNG) and the Solomon Islands during 2016. This is achieved thanks to the new PIES approach (POD-GNSS LEO Detrended Ionospheric Electron Content Significant Deviations). The significance of such ionospheric signals above the swarm LEOs is confirmed with different types of independent data: in situ electron density measurements provided by the Langmuir Probe (LP) onboard swarm LEOs, DORIS, and ground-based GNSS colocated measurements, as it is described in this article. In this way, we conclude the possible detection of the tsunami-related ionospheric gravity wave in PNG 2016 event, consistent with the most-recent theory, which shows that a tsunami (which is localized in space and time) excites a spectrum of gravity waves, some of which have faster horizontal phase speeds than the tsunami. We believe that this work shows as well the feasibility of a future potential monitoring system of ionospheric disturbances, to be made possible by hundreds of CubeSats with POD GNSS receivers among other appropriate sensors, and supported for real-time or near real-time confirmation and characterization by thousands of worldwide existing ground GNSS receivers.

Global Navigation Satellite System↗

NASA NTRS2012

Method and apparatus for autonomous, in-receiver prediction of GNSS ephemerides

Methods and apparatus for autonomous in-receiver prediction of orbit and clock states of Global Navigation Satellite Systems (GNSS) are described. Only the GNSS broadcast message is used, without need for periodic externally-communicated information. Earth orientation information is extracted from the GNSS broadcast ephemeris. With the accurate estimation of the Earth orientation parameters it is possible to propagate the best-fit GNSS orbits forward in time in an inertial reference frame. Using the estimated Earth orientation parameters, the predicted orbits are then transformed into Earth-Centered-Earth-Fixed (ECEF) coordinates to be used to assist the GNSS receiver in the acquisition of the signals. GNSS satellite clock states are also extracted from the broadcast ephemeris and a parameterized model of clock behavior is fit to that data. The estimated modeled clocks are then propagated forward in time to enable, together with the predicted orbits, quicker GNSS signal acquisition.

Bar-Sever, Yoaz E.↗

NASA NTRS2012

Next Generation Scalable Spaceborne GNSS Science Receiver

This paper will describe the TriG architecture, and how the new features will benefit the next-generation of global network instruments, as well as current test results.

Radio Occultation↗

NASA NTRSDate not supplied

Plans for NASA Contributions to Position, Navigation, and Timing at the Moon

Dating back to the Apollo missions, navigation in cislunar space has traditionally been performed with radiometric tracking and orbit estimation in Earth-based systems. The selected landing zones for Apollo enabled direct to Earth line of sight. Up to the present day, lunar orbiting science missions continue to rely on Earth sensors and processing. The upcoming Artemis and science missions seek different objectives, including landing and traversing in lunar locations occulted from view by Earth. Sustaining a burgeoning and diverse lunar mission set requires in-situ navigation capabilities that do not rely exclusively on Earth-based tracking and provide accurate and timely position, navigation, and timing (PNT) knowledge defined in a lunar reference system. These missions prefer a seamless transition from Earth-centric to lunar-centric PNT systems to reduce complexity and size, weight, and power (SWaP) on their missions. NASA’s heritage in successful high-altitude Global Navigation Satellite System (GNSS) reception is informing an expanded Space Service Volume to the moon and the development of lower SWaP GNSS receivers for the lunar missions. To overcome the geometric restrictions from GNSS –from both limited Dilution of Precision at the moon and lunar occultation – NASA is pursuing PNT services from the Lunar Communications Relay and Navigation System (LCRNS) as part of the interoperable LunaNet architecture to provide lunar-centric navigation services. For situations that require additional sensors, e.g. hazard detection, NASA’s optical navigation algorithms and close-range topographic sensors combine with observables from LunaNet in autonomous navigation software that brings robustness to the PNT solution. This presentation will provide an overview of NASA’s LCRNS PNT services, high-altitude GNSS and close-range sensors, processing algorithms and performance analysis, as well as efforts underway to define the underpinning Lunar Reference System.

Cheryl J. Gramling↗

NASA NTRS2013

Observations of Global and Regional Ionospheric Irregularities and Scintillation Using GNSS Tracking Networks

The rate of TEC index (ROTI) is a measurement that characterizes ionospheric irregularities. It can be obtained from standard GNSS dual-frequency phase data collected using a geodetic type of GNSS receiver. By processing GPS data from ground-based networks of International GNSS Service and Continuously Operating Reference Station (CORS), ROTI maps have been produced to observe global and regional scintillation activities. A major mid-latitude scintillation event in the contiguous United States is reported here that was captured in ROTI maps produced using CORS GPS data collected during a space weather storm. The analyses conducted in this work and previously by another group indicate that ROTI is a good occurrence indicator of both amplitude and phase scintillations of GPS L-band signals, even though the magnitudes of ROTI, S4, and sigma(sub phi) can be different. For example, our analysis indicates that prominent ROTI and the L1 phase scintillation (sigma(sub phi)) are well correlated temporally in the polar region while L1 amplitude scintillation rarely occurs. The differences are partially attributed to physics processes in different latitude regions, such as high-speed plasma convection in the polar region that can suppress the amplitude scintillation. An analysis of the impact of ionospheric scintillation on precise positioning, which requires use of dual-frequency phase data, is also conducted. The results indicate that significant (more than an order of magnitude) positioning errors can occur under phase scintillation conditions.

ionospheric measurements↗

NASA NTRSDate not supplied

Characterizing the Impact of Equatorial Plasma Bubbles on GNSS Accuracy for Crop Yield Estimation in Brazil with NASA GOLD Data

In Brazil, equatorial plasma bubbles are the primary space weather phenomenon impacting the performance of Global Navigation Satellite Systems (GNSS), causing signal disruptions and positional inaccuracies in agricultural machinery used for mapping fields, guiding machinery, and ensuring accurate planting, spraying, and harvesting. As a result, farmers and stakeholders face challenges in maintaining accurate operational capabilities, often needing to shut down machinery to mitigate these effects. This project evaluated the feasibility of using NASA’s Heliophysics observations for a case study in March 2024. Data from NASA's Global-scale Observations of the Limb and Disk (GOLD) instrument were used to characterize equatorial plasma bubbles, while amplitude and phase indices from ground-based GNSS receivers confirmed their presence and impact on signal disruptions. Additionally, data from a local farm's rover receiver assessed the practical implications of these disruptions on Real-Time Kinematic (RTK) GNSS-based operations by calculating the 2-dimensional error. The project involved collaboration across multiple different organizations and sectors, including NASA’s Crustal Dynamics Data Information System (CDDIS) researchers, John Deere, a Brazilian farm for data acquisition, and Brazilian universities for data interpretation. The results aim to inform Brazilian farmers about position errors affecting their precision agriculture operations and provide insights into the needs of space weather data users and modeling. Lessons from this case study will guide future integration of space weather data and modeling with end users.

Melissa Marquez↗

NASA NTRS2017

Distributed Timing and Localization (DiGiTaL)

The Distributed Timing and Localization (DiGiTaL) system provides nano satellite formations with unprecedented,centimeter-level navigation accuracy in real time and nanosecond-level time synchronization. This is achieved through the integration of a multi-constellation Global Navigation Satellite System (GNSS) receiver, a Chip-Scale Atomic Clock (CSAC), and a dedicated Inter-Satellite Link (ISL). In comparison, traditional single spacecraft GNSS navigation solutions are accurate only to the meter-level due to the sole usage of coarse pseudo-range measurements. To meet the strict requirements of future miniaturized distributed space systems, DiGiTaL uses powerful error-cancelling combinations of raw carrier-phase measurements which are exchanged between the swarming nano satellites through a decentralized network. A reduced-dynamics estimation architecture on board each individual nano satellite processes the resulting millimeter-level noise measurements to reconstruct the fullformation state with high accuracy.

Small Spacecraft↗

NASA NTRS2023

A Concept of Precise VLBI/GNSS Ties with Micro-VLBI

We present here a concept of measuring local ties between collocated GNSS and VLBI stations using the microwave technique that effectively transforms a GNSS receiver to an element of a VLBI network. This is achieved by modifying the signal chain that allows to transfer voltage of the GNSS antenna to a digitizer via a coaxial cable. We discuss the application of this technique to local tie measurement. We have performed observations with a GNSS antenna and FD-VLBA radiotelescope and detected a strong interferometric signal from both radiogalaxies and GNSS satellites.

Geodesy↗

NASA NTRS2019

Use of Global Navigation Satellite Systems in Space

Products that rely on Global Navigation Satellite Systems (GNSS) have become an essential part of daily life for millions of people around the world. In addition to enabling navigation, these constellations of satellites and the signals they transmit provide a global, precise timing source, used in everything from electrical power grid phasing to synchronization of financial networks. This colloquium introduces the concept of radio navigation, describes the features of GNSS signals that make navigation possible, and explains how these signals are processed by GNSS receivers. The resulting measurements and error sources, such as atmospheric effects and multipath, are discussed. Special consideration is given to the challenges of using GNSS in space, and the innovations that make it possible. A survey of space applications and recent flight experiences is provided. Active areas of research are discussed, including the use of GNSS for missions to the Moon.

Space service volume↗

NASA NTRS2019

Global Navigation Satellite Systems and How They Work

Ashman, Ben↗

NASA NTRS2020

An Introduction to Global Navigation Satellite Systems

Products that rely on Global Navigation Satellite Systems (GNSS) have become an essential part of daily life for millions of people around the world. In addition to enabling navigation, these constellations of satellites and the signals they transmit provide a global, precise timing source, used in everything from electrical power grid phasing to synchronization of financial networks. This lecture introduces the concept of radio navigation, describes the features of GNSS signals that make navigation possible, and explains how these signals are processed by GNSS receivers. The resulting measurements and error sources, such as atmospheric effects and multipath, are discussed. Special consideration is given to the challenges of using GNSS in space, and the innovations that make it possible. A survey of space applications and recent flight experiences is provided. Active areas of research are discussed, including the use of GNSS for missions to the Moon.

Ashman, Ben↗

DOE OSTI2025

Ionospheric Disturbances in GNSS TEC Data: SpaceX Falcon 9 Deorbit Maneuvers Over CONUS in April–May 2024

Traveling ionospheric disturbances (TIDs) driven by a large number of internal and external sources are detectable with dense networks of ground‐based Global Navigation Satellite System (GNSS) receivers' measurements of total electron content (TEC). We present the newly developed System for Rapid Analysis of Ionospheric Dynamics (S‐RAID), providing data and visual GNSS TEC products of TIDs of periods ~2–120 min and horizontal resolution up to tens of kilometers for years 2017–2024. The S‐RAID data reveal myriad natural and anthropogenic TIDs from meteorology and space weather, and from human spaceflight activities. In this report, we focus on new prominent disturbances found during SpaceX second stage deorbit maneuvers in April–May 2024. Signatures include waves emanating from the Falcon's trajectory above California and depletions following its deorbit and passage over Arizona. These findings suggest further opportunities to detect and quantify small‐scale events in the ionosphere as well as to understand the responses of the atmosphere‐ionosphere system to known inputs.

58 GEOSCIENCES↗

NASA NTRS2011

Kalman Orbit Optimized Loop Tracking

Under certain conditions of low signal power and/or high noise, there is insufficient signal to noise ratio (SNR) to close tracking loops with individual signals on orbiting Global Navigation Satellite System (GNSS) receivers. In addition, the processing power available from flight computers is not great enough to implement a conventional ultra-tight coupling tracking loop. This work provides a method to track GNSS signals at very low SNR without the penalty of requiring very high processor throughput to calculate the loop parameters. The Kalman Orbit-Optimized Loop (KOOL) tracking approach constitutes a filter with a dynamic model and using the aggregate of information from all tracked GNSS signals to close the tracking loop for each signal. For applications where there is not a good dynamic model, such as very low orbits where atmospheric drag models may not be adequate to achieve the required accuracy, aiding from an IMU (inertial measurement unit) or other sensor will be added. The KOOL approach is based on research JPL has done to allow signal recovery from weak and scintillating signals observed during the use of GPS signals for limb sounding of the Earth s atmosphere. That approach uses the onboard PVT (position, velocity, time) solution to generate predictions for the range, range rate, and acceleration of the low-SNR signal. The low- SNR signal data are captured by a directed open loop. KOOL builds on the previous open loop tracking by including feedback and observable generation from the weak-signal channels so that the MSR receiver will continue to track and provide PVT, range, and Doppler data, even when all channels have low SNR.

Young, Lawrence E.↗

NASA NTRS2018

An Introduction to Global Navigation Satellite Systems

Products that rely on Global Navigation Satellite Systems (GNSS) have become an essential part of daily life for millions of people around the world. In addition to enabling navigation, these constellations of satellites and the signals they transmit provide a global, precise timing source, used in everything from electrical power grid phasing to synchronization of financial networks. This tutorial introduces the concept of radio navigation, describes the features of GNSS signals that make navigation possible, and explains how these signals are processed by GNSS receivers. The resulting measurements and error sources, such as atmospheric effects and multipath, are discussed. Then methods are presented for combining these measurements into a position, velocity, and time estimate. The tutorial concludes with a brief status report on the GNSS constellations, space applications and recent flight experiences, and active areas of research.

Ashman, Ben↗

NASA NTRSDate not supplied

Lunar Search & Rescue Applications of Lunar GNSS

Accurate lunar navigation and timing knowledge provides for the development of safety-critical services in the cislunar and lunar surface domain. Currently under development, the Goddard Space Flight Center’s (GSFC) Search and Rescue Mission Office is investigating and integrating search and rescue (SAR) capability into planned and future lunar communication and navigation interfaces. Lunar Search and Rescue (LunaSAR) development has a stated end-goal for assured, reliable, and timely indication of distress events for a wide variety of lunar surface users, including government-sponsored, commercial, and international users. LunaSAR performance requirements are modelled after the current terrestrial Cospas-Sarsat distress notification system, leveraging an internationally robust global navigation satellite system (GNSS) ecosystem as a core element of survivor locating capability. This presentation will discuss NASA’s work to develop user-focused distress messaging capabilities including infusion of example sensor data for triggering of automated distress alerts coupled with location-tagging. Additionally, the presentation will examine overall message structures, rotating fields for use in bi-directional distress messaging, and specific use cases based on NASA’s lunar exploration and lunar communication relay architectures. Modelling and simulation of LunaSAR use by individual lunar explorers will be discussed, based on notional industry and government design reference missions and mission considerations. Results from GSFC-funded Internal Research and Development (IRAD) efforts will be detailed, including successful distress message formulation simulating the ingestion of example legacy space suit telemetry fields. Hardware-in-the-loop testing using high-reliability software defined radio (SDR) modules serve as an example of IRAD successes and the framework for technical requirements. Architectural development and technical evolution from 2020 to 2021 included alignment of LunaSAR distress waveforms with ongoing NASA LunaNet interoperability development, as well as engagement with NASA Lunar Spectrum authorities for allocation of UHF-band distress frequencies on the lunar surface. S-Band and UHF-band transmission characteristics will be detailed, along with band-specific applications of each emission type. Additionally, examples of ingestion and formatting of GNSS signals (using historical terrestrial National Marine Electronics Association-formatted GNSS data) will be detailed, underscoring lunar user needs for a common lunar GNSS receiver output message framework. Maturity and ability to support evolving lunar exploration goals has been demonstrated and will be detailed, with maturity gaps such as position, navigation, and timing (PNT) and lunar reference frames identified within the context of distress message generation. Provision of LunaSAR services for lunar surface users represents a new era of ensured safety for lunar explorers and builds off of forty years of the Cospas-Sarsat program, underscoring the importance of lunar GNSS for safety-critical applications and growing interest in safe, reliable lunar surface operations. Enabled by new GNSS systems being developed by government and industry partners, NASA will continue to evolve and integrate lunar GNSS types into distress message generation, with a focus on compact and efficient message transmission over various lunar communication links. When fielded, LunaSAR will be the first dedicated search and rescue notification system employed on another celestial body. Robust lunar navigation and timing services form the core of LunaSAR capabilities, allowing for system syncing with time-dominant sensors, and high-accuracy location of those in distress while engaged in lunar surface activities.

Search and Rescue↗

NASA NTRSDate not supplied

Autonomous Navigation of a Lunar Relay Using GNSS and Other Measurements

Many of the highest priority destinations at the Moon lack a continuous view of Earth, such as the lunar poles or lunar far side. Exploration of these sites will require spacecraft in cislunar space to relay communications and provide position, navigation, and timing (PNT) services. Accurate knowledge of relay position, velocity, and time is essential to these services. This paper describes a concept for a PNT Instrument being developed for the Lunar Communications Relay and Navigation Systems (LCRNS) Project. The instrument is intended as a payload that would enable autonomous, on-board, real-time navigation and timing using Global Navigation Satellite System (GNSS), optical navigation, and one-way measurements from Earth-based ground stations. Hardware-in-the-loop simulations using flight software are used to realistically characterize performance on hardware platforms with a path to flight. These results provide preliminary validation of the proposed PNT Instrument, demonstrate the benefits of augmenting GNSS with other measurements, and serve as an insightful reference for the design of future lunar missions, including those that will operate within the LunaNet framework of standards. This instrument concept relies on several technologies developed at NASA Goddard Space Flight Center (GSFC). For GNSS observables, the instrument relies on the high-altitude NavCube 3 mini (NC3m) GNSS receiver specifically designed for cislunar applications. The autoNGC system, which consists of flight software and a hardware platform, is responsible for fusing the observables using its extended Kalman filter, the Goddard Enhanced Onboard Navigation System (GEONS). Optical navigation observables are processed within autoNGC (“autonomous Navigation, Guidance, and Control”) using the Goddard Image Analysis & Navigation Tool (GIANT) which is also responsible for simulating high-fidelity images for test and analysis. In addition to describing the PNT Instrument and its components, the paper will present predicted performance based on simulation results. As a baseline, it will present GNSS-only hardware-in-the loop results using a NC3m test unit to process Spirent-simulated GPS signals in a potential lunar relay trajectory: a 12-hour elliptical frozen lunar orbit (ELFO). GEONS then processes the GPS pseudorange and time differenced carrier phase measurements to estimate and propagate the relay state (position, velocity, and time). These results extend previously published work that showed preliminary ELFO performance. Previous work has shown the importance of other measurement types, so additional simulations are performed which augment GNSS with ground station observables and several methods of optical navigation, including celestial navigation, limb-finding (e.g., observations of the lunar horizon), and terrain relative navigation (TRN). TRN involves correlating simulated predicted images of the lunar surface with actual imagery; misalignments of landmarks identified in each image are translated into relay state updates. TRN is valuable as a measurement of the relay’s state relative to the Moon, especially during GNSS outages or after maneuvers. One-way Pseudorange and Doppler measurements from Earth-based ground stations are also simulated. The full set of observables is processed using autoNGC. These simulations make use of autoNGC and NC3m test units, a lab atomic clock, and a pulse-per-second (PPS) generation and distribution system. This combination of subsystems, and the hardware platforms used in this analysis, represents a PNT Instrument that could be flown on a lunar relay. Results from the hardware-in-the-loop simulations presented in this paper provide a preliminary assessment of the achievable navigation performance of this instrument concept. PNT Instrument performance is compared to the GPS-only performance, and a discussion is provided on the apparent merits and challenges of each measurement type.

Ben Ashman↗

NASA NTRS2004

The International Global Network of Geodetic Fiducial Stations

Scientific need and technological opportunity require that we move toward implementing a global network of geodetic fiducial stations which feature co-located SLR, VLBI, GNSS, and DORIS instrumentation. Earth science of the next decade will require more accurate global change measurements of sea level topography, sea level change, polar ice mass balance, hydrological and atmospheric mass flux. and topographic deformation, real time mm scale navigation and precision time transfer on a global scale. These scientific requirements have been translated into a goal of mm scale annual stability for the terrestrial reference frame, earth orientation parameters, as well as the orbit and clock determinations tbr the GNSS systems. To meet these challenges, the four geodetic observing systems must be more tightly integrated in technology, location, and analysis. NASA strongly supports the objectives of the IGGOS initiative vis NASA's National Geodetic Observatory and INDIGO programs. The Global networks of GNSS, SLR. and VLBI observatories are for the most part poorly suited for these new demands. These important geodetic networks have evolved with little planning yet these systems are providing essential measurements to a wide swath of society. New signal structures in the GPS and the developing Galileo GNSS will soon require replacement of the GNSS receivers. The SLR network is poorly distributed globally, requires labor intensive observations and analysis, and for the most part relies upon antiquated technology. The VLBI observatories utilize large radio telescopes in remote regions that are poorly distributed globally. Co-location of these networks is sparse and co-location errors contribute significantly to the observing error spectrum. Increasing use of the S and X band by commercial and other government services will also contribute to increased observational errors. The time is upon us for an international effort to develop an optimized global geodetic fiducial network of twelve or more integrated automated geodetic observatories that will provide in near real time high density mea.surements of Earth orientation, geodetic positioning, and GNSS system monitoring. The strategic goal for the optimized global fiducial network should be efficient autonomous operation, real time data streaming to analysis centers with an integrated near real time analysis capability for all four observing systems. These goals are achievable in the next decade given the dramatic technological improvements in all geodetic systems. For VLBI, the BKG TIGO might be viewed as a preliminary prototype of technology for fundamental stations. Mark 5, PC-VSI. e-VLBI broadband development efforts are laying the groundwork to reduce the aperture of the VLBI antennas and to allow for precision mm level co-location of observing systems. Operating costs and enhanced accuracy would accrue from the elimination of hydrogen maser clocks using double differencing, GNSS time transfer technology, GHz broadband recording, real time analysis, and mm wavelength VLBI observations. A global geodetic fiducial network will not be realizable without international efforts and the support of the four services.

LaBrecque, John↗