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The first mission of NASA's New Millenium Program, Deep Space 1, has, as one of its principal demonstration technologies, the first autonomous optical navigation system to be used in deep space.
The evolution of NASA's planetary navigation techniques is traced, and radiometric and optical data types are described. Doppler navigation; the Deep Space Network; differenced two-way range techniques; differential very long base interferometry; and optical navigation are treated. The Doppler system enables a spacecraft in cruise at high absolute declination to be located within a total angular uncertainty of 1/4 microrad. The two-station range measurement provides a 1 microrad backup at low declinations. Optical data locate the spacecraft relative to the target to an angular accuracy of 5 microrad. Earth-based radio navigation and its less accurate but target-relative counterpart, optical navigation, thus form complementary measurement sources, which provide a powerful sensory system to produce high-precision orbit estimates.
The first mission of NASA's New Millennium Program, Deep Space 1, has, as one of its principal demonstration-technologies, the first autonomous optical navigation system to be used in deep space.
This work investigates the deep-space spacecraft navigation performance achievable from tracking data types obtained using optical communication systems. These optical navigation types include ranging between spacecraft and a station on Earth and astrometric measurements of angular position. Two mission scenarios are analyzed: an interplanetary cruise trajectory for a Mars lander (Mars 2020), and a science orbit for a Mars orbiter (MAVEN). Various data types are simulated using comprehensive measurement models, tracking schedules, and geometrical constraints. Sensitivity analyses are performed to assess the effect of various contributors to measurement accuracy and navigation performance. For both of the mission scenarios studied, the optical navigation types yield equivalent or improved performance as compared to traditional radiometric observables, though radiometric data types slightly outperform optical observables during tracking data gaps in the science orbit scenario.
Modified wideangle analog cruise sun sensor coupled with changes in optic attitude correction capabilities, eliminate need of acquisition and sun gate sensors, making on-course navigation of spacecraft flying interplanetary missions less risky and costly. Operational characteristics potentially make system applicable to guidance and control of solar energy collection systems.
An analysis of navigation data collected using a hand-held space sextant on the second and third manned Skylab missions was presented. From performance data and astronaut comments it was determined that: (1) the space sextant, the sighting station, and the sighting techniques require modification; (2) the sighting window must be of good optical quality; (3) astronaut performance was stable over long mission time; and (4) sightings made with a hand-held sextant were accurate and precise enough for reliable interplanetary manual navigation.
Interplanetary CubeSats could enable small, low-cost missions beyond low Earth orbit. This class is defined by mass < ~ 10 kg, cost < $30 M, and durations up to 5 years. Over the coming decade, a stretch of each of six distinct technology areas, creating one overarching architecture, could enable comparatively low-cost Solar System exploration missions with capabilities far beyond those demonstrated in small satellites to date. The six technology areas are: (1) CubeSat electronics and subsystems extended to operate in the interplanetary environment, especially radiation and duration of operation; (2) Optical telecommunications to enable very small, low-power uplink/downlink over interplanetary distances; (3) Solar sail propulsion to enable high !V maneuvering using no propellant; (4) Navigation of the Interplanetary Superhighway to enable multiple destinations over reasonable mission durations using achievable !V; (5) Small, highly capable instrumentation enabling acquisition of high-quality scientific and exploration information; and (6) Onboard storage and processing of raw instrument data and navigation information to enable maximum utility of uplink and downlink telecom capacity, and minimal operations staffing. The NASA Innovative Advanced Concepts (NIAC) program in 2011 selected Interplanetary CubeSats for further investigation, some results of which are reported here for Phase 1.
It is pointed out that interplanetary navigation at the Jet Propulsion Laboratory (JPL) is performed by analyzing measurements derived from the radio link between spacecraft and earth and, near the target, onboard optical measurements. For precise navigation, corrections for ionospheric effects must be applied, because the earth's ionosphere degrades the accuracy of the radiometric data. These corrections are based on ionospheric total electron content (TEC) determinations. The determinations are based on the measurement of the Faraday rotation of linearly polarized VHF signals from geostationary satellites. Problems arise in connection with the steadily declining number of satellites which are suitable for Faraday rotation measurements. For this reason, alternate methods of determining ionospheric electron content are being explored. One promising method involves the use of satellites of the NAVSTAR Global Positioning System (GPS). The results of a comparative study regarding this method are encouraging.
Interplanetary spacecraft navigation requires accurate a priori knowledge of target positions. A concept is presented for attaining improved target ephemeris accuracy using two future Earth-orbiting optical observatories, the European Space Agency (ESA) Hipparcos observatory and the Nasa Hubble Space Telescope (HST). Assuming nominal observatory performance, the Hipparcos data reduction will provide an accurate global star catalog, and HST will provide a capability for accurate angular measurements of stars and solar system bodies. The target location concept employs HST to observe solar system bodies relative to Hipparcos catalog stars and to determine the orientation (frame tie) of these stars to compact extragalactic radio sources. The target location process is described, the major error sources discussed, the potential target ephemeris error predicted, and mission applications identified. Preliminary results indicate that ephemeris accuracy comparable to the errors in individual Hipparcos catalog stars may be possible with a more extensive HST observing program. Possible future ground and spacebased replacements for Hipparcos and HST astrometric capabilities are also discussed.
For any interplanetary mission, there are certain types of data that are used as a means of determining both the position and velocity of a spacecraft. The data types currently in use are Doppler, Range, Optical and VLBI. All of them are radiometric with the exception of the Optical data type. NASA's Deep Space Network is employed for the purpose of transmitting and receiving data to and from the spacecraft repsectively. For this exchange of information to take place, both the DSN and spacecrft high gain antennae must be pointed towards each other.
Optical communication links using lasers can potentially deliver data rates much higher than those possible using radio frequencies. If optical communications equipment is going to be carried by future deep-space missions, this equipment, with some adaptations, could also be used to perform tracking for trajectory determination. A number of experiments have been performed in Earth orbit and in lunar orbit using optical data links, while other missions have demonstrated optical links over interplanetary distances. Laser ranging using corner cube retroreflectors is a well-established technique that has been used for orbit determination of Earth orbiting spacecraft, for geodesy, and for lunar research, achieving centimeter-level precisions, but it is not a practical method for deep-space distances. There are two main optical tracking types that are being considered for deep-space navigation. The first is optical astrometry of spacecraft: a telescope on the ground images the laser beam coming from a spacecraft against the star background, determining its plane-of-sky position as seen from the observatory. This type will greatly benefit from the release of the high-accuracy star catalog produced by ESA’s Gaia mission, allowing for the generation of plane-of-sky measurements with an accuracy similar to that obtained today using VLBI tracking techniques. The second is optical ranging using active optical systems at both ends of the link, requiring a more careful design of the spacecraft optical communications system. One of the advantages of using optical frequencies is that they are not affected by charged particles in the signal path the way that radio frequencies are, eliminating solar plasma and ionospheric effects from the light-time calculation and the corresponding noise. On the other hand, clouds would preclude any type of optical communication, and daytime light scattering precludes astrometric measurements. This paper presents our analysis so far of the performance that could be achieved using optical data types in a number of deep-space scenarios. One of the questions that we are trying to answer is whether spacecraft equipped with optical communications terminals would also need to carry radio-frequency equipment for navigational purposes. We also want to understand how accurately we will be able to navigate spacecraft in different mission types and phases, and what would be the constraints, advantages, and disadvantages of using optical communications systems for deep-space navigation.
Optimetrics for Precise Navigation will be implemented on existing optical communication links. The ranging and Doppler measurements are conducted over communication data frame and clock. The measurement accuracy is two orders of magnitude better than TDRSS. It also has other advantages of: The high optical carrier frequency enables: (1) Immunity from ionosphere and interplanetary Plasma noise floor, which is a performance limitation for RF tracking; and (2) High antenna gain reduces terminal size and volume, enables high precision tracking in Cubesat, and in deep space smallsat. High Optical Pointing Precision provides: (a) spacecraft orientation, (b) Minimal additional hardware to implement Precise Optimetrics over optical comm link; and (c) Continuous optical carrier phase measurement will enable the system presented here to accept future optical frequency standard with much higher clock accuracy.
A description is presented of the navigation-related events of the Viking Mars mission. Orbit determination system fundamentals are discussed, taking into account the trajectory models, observation models, radio data models, range considerations, optical data models, filter models, the orbit determination process, critical orbit determination inputs, and orbit determination errors. Attention is also given to questions of orbit determination strategy, orbit determination results, optical measurements processing, aspects of approach orbit determination evaluation, and the orbit determination software system.
The autonomous optical navigation system technology for the Deep Space 1 (DS1) mission is reported on. The DS1 navigation system will be the first to use autonomous navigation in deep space. The systems tasks are to: perform interplanetary cruise orbit determination using images of distant asteroids; control and maintain the orbit of the spacecraft with an ion propulsion system and conventional thrusters, and perform late knowledge updates of target position during close flybys in order to facilitate high quality data return from asteroid MaAuliffe and comet West-Kohoutek-Ikemura. To accomplish these tasks, the following functions are required: picture planning; image processing; dynamical modeling and integration; planetary ephemeris and star catalog handling; orbit determination; data filtering and estimation; maneuver estimation, and spacecraft ephemeris updating. These systems and functions are described and preliminary performance data are presented.
An autonomous/adaptive interplanetary navigation architecture employing neural networks and genetic algorithms is being developed that will alert navigators when a shift from optimal to suboptimal filtering occurs and assist in modifying the filter parameters to resume optical tracking.
Real-time connected-element radio-interferometer system incorporates two receiving stations, separated by relatively short baseline of only 21 km, communicating via fiber-optic data and timing links. Provides accuracies of 50 to 100 nanoradians for measuring angular positions of interplanetary spacecraft and extra-galactic quasers. Overall system and various components adaptable to such terrestrial uses as navigation and distribution of precise time and frequency reference signals.
Using the Moon to occult the Sun, the Clementine spacecraft used its navigation cameras to map the inner zodiacal light at optical wavelengths over elongations of 3 approx. less than epsilon approx. less than 30 deg from the Sun. This surface brightness map is then used to infer the spatial distribution of interplanetary dust over heliocentric distances of about 10 solar radii to the orbit of Venus. The averaged ecliptic surface brightness of the zodiacal light falls off as Z(epsilon) is a member of epsilon(sup -2.45 +/- 0.05), which suggests that the dust cross-sectional density nominally falls off as sigma(r) is a member of r(sup - 1.45 +/- 0.05). The interplanetary dust also has an albedo of alpha approx. = 0.1 that is uncertain by a factor of approx. 2. Asymmetries of approx. 10% are seen in directions east-west and north-south of the Sun, and these may be due the giant planets' secular gravitational perturbations. We apply a simple model that attributes the zodiacal light as due to three dust populations having distinct inclination distributions, namely, dust from asteroids and Jupiter-family comets (JFCs) having characteristic inclinations of i approx. 7 deg, dust from Halley-type comets having i approx. 33 deg, and an isotropic cloud of dust from Oort Cloud comets. The best-fitting scenario indicates that asteroids + JFCs are the source of about 45% of the optical dust cross section seen in the ecliptic at 1 AU but that at least 89% of the dust cross section enclosed by a 1-AU-radius sphere is of a cometary origin. Each population's radial density variations can also deviate somewhat from the nominal sigma(r) is a member of r(sup -1.45). When these results are extrapolated out to the asteroid belt, we find an upper limit on the mass of the light-reflecting asteroidal dust that is equivalent to a 12-km asteroid, and a similar extrapolation of the isotropic dust cloud out to Oort Cloud distances yields a mass equivalent to a 30-km comet, although the latter mass is uncertain by orders of magnitude.
The Jet Propulsion Laboratory has been developing a radio-astrometric catalogue for use in the application of radio interferometry to interplanetary navigation and geodesy. The catalogue consists of approximately 100 compact extragalactic radio sources whose relative positions have formal uncertainties of the order of 0.01 arcsec. The sources cover nearly all of the celestial sphere above -40 deg declination. By using the optical counterparts of many of these radio sources, this radio reference frame has been tied to the FK4 optical system with a global accuracy of approximately 0.1 arcsec. This paper describes the status of this work.