Peaceful Uses of Earth-Observation Spacecraft. Volume III - Sensor Requirements and Experiments
Earth orbit spacecraft sensors and manned space flight experiments for peaceful uses
MANNED SPACE FLIGHT↗
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An Operational Wake Vortex Sensor Using Pulsed Coherent Lidar
NASA and FAA initiated a program in 1994 to develop methods of setting spacings for landing aircraft by incorporating information on the real-time behavior of aircraft wake vortices. The current wake separation standards were developed in the 1970's when there was relatively light airport traffic and a logical break point by which to categorize aircraft. Today's continuum of aircraft sizes and increased airport packing densities have created a need for re-evaluation of wake separation standards. The goals of this effort are to ensure that separation standards are adequate for safety and to reduce aircraft spacing for higher airport capacity. Of particular interest are the different requirements for landing under visual flight conditions and instrument flight conditions. Over the years, greater spacings have been established for instrument flight than are allowed for visual flight conditions. Preliminary studies indicate that the airline industry would save considerable money and incur fewer passenger delays if a dynamic spacing system could reduce separations at major hubs during inclement weather to the levels routinely achieved under visual flight conditions. The sensor described herein may become part of this dynamic spacing system known as the "Aircraft VOrtex Spacing System" (AVOSS) that will interface with a future air traffic control system. AVOSS will use vortex behavioral models and short-term weather prediction models in order to predict vortex behavior sufficiently into the future to allow dynamic separation standards to be generated. The wake vortex sensor will periodically provide data to validate AVOSS predictions. Feasibility of measuring wake vortices using a lidar was first demonstrated using a continuous wave (CW) system from NASA Marshall Space Flight Sensor and tested at the Volpe National Transportation Systems Center's wake vortex test site at JFK International Airport. Other applications of CW lidar for wake vortex measurement have been made more recently, including a system developed by the MIT Lincoln Laboratory. This lidar has been used for detailed measurements of wake vortex velocities in support of wake vortex model validation. The first measurements of wake vortices using a pulsed, lidar were made by Coherent Technologies, Inc. (CTI) using a 2 micron solid-state, flashlamp-pumped system operating at 5 Hz. This system was first deployed at Denver's Stapleton Airport. Pulsed lidar has been selected as the baseline technology for an operational sensor due to its longer range capability.
Barker, Ben C., Jr.↗
Video Guidance Sensor Flight Experiment Results
NASA's Marshall Space Flight Center flew on the STS-87 mission an active sensor system, the Video Guidance Sensor (VGS), to demonstrate its functioning in space and to collect performance data. The VGS was designed to provide near-range sensor data as part of an automatic rendezvous and docking system. The sensor determines the relative positions and attitudes between the active sensor and the passive target. The VGS uses laser diodes to illuminate retro-reflectors in the target, a solid-state camera to detect the return from the target, and a frame grabber and digital signal processor to convert the video information into the relative positions and attitudes. The system is designed to operate with the target within a relative azimuth of +/- 9.5 degrees and a relative elevation of +/- 7.5 degrees. The system will acquire and track the target within that field-of-view anywhere from 1.5 meters to 110 meters range, and is designed to acquire at relative attitudes of +/- 10 degrees in pitch and yaw and at any roll angle. The data is output from the sensor at 5 Hz, and the target and sensor software have been designed to permit two independent sensors to operate simultaneously (in order to allow for redundancy). The data from the flight experiment includes raw video data from the VGS camera, relative position and attitude measurements from the VGS to the target, independent hand-held laser ranges from the Shuttle Aft Flight Deck to the target, and Remote Manipulator System position data to correlate with the VGS data. The experiment was quite successful and returned much useful information. The experience gained from the design and flight of this experiment will lead to improved video sensors in the future.
Howard, Richard T.↗
An Advanced Video Sensor for Automated Docking
This paper describes the current developments in video-based sensors at the Marshall Space Flight Center. The Advanced Video Guidance Sensor is the latest in a line of video-based sensors designed for use in automated docking systems. The X-33, X-34, X-38, and X-40 are all designed to be unpiloted vehicles; such vehicles will require a sensor system that will provide adequate data for the vehicle to accomplish its mission. One of the primary tasks planned for re-usable launch vehicles is to resupply the space station. In order to approach the space station in a self-guided manner, the vehicle must have a reliable and accurate sensor system to provide relative position and attitude information between the vehicle and the space station. The Advanced Video Guidance Sensor is being designed and built to meet this requirement, as well as requirements for other vehicles docking to a variety of target spacecraft. The Advanced Video Guidance Sensor is being designed to allow range and bearing information to be measured at ranges up to 2 km. The sensor will measure 6-degree-of-freedom information (relative positions and attitudes) from approximately 40 meters all the way in to final contact (approximately 1 meter range). The sensor will have a data output rate of 20 Hz during tracking mode, and will be able to acquire a target within one half of a second. The prototype of the sensor will be near completion at the time of the conference.
Howard, Richard T.↗
The Advanced Video Guidance Sensor: Orbital Express and the Next Generation
The Orbital Express (OE) mission performed the first autonomous rendezvous and docking in the history of the United States on May 5-6, 2007 with the Advanced Video Guidance Sensor (AVGS) acting as one of the primary docking sensors. Since that event, the OE spacecraft performed four more rendezvous and docking maneuvers, each time using the AVGS as one of the docking sensors. The Marshall Space Flight Center's (MSFC's) AVGS is a nearfield proximity operations sensor that was integrated into the Autonomous Rendezvous and Capture Sensor System (ARCSS) on OE. The ARCSS provided the relative state knowledge to allow the OE spacecraft to rendezvous and dock. The AVGS is a mature sensor technology designed to support Automated Rendezvous and Docking (AR&D) operations. It is a video-based laser-illuminated sensor that can determine the relative position and attitude between itself and its target. Due to parts obsolescence, the AVGS that was flown on OE can no longer be manufactured. MSFC has been working on the next generation of AVGS for application to future Constellation missions. This paper provides an overview of the performance of the AVGS on Orbital Express and discusses the work on the Next Generation AVGS (NGAVGS).
Howard, Richard T.↗
Multi-Sensor Testing for Automated Rendezvous and Docking Sensor Testing at the Flight Robotics Laboratory
The Exploration Systems Architecture defines missions that require rendezvous, proximity operations, and docking (RPOD) of two spacecraft both in Low Earth Orbit (LEO) and in Low Lunar Orbit (LLO). Uncrewed spacecraft must perform automated and/or autonomous rendezvous, proximity operations and docking operations (commonly known as AR&D). The crewed missions may also perform rendezvous and docking operations and may require different levels of automation and/or autonomy, and must provide the crew with relative navigation information for manual piloting. The capabilities of the RPOD sensors are critical to the success of the Exploration Program. NASA has the responsibility to determine whether the Crew Exploration Vehicle (CEV) contractor proposed relative navigation sensor suite will meet the requirements. The relatively low technology readiness level of AR&D relative navigation sensors has been carried as one of the CEV Project's top risks. The AR&D Sensor Technology Project seeks to reduce the risk by the testing and analysis of selected relative navigation sensor technologies through hardware-in-the-loop testing and simulation. These activities will provide the CEV Project information to assess the relative navigation sensors maturity as well as demonstrate test methods and capabilities. The first year of this project focused on a series of"pathfinder" testing tasks to develop the test plans, test facility requirements, trajectories, math model architecture, simulation platform, and processes that will be used to evaluate the Contractor-proposed sensors. Four candidate sensors were used in the first phase of the testing. The second phase of testing used four sensors simultaneously: two Marshall Space Flight Center (MSFC) Advanced Video Guidance Sensors (AVGS), a laser-based video sensor that uses retroreflectors attached to the target vehicle, and two commercial laser range finders. The multi-sensor testing was conducted at MSFC's Flight Robotics Laboratory (FRL) using the FRL's 6-DOF gantry system, called the Dynamic Overhead Target System (DOTS). The target vehicle for "docking" in the laboratory was a mockup that was representative of the proposed CEV docking system, with added retroreflectors for the AVGS. The multi-sensor test configuration used 35 open-loop test trajectories covering three major objectives: (1) sensor characterization trajectories designed to test a wide range of performance parameters; (2) CEV-specific trajectories designed to test performance during CEV-like approach and departure profiles; and (3) sensor characterization tests designed for evaluating sensor performance under more extreme conditions as might be induced during a spacecraft failure or during contingency situations. This paper describes the test development, test facility, test preparations, test execution, and test results of the multi-sensor series of trajectories.
Brewster, L.↗
Multi-Sensor Testing for Automated Rendezvous and Docking Sensor Testing at the Flight Robotics Lab
The Exploration Systems Architecture defines missions that require rendezvous, proximity operations, and docking (RPOD) of two spacecraft both in Low Earth Orbit (LEO) and in Low Lunar Orbit (LLO). Uncrewed spacecraft must perform automated and/or autonomous rendezvous, proximity operations and docking operations (commonly known as AR&D). The crewed missions may also perform rendezvous and docking operations and may require different levels of automation and/or autonomy, and must provide the crew with relative navigation information for manual piloting. The capabilities of the RPOD sensors are critical to the success ofthe Exploration Program. NASA has the responsibility to determine whether the Crew Exploration Vehicle (CEV) contractor-proposed relative navigation sensor suite will meet the requirements. The relatively low technology readiness level of AR&D relative navigation sensors has been carried as one of the CEV Project's top risks. The AR&D Sensor Technology Project seeks to reduce the risk by the testing and analysis of selected relative navigation sensor technologies through hardware-in-the-Ioop testing and simulation. These activities will provide the CEV Project information to assess the relative navigation sensors maturity as well as demonstrate test methods and capabilities. The first year of this project focused on a series of "pathfinder" testing tasks to develop the test plans, test facility requirements, trajectories, math model architecture, simulation platform, and processes that will be used to evaluate the Contractor-proposed sensors. Four candidate sensors were used in the first phase of the testing. The second phase of testing used four sensors simultaneously: two Marshall Space Flight Center (MSFC) Advanced Video Guidance Sensors (AVGS), a laser-based video sensor that uses retroreflectors attached to the target vehicle, and two commercial laser range finders. The multi-sensor testing was conducted at MSFC's Flight Robotics Laboratory (FRL) using the FRL's 6-DOF gantry system, called the Dynamic Overhead Target System (DOTS). The target vehicle for "docking" in the laboratory was a mockup that was representative of the proposed CEV docking system, with added retroreflectors for the AVGS.' The multi-sensor test configuration used 35 open-loop test trajectories covering three major objectives: (l) sensor characterization trajectories designed to test a wide range of performance parameters; (2) CEV-specific trajectories designed to test performance during CEV-like approach and departure profiles; and (3) sensor characterization tests designed for evaluating sensor performance under more extreme conditions as might be induced during a spacecraft failure or during contingency situations. This paper describes the test development, test facility, test preparations, test execution, and test results of the multisensor series oftrajectories
Brewster, Linda L.↗
Efficient placement of structural dynamics sensors on the space station
System identification of the space station dynamic model will require flight data from a finite number of judiciously placed sensors on it. The placement of structural dynamics sensors on the space station is a particularly challenging problem because the station will not be deployed in a single mission. Given that the build-up sequence and the final configuration for the space station are currently undetermined, a procedure for sensor placement was developed using the assembly flights 1 to 7 of the rephased dual keel space station as an example. The procedure presented approaches the problem of placing the sensors from an engineering, as opposed to a mathematical, point of view. In addition to locating a finite number of sensors, the procedure addresses the issues of unobserved structural modes, dominant structural modes, and the trade-offs involved in sensor placement for space station. This procedure for sensor placement will be applied to revised, and potentially more detailed, finite element models of the space station configuration and assembly sequence.
Lepanto, Janet A.↗
Using Fuzzy Clustering for Real-time Space Flight Safety
To ensure space flight safety, it is necessary to monitor myriad sensor readings on the ground and in flight. Since a space shuttle has many sensors, monitoring data and drawing conclusions from information contained within the data in real time is challenging. The nature of the information can be critical to the success of the mission and safety of the crew and therefore, must be processed with minimal data-processing time. Data analysis algorithms could be used to synthesize sensor readings and compare data associated with normal operation with the data obtained that contain fault patterns to draw conclusions. Detecting abnormal operation during early stages in the transition from safe to unsafe operation requires a large amount of historical data that can be categorized into different classes (non-risk, risk). Even though the 40 years of shuttle flight program has accumulated volumes of historical data, these data don t comprehensively represent all possible fault patterns since fault patterns are usually unknown before the fault occurs. This paper presents a method that uses a similarity measure between fuzzy clusters to detect possible faults in real time. A clustering technique based on a fuzzy equivalence relation is used to characterize temporal data. Data collected during an initial time period are separated into clusters. These clusters are characterized by their centroids. Clusters formed during subsequent time periods are either merged with an existing cluster or added to the cluster list. The resulting list of cluster centroids, called a cluster group, characterizes the behavior of a particular set of temporal data. The degree to which new clusters formed in a subsequent time period are similar to the cluster group is characterized by a similarity measure, q. This method is applied to downlink data from Columbia flights. The results show that this technique can detect an unexpected fault that has not been present in the training data set.
Lee, Charles↗
Activities relating to understanding the initiation, organization and structure of moist convection in the Southeast environment
In the spring and summer of 1986, NASA/Marshall Space Flight Center (MSFC) will sponsor the Satellite Precipitation And Cloud Experiment (SPACE) to be conducted in the Central Tennessee, Northern Alabama, and Northeastern Mississippi area. The field program will incorporate high altitude flight experiments associated with meteorological remote sensor development for future space flight, and an investigation of precipitation processes associated with mesoscale and small convective systems. In addition to SPACE, the MIcroburst and Severe Thunderstorm (MIST) program, sponsored by the National Science Foundation (NSF), and the FAA-Lincoln Laboratory Operational Weather Study (FLOWS), sponsored by the Federal Aviation Administration (FAA), will take place concurrently within the SPACE experiment area. All three programs (under the joint acronym COHMEX (COoperative Huntsville Meteorological EXperiment)) will provide a data base for detailed analysis of mesoscale convective systems while providing ground truth comparisons for remote sensor evaluation. The purpose of this document is to outline the experiment design criteria for SPACE, and describe the special observing facilities and data sets that will be available under the COHMEX joint program. In addition to the planning of SPACE-COHMEX, this document covers three other parts of the program. The field program observations' main activity was the operation of an upper air rawinsonde network to provide ground truth for aircraft and spacecraft observations. Another part of the COHMEX program involved using boundary layer mesoscale models to study and simulate the initiation and organization of moist convection due to mesoscale thermal and mechanical circulations. The last part of the program was the collection, archival and distribution of the resulting COHMEX-SPACE data sets.
Mcnider, Richard T.↗
ERTS-1 data collection system: Status and performance
The Data Collection System flown on the first Earth Resources Technology Satellite (ERTS-1) relays earth resources data from remotely located in-situ sensors to Goddard Space Flight Center. Data is received at Goddard at least twice each day from every sensor installation and is distributed to users (who operate the sensors and transmitters) by mail and teletype. The system consists of a data formatting and transmitting unit, called the Data Collection Platform (DCP), a receiver and a retransmitter aboard ERTS-1; and receiving, demodulating and decoding equipment located at the Goldstone, California and Goddard data acquisition stations. Data is transmitted from the data acquisition stations to the ERTS Control Center at Goddard, then to the NASA (ERTS) Data Processing Facility (NDPF) where it is processed and distributed to users. Experience to date indicates that the design of the ERTS-1 Data Collection System is adequate for operational use for 50% of the users and, with minor modifications, could meet the requirements of 75%. Some users will have to augment the system by other data collection techniques to meet their operational requirements.
Painter, J. E.↗
The attitude accuracy consequences of on-orbit calibration of the Extreme Ultraviolet Explorer attitude sensors by the Flight Dynamics Facility at Goddard Space Flight Center
The science mission of the Extreme Ultraviolet Explorer (EUVE) requires attitude solutions with uncertainties of 27, 16.7, 16.7 arcseconds (3 sigma) around the roll, pitch, and yaw axes, respectively. The primary input to the attitude determination process is provided by two NASA standard fixed-head star trackers (FHSTs) and a Teledyne dry rotor inertial reference unit (DRIRU) 2. The attitude determination requirements approach the limits attainable with the FHSTs and DRIRU. The Flight Dynamics Facility (FDF) at Goddard Space Flight Center (GSFC) designed and executed calibration procedures that far exceeded the extent and the data volume of any other FDF-supported mission. The techniques and results of this attempt to obtain attitude accuracies at the limit of sensor capability and the results of analysis of the factors that limit the attitude accuracy are the primary subjects of this paper. The success of the calibration effort is judged by the resulting measurement residuals and comparisons between ground- and onboard-determined attitudes. The FHST star position residuals have been reduced to less tha 4 arcsec per axis -- a value that appears to be limited by the sensor capabilities. The FDF ground system uses a batch least-squares estimator to determine attitude. The EUVE onboard computer (OBC) uses an extended Kalman filter. Currently, there are systematic differences between the two attitude solutions that occasionally exceed the mission requirements for 3 sigma attitude uncertainty. Attempts to understand and reduce these differences are continuing.
Hashmall, J.↗
A zone-level occupancy counting system for commercial office spaces using low-resolution time-of-flight sensors
Understanding the locations of occupants in a commercial built environment is critical for realizing energy savings by delivering lighting, heating, and cooling only where it is needed. In this paper, we present an indoor occupancy counting system using a sparse array of inexpensive, low-resolution, and privacy-preserving time-of-flight sensors. We develop and validate an algorithm for zonal occupancy counting that can deal with multiple people walking underneath the sensors in arbitrary directions, and evaluate the system both in realistic simulations of office spaces and in a real-world installation. Finally, we found that our system has an error rate of around 0.4%, resulting in highly accurate person localization and zone counting using only a few sensors per space.
32 ENERGY CONSERVATION, CONSUMPTION, AND UTILIZATI↗
The in-flight calibration of the Hubble Space Telescope fine guidance sensors, 2 (a success story)
The Hubble Space Telescope's fine guidance sensors (FGS's) are unique in the performance levels being attempted; spacecraft control and astrometric research with accuracies better than 3 milli-arcseconds (mas) are the ultimate goals. This paper presents a review of the in-flight calibration of the sensors, describing both the algorithms used and the results achieved to date. The work was done primarily in support of engineering operations related to spacecraft pointing and control and secondarily in support of the astrometric science calibration effort led by the Space Telescope Astrometry Team. Calibration items of principal interest are distortion, sensor magnification, and relative alignment. An initial in-flight calibration of the FGS's was performed in December 1990; this calibration has been used operationally over the past few years. Followup work demonstrated that significant, unexpected temporal variations in the calibration parameters are occurring; provided good characterization of the variation; and set the stage for a distortion calibration designed to achieve the full design accuracy for one of the FGS's. This full distortion calibration, using data acquired in January 1993, resulted in a solution having single-axis residuals with a standard deviation of 2.5 mas. Scale and alignment calibration results for all of the FGS's have been achieved commensurate with the best ground-based astrometric catalogs (root-mean-square error approximately 25 mas). A calibration monitoring program has been established to allow regular updates of the calibration parameters as needed.
Welter, Gary L.↗
In-flight measurement of the National Oceanic and Atmospheric Administration (NOAA)-10 static Earth sensor error
Analysis performed in the Goddard Space Flight Center (GSFC) Flight Dynamics Division (FDD) measures error in the static Earth sensor onboard the National Oceanic and Atmospheric Administration (NOAA)-10 spacecraft using flight data. Errors are computed as the difference between Earth sensor pitch and roll angle telemetry and reference pitch and roll attitude histories propagated by gyros. The flight data error determination illustrates the effect on horizon sensing of systemic variation in the Earth infrared (IR) horizon radiance with latitude and season, as well as the effect of anomalies in the global IR radiance. Results of the analysis provide a comparison between static Earth sensor flight performance and that of scanning Earth sensors studied previously in the GSFC/FDD. The results also provide a baseline for evaluating various models of the static Earth sensor. Representative days from the NOAA-10 mission indicate the extent of uniformity and consistency over time of the global IR horizon. A unique aspect of the NOAA-10 analysis is the correlation of flight data errors with independent radiometric measurements of stratospheric temperature. The determination of the NOAA-10 static Earth sensor error contributes to realistic performance expectations for missions to be equipped with similar sensors.
Harvie, E.↗
Early Warning Signs
Developed under an SBIR contract with Goddard Space Flight Center, Jentek Sensors, Inc.'s GridStation Measurement System provides thermal spray coating thickness, porosity, and age degradation monitoring capability using comformable inductive and capacitative sensors and model-based grid measurement methods for data interpretation.
Source record↗
The 2011 Eco3D Flight Campaign: Vegetation Structure and Biomass Estimation from Simultaneous SAR, Lidar and Radiometer Measurements
The Eco3D campaign was conducted in the Summer of 2011. As part of the campaign three unique and innovative NASA Goddard Space Flight Center airborne sensors were flown simultaneously: The Digital Beamforming Synthetic Aperture Radar (DBSAR), the Slope Imaging Multi-polarization Photon-counting Lidar (SIMPL) and the Cloud Absorption Radiometer (CAR). The campaign covered sites from Quebec to Southern Florida and thereby acquired data over forests ranging from Boreal to tropical wetlands. This paper describes the instruments and sites covered and presents the first images resulting from the campaign.
Fatoyinbo, Temilola↗
The in-flight calibration of the Hubble Space Telescope fine guidance sensors
The Hubble Space Telescope (HST) fine guidance sensors are unique in the precision and performance levels being attempted; spacecraft control and astrometric research at the near milliarcsecond level are the ultimate goals. The inflight calibration of the sensors is presented, describing both the algorithms being used as well as the results achieved to date. The calibration items of principal interest are optical distortion, sensor magnification, and relative alignments. Calibration accuracies at the 20 milliarcsecond level have been achieved for specific data sets for optical distortion parameters. Unexpected variations occurring from Dec. 1990 - May 1991 in the magnification and alignment parameters are currently under investigation. Plans are being developed for new data acquisitions and reductions that should substantially improve HST pointing performance.
Welter, G. L.↗