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NASA NTRS2004

Radio science receiver support of the Mars Exploration Rover Landings

The low power levels of the communication signals during the Entry Descent and Landing (EDL) sequences of the Mars rovers prevented the transmission of telemetry at X-band signal to inform the mission operations center of the health and progress of the spacecraft. As an altemative, a series of tones were sent to indicate basic spacecraft conditions and execution of critical events. An open-loop receiver designed for Radio Science experiments was used to acquire the signal during this time. The receiver recorded over a 100 Khz bandwidth to identify the presence of the carrier and tones. The data were fed in real-time to a processing unit which detected the carrier and the frequency separation of the tones from the carrier, in order to determine which event has occurred. Up to 256 different tones were possible. During the actual events, all tones were identified, and the carrier was tracked down to the surface, and for the second rover, through the bouncing which followed, and finally, while stopped on the surface, found the carrier and tones which indicated the spacecraft was alive. In order to identify the tones, the ground receivers had to be able to respond to the bevy of events occurring in the relatively short timespan of EDL.

Deep Space Network (DSN)↗

NASA NTRS2003

Real-time spatio-temporal coherence estimation for autonomous mode identification and invariance tracking

A general method of anomaly detection from time-correlated sensor data is disclosed. Multiple time-correlated signals are received. Their cross-signal behavior is compared against a fixed library of invariants. The library is constructed during a training process, which is itself data-driven using the same time-correlated signals. The method is applicable to a broad class of problems and is designed to respond to any departure from normal operation, including faults or events that lie outside the training envelope.

James, Mark L.↗

NASA NTRS2007

Real-Time Data Display

RT-Display is a MATLAB-based data acquisition environment designed to use a variety of commercial off-the-shelf (COTS) hardware to digitize analog signals to a standard data format usable by other post-acquisition data analysis tools. This software presents the acquired data in real time using a variety of signal-processing algorithms. The acquired data is stored in a standard Operator Interactive Signal Processing Software (OISPS) data-formatted file. RT-Display is primarily configured to use the Agilent VXI (or equivalent) data acquisition boards used in such systems as MIDDAS (Multi-channel Integrated Dynamic Data Acquisition System). The software is generalized and deployable in almost any testing environment, without limitations or proprietary configuration for a specific test program or project. With the Agilent hardware configured and in place, users can start the program and, in one step, immediately begin digitizing multiple channels of data. Once the acquisition is completed, data is converted into a common binary format that also can be translated to specific formats used by external analysis software, such as OISPS and PC-Signal (product of AI Signal Research Inc.). RT-Display at the time of this reporting was certified on Agilent hardware capable of acquisition up to 196,608 samples per second. Data signals are presented to the user on-screen simultaneously for 16 channels. Each channel can be viewed individually, with a maximum capability of 160 signal channels (depending on hardware configuration). Current signal presentations include: time data, fast Fourier transforms (FFT), and power spectral density plots (PSD). Additional processing algorithms can be easily incorporated into this environment.

Pedings, Marc↗

NASA NTRS2006

High-Performance Scanning Acousto-Ultrasonic System

A high-performance scanning acousto-ultrasonic system, now undergoing development, is designed to afford enhanced capabilities for imaging microstructural features, including flaws, inside plate specimens of materials. The system is expected to be especially helpful in analyzing defects that contribute to failures in polymer- and ceramic-matrix composite materials, which are difficult to characterize by conventional scanning ultrasonic techniques and other conventional nondestructive testing techniques. Selected aspects of the acousto-ultrasonic method have been described in several NASA Tech Briefs articles in recent years. Summarizing briefly: The acousto-ultrasonic method involves the use of an apparatus like the one depicted in the figure (or an apparatus of similar functionality). Pulses are excited at one location on a surface of a plate specimen by use of a broadband transmitting ultrasonic transducer. The stress waves associated with these pulses propagate along the specimen to a receiving transducer at a different location on the same surface. Along the way, the stress waves interact with the microstructure and flaws present between the transducers. The received signal is analyzed to evaluate the microstructure and flaws. The specific variant of the acousto-ultrasonic method implemented in the present developmental system goes beyond the basic principle described above to include the following major additional features: Computer-controlled motorized translation stages are used to automatically position the transducers at specified locations. Scanning is performed in the sense that the measurement, data-acquisition, and data-analysis processes are repeated at different specified transducer locations in an array that spans the specimen surface (or a specified portion of the surface). A pneumatic actuator with a load cell is used to apply a controlled contact force. In analyzing the measurement data for each pair of transducer locations in the scan, the total (multimode) acousto-ultrasonic response of the specimen is utilized. The analysis is performed by custom software that extracts parameters of signals in the time and frequency domains. The computer hardware and software provide both real-time and postscan processing and display options. For example, oscilloscope displays of waveforms and power spectral densities are available in real time. Images can be computed while scanning continues. Signals can be digitally preprocessed and/or post-processed by filtering, windowing, time-segmenting, and running-waveform-averaging algorithms. In addition, the software affords options for off-line simulation of the waveform-data-acquisition and scanning processes. In tests, the system has been shown to be capable of characterizing microstructural changes and defects in SiC/SiC and C/SiC ceramic-matrix composites. Delaminations, variations in density, microstructural changes attributable to infiltration by silicon, and crack-space indications (defined in the next sentence) have been revealed in images formed from several time- and frequency-domain parameters of scanning acousto-ultrasonic signals. The crack-space indications were image features that were not revealed by other nondestructive testing methods and are so named because they turned out to mark locations where cracking eventually occurred.

Roth, Don↗

NASA NTRS2010

In-Line Capacitance Sensor for Real-Time Water Absorption Measurements

A capacitance/dielectric sensor was designed, constructed, and used to measure in real time the in-situ water concentration in a desiccant water bed. Measurements were carried out with two experimental setups: (1) passing nitrogen through a humidity generator and allowing the gas stream to become saturated at a measured temperature and pressure, and (2) injecting water via a syringe pump into a nitrogen stream. Both water vapor generating devices were attached to a downstream vertically-mounted water capture bed filled with 19.5 g of Moisture Gone desiccant. The sensor consisted of two electrodes: (1) a 1/8" dia stainless steel rod placed in the middle of the bed and (2) the outer shell of the stainless steel bed concentric with the rod. All phases of the water capture process (background, heating, absorption, desorption, and cooling) were monitored with capacitance. The measured capacitance was found to vary linearly with the water content in the bed at frequencies above 100 kHz indicating dipolar motion dominated the signal; below this frequency, ionic motion caused nonlinearities in the water concentration/capacitance relationship. The desiccant exhibited a dielectric relaxation whose activation energy was lowered upon addition of water indicating either a less hindered rotational motion or crystal reorientation.

Nurge, Mark A.↗

NASA NTRS2006

Embedded Sensors for Measuring Surface Regression

The development and evaluation of new hybrid and solid rocket motors requires accurate characterization of the propellant surface regression as a function of key operational parameters. These characteristics establish the propellant flow rate and are prime design drivers affecting the propulsion system geometry, size, and overall performance. There is a similar need for the development of advanced ablative materials, and the use of conventional ablatives exposed to new operational environments. The Miniature Surface Regression Sensor (MSRS) was developed to serve these applications. It is designed to be cast or embedded in the material of interest and regresses along with it. During this process, the resistance of the sensor is related to its instantaneous length, allowing the real-time thickness of the host material to be established. The time derivative of this data reveals the instantaneous surface regression rate. The MSRS could also be adapted to perform similar measurements for a variety of other host materials when it is desired to monitor thicknesses and/or regression rate for purposes of safety, operational control, or research. For example, the sensor could be used to monitor the thicknesses of brake linings or racecar tires and indicate when they need to be replaced. At the time of this reporting, over 200 of these sensors have been installed into a variety of host materials. An MSRS can be made in either of two configurations, denoted ladder and continuous (see Figure 1). A ladder MSRS includes two highly electrically conductive legs, across which narrow strips of electrically resistive material are placed at small increments of length. These strips resemble the rungs of a ladder and are electrically equivalent to many tiny resistors connected in parallel. A substrate material provides structural support for the legs and rungs. The instantaneous sensor resistance is read by an external signal conditioner via wires attached to the conductive legs on the non-eroding end of the sensor. The sensor signal can be transmitted from inside a high-pressure chamber to the ambient environment, using commercially available feedthrough connectors. Miniaturized internal recorders or wireless data transmission could also potentially be employed to eliminate the need for producing penetrations in the chamber case. The rungs are designed so that as each successive rung is eroded away, the resistance changes by an amount that yields a readily measurable signal larger than the background noise. (In addition, signal-conditioning techniques are used in processing the resistance readings to mitigate the effect of noise.) Hence, each discrete change of resistance serves to indicate the arrival of the regressing host material front at the known depth of the affected resistor rung. The average rate of regression between two adjacent resistors can be calculated simply as the distance between the resistors divided by the time interval between their resistance jumps. Advanced data reduction techniques have also been developed to establish the instantaneous surface position and regression rate when the regressing front is between rungs.

Gramer, Daniel J.↗

NASA NTRS2006

Vehicle Transponder for Preemption of Traffic Lights

The purpose of this article is to describe, in more detail, the transponder installed in each vehicle that participates in the emergency traffic-light-preemption system described in the immediately preceding article. The transponder (see figure) is a fully autonomous data--collection, data-processing, information-display, and communication subsystem that performs robustly in preemption of traffic lights and monitoring of the statuses of street intersections. This transponder monitors the condition of the emergency vehicle in which it is installed and determines when the vehicle has been placed in an emergency-response condition with its siren and/or warning lights activated. Upon detection of such a condition, the transponder collects real-time velocity and acceleration data from the onboard diagnostic (OBD) computer of the vehicle. For this purpose, the transponder contains an OBD interface circuit, including a microprocessor that determines the manufacturer and model of the vehicle and then sends the appropriate commands to the OBD computer requesting the speed and acceleration data. At the same time, data from an onboard navigation system are collected to determine the location and the heading of the vehicle. Then acceleration, speed, position, and heading data are processed and combined with a vehicle-identification number and the resulting set of data is transmitted to monitoring and control units located at all intersections within communication range. When the unit at an intersection determines that this vehicle is approaching and has priority to preempt the intersection, it transmits a signal declaring the priority and the preemption to all participating vehicles (including this one) in the vicinity. If the unit at the intersection has determined that other participating vehicles are also approaching the intersection, then this unit also transmits, to the vehicle that has priority, a message that the other vehicles are approaching the same intersection. The texts of these messages, plus graphical symbols that show the directions and numbers of the approaching vehicles, are presented on the display panel of a computer that is part of the transponder.

Foster, Conrad↗

NASA NTRS2005

Apparatus Characterizes Transient Voltages in Real Time

The figure shows a prototype of a relatively inexpensive electronic monitoring apparatus that measures and records selected parameters of lightning-induced transient voltages on communication and power cables. The selected parameters, listed below, are those most relevant to the ability of lightning-induced transients to damage electronic equipment. This apparatus bridges a gap between some traditional transient-voltage recorders that record complete waveforms and other traditional transient-voltage recorders that record only peak values: By recording the most relevant parameters and only those parameters this apparatus yields more useful information than does a traditional peak-value (only) recorder while imposing much smaller data-storage and data-transmission burdens than does a traditional complete-waveform recorder. Also, relative to a complete-waveform recorder, this apparatus is more reliable and can be built at lower cost because it contains fewer electronic components. The transients generated by sources other than lightning tend to have frequency components well below 1 MHz. Most commercial transient recorders can detect and record such transients, but cannot respond rapidly enough for recording lightning-induced transient voltage peaks, which can rise from 10 to 90 percent of maximum amplitude in a fraction of a microsecond. Moreover, commercial transient recorders cannot rearm themselves rapidly enough to respond to the multiple transients that occur within milliseconds of each other on some lightning strikes. One transient recorder, designed for Kennedy Space Center earlier [ Fast Transient-Voltage Recorder (KSC- 11991), NASA Tech Briefs, Vol. 23, No. 10, page 6a (October 1999)], is capable of sampling transient voltages at peak values up to 50 V in four channels at a rate of 20 MHz. That recorder contains a trigger circuit that continuously compares the amplitudes of the signals on four channels to a preset triggering threshold. When a trigger signal is received, a volatile memory is filled with data for a total time of 200 ms. After the data are transferred to nonvolatile memory, the recorder rearms itself within 400 ms to enable recording of subsequent transients. Unfortunately, the recorded data must be retrieved through a serial communication link. Depending on the amount of data recorded, the memory can be filled before retrieval is completed. Although large amounts of data are recorded and retrieved, only a small part of the information (the selected parameters) is usually required. The present transient-voltage recorder provides the required information, without incurring the overhead associated with the recording, storage, and retrieval of complete transient-waveform data. In operation, this apparatus processes transient voltage waveforms in real time to extract and record the selected parameters. An analog-to-digital converter that operates at a speed of as much as 100 mega-samples per second is used to sample a transient waveform. A real-time comparator and peak detector are implemented by use of fast field-programmable gate arrays.

Medelius, Pedro↗

NASA NTRS2004

Event-Driven Random-Access-Windowing CCD Imaging System

A charge-coupled-device (CCD) based high-speed imaging system, called a realtime, event-driven (RARE) camera, is undergoing development. This camera is capable of readout from multiple subwindows [also known as regions of interest (ROIs)] within the CCD field of view. Both the sizes and the locations of the ROIs can be controlled in real time and can be changed at the camera frame rate. The predecessor of this camera was described in High-Frame-Rate CCD Camera Having Subwindow Capability (NPO- 30564) NASA Tech Briefs, Vol. 26, No. 12 (December 2002), page 26. The architecture of the prior camera requires tight coupling between camera control logic and an external host computer that provides commands for camera operation and processes pixels from the camera. This tight coupling limits the attainable frame rate and functionality of the camera. The design of the present camera loosens this coupling to increase the achievable frame rate and functionality. From a host computer perspective, the readout operation in the prior camera was defined on a per-line basis; in this camera, it is defined on a per-ROI basis. In addition, the camera includes internal timing circuitry. This combination of features enables real-time, event-driven operation for adaptive control of the camera. Hence, this camera is well suited for applications requiring autonomous control of multiple ROIs to track multiple targets moving throughout the CCD field of view. Additionally, by eliminating the need for control intervention by the host computer during the pixel readout, the present design reduces ROI-readout times to attain higher frame rates. This camera (see figure) includes an imager card consisting of a commercial CCD imager and two signal-processor chips. The imager card converts transistor/ transistor-logic (TTL)-level signals from a field programmable gate array (FPGA) controller card. These signals are transmitted to the imager card via a low-voltage differential signaling (LVDS) cable assembly. The FPGA controller card is connected to the host computer via a standard peripheral component interface (PCI).

Monacos, Steve↗

NASA NTRS2012

Method of detecting system function by measuring frequency response

Real-time battery impedance spectrum is acquired using a one-time record. Fast Summation Transformation (FST) is a parallel method of acquiring a real-time battery impedance spectrum using a one-time record that enables battery diagnostics. An excitation current to a battery is a sum of equal amplitude sine waves of frequencies that are octave harmonics spread over a range of interest. A sample frequency is also octave and harmonically related to all frequencies in the sum. The time profile of this signal has a duration that is a few periods of the lowest frequency. The voltage response of the battery, average deleted, is the impedance of the battery in the time domain. Since the excitation frequencies are known and octave and harmonically related, a simple algorithm, FST, processes the time record by rectifying relative to the sine and cosine of each frequency. Another algorithm yields real and imaginary components for each frequency.

Morrison, John L.↗

NASA NTRS2012

Beat-to-Beat Blood Pressure Monitor

This device provides non-invasive beat-to-beat blood pressure measurements and can be worn over the upper arm for prolonged durations. Phase and waveform analyses are performed on filtered proximal and distal photoplethysmographic (PPG) waveforms obtained from the brachial artery. The phase analysis is used primarily for the computation of the mean arterial pressure, while the waveform analysis is used primarily to obtain the pulse pressure. Real-time compliance estimate is used to refine both the mean arterial and pulse pressures to provide the beat-to-beat blood pressure measurement. This wearable physiological monitor can be used to continuously observe the beat-to-beat blood pressure (B3P). It can be used to monitor the effect of prolonged exposures to reduced gravitational environments and the effectiveness of various countermeasures. A number of researchers have used pulse wave velocity (PWV) of blood in the arteries to infer the beat-to-beat blood pressure. There has been documentation of relative success, but a device that is able to provide the required accuracy and repeatability has not yet been developed. It has been demonstrated that an accurate and repeatable blood pressure measurement can be obtained by measuring the phase change (e.g., phase velocity), amplitude change, and distortion of the PPG waveforms along the brachial artery. The approach is based on comparing the full PPG waveform between two points along the artery rather than measuring the time-of-flight. Minimizing the measurement separation and confining the measurement area to a single, well-defined artery allows the waveform to retain the general shape between the two measurement points. This allows signal processing of waveforms to determine the phase and amplitude changes. Photoplethysmography, which measures changes in arterial blood volume, is commonly used to obtain heart rate and blood oxygen saturation. The digitized PPG signals are used as inputs into the beat-to-beat blood pressure measurement algorithm.

Lee, Yong Jin↗

NASA NTRS2012

Beat-to-Beat Blood Pressure Monitor

Lee, Yong Jin↗

NASA NTRS2013

RUSHMAPS: Real-Time Uploadable Spherical Harmonic Moment Analysis for Particle Spectrometers

RUSHMAPS is a new onboard data reduction scheme that gives real-time access to key science parameters (e.g. moments) of a class of heliophysics science and/or solar system exploration investigation that includes plasma particle spectrometers (PPS), but requires moments reporting (density, bulk-velocity, temperature, pressure, etc.) of higher-level quality, and tolerates a lowpass (variable quality) spectral representation of the corresponding particle velocity distributions, such that telemetry use is minimized. The proposed methodology trades access to the full-resolution velocity distribution data, saving on telemetry, for real-time access to both the moments and an adjustable-quality (increasing quality increases volume) spectral representation of distribution functions. Traditional onboard data storage and downlink bandwidth constraints severely limit PPS system functionality and drive cost, which, as a consequence, drives a limited data collection and lower angular energy and time resolution. This prototypical system exploit, using high-performance processing technology at GSFC (Goddard Space Flight Center), uses a SpaceCube and/or Maestro-type platform for processing. These processing platforms are currently being used on the International Space Station as a technology demonstration, and work is currently ongoing in a new onboard computation system for the Earth Science missions, but they have never been implemented in heliospheric science or solar system exploration missions. Preliminary analysis confirms that the targeted processor platforms possess the processing resources required for realtime application of these algorithms to the spectrometer data. SpaceCube platforms demonstrate that the target architecture possesses the sort of compact, low-mass/power, radiation-tolerant characteristics needed for flight. These high-performing hybrid systems embed unprecedented amounts of onboard processing power in the CPU (central processing unit), FPGAs (field programmable gate arrays), and DSP (digital signal processing) elements. The fundamental computational algorithm de constructs 3D velocity distributions in terms of spherical harmonic spectral coefficients (which are analogous to a Fourier sine-cosine decomposition), but uses instead spherical harmonics Legendre polynomial orthogonal functions as a basis for the expansion, portraying each 2D angular distribution at every energy or, geometrically, spherical speed-shell swept by the particle spectrometer. Optionally, these spherical harmonic spectral coefficients may be telemetered to the ground. These will provide a smoothed description of the velocity distribution function whose quality will depend on the number of coefficients determined. Successfully implemented on the GSFC-developed processor, the capability to integrate the proposed methodology with both heritage and anticipated future plasma particle spectrometer designs is demonstrated (with sufficiently detailed design analysis to advance TRL) to show specific science relevancy with future HSD (Heliophysics Science Division) solar-interplanetary, planetary missions, sounding rockets and/or CubeSat missions.

Figueroa-Vinas, Adolfo↗

NASA NTRS2015

Fault-Tolerant Software-Defined Radio on Manycore

Software-defined radio (SDR) platforms generally rely on field-programmable gate arrays (FPGAs) and digital signal processors (DSPs), but such architectures require significant software development. In addition, application demands for radiation mitigation and fault tolerance exacerbate programming challenges. MaXentric Technologies, LLC, has developed a manycore-based SDR technology that provides 100 times the throughput of conventional radiationhardened general purpose processors. Manycore systems (30-100 cores and beyond) have the potential to provide high processing performance at error rates that are equivalent to current space-deployed uniprocessor systems. MaXentric's innovation is a highly flexible radio, providing over-the-air reconfiguration; adaptability; and uninterrupted, real-time, multimode operation. The technology is also compliant with NASA's Space Telecommunications Radio System (STRS) architecture. In addition to its many uses within NASA communications, the SDR can also serve as a highly programmable research-stage prototyping device for new waveforms and other communications technologies. It can also support noncommunication codes on its multicore processor, collocated with the communications workload-reducing the size, weight, and power of the overall system by aggregating processing jobs to a single board computer.

Ricketts, Scott↗

NASA NTRS2016

Mapping of Spacecraft Atmosphere Monitor Signal to Major Constituent Abundances

The Spacecraft Atmosphere Monitor (S.A.M.) follows the JPL’s commitment to introduce and develop next-generation instrumentation concepts for sensing the air quality on manned space flights via continuous sampling, measuring, and reporting in 2s intervals on all gaseous pollutants. The S.A.M. will have two modes of operation: the Major Constituent Analysis (MCA) mode and the Trace Gas Analysis (TGA) mode. The MCA mode will report on molecular analytes such as CH4, H2O, N2, O2, Ar, and CO2 while the TGA mode will acquire minute amounts of volatile organic compounds. Both modes assess the composition of the ambient air with twenty full mass spectra per second giving rise to a substantial amount of data to be processed by a set of small footprint software stacks hosted by an on-board computer. Mass spectra will be accumulated as the number of counts recorded in a given mass-to-charge channel and converted into the absolute abundances of detected species using an efficient algorithm. The decomposition algorithm contains four units: peak identification, mass calibration, background and dead time correction, and an abundance analysis unit. The abundance analysis module identifies target species through their characteristic fragmentation patterns in the presence of molecular isobars, such as CO and N2. For example, in order to identify N2 analyte, the code will simultaneously monitor abundance ratios of the 14, 28 and 29 Th signals and will adapt to any instability caused by a decrease in ambient pressure or changes in humidity. This requirement becomes critical for instruments designed to monitor the near real-time quality of cabin air and promptly provide accurate feedbacks.

Nikolic, D.↗

NASA NTRS2022

A Multi-sensor Evaluation of Precipitation Uncertainty for Landslide-triggering Storm Events

Extreme precipitation can have profound consequences for communities, resulting in natural hazards such as rainfall-triggered landslides that cause casualties and extensive property damage. A key challenge to understanding and predicting rainfall triggered landslides comes from observational uncertainties in the depth and intensity of precipitation preceding the event. Practitioners and researchers must select among a wide range of precipitation products, often with little guidance. Here we evaluate the degree of precipitation uncertainty across multiple precipitation products for a large set of landslide triggering storm events and investigate the impact of these uncertainties on predicted landslide probability using published intensity-duration thresholds. The average intensity, peak intensity, duration, and NOAA-Atlas return periods are compared ahead of reported landslides across the continental US and Canada. Precipitation data are taken from four products that cover disparate measurement methods: near real-time and post-processed satellite (IMERG), radar (MRMS), and gauge-based (NLDAS-2). Landslide-triggering precipitation was found to vary widely across precipitation products with the depth of individual storm events diverging by as much as 296mm with an average range of 51mm. Peak intensity measurements, which are typically influential in triggering landslides, were also highly variable with an average range of 7.8262745mm/hr and as much as 57mm/hr. The two products more reliant upon ground-based observations (MRMS and NLDAS-2) performed better at identifying landslides according to published intensity duration storm thresholds, but all products exhibited hit-ratios of greater than 0.56. A greater proportion of landslides were predicted when including only manually-verified landslide locations. We recommend practitioners consider low-latency products like MRMS for investigating landslides, given their near-real time data availability and good performance in detecting landslides. Practitioners would be well-served considering more than one product as a way to confirm intense storm signals and minimize the influence of noise and false alarms.

Precipitation inter-comparison↗

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 NTRSDate not supplied

Science Objectives and Investigations for the Lunar GNSS Receiver Experiment (LuGRE)

In July 2020, NASA selected the Lunar GNSS Receiver Experiment (LuGRE) as the 10th payload of CLPS Task Order 19D. Firefly's Blue Ghost lander will deliver LuGRE and the other CLPS 19D payloads to the Moon's Mare Crisium. Developed jointly by NASA and the Italian Space Agency (ASI), LuGRE is intended to be the first demonstration of GNSS-based navigation beyond an altitude of 30 RE and the first to use GNSS on the lunar surface, expanding the proven reach of usable GNSS signals. Subsequent missions will be able to leverage LuGRE data and lessons learned to operationalize GNSS in the lunar regime, adding an existing, proven, real-time navigation source for spacecraft exploring the Moon. The primary goal of the LuGRE project is to extend GNSS-based navigation and timing to the Moon. LuGRE will fulfill this goal by gathering and processing GNSS data across several mission phases. The LuGRE Science Definition Team (SDT) was formed for the purpose of proposing science and technology investigations to be executed by the LuGRE project. A primary outcome of the work of the LuGRE SDT is a set of specific, high-value, achievable investigations to be performed as part of the science program. This paper provides a detailed description of the LuGRE science investigations and will present preliminary analyses that show how these investigations will be used to support the realization of lunar GNSS use in the future.

Lauren Konitzer↗