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NASA NTRS2006

Performance of Solar Electric Powered Deep Space Missions Using Hall Thruster Propulsion

Power limited, low-thrust trajectories were assessed for missions to Jupiter, Saturn, and Neptune utilizing a single Venus Gravity Assist (VGA) and a primary propulsion system based on either a 3-kW high voltage Hall thruster, of the type being developed by the NASA In-Space Propulsion Technology Program, or an 8-kW variant of this thruster. These Hall thrusters operate with specific impulses below 3,000 seconds. A trade study was conducted to examine mission parameters that include: net delivered mass (NDM), beginning-of-life (BOL) solar array power, heliocentric transfer time, required launch vehicle, number of operating thrusters, and throttle profile. The top performing spacecraft configuration was defined to be the one that delivered the highest mass for a range of transfer times. In order to evaluate the potential future benefit of using next generation Hall thrusters as the primary propulsion system, comparisons were made with the advanced state-of-the-art (ASOA), 7-kW, 4,100 second NASA's Evolutionary Xenon Thruster (NEXT) for the same mission scenarios. For the BOL array powers considered in this study (less than 30 kW), the results show that the performance of the Hall thrusters, relative to NEXT, is largely dependant on the performance capability of the launch vehicle, and that at least a 10 percent performance gain, equating to at least an additional 200 kg dry mass at each target planet, is achieved over the higher specific impulse NEXT when launched on an Atlas 551.

Witzberger, Kevin E.↗

NASA NTRS2016

Stereo Vision-Based Obstacle Avoidance for Micro Air Vehicles Using an Egocylindrical Image Space Represntation

Micro air vehicles which operate autonomously at low altitude in cluttered environments require a method for on-board obstacle avoidance for safe operation. Prior approaches can be divided between purely reactive approaches, mapping low-level visual features directly to headings to maneuver the vehicle around the obstacle, and deliberative methods that use on-board 3-D sensors to create a 3-D, voxel-based world model, which is then used to generate collision free 3-D trajectories. In this paper, we use forward-looking stereo vision with a large horizontal and vertical field of view and project range from stereo into a novel robot-centered, cylindrical, inverse range map we call an egocylinder. With this implementation we reduce the complexity of our world representation from a 3D map to a 2.5D image space representation, which supports very efficient motion planning and collision-checking. Configuration space expansion is done very efficiently on the egocylinder as an image processing function. Deploying a fast reactive motion planner directly on the configuration space expanded egocylinder image, we demonstrate the effectiveness of this new approach experimentally in an indoor environment.

Micro air vehicles↗

NASA NTRS1995

Accurate orbit determination strategies for the tracking and data relay satellites

The National Aeronautics and Space Administration (NASA) has developed the Tracking and Data Relay Satellite (TDRS) System (TDRSS) for tracking and communications support of low Earth-orbiting satellites. TDRSS has the operational capability of providing 85% coverage for TDRSS-user spacecraft. TDRSS currently consists of five geosynchronous spacecraft and the White Sands Complex (WSC) at White Sands, New Mexico. The Bilateration Ranging Transponder System (BRTS) provides range and Doppler measurements for each TDRS. The ground-based BRTS transponders are tracked as if they were TDRSS-user spacecraft. Since the positions of the BRTS transponders are known, their radiometric tracking measurements can be used to provide a well-determined ephemeris for the TDRS spacecraft. For high-accuracy orbit determination of a TDRSS user, such as the Ocean Topography Experiment (TOPEX)/Poseidon spacecraft, high-accuracy TDRS orbits are required. This paper reports on successive refinements in improved techniques and procedures leading to more accurate TDRS orbit determination strategies using the Goddard Trajectory Determination System (GTDS). These strategies range from the standard operational solution using only the BRTS tracking measurements to a sophisticated iterative process involving several successive simultaneous solutions for multiple TDRSs and a TDRSS-user spacecraft. Results are presented for GTDS-generated TDRS ephemerides produced in simultaneous solutions with the TOPEX/Poseidon spacecraft. Strategies with different user spacecraft, as well as schemes for recovering accurate TDRS orbits following a TDRS maneuver, are also presented. In addition, a comprehensive assessment and evaluation of alternative strategies for TDRS orbit determination, excluding BRTS tracking measurements, are presented.

Oza, D. H.↗

NASA NTRS1985

A preliminary study of the basic display/guidance requirements for flying near optimal trajectories

NASA has responded to the increased emphases on cost-efficient operation of today's airline fleet with an ongoing research program to investigate the requirements and benefits of using new airborne guidance and pilot procedures designed to yield cost-optimal flight profiles that are compatible with advanced air traffic control system concepts. A trajectory optimization algorithm has been incorporated into one of NASA Langley's fixed-based simulators to investigate the pilot/cockpit interface requirements. The trajectories that are generated by this algorithm differ from conventional profiles in that they are constantly varying in both flight path angle and airspeed. Considering the dynamic nature of these profiles, conventional guidance may be insufficient for practical use. This paper summarizes the results of an initial set of piloted simulation tests to investigate the basic guidance requirements for flying the near-optimal trajectories.

Vicroy, D. D.↗

NASA NTRS1991

Comparison of ERBS orbit determination accuracy using batch least-squares and sequential methods

The Flight Dynamics Div. (FDD) at NASA-Goddard commissioned a study to develop the Real Time Orbit Determination/Enhanced (RTOD/E) system as a prototype system for sequential orbit determination of spacecraft on a DOS based personal computer (PC). An overview is presented of RTOD/E capabilities and the results are presented of a study to compare the orbit determination accuracy for a Tracking and Data Relay Satellite System (TDRSS) user spacecraft obtained using RTOS/E on a PC with the accuracy of an established batch least squares system, the Goddard Trajectory Determination System (GTDS), operating on a mainframe computer. RTOD/E was used to perform sequential orbit determination for the Earth Radiation Budget Satellite (ERBS), and the Goddard Trajectory Determination System (GTDS) was used to perform the batch least squares orbit determination. The estimated ERBS ephemerides were obtained for the Aug. 16 to 22, 1989, timeframe, during which intensive TDRSS tracking data for ERBS were available. Independent assessments were made to examine the consistencies of results obtained by the batch and sequential methods. Comparisons were made between the forward filtered RTOD/E orbit solutions and definitive GTDS orbit solutions for ERBS; the solution differences were less than 40 meters after the filter had reached steady state.

Oza, D. H.↗

NASA NTRS2016

Using Natural Language to Enable Mission Managers to Control Multiple Heterogeneous UAVs

The availability of highly capable, yet relatively cheap, unmanned aerial vehicles (UAVs) is opening up new areas of use for hobbyists and for commercial activities. This research is developing methods beyond classical control-stick pilot inputs, to allow operators to manage complex missions without in-depth vehicle expertise. These missions may entail several heterogeneous UAVs flying coordinated patterns or flying multiple trajectories deconflicted in time or space to predefined locations. This paper describes the functionality and preliminary usability measures of an interface that allows an operator to define a mission using speech inputs. With a defined and simple vocabulary, operators can input the vast majority of mission parameters using simple, intuitive voice commands. Although the operator interface is simple, it is based upon autonomous algorithms that allow the mission to proceed with minimal input from the operator. This paper also describes these underlying algorithms that allow an operator to manage several UAVs.

Trujillo, Anna C.↗

NASA NTRSDate not supplied

Design and Optimization of Steering Laws for Geocentric Solar Sailing

Solar sail technology has the potential to be a practical method of propulsion for future deep space Cubesats and small satellites. Although in general, deep space, heliocentric flight is the optimal regime for solar sailing, many near-term solar sail flight demonstrations have, or will occur in Earth-centered orbits. This is particularly true for low-cost, smallsat-based solar sail technology demonstration flights, such as the Planetary Society LightSail 1 and 2, and the upcoming NASA Advanced Composite Solar Sail System (ACS3). ACS3 will be the first spaceflight application of NASA’s newest smallsat deployable composite boom technology, and NASA’s first practical solar sail. Launch of ACS3 is currently anticipated for late 2021 or early 2022. In this paper, we will describe the challenges of operating solar sailing spacecraft in low Earth orbits, where, depending on initial orbital altitude and inclination, disturbances due to aerodynamic drag, eclipsing can be of the same order or greater than forces caused by solar radiation pressure. A notional smallsat-class solar sailing vehicle based on the ACS3 solar sail will be used as a reference for trajectory design and optimization studies. As a starting point we will assume initially circular orbits, and a locally optimal steering law designed to maximize the rate of change in semi major axis, similar to that described by McInnes. This will be generalized to orbits with arbitrary initial inclinations and non-zero eccentricities, and to account for atmospheric drag and eclipsing effects. Optimal steering laws for maximizing rate-of-change in orbit inclination and eccentricity will also be explored. Finally, we will examine potential for Earth-centered solar sailing mission applications beyond technology demonstrations, including: continuous observations from inside the Earth’s magnetotail; augmented geostationary capabilities from displaced geostationary orbits; and continuous polar observation for climate science investigations from pole-sitter orbits.

W. Keats Wilkie↗

NASA NTRS1996

A Task-Analytic Approach to the Determination of Training Requirements for the Precision Descent

A task-analytic approach was used to evaluate the results from an experiment comparing two training methods for the "Precision Descent," a cockpit procedure designed to complement a new, computer-based air traffic control advisory system by allowing air traffic controllers to assign precise descent trajectories to aircraft. A task model was developed for the procedure using a methodology that represents four different categories of task-related knowledge: (1) ability to determine current flight goals; (2) ability to assess the current flight situation relative to those goals; (3) operational knowledge about flight-related tasks; and (4) knowledge about task selection. This model showed what knowledge experienced pilots already possessed, and how that knowledge was supplemented by training material provided in the two training conditions. All flight crews were given a "Precision Descent Chart" that explained the procedure's clearances and compliance requirements. This information enabled pilots to establish appropriate flight goals for the descent, and to monitor their compliance with those goals. In addition to this chart, half of the crews received a "Precision Descent Bulletin" containing technique recommendations for performing procedure-related tasks. The Bulletin's recommendations supported pilots in task selection and helped clarify the procedure's compliance requirements. Eight type-rated flight crews flew eight Precision Descents in a Boeing 747-400 simulator, with four crews in each of the two training conditions. Both conditions (Chart and Chart-with-Bulletin) relied exclusively on the use of those documents to introduce the procedure. No performance feedback was provided during the experiment. Preliminary result show better procedure compliance and higher acceptability ratings from flight crews in the Chart-with-Bulletin condition. These crews performed flight-related tasks less efficiently, however, using the simpler but less efficient methods suggested in the Bulletin. When a more efficient method was recognized, these crews tended to use the more efficient method in addition to the Bulletin's recommendation, instead of replacing it.

Smith, Nancy↗

NASA NTRS2005

Electrodynamic Tether as a Thruster for MXER Studies

Electrodynamic propulsion based on the interaction of a conducting tether with the background magnetic field can be implemented across a range of system designs. Bare tethers, bare and insulated tethers with a balloon termination, and insulated tethers with a grid-sphere termination have been proposed for different applications. Electrodynamic tether as a thruster is currently proposed for the Momentum exchange Electrodynamic Reboost (MXER) Tether System that currently under development at NASA Marshal Space Flight Center. The choice of a tether design for a specific mission is based on the analysis of tether system performance. Different parameters describing tether performance such as system acceleration and efficiency can be calculated if the current distribution along the tether at the satellite trajectory is known. The code calculating the tether current collection for the bare and partly insulated tethers with the circular (wire) and rectangular (tape) cross-sections operating in the thrust mode has been developed and applied for MXER that is expected to operate in an equatorial elliptical orbit with perigee in the altitude range of 300-500km and apogee between 5000-8000km. The collected current is calculated as a function of the satellite velocity and the Earth s magnetic field, plasma parameters (plasma density and temperature), and tether parameters (tether length, the length of the bare segment, the type and the dimensions of the cross-section). The deviation of the collected current from the OML model due to the tether thickness and self-induced magnetic field (for tether with a circular cross-section) is taken into account.

Khazanov, G. V.↗

NASA NTRS2016

Probabilistic Modeling of Aircraft Trajectories for Dynamic Separation Volumes

With a proliferation of new and unconventional vehicles and operations expected in the future, the ab initio airspace design will require new approaches to trajectory prediction for separation assurance and other air traffic management functions. This paper presents an approach to probabilistic modeling of the trajectory of an aircraft when its intent is unknown. The approach uses a set of feature functions to constrain a maximum entropy probability distribution based on a set of observed aircraft trajectories. This model can be used to sample new aircraft trajectories to form an ensemble reflecting the variability in an aircraft's intent. The model learning process ensures that the variability in this ensemble reflects the behavior observed in the original data set. Computational examples are presented.

Lewis, Timothy A.↗

DOE OSTI2020

Sampling Low-Dimensional Markovian Dynamics for Preasymptotically Recovering Reduced Models from Data with Operator Inference

This work introduces a method for learning low-dimensional models from data of high-dimensional black-box dynamical systems. The novelty is that the learned models are exactly the reduced models that are traditionally constructed with classical projection-based model reduction techniques. Thus, the proposed approach learns models that are guaranteed to have the well-studied properties of reduced models known from model reduction, without requiring full knowledge of the governing equations and without requiring the operators of the high-dimensional systems. The key ingredient is a new data sampling scheme to obtain re-projected trajectories of high-dimensional systems that correspond to Markovian dynamics in low-dimensional subspaces. The exact recovery of reduced models from these re-projected trajectories is guaranteed pre-asymptotically under certain conditions for finite amounts of data and for a large class of systems with polynomial nonlinear terms. Numerical results demonstrate that the low-dimensional models learned with the proposed approach match reduced models from traditional model reduction up to numerical errors in practice. In conclusion, the numerical results further indicate that low-dimensional models fitted to re-projected trajectories are predictive even in situations where models fitted to trajectories without re-projection are inaccurate and unstable.

97 MATHEMATICS AND COMPUTING↗

NASA NTRS2011

Trajectory-Based Takeoff Time Predictions Applied to Tactical Departure Scheduling: Concept Description, System Design, and Initial Observations

Current aircraft departure release times are based on manual estimates of aircraft takeoff times. Uncertainty in takeoff time estimates may result in missed opportunities to merge into constrained en route streams and lead to lost throughput. However, technology exists to improve takeoff time estimates by using the aircraft surface trajectory predictions that enable air traffic control tower (ATCT) decision support tools. NASA s Precision Departure Release Capability (PDRC) is designed to use automated surface trajectory-based takeoff time estimates to improve en route tactical departure scheduling. This is accomplished by integrating an ATCT decision support tool with an en route tactical departure scheduling decision support tool. The PDRC concept and prototype software have been developed, and an initial test was completed at air traffic control facilities in Dallas/Fort Worth. This paper describes the PDRC operational concept, system design, and initial observations.

Engelland, Shawn A.↗

NASA NTRS1999

The Lunar Prospector Mission: Final Results of Trajectory Design, Quasi-Frozen Orbits, Extended Mission Targeting, and Lunar Topography and Potential Models

The National Aeronautics and Space Administration (NASA) selected Lunar Prospector (LP) as one of the discovery missions to conduct solar system exploration science investigations. The mission was NASA's first lunar voyage to investigate key science objectives since Apollo and was launched in January 1998. In keeping with discovery program requirements to reduce total mission cost and utilize new technology, Lunar Prospector's mission design and control will focus on the use of innovative and proven trajectory analysis programs. As part of this effort, the Goddard Space Flight Center and the Ames Research Center became partners in the Lunar Prospector trajectory team to provide the trajectory analysis and orbit determination support. At the end of 1998, Lunar Prospector completed its one-year primary mission at 100-km altitude above the lunar surface. On December 19, 1998, Lunar Prospector entered its extended mission phase. The mission orbit was lowered from 100 km to a mean altitude of 40 km. Due to lunar potential effects, the altitude of Lunar Prospector varied from 25 to 55 km above the mean lunar geoid. After one month at 40 km, the lunar potential model was updated based upon the new tracking data at 40 km. On January 15, 1999, the altitude was lowered again to a mean altitude of 30 km. The spherical altitude varied between 15 km and 45 km above the mean lunar geoid while the topographical altitude varied between 10 km and 50 km. Various means were employed to get accurate lunar surface elevation including Clementine altimetry and LOS analysis. Based upon the best available terrain maps, Lunar Prospector reached actual altitudes of 8 km above lunar mountains in the southern polar region. This extended mission phase of six months will enable LP to obtain science data up to 3 orders of magnitude better than at the mission orbit. At the end of the operations mission, LP was targeted for impact at a chosen location that allowed optical observation of the lunar ejecta as LP ended its mission at 1.6 km/sec. This paper details the trajectory design and orbit determination planning and actual results of the Lunar Prospector nominal and extended mission including maneuver design, eccentricity vs. argument of perigee evolution, topographical altitude estimation, and lunar potential modeling. This paper provides understanding of the quasi-frozen orbit design of the LP mission, the optimization process of lunar orbit targets, the impacts that the selected lunar potential models play, and discusses the feasibility of meeting the mission goals. Observed evolution of the Keplerian orbit elements are compared to the theoretical predictions using the latest lunar potential model available which incorporates the Lunar Prospector Doppler data. Mapping orbit maintenance maneuver design along with results of the actual maneuvers to maintain the orbital requirements are also presented.

Folta, David↗

NASA NTRS1993

TDRSS-user orbit determination using batch least-squares and sequential methods

The Goddard Space Flight Center (GSFC) Flight Dynamics Division (FDD) commissioned Applied Technology Associates, Incorporated, to develop the Real-Time Orbit Determination/Enhanced (RTOD/E) system on a Disk Operating System (DOS)-based personal computer (PC) as a prototype system for sequential orbit determination of spacecraft. This paper presents the results of a study to compare the orbit determination accuracy for a Tracking and Data Relay Satellite System (TDRSS) user spacecraft, Landsat-4, obtained using RTOD/E, operating on a PC, with the accuracy of an established batch least-squares system, the Goddard Trajectory Determination System (GTDS), and operating on a mainframe computer. The results of Landsat-4 orbit determination will provide useful experience for the Earth Observing System (EOS) series of satellites. The Landsat-4 ephemerides were estimated for the January 17-23, 1991, timeframe, during which intensive TDRSS tracking data for Landsat-4 were available. Independent assessments were made of the consistencies (overlap comparisons for the batch case and covariances and the first measurement residuals for the sequential case) of solutions produced by the batch and sequential methods. The forward-filtered RTOD/E orbit solutions were compared with the definitive GTDS orbit solutions for Landsat-4; the solution differences were less than 40 meters after the filter had reached steady state.

Oza, D. H.↗

NASA NTRS2002

Improvements in Thermal Protection Sizing Capabilities for TCAT: Conceptual Design for Advanced Space Transportation Systems

The Thermal Calculation Analysis Tool (TCAT), originally developed for the Space Systems Design Lab at the Georgia Institute of Technology, is a conceptual design tool capable of integrating aeroheating analysis into conceptual reusable launch vehicle design. It provides Thermal Protection System (TPS) unit thicknesses and acreage percentages based on the geometry of the vehicle and a reference trajectory to be used in calculation of the total cost and weight of the vehicle design. TCAT has proven to be reasonably accurate at calculating the TPS unit weights for in-flight trajectories; however, it does not have the capability of sizing TPS materials above cryogenic fuel tanks for ground hold operations. During ground hold operations, the vehicle is held for a brief period (generally about two hours) during which heat transfer from the TPS materials to the cryogenic fuel occurs. If too much heat is extracted from the TPS material, the surface temperature may fall below the freezing point of water, thereby freezing any condensation that may be present at the surface of the TPS. Condensation or ice on the surface of the vehicle is potentially hazardous to the mission and can also damage the TPS. It is questionable whether or not the TPS thicknesses provided by the aeroheating analysis would be sufficiently thick to insulate the surface of the TPS from the heat transfer to the fuel. Therefore, a design tool has been developed that is capable of sizing TPS materials at these cryogenic fuel tank locations to augment TCAT's TPS sizing capabilities.

Olds, John R.↗

NASA NTRS2006

Ikhana: A NASA UAS Supporting Long Duration Earth Science Missions

NASA's Ikhana unmanned aerial vehicle (UAV) is a General Atomics MQ-9 Predator-B modified to support the conduct of Earth science missions for the NASA Science Mission Directorate through partnerships, other government agencies and universities. Ikhana, a Native American word meaning 'intelligence', can carry over 2000 lbs of atmospheric and remote sensing instruments in the payload bay and external pods. The aircraft is capable of mission durations in excess of 24 hours at altitudes above 40,000 ft. Redundant flight control, avionics, power, and network systems increase the system reliability and allow easier access to public airspace. The aircraft is remotely piloted from a mobile ground control station (GCS) using both C-band line-of-sight and Ku-band over-the-horizon satellite datalinks. NASA's GCS has been modified to support on-site science monitoring, or the downlink data can be networked to remote sites. All ground support systems are designed to be deployable to support global Eart science investigations. On-board support capabilities include an instrumentation system and an Airborne Research Test System (ARTS). The ARTS can host research algorithms that will autonomously command and control on-board sensors, perform sensor health monitoring, conduct data analysis, and request changes to the flight plan to maximize data collection. The ARTS also has the ability to host algorithms that will autonomously control the aircraft trajectory based on sensor needs, (e.g. precision trajectory for repeat pass interferometry) or to optimize mission objectives (e.g. search for specific atmospheric conditions). Standard on-board networks will collect science data for recording and for inclusion in the aircraft's high bandwidth downlink. The Ikhana project will complete GCS development, science support systems integration, external pod integration and flight clearance, and operations crew training in early 2007. A large-area remote sensing mission is currently scheduled for the Summer 2007.

Cobleigh, Brent R.↗

NASA NTRS2013

An Operational Safety and Certification Assessment of a TASAR EFB Application

This paper presents an overview of a Traffic Aware Strategic Aircrew Requests (TASAR) Electronic Flight Bag application intended to inform the pilot of trajectory improvement opportunities while en route that result in operational benefits. The results of safety analyses and a detailed review of Federal Aviation Administration (FAA) regulatory documents that establish certification and operational approval requirements are presented for TASAR. The safety analyses indicate that TASAR has a likely Failure Effects Classification of “No Effect,” and at most, is no worse than “Minor Effect.” Based on this safety assessment and the detailed review of FAA regulatory documents that determine certification and operational approval requirements, this study concludes that TASAR can be implemented in the flight deck as a Type B software application hosted on a Class 2 Portable Electronic Device (PED) Electronic Flight Bag (EFB). This implementation approach would provide a relatively low-cost path to certification and operational approval for both retrofit and forward fit implementation, while at the same time facilitating the business case for early ADS-B IN equipage. A preliminary review by FAA certification and operational approvers of the analyses presented here confirmed that the conclusions are appropriate and that TASAR will be considered a Type B application.

Koczo, Stefan↗

NASA NTRS2003

Pilot Interactions in an Over-Constrained Conflict Scenario as Studied in a Piloted Simulation of Autonomous Aircraft Operations

Feasibility and safety of autonomous aircraft operations were studied in a multi-piloted simulation of overconstrained traffic conflicts to determine the need for, and utility of, priority flight rules to maintain safety in this extraordinary and potentially hazardous situation. An overconstrained traffic conflict is one in which the separation assurance objective is incompatible with other objectives. In addition, a proposed scheme for implementing priority flight rules by staggering the alerting time between the two aircraft in conflict was tested for effectiveness. The feasibility study was conducted through a simulation in the Air Traffic Operations Laboratory at the NASA Langley Research Center. This research activity is a continuation of the Distributed Air-Ground Traffic Management feasibility analysis reported in the 4th USA/Europe Air Traffic Management R&D Seminar in December 2001 (paper #48). The over-constrained conflict scenario studied here consisted of two piloted aircraft that were assigned an identical en-route waypoint arrival time and altitude crossing restriction. The simulation results indicated that the pilots safely resolved the conflict without the need for a priority flight rule system. Occurrences of unnecessary maneuvering near the common waypoint were traced to false conflict alerts, generated as the result of including waypoint constraint information in the broadcast data link message issued from each aircraft. This result suggests that, in the conservative interests of safety, broadcast intent information should be based on the commanded trajectory and not on the Flight Management System flight plan, to which the aircraft may not actually adhere. The use of priority flight rules had no effect on the percentage of the aircraft population meeting completely predictable which aircraft in a given pair would meet the constraints and which aircraft would make the first maneuver to yield right-of-way. Therefore, the proposed scheme for implementing priority flight rules through staggering the alerting time between the two aircraft was completely effective. The data and observations from this experiment, together with results from the previously reported study, support the feasibility of autonomous aircraft operations.

Wing, David J.↗