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Search indexed NASA NTRS and DOE OSTI research on propulsion, heat transfer, battery materials and energy systems. Follow report and document links to the original sources.

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At least 469 records · Page 26

Design, Development and Testing of the Miniature Autonomous Extravehicular Robotic Camera (Mini AERCam) Guidance, Navigation and Control System

Engineers at NASA Johnson Space Center have designed, developed, and tested a nanosatellite-class free-flyer intended for future external inspection and remote viewing of human spaceflight activities. The technology demonstration system, known as the Miniature Autonomous Extravehicular Robotic Camera (Mini AERCam), has been integrated into the approximate form and function of a flight system. The primary focus has been to develop a system capable of providing external views of the International Space Station. The Mini AERCam system is spherical-shaped and less than eight inches in diameter. It has a full suite of guidance, navigation, and control hardware and software, and is equipped with two digital video cameras and a high resolution still image camera. The vehicle is designed for either remotely piloted operations or supervised autonomous operations. Tests have been performed in both a six degree-of-freedom closed-loop orbital simulation and on an air-bearing table. The Mini AERCam system can also be used as a test platform for evaluating algorithms and relative navigation for autonomous proximity operations and docking around the Space Shuttle Orbiter or the ISS.

Wagenknecht, J.↗

Navigation Between Geosynchronous and Lunar L1 Orbiters

Linked Autonomous Interplanetary Satellite Orbit Navigation (LiAISON) is a new technique that takes advantage of the asymmetrical gravity field present in a three-body system in order to perform absolute tracking of satellites using only relative satellite-to-satellite observations. Previous studies have demonstrated LiAISON's practical applications for lunar missions, including a satellite in a halo orbit about either the Earth-Moon L1 or L2 point. This paper studies the viability of applying LiAISON measurements between a lunar halo orbiter and a satellite in a geosynchronous orbit. Simulations demonstrate that the absolute positions and velocities of both satellites are observable using only relative measurements with an achieved uncertainty on the order of observation noise.

low-energy↗

Autonomous landmark tracking orbit determination strategy

In this paper, an orbit determination strategy is described that is fully autonomous and relies on a computer-based crater detection and identification algorithm that is suitable for both automation of the ground based navigation system and autonomous spacecraft based navigation.

landmark tracking orbit determination↗

NASA Station Explorer for X-Ray Timing and Navigation Technology (SEXTANT) Mission Operations Architecture

"The Station Explorer for X-Ray Timing and Navigation (SEXTANT) mission is a technology demonstrationenhancement to the Neutron Star Interior Composition Explorer (NICER) mission, a NASA AstrophysicsExplorer Mission of Opportunity to the International Space Station (ISS) that was launched in June of 2017.The NICER instrument is a precision pointing X-ray telescope that provides measurements of neutron stars,which the SEXTANT mission uses to perform autonomous onboard X-ray Pulsar Navigation (XNAV) by usingmilli-second pulsars (MSPs), a category of neutron stars, as timing sources for navigation. By comparing thedetected time of arrival of X-ray photons to a reference of expected pulsar lightcurve timing models, one caninfer a range and range rate measurement based on light time delay. Since both timing and orientationinformation comes from a celestial source, this technology could provide a GPS-like navigation capabilityavailable throughout our Solar System and beyond. Applications that XNAV can support include outer planetand interstellar missions, manned missions, libration orbit missions, and current infrastructure such as the DeepSpace Network (DSN). The SEXTANT team successfully completed a rst demonstration of in-space andautonomous XNAV in November 2017. NICER and SEXTANT have separate teams, with NICER being theprimary team with its own science objectives. Operational modes for both missions must have concurrent andindependent components as well as an integrated ground system. Within this joint mission pro le, SEXTANToperations requires an infrastructure and cadence that is exible to handle concurrent science operations fromthe NICER team, independent autonomous navigation demonstrations, and events within the extensive ISSoperations environment. This paper rst details the infrastructure implemented and its concept of operations.It then describes the operations for the SEXTANT demonstration and lessons learned."

Yu, Wayne H.↗

Situationally Driven Local Navigation for Mobile Robots

For mobile robots to autonomously accommodate dynamically changing navigation tasks in a goal-directed fashion, they must employ navigation plans. Any such plan must provide for the robot's immediate and continuous need for guidance while remaining highly flexible in order to avoid costly computation each time the robot's perception of the world changes. Due to the world's uncertainties, creation and maintenance of navigation plans cannot involve arbitrarily complex processes, as the robot's perception of the world will be in constant flux, requiring modifications to be made quickly if they are to be of any use. This work introduces navigation templates (NaT's) which are building blocks for the construction and maintenance of rough navigation plans which capture the relationship that objects in the world have to the current navigation task. By encoding only the critical relationship between the objects in the world and the navigation task, a NaT-based navigation plan is highly flexible; allowing new constraints to be quickly incorporated into the plan and existing constraints to be updated or deleted from the plan. To satisfy the robot's need for immediate local guidance, the NaT's forming the current navigation plan are passed to a transformation function. The transformation function analyzes the plan with respect to the robot's current location to quickly determine (a few times a second) the locally preferred direction of travel. This dissertation presents NaT's and the transformation function as well as the needed support systems to demonstrate the usefulness of the technique for controlling the actions of a mobile robot operating in an uncertain world.

Slack, Marc Glenn↗

Navigation between geosynchronous and lunar L₁ orbiters

Linked Autonomous Interplanetary Satellite Orbit Navigation (LiAISON) is a new technique that takes advantage of the asymmetrical gravity field present in a three-body system in order to perform absolute tracking of satellites using only relative satellite-to-satellite observations. Previous studies have demonstrated LiAISON’s practical applications for lunar missions, including a satellite in a halo orbit about either the Earth-Moon L₁or L₂ point. This paper studies the viability of applying LiAISON measurements between a lunar halo orbiter and a satellite in a geosynchronous orbit. Simulations demonstrate that the absolute positions and velocities of both satellites are observable using only relative measurements with an achieved uncertainty on the order of observation noise.

Anderson, Rodney L.↗

Simulating the Liaison Navigation Concept in a Geo + Earth-Moon Halo Constellation

Linked Autonomous Interplanetary Satellite Orbit Navigation, or LiAISON, is a novel satellite navigation technique where relative radiometric measurements between two or more spacecraft in a constellation are processed to obtain the absolute state of all spacecraft. The method leverages the asymmetry of the gravity field that the constellation exists in. This paper takes a step forward in developing a high fidelity navigation simulation for the LiAISON concept in an Earth-Moon constellation. In particular, we aim to process two-way Doppler measurements between a satellite in GEO orbit and another in a halo orbit about the Earth-Moon L1 point.

Linked Autonomous Interplanetary Satellite Orbit N↗

An Automomous Optical Navigation and Control System for Interplanetary Exploration Missions

The first fully autonomous deep-space navigation system ever implemented is planned to guide the New Millenium Deep Space-1 mission to an asteroid and comet beginning in mid-1998. This system is based to a large extent on Optical Navigation (OPNAV) technology developed for the NASA/JPL interplanetary exploration probes Voyager and Galileo. This paper describes the structure and algorithmic content of the Autonomous OPNAV system. The system has several major autonomous functions: picture planning, image analysis, orbit determination, manuever design and general interaction with other onboard autonomous systems.

optical navigation↗

TDRSS Onboard Navigation System (TONS) flight qualification experiment

The National Aeronautics and Space Administration (NASA) Goddard Space Flight Center (GSFC) is currently developing an operational Tracking and Data Relay Satellite (TDRS) System (TDRSS) Onboard Navigation System (TONS) to provide realtime, autonomous, high-accuracy navigation products to users of TDRSS. A TONS experiment was implemented on the Explorer Platform/Extreme Ultraviolet Explorer (EP/EUVE) spacecraft, launched June 7, 1992, to flight qualify the TONS operational system using TDRSS forward-link communications services. This paper provides a detailed evaluation of the flight hardware, an ultrastable oscillator (USO) and Doppler extractor (DE) card in one of the TDRSS user transponders and the ground-based prototype flight software performance, based on the 1 year of TONS experiment operation. The TONS experiment results are used to project the expected performance of the TONS 1 operational system. TONS 1 processes Doppler data derived from scheduled forward-link S-band services using a sequential estimation algorithm enhanced by a sophisticated process noise model to provide onboard orbit and frequency determination and time maintenance. TONS 1 will be the prime navigation system on the Earth Observing System (EOS)-AM1 spacecraft, currently scheduled for launch in 1998. Inflight evaluation of the USO and DE short-term and long-term stability indicates that the performance is excellent. Analysis of the TONS prototype flight software performance indicates that realtime onboard position accuracies of better than 25 meters root-mean-square are achievable with one tracking contact every one to two orbits for the EP/EUVE 525-kilometer altitude, 28.5 degree inclination orbit. The success of the TONS experiment demonstrates the flight readiness of TONS to support the EOS-AM1 mission.

Gramling, C. J.↗

Celestial Navigation in Cislunar Space with autoNGC

Celestial navigation (CelNav) is a source of navigation observables where images of known solar system bodies are used to locate a spacecraft, beneficial within the solar system for both cislunar and deep space missions. CelNav provides a variety of design benefits to support and enable current and new autonomous space operations- using only a camera and a processor to produce in-situ measurements for navigation. This technology reduces subscription to ground-based tracking during all phases of a mission, freeing up resources for other operational needs. This also supports secure navigation since it eliminates the need for ground contact. CelNav enables missions where the light time delay between Earth and the spacecraft is too long (or the Earth to spacecraft line of sight is obscured) to support critical operations. It also enables smaller mission classes, where Deep Space Network (DSN)time is cost prohibitive, to reduce its cost by focusing primarily on data downlink. Finally, it enables the NASA Artemis program and other cislunar human space flight by providing redundant navigation to traditional radiometric tracking. In this presentation, we discuss the implementation of a CelNav app in autonomous Navigation, Guidance, and Control (autoNGC), a comprehensive flight software suite for onboard autonomy that is built on the core Flight System (cFS). The presentation also summarizes the results of flight software-in-the-loop (SIL) and processor-in-the-loop (PIL) demonstrations. Both are high-fidelity simulations with the use of a camera emulator hosted on a GPU server that simulates images that would be captured by the camera. The CelNav app leverages the use of cGIANT (cFS Goddard Image Analysis and Navigation Tool).Previously developed for the autoNGC software suite, cGIANT is an onboard autonomous image processing and optical navigation (OpNav) tool that performs limb-based OpNav and Terrain Relative Navigation. The added CelNav capability of cGIANT generates bearing measurements to multiple known celestial bodies (planets, moons, asteroids, comets, etc.) in monocular (2D) images. These observables are then fed to the Goddard Enhanced Onboard Navigation System (GEONS)navigation filter app, enabling us to navigate the spacecraft autonomously. In early 2025, the autoNGC CelNav capability is planned to be flight tested as part of the onboard autonomy experiment on the Cislunar Autonomous Positioning System Technology Operations and Navigation Experiment(CAPSTONE) spacecraft that is currently in a Lunar Near Rectilinear Halo Orbit(NRHO).

celestial navigation↗

Interaction dynamics of multiple autonomous mobile robots in bounded spatial domains

A general navigation strategy for multiple autonomous robots in a bounded domain is developed analytically. Each robot is modeled as a spherical particle (i.e., an effective spatial domain about the center of mass); its interactions with other robots or with obstacles and domain boundaries are described in terms of the classical many-body problem; and a collision-avoidance strategy is derived and combined with homing, robot-robot, and robot-obstacle collision-avoidance strategies. Results from homing simulations involving (1) a single robot in a circular domain, (2) two robots in a circular domain, and (3) one robot in a domain with an obstacle are presented in graphs and briefly characterized.

Wang, P. K. C.↗

An Interim Report on NASA's Draft Space Technology Roadmaps

NASA has developed a set of 14 draft roadmaps to guide the development of space technologies under the leadership of the NASA Office of the Chief Technologist (OCT). Each of these roadmaps focuses on a particular technology area (TA). The roadmaps are intended to foster the development of advanced technologies and concepts that address NASA's needs and contribute to other aerospace and national needs. OCT requested that the National Research Council conduct a study to review the draft roadmaps, gather and assess relevant community input, and make recommendations and suggest priorities to inform NASA's decisions as it finalizes its roadmaps. The statement of task states that "based on the results of the community input and its own deliberations, the steering committee will prepare a brief interim report that addresses high-level issues associated with the roadmaps, such as the advisability of modifying the number or technical focus of the draft NASA roadmaps." This interim report, which does not include formal recommendations, addresses that one element of the study charge. NASA requested this interim report so that it would have the opportunity to make an early start in modifying the draft roadmaps based on feedback from the panels and steering committee. The final report will address all other tasks in the statement of task. In particular, the final report will include a prioritization of technologies, will describe in detail the prioritization process and criteria, and will include specific recommendations on a variety of topics, including many of the topics mentioned in this interim report. In developing both this interim report and the final report to come, the steering committee draws on the work of six study panels organized by technical area, loosely following the organization of the 14 roadmaps, as follows: A Panel 1: Propulsion and Power TA01 Launch Propulsion Systems TA02 In-Space Propulsion Technologies TA03 Space Power and Energy Storage Systems TA13 Ground and Launch Systems Processing B Panel 2: Robotics, Communications, and Navigation TA04 Robotics, TeleRobotics, and Autonomous Systems TA05 Communication and Navigation Systems C Panel 3: Instruments and Computing TA08 Science Instruments, Observatories, and Sensor Systems TA11 Modeling, Simulation, Information Technology, and Data Processing D Panel 4: Human Health and Surface Exploration TA06 Human Health, Life Support, and Habitation Systems TA07 Human Exploration Destination Systems E Panel 5: Materials Panel TA10 Nanotechnology TA12 Materials, Structures, Mechanical Systems, and Manufacturing TA14 Thermal Management Systems F Panel 6: Entry, Descent, and Landing Panel TA09 Entry, Descent, and Landing Systems In addition to drawing on the expertise represented on the steering committee and panels, the committee obtained input from each of 14 public workshops held on each of the 14 roadmaps. At these 1-day workshops, invited speakers, guests, and members of the public engaged in discussions on the different technology areas and their value to NASA. Broad community input was also solicited from a public website, where more than 240 public comments were received on the draft roadmaps in response to application of criteria (such as benefit, risk and reasonableness, and alignment with NASA and national goals) that the steering committee established. This interim report reflects the results of deliberations by the steering committee in light of these public inputs as well as additional inputs from the six panels. The steering committee's final report will be completed early in 2012. That report will prioritize the technologies that span the entire scope of the 14 roadmaps and provide additional guidance on crosscutting themes and other relevant topics.

Source record↗

Error Analysis of a Real-Time Stereo System

This paper provides an in-depth analysis of the major error sources for such a real-time stereo system in the context of the cross-coutry navigation of an autonomous vehicle.

Error Analysis Real-time Stereo System Navigation↗

Obstacle detection in foliage with ladar and radar

Autonomous off-road navigation is central to several important applications of unmanned ground vehicles. This requires the ability to detect obstacles in vegetation. We examine the prospects for doing so with scanning ladar and with a linear array of 2.2 GHz micro-impulse radar transceivers. For ladar, we summarize our work to date on algorithms for detecting obstacles in tall grass with single-axis ladar, then present a simple probabilistic model of the distance into tall grass that ladar-based obstacle detection is possible.

ladar↗

Advancing Navigation, Timing, and Science with the Deep Space Atomic Clock

NASA's Deep Space Atomic Clock mission is developing a small, highly stable mercury ion atomic clock with an Allan deviation of at most 1e-14 at one day, and with current estimates near 3e-15. This stability enables one-way radiometric tracking data with accuracy equivalent to and, in certain conditions, better than current two-way deep space tracking data; allowing a shift to a more efficient and flexible one-way deep space navigation architecture. DSAC-enabled one-way tracking will benefit navigation and radio science by increasing the quantity and quality of tracking data. Additionally, DSAC would be a key component to fully-autonomous onboard radio navigation useful for time-sensitive situations. Potential deep space applications of DSAC are presented, including orbit determination of a Mars orbiter and gravity science on a Europa flyby mission.

radio science↗

Fast and reliable obstacle detection and segmentation for cross-country navigation

Obstacle detection is one of the main components of the control system of autonomous vehicles. In the case of indoor/urban navigation, obstacles are typically defined as surface points that are higher than the ground plane. This characterization, however, cannot be used in cross-country and unstructured environments, where the notion of ground plane is often not meaningful.

autonomous navigation obstacle detection terrain p↗