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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
All sourcesNASA NTRSDOE OSTI
NASA NTRS2008

Visual Target Tracking on the Mars Exploration Rovers

Visual Target Tracking (VTT) has been implemented in the new Mars Exploration Rover (MER) Flight Software (FSW) R9.2 release, which is now running on both Spirit and Opportunity rovers. Applying the normalized cross-correlation (NCC) algorithm with template image magnification and roll compensation on MER Navcam images, VTT tracks the target and enables the rover to approach the target within a few cm over a 10 m traverse. Each VTT update takes 1/2 to 1 minute on the rovers, 2-3 times faster than one Visual Odometry (Visodom) update. VTT is a key element to achieve a target approach and instrument placement over a 10-m run in a single sol in contrast to the original baseline of 3 sols. VTT has been integrated into the MER FSW so that it can operate with any combination of blind driving, Autonomous Navigation (Autonav) with hazard avoidance, and Visodom. VTT can either guide the rover towards the target or simply image the target as the rover drives by. Three recent VTT operational checkouts on Opportunity were all successful, tracking the selected target reliably within a few pixels.

target approach↗
NASA NTRS1996

Machine-Vision Aids for Improved Flight Operations

The development of machine vision based pilot aids to help reduce night approach and landing accidents is explored. The techniques developed are motivated by the desire to use the available information sources for navigation such as the airport lighting layout, attitude sensors and Global Positioning System to derive more precise aircraft position and orientation information. The fact that airport lighting geometry is known and that images of airport lighting can be acquired by the camera, has lead to the synthesis of machine vision based algorithms for runway relative aircraft position and orientation estimation. The main contribution of this research is the synthesis of seven navigation algorithms based on two broad families of solutions. The first family of solution methods consists of techniques that reconstruct the airport lighting layout from the camera image and then estimate the aircraft position components by comparing the reconstructed lighting layout geometry with the known model of the airport lighting layout geometry. The second family of methods comprises techniques that synthesize the image of the airport lighting layout using a camera model and estimate the aircraft position and orientation by comparing this image with the actual image of the airport lighting acquired by the camera. Algorithms 1 through 4 belong to the first family of solutions while Algorithms 5 through 7 belong to the second family of solutions. Algorithms 1 and 2 are parameter optimization methods, Algorithms 3 and 4 are feature correspondence methods and Algorithms 5 through 7 are Kalman filter centered algorithms. Results of computer simulation are presented to demonstrate the performance of all the seven algorithms developed.

Menon, P. K.↗
NASA NTRS2010

Evaluating the Performance of Unmanned Ground Vehicle Water Detection

Water detection is a critical perception requirement for unmanned ground vehicle (UGV) autonomous navigation over cross-country terrain. During the Robotics Collaborative Technology Alliances (RCTA) program, the Jet Propulsion Laboratory (JPL) developed a set of water detection algorithms that are used to detect, localize, and avoid water bodies large enough to be a hazard to a UGV. The JPL water detection software performs the detection and localization stages using a forward-looking stereo pair of color cameras. The 3D coordinates of water body surface points are then output to a UGV's autonomous mobility system, which is responsible for planning and executing safe paths. There are three primary methods for evaluating the performance of the water detection software. Evaluations can be performed in image space on the intermediate detection product, in map space on the final localized product, or during autonomous navigation to characterize the avoidance of a variety of water bodies. This paper describes a methodology for performing the first two types of water detection performance evaluations.

stereo vision↗
NASA NTRS1991

Image-based ranging and guidance for rotorcraft

This report documents the research carried out under NASA Cooperative Agreement No. NCC2-575 during the period Oct. 1988 - Dec. 1991. Primary emphasis of this effort was on the development of vision based navigation methods for rotorcraft nap-of-the-earth flight regime. A family of field-based ranging algorithms were developed during this research period. These ranging schemes are capable of handling both stereo and motion image sequences, and permits both translational and rotational camera motion. The algorithms require minimal computational effort and appear to be implementable in real time. A series of papers were presented on these ranging schemes, some of which are included in this report. A small part of the research effort was expended on synthesizing a rotorcraft guidance law that directly uses the vision-based ranging data. This work is discussed in the last section.

Menon, P. K. A.↗
NASA NTRS1975

Autonomous navigation preparations for future unmanned space missions

In order to prepare for the era of autonomous navigation, this paper first examines existing techniques for spacecraft navigation by describing the basic elements of the Mark-I and II navigation technologies. The remainder of the paper deals with identification of criteria which necessitate onboard navigation, and with promising solutions now under consideration. An attractive solution possibility is proposed which utilizes narrow-angle optics, a charge-coupled device area-array image sensor, a small advanced onboard flight computer, and a simplified set of software algorithms. Onboard commands would be derived and sent to the appropriate spacecraft attitude control, propulsion, and science platform pointing subsystems. The proposed autonomous navigation system does not address all mission options, but focuses primarily on precision approach trajectory control and adaptive science instrument pointing for asteroid, cometary, and outer planet satellite missions.

Kohlhase, C. E.↗
NASA NTRS2015

Advanced Bayesian Method for Planetary Surface Navigation

Autonomous Exploration, Inc., has developed an advanced Bayesian statistical inference method that leverages current computing technology to produce a highly accurate surface navigation system. The method combines dense stereo vision and high-speed optical flow to implement visual odometry (VO) to track faster rover movements. The Bayesian VO technique improves performance by using all image information rather than corner features only. The method determines what can be learned from each image pixel and weighs the information accordingly. This capability improves performance in shadowed areas that yield only low-contrast images. The error characteristics of the visual processing are complementary to those of a low-cost inertial measurement unit (IMU), so the combination of the two capabilities provides highly accurate navigation. The method increases NASA mission productivity by enabling faster rover speed and accuracy. On Earth, the technology will permit operation of robots and autonomous vehicles in areas where the Global Positioning System (GPS) is degraded or unavailable.

Center, Julian↗
NASA NTRS1972

A detailed analysis of Mariner nine TV navigation data.

Mariner 9 data analysis showed a good performance of the Mars probe planetary approach navigation systems and a good agreement between measured and predicted probe-approach characteristics. It was found that all operations were completed on time and that the calibration of the instruments and the observation of a greater-than-planned number of stars resulted in a higher-than-expected measurement accuracy. The key instruments of the Mariner were TV cameras taking pictures of Phobos and Deimos against a background of stars, calibrated sun and star sensors, and a scan platform. The error models used for optical navigation system elements, the calibration of the scan platform and of the TV cameras, and the image detection and location techniques are discussed in detail.

Breckenridge, W. G.↗
NASA NTRS1978

Viking Orbiter stereophotogrammetry

Orbit characteristics of the two Viking Orbiter spacecraft made possible the acquisition of high-resolution imagery of the Martian surface, resulting in many excellent convergent stereopairs. Evaluation of these stereopairs presented a few unconventional problems because the routine relative orientation was not feasible, mainly due to a lack of good passpoints and to the technical peculiarities of TV vidicon imaging techniques. One of the ways to circumvent these problems is to use the orbital and navigational parameters of the spacecraft for an external 'forced' relative orientation. This approach requires a number of rotations and counter-rotations between various coordinate systems, which may make the involved mathematics look rather complicated, but its computational applications become very simple, fast, accurate, and inexpensive.

Benesh, M.↗
NASA NTRS1981

Aerobraking mission design - Mission domain and mass performance

The work reported comprises part of an Aerobraking Study that sought to establish a 'feasible mission design, navigation design, and MOS design and to show the desirability of aerobraking for the Venus Orbiting Imaging Radar (VOIR) mission by assessing mission performance, cost, and risk'. The developed software assesses accurately the mass performance of aerobraking and chemical missions that place a spacecraft in orbit about another planet. All injection date/arrival data combinations that provide a trajectory with adequate mass performance are available for further study. The considered analysis has been applied to the Type I trajectories from earth to Venus in 1988. The analysis can easily be applied to missions to Mars and to Titan. The intersection of the determined mass performance domain with the stable orbit domain provides an adequate mission domain for VOIR 1988.

Kerridge, S. J.↗
NASA NTRS2017

Lessons for Interstellar Travel from the Guidance and Control Design of the Near Earth Asteroid Scout Solar Sail Mission

NASA's Near Earth Asteroid Scout (NEA Scout) solar sail mission will fly by and image an asteroid. The team has experience characterizing the sail forces and torques used in guidance, navigation, and control to meet the scientific objectives. Interstellar and precursor sail missions similarly require understanding of beam riding dynamics to follow sufficiently accurate trajectories to perform their missions. Objective: Identify the driving factors required to implement a guidance and control system that meets mission requirements for a solar sail mission; Compare experience of an asteroid flyby mission to interstellar missions to flyby and observe other stars or precursor missions to study the extrasolar medium.

Diedrich, Benjamin↗
NASA NTRS2010

NASA Accelerates SpaceCube Technology into Orbit

On May 11, 2009, STS-125 Space Shuttle Atlantis blasted off from Kennedy Space Center on a historic mission to service the Hubble Space Telescope (HST). In addition to sending up the hardware and tools required to repair the observatory, the servicing team at NASA's Goddard Space Flight Center also sent along a complex experimental payload called Relative Navigation Sensors (RNS). The main objective of the RNS payload was to provide real-time image tracking of HST during rendezvous and docking operations. RNS was a complete success, and was brought to life by four Xilinx FPGAs (Field Programmable Gate Arrays) tightly packed into one integrated computer called SpaceCube. SpaceCube is a compact, reconfigurable, multiprocessor computing platform for space applications demanding extreme processing capabilities based on Xilinx Virtex 4 FX60 FPGAs. In a matter of months, the concept quickly went from the white board to a fully funded flight project. The 4-inch by 4-inch SpaceCube processor card was prototyped by a group of Goddard engineers using internal research funding. Once engineers were able to demonstrate the processing power of SpaceCube to NASA, HST management stood behind the product and invested in a flight qualified version, inserting it into the heart of the RNS system. With the determination of putting Xilinx into space, the team strengthened to a small army and delivered a fully functional, space qualified system to the mission.

Petrick, David↗
NASA NTRS2024

Physiological and Subjective Responses of Pilots during Advanced Air Mobility Flight Testing with Automated Systems

Aviation is constantly evolving, mostly due to the integration of automated systems into the National Airspace System. This presents a host of challenges and opportunities. NASA’s Advanced Air Mobility (AAM) project has taken a significant leap forward with a research flight test led by the Integration of Automated Systems (IAS) sub-project. This effort focused on assessing automated flight deck algorithms essential for supporting high-density Urban Air Mobility (UAM) operations. Carrying out a two-ship flight test in UAM Maturity Level 4 scenarios, the team evaluated state-of-the-art algorithms, including Hazard Perception and Avoidance (HPA) and flight path management (FPM) systems. This paper investigates into pilots’ physiological and subjective responses during the flight scenarios conducted. In collaboration with Lockheed Martin Advanced Technology Laboratories (ATL), we collected and analyzed live-flight biometric data using eye tracking, mobile brain imaging, and heart rate sensors. The study provides insights into pilots’ workload and cognitive engagement while navigating automated tools, leveraging both biometric data and post-encounter subjective assessments. The research highlights the interaction between human operators and automated systems, contributing valuable lessons learned about gathering human data in live-flight environments. The knowledge acquired from this study enhances our understanding of human factors in automated flight and informs future studies attempting to undertake similar feats.

Kevin J. Monk↗
NASA NTRSDate not supplied

Physiological and Subjective Responses of Pilots During Advanced Air Mobility Flight Testing With Automated Systems

Aviation is constantly evolving, mostly due to the integration of automated systems into the National Airspace System. This presents a host of challenges and opportunities. NASA's Advanced Air Mobility (AAM) project has taken a significant leap forward with a research flight test led by the Integration of Automated Systems (IAS) sub-project. This effort focused on assessing automated flight deck algorithms essential for supporting high-density Urban Air Mobility (UAM) operations. Carrying out a two-ship flight test in UAM Maturity Level 4 scenarios, the team evaluated state-of-the-art algorithms, including Hazard Perception and Avoidance (HPA) and flight path management (FPM) systems. This presentation focuses on results of pilots' physiological and subjective responses during the flight scenarios conducted. In collaboration with Lockheed Martin Advanced Technology Laboratories (ATL), we collected and analyzed live-flight biometric data using eye tracking, mobile brain imaging, and heart rate sensors. The data provides insights into pilots' workload and cognitive engagement while navigating automated tools, leveraging both biometric data and post-encounter subjective assessments. The research highlights the interaction between human operators and automated systems, contributing valuable lessons learned about gathering human data in live-flight environments. The knowledge acquired from this endeavor enhances our understanding of human factors in automated flight and informs future studies attempting to undertake similar feats.

air mobility↗
NASA NTRS1993

Calibration, navigation, and registration of MAMS data for FIFE

The International Satellite Land Surface Climatology Project (ISLSCP) was conducted to study the interaction of the atmosphere with the land surface and the research problems associated with the interpretation of satellite data over the Earth's land surface. The experimental objectives of the First ISLSCP Field Experiment (FIFE) were the simultaneous acquisition of satellite, atmospheric, and surface data and to use these data to understand the processes controlling energy/mass exchange at the surface. The experiment site is a 15 x 15 km area southeast of Manhattan, Kansas, intersected by Interstate 70 and Kansas highway 177. The Konza Prairie portion is 5 x 5 km and is a controlled experiment site consisting primarily of native tall grass prairie vegetation. The remainder of the site is grazing and farm land with trees along creek beds that are scattered over the area. Airborne multispectral imagery from the Multispectral Atmospheric Mapping Sensor (MAMS) was collected over this region on two days during Intensive Field Campaign-1 (1FC-1) to study the time and space variability of remotely-sensed geophysical parameters. These datasets consist of multiple overflights covering about a 60-min period during late morning on June 4, 1987 and shortly after dark on the following day. Image data from each overpass were calibrated and Earth located with respect to each other using aircraft inertial navigation system parameters and ground control points. These were the first MAMS flights made with 10-bit thermal data.

Jedlovec, G. J.↗
NASA NTRSDate not supplied

Digital Elevation Map Parametric Error Analysis Using Corresponding NAC Images

Future lunar landing systems, particularly those used to land humans on the lunar surface aspart of the ARTEMIS program, will require precision navigation relative to the lunar surface. The most common way to meet these stringent navigation require-ments is through terrain relative navigation (TRN), which localizes a spacecraft by comparing descent im-agery with a predefined map of the surface. The accu-racy achievable using TRN is limited by the accuracy of the reference Digital Elevation Map (DEM). It is therefore critical for future lunar missions that potential errors in DEMs be quantified. This paper describes one of NASA’s current efforts to develop a process for evaluating lunar DEM quality.

Chris R Gnam↗
DOE OSTI2023

Increased range and contrast in fog with circularly polarized imaging

Fogs, low lying clouds, and other highly scattering environments pose a challenge for many commercial and national security sensing systems. Current autonomous systems rely on optical sensors for navigation whose performance is degraded by highly scattering environments. In our previous simulation work, we have shown that polarized light can penetrate through a scattering environment such as fog. We have demonstrated that circularly polarized light maintains its initial polarization state better than linearly polarized light, even through large numbers of scattering events and thus ranges. This has recently been experimentally verified by other researchers. In this work, we present the design, construction, and testing of active polarization imagers at short-wave infrared and visible wavelengths. We explore multiple polarimetric configurations for the imagers, focusing on linear and circular polarization states. The polarized imagers were tested at the Sandia National Laboratories Fog Chamber under realistic fog conditions. Here, we show that active circular polarization imagers can increase range and contrast in fog better than linear polarization imagers. We show that when imaging typical road sign and safety retro-reflective films, circularly polarized imaging has enhanced contrast throughout most fog densities/ranges compared to linearly polarized imaging and can penetrate over 15 to 25 m into the fog beyond the range limit of linearly polarized imaging, with a strong dependence on the interaction of the polarization state with the target materials.

47 OTHER INSTRUMENTATION↗
NASA NTRS2024

Demonstration of the Orion Optical Navigation System on Artemis I

The Orion Optical Navigation (OpNav) System is a first-of-its-kind navigation capability that was demonstrated in space on the Artemis I mission. The OpNav System was tested under a variety of conditions, resulting in over one thousand images of Earth, Moon, and starfields. Pairing the images with ground tracking information, not only did Artemis I provide a basis to evaluate the performance of the Orion OpNav system, but produced a valuable set of imagery/data that can be used to further development and testing of other optical navigation systems.

optical navigation↗