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NASA NTRS2017

GPS/Optical/Inertial Integration for 3D Navigation Using Multi-Copter Platforms

In concert with the continued advancement of a UAS traffic management system (UTM), the proposed uses of autonomous unmanned aerial systems (UAS) have become more prevalent in both the public and private sectors. To facilitate this anticipated growth, a reliable three-dimensional (3D) positioning, navigation, and mapping (PNM) capability will be required to enable operation of these platforms in challenging environments where global navigation satellite systems (GNSS) may not be available continuously. Especially, when the platform's mission requires maneuvering through different and difficult environments like outdoor opensky, outdoor under foliage, outdoor-urban and indoor, and may include transitions between these environments. There may not be a single method to solve the PNM problem for all environments. The research presented in this paper is a subset of a broader research effort, described in [1]. The research is focused on combining data from dissimilar sensor technologies to create an integrated navigation and mapping method that can enable reliable operation in both an outdoor and structured indoor environment. The integrated navigation and mapping design is utilizes a Global Positioning System (GPS) receiver, an Inertial Measurement Unit (IMU), a monocular digital camera, and three short to medium range laser scanners. This paper describes specifically the techniques necessary to effectively integrate the monocular camera data within the established mechanization. To evaluate the developed algorithms a hexacopter was built, equipped with the discussed sensors, and both hand-carried and flown through representative environments. This paper highlights the effect that the monocular camera has on the aforementioned sensor integration scheme's reliability, accuracy and availability.

Dill, Evan T.↗
NASA NTRS2017

Introduction: Photons and Ground-Based

A Conference on Measurement Techniques for Solar and Space Physics was held on 20-24 April 2015 in Boulder, Colorado, at the National Center for Atmospheric Research Center Green Campus. The present volume collects together the conference papers for photons and ground-based categories. This gathering of over 200 scientists and instrumentalists was born out of the desire to collect in one place the latest experiment and instrument technologies required for advancement of scientific knowledge in the disciplines of solar and space physics. The two goals for this conference and the subsequent publication of its content are (a) to describe measurement techniques and technology development needed to advance high priority science in the fields of solar and space physics; and (b) to provide a survey or reference of techniques for in situ measurement and remote sensing of space plasmas. Towards this end, our goal has always been inspired by the two 1998 Geophysical Monographs (Nos. 102 and 103) entitled, "Measurement Techniques in Space Plasmas" (particles and fields) [Pfaff et al., 1998a, 1998b], which have served as a reference and resource for advanced students, engineers, and scientists who wish to learn the fundamentals of measurement techniques and technology in this field. Those monographs were the product of an American Geophysical Union Chapman Conference that took place in Santa Fe, NM, in 1995: "Measurement Techniques in Space Plasmas-What Works, What Doesn't." Two decades later, we believe that it is appropriate to revisit this subject, in light of recent advances in technology, research platforms, and analysis techniques. Moreover, we now include direct measurements of neutral gases in the upper atmosphere, optical imaging techniques, and remote observations in space and on the ground. Accordingly, the workshop was organized among four areas of measurement techniques: particles, fields, photons, and ground-based. This two-set volume is largely composed of the content of that workshop. Special attention is given to those techniques and technologies that demonstrate promise of significant advancement in measurements that will enable the highest priority science as described in the 2012 National Research Council Decadal Survey [Baker and Zurbuchen et al., 2013]. Additionally, a broad tutorial survey of the current technologies is provided to serve as reference material and as a basis from which advanced and innovative ideas can be discussed and pursued. Included are instrumentation and techniques to observe the solar environment from its interior to its outer atmosphere, the heliosphere out to the interstellar regions, in geospace, and other planetary magnetospheres and atmospheres. To make significant progress in priority science as expressed in the National Research Council solar and space physics decadal survey and recent NASA Heliophysics roadmaps, identification of enabling new measurement techniques and technologies to be developed is required. Also, it is valuable to the community and future scientists and engineers to have a complete survey of the techniques and technologies used by the practitioners of solar and space physics. As with the 1995 conference and subsequent 1998 publication, it is incumbent on the community to identify those measurements that are particularly challenging and still require new techniques to be identified and tested to enable the necessary accuracy and resolution of certain parameters to be achieved. The following is a partial list of the measurement technique categories that are featured in these special publications: Particles; Thermal plasma to MeV energetic particles, neutral gas properties including winds, density, temperature, and composition, and enhanced neutral atom imaging; Fields; DC electric and magnetic fields, plasma waves, and electron drift instruments from which the plasma velocity information provides a measure of the DC electric field; Photons; Instruments sensitive from the near-infrared to X-rays; Contributions of techniques and technology for optical design, optical components, sensors, material selection for cameras, telescopes, and spectrographs; Ground based; Remote sensing methods for solar and geospace activity and space weather. The focus includes solar observatories, all-sky cameras, lidars, and ionosphere thermosphere mesosphere observatory systems such as radars, ionosondes, GPS receivers, magnetometers, conjugate observations, and airborne campaigns. The present volume collects together the papers for photons and ground-based categories. The companion volume collects together the papers for particles and fields categories. It is recognized that there are measurement techniques that overlap among the four categories. For example, use of microchannel plate detectors is used in photon and particle measurement techniques or the observation of visible photons and magnetic fields in space and on the ground share common technologies. Therefore, the reader should consider the entire collection of papers as they seek to understand particular applications. We hope that these volumes will be as valuable as a reference for our community as the earlier 1998 volumes have been.

Spann, James↗
NASA NTRS2011

Sensitivity of Magnetospheric Multi-Scale (MMS) Mission Naviation Accuracy to Major Error Sources

The Magnetospheric Multiscale (MMS) mission consists of four satellites flying in formation in highly elliptical orbits about the Earth, with a primary objective of studying magnetic reconnection. The baseline navigation concept is independent estimation of each spacecraft state using GPS pseudorange measurements referenced to an Ultra Stable Oscillator (USO) with accelerometer measurements included during maneuvers. MMS state estimation is performed onboard each spacecraft using the Goddard Enhanced Onboard Navigation System (GEONS), which is embedded in the Navigator GPS receiver. This paper describes the sensitivity of MMS navigation performance to two major error sources: USO clock errors and thrust acceleration knowledge errors.

Olson, Corwin↗
NASA NTRS2018

SLS Navigation Model-Based Design Approach

The SLS Program chose to implement a Model-based Design and Model-based Requirements approach for managing component design information and system requirements. This approach differs from previous large-scale design efforts at Marshall Space Flight Center where design documentation alone conveyed information required for vehicle design and analysis and where extensive requirements sets were used to scope and constrain the design. The SLS Navigation Team has been responsible for the Program-controlled Design Math Models (DMMs) which describe and represent the performance of the Inertial Navigation System (INS) and the Rate Gyro Assemblies (RGAs) used by Guidance, Navigation, and Controls (GN&C). The SLS Navigation Team is also responsible for the navigation algorithms. The navigation algorithms are delivered for implementation on the flight hardware as a DMM. For the SLS Block 1-B design, the additional GPS Receiver hardware is managed as a DMM at the vehicle design level. This paper provides a discussion of the processes and methods used to engineer, design, and coordinate engineering trades and performance assessments using SLS practices as applied to the GN&C system, with a particular focus on the Navigation components. These include composing system requirements, requirements verification, model development, model verification and validation, and modeling and analysis approaches. The Model-based Design and Requirements approach does not reduce the effort associated with the design process versus previous processes used at Marshall Space Flight Center. Instead, the approach takes advantage of overlap between the requirements development and management process, and the design and analysis process by efficiently combining the control (i.e. the requirement) and the design mechanisms. The design mechanism is the representation of the component behavior and performance in design and analysis tools. The focus in the early design process shifts from the development and management of design requirements to the development of usable models, model requirements, and model verification and validation efforts. The models themselves are represented in C/C++ code and accompanying data files. Under the idealized process, potential ambiguity in specification is reduced because the model must be implementable versus a requirement which is not necessarily subject to this constraint. Further, the models are shown to emulate the hardware during validation. For models developed by the Navigation Team, a common interface/standalone environment was developed. The common environment allows for easy implementation in design and analysis tools. Mechanisms such as unit test cases ensure implementation as the developer intended. The model verification and validation process provides a very high level of component design insight. The origin and implementation of the SLS variant of Model-based Design is described from the perspective of the SLS Navigation Team. The format of the models and the requirements are described. The Model-based Design approach has many benefits but is not without potential complications. Key lessons learned associated with the implementation of the Model Based Design approach and process from infancy to verification and certification are discussed

Oliver, T. Emerson↗
NASA NTRS2018

SLS Model Based Design: A Navigation Perspective

The SLS Program has implemented a Model-based Design (MBD) and Model-based Requirements approach for managing component design information and system requirements. This approach differs from previous large-scale design efforts at Marshall Space Flight Center where design documentation alone conveyed information required for vehicle design and analysis and where extensive requirements sets were used to scope and constrain the design. The SLS Navigation Team is responsible for the Program-controlled Design Math Models (DMMs) which describe and represent the performance of the Inertial Navigation System (INS) and the Rate Gyro Assemblies (RGAs) used by Guidance, Navigation, and Controls (GN&C). The SLS Navigation Team is also responsible for navigation algorithms. The navigation algorithms are delivered for implementation on the flight hardware as a DMM. For the SLS Block 1B design, the additional GPS Receiver hardware model is managed as a DMM at the vehicle design level. This paper describes the models, and discusses the processes and methods used to engineer, design, and coordinate engineering trades and performance assessments using SLS practices as applied to the GN&C system, with a particular focus on the navigation components.

Oliver, T. Emerson↗
NASA NTRS2019

Sensor Configuration Trade Study for Navigation in near Rectilinear Halo Orbits

Gateway is a NASA program planned to support a human space explorationand prove new technologies for deep space exploration. One of the Gatewayrequirements is to operate in the absence of communications with the Deep SpaceNetwork (DSN) for a period of at least 3 weeks. In this paper three types ofonboard sensors (a camera for optical navigation, a GPS receiver, and X-ray navigation),are considered to enhance its autonomy and reduce the reliance on DSN.A trade study is conducted to explore alternatives on how to achieve autonomy andhow to reduce DSN dependency while satisfying navigation performance requirements.Using linear covariance analysis, the performance of a navigation systemusing DSN and/or the other sensors is shown.

Gateway↗
NASA NTRSDate not supplied

PetitSat - a 6U CubeSat to Examine Plasma Density Enhancements in the Ionosphere

PetitSat is a CubeSat mission designed to examine the link between Medium-Scale Traveling Ionospheric Disturbances (MSTIDs) in the upper atmosphere and plasma density enhancements. The mission will provide in situ measurements of the plasma density, 3D ion drift, as well as ion and neutral composition. The instrument suite includes a combined retarding potential analyzer and cross-track drift meter and an ion-neutral mass spectrometer. This instrument suite will provide comprehensive information about the fluctuations in plasma, as well as changes in the neutral profile. petitSat will launch into a 51 deg inclination orbit at 400 km (consistent with an International Space Station deployment), allowing for numerous conjunctions with the Boston University All-Sky Imager network and GPS receivers from the International Global Navigation Satellite Systems (GNSS) Service (IGS) network over the mission lifetime.

Jeffrey Hamilton Klenzing↗
NASA NTRSDate not supplied

Estimation of Timing Performance with Pulsed Laser Links for Small Satellite PNT

Satellite constellations are growing in size and in utility for applications as diverse as providing reliable, low-latency internet service to rural areas orEarth science missions.This expansion of satellite constellations brings attention to the need for responsive and reliable satellite communication.Current research in the PrecisionSpace Systems Laboratory at the University of Florida focuses on using pulsed laser communications as the method of relaying time signals instead of the radio frequency (RF)signals.The upcoming CLICK (CubeSat Laser Infrared CrosslinK) missions (Massachusetts Institute of Technology, University of Florida, NASA Ames Research Center) will demonstrate a spacecraft-to-spacecraft laser communication link and time-transfer.For pre-flight technology assessment of missions such as CLICK, a simulation of a spacecraft constellation in Earth orbit has been created to estimate clock synchronization and precision orbit determination based on measured instrumentation performance.We have developed a novel MATLAB-based numerical simulator to model spacecraft-to-spacecraft laser time-transfer and estimate the offset between the spacecraft clocks over time.This simulation includes timing errors associated with laser pulse generation and detection, as well as non-Gaussian clock drift models.The two on-board clocks modeled are a cesium-based Chip-Scale Atomic Clock (CSAC) and a rubidium-based Miniature Atomic Clock (MAC), both produced by Microchip.An example case of two spacecraft in a circular, low-Earth orbit receiving GPS position, GPS timing, and laser pulse time-of-flight measurements is simulated.The positions and velocities of the two spacecraft at a reference epoch and the constant clock model coefficients are estimated.Polynomial models of different orders were used as clock models. The effect of clock model order on the root-mean-square (RMS) of the clock error is apparent in the case using GPS and lasing measurements, showing that the clock model improves with increasing clock model order. Results compare the estimated clock model of a mission operation that only uses GPS measurements and a mission operation that uses both GPS and laser pulse time-of-flight measurements between spacecraft referenced to their on-board CSACs or on-board MACs. Including lasing measurements reduces the RMS clock model error by approximately 80% of the RMS of the cases with only GPS measurements.This simulation tool can be used to optimize the lasing operations schedule based on mission timing performance objectives. During this presentation, I will discuss the details of the simulation and clock model estimation, as well as discuss the results.I will compare the results of incorporating lasing timing measurements to using only GPS measurements and the outcomes of using different orders of polynomials.

Timing Performance↗
NASA NTRSDate not supplied

Overview of Additively Manufactured TPS Proposed Flight Test and Earth Re-Entry Capsule Design

A flight mechanics overview is presented of an Earth flight test designed to investigate a novel, 3D printed thermal protection system (TPS) that is currently in development at NASA as part of the Additive Manufacturing of Thermal Protection Systems project. The project is pioneering a method to print a thermal protection system onto an entry vehicle forebody one layer at a time. This method reduces labor and complexity as compared to traditional manufacturing methods while increasing mission-dependent customization of through-depth materials properties. The flight test has three objectives. First, subject the forebody stagnation point of a capsule equipped with additively manufactured TPS (AMTPS) material to peak heat fluxes in excess of 100 $W/cm^2$. Second, capture in-flight data to enable flight reconstruction and AMTPS material thermal response model improvement. Third, recover the capsule with data storage and forebody AMTPS intact to enable post-flight inspection and analysis of AMTPS performance. The flight test trajectory is designed to achieve a peak stagnation point, cold-wall, entry heat flux of 135~$W/cm^2$. Flight mechanics simulations are performed using the Program to Optimize Simulated Trajectories II (POST2) and Monte-Carlo analysis yields statistical percentiles on vehicle performance at key points along the trajectory. Based on the flight mechanics analysis presented in this paper, a prototype capsule was designed, partially fabricated, and underwent preliminary component stress testing in preparation for fabrication of the flight unit capsule. The capsule outer mold line is a modified version of the heritage Mars Microprobe geometry. The capsule has a 0.356~m diameter, a 30~kg mass, and a hypersonic ballistic coefficient of 300~$kg/m^2$. Sensor selection is guided by flight dynamics simulations with the goal of resolving the re-entry heating pulse. On-board instrumentation include forebody and aftbody pressure sensors and thermocouples, a 9-axis IMU, a GPS receiver, and an Iridium satellite modem, all of which collect and store data throughout flight via on-board avionics systems. A two-stage parachute system is designed to decelerate the capsule to touchdown velocities that will not result in significant fracture or deformation of the charred AMTPS material at ground impact.

Flight Mechanics↗
NASA NTRSDate not supplied

Advancing Autonomy in Distributed Space Systems: Insights From on-Orbit Testing with the Starling 1.0 Mission

Autonomous decision-making is crucial for enhancing mission effectiveness in Distributed Space Systems (DSS), particularly in multi-spacecraft operations where communication constraints and mission complexity pose challenges. The Distributed Spacecraft Autonomy (DSA) team at NASA’s Ames Research Center is advancing autonomy in DSS through five key technical areas: distributed resource and task management, reactive operations, system modeling and simulation, human-swarm interaction, and ad hoc network communications. The DSA experiment onboard the Starling 1.0 Mission showcases collaborative resource allocation for multi-point science data collection with four small spacecraft. Autonomy in decision-making is highlighted as a crucial factor for multi-spacecraft missions, enabling spacecraft to operate independently, reducing reliance on ground control. This capability is particularly significant for future deep-space missions, where communication delays and limited data transmission capacity make traditional command and control approaches impractical. This demonstration focuses on a GPS Channel Selection Experiment, leveraging emergent capabilities like "shared sampling" and "simultaneous sampling" to optimize channel selection across the spacecraft swarm. The experiment aims to capture ionospheric phenomena such as the Equatorial Ionization Anomaly and Polar Patches. The DSA system's autonomous reconfiguration ability is showcased, emphasizing its adaptability to natural phenomena without significant integration efforts. The GPS Channel Selection Experiment utilizes a dual-band GPS receiver to estimate plasma density in the ionosphere. Explorative and exploitative channel selections are employed based on the nature of observed phenomena. The performance of DSA algorithms is evaluated in terms of optimal channel allocations and responsiveness to changes in observed features. The DSA Flight Software utilizes the Core Flight System (cFS) framework, ensuring compatibility with the Starling 1.0 flight mission software. DSA showcases results from RTI’s Connext DDS Micro communication middleware, enabling message routing over the Ad-Hoc Network of Starling 1.0. This paper provides a comprehensive overview of the DSA experiment's initial results, emphasizing the advancements in autonomy for Distributed Space Systems and the successful collaboration with the Starling 1.0 mission.

Caleb Ashmore Adams↗
NASA NTRS2000

Determining Wind Speed and Direction with Ocean Reflected GPS Signals

The power received by a GPS receiver located on an airplane flying over the ocean and collecting the GPS signal reflected off the surface is estimated for varying wind speed and wind direction, platform altitude, satellite elevation angle, and receiver integration time.

GPS Remote Sensing Scatterometry Doppler Filtering↗
NASA NTRS1983

Architecture and performance of a new GPS time transfer and positioning receiver

This paper describes the Interstate Electronics 4200 GPS Receiver System that has been developed for time transfer and low dynamic positioning applications. The receiver employs the NAVSTAR Global Positioning System (GPS) l sub 1 C/A code and has three optional solution modes fo the clock/navigation state estimation.

Kido, T. I.↗
NASA NTRS1983

Test results of the STI GPS time transfer receiver

Global time transfer, or synchronization, between a user clock and USNO UTC time can be performed using the Global Positioning System (GPS), and commercially available time transfer receivers. This paper presents the test results of time transfer using the GPS system and a Stanford Telecommunications, Inc. (STI) Time Transfer System (TTS) Model 502. Tests at the GPS Master Control Site (MCS) in Vandenburg, California and at the United States Naval Observatory (USNO) in Washington, D.C. are described. An overview of GPS, and the STI TTS 502 is presented. A discussion of the time transfer process and test concepts is included.

Hall, D. L.↗
NASA NTRS1995

Wakeshield WSF-02 GPS Experiment

Shuttle mission STS-69 was launched on September 7, 1995, 10:09 CDT, carrying the Wake Shield Facility (WSF-02). The WSF-02 spacecraft included a set of payloads provided by the Texas Space Grant Consortium, known as TexasSat. One of the TexasSat payloads was a GPS TurboRogue receiver loaned by the University Corporation for Atmospheric Research. On September 11, the WSF-02 was unberthed from the Endeavour payload bay using the remote manipulator system. The GPS receiver was powered on prior to release and the WSF-02 remained in free-flight for three days before being retrieved on September 14. All WSF-02 GPS data, which includes dual frequency pseudorange and carrier phase, were stored in an on-board recorder for post-flight analysis, but "snap- shots" of data were transmitted for 2-3 minutes at intervals of several hours, when permitted by the telemetry band- widdl The GPS experiment goals were: (1) an evaluation of precision orbit determination in a low altitude environment (400 km) where perturbations due to atmospheric drag and the Earth's gravity field are more pronounced than for higher altitude satellites with high precision orbit requirements, such as TOPEX/POSEIDON; (2) an assessment of relative positioning using the WSF GPS receiver and the Endeavour Collins receiver; and (3) determination of atmospheric temperature profiles using GPS signals passing through the atmosphere. Analysis of snap-shot telemetry data indicate that 24 hours of continuous data were stored on board, which includes high rate (50 Hz) data for atmosphere temperature profiles. Examination of the limited number of real-time navigation solutions show that at least 7 GPS satellites were tracked simultaneously and the on-board clock corrections were at the microsec level, as expected. Furthermore, a dynamical consistency test provided a further validation of the on-board navigation solutions. Complete analysis will be conducted in post-flight using the data recorded on-board.

Schutz, B. E.↗
NASA NTRS1995

Satellite Constellations for Atmospheric Sounding with GPS: A Revolution in Atmospheric and Ionospheric Research

Spaceborne Global Positioning System (GPS) atmospheric science is blossoming. Proposed missions require high performance GPS flight receivers with capabilities beyond most space needs. With GPS technology maturing, and lower cost spaceborne receivers, GPS usage is expanding rapidly for space flight projects. Several of these are discussed, such as atmospheric occultation, ionospheric imaging, etc.

Global Positioning System GPS Atmospheric Science ↗