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The first mission of NASA's New Millenium Program, Deep Space 1, has, as one of its principal demonstration technologies, the first autonomous optical navigation system to be used in deep space.
Faraday-rotation data from the linearly polarized 137-MHz beacons of the ATS-1, SIRIO, and Kiku-2 geosynchronous satellites are used to determine the ionospheric corrections to the range and Doppler data for interplanetary spacecraft navigation. The JPL operates the Deep Space Network of tracking stations for NASA; these stations monitor Faraday rotation with dual orthogonal, linearly polarized antennas, Teledyne polarization tracking receivers, analog-to-digital converter/scanners, and other support equipment. Computer software examines the Faraday data, resolves the pi ambiguities, constructs a continuous Faraday-rotation profile and converts the profile to columnar zenith total electron content at the ionospheric reference point; a second program computes the line-of-sight ionospheric correction for each pass of the spacecraft over each tracking complex. Line-of-sight ionospheric electron content using mapped Faraday-rotation data is compared with that using dispersive Doppler data from the Voyager spacecraft; a difference of about 0.4 meters, or 5 x 10 to the 16th electrons/sq m is obtained. The technique of determining the electron content of interplanetary plasma by subtraction of the ionospheric contribution is demonstrated on the plasma torus surrounding the orbit of Io.
Navigational accuracy of two way Doppler tracking of interplanetary spacecraft during heliocentric and planetary encounter trajectory phases
The applications of practical optical image sensing CCDs to interplanetary spacecraft precision science payload delivery are discussed. The increasing demand for precision and flexibility in spacecraft for proposed new missions is forcing a transition to autonomous onboard navigation and pointing control. Onboard processing of video data is a crucial element in this transition and is made possible by CCD imagers and microprocessors. The pending Halley's comet close flyby is used as an example to examine details of the sensor design and the data processing which will meet the requirements. Target body centerfinding for optical navigation, target body tracking signal processing, and CCD sensor heads are examined, and flow charts and block diagrams are given for each.
This paper presents an investigation of the navigation accuracy that can be achieved with two-way coherent X-band Doppler phase and frequency data; both theoretical and practical aspects of the two Doppler formulations are addressed.
The use of optical data from onboard television cameras for the navigation of interplanetary spacecraft during the planet approach phase is investigated. Three optical data types were studied: the planet limb with auxiliary celestial references, the satellite-star, and the planet-star two-camera methods. Analysis and modelling issues related to the nature and information content of the optical methods were examined. Dynamic and measurement system modelling, data sequence design, measurement extraction, model estimation and orbit determination, as relating optical navigation, are discussed, and the various error sources were analyzed. The methodology developed was applied to the Mariner 9 and the Viking Mars missions. Navigation accuracies were evaluated at the control and knowledge points, with particular emphasis devoted to the combined use of radio and optical data. A parametric probability analysis technique was developed to evaluate navigation performance as a function of system reliabilities.
A set of experiments in the use of Differential Very Long Baseline Interferometry for spacecraft navigation have been completed. Data using both Voyager spacecraft and a single quasar were acquired during the Jupiter encounter time period. The data were processed and analyzed in order to assess the navigation accuracy of Differential Very Long Baseline Interferometry. The paper focuses on the data reduction and techniques for assessing data quality and consistency.
The first mission of NASA's New Millennium Program, Deep Space 1, has, as one of its principal demonstration-technologies, the first autonomous optical navigation system to be used in deep space.
CubeSats are miniaturized spacecraft of small mass that comply with a form specification so they can be launched using standardized deployers. Since the launch of the first CubeSat into Earth orbit in June of 2003, hundreds have been placed into orbit. There are currently a number of proposals to launch and operate CubeSats in deep space, including MarCO, a technology demonstration that will launch two CubeSats towards Mars using the same launch vehicle as NASA's Interior Exploration using Seismic Investigations, Geodesy and Heat Transport (InSight) Mars lander mission. The MarCO CubeSats are designed to relay the information transmitted by the InSight UHF radio during Entry, Descent, and Landing (EDL) in real time to the antennas of the Deep Space Network (DSN) on Earth. Other CubeSatts proposals intend to demonstrate the operation of small probes in deep space, investigate the lunar South Pole, and visit a near Earth object, among others. Placing a CubeSat into an interplanetary trajectory makes it even more challenging to pack the necessary power, communications, and navigation capabilities into such a small spacecraft. This paper presents some of the challenges and approaches for successfully navigating CubeSats and other small spacecraft in deep space.
Midcourse simulator analysis of manual sextant sighting for interplanetary navigation
The automation of interplanetary spacecraft is becoming increasingly desirable to meet various mission requirements. A prototype of an autonomous spacecraft which will fly by an asteroid and comet is slated for flight in mid-1998 as part of NASA's New Millenium Program.
Doppler and ranging measurements between spacecraft can be obtained only when the ratio of the total received signal power to noise power density (P(sub t/N(sub 0)) at the receiving spacecraft is sufficiently large that reliable signal detection can be achieved within a reasonable time period. In this paper, the requirements on P(sub t)/N(sub 0) for reliable carrier signal detection is calculated as a function of various system parameters, including characteristics of the spacecraft computing hardware and a priori uncertainty in spacecraft-spacecraft relative velocity and acceleration. Also calculated is the P(sub t)/N(sub 0) requirement for relaible detection of a ranging signal, consistting of a carrier with pseudo-noise phase modulation. Once the P(sub t)/N(sub 0) requirement is determined, then for a given set of assumed spacecraft telecommunication characteristics (transmitted signal power, antenna gains, receiver noise temperatures) it is possible to calculate the maximum range at which a carrier signal or ranging signal may be acquired. A brief error covariance analysis has been conducted to illustrate the utility of in situ Doppler and ranging measurements for Mars approach navigation. The results indicate that navigation accuracies of a few kilometers can be achieved with either data type. The analysis also illustrates dependency of the achievable accuracy on the approach trajectory velocity.
The Mars Surveyor Program (MSP) is an ongoing series of missions designed to robotically study, map and search for signs of life on the planet Mars. The MSP 2001 project will advance the effort by sending an orbiter, a lander and a rover to the red planet in the 2001 opportunity. Each vehicle will carry a science payload that will Investigate the Martian environment on both a global and on a local scale. Although this mission will not directly search for signs of life, or cache samples to be returned to Earth, it will demonstrate certain enabling technologies that will be utilized by the future Mars Sample Return missions. One technology that is needed for the Sample Return mission is the capability to place a vehicle on the surface within several kilometers of the targeted landing site. The MSP'01 Lander will take the first major step towards this type of precision landing at Mars. Significant reduction of the landed footprint will be achieved through two technology advances. The first, and most dramatic, is hypersonic aeromaneuvering; the second is improved approach navigation. As a result, the guided entry will produce in a footprint that is only tens of kilometers, which is an order of magnitude improvement over the Pathfinder and Mars Polar Lander ballistic entries. This reduction will significantly enhance scientific return by enabling the potential selection of otherwise unreachable landing sites with unique geologic interest and public appeal. A landed footprint reduction from hundreds to tens of kilometers is also a milestone on the path towards human exploration of Mars, where the desire is to place multiple vehicles within several hundred meters of the planned landing site. Hypersonic aeromaneuvering is an extension of the atmospheric flight goals of the previous landed missions, Pathfinder and Mars Polar Lander (MPL), that utilizes aerodynamic lift and an autonomous guidance algorithm while in the upper atmosphere. The onboard guidance algorithm will control the direction of the lift vector, via bank angle modulation, to keep the vehicle on the desired trajectory. While numerous autonomous guidance algorithms have been developed for use during hypersonic flight at Earth, this will be the first flight of an autonomously directed lifting entry vehicle at Mars. However, without sufficient control and knowledge of the atmospheric entry conditions, the guidance algorithm will not perform effectively. The goal of the interplanetary navigation strategy is to deliver the spacecraft to the desired entry condition with sufficient accuracy and knowledge to enable satisfactory guidance algorithm performance. Specifically, the entry flight path angle must not exceed 0.27 deg. to a 3 sigma confidence level. Entry errors will contribute directly to the size of the landed footprint and the most significant component is entry flight path angle. The size of the entry corridor is limited on the shallow side by integrated heating constraints, and on the steep side by deceleration (g-load) and terminal descent propellant. In order to meet this tight constraint it is necessary to place a targeting maneuver seven hours prior to the time of entry. At this time the trajectory knowledge will be quite accurate, and the effects of maneuver execution errors will be small. The drawback is that entry accuracy is dependent on the success of this final late maneuver. Because propulsive maneuvers are critical events, it is desirable to minimize their occurrence and provide the flight team with as much response time as possible in the event of a spacecraft fault. A mission critical maneuver at Entry - 7 hours does not provide much fault tolerance, and it is desirable to provide a strategy that minimizes reliance on this maneuver. This paper will focus on the Improvements in interplanetary navigation that will decrease entry errors and will reduce the landed footprint, even in the absence of aeromaneuvering. The easiest to take advantage of are Improvements In the knowledge of the Mars ephemeris and gravity field due to the MGS and MSP'98 missions. Improvements In data collection and reduction techniques such as "precislon ranging' and near-simultaneous tracking will also be utilized. In addition to precise trajectory control, a robust strategy for communications and flight operations must also be demonstrated. The result Is a navigation and communications strategy on approach that utilizes optimal maneuver placement to take advantage of trajectory knowledge, minimizes risk for the flight operations team, is responsive to spacecraft hardware limitations, and achieves the entry corridor. The MSP2001 mission Is managed at JPL under the auspices of the Mars Exploration Directorate. The spacecraft flight elements are built and managed by Lockheed-Martin Astronautics in Denver, Colorado.
Charge Coupled Devices (CCD) will be used as optical navigation image detectors in space missions planned for the 1980's. This paper presents analyses directed at assessing the performance of an imaging system employing a CCD (i.e., a solid state imager (SSI)), for a Jovian satellite tour environment. CCD operating principles are summarized and methods of calculating theoretical dynamic range presented. Methods of analyzing the SSI's ability to perform the fundamental optical navigation function of imaging a target body and one or more stars, are presented. This capability is expressed as a function of SSI optical and electronic parameters and of astrophysical parameters. The influence of these factors and pointing control errors on navigation picture budgets is analyzed. The effect of the sun's glare is analyzed from the standpoint of its reduction of SSI dynamic range and increase of navigation picture budget. Radiation effects on SSI navigation imaging performance are discussed and a method of analyzing probabilities of distinguishing real from false stars presented.
Optical observations were necessary during the Voyager II Uranus approach and encounter in order to meet mission navigational requirements. In this paper, the overall optical navigation system and operation at Uranus are outlined. The formulation of the optical observables are presented, as well as their subsequent integration into the overall orbit determination products. Optical data analysis and some resulting orbit determination results from Uranus are shown. Certain scientifically important results were natural outcomes of the optical data analysis, and these are also reviewed. Finally, certain optical navigation related problems are anticipated at the forthcoming Neptune encounter in 1989; these are briefly discussed as are plans to deal with them.
The JPL Navigation and Mission Design Section has two related tasks: Mission Design: calculate a nominal trajectory which meets the diverse needs of the scientists on a particular mission. Locate deterministic maneuvers required to fly the nominal trajectory, while locating statistical maneuvers which correct errors in the actual trajectory. Navigation estimates the flight path of a spacecraft (orbit determination) using three fundamental data sets: ground based astrometric data; radio metric tracking data (Doppler, range).
Doppler and ranging measurements between spacecraft can be obtained only when the ratio of the total received signal power to noise power density at the receiving spacecraft is sufficiently large that reliable signal detection can be achieved within a reasonable time period.
Interplanetary-navigation procedures for Mariner spacecraft voyage to Mars evaluated, considering initial conditions, gravitational fields and other disturbing forces