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Demonstration of Two Extended Visual Line of Sight Methods for Urban UAV Operations

This report describes two extended visual line of sight (EVLOS) methods developed and utilized during two flight campaigns over the campus of NASA Langley Research Center (LaRC): a chase vehicle method and a radio controlled (RC) pilot handoff method. These campaigns were performed to (a) evaluate small unmanned aerial system (sUAS) flight beyond the visual line of sight (BVLOS) of the ground control station operator and (b) test technologies under development to enable a transition from EVLOS to BVLOS operations. While an autonomous waypoint-based operational approach enabled minimal pilot intervention in both methods, range containment was enforced (a) manually via continual pilot visual monitoring and (b) autonomously via on-board contingency landing autonomy triggerable at the boundary of stay-in geofences. In the thirty-nine flights which utilized the chase vehicle, the pilot followed the sUAS flying a 1.2 km path at 40m altitude over urban streets. In the fifteen flights which utilized pilot handoff, a pilot at one end of a 1.5 km path initiated the flight at 120m altitude over buildings and trees, and at the midway point of the path transferred radio control to a pilot at the other end. In comparison, the chase vehicle method requires less ground crew and simpler avionics, while the pilot handoff method avoids schedule risk arising from street traffic congestion but better replicates actual direct routing for BVLOS flights. Collision risk with another aircraft was introduced in both campaigns and mitigated with the same manual and autonomous methods. Results from these campaigns serve as a basis for planned BVLOS operations at NASA LaRC.

Nicholas Rymer↗

Pursit-evasion game analysis in a line of sight coordinate system

The paper proposes to use line of sight coordinates for the analysis of pursuit-evasion games. The advantage of this method for two-target games is shown to be evident. As a demonstrative example the game of two identical cars is formulated and solved in such coordinate systems. A new type of singular surface, overlooked in a previous study of the same problem, is discovered as a consequence of the simplicity of the solution.

Shinar, J.↗

A line-of-sight performance criterion for controller design of a proposed laboratory model

A line-of-sight performance criterion is derived for a proposed Controls Structures Interaction model, and its many uses in the control design process for fine pointing control are illustrated. A linearized line-of-sight (LOS) criterion is used for direct controller design and as a performance measure to judge different control methodologies. Numerical simulation results are shown where the three approaches: linear quadratic Gaussian theory, robust eigensystem assignment, and local velocity feedback are used for vibration control. Results indicate that the linear quadratic Gaussian controller, which incorporates a linearized LOS weighting matrix directly, yields good performance without wasting energy to control motions that have no influence on the LOS.

Lim, Kyong B.↗

Optical studies of interstellar material in low density regions of the Galaxy. I - A survey of interstellar Na I and Ca II absorption toward 57 distant stars

We present high-resolution spectra of the Na I D and Ca II K lines toward 57 late-O and early-B stars along extended (d greater than 1 kpc) low-density paths through the Milky Way disk and halo. The sight lines preferentially sample diffuse gas in the interstellar medium (ISM) along interarm, Galactic center, and high latitude directions. We measure equivalent widths, apparent column densities, and absorption component structure. The Ca II to Na I ratios presented as a function of velocity for each sight line exhibit variations due to elemental depletion, ionization, and density enhancements. Absorption along high latitude sight lines is kinematically simpler than it is along interarm and Galactic center sight lines. Galactic rotation noticeably broadens the absorption profiles of distant stars located in these latter directions. Along several sight lines, we see Ca II absorption at velocities corresponding to large distances (/z/ about 1 kpc) from the Galactic plane. The effects of differences in the Ca II and Na I scale heights and nonzero velocity dispersions are readily apparent in the data. Brief notes are given for several sight lines with interesting absorption properties.

Sembach, K. R.↗

The alpha Centauri Line of Sight: D/H Ratio, Physical Properties of Local Interstellar Gas, and Measurement of Heated Hydrogen (The 'Hydrogen Wall') Near the Heliopause

We analyze high-resolution spectra of the nearby (1.34 pc) stars alpha Cen A (G2 V) and alpha Cen B (K1 V), which were obtained with the Goddard High Resolution Spectrograph on the Hubble Space Telescope. The observations consist of echelle spectra of the Mg II 2800 A and Fe II 2599 A resonance lines and the Lyman-alpha lines of hydrogen and deuterium. The interstellar gas has a velocity (v = - 18.0 +/- 0.2 km/s) consistent with the local flow vector proposed for this line of sight by Lailement & Berlin (1992). The temperature and nonthermal velocity inferred from the Fe II, Mg II, and D I line profiles are T = 5400 +/- 500 K and xi = 1.20 +/- 0.25 km/s, respectively. However, single-component fits to the H I Lyman-alpha lines yield a Doppler parameter (b(sub HI) = 11.80 km/s) that implies a significantly warmer temperature of 8350 K, and the velocity of the H I absorption (v = - 15.8 +/- 0.2 km/s) is redshifted by about 2.2 km/s with respect to the Fe II, Mg II, and D I lines. The one-component model of the interstellar gas suggests natural logarithm N base HI = 18.03 +/- 0.01 and D/H = (5.7 +/- 0.2) x 10(exp -6) . These parameters lead to a good fit to the observed spectra, but this model does not explain the higher temperature and redshift of H I relative to the other interstellar lines. The most sensible way to resolve the discrepancy between H(I) and the other lines is to add a second absorption component to the H(I) lines. This second component is hotter (T approx. equals 30,000 K), is redshifted relative to the primary component by 2-4 km/s, and has a column density too low to be detected in the Fe(II), Mg(II), and D(I) lines. We propose that the gas responsible for this component is located near the heliopause, consisting of the heated H I gas from the interstellar medium that is compressed by the solar wind. This so-called 'hydrogen wall' is predicted by recent multifluid gasdynamical models of the interstellar gas and solar wind interaction. Our data provide the first measurements of the temperature and column density of H(I) in the hydrogen wall. After considering the effects that a corresponding hydrogen wall around alpha Cen would have on our analysis, our best estimates for the parameters of the solar hydrogen wall are natural log N(sup (2))(H(I)) = 14.74 +/- 0.24, b(sup (2))(H(I)) = 21.9 +/- 1.7 km/s (corresponding to T = 29,000 +/- 5000 K), and v(sup (2))(H(I)) greater than -16km/s. Unfortunately, the existence of this heated H(I) reduces our ability to compute the H(I) column density of the interstellar medium accurately because, with slight alterations to our assumed stellar Lyman-alpha profiles, we discovered that acceptable two-component fits also exist with natural log N(H(I))approx. 17.6. We, therefore, quote large error bars for the H I column density along the alpha Cen line of sight, natural log N(H(I)) = 17.80 +/- 0.30. For this range in N(H(I)), n(H(I)) = 0.15 /cu.cm (+/- a factor of 2) and D/H = (0.5-1.9) x 10(exp -5). This is the first direct measurement of the H(I) density in a local cloud and allows us to predict the distance from the Sun to the edge of the local cloud along various lines of sight. This range in D/H is consistent with the value D/H = 1.6 x 10(exp -5) previously derived for the Capella and Procyon lines of sight. We cannot tell whether D/H ratio varies or is constant in the local interstellar medium, but we do find that the D(I)/Mg(II) ratio for the alpha Cen line of sight is about 4 times smaller than for the Capella and Procyon lines of sight. Therefore, either D/H or the Mg depletion varies significantly over distance scales of only a few parsecs.

Linsky, Jeffrey L.↗

The ratio of deuterium to hydrogen in interstellar space. IV - The lines of sight to Delta, Epsilon, and Iota Orionis

Deuterium absorption features in spectra of Delta, Epsilon, and Iota Ori obtained with Copernicus are analyzed. The Iota Ori line-of-sight analysis, which is quite detailed because of the high-velocity H I components superposed on the deuterium features, gives a D/H ratio (which is uncertain because of a complex profile) of 0.000014. A D/H ratio of the order of 7 millionths is determined for Delta and Epsilon Ori. For the complex line profiles involved, one may regard this as a formal lower limit. Several attempts were made to increase the ratio N(D I)/N(H I) in the context of reasonable models for the line of sight, but with no success; the derived values are therefore regarded as actual values, not lower limits. Since the derived value is an average on the line of sight, the possibility cannot be ruled out that the true ratios N(D I)/N(H I) in individual nearby components differ from the mean values. The mean value for these two directions is lower by a factor of 4 than the best value for the Zeta Pup line of sight (the highest yet derived for path lengths greater than 50 pc).

Laurent, C.↗

CME Prediction from Line-of-Sight Magnetogram

We have previously shown for bipolar active regions that measures of active-region nonpotentiality from vector magnetograms are correlated with active-region CME productivity. We have now obtained a measure from line-of-sight magnetograms that is well correlated both with our measures of active-region nonpotentiality from vector magnetograms and with active-region CME productivity. The measure is the length of strong-gradient main neutral line (L(sub G)). This is the length of the bipolar region's main neutral line on which the potential transverse field is greater than 150G, and the gradient in the line-of-sight field is greater than 50G/Mm. From the sample of 17 MSFC magnetograms of 12 basically bipolar active regions used in our previous paper, we find that L(sub G) is strongly correlated with one of our vector-magnetogram measures of nonpotentiality, the length of strong-gradient main neutral line L(sub SS) (99.7%). We also find that L(sub G) is as strongly correlated with CME productivity (99.7%) as is L(sub SS). Being obtainable from line-of-sight magnetograms, L(sub G) makes the much larger data set of line-of-sight magnetograms (i.e. from SOHO/MDI and Kitt Peak) available for CME prediction study. This is especially important for evolutionary studies, with SOHO/MDI having no daylight, cloudy weather, or atmospheric seeing problems. This work was supported by funding from NSF's division of Atmospheric Sciences (Space Weather and Shine Programs) and by NASA's office of Space Science (Living with a Star program Solar and Heliospheric Physics Supporting Research and Technology program).

Falconer, D. A.↗

The interstellar medium near the sun. II - The line of sight to Alpha Virginis

Measurements of the UV interstellar lines in Alpha Vir between 935 and 2960 A are reported. The derived abundances indicate significant depletion of Al, Si, Mn, Fe, and possibly Mg, whereas S, C, Ar, and O appear to be essentially undepleted. About half the gas is shown to be ionized, with a mean electron density of no more than 1 per cu cm, and the remainder is neutral, though both regions have the same velocity to within 2 km/s. A small fraction of the gas is apparently at a temperature of 400,000 K. The possibility of measuring the temperature of the H I gas is discussed, using the observed relationship between Doppler width and mass. A detailed discussion is included of the data analysis useful for comparatively simple lines of sight in terms of density, temperature, and extent of the possible physical regions, and of the relevant radiation field. An unidentified feature at 1063.2 A is reported.

York, D. G.↗

Safety Case for Small Uncrewed Aircraft Systems (sUAS) Beyond Visual Line of Sight (BVLOS) Operations at NASA Langley Research Center

This Technical Memorandum (TM) is written to provide for dissemination of the methods and safety considerations for operations of small Uncrewed Aerial Systems (sUAS) Beyond Visual Line-of-Sight (BVLOS)at NASA Langley Research Center. It includes the Safety Case used to acquire a BVLOS Certificate of Authorization (COA) from the FAA and is being published to enable others to benefit from this work. The intended operations, subject to approval from the Federal Aviation Administration (FAA) and the National Aeronautics and Space Administration (NASA), will include a combination of Within Visual Line of Sight (WVLOS) and Beyond Visual Line of Sight (BVLOS) flights, comprising of at most five sUAS operating concurrently, with no more than three operating BVLOS. Flights will occur in a subset of the Langley Air Force Base (LAFB) Class D airspace (KLFI) at a maximum altitude of 400 ft AGL. Most operations within this subset will take place in the City Environment Range Testing for Autonomous Integrated Navigation (CERTAIN) Range. The CERTAIN Range includes airspace inside the borders of NASA Langley Research Center (LaRC). Additional airspace over the northern section of CERTAIN will be requested as part of the Certificate of Authorization (COA). NASA LaRC BVLOS operations on the CERTAIN Range can be broken down into five critical components needed to meet the 14 CFR § 91.113 see and avoid requirement: 1) procedural deconfliction with LAFB for UAS operations at or below 400 ft and manned aircraft at or above 900’ AGL; 2) ground equipment for detection of intruder aircraft and to support communications between crewmembers ; 3) sUAS vehicles with advanced onboard automation capable of autonomously maintaining safe separation; 4) BVLOS standardized operating procedures (SOPs); 5) and personnel to execute the flight operations in accordance with the SOPs and respond to airborne contingencies. The introduction of new ground equipment includes the use of the Remote Operations for Autonomous Missions (ROAM) UAS Operations Center, development and use of an Integrated Airspace Display (IAD), use of the L-STAR and GA-9120 radars, and the incorporation of standardized Vertiports. The ROAM Operations Center will be the central point for all BVLOS sUAS operations. All command and control (C2), voice communications and airspace awareness displays will reside inside ROAM. The IAD will provide raw data from ADS-B, FLARM, radar tracks and telemetered GPS vehicle positions for interpretation by an Airspace Monitor. The radars will search the class D airspace around the CERTAIN Range and serve as a backup to procedural deconfliction procedures coordinated with LAFB. In the event of a procedural deconfliction breakdown, radar detections of non-participating aircraft will be available so that the 91.113 see and avoid requirement can still be safely met. Finally, the incorporation of Vertiports will have video and network connectivity that enables large numbers of sUAS launches and recoveries from a single location. This is a continuation of the remote command and control of unpiloted aircraft component focused on evaluating unpiloted aircraft flight crew roles and responsibilities, control interfaces and the associated data links needed to operate a fleet of aircraft within a UAM Ecosystem. This work supports the development of future aviation operational concepts based on an Urban Air Mobility Maturity Level (UML) 4 environment (Patterson, 2020). It is assumed that future airspace will include hundreds of simultaneous aircraft operations within the airspace, therefore scalable operations are essential for enabling this future airspace to become a reality. Follow on work includes envisioned flights that expand operations beyond the CERTAIN range and lead to an effective Maritime Surveillance capability.

Matthew W Coldsnow↗

Analytical Techniques for Assessing Gateway and Other Spacecraft Antenna Line-of-Sight

NASA’s Artemis program is committed to landing the next man and the first woman on the Moon by 2024. A critical piece of infrastructure for the mission, the Gateway will inaugurate a sustainable crewed presence beyond low-Earth orbit in cis-lunar space and serve as a staging point for a lunar landing system. The Near Rectilinear Halo Orbit of the Gateway offers numerous operational benefits in terms of its Earth access via the Orion Multipurpose Crew Vehicle, the degree of lunar visibility and surface access it provides, and favorable conditions for station-keeping. To minimize burns during station-keeping and conserve propellant, the Gateway will continually align itself to a solar pressure equilibrium attitude with the Sun; this is convenient for solar array orientation and power generation, but causes difficulties in terms of communication line-of-sight with the Earth, Moon, and visiting vehicles, which appear to be continually rotating about the Gateway’s local frame. A fixed antenna on the Gateway is continually subject to a moving target and can find itself obstructed by the Gateway’s own geometry frequently if not placed carefully. To understand the performance of either Earth-pointing or Moon-pointing antenna placements for a given Gateway geometry, a transient solar system simulation of the Gateway is used to step through orbital ephemeris data and determine the periods in which line-of-sight to a chosen target is achieved and lost. Antenna placements can be tested in the simulation and optimized to increase the average line-of-sight exposure to the target, while also minimizing the maximum duration cut-out in line-of-sight communication experienced; long durations without a successful communication link could pose threats to operations, safety, and mission success. It may be necessary to deviate from the Gateway’s solar pressure equilibrium attitude for short periods of time in order to continue a successful line-of-sight link to a chosen target. Communication coverage spheres can offer insight into what these necessary attitude adjustments may be and are generated by using a 3D mesh of the Gateway and an implementation of the Möller-Trumbore intersection algorithm. This paper outlines the analytical techniques used to perform such antenna placements on the Gateway, offering examples of how line-of-sight strength can be enhanced with an understanding of the Gateway geometry and attitude constraints. These techniques have had direct impact on the writing of communication requirements for NASA and international partner-owned Gateway elements.

Kennedy, William J.↗

Analytical Techniques for Assessing Gateway and Other Spacecraft Antenna Line-of-Sight

NASA’s Artemis program is committed to landing the next man and the first woman on the Moon by 2024. A critical piece of infrastructure for the mission, the Gateway will inaugurate a sustainable crewed presence beyond low-Earth orbit in cis-lunar space and serve as a staging point for a lunar landing system. The Near Rectilinear Halo Orbit of the Gateway offers numerous operational benefits in terms of its Earth access via the Orion Multipurpose Crew Vehicle, the degree of lunar visibility and surface access it provides, and favorable conditions for station-keeping. To minimize burns during station-keeping and conserve propellant, the Gateway will continually align itself to a solar pressure equilibrium attitude with the Sun; this is convenient for solar array orientation and power generation, but causes difficulties in terms of communication line-of-sight with the Earth, Moon, and visiting vehicles, which appear to be continually rotating about the Gateway’s local frame. A fixed antenna on the Gateway is continually subject to a moving target and can find itself obstructed by the Gateway’s own geometry frequently if not placed carefully. To understand the performance of either Earth-pointing or Moon-pointing antenna placements for a given Gateway geometry, a transient solar system simulation of the Gateway is used to step through orbital ephemeris data and determine the periods in which line-of-sight to a chosen target is achieved and lost. Antenna placements can be tested in the simulation and optimized to increase the average line-of-sight exposure to the target, while also minimizing the maximum duration cut-out in line-of-sight communication experienced; long durations without a successful communication link could pose threats to operations, safety, and mission success. It may be necessary to deviate from the Gateway’s solar pressure equilibrium attitude for short periods of time in order to continue a successful line-of-sight link to a chosen target. Communication coverage spheres can offer insight into what these necessary attitude adjustments may be and are generated by using a 3D mesh of the Gateway and an implementation of the Möller-Trumbore intersection algorithm. This paper outlines the analytical techniques used to perform such antenna placements on the Gateway, offering examples of how line-of-sight strength can be enhanced with an understanding of the Gateway geometry and attitude constraints. These techniques have had direct impact on the writing of communication requirements for NASA and international partner-owned Gateway elements.

Kennedy, William J.↗

2020 International Astronautical Congress Conference Presentation - ANALYTICAL TECHNIQUES FOR ASSESSING GATEWAY AND OTHER SPACECRAFT ANTENNA LINE-OF-SIGHT FOR THE ARTEMIS PROGRAM

NASA’s Artemis program is committed to landing the next man and the first woman on the Moon by 2024. The Gateway, a critical piece of infrastructure for the long-term Artemis mission profiles, will inaugurate a sustainable crewed presence beyond low-Earth orbit in cis-lunar space and serve as a staging point for a lunar landing system. The Near Rectilinear Halo Orbit of the Gateway offers numerous operational benefits in terms of its Earth access via the Orion Multipurpose Crew Vehicle, its degree of Earth and lunar visibility, the versatile surface access it provides, and favorable conditions for station-keeping. To minimize burns during station-keeping and conserve propellant, the Gateway will continually align itself to a solar pressure equilibrium attitude with the Sun; this is convenient for solar array orientation and power generation, but causes difficulties in terms of communication line-of-sight with the Earth, Moon, and visiting vehicles, which appear to be continually rotating about the Gateway’s local frame. A fixed antenna on the Gateway is continually subject to a moving target and can find itself obstructed by the Gateway’s own geometry frequently if not placed carefully. To understand the performance of either Earth-pointing or Moon-pointing antenna placements for a given Gateway geometry, a transient solar system simulation of the Gateway is used to step through orbital ephemeris data and determine the periods in which line-of-sight to a chosen target is achieved and lost. Antenna placements can be tested in the simulation and optimized to increase the average line-of-sight exposure to the target, while also minimizing the maximum duration drop-out in line-of-sight communication experienced; long durations without a successful communication link could pose threats to operations, safety, and mission success. It may be necessary to deviate from the Gateway’s solar pressure equilibrium attitude for short periods of time in order to continue a successful line-of-sight link to a chosen target. Communication coverage spheres can offer insight into what these necessary attitude adjustments may be and are generated by using a 3D mesh of the Gateway and an implementation of the Möller-Trumbore intersection algorithm. This paper outlines the analytical techniques used to perform such antenna placements on the Gateway, offering examples of how line-of-sight strength can be enhanced with an understanding of the Gateway geometry and attitude constraints. These techniques have had direct impact on the writing of communication requirements for NASA and international partner-owned Gateway elements.

Gateway↗

Copernicus studies of interstellar material in the Perseus II complex. III - The line of sight to Zeta Persei

Ultraviolet spectrophotometric data obtained with Copernicus are used to analyze the distribution, composition, density, temperature, and kinematics of the interstellar material along the line of sight to Zeta Persei. The far-UV extinction curve for the star is evaluated along with the kinematics of the interstellar gas, observations of atomic and molecular hydrogen, curves of growth for neutral and ionized species, atomic abundances and depletions, ionization equilibria, and observations of CO and OH lines. The results show that there are apparently three clouds along the line of sight to Zeta Persei: a main cloud at approximately +13 km/s which contains most of the material and forms all the neutral and molecular lines as well as most of the ionic lines, a second component at +22 km/s which must contribute to the strong UV lines of most ions, and a third component at roughly +2 km/s which gives rise to a strong Si III line at 1206 A. It is also found that the UV extinction curve has a somewhat steep far-UV rise, indicating the presence of a substantial number of small grains, and that about 30% of the hydrogen nuclei over the entire line of sight are in molecular form.

Snow, T. P., Jr.↗

Next Generation Weather Radar (NEXRAD) Radar Line-of-Sight

The Next Generation Weather Radar (NEXRAD) system is a network of doppler radar operated jointly by the National Weather Service (NWS), the Federal Aviation Administration (FAA), and the U.S. Air Force. This dataset represents a line-of-sight for each radar station. Radar line-of-sight can become saturated with wind energy due to interference. For further details and citation, please refer to the publication linked below: Lopez, Anthony, Pavlo Pinchuk, Michael Gleason, Wesley Cole, Trieu Mai, Travis Williams, Owen Roberts, Marie Rivers, Mike Bannister, Sophie-Min Thomson, Gabe Zuckerman, and Brian Sergi. 2024. Solar Photovoltaics and Land-Based Wind Technical Potential and Supply Curves for the Contiguous United States: 2023 Edition. Golden, CO: National Renewable Energy Laboratory. NREL/TP-6A20-87843.

Airspace/Defense↗

Line-of-sight determination in real-time simulations

This paper describes the selection of a method for determining line-of-sight in real-time simulations for the NASA Ames Vertical Motion Simulator (VMS) facility. Five different combinations of terrain representation and line-of-sight determination algorithms were tested. A gridpost terrain format, in conjunction with a Digital Differential Analyzer algorithm, was found to best meet the simulation criteria of high speed, low storage requirements, and accuracy.

Kull, Frederick G., Jr.↗

A Measure from Line-of-Sight Magnetograms for Prediction of Coronal Mass Ejections

From a sample of 17 vector magnetograms of 12 bipolar active regions we have recently found (1) that a measure of the overall nonpotentiality (the overall twist and shear in the magnetic field) of an active region is given by the strong shear length Lss, the length of the portion of the main neutral line on which the observed transverse fields is strong (greater than 150 Guass (G)) and strongly sheared (shear angle greater than 45 degrees), and (2) that L(sub ss) is well correlated with the coronal mass ejection (CME) productivity of the active regions during the plus or minus 2-day time window centered on the day of the magnetogram. In the present paper, from the same sample of 17 vector magnetograms, we show that there is a viable proxy for L(sub ss) that can be measured from a line-of-sight magnetogram. This proxy is the strong gradient length L(sub SG), the length of the portion of the main neutral line on which the potential transverse field is strong (greater than 150 G), and the gradient of the line-of-sight field is sufficiently steep (greater than approximately 50 G/Mm). In our sample of active regions, L(sub SG) is statistically significantly correlated with Lss (correlation confidence level greater than 95%), and L(sub SG) is as strongly correlated with active region CME productivity as is L(sub SS) (correlation confidence level approximately 99.7%). Because L(sub SG) can be measured from line-of-sight magnetograms obtained from conventional magnetographs, such as the magnetograph mode of the Michelson Doppler Imager (MDI) on board the Solar and Heliospheric Observatory, it is a dependable substitute for L(sub SS) for use in operational CME forecasting. In addition, via measurement of L(sub SG), the years-long, nearly continuous sequence of 1.5-hour cadence full disk line-of-sight magnetograms from MDI can be used to track the growth and decay of the large-scale nonpotentiality in active regions and to examine the role of this evolution in active region CME productivity.

Falconer, D. A.↗