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NASA NTRS2001

Mapping Mars with a Laser Altimeter

In November 1996 the Mars Global Surveyor (MGS) spacecraft was launched to Mars. One of the instruments on the spacecraft was a laser altimeter, MOLA, for measuring the shape and topography of the planet. The altimeter has a diode pumped Q-switched ND:YAG laser at 1064nm, operating at 10Hz with an 8 nsec pulse width. The pulse energy is 48mJ, and the instrument has a 37cm ranging precision. The laser illuminates a spot on the surface of Mars approximately 160 meters in diameter and the instrument has accumulated over 600 million range measurements of the surface since arrival at Mars in September 1997. MOLA has operated continuously for over 2 years and has mapped the planet at a horizontal resolution of about 1 km and a radial accuracy of about a meter. MOLA has measured the shape of the planet, the heights of the volcanoes, the depths of the canyons, and the volumes of the polar icecaps. It has detected carbon dioxide clouds and measured the accumulation of seasonal CO2 on the polar icecaps. This new remote sensing tool has helped transform our understanding of Mars and its geological history, and opened a new door to planetary exploration.

Smith, David E.↗

NASA NTRSDate not supplied

Lunar Laser Ranging in the Artemis Era

The retroreflector arrays placed on the lunar surface by the Apollo astronauts and the Soviet Luna missions continue to contribute to our understanding of gravitational physics, Earth and Moon geophysics, geodesy, and dynamics. The key science questions addressed by Lunar Laser Ranging remain very relevant today: What is the interior structure of the Moon? Is the Equivalence Principle exact? Does the strength of gravity vary with space and time? What is the nature of spacetime? Do extra dimensions or other new physics alter the inverse square law of gravity? The lunar retroreflectors are also an essential component of the realizations of the lunar reference frames. The half-century old lunar retroreflectors continue to provide excellent ranging targets but are showing signs of degradation and the measurement error associated with their physical size and varying tilt is becoming a limitation in the quest for more precise range measurements. In addition, the clustering of the arrays in the mid-latitudes of the Moon limits their geometrical strength and coverage. The south polar region planned for Artemis presents an ideal opportunity for improving the geometric distribution. Retroreflectors utilizing a large optical cross-section single cube corner do not have tilt error associated with the existing arrays making them good options for lunar deployment. Several new retroreflectors of this type are being prepared for upcoming Commercial Lunar Payload Services missions as well as Artemis. This presentation will discuss NASA’s plans for expanding the lunar laser ranging capabilities with a focus on the Artemis Lunar Laser Retroreflector.

Stephen Merkowitz↗

NASA NTRS1989

Geodynamics applications of spaceborne laser ranging

The Geodynamics Laser Ranging System (GLRS) is a spaceborne laser ranging instrument being developoed by NASA as a facility instrument for the Earth Observing System (EOS). GLRS is to be used to study regional and local crustal movements. It is designed to make highly precise range measurements to retroreflector targets located in geophysically interesting sites. Using a two-color ranging scheme, absolute range accuracies of several mm are expected. Simulations based on this accuracy and the EOS orbital parameters show that length of the intersite baseline between retroreflectors can be determined to several mm accuracy at distances from a few km to several hundred km with several passes of GLRS range data collected over a few-day interval. Short-arc techniques are used to minimize the effects of gravity field and other force model uncertainties. Relative heights can be determined to sub-cm accuracy over comparable distances.

Cohen, Steven C.↗

NASA NTRS1972

Search for extinct natural radioactivity of Pb205 via thallium-isotope anomalies in chondrites and lunar soil.

Thallium and Pb204 contents were determined by stable-isotope-dilution analysis in 16 chondrites, one achondrite, and Apollo 11 and 12 lunar fines. Meteoritic thallium contents vary over a large range, 0.02 to 100 ppb, corresponding to the fact that thallium is a highly fractionated volatile element. Lunar thallium contents are less than 5 ppb. The Tl205/Tl203 ratio was determined in most of the samples, with precision ranging from 0.03% to several percent depending mainly on the amount of thallium present. No variations from the terrestrial ratio were observed. The chondritic isochron slope for Pb205 (13.8-m.y. half-life) is less than or equal to 0.00009 (99% confidence level), corresponding to an interval of at least 60 m.y. and possibly exceeding 120 m.y. between the termination of s-process nucleosynthesis and the lead-thallium fractionations.

Huey, J. M.↗

NASA NTRS1990

Summary of results and conclusions based on analysis of volume imaging and high spectral resolution lidar data acquired during FIRE phase 1, part 1

The collection of long term global statistics on cloud cover may be most easily accomplished with satellite based observations; however, measurements derived from passive satellite retrieval methods must be calibrated and verified by in situ or ground based remote sensor observations. Verification is not straight forward, however, because the highly variable nature of cloud altitude, morphology, and optical characteristics complicates the scaling of point measurements to satellite footprint sized areas. This is particularly evident for cirrus clouds which may be organized on horizontal scales of 10's of meters to 8 km or more, and have optical depths ranging from less than .003 to greater than 3. Cirrus clouds can strongly influence earths' radiative balance, but, because they are often transmissive, cirrus clouds are difficult to detect and characterize from satellite measurements. Because of its precise ranging capabilities, spatial resolution and sensitivity, lidar observations have played an important role in the detection, depiction, and characterization of cirrus clouds. Some of the characteristics of cirrus clouds are summarized which observed the High Spectral Resolution and Volume Imaging Lidars during the phase 1 IFO and ETO periods.

Grund, Christian J.↗

NASA NTRS1975

Spaceborne Earth Applications Ranging system (SPEAR)

A technique is discussed for the accurate (i.e. to within fractions of cm/yr) detection of earth surface motions utilizing the latest space technology. It is shown that over a six day period and assuming a 50% cloud cover (as experienced over the last few years of laser operation) utilizing spaceborne precision ranging systems, intersite distances on the order of 5 to 15 km can be determined in the vertical and horizontal components with errors in the 0.5 to 1.5 cm range. These errors are almost independent of ground survey errors up to 0.25 meters and orbit errors up to 200 meters. A spaceborne laser ranging system is assumed to range simultaneously to two or more ground emplaced retroreflectors. The fundamental advantage derived from simultaneous ranging is the elimination to first order of errors due to the system. This means elimination of bias errors in the ranging system, errors due to propagation effects, and errors associated with the spacecraft's motion in its orbit.

Vonbun, F. O.↗

NASA NTRS1983

The influence of rain and clouds on a satellite dual frequency radar altimeter system operating at 13 and 35 GHz

The effects of inhomogeneous spatial attenuation resulting from clouds and rain on the altimeter estimate of the range to mean sea level are modelled. It is demonstrated that typical cloud and rain attenuation variability at commonly expected spatial scales can significantly degrade altimeter range precision. Rain cell and cloud scale sizes and attenuations are considered as factors. The model simulation of altimeter signature distortion is described, and the distortion of individual radar pulse waveforms by different spatial scales of attenuation is considered. Examples of range errors found for models of a single cloud, a rain cell, and cloud streets are discussed.

Walsh, E. J.↗

NASA NTRS2015

Advanced Intensity-Modulation Continuous-Wave Lidar Techniques for ASCENDS O2 Column Measurements

Global atmospheric carbon dioxide (CO2) measurements for the NASA Active Sensing of CO2 Emissions over Nights, Days, and Seasons (ASCENDS) space mission are critical for improving our understanding of global CO2 sources and sinks. Advanced Intensity- Modulated Continuous-Wave (IM-CW) lidar techniques are investigated as a means of facilitating CO2 measurements from space to meet the ASCENDS measurement requirements. In recent numerical, laboratory and flight experiments we have successfully used the Binary Phase Shift Keying (BPSK) modulation technique to uniquely discriminate surface lidar returns from intermediate aerosol and cloud contamination. We demonstrate the utility of BPSK to eliminate sidelobes in the range profile as a means of making Integrated Path Differential Absorption (IPDA) column CO2 measurements in the presence of optically thin clouds, thereby eliminating the need to correct for sidelobe bias errors caused by the clouds. Furthermore, high accuracy and precision ranging to the surface as well as to the top of intermediate cloud layers, which is a requirement for the inversion of column CO2 number density measurements to column CO2 mixing ratios, has been demonstrated using new hyperfine interpolation techniques that takes advantage of the periodicity of the modulation waveforms. This approach works well for both BPSK and linear swept-frequency modulation techniques. The BPSK technique under investigation has excellent auto-correlation properties while possessing a finite bandwidth. A comparison of BPSK and linear swept-frequency is also discussed in this paper. These results are extended to include Richardson-Lucy deconvolution techniques to extend the resolution of the lidar beyond that implied by limit of the bandwidth of the modulation, where it is shown useful for making tree canopy measurements.

Campbell, Joel F.↗

NASA NTRS1977

Spaceborne earth applications ranging system /SPEAR/

A technique is discussed for the accurate (i.e., to within fractions of centimeters per year) detection of earth surface motions utilizing the latest space technology. It is shown that, over a six-day period and assuming a 50% cloud cover (i.e., as experienced over the past few years of laser operation), by using spaceborne precision ranging systems, intersite distances on the order of 5 to 15 km (dependent mostly on the beam width of the laser) can be determined in the vertical and horizontal components, with errors in the 0.5- to 1.5-cm range. These errors are almost independent of ground survey errors up to 0.25 m and orbit errors up to 200 m. A spaceborne laser ranging system is assumed to range to two or more ground-emplaced retroreflectors. This can be done either in a simultaneous or nonsimultaneous mode. Hardware is under development for the latter technique.

Vonbun, F. O.↗

NASA NTRS1979

Nd:YAG development for spaceborne laser ranging system

The results of the development of a unique modelocked laser device to be utilized in future NASA space-based, ultraprecision laser ranger systems are summarized. The engineering breadboard constructed proved the feasibility of the pump-pulsed, actively modelocked, PTM Q-switched Nd:YAG laser concept for the generation of subnanosecond pulses suitable for ultra-precision ranging. The laser breadboard also included a double-pass Nd:YAG amplifier and provision for a Type II KD*P frequency doubler. The specific technical accomplishment was the generation of single 150 psec, 20-mJ pulses at 10 pps at a wavelength of 1.064 micrometers with 25 dB suppression of pre-and post-pulses.

Harper, L. L.↗

NASA NTRS1997

Analysis of Technology for Compact Coherent Lidar

In view of the recent advances in the area of solid state and semiconductor lasers has created new possibilities for the development of compact and reliable coherent lidars for a wide range of applications. These applications include: Automated Rendezvous and Capture, wind shear and clear air turbulence detection, aircraft wake vortex detection, and automobile collision avoidance. The work performed by the UAH personnel under this Delivery Order, concentrated on design and analyses of a compact coherent lidar system capable of measuring range and velocity of hard targets, and providing air mass velocity data. The following is the scope of this work. a. Investigate various laser sources and optical signal detection configurations in support of a compact and lightweight coherent laser radar to be developed for precision range and velocity measurements of hard and fuzzy targets. Through interaction with MSFC engineers, the most suitable laser source and signal detection technique that can provide a reliable compact and lightweight laser radar design will be selected. b. Analyze and specify the coherent laser radar system configuration and assist with its optical and electronic design efforts. Develop a system design including its optical layout design. Specify all optical components and provide the general requirements of the electronic subsystems including laser beam modulator and demodulator drivers, detector electronic interface, and the signal processor. c. Perform a thorough performance analysis to predict the system measurement range and accuracy. This analysis will utilize various coherent laser radar sensitivity formulations and different target models.

Amzajerdian, Farzin↗

NASA NTRS2015

Lidar Sensor Performance in Closed-Loop Flight Testing of the Morpheus Rocket-Propelled Lander to a Lunar-Like Hazard Field

For the first time, a suite of three lidar sensors have been used in flight to scan a lunar-like hazard field, identify a safe landing site, and, in concert with an experimental Guidance, Navigation, and Control (GN&C) system, help to guide the Morpheus autonomous, rocket-propelled, free-flying lander to that safe site on the hazard field. The lidar sensors and GN&C system are part of the Autonomous Precision Landing and Hazard Detection and Avoidance Technology (ALHAT) project which has been seeking to develop a system capable of enabling safe, precise crewed or robotic landings in challenging terrain on planetary bodies under any ambient lighting conditions. The 3-D imaging Flash Lidar is a second generation, compact, real-time, aircooled instrument developed from a number of components from industry and NASA and is used as part of the ALHAT Hazard Detection System (HDS) to scan the hazard field and build a 3-D Digital Elevation Map (DEM) in near-real time for identifying safe sites. The Flash Lidar is capable of identifying a 30 cm hazard from a slant range of 1 km with its 8 cm range precision (1-s). The Flash Lidar is also used in Hazard Relative Navigation (HRN) to provide position updates down to a 250m slant range to the ALHAT navigation filter as it guides Morpheus to the safe site. The Navigation Doppler Lidar (NDL) system has been developed within NASA to provide velocity measurements with an accuracy of 0.2 cm/sec and range measurements with an accuracy of 17 cm both from a maximum range of 2,200 m to a minimum range of several meters above the ground. The NDLâ€"TM"s measurements are fed into the ALHAT navigation filter to provide lander guidance to the safe site. The Laser Altimeter (LA), also developed within NASA, provides range measurements with an accuracy of 5 cm from a maximum operational range of 30 km down to 1 m and, being a separate sensor from the Flash Lidar, can provide range along a separate vector. The LA measurements are also fed into the ALHAT navigation filter to provide lander guidance to the safe site. The flight tests served as the culmination of the TRL 6 journey for the ALHAT system and included launch from a pad situated at the NASA-Kennedy Space Center Shuttle Landing Facility (SLF) runway, a lunar-like descent trajectory from an altitude of 250m, and landing on a lunar-like hazard field of rocks, craters, hazardous slopes, and safe sites 400m down-range just off the North end of the runway. The tests both confirmed the expected performance and also revealed several challenges present in the flight-like environment which will feed into future TRL advancement of the sensors. Guidance provided by the ALHAT system was impeded in portions of the trajectory and intermittent near the end of the trajectory due to optical effects arising from air heated by the rocket engine. The Flash Lidar identified hazards as small as 30 cm from the maximum slant range of 450 m which Morpheus could provide; however, it was occasionally susceptible to an increase in range noise due to scintillation arising from air heated by the Morpheus rocket engine which entered its Field-of-View (FOV). The Flash Lidar was also susceptible to pre-triggering, during the HRN phase, on a dust cloud created during launch and transported down-range by the wind. The NDL provided velocity and range measurements to the expected accuracy levels yet it was also susceptible to signal degradation due to air heated by the rocket engine. The LA, operating with a degraded transmitter laser, also showed signal attenuation over a few seconds at a specific phase of the flight due to the heat plume generated by the rocket engine.

Roback, V. Eric↗

NASA NTRS2000

Comparison of Three Wind Measuring Systems for Flight Test

A preliminary field test of the accuracy of wind velocity measurements obtained using global positioning system-tracked rawinsonde balloons has been performed. Wind comparisons have been conducted using global positioning system (GPS) and radio automatic theodolite sounder (RATS) rawinsondes and a high-precision range instrumentation radar-tracked reflector. Wind velocity differences between the GPS rawinsondes and the radar were significantly less than between the RATS rawinsondes and the radar. These limited test results indicate a root-mean-square wind velocity difference from 4.98 kn (2.56 m/sec) for the radar and RATS to 1.09 kn (0.56 m/sec) for the radar and GPS. Differences are influenced by user reporting requirements, data processing techniques, and the inherent tracking accuracies of the system. This brief field test indicates that the GPS sounding system tracking data are more precise than the RATS system. When high-resolution wind data are needed, use of GPS rawinsonde systems can reduce the burden on range radar operations.

Teets, Edward H., Jr.↗

NASA NTRS2000

Comparison of Three Wind Measuring Systems for Flight Test

Teets, Edward H., Jr.↗

NASA NTRS2000

Laser Technology in Interplanetary Exploration: The Past and the Future

Laser technology has been used in planetary exploration for many years but it has only been in the last decade that laser altimeters and ranging systems have been selected as flight instruments alongside cameras, spectrometers, magnetometers, etc. Today we have an active laser system operating at Mars and another destined for the asteroid Eros. A few years ago a laser ranging system on the Clementine mission changed much of our thinking about the moon and in a few years laser altimeters will be on their way to Mercury, and also to Europa. Along with the increased capabilities and reliability of laser systems has came the realization that precision ranging to the surface of planetary bodies from orbiting spacecraft enables more scientific problems to be addressed, including many associated with planetary rotation, librations, and tides. In addition, new Earth-based laser ranging systems working with similar systems on other planetary bodies in an asynchronous transponder mode will be able to make interplanetary ranging measurements at the few cm level and will advance our understanding of solar system dynamics and relativistic physics.

Smith, David E.↗

NASA NTRS2015

Lidar Sensor Performance in Closed-Loop Flight Testing of the Morpheus Rocket-Propelled Lander to a Lunar-Like Hazard Field

For the first time, a suite of three lidar sensors have been used in flight to scan a lunar-like hazard field, identify a safe landing site, and, in concert with an experimental Guidance, Navigation, and Control (GN&C) system, guide the Morpheus autonomous, rocket-propelled, free-flying test bed to a safe landing on the hazard field. The lidar sensors and GN&C system are part of the Autonomous Precision Landing and Hazard Detection and Avoidance Technology (ALHAT) project which has been seeking to develop a system capable of enabling safe, precise crewed or robotic landings in challenging terrain on planetary bodies under any ambient lighting conditions. The 3-D imaging flash lidar is a second generation, compact, real-time, air-cooled instrument developed from a number of cutting-edge components from industry and NASA and is used as part of the ALHAT Hazard Detection System (HDS) to scan the hazard field and build a 3-D Digital Elevation Map (DEM) in near-real time for identifying safe sites. The flash lidar is capable of identifying a 30 cm hazard from a slant range of 1 km with its 8 cm range precision at 1 sigma. The flash lidar is also used in Hazard Relative Navigation (HRN) to provide position updates down to a 250m slant range to the ALHAT navigation filter as it guides Morpheus to the safe site. The Doppler Lidar system has been developed within NASA to provide velocity measurements with an accuracy of 0.2 cm/sec and range measurements with an accuracy of 17 cm both from a maximum range of 2,200 m to a minimum range of several meters above the ground. The Doppler Lidar's measurements are fed into the ALHAT navigation filter to provide lander guidance to the safe site. The Laser Altimeter, also developed within NASA, provides range measurements with an accuracy of 5 cm from a maximum operational range of 30 km down to 1 m and, being a separate sensor from the flash lidar, can provide range along a separate vector. The Laser Altimeter measurements are also fed into the ALHAT navigation filter to provide lander guidance to the safe site. The flight tests served as the culmination of the TRL 6 journey for the lidar suite and included launch from a pad situated at the NASA-Kennedy Space Center Shuttle Landing Facility (SLF) runway, a lunar-like descent trajectory from an altitude of 250m, and landing on a lunar-like hazard field of rocks, craters, hazardous slopes, and safe sites 400m down-range just off the North end of the runway. The tests both confirmed the expected performance and also revealed several challenges present in the flight-like environment which will feed into future TRL advancement of the sensors. The flash lidar identified hazards as small as 30 cm from the maximum slant range of 450 m which Morpheus could provide, however, it was occasionally susceptible to an increase in range noise due to heated air from the Morpheus rocket plume which entered its Field-of-View (FOV). The flash lidar was also susceptible to pre-triggering on dust during the HRN phase which was created during launch and transported by the wind. The Doppler Lidar provided velocity and range measurements to the expected accuracy levels yet it was also susceptible to signal degradation due to air heated by the rocket engine. The Laser Altimeter, operating with a degraded transmitter laser, also showed signal attenuation over a few seconds at a specific phase of the flight due to the heat plume generated by the rocket engine.

Roback, Vincent E.↗

NASA NTRS2018

NASA's Satellite Laser Ranging Systems for the 21st Century

For over 40 years, NASA’s global network of satellite laser ranging (SLR) stations has provided a significant percentage of the global orbital data used to define the International Terrestrial Reference Frame (ITRF). The current NASA legacy network is reaching its end-of-life and a new generation of systems must be ready to take its place. Scientific demands of sub-millimeter precision ranging and the ever-increasing number of tracking targets give aggressive performance requirements to this new generation of systems. Using lessons learned from the legacy systems and the successful development of a prototype station, a new network of SLR stations, called the Space Geodesy Satellite Laser Ranging (SGSLR) systems, is being developed. These will be the state-of-the-art SLR component of NASA’s Space Geodesy Project (SGP). Each of SGSLR’s nine subsystems has been designed to produce a robust, kilohertz laser ranging system with 24/7 operational capability and with minimal human intervention. SGSLR’s data must support the aggressive goals of the Global Geodetic Observing System (GGOS), which are 1 millimeter (mm) position accuracy and 0.1 mm per year stability of the ITRF. This paper will describe the major requirements and accompanying design of the new SGSLR systems, how the systems will be tested, and the expected system performance.

J. F. Mcgarry↗

NASA NTRS2018

Development of a Coherent Doppler Lidar for Precision Maneuvering and Landing of Space Vehicles

A coherent Doppler lidar has been developed to address NASA’s need for a high-performance, compact, and cost-effective velocity and altitude sensor onboard its landing vehicles. Future robotic and manned missions to planetary bodies require precise ground-relative velocity vector and altitude data to execute complex descent maneuvers and safe, soft landing at a pre-designated site. This lidar sensor, referred to as a Navigation Doppler Lidar, meets the required performance of landing missions while complying with vehicle size, mass, and power constraints. Operating from over five kilometers altitude, the lidar obtains velocity and range precision measurements with 2 cm/sec and 2 meters, respectively, dominated by the vehicle motion. After a series of flight tests onboard helicopters and rocket-powered free-flyer vehicles, the Navigation Doppler Lidar is now being ruggedized for future missions to various destinations in the solar system.

Amzaherdian, Farzin↗