Applications of Advanced Clocks for Space Navigation and Communication
Precision clocks and frequency standards are widely used in communications and navigations systems.
Advanced Clocks Space Navigation Communication↗
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Implementing the President's Vision: JPL and NASA's Exploration Systems Mission Directorate
As part of the NASA team the Jet Propulsion Laboratory is involved in the Exploration Systems Mission Directorate (ESMD) work to implement the President's Vision for Space exploration. In this slide presentation the roles that are assigned to the various NASA centers to implement the vision are reviewed. The plan for JPL is to use the Constellation program to advance the combination of science an Constellation program objectives. JPL's current participation is to contribute systems engineering support, Command, Control, Computing and Information (C3I) architecture, Crew Exploration Vehicle, (CEV) Thermal Protection System (TPS) project support/CEV landing assist support, Ground support systems support at JSC and KSC, Exploration Communication and Navigation System (ECANS), Flight prototypes for cabin atmosphere instruments
Industry Day↗
Development of the German A-4 guidance and control system, 1939 - 1945: A memoir
The development by 1943 of a fully inertial navigational system for the German A-4 (V-2) missile is detailed. This flight control system used a triple-axis stabilized platform with two longitudinal accelerometers and one lateral accelerometer.
Steinhoff, E. A.↗
Distributed asynchronous microprocessor architectures in fault tolerant integrated flight systems
The paper discusses the implementation of fault tolerant digital flight control and navigation systems for rotorcraft application. It is shown that in implementing fault tolerance at the systems level using advanced LSI/VLSI technology, aircraft physical layout and flight systems requirements tend to define a system architecture of distributed, asynchronous microprocessors in which fault tolerance can be achieved locally through hardware redundancy and/or globally through application of analytical redundancy. The effects of asynchronism on the execution of dynamic flight software is discussed. It is shown that if the asynchronous microprocessors have knowledge of time, these errors can be significantly reduced through appropiate modifications of the flight software. Finally, the papear extends previous work to show that through the combined use of time referencing and stable flight algorithms, individual microprocessors can be configured to autonomously tolerate intermittent faults.
Dunn, W. R.↗
Integration of an Autopilot for a Micro Air Vehicle
Two autopilots providing autonomous flight capabilities are presented herein. The first is the Pico-Pilot, demonstrated for the 12-inch size class of micro air vehicles. The second is the MicroPilot MP2028(sup g), where its integration into a 36-inch Zagi airframe (tailless, elevons only configuration) is investigated and is the main focus of the report. Analytical methods, which include the use of the Advanced Aircraft Analysis software from DARCorp, were used to determine the stability and control derivatives, which were then validated through wind tunnel experiments. From the aerodynamic data, the linear, perturbed equations of motion from steady-state flight conditions may be cast in terms of these derivatives. Using these linear equations, transfer functions for the control and navigation systems were developed and feedback control laws based on Proportional, Integral, and Derivative (PID) control design were developed to control the aircraft. The PID gains may then be programmed into the autopilot software and uploaded to the microprocessor of the autopilot. The Pico-Pilot system was flight tested and shown to be successful in navigating a 12-inch MAV through a course defined by a number of waypoints with a high degree of accuracy, and in 20 mph winds. The system, though, showed problems with control authority in the roll and pitch motion of the aircraft: causing oscillations in these directions, but the aircraft maintained its heading while following the prescribed course. Flight tests were performed in remote control mode to evaluate handling, adjust trim, and test data logging for the Zagi with integrated MP2028(sup g). Ground testing was performed to test GPS acquisition, data logging, and control response in autonomous mode. Technical difficulties and integration limitations with the autopilot prevented fully autonomous flight from taking place, but the integration methodologies developed for this autopilot are, in general, applicable for unmanned air vehicles within the 36-inch size class or larger that use a PID control based autopilot.
Platanitis, George↗
Navigation study for low-altitude Earth satellites
This document describes several navigation studies for low-altitude Earth satellites. The use of Global Positioning System Navigation Package data for LANDSAT-5 orbit determination is evaluated. In addition, a navigation analysis for the proposed Tracking and Data Aquisition System is presented. This analysis, based on simulations employing one-way Doppler data, is used to determine the agreement between the Research and Development Goddard Trajectory Determination System and the Sequential Error Analysis Program results. Properties of several geopotential error models are studied and an exploratory study of orbit smoother process noise is presented.
Pastor, P. R.↗
Navigation Operations for the Magnetospheric Multiscale Mission
The Magnetospheric Multiscale (MMS) mission employs four identical spinning spacecraft flying in highly elliptical Earth orbits. These spacecraft will fly in a series of tetrahedral formations with separations of less than 10 km. MMS navigation operations use onboard navigation to satisfy the mission definitive orbit and time determination requirements and in addition to minimize operations cost and complexity. The onboard navigation subsystem consists of the Navigator GPS receiver with Goddard Enhanced Onboard Navigation System (GEONS) software, and an Ultra-Stable Oscillator. The four MMS spacecraft are operated from a single Mission Operations Center, which includes a Flight Dynamics Operations Area (FDOA) that supports MMS navigation operations, as well as maneuver planning, conjunction assessment and attitude ground operations. The System Manager component of the FDOA automates routine operations processes. The GEONS Ground Support System component of the FDOA provides the tools needed to support MMS navigation operations. This paper provides an overview of the MMS mission and associated navigation requirements and constraints and discusses MMS navigation operations and the associated MMS ground system components built to support navigation-related operations.
Navigation↗
Dynamic performance of an aero-assist spacecraft - AFE
Dynamic performance of the Aero-assist Flight Experiment (AFE) spacecraft was investigated using a high-fidelity 6-DOF simulation model. Baseline guidance logic, control logic, and a strapdown navigation system to be used on the AFE spacecraft are also modeled in the 6-DOF simulation. During the AFE mission, uncertainties in the environment and the spacecraft are described by an error space which includes both correlated and uncorrelated error sources. The principal error sources modeled in this study include navigation errors, initial state vector errors, atmospheric variations, aerodynamic uncertainties, center-of-gravity off-sets, and weight uncertainties. The impact of the perturbations on the spacecraft performance is investigated using Monte Carlo repetitive statistical techniques. During the Solid Rocket Motor (SRM) deorbit phase, a target flight path angle of -4.76 deg at entry interface (EI) offers very high probability of avoiding SRM casing skip-out from the atmosphere. Generally speaking, the baseline designs of the guidance, navigation, and control systems satisfy most of the science and mission requirements.
Chang, Ho-Pen↗
Navigation of the Space Shuttle
Navigational systems and operations for the Space Shuttle are described. All navigational instrumentation is controlled from within the pressurized main cabin. Measurements of the state vector and the attitude are made with an inertial measurement unit (IMU), which uses data initialized at the moment of take-off. Orbital location is calculated in approximations using the initial propulsion conditions, models of the gravity field, and aerodynamic drag forces. Updates are periodically received from ground tracking stations. IMU continues attitude information, and additional references are made with an automated startracker device. Information can also be gathered by optical alignment, and future systems will include radar tracking in an approach mode. Deorbit is accompanied by IMU altitude measurements as well as calculations of altitude based on drag measurements. Barometric measurements begin at about 80,000 ft altitude. Signals are received from TACAN beginning at 145,000 ft, and the microwave scanning beam landing system is started at 20,000 ft. Various radionavigation systems are also employed in all flight phases.
Edwards, A., Jr.↗
Error analysis of strapdown and local level inertial systems which compute in geographic coordinates
Error analysis of strapdown and local level inertial navigation systems which compute in geographic coordinates
Britting, K. R.↗
Navigation of the GRAIL Spacecraft Pair Through the Extended Mission at the Moon
The GRAIL extended mission (XM) dramatically expands the scope of GRAIL's gravity science investigation by flying the pair of spacecraft at the lowest orbit the flight team can safely support. From the perspective of the Navigation team, the low orbit altitude introduces new challenges. At this lower altitude, navigation is more sensitive to higher-order terms of the gravity field so that orbit determination solutions are more difficult and there is less certainty of achieving maneuver targets. This paper reports on the strategy and performance of the Navigation system for GRAIL's XM. On a weekly basis, the Navigation team provided reference trajectory updates, designed three maneuvers, and reconstructed the execution of those maneuvers. In all, the XM involved 55 planned maneuvers; five were canceled. The results of the Navigation team's efforts, in terms of maintaining the reference-trajectory targets, satisfying requirements, and achieving desired separation distances, are assessed.
orbit↗
Evaluation of Microwave Landing System (MLS) effect on the delivery performance of a fixed-path metering and spacing system
Metering and spacing (M & S) system's algorithms described assume an aircraft two dimensional are navigation capability. The three navigation systems compared were: very high frequency omnidirectional range/distance measuring equipment (VOR/DME) and ILS, VOR/DME and + or - 40 MLS, and VOR/DME and + or - 60 MLS. Other factors studied were M & S tentative schedule point location, route geometry effects, and approach gate location effects. Summarized results are: the MLS offers some improvement over VOR/DME and ILS if all approach routes contain computer assisted turns; pilot reaction to moving the gate closer to the runway threshold may adversely affect M & S performance; and coupling en route metering to terminal scheduling transfers most of the terminal holding to more full efficient, higher altitude en route delay.
Credeur, L.↗
Space Shuttle Orbiter onboard rendezvous navigation
Much of the work that the Space Shuttle will perform requires a capability to rendezvous with other orbiting objects. The formulation and design philosophy behind the Space Shuttle Orbiter rendezvous navigation system are the subjects of this paper. The current rendezvous navigation design incorporates a Kalman filter to estimate the relative position and velocity. The filter is augmented with state elements for the estimation of colored measurement noise and acceleration modeling errors. Several measurement types are available to the filter: a manual optical sighting device, an automatic optical tracking instrument, and a rendezvous radar which provides range and range rate measurements as well as the line of sight direction. The filter also includes a technique for detecting highly improbable measurements and excluding them from Kalman processing.
Little, M. J.↗
Antennas Designed for Advanced Communications for Air Traffic Management (AC/ATM) Project
The goal of the Advanced Communications for Air Traffic Management (AC/ATM) Project at the NASA Glenn Research Center at Lewis Field is to enable a communications infrastructure that provides the capacity, efficiency, and flexibility necessary to realize a mature free-flight environment. The technical thrust of the AC/ATM Project is targeted at the design, development, integration, test, and demonstration of enabling technologies for global broadband aeronautical communications. Since Ku-band facilities and equipment are readily available, one of the near-term demonstrations involves a link through a Kuband communications satellite. Two conformally mounted antennas will support the initial AC/ATM communications links. Both of these are steered electronically through monolithic microwave integrated circuit (MMIC) amplifiers and phase shifters. This link will be asymmetrical with the downlink to the aircraft (mobile vehicle) at a throughput rate of greater than 1.5 megabits per second (Mbps), whereas the throughput rate of the uplink from the aircraft will be greater than 100 kilobits per second (kbps). The data on the downlink can be narrow-band, wide-band, or a combination of both, depending on the requirements of the experiment. The AC/ATM project is purchasing a phased-array Ku-band transmitting antenna for the uplink from the test vehicle. Many Ku-band receiving antennas have been built, and one will be borrowed for a short time to perform the initial experiments at the NASA Glenn Research Center at Lewis Field. The Ku-band transmitting antenna is a 254-element MMIC phased-array antenna being built by Boeing Phantom Works. Each element can radiate 100 mW. The antenna is approximately 43-cm high by 24-cm wide by 3.3-cm thick. It can be steered beyond 60 from broadside. The beamwidth varies from 6 at broadside to 12 degrees at 60 degrees, which is typical of phased-array antennas. When the antenna is steered to 60 degrees, the beamwidth will illuminate approximately five satellites on the orbital arc. Spread spectrum techniques will be employed to keep the power impinging on the adjacent satellites below their noise floor so that no interference results. This antenna is power limited. If the antenna elements (currently 254) are increased by a factor of 4 (1024) or 16 (4096), the gain will increase and the beamwidth will decrease in proportion. For the latter two antenna sizes, the power must be "backed off" to prevent interference with the neighboring satellites. The receiving antenna, which is approximately 90-cm high, 60-cm wide, and 3.5-cm thick, is composed of 1500 phased-array elements. The system phased-array controller can control both a 1500-element receiving antenna and a 500-element transmitting antenna. For ground testing, this controller will allow manual beam pointing and polarization alignment. For normal operation, the system can be connected to the receiving antenna and the navigation system for real-time autonomous track operation. This will be accomplished by first pointing both antennas at the satellite using information from the aircraft data bus. Then, the system phased-array controller will electronically adjust the antenna pointing of the receiving antenna to find the peak signal. After the peak signal has been found, the beam of the transmitting antenna will be pointed to the same steering angles as the receiving antenna. For initial ground testing without an aircraft, the ARINC 429 data bus (ARINC Inc., Annapolis, Maryland) will be simulated by a gyro system purchased for the follow-on to the Monolithic Microwave Integrated Circuit (MMIC) Arrays for Satellite Communication on the Move (MASCOM) Project. MASCOM utilized the Advanced Communications Technology Satellite (ACTS) with a pair of Ka-band experimental phased-array antennas.
Zakrajsek, Robert J.↗
Insect-Inspired Flight Control for Unmanned Aerial Vehicles
Flight-control and navigation systems inspired by the structure and function of the visual system and brain of insects have been proposed for a class of developmental miniature robotic aircraft called "biomorphic flyers" described earlier in "Development of Biomorphic Flyers" (NPO-30554), NASA Tech Briefs, Vol. 28, No. 11 (November 2004), page 54. These form a subset of biomorphic explorers, which, as reported in several articles in past issues of NASA Tech Briefs ["Biomorphic Explorers" (NPO-20142), Vol. 22, No. 9 (September 1998), page 71; "Bio-Inspired Engineering of Exploration Systems" (NPO-21142), Vol. 27, No. 5 (May 2003), page 54; and "Cooperative Lander-Surface/Aerial Microflyer Missions for Mars Exploration" (NPO-30286), Vol. 28, No. 5 (May 2004), page 36], are proposed small robots, equipped with microsensors and communication systems, that would incorporate crucial functions of mobility, adaptability, and even cooperative behavior. These functions are inherent to biological organisms but are challenging frontiers for technical systems. Biomorphic flyers could be used on Earth or remote planets to explore otherwise difficult or impossible to reach sites. An example of an exploratory task of search/surveillance functions currently being tested is to obtain high-resolution aerial imagery, using a variety of miniaturized electronic cameras. The control functions to be implemented by the systems in development include holding altitude, avoiding hazards, following terrain, navigation by reference to recognizable terrain features, stabilization of flight, and smooth landing. Flying insects perform these and other functions remarkably well, even though insect brains contains fewer than 10(exp -4) as many neurons as does the human brain. Although most insects have immobile, fixed-focus eyes and lack stereoscopy (and hence cannot perceive depth directly), they utilize a number of ingenious strategies for perceiving, and navigating in, three dimensions. Despite their lack of stereoscopy, insects infer distances to potential obstacles and other objects from image motion cues that result from their own motions in the environment. The concept of motion of texture in images as a source of motion cues is denoted generally as the concept of optic or optical flow. Computationally, a strategy based on optical flow is simpler than is stereoscopy for avoiding hazards and following terrain. Hence, this strategy offers the potential to design vision-based control computing subsystems that would be more compact, would weigh less, and would demand less power than would subsystems of equivalent capability based on a conventional stereoscopic approach.
Thakoor, Sarita↗
Moon to Mars Planetary Autonomous Construction Technology (MMPACT) Lunar Surface Construction Activity at NASA Marshall Space Flight Center
Introduction: The goal of the Moon to Mars Planetary Autonomous Construction Technology (MMPACT) Project at NASA Marshall Space Flight Center (MSFC) is to develop, deliver, and demonstrate on-demand capabilities to protect astronauts and create infrastructure elements on the lunar surface via construction of landing pads, habitats, shelters, roadways, berms, and blast shields using lunar regolith-based materials. MSFC has strong collaborations with industry, academia, and other NASA Centers to accomplish this goal. The MMPACT project consists of three elements. The first focuses on the development of an autonomous construction system. The second focuses on construction feedstock materials development. The third element focuses on the development of a microwave sintering construction capability. The team plans to demonstrate construction on a small Commercial Lunar Payload Services (CLPS) lander in the 2025 timeframe, with a future goal of constructing a subscale landing pad in 2028-2029.The MMPACT project is funded through the Lunar Surface Innovation Initiative, which is part of the Space Technology Mission Directorate. Technology Development: The MMPACT team will evaluate multiple autonomous construction and microwave construction technologies, materials, and construction element forms. Selected technologies will be matured; processes and operations will be defined for the two flight missions. Evaluations of materials, as well as the technology itself, will be demonstrated in simulated lunar environments as part of the technology maturation process. The team is keenly aware of the properties of the lunar environment. Its temperature swings, negligible exosphere, and unprepared site foundations factor into the materials for both construction and hardware, the concept of operations, and the technology’s interdependencies. Materials: The team is looking at materials that can be produced from in-situ resources in an effort to make lunar construction cost-effective. The particular focus of the materials team is cementitious materials, metals, and sintered and melted regolith. These materials will be studied for tensile, compressive, and flexural strength. They will also be tested for their ability to handle thermal swings and vacuum. They will be fully characterized using various microscopy techniques to examine micro-structures, chemistry, and crystal formation. Interdependencies: There are many interdependencies that MMPACT has already identified. These include: •Excavation interface •Regolith feedstock beneficiation •Regolith feedstock storage and provision •Requirements for structures •Site-to-site mobility systems •Availability of lunar simulant •Lander off-loading capabilities •Navigation systems •Power •Regolith composition and mineralogy •Lander specifications •Communication protocols Technology developments in these additional areas would be beneficial to MMPACT.
Moon to Mars Planetary Autonomous Construction Tec↗
GPS-Like Phasing Control of the Space Solar Power System Transmission Array
The problem of phasing of the Space Solar Power System's transmission array has been addressed by developing a GPS-like radio navigation system. The goal of this system is to provide power transmission phasing control for each node of the array that causes the power signals to add constructively at the ground reception station. The phasing control system operates in a distributed manner, which makes it practical to implement. A leader node and two radio navigation beacons are used to control the power transmission phasing of multiple follower nodes. The necessary one-way communications to the follower nodes are implemented using the RF beacon signals. The phasing control system uses differential carrier phase relative navigation/timing techniques. A special feature of the system is an integer ambiguity resolution procedure that periodically resolves carrier phase cycle count ambiguities via encoding of pseudo-random number codes on the power transmission signals. The system is capable of achieving phasing accuracies on the order of 3 mm down to 0.4 mm depending on whether the radio navigation beacons operate in the L or C bands.
Psiaki, Mark L.↗