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NASA NTRS2017

Initial Investigation into the Psychoacoustic Properties of Small Unmanned Aerial System Noise

For the past several years, researchers at NASA Langley have been engaged in a series of projects to study the degree to which existing facilities and capabilities, originally created for work on full-scale aircraft, are extensible to smaller scales --those of the small unmanned aerial systems (sUAS, also UAVs and, colloquially, `drones') that have been showing up in the nation's airspace of late. This paper follows an e ort that has led to an initial human{subject psychoacoustic test regarding the annoyance generated by sUAS noise. This e ort spans three phases: 1. The collection of the sounds through field recordings. 2. The formulation and execution of a psychoacoustic test using those recordings. 3. The initial analysis of the data from that test. The data suggests a lack of parity between the noise of the recorded sUAS and that of a set of road vehicles that were also recorded and included in the test, as measured by a set of contemporary noise metrics. Future work, including the possibility of further human subject testing, is discussed in light of this suggestion.

Christian, Andrew↗
NASA NTRS2017

Integrated Demand Management: Minimizing Unanticipated Excessive Departure Delay while Ensuring Fairness from a Traffic Management Initiative

This paper introduces NASA's Integrated Demand Management (IDM) concept and presents the results from an early proof-of-concept evaluation and an exploratory experiment. An initial development of the concept was focused on integrating two systems - i.e. the FAA's newly deployed Traffic Flow Management System (TFMS) tool called the Collaborative Trajectory Options Program (CTOP) and the Time-Based Flow Management (TBFM) system with Extended Metering (XM) capabilities to manage projected heavy traffic demand into a capacity-constrained airport. A human-in-the-loop (HITL) simulation experiment was conducted to demonstrate the feasibility of the initial development of the concept by adapting it to an arrival traffic problem at Newark Liberty International Airport (EWR) during clear weather conditions. In this study, the CTOP was utilized to strategically plan the arrival traffic demand by controlling take-off times of both short- and long-haul flights (long-hauls specify aircraft outside TBFM regions and short-hauls specify aircraft within TBFM regions) in a way that results in equitable delays among the groups. Such strategic planning allows less airborne delay to occur within TBFM by feeding manageable long-haul traffic demand while reserving sufficient slots in the overhead streams for the short-haul departures. The manageable traffic demand indicates the TBFM scheduler assigns no more airborne delay than its assigned airspace is capable of absorbing. TBFM then uses its time-based metering capabilities to deliver the desirable throughput by tactically rescheduling the TBFM entered long-haul flights and short-haul departures. Additional research was also performed to explore use of Required Time of Arrival (RTA) capabilities as a potential control mechanism for the airborne flights to improve arrival traffic delivery accuracy of scheduled long-haul traffic demand. The study results show that both short- and long-haul flights received similar ground delays. In addition, there was a noticeable reduction in the total amount of excessive unanticipated last-minute ground delays, i.e. delays that are frequently imposed on the short-haul flight in current day operations due to saturation in the overhead stream, commonly referred to as 'double penalty'. Furthermore, the concept achieved the target throughput while minimizing the expected cost associated with overall delays in arrival traffic. Assessment of the RTA capabilities showed that there was indeed improvement of the scheduled entry times into TBFM regions by using RTA capabilities. However, with respect to reduction in delays incurred within TBFM, there was no observable benefit of improving the precision of long-haul flights entry times.

Collaborative Trajectory Options Program (CTOP)↗
NASA NTRS2018

Understanding Changes in Modeled Land Surface Characteristics Prior to Lightning-Initiated Holdover Fire Breakout

Lightning initiated wildfires are only 16% of the total number of wildfires within the United States, but account for 56% of the acreage burned. One of the challenges with lightning-initiated wildfires is their ability to "holdover" which means smolder for up to 2+ weeks before breaking out into a full fledged fire. This work helps characterize the percentage of holdover events due to lightning, and helps quantify changes in the land surface characteristics to help understand trends in soil moisture and vegetation stress that potentially contribute to the fire breaking out into a full wildfire.

wildfire↗
NASA NTRS2018

The Effects of Uncertainty in Initial CME Input Parameters on Deflection, Rotation, Bz, and Arrival Time Predictions

Understanding the effects of coronal mass ejections (CMEs) requires knowing if and when they will impact and their properties upon impact. Of particular importance is the strength of a CME's southward magnetic field component (Bz ). Kay et al. (2013, https://doi:10.1088/0004-637X/775/1/5, 2015, https://doi:10.1088/948 0004-637X/805/2/168) have shown that the simplified analytic model Forecasting a CME's Altered Trajectory (ForeCAT) can reproduce the deflection and rotation of CMEs. Kay, Gopalswamy, Reinard, and Opher (2017, https://doi.org/10.3847/1538-4357/835/2/117) introduced ForeCAT In situ Data Observer, which uses ForeCAT results to simulate magnetic field profiles. ForeCAT In situ Data Observer reproduces the in situ observations on roughly hourly time scales, suggesting that these models could be extremely useful for predictions of Bz . However, as with all models, both models are sensitive to their input parameters, which may not be precisely known for predictions. We explore this sensitivity using ensembles having small changes in the initial latitude, longitude, and orientation of the erupting CME. We explore the effects of different background magnetic field models and find that the changes in deflection and rotation resulting from the uncertainty in the initial parameters tend to exceed the changes from dierent magnetic backgrounds. The range in the in situ proles tends to scale with the range in the deflection and rotation. We also consider a simple arrival time model using ForeCAT results and nd an average absolute error of only 3 hr. We show that an uncertainty in the CME position of 8.1 ± 6.9 leads to variations of 6 hr in the arrival time. This measure depends strongly on the location of impact within the CME with the arrival time changing less for impacts near the nose.

Kay, Christina D.↗
NASA NTRS2018

Initial Calibration Activities and Performance Assessments of NOAA-20 VIIRS

The second VIIRS instrument was launched on-board the NOAA-20 (formerly JPSS-1) satellite onNovember 18, 2017. It was designed and built with the same performance requirements as the first VIIRSon-board the S-NPP launched on October 28, 2011. Currently, the NOAA-20 is orbiting the Earth in thesame plane as the S-NPP but separated in time and space by 50 minutes. The VIIRS observations are made in22 spectral bands, including a day-night band (DNB) that cover wavelengths from visible to long-waveinfrared. The sensor's on-orbit calibration is provided by a set of on-board calibrators (OBCs), which includea solar diffuser (SD), a solar diffuser stability monitor (SDSM), and a blackbody (BB). After turn-on, theVIIRS instrument conducted a series of post-launch testing (PLT) and intensive calibration and validation(ICV) activities, including those performed via spacecraft maneuvers, designed to verify and establishinstrument on-orbit calibration performance baseline. This paper provides an overview of NOAA-20 VIIRSICV activities and an assessment of its initial on-orbit performance with a focus on several key calibrationparameters, such as the detector response (or gain), dynamic range, and signal-to-noise ratio (SNR). Variousissues identified and lessons learned from initial instrument operation and calibration are also discussed insupport of long-term monitoring (LTM) of NOAA-20 VIIRS calibration and data quality.

Calibration↗
NASA NTRS2019

Characterization of Propellant Flow and Bias Required to Initiate an Arc Discharge in a Heaterless Hollow Cathode

Heaterless hollow cathodes provide an opportunity to reduce complexity and improve reliability in electric propulsion systems. While removal of the heater has little effect on steady-state operation of a hollow cathode, it has a considerable effect on the ignition process. To successfully integrate a heaterless hollow cathode into a spaceflight electric propulsion system, it will be necessary to establish definitive requirements for the propellant feed and electrical subsystems so that ignition of a plasma discharge can be achieved reliably. The aim of this research was to form a better understanding of these requirements by performing an investigation of the propellant flow and voltage conditions required for the ignition of a plasma arc discharge. This aim was achieved by performing discharge initiation experiments using both a specially designed experimental apparatus and a functional heaterless hollow cathode assembly. It was demonstrated that there is a distinct difference in the voltage required to initiate a plasma discharge between two common electric propulsion propellants, xenon and krypton, which suggests that the developmental testing of heaterless hollow cathodes needs to be performed with the appropriate propellant gas species. Heaterless hollow cathode ignition experiments showed that the keeper orifice diameter has a strong effect on the voltage required to ignite a plasma discharge at a given propellant mass flow rate, while the effect of keeper-cathode separation distance was only strong at flow rates below 25 sccm (Xe).

Ham, Ryan K.↗
NASA NTRSDate not supplied

Initial Characterization of the 30 kW Miniature Arc Jet (mARC II) at NASA Ames Research Center

The second-generation Miniature Arc jet Research Chamber (mARC II) at NASA Ames is undergoing integrated systems testing. Once fully operational, this facility will be added to the range of available test facilities operated by the NASA Ames Thermophysics Facilities Branch, with primary focus on applications such as new arc jet flow diagnostics and new arc column diagnostics. Initial characterization of the mARC II is reported here, specifically, measured arc current, arc voltage, column and chamber pressures, mass flow rates, and initial emission measurements carried out at a range of conditions.

arc jet↗
NASA NTRSDate not supplied

NASA’s Initial and Sustained Artemis Human Landing Systems

On March 26, 2019, in keeping with President Trump’s Space Policy Directive-1, Vice President Pence charged NASA with landing the first woman and the next man on the South Pole of the Moon by 2024, followed by a sustained presence on and around the Moon by 2028. NASA’s Human Landing System (HLS) Program is responsible for the final mode of transportation in deep space that will carry humans to and from the surface of the Moon, to be designed and developed by American companies for NASA’s Artemis lunar exploration program. This paper examines the approach for Artemis human landing systems for both the initial missions and future sustained missions. While achieving the 2024 goal requires a focus on speed and the use of mature technologies, planning toward sustained operations to and from the lunar surface requires a focus on reliability and reusability. The two approaches, however, are not mutually exclusive, as demonstrated by the HLS prime contractors’ integrated lander system proposals. On April 30, 2020, NASA announced that Blue Origin of Kent, Washington, Dynetics (a Leidos company) of Huntsville, Alabama, and SpaceX of Hawthorne, California, were the awardees for NASA’s Human Landing System contracts under Appendix H of the NextSTEP-2 Broad Agency Announcement. The companies began work in a 10-month base period during which NASA teams worked with the companies to streamline the review of required products and to share the agency’s expertise in human spaceflight systems development. Following the base period, NASA will determine which company or companies will develop the human landers for the initial missions, including the 2024 landing, and which companies will develop landers for future sustained missions toward the end of the decade.

HLS↗
NASA NTRSDate not supplied

NASA's Initial and Sustained Artemis Human Landing Systems

On March 26, 2019, in keeping with President Trump’s Space Policy Directive-1, Vice President Pence charged NASA with landing the first woman and the next man on the South Pole of the Moon by 2024, followed by a sustained presence on and around the Moon by2028. NASA’s Human Landing System (HLS) Program is responsible for the final mode of transportation in deep space that will carry humans to and from the surface of the Moon, to be designed and developed by American companies for NASA’s Artemis lunar exploration program. This paper examines the approach for Artemis human landing systems for both the initial missions and future sustained missions. While achieving the 2024 goal requires a focus on speed and the use of mature technologies, planning toward sustained operations to and from the lunar surface requires a focus on reliability and reusability. The two approaches, however, are not mutually exclusive, as demonstrated by the HLS prime contractors’ integrated lander system proposals. On April 30, 2020, NASA announced that Blue Origin of Kent, Washington, Dynetics (a Leidos company) of Huntsville, Alabama, and SpaceX of Hawthorne, California, were the awardees for NASA’s Human Landing System contracts under Appendix H of the NextSTEP-2 Broad Agency Announcement. The companies began work in a 10-month base period during which NASA teams worked with the companies to streamline the review of required products and to share the agency’s expertise in human spaceflight systems development. Following the base period, NASA will determine which companies will develop the human landers for the initial missions, including the 2024 landing, and which companies will develop landers for future sustained missions toward the end of the decade.

Lisa Watson-Morgan↗
NASA NTRSDate not supplied

Characterizing Martian Volcanic Provinces’ Magmatic Evolution and Chemistry through Equations of State Modeling Initial Study

Here we discuss a novel interdisciplinary approach to investigating igneous compositions of large volcanic provinces on Mars using remote sensing data sets (Mars Odyssey Gamma Ray and neutron Spectrometer suite--GRS, and gravity) to inform petrologic and thermoelastic modeling. Martian volcanic provinces, starting from Noachian to Amazonian age, including Elysium (EVP), are locations of great geologic interest which have been active over long time scales from Hesperian to Amazonian. Regional scale change in eruptive processes are poorly understood. Compared to large igneous provinces on Earth, the martian volcanic activity has persisted for orders of magnitude longer. Therefore, changes in mantle chemistry, pressure, and temperature during lithospheric cooling are expected to produce significant changes in the conditions of magma production, storage and ascent, affecting the degree of fractional crystallization and crustal contamination. In this study, we perform a detailed modeling to test the hypothesis that compositional variability within volcanic provinces resulted from spatiotemporal changes in the depth of magma formation and present initial results. Our methods include constraining the pressure and temperature conditions of EVP as a case study of geologically recent magmatic evolution on Mars using GRS informed surface chemistry constraints and pMELTS modeling. Second, we place constraints on the density and seismic velocities of the EVP melt through thermoelastic modeling with a local gravity analysis. This analysis is also extended to Noachian aged volcanic provinces on Mars initial results estimates mantle pressure for each sub-region is 16 kbar pressure, whereas, degree of partial melting is low and varies between 10 to 12. This study aims to validate our theoretical model and develop a perspective view of spatiotemporal changes at the interior of Mars throughout the time.

Martian science, Mars, geology, geophysics↗
NASA NTRS2003

Initialization of distributed spacecraft for precision formation flying

In this paper’we present a solution to the formation initialization (FI) problem for N distributed spacecraft located in deep space. Our solution to the FI problem is based on a three-stage sky search procedure that reduces the FI problem for N spacecraft to the simpler problem of initializing a set of sub-formations. We demonstrate our FI algorithm in simulation using NASA’s five spacecraft Terrestrial Planet Finder mission as an example.

Ploen, Scott R.↗
NASA NTRS2018

Optical Performance Prediction of the Thirty Meter Telescope after Initial Alignment Using Optical Modeling

We present an estimate of the optical performance of the Thirty Meter Telescope (TMT) after execution of the full telescope alignment plan. The TMT alignment is performed by the Global Metrology System (GMS) and the Alignment and Phasing System (APS). The GMS first measures the locations of the telescope optics and instruments as a function of elevation angle. These initial measurements will be used to adjust the optics positions and build initial elevation look-up tables. Then the telescope is aligned using starlight as the input for the APS at multiple elevation angles. APS measurements are used to refine the telescope alignment to build elevation and temperature dependent look-up tables. Due to the number of degrees of freedom in the telescope (over 10,000), the ability of the primary mirror to correct aberrations on other optics, the tight optical performance requirements and the multiple instrument locations, it is challenging to develop, test and validate these alignment procedures. In this paper, we consider several GMS and APS operational scenarios. We apply the alignment procedures to the model-generated TMT, which consists of various quasi-static errors such as polishing errors, passive supports errors, thermal and gravity deformations and installation position errors. Using an integrated optical model and Monte-Carlo framework, we evaluate the TMT’s aligned states using optical performance metrics at multiple instrument and field of view locations. The optical performance metrics include the Normalized Point Source Sensitivity (PSSN), RMS wavefront error before and after Adaptive Optics (AO) correction, pupil position change, and plate scale distortion.

Rogers, John↗
NASA NTRSDate not supplied

The Lunar Lab Initiative

Analogous to terrestrial Antarctic basecamps at our south pole, space exploration outposts will be a combination of habitation and science-focused assets. The Artemis Exploration Roadmap endeavors to establish a sustained human presence on the lunar south pole starting in 2028. Within the planned Artemis Base Camp, most efforts to date have focused on the habitation assets or a mixture of science and habitation assets . With the recent advent of commercial lunar landing capabilities, the trade space can be further expanded to include dedicated science focused assets that ensure adequate science capability. To that end, the Forge, an innovation team initiative created at the Johnson Space Center (JSC), explored alternative ways to increase the science capabilities within the basecamp. The Forge uses structured brainstorming and facilitation to increase innovation within the assigned team, while executing its process in a rapid turnaround fashion for ideation and design study. As a pilot study for the Forge, a multi-disciplinary team investigated a lunar lab module to augment the lunar surface plans for Artemis. This formulation study evaluated the scientific and operational considerations for this dedicated crew space that would increase the capabilities of lunar surface science operations. The trade space evaluated single lunar lander delivery versus multiple lunar lander delivery for module assembly, alternative structural designs, the science instrument outfitting with mapping to scientific goals to maximize lunar science objectives, and how the lab would be operated. The lab operations options explored a stand-alone facility, as well as a facility integrated into a larger lunar surface complex, while evaluating crew usage and habitability considerations. The resulting alternatives were evaluated by the Forge team with a set of metrics to determine their originality, feasibility, and science performance, and thereby provide a recommendation to the lunar architecture planning team. Lessons learned from the lunar lab study were compiled to improve the process and tools for future Forge studies. Forward work, open issues, and challenges to further refine the design of the various science-focused asset options were also documented. By providing a robust science capability at humanity’s furthest outpost, we can plan for a sustained human lunar presence once the initial lunar surface access capability is well established.

Lunar outpost↗
NASA NTRSDate not supplied

Development and Initial Validation of HFBP-EM Short-Form Surveys

The Human Factors and Behavioral Performance Exploration Measures (HFBP-EM) suite includes self-report surveys designed to assess Behavioral Medicine (BMed) and Team risks for future exploration class missions. Survey data was collected during the Human Exploration Research Analog (HERA) Campaign 4 (C4), HERA Campaign 5 (C5), and during SIRIUS19 missions in the Russian Ground Based Experiment Complex, NEK. Crew time in spaceflight analogs and in spaceflight is typically limited. Extensive self-report surveys can be a significant burden to participants and are not operationally acceptable for spaceflight. The purpose of this project was to comprehensively assess the reliability and validity of the standard-length HFBP-EM surveys, identify acceptable short forms to administer during HERA C6, examine initial validation evidence for the proposed short form measures, and identify key measurement gaps in HFBP-EM coverage. In this presentation, we will report reliability and validity metrics of standard form data, describe the proposed new short forms, and present initial psychometric analyses supporting the use of these short forms.

S T Bell↗
NASA NTRSDate not supplied

Metallic Environmentally Resistant Coating Rapid Innovation Initiative

Lightweight alloys such as aluminum (Al) and titanium (Ti) are often specified for space systems to minimize mass while maintaining structural integrity [1,2]. Such alloys however, have poor tribological response (high friction and wear), especially in extreme space environments, which becomes worse with the additional presence of lunar regolith. This leads to short lifetimes and premature failures that will ultimately limit long term operations on the lunar surface [2]. This project is addressing this technology gap by developing advanced wear- and radiation-resistant coatings for lightweight parts to extend the life-time and sustainability of both lunar and Martian assets. Ceramics were considered for their high wear resistance, but were rejected because of their low fracture toughness, which would be especially problematic for structural components. The novel and existing coating technologies and deposition methods are being tested in this project. The coating materials are Boron Nitride-Aluminum (BN-Al), Nickle Titanium (NiTi), Aluminum Oxide (AlO3), Ti64 with hBN at 2 and 10 vol percent (Ti-2vol%hBN and Ti-10vol%hBN), and the deposition techniques are high pressure cold-spray (CS) and ambient and vacuum plasma-spray (APS and VPS) [3,4,5]. BN-Al, NiTi, Ti-2vol%hBN, and Ti-10vol%hBN were applied with all three deposition techniques, and AlO3 was applied only using the APS deposition technique. A tungstenite (WS2) film was applied to the NiTi VPS coating. The coating and deposition technique configurations are being tested against several key end-use performance parameters. The parameters include the capabilities of the coatings under wear environments such as regolith simulant, thermal cycling from high (120°C) to cryogenic (-173°C), high vacuum (~10-7 torr), and pre- and post-exposure to ionizing particle radiation. Wear tests include pin on disk, three-body abrasion, and surface erosion by high velocity regolith impacts. The initial down selection is being performed using on virgin and environmental exposure samples using pin on disk and three body abrasion wear tests. From preliminary assessment of this testing, a few configurations were eliminated. Ti-10vol%hBN could not be applied using CS application and NiTi could not be applied using APS or CS application so these configurations did not get tested. Early pin on disk wear tests showed poor wear performance of BN-Al so this coating was eliminated early in the testing process. AlO3 on Al substrate did not survive thermal cycling, but wear testing is continuing for AlO3 on Ti substrate. A more detailed analysis is being con-ducted to further reduce the number of configuration for phase II and III. Phase II testing will include conventionally and additively manufactured substrates with surface erosion testing. In phase III, the coatings will be applied to three mechanism types: channel and slot, ball and socket, and a hinge joint. Each will demonstrate a different type of wear incidence. The mechanisms and their base materials are of direct interest to the end users and infusion points: the Human Landing System (HLS) and the Lunar Surface Innovation Initiative (sustained lunar surface operations). The technology development project is based out of Marshall Space Flight Center, has partnered with Florida International University (Miami, FL) and Plasma Processes (Huntsville, Al), and is supported by a group of NASA mentors from different centers.

dust mitigation↗
NASA NTRSDate not supplied

Celestial Mapping System and Digital Lunar Library Initiative

We are preparing to create an interactive, global 3D lunar environment with integrated dataset and AI/ML tools to provide unique value to mission planners, scientists and the entire lunar community. This lunar environment will be based on NASA Ames Celestial Mapping System (CMS) [1] and Digital Lunar Library (DLL) Initiative. CMS provides a 3D virtual Lunar Globe with extensive user friendly tool sets, that include high resolution terrain visualization, elevation profiles, measurement kits, slope analysis, path optimization, line of sight analysis, equipment planning and placement tools and many other functionalities [1]. It has a thick client with less overhead to access hardware resources. This allows features such as terrain profiling and distance calculations to be performed on the client and on the fly. The application is developed to provide situational and domain awareness on the Lunar surface, planning capabilities for equipment placements and traverse path optimization. As data becomes available, CMS has the capabilities to integrate data sets that change dynamically in real-time, which will be useful for monitoring satellites and remotely-sensed data on the Lunar surface. CMS supports importing synthetic features in a variety of 3D, 2D, vector and raster formats. In the future, these capabilities will be enhanced by incorporating AI/ML tools and a plug-in architecture to enable customization by the user groups. With the help of DLL we will be able to : 1) Amplify the value of lunar information with AI-powered data enhancements 2) Acquire and integrate lunar data with AI-assisted georectification and homogenization 3) Analyze lunar data with advanced 3D visualization, intelligent search-by-example 4) Apply lunar data insights to specific use cases with an open plug-in architecture. The CMS-DLL initiative will have several potential use cases for NASA and the lunar community in general, including subsurface lava tube visualization and analysis, soil analysis, in-situ lunar resource visualization and representation on 3D globe, and data analytics for utilization. REFERENCES: [1] https://celestial.arc.nasa.gov/

3D Globe↗
NASA NTRS2022

Lithological variation of asteroid Ryugu samples returned by the Hayabusa 2 spacecraft: Assessment from the 18 particles distributed to the initial analysis “Stone” team

JAXA’s Hayabusa2 spacecraft successfully returned~5.4g of C-type asteroid Ryugu materials on Dec. 2020 [e.g., 1] and the recovered samples were extensively analyzed by initial analysis teams and Phase2 curation teams. The reported results show that Ryugu samples are similar to CI chondritesin chemistry and mineralogy, showing evidence for aqueous alteration in the parent body [e.g., 2,3]. As a “stone” team of the initial analysis, we received 18coarse particles (>1 mm) of Ryugu samples to characterize their mineralogy and petrology. We found that the samples were breccias of mm-to-sub mm size clasts. All of the clasts are mainly composed of Mg-Fe phyllosilicates, but the alteration degree appears slightly different from one clast to another. Here we report a lithological variation of Ryugu samples to propose their reasonable lithological classification based upon different mineral assemblages and to discuss the formation and evolution of the Ryugu parent body.

Michael E Zolensky↗
NASA NTRSDate not supplied

The Initial Orbit Determination (IOD) Problem With Range, Range-Rate and Angles

The Initial Orbit Determination (IOD) problem has been tacked since Laplace, Euler and Gauss in the service of determining the orbits of planets, asteroids, and comets. The measurements that established the orbit characteristics were angles over long arcs.1 The Space Age brought two new measurement types to bear: range and range-rate.2, 3 Initially these measurements were provided by radars through skin-tracking. Soon, however, transponders allowed better measurement accuracy and availability. To date, there are three types of IOD problems: angles only, range and angles, and range and range-rate. The Orion program exposed the need for an additional capability in the case of an extended loss of communication: when the measurements included antenna angles (azimuth and elevation or right-ascension and declination), range and range-rate. This paper contains the details of this new methodology. We will begin with state determination with range, range-rate and angle measurements. First the state estimate, given a sequence of these four time-synchronized measurements, will be analytically developed. Next the covariance matrix associated with this state estimate will be analytically developed. Finally, these will be verified by Monte Carlo simulations.

Christopher D’Souza↗