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NASA NTRS2012

Next Generation NASA Initiative for Space Geodesy

Space geodesy measurement requirements have become more and more stringent as our understanding of the physical processes and our modeling techniques have improved. In addition, current and future spacecraft will have ever-increasing measurement capability and will lead to increasingly sophisticated models of changes in the Earth system. Ground-based space geodesy networks with enhanced measurement capability will be essential to meeting these oncoming requirements and properly interpreting the sate1!ite data. These networks must be globally distributed and built for longevity, to provide the robust data necessary to generate improved models for proper interpretation ofthe observed geophysical signals. These requirements have been articulated by the Global Geodetic Observing System (GGOS). The NASA Space Geodesy Project (SGP) is developing a prototype core site as the basis for a next generation Space Geodetic Network (SGN) that would be NASA's contribution to a global network designed to produce the higher quality data required to maintain the Terrestrial Reference Frame and provide information essential for fully realizing the measurement potential of the current and coming generation of Earth Observing spacecraft. Each of the sites in the SGN would include co-located, state of-the-art systems from all four space geodetic observing techniques (GNSS, SLR, VLBI, and DORIS). The prototype core site is being developed at NASA's Geophysical and Astronomical Observatory at Goddard Space Flight Center. The project commenced in 2011 and is scheduled for completion in late 2013. In January 2012, two multiconstellation GNSS receivers, GODS and GODN, were established at the prototype site as part of the local geodetic network. Development and testing are also underway on the next generation SLR and VLBI systems along with a modern DORIS station. An automated survey system is being developed to measure inter-technique vector ties, and network design studies are being performed to define the appropriate number and distribution of these next generation space geodetic core sites that are required to achieve the driving ITRF requirements. We present the status of this prototype next generation space geodetic core site, results from the analysis of data from the established geodetic stations, and results from the ongoing network design studies.

Merkowitz, S. M.↗

NASA NTRS2012

NASA's Next Generation Space Geodesy Program

Requirements for the ITRF have increased dramatically since the 1980s. The most stringent requirement comes from critical sea level monitoring programs: a global accuracy of 1.0 mm, and 0.1mm/yr stability, a factor of 10 to 20 beyond current capability. Other requirements for the ITRF coming from ice mass change, ground motion, and mass transport studies are similar. Current and future satellite missions will have ever-increasing measurement capability and will lead to increasingly sophisticated models of these and other changes in the Earth system. Ground space geodesy networks with enhanced measurement capability will be essential to meeting the ITRF requirements and properly interpreting the satellite data. These networks must be globally distributed and built for longevity, to provide the robust data necessary to generate improved models for proper interpretation of the observed geophysical signals. NASA has embarked on a Space Geodesy Program with a long-range goal to build, deploy and operate a next generation NASA Space Geodetic Network (SGN). The plan is to build integrated, multi-technique next-generation space geodetic observing systems as the core contribution to a global network designed to produce the higher quality data required to maintain the Terrestrial Reference Frame and provide information essential for fully realizing the measurement potential of the current and coming generation of Earth Observing spacecraft. Phase 1 of this project has been funded to (1) Establish and demonstrate a next-generation prototype integrated Space Geodetic Station at Goddard's Geophysical and Astronomical Observatory (GGAO), including next-generation SLR and VLBI systems along with modern GNSS and DORIS; (2) Complete ongoing Network Design Studies that describe the appropriate number and distribution of next-generation Space Geodetic Stations for an improved global network; (3) Upgrade analysis capability to handle the next-generation data; (4) Implement a modern survey system to measure inter-technique vectors for co-location; and (5) Develop an Implementation Plan to build, deploy and operate a next-generation integrated NASA SGN that will serve as NASA's contribution to the international global geodetic network. An envisioned Phase 2 (which is not currently funded) would include the replication of up to ten such stations to be deployed either as integrated units or as a complement to already in-place components provided by other organizations. This talk will give an update on the activities underway and the plans for completion.

Merkowitz, S. M.↗

NASA NTRS2012

Internal Structure and Mineralogy of Differentiated Asteroids Assuming Chondritic Bulk Composition: The Case of Vesta

Bulk composition (including oxygen content) is a primary control on the internal structure and mineralogy of differentiated asteroids. For example, oxidation state will affect core size, as well as Mg# and pyroxene content of the silicate mantle. The Howardite-Eucrite-Diogenite class of meteorites (HED) provide an interesting test-case of this idea, in particular in light of results of the Dawn mission which provide information on the size, density and differentiation state of Vesta, the parent body of the HED's. In this work we explore plausible bulk compositions of Vesta and use mass-balance and geochemical modelling to predict possible internal structures and crust/mantle compositions and mineralogies. Models are constrained to be consistent with known HED samples, but the approach has the potential to extend predictions to thermodynamically plausible rock types that are not necessarily present in the HED collection. Nine chondritic bulk compositions are considered (CI, CV, CO, CM, H, L, LL, EH, EL). For each, relative proportions and densities of the core, mantle, and crust are quantified. Considering that the basaltic crust has the composition of the primitive eucrite Juvinas and assuming that this crust is in thermodynamic equilibrium with the residual mantle, it is possible to calculate how much iron is in metallic form (in the core) and how much in oxidized form (in the mantle and crust) for a given bulk composition. Of the nine bulk compositions tested, solutions corresponding to CI and LL groups predicted a negative metal fraction and were not considered further. Solutions for enstatite chondrites imply significant oxidation relative to the starting materials and these solutions too are considered unlikely. For the remaining bulk compositions, the relative proportion of crust to bulk silicate is typically in the range 15 to 20% corresponding to crustal thicknesses of 15 to 20 km for a porosity-free Vesta-sized body. The mantle is predicted to be largely dominated by olivine (>85%) for carbonaceous chondrites, but to be a roughly equal mixture of olivine and pyroxene for ordinary chondrite precursors. All bulk compositions have a significant core, but the relative proportions of metal and sulphide can be widely different. Using these data, total core size (metal+ sulphide) and average core densities can be calculated, providing a useful reference frame within which to consider geophysical/gravity data of the Dawn mission.

Toplis, M. J.↗

NASA NTRS2012

NASA's Next Generation Space Geodesy Program

Requirements for the ITRF have increased dramatically since the 1980s. The most stringent requirement comes from critical sea level monitoring programs: a global accuracy of 1.0 mm, and 0.1mm/yr stability, a factor of 10 to 20 beyond current capability. Other requirements for the ITRF coming from ice mass change, ground motion, and mass transport studies are similar. Current and future satellite missions will have ever-increasing measurement capability and will lead to increasingly sophisticated models of these and other changes in the Earth system. Ground space geodesy networks with enhanced measurement capability will be essential to meeting the ITRF requirements and properly interpreting the satellite data. These networks must be globally distributed and built for longevity, to provide the robust data necessary to generate improved models for proper interpretation of the observed geophysical signals. NASA has embarked on a Space Geodesy Program with a long-range goal to build, deploy and operate a next generation NASA Space Geodetic Network (SGN). The plan is to build integrated, multi-technique next-generation space geodetic observing systems as the core contribution to a global network designed to produce the higher quality data required to maintain the Terrestrial Reference Frame and provide information essential for fully realizing the measurement potential of the current and coming generation of Earth Observing spacecraft. Phase 1 of this project has been funded to (1) Establish and demonstrate a next-generation prototype integrated Space Geodetic Station at Goddard s Geophysical and Astronomical Observatory (GGAO), including next-generation SLR and VLBI systems along with modern GNSS and DORIS; (2) Complete ongoing Network Design Studies that describe the appropriate number and distribution of next-generation Space Geodetic Stations for an improved global network; (3) Upgrade analysis capability to handle the next-generation data; (4) Implement a modern survey system to measure inter-technique vectors for co-location; and (5) Develop an Implementation Plan to build, deploy and operate a next-generation integrated NASA SGN that will serve as NASA s contribution to the international global geodetic network. An envisioned Phase 2 (which is not currently funded) would include the replication of up to ten such stations to be deployed either as integrated units or as a complement to already in-place components provided by other organizations. This talk will give an update on the activities underway and the plans for completion.

Pearlman, M. R.↗

NASA NTRS2013

Ground Contact Modeling for the Morpheus Test Vehicle Simulation

The Morpheus vertical test vehicle is an autonomous robotic lander being developed at Johnson Space Center (JSC) to test hazard detection technology. Because the initial ground contact simulation model was not very realistic, it was decided to improve the model without making it too computationally expensive. The first development cycle added capability to define vehicle attachment points (AP) and to keep track of their states in the lander reference frame (LFRAME). These states are used with a spring damper model to compute an AP contact force. The lateral force is then overwritten, if necessary, by the Coulomb static or kinetic friction force. The second development cycle added capability to use the PolySurface class as the contact surface. The class can load CAD data in STL (Stereo Lithography) format, and use the data to compute line of sight (LOS) intercepts. A polygon frame (PFRAME) is computed from the facet intercept normal and used to convert the AP state to PFRAME. Three flat plane tests validate the transitions from kinetic to static, static to kinetic, and vertical impact. The hazardous terrain test will be used to test for visual reasonableness. The improved model is numerically inexpensive, robust, and produces results that are reasonable.

Cordova, Luis↗

NASA NTRS2013

Combined Experimental and Numerical Simulations of Thermal Barrier Coated Turbine Blades Erosion

A combined experimental and computational study was conducted to investigate the erosion of thermal barrier coated (TBC) blade surfaces by alumina particles ingestion in a single stage turbine. In the experimental investigation, tests of particle surface interactions were performed in specially designed tunnels to determine the erosion rates and particle restitution characteristics under different impact conditions. The experimental results show that the erosion rates increase with increased impingement angle, impact velocity and temperature. In the computational simulations, an Euler-Lagrangian two stage approach is used in obtaining numerical solutions to the three-dimensional compressible Reynolds Averaged Navier-Stokes equations and the particles equations of motion in each blade passage reference frame. User defined functions (UDF) were developed to represent experimentally-based correlations for particle surface interaction models which were employed in the three-dimensional particle trajectory simulations to determine the particle rebound characteristics after each surface impact. The experimentally based erosion UDF model was used to predict the TBC erosion rates on the turbine blade surfaces based on the computed statistical data of the particles impact locations, velocities and angles relative to the blade surface. Computational results are presented for the predicted TBC blade erosion in a single stage commercial APU turbine, for a NASA designed automotive turbine, and for the NASA turbine scaled for modern rotorcraft operating conditions. The erosion patterns in the turbines are discussed for uniform particle ingestion and for particle ingestion concentrated in the inner and outer 5 percent of the stator blade span representing the flow cooling the combustor liner.

Hamed, Awate↗

NASA NTRS2014

Ground Contact Modeling for the Morpheus Test Vehicle Simulation

Cordova, Luis↗

NASA NTRS2014

Spherical Coordinate Systems for Streamlining Suited Mobility Analysis

When describing human motion, biomechanists generally report joint angles in terms of Euler angle rotation sequences. However, there are known limitations in using this method to describe complex motions such as the shoulder joint during a baseball pitch. Euler angle notation uses a series of three rotations about an axis where each rotation is dependent upon the preceding rotation. As such, the Euler angles need to be regarded as a set to get accurate angle information. Unfortunately, it is often difficult to visualize and understand these complex motion representations. One of our key functions is to help design engineers understand how a human will perform with new designs and all too often traditional use of Euler rotations becomes as much of a hindrance as a help. It is believed that using a spherical coordinate system will allow ABF personnel to more quickly and easily transmit important mobility data to engineers, in a format that is readily understandable and directly translatable to their design efforts. Objectives: The goal of this project is to establish new analysis and visualization techniques to aid in the examination and comprehension of complex motions. Methods: This project consisted of a series of small sub‐projects, meant to validate and verify the method before it was implemented in the ABF's data analysis practices. The first stage was a proof of concept, where a mechanical test rig was built and instrumented with an inclinometer, so that its angle from horizontal was known. The test rig was tracked in 3D using an optical motion capture system, and its position and orientation were reported in both Euler and spherical reference systems. The rig was meant to simulate flexion/extension, transverse rotation and abduction/adduction of the human shoulder, but without the variability inherent in human motion. In the second phase of the project, the ABF estimated the error inherent in a spherical coordinate system, and evaluated how this error would vary within the reference frame. This stage also involved expanding a kinematic model of the shoulder, to include the torso, knees, ankle, elbows, wrists and neck. Part of this update included adding a representation of 'roll' about an axis, for upper arm and lower leg rotations. The third stage of the project involved creating visualization methods to assist in interpreting motion in a spherical frame. This visualization method will be incorporated in a tool to evaluate a database of suited mobility data, which is currently in development.

Benson, Elizabeth↗

NASA NTRS2012

Solar Wind Electron Interaction with the Dayside Lunar Surface and Crustal Magnetic Fields: Evidence for Precursor Effects

Electron distributions measured by Lunar Prospector above the dayside lunar surface in the solar wind often have an energy dependent loss cone, inconsistent with adiabatic magnetic reflection. Energy dependent reflection suggests the presence of downward parallel electric fields below the spacecraft, possibly indicating the presence of a standing electrostatic structure. Many electron distributions contain apparent low energy (<100 eV) upwardgoing conics (58% of the time) and beams (12% of the time), primarily in regions with non-zero crustal magnetic fields, implying the presence of parallel electric fields and/or wave-particle interactions below the spacecraft. Some, but not all, of the observed energy dependence comes from the energy gained during reflection from a moving obstacle; correctly characterizing electron reflection requires the use of the proper reference frame. Nonadiabatic reflection may also play a role, but cannot fully explain observations. In cases with upward-going beams, we observe partial isotropization of incoming solar wind electrons, possibly indicating streaming and/or whistler instabilities. The Moon may therefore influence solar wind plasma well upstream from its surface. Magnetic anomaly interactions and/or non-monotonic near surface potentials provide the most likely candidates to produce the observed precursor effects, which may help ensure quasi-neutrality upstream from the Moon.

Solar↗

NASA NTRS2014

Shake Test Results and Dynamic Calibration Efforts for the Large Rotor Test Apparatus

A shake test of the Large Rotor Test Apparatus (LRTA) was performed in an effort to enhance NASAscapability to measure dynamic hub loads for full-scale rotor tests. This paper documents the results of theshake test as well as efforts to calibrate the LRTA balance system to measure dynamic loads.Dynamic rotor loads are the primary source of vibration in helicopters and other rotorcraft, leading topassenger discomfort and damage due to fatigue of aircraft components. There are novel methods beingdeveloped to reduce rotor vibrations, but measuring the actual vibration reductions on full-scale rotorsremains a challenge. In order to measure rotor forces on the LRTA, a balance system in the non-rotatingframe is used. The forces at the balance can then be translated to the hub reference frame to measure therotor loads. Because the LRTA has its own dynamic response, the balance system must be calibrated toinclude the natural frequencies of the test rig.

Shake Test Results↗

NASA NTRS2013

The Accidental Tide Gauge: A GPS Reflection Case Study from Kachemak Bay, Alaska

For the last decade, it has been known that reflected GPS signals observed with specialized instruments could be used to measure sea level. In this letter, data from an existing geodeticquality GPS site near Kachemak Bay, Alaska, are analyzed for a one-year time period. Daily sea-level variations are more than 7 m. Tidal coefficients have been estimated and compared with coefficients estimated from records from a traditional tide gauge at Seldovia Harbor, approximately 30 km away. The GPS and Seldovia estimates of M(sub 2) and S(sub 2) coefficients agree to better than 2%; much of this residual can be attributed to true differences in the tide over 30 km as it propagates up Kachemak Bay. For daily mean sea levels the agreement is 2.3 cm. Because a standard geodetic GPS receiver/antenna is used, this GPS instrument can measure long-term sea-level changes in a stable terrestrial reference frame.

GPS reflections↗

NASA NTRS2013

Co-registration of Laser Altimeter Tracks with Digital Terrain Models and Applications in Planetary Science

We have derived algorithms and techniques to precisely co-register laser altimeter profiles with gridded Digital Terrain Models (DTMs), typically derived from stereo images. The algorithm consists of an initial grid search followed by a least-squares matching and yields the translation parameters at sub-pixel level needed to align the DTM and the laser profiles in 3D space. This software tool was primarily developed and tested for co-registration of laser profiles from the Lunar Orbiter Laser Altimeter (LOLA) with DTMs derived from the Lunar Reconnaissance Orbiter (LRO) Narrow Angle Camera (NAC) stereo images. Data sets can be co-registered with positional accuracy between 0.13 m and several meters depending on the pixel resolution and amount of laser shots, where rough surfaces typically result in more accurate co-registrations. Residual heights of the data sets are as small as 0.18 m. The software can be used to identify instrument misalignment, orbit errors, pointing jitter, or problems associated with reference frames being used. Also, assessments of DTM effective resolutions can be obtained. From the correct position between the two data sets, comparisons of surface morphology and roughness can be made at laser footprint- or DTM pixel-level. The precise co-registration allows us to carry out joint analysis of the data sets and ultimately to derive merged high-quality data products. Examples of matching other planetary data sets, like LOLA with LRO Wide Angle Camera (WAC) DTMs or Mars Orbiter Laser Altimeter (MOLA) with stereo models from the High Resolution Stereo Camera (HRSC) as well as Mercury Laser Altimeter (MLA) with Mercury Dual Imaging System (MDIS) are shown to demonstrate the broad science applications of the software tool.

Laser↗

NASA NTRS2015

Spherical Coordinate Systems for Streamlining Suited Mobility Analysis

Introduction: When describing human motion, biomechanists generally report joint angles in terms of Euler angle rotation sequences. However, there are known limitations in using this method to describe complex motions such as the shoulder joint during a baseball pitch. Euler angle notation uses a series of three rotations about an axis where each rotation is dependent upon the preceding rotation. As such, the Euler angles need to be regarded as a set to get accurate angle information. Unfortunately, it is often difficult to visualize and understand these complex motion representations. It has been shown that using a spherical coordinate system allows Anthropometry and Biomechanics Facility (ABF) personnel to increase their ability to transmit important human mobility data to engineers, in a format that is readily understandable and directly translatable to their design efforts. Objectives: The goal of this project was to use innovative analysis and visualization techniques to aid in the examination and comprehension of complex motions. Methods: This project consisted of a series of small sub‐projects, meant to validate and verify a new method before it was implemented in the ABF's data analysis practices. A mechanical test rig was built and tracked in 3D using an optical motion capture system. Its position and orientation were reported in both Euler and spherical reference systems. In the second phase of the project, the ABF estimated the error inherent in a spherical coordinate system, and evaluated how this error would vary within the reference frame. This stage also involved expanding a kinematic model of the shoulder to include the rest of the joints of the body. The third stage of the project involved creating visualization methods to assist in interpreting motion in a spherical frame. These visualization methods will be incorporated in a tool to evaluate a database of suited mobility data, which is currently in development. Results: Initial results demonstrated that a spherical coordinate system is helpful in describing and visualizing the motion of a space suit. The system is particularly useful in describing the motion of the shoulder, where multiple degrees of freedom can lead to very complex motion paths.

Benson, Elizabeth↗

NASA NTRS2015

Method of Enhancing On-Board State Estimation Using Communication Signals

A method of enhancing on-board state estimation for a spacecraft utilizes a network of assets to include planetary-based assets and space-based assets. Communication signals transmitted from each of the assets into space are defined by a common protocol. Data is embedded in each communication signal transmitted by the assets. The data includes a time-of-transmission for a corresponding one of the communication signals and a position of a corresponding one of the assets at the time-of-transmission. A spacecraft is equipped to receive the communication signals, has a clock synchronized to the space-wide time reference frame, and has a processor programmed to generate state estimates of the spacecraft. Using its processor, the spacecraft determines a one-dimensional range from itself to at least one of the assets and then updates its state estimates using each one-dimensional range.

Anzalone, Evan J.↗

NASA NTRS2013

GPS Position Time Series @ JPL

Different flavors of GPS time series analysis at JPL - Use same GPS Precise Point Positioning Analysis raw time series - Variations in time series analysis/post-processing driven by different users. center dot JPL Global Time Series/Velocities - researchers studying reference frame, combining with VLBI/SLR/DORIS center dot JPL/SOPAC Combined Time Series/Velocities - crustal deformation for tectonic, volcanic, ground water studies center dot ARIA Time Series/Coseismic Data Products - Hazard monitoring and response focused center dot ARIA data system designed to integrate GPS and InSAR - GPS tropospheric delay used for correcting InSAR - Caltech's GIANT time series analysis uses GPS to correct orbital errors in InSAR - Zhen Liu's talking tomorrow on InSAR Time Series analysis

Precise Point Positioning (PPP)↗

NASA NTRS2013

Improved Spacecraft Tracking and Navigation Using a Portable Radio Science Receiver

The Portable Radio Science Receiver (PRSR) is a suitcase-sized open-loop digital receiver designed to be small and easy to transport so that it can be deployed quickly and easily anywhere in the world. The PRSR digitizes, downconverts, and filters using custom hardware, firmware, and software. Up to 16 channels can be independently configured and recorded with a total data rate of up to 256 Mbps. The design and implementation of the system's hardware, firmware, and software is described. To minimize costs and time to deployment, our design leveraged elements of the hardware, firmware, and software designs from the existing full-sized operational (non-portable) Radio Science Receivers (RSR) and Wideband VLBI Science Receivers (WVSR), which have successfully supported flagship NASA deep space missions at all Deep Space Network (DSN) sites. We discuss a demonstration of the PRSR using VLBI, with one part per billion angular resolution: 1 nano-radian / 200 ?as synthesized beam. This is the highest resolution astronomical instrument ever operated solely from the Southern Hemisphere. Preliminary results from two sites are presented, including the European Space Agency (ESA) sites at Cebreros, Spain and Malargue, Argentina. Malargue's South American location is of special interest because it greatly improves the geometric coverage for spacecraft navigation in the Southern Hemisphere and will for the first time provide coverage to the 1/4 of the range of declination that has been excluded from reference frame work at Ka-band.

Delta Differential One-Way (DOR)↗

NASA NTRS2016

ISS Double-Gimbaled CMG Subsystem Simulation Using the Agile Development Method

This paper presents an evolutionary approach in simulating a cluster of 4 Control Moment Gyros (CMG) on the International Space Station (ISS) using a common sense approach (the agile development method) for concurrent mathematical modeling and simulation of the CMG subsystem. This simulation is part of Training systems for the 21st Century simulator which will provide training for crew members, instructors, and flight controllers. The basic idea of how the CMGs on the space station are used for its non-propulsive attitude control is briefly explained to set up the context for simulating a CMG subsystem. Next different reference frames and the detailed equations of motion (EOM) for multiple double-gimbal variable-speed control moment gyroscopes (DGVs) are presented. Fixing some of the terms in the EOM becomes the special case EOM for ISS's double-gimbaled fixed speed CMGs. CMG simulation development using the agile development method is presented in which customer's requirements and solutions evolve through iterative analysis, design, coding, unit testing and acceptance testing. At the end of the iteration a set of features implemented in that iteration are demonstrated to the flight controllers thus creating a short feedback loop and helping in creating adaptive development cycles. The unified modeling language (UML) tool is used in illustrating the user stories, class designs and sequence diagrams. This incremental development approach of mathematical modeling and simulating the CMG subsystem involved the development team and the customer early on, thus improving the quality of the working CMG system in each iteration and helping the team to accurately predict the cost, schedule and delivery of the software.

Inampudi, Ravi↗

NASA NTRS2013

The Space Geodesy Project and Radio Frequency Interference Characterization and Mitigation

The Space Geodesy Project (SGP) development by NASA is an effort to co-locate the four international geodetic techniques Satellite Laser Ranging (SLR) and Lunar Laser Ranging (LLR), Very Long Baseline Interferometry (VLBI), Global Navigation Satellite System (GNSS), and Doppler Orbitography and Radiopositioning Integrated by Satellite (DORIS) into one tightly referenced campus and coordinated reference frame analysis. The SGP requirement locates these stations within a small area to maintain line-of-sight and frequent automated survey known as the vector tie system. This causes a direct conflict with the new broadband VLBI technique. Broadband means 2-14 GHz, and RFI susceptibility at -80 dBW or higher due to sensitive RF components in the front end of the radio receiver.

Lawrence, Hilliard M.↗