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NASA NTRS2015

Attitude Design for the LADEE Mission

The Lunar Atmosphere and Dust Environment Explorer (LADEE) satellite successfully completed its 148-day science investigation in a low-altitude, near-equatorial lunar orbit on April 18, 2014. The LADEE spacecraft was built, managed and operated by NASA's Ames Research Center (ARC). The Mission Operations Center (MOC) was located at Ames and was responsible for activity planning, command sequencing, trajectory and attitude design, orbit determination, and spacecraft operations. The Science Operations Center (SOC) was located at Goddard Space Flight Center and was responsible for science planning, data archiving and distribution. This paper details attitude design and operations support for the LADEE mission. LADEE's attitude design was shaped by a wide range of instrument pointing requirements that necessitated regular excursions from the baseline one revolution per orbit "Ram" attitude. Such attitude excursions were constrained by a number of flight rules levied to protect instruments from the Sun, avoid geometries that would result in simultaneous occlusion of LADEE's two star tracker heads, and maintain the spacecraft within its thermal and power operating limits. To satisfy LADEE's many attitude requirements and constraints, a set of rules and conventions was adopted to manage the complexity of this design challenge and facilitate the automation of ground software that generated pointing commands spanning multiple days of operations at a time. The resulting LADEE Flight Dynamics System (FDS) that was developed used Visual Basic scripts that generated instructions to AGI's Satellite Tool Kit (STK) in order to derive quaternion commands at regular intervals that satisfied LADEE's pointing requirements. These scripts relied heavily on the powerful "align and constrain" capability of STK's attitude module to construct LADEE's attitude profiles and the slews to get there. A description of the scripts and the attitude modeling they embodied is provided. One particular challenge analysts faced was in the design of LADEE maneuver attitudes. A flight rule requiring pre-maneuver verification of in-flight maneuver conditions by ground operators prior to burn execution resulted in the need to accommodate long periods in the maneuver attitude. This in turn complicated efforts to satisfy star tracker interference and communication constraints in lunar orbit. In response to this challenge, a graphical method was developed and used to survey candidate rotation angles about the thrust vector. This survey method is described and an example of its use on a particular LADEE maneuver is discussed. Finally, the software and methodology used to satisfy LADEE's attitude requirements are also discussed in the context of LADEE's overall activity planning effort. In particular, the way in which strategic schedules of instrument and engineering activities were translated into actual attitude profiles at the tactical level, then converted into precise quaternion commands to achieve those pointing goals is explained. In order to reduce the risk of time-consuming re-planning efforts, this process included the generation of long-term projections of constraint violation predictions for individual attitude profiles that could be used to establish keep-out time-frames for particular attitude profiles. The challenges experienced and overall efficacy of both the overall LADEE ground system and the attitude components of the Flight Dynamics System in meeting LADEE's varied pointing requirements are discussed.

LADEE↗

NASA NTRS2001

A spontaneously arising mutation in connexin32 with repeated passage of FRTL-5 cells coincides with increased growth rate and reduced thyroxine release

In this study we examine changes in the cellular properties of FRTL-5 cells as a function of passage number, with particular emphasis on gap junction expression, karyotype, morphology, growth rate and thyroxine (T(4)) release. Early passage FRTL-5 follicular cells transfer dye through gap junctions from injected cell(s) to third-order neighboring cells and beyond within their respective follicles and have immuno-detectable connexin32 (Cx32) type gap junctional plaques in their lateral contacting plasma membranes. By contrast, FRTL-5 cells established as monolayers, or as follicles from cultures passed more than 15 times, did not transfer microinjected Lucifer Yellow dye to contiguous neighboring cells and did not express any immuno-detectable rat thyroid specific connexins (Cx43, Cx32 or Cx26). Western blots confirmed that total, membrane and cytosolic Cx32 protein was present only in early pass follicular cultures. To better understand the passage-dependent loss of Cx32 expression, RT-PCR primers were made to the most unique sequences of the rat Cx32 molecule, the cytoplasmic and carboxyl-terminal regions. These primers were used to screen FRTL-5 RNA from cultures of various passage numbers. The results revealed that later passage cultures had a single base deletion in the middle of the Cx32 cytoplasmic loop region at nucleotide position 378. This base deletion was in the middle position of the codon for amino acid 116, which is normally a CAC (histidine) but read with the frame shift was a CCC (proline). The four amino acids that followed this deletion were also altered with the fourth one becoming UAA, the ochre translation stop codon. This premature stopping of translation resulted in a truncation of 60% of the protein, which included the remaining cytoplasmic loop, third and fourth transmembrane regions and the carboxyl-terminus. The later passage cultures did not produce a carboxyl-terminal RT-PCR product, indicating that the mRNA was also truncated. These regions of the Cx32 molecule contain the sequences and epitopes to which probes and antibodies are directed, and as such alterations of these regions with repeated passage explains reports by others that FRTL-5 cells do not express Cx32, and implies that cultures used for these assessments were passed more than 15 times. To determine if genetic or epigenetic abnormalities existed in FRTL-5 cells we performed chromosome spreads from various passage cultures. FRTL-5 cells have been reported to be diploid and more recently non-diploid; however, we found them to be fully tetraploid. This tetraploidy appears to be unstable in that later passes are tetraploid plus two or three extra chromosomes. There were no obvious translocations, breaks or large-scale interstitial deletions of any chromosomes in the FRTL-5 cultures tested. As FRTL-5 cells were repeatedly passed their morphology changed. Monolayer areas spread from beneath the follicles, and the follicles became flattened in appearance. These physical changes were coincident with dramatically increased growth rates. Early cultures (passed 3-12 times) divided on average every 49+/-1 h, whereas later passes (passes 20-25) divided every 28+/-3 h. To correlate these changes with a measure of thyroid function we assayed T(4) output. Early passage follicular cultures incubated for 6 h with sodium iodide, released on average 5.27+/- 0.33 ng/ml of T(4)/100 follicles. Later passes, or early passes treated with heptanol to down-regulate Cx32, released an average of 3.84+/-0.50 ng/ml of T(4)/100 follicles. There was a 27% difference in T(4) release between early follicular cultures, that were coupled by Cx32, and late or down-regulated early follicular cultures, that were uncoupled (P<0.0001). Collectively, the physical changes documented in this study were coincident with the loss of functional Cx32. This implies a relationship between the loss of intercellular communication and changes in morphogenic appearance, growth rate and reduced thyroid function and supports the previously postulated, tumor-suppressor role for Cx32. FRTL-5 cultures from low passage numbers are an excellent model of primary thyroid cells. However, many reports in the literature ascribe features to FRTL-5 cells that are mutually inconsistent. These differences may be resolved in the future by addressing the passage number and the conditional differences of the cultures being studied.

NASA Discipline Radiation Health↗

NASA NTRS1995

Anomalous carbonate precipitates: is the Precambrian the key to the Permian?

Late Permian reefs of the Capitan complex, west Texas; the Magnesian Limestone, England; Chuenmuping reef, south China; and elsewhere contain anomalously large volumes of aragonite and calcite marine cements and sea-floor crusts, as well as abundant microbial precipitates. These components strongly influenced reef growth and may have been responsible for the construction of rigid, open reefal frames in which bryozoans and sponges became encrusted and structurally reinforced. In some cases, such as the upper biostrome of the Magnesian Limestone, precipitated microbialites and inorganic crusts were the primary constituents of the reef core. These microbial and inorganic reefs do not have modern marine counterparts; on the contrary, their textures and genesis are best understood through comparison with the older rock record, particularly that of the early Precambrian. Early Precambrian reefal facies are interpreted to have formed in a stratified ocean with anoxic deep waters enriched in carbonate alkalinity. Upwelling mixed deep and surface waters, resulting in massive seafloor precipitation of aragonite and calcite. During Mesoproterozoic and early Neoproterozoic time, the ocean became more fully oxidized, and seafloor carbonate precipitation was significantly reduced. However, during the late Neoproterozoic, sizeable volumes of deep ocean water once again became anoxic for protracted intervals; the distinctive "cap carbonates" found above Neoproterozoic tillites attest to renewed upwelling of anoxic bottom water enriched in carbonate alkalinity and 12C. Anomalous late Permian seafloor precipitates are interpreted as the product, at least in part, of similar processes. Massive carbonate precipitation was favored by: 1) reduced shelf space for carbonate precipitation, 2) increased flux of Ca to the oceans during increased continental erosion, 3) deep basinal anoxia that generated upwelling waters with elevated alkalinities, and 4) further evolution of ocean water in the restricted Delaware, Zechstein, and other basins. Temporal coincidence of these processes resulted in surface seawater that was greatly supersaturated by Phanerozoic standards and whose only precedents occurred in Precambrian oceans.

Non-NASA Center↗

NASA NTRS2011

Base Flow Investigation of the Apollo AS-202 Command Module

In recent years, both Europe and the US are developing hypersonic research and operational vehicles. These include (re)entry capsules (both ballistic and lifting) and lifting bodies such as ExoMars, EXPERT, ARV, CEV and IXV. The research programs are meant to enable technology and engineering capabilities to support during the next decade the development of affordable (possibly reusable) space transportation systems as well as hypersonic weapons systems for time critical targets. These programs have a broad range of goals, ranging from the qualification of thermal protection systems, the assessment of RCS performances, the development of GNC algorithms, to the full demonstration of the performance and operability of the integrated vehicles. Since the aerothermodynamic characteristics influence nearly all elements of the vehicle design, the accurate prediction of the aerothermal environment is a prerequisite for the design of efficient hypersonic systems. Significant uncertainties in the prediction of the hypersonic aerodynamic and the aerothermal loads can lead to conservative margins in the design of the vehicle including its Outer Mould Line (OML), thermal protection system, structure, and required control system robustness. The current level of aerothermal prediction uncertainties results therefore in reduced vehicle performances (e.g., sub-optimal payload to mass ratio, increased operational constraints). On the other hand, present computational capabilities enable the simulation of three dimensional flow fields with complex thermo-chemical models over complete trajectories and ease the validation of these tools by, e.g., reconstruction of detailed wind tunnel tests performed under identified and controlled conditions (flow properties and vehicle attitude in particular). These controlled conditions are typically difficult to achieve when performing in flight measurements which in turn results in large associated measurement uncertainties. Similar problems arise when attempting to rebuild measurements performed in "hot" ground facilities, where the difficulty level is increased by the addition of the free-flow characterization itself. The implementation of ever more sophisticated thermochemical models is no obvious cure to the aforementioned problems since their effect is often overwhelmed by the large measurement uncertainties incurred in both flight and ground high enthalpy facilities. Concurrent to the previous considerations, a major contributor to the overall vehicle mass of re-entry vehicles is the afterbody thermal protection system. This is due to the large acreage (equal or bigger than that of the forebody) to be protected. The present predictive capabilities for base flows are comparatively lower than those for windward flowfields and offer therefore a substantial potential for improving the design of future re-entry vehicles. To that end, it is essential to address the accuracy of high fidelity CFD tools exercised in the US and EU, which motivates a thorough investigation of the present status of hypersonic flight afterbody heating. This paper addresses the predictive capabilities of after body flow fields of re-entry vehicles investigated in the frame of the NATO/RTO - RTG-043 Task Group and is structured as follows: First, the verification of base flow topologies on the basis of available wind-tunnel results performed under controlled supersonic conditions (i.e., cold flows devoid of reactive effects) is performed. Such tests address the detailed characterization of the base flow with particular emphasis on separation/reattachment and their relation to Mach number effects. The tests have been performed on an Apollo-like re-entry capsule configuration. Second, the tools validated in the frame of the previous effort are exercised and appraised against flight-test data collected during the Apollo AS-202 re-entry.

Walpot, Louis M. G.↗

DOE OSTI2019

Subtask 1.4 - Techno-Economic Assessment of Regional Carbon Utilization Scenarios and Attendant Monitoring Technology

The U.S. Department of Energy (DOE) Carbon Storage Program seeks to develop technologies to significantly improve the effectiveness of carbon capture and storage (CCS), reduce the cost of implementation, and support the readiness of widespread commercial deployment by 2035. To accomplish this goal, technical and economic barriers must be addressed and the results used to inform regulators and industry on the safety, permanence, and viability of carbon storage. To help overcome these barriers, the Energy & Environmental Research Center (EERC) conducted three activities: 1) investigate the regional techno-economic life cycle of CO2 enhanced oil recovery (EOR) in North Dakota, 2) assist DOE in determining the prospective CO2 storage resource of residual oil zones (ROZs), and 3) develop a seismic technique for monitoring geologic storage of CO2. These three activities address two strategic goals enumerated in the DOE–EERC Cooperative Agreement, namely, 1) to advance foundational science and 2) to inform data-driven policies that enhance U.S. economic growth and job creation, energy security, and environmental quality. Activity 1 In North Dakota, there is synergistic incentive to develop and implement CO2 EOR technologies. Regional industry partners are actively seeking options that can cost-effectively improve the efficiency of power production, while also coproducing CO2 for use in EOR applications. A full-value-chain techno-economic assessment that links lignite resources, power generation, and EOR is needed to determine the implications for a state or region to continue to use these resources or look elsewhere for other energy sources and revenue streams. The integration of North Dakota’s lignite power industry with the state’s oil industry has the potential to revitalize legacy oil fields and produce up to 1 billion barrels of additional oil using CO2 EOR while providing a market for a CO2 commodity captured at coal-fired power plants. Revitalization of North Dakota’s legacy oil fields will bring new industry investment to the state, resulting in the growth of oil-related jobs and revenue through oil sales, severance tax, and associated oilfield development activities (drilling, pipelines, etc.). CO2 demand for EOR and incremental oil production were calculated for 201 conventional oil fields in North Dakota. Infrastructure development in the fields was estimated using 1) a traditional vertical well arrangement of CO2 injectors and oil producers and 2) an advanced case where horizontal wells were used exclusively. Pipeline, compression, and recycling infrastructure requirements were also estimated. When viewed from the CO2 capture and CO2 EOR sectors, the advanced case showed a positive investment scenario when including potential benefits of the 45Q tax credit policy. An economic evaluation of a full implementation of CO2 EOR showed an average $60 billion potential state economic impact estimated over the 37-year construction and production time frame could be realized with an assumed oil price of $65/bbl. Oil price ranges of $35–$90/bbl cause an estimated variation of ±$5 billion over the potential effort. The total net state government revenues were estimated over the 37-year construction and production time frame. With an assumed oil price of $65/bbl, total potential fiscal impact could average $7.4 billion. This result ranges about ±$2.5 billion for a potential EOR implementation effort for oil price ranges of $35–$90/bbl. This broad-brush assessment was focused on “magnitude-of-effect” perspectives of what CO2 capture and use for EOR could mean to the state. Whether CO2 EOR ever becomes widely adopted is not the issue at this stage of evaluation. The question being answered is, How valuable could CO2 capture and CO2 EOR be for the state and local jurisdictions in western North Dakota? The results of the current economic assessment remove any ambiguity to that question. Full implementation of CO2 EOR as modeled in this study provides substantial economic benefits to the state, even at low oil prices (i.e., $35/bbl). Job creation and government revenues could be substantial, depending on the scale of implementation. With a better understanding of what CO2 EOR might mean for the state’s economy, the focus can now shift to the policies and financial mechanisms needed to make private investment in CO2 capture and use as EOR competitive with other energy-related pursuits. Activity 2 ROZs contain remnants of oil not swept away by natural waterflooding. Although nearly all of the identified ROZs are found in West Texas, there is evidence that this category of oil reservoir can be found in other major oil-producing basins of the United States. Because the formation of these oil reservoirs is distinct from other conventional reservoirs, the method to estimate the prospective CO2 storage resource in ROZs may be equally distinct from the method used for conventional fields. As such, the EERC collaborated with DOE’s National Energy Technology Laboratory (NETL) to investigate the feasibility of CO2 storage in ROZs and determine what specific modification (if any) needs to be made to the current DOE volumetric method to estimate prospective CO2 storage resource in oil reservoirs. This activity built on a previous EERC investigation to identify ROZs in the Williston and Powder River Basins and upon collaborations between the EERC and NETL to develop storage resource estimation methods for different types of geologic CO2 storage. Review of the volumetric approach raised questions about the applicability of such an approach to hydrocarbon-bearing zones without the inclusion of potential hydrocarbon production. A production-based approach was presented by the EERC to inform the working group of additional methods of increasing the CO2 storage resource potential. Because the production-based method focuses more heavily on oil recovery than CO2 storage, it was not included in the working group manuscript. Activity 3 The EERC has used sparse and irregular seismic arrays to detect CO2 injected into a reservoir. The variability of seismic noise recorded by the sensors directly impacts the seismic interpretation. However, designing noise attenuation workflows effectively can be a more challenging task using sparse and irregular arrays for data acquisition. Based on the hypothesis that noncoherent noise is stationary during weekly data acquisition, a new machine-learning algorithm was developed to automatically estimate noise conditions using passive records, noise from active records, and ancillary information. The new noise attenuation processing workflow can improve the time-lapse detection of CO2 from sparse and irregular array acquisitions. Results show spatial and temporal noise patterns can be related to the location of the sensors and the weather conditions during the data acquisition and that our attenuation processing workflow can improve the time-lapse detection of CO2 from sparse and irregular array acquisitions. This effort was funded in part through the EERC–DOE Joint Program on Research and Development for Fossil Energy-Related Resources Cooperative Agreement No. DE-FE0024233. Nonfederal funding was provided by the North Dakota Department of Commerce.

Peck, Wesly↗

NASA NTRS2013

Support Routines for In Situ Image Processing

This software consists of a set of application programs that support ground-based image processing for in situ missions. These programs represent a collection of utility routines that perform miscellaneous functions in the context of the ground data system. Each one fulfills some specific need as determined via operational experience. The most unique aspect to these programs is that they are integrated into the large, in situ image processing system via the PIG (Planetary Image Geometry) library. They work directly with space in situ data, understanding the appropriate image meta-data fields and updating them properly. The programs themselves are completely multimission; all mission dependencies are handled by PIG. This suite of programs consists of: (1)marscahv: Generates a linearized, epi-polar aligned image given a stereo pair of images. These images are optimized for 1-D stereo correlations, (2) marscheckcm: Compares the camera model in an image label with one derived via kinematics modeling on the ground, (3) marschkovl: Checks the overlaps between a list of images in order to determine which might be stereo pairs. This is useful for non-traditional stereo images like long-baseline or those from an articulating arm camera, (4) marscoordtrans: Translates mosaic coordinates from one form into another, (5) marsdispcompare: Checks a Left Right stereo disparity image against a Right Left disparity image to ensure they are consistent with each other, (6) marsdispwarp: Takes one image of a stereo pair and warps it through a disparity map to create a synthetic opposite- eye image. For example, a right eye image could be transformed to look like it was taken from the left eye via this program, (7) marsfidfinder: Finds fiducial markers in an image by projecting their approximate location and then using correlation to locate the markers to subpixel accuracy. These fiducial markets are small targets attached to the spacecraft surface. This helps verify, or improve, the pointing of in situ cameras, (8) marsinvrange: Inverse of marsrange . given a range file, re-computes an XYZ file that closely matches the original. . marsproj: Projects an XYZ coordinate through the camera model, and reports the line/sample coordinates of the point in the image, (9) marsprojfid: Given the output of marsfidfinder, projects the XYZ locations and compares them to the found locations, creating a report showing the fiducial errors in each image. marsrad: Radiometrically corrects an image, (10) marsrelabel: Updates coordinate system or camera model labels in an image, (11) marstiexyz: Given a stereo pair, allows the user to interactively pick a point in each image and reports the XYZ value corresponding to that pair of locations. marsunmosaic: Extracts a single frame from a mosaic, which will be created such that it could have been an input to the original mosaic. Useful for creating simulated input frames using different camera models than the original mosaic used, and (12) merinverter: Uses an inverse lookup table to convert 8-bit telemetered data to its 12-bit original form. Can be used in other missions despite the name.

Deen, Robert G.↗

NASA NTRS2011

Magnetospheric Multiscale (MMS) Mission Attitude Ground System Design

This paper describes the attitude ground system (AGS) design to be used for support of the Magnetospheric MultiScale (MMS) mission. The AGS exists as one component of the mission operations control center. It has responsibility for validating the onboard attitude and accelerometer bias estimates, calibrating the attitude sensors and the spacecraft inertia tensor, and generating a definitive attitude history for use by the science teams. NASA's Goddard Space Flight Center (GSFC) in Greenbelt, Maryland is responsible for developing the MMS spacecraft, for the overall management of the MMS mission, and for mission operations. MMS is scheduled for launch in 2014 for a planned two-year mission. The MMS mission consists of four identical spacecraft flying in a tetrahedral formation in an eccentric Earth orbit. The relatively tight formation, ranging from 10 to 400 km, will provide coordinated observations giving insight into small-scale magnetic field reconnection processes. By varying the size of the tetrahedron and the orbital semi-major axis and eccentricity, and making use of the changing solar phase, this geometry allows for the study of both bow shock and magnetotail plasma physics, including acceleration, reconnection, and turbulence. The mission divides into two phases for science; these phases will have orbit dimensions of l.2xl2 Earth radii in the first phase and l.2x25 Earth radii in the second in order to study the dayside magnetopause and the nightside magnetotail, respectively. The orbital periods are roughly one day and three days for the two mission phases. Each of the four MMS spacecraft will be spin stabilized at 3 revolutions per minute (rpm), with the spin axis oriented near the ecliptic north pole but tipped approximately 2.5 deg towards the Sun line. The main body of each spacecraft will be an eight-sided platform with diameter of 3.4 m and height of 1.2 m. Several booms are attached to this central core: two axial booms of 14.9 m length, two radial magnetometer booms of 5 m length, and four radial -wire booms of 60 m length. Attitude and orbit control will use a set of axial and radial thrusters. A four-head star tracker and a slit-type digital Sun sensor (DSS) provide input for attitude determination. In addition, an accelerometer will be· used for closed-loop orbit maneuver control. The primary AGS product will be a daily definitive attitude history. Due to power limitations; the star tracker and accelerometer data will not be available at all times. However, tracker data from at least 10 percent of each orbit and continuous DSS data will be provided. An extended Kalman filter (EKF) will be used to estimate the three-axis attitude (i.e., spin axis orientation and spin phase) and rotation rate for all times when the tracker data is valid. For other times, the attitude is generated by assuming a constant angular momentum vector in the inertial frame. The DSS sun pulse will provide a timing signal to maintain an accurate spin phase. There will be times when the Sun is occulted and DSS data is not available. If this occurs at the start or end of a definitive attitude product, then the spin phase will be extrapolated using the mean rate determined by the EKF.

Sedlak, Joseph E.↗

NASA NTRS2010

Magnetospheric Multiscale (MMS) Mission Attitude Ground System Design

This paper describes the attitude ground system (AGS) design to be used for support of the Magnetospheric MultiScale (MMS) mission. The AGS exists as one component of the mission operations control center. It has responsibility for validating the onboard attitude and accelerometer bias estimates, calibrating the attitude sensors and the spacecraft inertia tensor, and generating a definitive attitude history for use by the science teams. NASA's Goddard Space Flight Center (GSFC) in Greenbelt, Maryland is responsible for developing the MMS spacecraft, for the overall management of the MMS mission, and for mission operations. MMS is scheduled for launch in 2014 for a planned two-year mission. The MMS mission consists of four identical spacecraft flying in a tetrahedral formation in an eccentric Earth orbit. The relatively tight formation, ranging from 10 to 400 km, will provide coordinated observations giving insight into small-scale magnetic field reconnection processes. By varying the size of the tetrahedron and the orbital semi-major axis and eccentricity, and making use of the changing solar phase, this geometry allows for the study of both bow shock and magnetotail plasma physics, including acceleration, reconnection, and turbulence. The mission divides into two phases for science; these phases will have orbit dimensions of 1.2 x 12 Earth radii in the first phase and 1.2x25 Earth radii in the second in order to study the dayside magnetopause and the nightside magnetotail, respectively. The orbital periods are roughly one day and three days for the two mission phases. Each of the four MMS spacecraft will be spin stabilized at 3 revolutions per minute (rpm), with the spin axis oriented near the ecliptic north pole but tipped approximately 2.5 deg towards the Sun line. The main body of each spacecraft will be an eight-sided platform with diameter of 3.4 m and height of 1.2 m. Several booms are attached to this central core: two axial booms of 14.9 m length, two radial magnetometer booms of 5 m length, and four radial wire booms of 60 m length. Attitude and orbit control will use a set of axial and radial thrusters. A four-head star tracker and a slit-type digital Sun sensor (DSS) provide input for attitude determination. In addition, an accelerometer will be used for closed-loop orbit maneuver control. The primary AGS product will be a daily definitive attitude history. Due to power limitations, the star tracker and accelerometer data will not be available at all times. However, tracker data from at least 10 percent of each orbit and continuous DSS data will be provided. An extended Kalman filter (EKF) will be used to estimate the three-axis attitude (i.e., spin axis orientation and spin phase) and rotation rate for all times when the tracker data is valid. For other times, the attitude is generated by assuming a constant angular momentum vector in the inertial frame. The DSS sun pulse will provide a timing signal to maintain an accurate spin phase. There will be times when the Sun is occulted and DSS data is not available. If this occurs at the start or end of a definitive attitude product, then the spin phase will be extrapolated using the mean rate determined by the EKF.

Sedlak, Joseph E.↗

DOE OSTI2026

CHESS 2025: Orthorectified airborne RGB imagery from NEON AOP surveys

This dataset provides Level 1 (L1) and Level 3 (L3) orthorectified Red-Green-Blue (RGB) imagery collected for the 2025 Colorado Headwaters Ecological Spectroscopy Study (CHESS). This high-resolution imagery is a photographic record of red, green, and blue visible light from sunlight reflected off of the Earth’s surface. The data comprise full-color images of the ground surface and are primarily intended to provide context to imaging spectroscopy and light detection and ranging (LiDAR) data. The data were acquired over three study domains in the Upper Gunnison river basin: the upper East River watershed (CRBU); Almont Triangle and Taylor Canyon (ALMO); and Upper Taylor River watershed (UPTA) between 2025-06-13 and 2025-07-15. RGB images were acquired using the PhaseOne IXM-RS150F high-resolution digital camera onboard the National Ecological Observatory Network (NEON) Airborne Observation Platform (AOP). The package data include both an L1 product comprising one camera frame per file and an L3 mosaic aligned to the Universal Transverse Mercator (UTM) Zone 13N grid and the World Geodetic System (WGS) 84 projection. Both products are provided in geotif (.tif) format at 0.1 m ground resolution. The bulk of the imagery was collected during the main CHESS field campaign from June 13 to July 15, 2025. Additional images of a portion of the Upper Taylor (UPTA) domain were collected on September 18, 2025, to fill gaps in imagery identified after the main campaign was complete. RGB camera imagery is not radiometrically calibrated, and therefore pixel values should not be exploited for scientific analysis. Pixel values have undergone a manual adjustment to enhance feature identification. The imagery is rigorously geolocated which does allow for reliable geometric information to be retrieved. To generate the orthorectified imagery, the NEON AOP camera captured visible spectrum in red, green, and blue bands. The raw images were then processed using NEON’s camera orthorectification workflow. A boresight calibration flight was made to build a complete camera, distortion, and alignment model. Color balance/white balance and exposure correction were applied to the raw RGB images. The corrected images were orthorectified by ray-tracing image pixels to a lidar-derived digital surface model (DSM) mesh using the refined camera model, outputting orthorectified raster pixels on a regular grid. Flightline-level data were mosaicked by selecting per-pixel contributions from overlapping orthorectified images using line-of-sight (LOS) zenith angle minimization to reduce edge distortions. CHESS Project Description: The Colorado Headwaters Ecological Spectroscopy Study (CHESS) comprised a multi-week airborne remote sensing and field observation campaign in the Upper Gunnison Basin, Colorado, conducted in June and July of 2025. Airborne remote sensing was conducted by the National Ecological Observatory Network Airborne Observation Platform (NEON AOP), concurrent with a field campaign run by the Rocky Mountain Biological Laboratory (RMBL), the Lawrence Berkeley National Laboratory (LBNL) and SLAC National Accelerator Laboratory Watershed Function Science Focus Area (SFA), and NASA-JPL (Jet Propulsion Laboratory) Earth Surface Mineral Dust Source Investigation (EMIT) program. Between June 10 and July 18, 2025, the NEON AOP flight team collected high-resolution aerial imaging spectroscopy and Light Detection and Ranging (LiDAR) data over three domains: the Upper East River (CRBU), Almont Triangle (ALMO), and the Upper Taylor Basin (UPTA). In coordination with the flights, a field campaign acquired ground-truth observations, including observations of vegetation composition, foliar traits, forest demography, and subsurface properties in 18 core sampling areas within the domains. Additional surface water observations were taken at over 380 point locations. All CHESS campaign datasets can be found within the CHESS ESS-DIVE data portal: https://data.ess-dive.lbl.gov/portals/chess. Funding Acknowledgement: Field and remote-sensing data acquisition was performed under a grant from the National Aeronautics and Space Administration (80NSSC24K1005). This work was also supported by the Watershed Function Science Focus Area at Lawrence Berkeley National Laboratory funded by the US Department of Energy, Office of Science, Biological and Environmental Research under Contract No. DE-AC02-05CH11231.

2018 NEON and 2025 CHESS Campaigns↗

NASA NTRS1997

Deep WFPC2 and Ground-Based Imaging of a Complete Sample of 3C Quasars and Galaxies

We present the results of an HST and ground-based imaging study of a complete 3C sample of zeta approx. equal to 1 sources, comprising 5 quasars and 5 radio galaxies. We have observed all of the sample in essentially line-free bands at rest-frame 0.33 micrometers with WFPC2 and in rest-frame 1 micrometer images from the ground; we have also observed most of the sample in narrow-band filters centered on [O II]. We resolve continuum structure around all of our quasars in the high-resolution WFPC2 images, and in four of the five ground-based K' images. All of the quasars have some optical continuum structure that is aligned with the radio axis. In at least 3 of these cases, some of this optical structure is directly coincident with a portion of the radio structure, including optical counterparts to radio jets in 3C212 and 3C245 and an optical counterpart to a radio lobe in 3C2. These are most likely due to optical synchrotron radiation, and the radio and optical spectral indices in the northern lobe of 3C2 are consistent with this interpretation. The fact that we see a beamed optical synchotron component in the quasars but not in the radio galaxies complicates both the magnitude and the alignment comparisons. Nonetheless, the total optical and K' flux densities of the quasar hosts are consistent with those of the radio galaxies within the observed dispersion in our sample. The distributions of K' flux densities of both radio galaxies and quasar hosts exhibit similar mean and dispersion to that found for other radio galaxies at this redshift, and the average host galaxy luminosity is equivalent to, or a little fainter than, L*. The formal determination of the alignment in the optical and infrared in the two subsamples yields no significant difference between the radio galaxy and quasar subsamples, and the quasars 3C 196 and 3C 336 have aligned continuum and emission-line structure that is probably not due to beamed optical synchrotron emission. Very blue and/or edge-brightened structures are present in some objects within the probable quasar opening angle; these are possibly the result of illumination effects from the active nucleus, i.e., scattered quasar light or photoionization. In 3C 212, we see an optical object that lies 3 min. beyond the radio lobe, but which looks morphologically quite similar to the radio lobe itself. This object is bright in the infrared and has a steep spectral gradient along its length. A striking, semi-circular arc seen associated with 3C 280 may possibly be a tidal tail from a companion, enhanced in brightness by scattering or photoionization. In the near-infrared, most of the radio galaxies have elliptical morphologies with profiles that are well-fit by de Vaucouleurs r(exp 1/4)-laws and colors that are consistent with an old stellar population. All components around the quasars have optical-infrared colors that are redder than or similar to the colors of their respective nuclei; this is more consistent with a stellar origin for the emission than with a dominant scattering contribution. From the correspondence between the total magnitudes in the galaxies and quasars and the detection of aligned components in the quasars, we conclude that this study provides general support for the unification of FR II radio galaxies and quasars. Some of the objects in the sample (e.g, 3C 212) have properties that may be difficult to explain with our current understanding of the nature of FR II radio sources and the alignment effect.

Ridgway, Susan E.↗

DOE OSTI2019

Designing a Site Closure Strategy for Uranium in Groundwater and Surface Water - 19534

A site closure strategy was designed and mapped for residual uranium present in groundwater and surface water at the US DOE Office of Legacy Management (LM) Monticello Mill Tailings Site (MMTS) Operable Unit (OU) III, which is regulated under CERCLA. The MMTS is a former mill site that was used to process uranium and vanadium ore in southeastern Utah until 1960. OU III includes surface water in Montezuma Creek and groundwater present in a shallow alluvial aquifer along the creek valley for several kilometers downgradient of the former mill site. The current remedy consists of an operating pump-and-treat system, monitored natural attenuation (MNA), and institutional controls (ICs). Performance evaluations indicate that a prolonged restoration period is likely, as well as an asymptotic trend in uranium concentrations that still exceed the remediation goal. Multiple strategies and scenarios were evaluated before selecting a preferred site closure strategy. Recommendations were developed to support advancing the site towards closure over the next few years and guide the process of regulatory interactions and decision making at the MMTS OU III. Site closure is an important milestone that reflects successful remedial progress at LM sites. Post-closure site management would be maintained to ensure conditions are protective of human health and the environment. The site closure strategy was considered in the context of site remedial progress. The primary sources of groundwater contamination have been removed, including mill tailings and contaminated soils, sediment, and debris. Five-year reviews have regularly concluded that the remedy is protective of human health and environment and that ICs are effective in preventing exposure to contaminated groundwater. The affected aquifer is low-yielding and has no history of domestic use. In 2004, the final remedy selected in the Record of Decision (ROD) was MNA with ICs. However, a pump-and-treat system was installed and continues to operate as a contingency remedy in the area with the highest residual uranium concentrations. The need for a contingency pump-and-treat system was triggered by a departure of the long-term monitoring data from model projections that were used as the basis for remedy performance metrics specified in the ROD. In 2015, the pump-and-treat system was expanded. Average uranium concentrations have declined locally over time. However, monitoring data and column studies indicate that the system effectiveness will eventually become ineffective in reducing uranium concentrations, likely due to the reequilibration of uranium present in the solid matrix in various states (i.e., sorbed, precipitated). Currently, there are no agreed-upon metrics for discontinuing the contingency pump-and-treat system. Three closure strategies effectively applied at other CERCLA sites were considered at MMTS OU III: (1) restoring natural attenuation conditions and conducting MNA; (2) applying alternate concentration limits (ACLs); and (3) waiving a remedial goal based on technical impracticability (TI). Each closure strategy was evaluated in the following manner: (1) identifying the criteria and requirements associated with current regulations, policy, and guidance, (2) assessing the ability to meet those criteria based on the current site knowledge and the conceptual site model, and (3) identifying data gaps that need to be filled to further assess the closure strategy. Following this evaluation, a preferred closure strategy was selected: to transition to a remedy based on MNA and maintenance of ICs, without active remediation. Several scenarios for transitioning to the preferred closure strategy were identified. Each scenario consisted of 'if/then logic' associated with a larger decision diagram. The decision diagram considered the current conceptual site model (CSM) and potential outcomes of studies that will be conducted to fill data gaps, as well as the performance of the existing treatment system and long-term monitoring data. Two scenarios for transitioning to the preferred closure strategy were highlighted for future planning and were described in detail. For both scenarios, the preferred closure strategy includes demonstrating criteria for MNA acceptance, pump-and-treat termination, long-term monitoring, and eventual site delisting. Recommended actions over the next few years were also developed, including updating the CSM, conducting numerical modeling to predict remedial performance and time frames, conducting geochemical analyses to assess uranium fate and transport, and summarizing the lines of evidence and basis for MNA. This detailed example of the development of a site-specific closure strategy provides the thought process and decision logic used to assess uncertainty using an if/then framework; identify common elements and recommended actions to advance the site towards closure; and navigate the inherent uncertainty in the timing of future events, outcome of regulatory discussions, and remedial progress over time that is common to many complex US DOE facilities. In addition, the national regulations, policy, guidance, and state of practice regarding commonly used site closure strategies was summarized for consideration, including MNA, ACLs, and TI. (authors)

12 MANAGEMENT OF RADIOACTIVE AND NON-RADIOACTIVE W↗

NASA NTRSDate not supplied

Recent Improvements and Verification of A Full Body Model in Opensim

BACKGROUND: The dynamic feasibility [1,2] criterion, that the subject’s Center of Pressure (COP) be located within the Base of Support (BOS) which outlines the feet, has aided in assessing the stability of human motion recorded on earth while performing the recorded tasks in lunar gravity or as countermeasures exercises on a vibration isolation and stabilization system in microgravity. The convex hull of the BOS on the platform under the subject’s feet was estimated using virtual markers on the feet of the scaled subject model. The COP was calculated using the ground reaction forces and moments determined from motion capture data with biomechanical modeling tools [3]. Occasionally, large-amplitude oscillatory spikes or “artifacts” were observed in the subject’s linear and angular momentum derivatives, affecting some COP data derived from motion capture. The purpose of this investigation was to assess and improve the accuracy of model scaling and BOS estimation as well as to determine the efficacy of model adjustments in mitigating artifacts influencing motion capture-derived ground reaction force and COP results. METHODS: To aid evaluation of proposed process and model updates, motion capture data were collected for two subjects during unit test and range of motion trials, lunar tasks, and countermeasures exercise motions. Markers were added to the full body Plug-in Gait marker set [4] during data collection. New markers were placed on the front, back, sides, and top of the head to improve scaling using distances between marker pairs. Medial elbow markers were added to stabilize the upper arm during OpenSim Inverse Kinematics (IK) [5]. Finally, markers were added on the outer edge of the heels and on the outside edges of the first and last toes on each foot. These additional foot markers were made available to test new automated foot scaling techniques and to calculate the error between the subject’s estimated and recorded BOS. The modified unscaled OpenSim Full Body Rajagopal Model [6,7] was adjusted using some previously investigated techniques [8] to mitigate rapid shifts in joint angles occurring during IK, as these were found to cause the spike artifacts observed in subsequent stages of analysis. Since OpenSim models use Euler angles and rotation sequences, the arm axes of rotation were adjusted, and the pelvis order of rotation was changed to minimize the likelihood of encountering “gimbal lock” during common human motion. The model clavicle, arm, elbow, wrist, pelvis, and ankle angle limits were adjusted to better accommodate the full human range of motion seen in exercise and lunar data. The shoulder joint center was calculated using a “pivoting” algorithm [9], and both shoulder joint center and upper arm markers were included during IK to provide additional shoulder stability on a case-by-case basis. The quality of IK results was assessed by three criteria: minimizing error between recorded motion capture markers and model markers, checking for reasonable rates of change in joint angles between fames (i.e., no IK artifacts), and ensuring the absence of spikes in the inertial forces and angular momentum derivatives calculated using a custom OpenSim plugin [10]. RESULTS: The additional markers placed on the subject during data collection allowed the head and feet to be scaled more accurately using distances between new marker pairs. Scaling with BOS markers placed on the subject and removing the limit on subtalar angle resulted in more accurate BOS determination. Unrealistically large changes in joint angles between frames could be reduced by including clavicle, sternum, and medial elbow markers during IK. In cases with large arm ranges of motion, results could be further improved by running IK using medial elbow and virtual shoulder joint center markers. Model adjustments significantly improved the IK results affecting COP calculation and increased the accuracy of BOS estimation.

C A Bell↗

NASA NTRS2003

Three-dimensional ocular kinematics during eccentric rotations: evidence for functional rather than mechanical constraints

Previous studies have reported that the translational vestibuloocular reflex (TVOR) follows a three-dimensional (3D) kinematic behavior that is more similar to visually guided eye movements, like pursuit, rather than the rotational VOR (RVOR). Accordingly, TVOR rotation axes tilted with eye position toward an eye-fixed reference frame rather than staying relatively fixed in the head like in the RVOR. This difference arises because, contrary to the RVOR where peripheral image stability is functionally important, the TVOR like pursuit and saccades cares to stabilize images on the fovea. During most natural head and body movements, both VORs are simultaneously activated. In the present study, we have investigated in rhesus monkeys the 3D kinematics of the combined VOR during yaw rotation about eccentric axes. The experiments were motivated by and quantitatively compared with the predictions of two distinct hypotheses. According to the first (fixed-rule) hypothesis, an eye-position-dependent torsion is computed downstream of a site for RVOR/TVOR convergence, and the combined VOR axis would tilt through an angle that is proportional to gaze angle and independent of the relative RVOR/TVOR contributions to the total eye movement. This hypothesis would be consistent with the recently postulated mechanical constraints imposed by extraocular muscle pulleys. According to the second (image-stabilization) hypothesis, an eye-position-dependent torsion is computed separately for the RVOR and the TVOR components, implying a processing that takes place upstream of a site for RVOR/TVOR convergence. The latter hypothesis is based on the functional requirement that the 3D kinematics of the combined VOR should be governed by the need to keep images stable on the fovea with slip on the peripheral retina being dependent on the different functional goals of the two VORs. In contrast to the fixed-rule hypothesis, the data demonstrated a variable eye-position-dependent torsion for the combined VOR that was different for synergistic versus antagonistic RVOR/TVOR interactions. Furthermore, not only were the eye-velocity tilt slopes of the combined VOR as much as 10 times larger than what would be expected based on extraocular muscle pulley location, but also eye velocity during antagonistic RVOR/TVOR combinations often tilted opposite to gaze. These results are qualitatively and quantitatively consistent with the image-stabilization hypothesis, suggesting that the eye-position-dependent torsion is computed separately for the RVOR and the TVOR and that the 3D kinematics of the combined VOR are dependent on functional rather than mechanical constraints.

Non-NASA Center↗

NASA NTRSDate not supplied

Investigating Low-Altitude Constellations of Ad-Hoc Lunar PNT System for Distributed Spacecraft Autonomy

In this study, we examine a low-altitude Lunar Position, Navigation, and Timing (LPNT) constellations and the localization performance of Centralized Extended Kalman Filter (CEKF) and Decentralized Extended Kalman Filter (DEKF) algorithms. The primary investigation involves a 100-node swarm operating at a 100 km altitude, in contrast to previous studies that examined a 21-node asset in a frozen-orbit at 5,500 km. The autonomous operation of large-scale swarm is based on two-way Inter-Satellite Link (ISL) measurements, which involve pseudoranges and relative velocities among swarm nodes. We perform a numerical assessment of the two filtering approaches, utilizing ‘fully sampled’ measurements from all available assets as well as ‘two ISL’ measurements where each spacecraft is restricted to only two antennas. This research includes an analysis of CEKF under 2-ISL constraints and evaluates the performance of DEKF in a 100-node swarm, which has not been explored in previous studies. In addition, we examine the impact of increasing the sampling frequency for DEKF, showing that the update cycle can be shortened from a 10-minute interval. A novel approach for ‘2-ISL limited’ DEKF will also be introduced, using a matching formulation that exhaustively enumerates all potential matches. This study provides valuable insights into large-scale distributed swarm operations, considering various filter configurations, sampling frequencies, matching strategies, and scalability of CEKF and DEKF for low-altitude LPNT applications. The Lunar PNT technology plays a key role in providing reliable and robust navigation services on the Moon's surface and the South pole, where the primary Lunar missions are planned. To support upcoming Lunar missions, including small satellites from NASA's Commercial Lunar Payload Services program, the Lunar PNT system must be adaptable to smaller platforms like CubeSats. Driven by the growing involvement of public and private exploration partnerships, the traditional low Earth orbit missions are shifting to beyond geosynchronous orbit [1]. These upcoming missions aim to foster a sustainable and innovative exploration program, in collaboration with commercial and international partners, to facilitate human expansion throughout the solar system and return new knowledge and opportunities to Earth [2]. As part of this trend, there are increasing efforts to utilize science missions in Lunar orbit to develop a non-dedicated and ad-hoc PNT network system. Two traditional approaches, the Deep Space Network (DSN) and the weak signal Global Positioning System (GPS), are established deep-space navigation technologies for missions beyond the geosynchronous orbit. Beginning in 1958, the DSN was developed to communicate with the Explorer 1 spacecraft based on the use of radiometric tracking in spacecraft navigation [3]. The DSN is capable of providing nearly unfettered coverage to spacecraft beyond low-Earth orbit (LEO), however, increased space mission volume has created concerns about future expectations of DSN usage for spacecraft navigation [4]. For cislunar mission applications, the position accuracy using DSN achieves 100 m (3σ) with at least three geometrically diverse ground stations when using radiometric tracking alone [5]. The DSN's dependence on Earth-based ground stations restricts its operational capabilities to periods of Earth visibility. This limitation, coupled with its poor localization performance, renders the DSN unsuitable for future lunar missions that demand continuous tracking and precise positioning. To satisfy the increasing requirements of DSN in Lunar applications, spacecrafts are also required to improve their onboard antenna power and efficiency of the transmission. However, there is an important aggregate cost trade between adding capabilities to every spacecraft and adding to a capacity on the ground that serves multiple spacecraft [6]. A weak GPS system can provide PNT service while the user spacecraft is bound to the Moon, leveraging a single, steerable high gain antenna with the relatively narrow beam which includes all the sources in its field of view [7]. However, the higher the altitude the receiver is above the GPS constellations, the poorer and the weaker are the relative geometry and the received signal powers, respectively, leading to a significant navigation accuracy reduction [8]. The transmitted power becomes weaker with increasing distance from the Earth as well as signals tracked from one of the side lobes of the GPS antenna pattern. As a results, the number of visible satellites and relative geometric condition of the GPS satellites at very high altitude drops dramatically and reduces the navigation solution accuracy. Therefore, the weak GPS system is also not an ideal way to provide PNT service to upcoming Lunar missions when considering its limited geometric condition and the recued navigation accuracy. Another navigation approach on the Moon is being developed, similar to the Global Navigation Satellite System (GNSS) on Earth, aiming to offer navigation service with continuous 24/7 coverage across the entire Lunar surface. For example, lunar communications relay and navigation systems (LCRNS) by NASA and Lunar navigation satellite systems (LNSS) by JAXA are designed to serve as dedicated Position, Navigation, and Timing (PNT) systems for the Moon. However, designing a dedicated LNSS and PNT service involves additional challenges, which are unique to the lunar environment, including limited payload capacity for the CubeSat platform, i.e., the size, weight, and power (SWaP) of the onboard clock, limited lunar ground monitoring stations, and limited financial investment as compared to the legacy Earth-GPS [9]. NASA’s focus on utilizing CubeSat platforms on the Moon leads to an alternative Lunar navigation platform that leverages the existing Lunar science and exploration assets. The small satellites used in Lunar missions can be used to create a low-cost, autonomous, ad-hoc, and on-demand mission-centric Lunar PNT swarm capable of providing PNT services to these low-cost lunar missions [10]. As upcoming Lunar missions will often operate at low-altitude about 30 km to 100 km for scientific observations and mapping purposes, the low-altitude orbital constellations could be employed to create an ad-hoc Lunar PNT system. However, several issues must be addressed, such as the instability of these orbits, which often require maintenance or are only suitable for short-duration missions, operating for fewer than 90 days. Additionally, at an altitude of 100 km, the satellites have a limited period during which they are above the horizon and capable of providing PNT service to users. The implementation of a non-dedicated, ad-hoc Lunar navigation constellation facilitates on-demand PNT services. A preliminary study of ad-hoc Lunar PNT system was conducted using 21 spacecraft in 5,5000 km altitude frozen orbits to test its feasibility and a basic performance of orbital asset localization among ad-hoc Lunar constellations in small satellites format [10]. These swarm assets are designed for autonomous localization with minimal Earth interaction, reducing dependency on bandwidth and ground resources. The design in [10] demonstrated the feasibility of a decentralized PNT approach, specifically employing a DEKF approach for state estimation, which helps minimize onboard operating costs. The DEKF method distributes computation across individual satellites, which lightens the computational load while maintaining accuracy in orbit ephemeris and clock offsets, similar to centralized systems [11]. In a follow-on study [12], each spacecraft was limited to 2 communications antennae, forcing the selection of measurements and scheduling spacecraft activities to perform the measurements. A matching algorithm is implemented to select the best measurements and schedule position estimation updates. The decentralized localization performance is also investigated with increasing levels of network degradation for swarm assets considering the impact of intermittent and permanent communication failure, to demonstrate the robustness and fidelity of the decentralized Lunar PNT service [13]. This study confirmed that the ad-hoc PNT constellations in frozen orbit are highly robust and resilient to communication failures. However, unlike frozen orbit swarm assets, the low-altitude satellites have a limited ground view at an altitude of 100 km, where the ad-hoc Lunar constellation consists of 98 low-altitude satellites, evenly distributed across seven circular polar orbital planes, alongside two satellites in a frozen orbit at an altitude of 5,500 km (Figure 1). Therefore, the number of satellites visible to ground users is significantly limited in low-altitude orbit constellations. As each visibility of a spacecraft remains intact for only a few ticks before it moves out of the field of view, the ground user encounters challenges in maintaining continuous navigation service, resulting in sparse availability and provision of Lunar PNT system. Consequently, service availability is primarily restricted to the Lunar South Pole region (Figure 2). Given these limitations and concerns, the localization performance of low-altitude swarm assets will be assessed in this study. We focus on the investigation of the localization performance of low-altitude swarm assets and ground users near the Lunar South Pole. The overall flow of the Lunar PNT simulation incorporates the DEKF approach of asset localization and the weighted least-squares approach in user localization (Figure 3). The autonomous Lunar PNT simulation is primarily implemented in MATLAB, where the DEKF based on the matching scheduler is implemented with Google’s OR-tools as a model builder and Gurobi optimization tool as a backend solver. The General Mission Analysis Tool (GMAT) is utilized to generate ephemeris data for swarm assets, and accounts for satellite orbital details, mass, and perturbations like solar radiation pressure and drag coefficients. Each ephemeris dataset is produced in the Moon International Celestial Reference Frame (ICRF) inertial coordinate system. For state estimation, the distributed swarm assets rely on two-way Inter-Satellite Link (ISL) measurements, which involve tracking pseudoranges and relative velocities between visible satellites and anchor nodes during each observation. Numerical evaluations of the decentralized localization process are conducted to demonstrate the feasibility of the low-altitude PNT system in providing reliable navigation services. The main approach involves using DEKF and CEKF to localize 100 satellites in low-altitude constellations, where the CEKF is implemented to serve as a baseline for comparing the performance of distributed algorithms. In both cases, we evaluate ‘fully sampled’ measurements from all available assets, and ‘two ISL’ measurements when spacecraft are constrained to have only two antennas. We test four estimation techniques: CEKF fully sampled, CEKF two ISL, DEKF fully sampled, and DEKF two ISL filters. As the DEKF update cycle is comprised of network setup, communication, and computations, a global broadcast network and 2-way ISL network setup will take from 4 to 6 minutes as maximum [12]. In this simulation, the DEKF update cycle is set to 10 minutes, including a 4-minute latency for obtaining and computing the actual measurement updates. We experiment an increased update cycle to demonstrate the feasibility and evaluate the impact on localization performance using various tuning values for measurement noise covariances (Figures 4 and 5). By comparing centralized and decentralized approaches using a matching algorithm, we analyze the influence of cross-correlation factors in the covariance matrix, assuming 100% reliability of all assets and measurements. The increased frequency and the adjustments of tuning parameters reveal distinct error patterns between the two scenarios. The localization accuracy of the swarm assets and ground users is assessed by taking the median error across 100 assets and one ground user (84.9°S, 137.5°E) over 7-day simulation period (Table 1). Since the user localization accuracy is significantly affected by the performance of the swarm assets, it is crucial to maintain high localization accuracy within the swarm. This study will continue to explore decentralized filtering for autonomous LPNT operations, with further investigation of an 'iterative' matching approach which enumerates every valid matching pair, planned for the following month.

Yeji Kim↗