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The effects of oscillator noise on Shuttle Global Positioning System (GPS) receiver performance, GPS navigation system self-test, GPS ground transmitter design to augment shuttle navigation, the effect of ionospheric delay modelling on GPS receiver design, and GPS receiver tracking of Shuttle transient maneuvers were investigated.
Global Positioning System (GPS) Time Transfer receivers were developed by the Naval Research Laboratory (NRL) to provide synchronization for the NASA Global Laser Tracking Network (GLTN). The capabilities of the receiver are being expanded mainly through software modification to: Demonstrate the position location capabilities of a single channel receiver unsign the GPS C/A code; and Demonstrate the time/navigation capability of the receiver onboard a moving platform, by sequential tracking of GPS satellites.
A Global Positioning System (GPS) flight receiver provides a means of precisely determining orbits for satellites in low to moderate altitude orbits. Above 5000 km altitude, however, relatively few GPS satellites are visible. We present a new approach to orbit determination for satellites at higher altitudes. Modification of GPS ground receivers enables a beacon from the orbiter to be tracked simultaneously with GPS data. The orbit accuracy expected from this GPS-like tracking (GLT) technique in principle could be comparable to accuracies of GPS orbits. Present-day GPS orbit quality from a daily semi-automated analysis system at the Jet Propulsion Laboratory is at the 30 - 50 cm level: expected accuracies for orbiters with GLT are calculated to be in the few-meter range for altitudes up to 100000 km. For geosynchronous satellites, however, there are unique challenges due to geometrical limitations and to the lack of strong dynamical signature in tracking data. We examine two approaches for tracking Tracking and Data Relay Satellites (TDRS) geostationary orbiters. One uses GLT with a global network; the other relies on a small `connected element' ground network with a distributed clock for short baseline differential carrier phase (SB Delta Phi). In priciple, both could meet 50-m TDRS operational requirements. However there are practical difficulties with either pure GLT or SB Delta Phi tracking schemes for present-day TDRS satellites. We describe an experiment planned for late 1993 which will combine aspects of both GLT and SB Delta Phi to demonstrate a new approach for tracking TDRS which offers a number of operationally convenient and attractive features. The TDRS demo will in effect ba a proof of concept experiment for both the GLT and SB Delta Phi approaches to tracking spacecraft.
A Global Positioning System (GPS) flight receiver provides a means to precisely determine orbits for satellites in low to moderate altitude orbits. Above a 5000-km altitude, however, relatively few GPS satellites are visible. New approaches to orbit determination for satellites at higher altitudes could reduce DSN antenna time needed to provide navigation and orbit determination support to future missions. Modification of GPS ground receivers enables a beacon from the orbiter to be tracked simultaneously with GPS data. The orbit accuracy expected from this GPS-like tracking (GLT) technique is expected to be in the range of a few meters or better for altitudes up to 100,000 km with a global ground network. For geosynchronous satellites, however, there are unique challenges due to geometrical limitations and to the lack of strong dynamical signature in tracking data. We examine two approaches for tracking the Tracking and Data Relay Satellite System (TDRSS) geostationary orbiters. One uses GLT with a global network; the other relies on a small 'connected element' ground network with a distributed clock for short-baseline differential carrier phase (SB Delta Phi). We describe an experiment planned for late 1993, which will combine aspects of both GLT and SB Delta Phi, to demonstrate a new approach for tracking the Tracking and Data Relay Satellites (TDRSs) that offers a number of operationally convenient and attractive features. The TDRS demonstration will be in effect a proof-of-concept experiment for a new approach to tracking spacecraft which could be applied more generally to deep-space as well as near-Earth regimes.
ROCSat-3's primary instrument is the GPS Occultation Receiver (GOX) and is based on the Jet Propulsion Laboratory's (JPL) proven BlackJack GPS Receiver. The COSMIC GOX receivers will demonstrate an important new operational data type for near-real-time assimilation into weather models by providing over 2500 atmospheric profiles per day with a global distribution.
NASA s Constellation Program is planning a human return to the Moon late in the next decade. From a navigation perspective, one of the most critical phases of a lunar mission is the series of burns performed to leave lunar orbit, insert onto a trans-Earth trajectory, and target a precise re-entry corridor in the Earth s atmosphere. A study was conducted to examine sensitivity of the navigation performance during this phase of the mission to the type and availability of tracking data from Earth-based ground stations, and the sensitivity to key error sources. This study also investigated whether GPS measurements could be used to augment Earth-based tracking data, and how far from the Earth GPS measurements would be useful. The ability to track and utilize weak GPS signals transmitted across the limb of the Earth is highly dependent on the configuration and sensitivity of the GPS receiver being used. For this study three GPS configurations were considered: a "standard" GPS receiver with zero dB antenna gain, a "weak signal" GPS receiver with zero dB antenna gain, and a "weak signal" GPS receiver with an Earth-pointing direction antenna (providing 10 dB additional gain). The analysis indicates that with proper selection and configuration of the GPS receiver on the Orion spacecraft, GPS can potentially improve navigation performance during the critical final phases of flight prior to Earth atmospheric entry interface, and may reduce reliance on two-way range tracking from Earth-based ground stations.
It has been assumed until recently that GPS time receiver units (recever+cables+antenna) have good stability and do not affect time transfer by more than 1 ns. Differences of a few nanoseconds sometimes observed during calibration campaigns have been attributed to external causes, such as multipath propagation, rather than to variations within the hardware. The characteristic feature of most comparisons of GPS time receivers is their short duration. Normally the comparison takes place, at most, over one week. To observe the behavior of GPS time receivers over a period of several months, an experiment has been organized involving three receivers of two types. All three were connected to the same atomic clock. An unexpected sensitivity to external temperature was found in one type of receiver. This effect proved to be a function of the length and type of the antenna cable. In the most unfavorable case the sensitivity was 1.8 ns/C.
Calculating a spacecraft's precise location at high orbital altitudes-22,000 miles (35,800 km) and beyond-is an important and challenging problem. New and exciting opportunities become possible if satellites are able to autonomously determine their own orbits. First, the repetitive task of periodically collecting range measurements from terrestrial antennas to high altitude spacecraft becomes less important-this lessens competition for control facilities and saves money by reducing operational costs. Also, autonomous navigation at high orbital altitudes introduces the possibility of autonomous station keeping. For example, if a geostationary satellite begins to drift outside of its designated slot it can make orbit adjustments without requiring commands from the ground. Finally, precise onboard orbit determination opens the door to satellites flying in formation-an emerging concept for many scientific space applications. The realization of these benefits is not a trivial task. While the navigation signals broadcast by GPS satellites are well suited for orbit and attitude determination at lower altitudes, acquiring and using these signals at geostationary (GEO) and highly elliptical orbits is much more difficult. The light blue trace describes the GPS orbit at approximately 12,550 miles (20,200 km) altitude. GPS satellites were designed to provide navigation signals to terrestrial users-consequently the antenna array points directly toward the earth. GEO and HE0 orbits, however, are well above the operational GPS constellation, making signal reception at these altitudes more challenging. The nominal beamwidth of a Block II/IIA GPS satellite antenna array is approximately 42.6 degrees. At GEO and HE0 altitudes, most of these primary beam transmissions are blocked by the Earth, leaving only a narrow region of nominal signal visibility near opposing limbs of the earth. This region is highlighted in gray. If GPS receivers at GEO and HE0 orbits were designed to use these higher power signals only, precise orbit determination would not be practical. Fortunately, the GPS satellite antenna array also produces side lobe signals at much lower power levels. NASA has designed and tested the Navigator, a new GPS receiver that can acquire and track these weaker signals, thereby dramatically increasing the signal visibility at these altitudes. While using much weaker signals is a fundamental requirement for a high orbital altitude GPS receiver, it is certainly not the only challenge. There are other unique characteristics of this application that must also be considered. For example, Position Dilution of Precision (PDOP) figures are much higher at GEO and HE0 altitudes because visible GPS satellites are concentrated in a much smaller area with respect to the spacecraft antenna. These poor PDOP values contribute considerable error to the point solutions calculated by the spacecraft GPS receiver. Finally, spacecraft GPS receivers must be designed to withstand a variety of extreme environmental conditions. Variations in acceleration between launch and booster separation are extreme. Temperature gradients in the space environment are also severe. Furthermore, radiation effects are a major concern-spacecraft-borne GPS receivers must be designed with radiation-hardened electronics to guard against this phenomenon, otherwise they simply will not work. Perhaps most importantly, there are no opportunities to repair or modify any space-borne GPS receiver after it has been launched. Great care must be taken to ensure all performance characteristics have been analyzed prior to liftoff.
The Global Positioning System Subsystem (GPS) for International Space Station (ISS) was activated April 12,2002 following the installation of the SO truss segment that included the GPS antennas on Shuttle mission STS-110. The ISS GPS receiver became the primary source for position, velocity, and attitude information for ISS two days after activation. The GPS receiver also provides a time reference for manual control of ISS time, and will be used for automatic time updates after problems are resolved with the output from the receiver. After two years of on-orbit experience, the GPS continues to be used as the primary navigation source for ISS; however, enough problems have surfaced that the firmware in the GPS attitude code has had to be totally rewritten and new algorithms developed, the firmware that processed the time output from the GPS receiver had to be rewritten, while the GPS navigation code has had minor revisions. The factors contributing to the delivery of a GPS receiver for use on ISS that requires extensive operator intervention to function are discussed. Observations from two years worth of GPS solutions will also be discussed. The technical solutions to the anomalous GPS receiver behavior will be discussed.
Depending on the environment, multipath can be one of the largest error sources contributing to degradation in Global Navigation Satellite System (GNSS) (e.g., GPS) performance. Currently, open-source tools for simulating GPS signals are available and can be used in the testing and evaluation of GPS receiver equipment. These tools can generate GPS signals that, when used by a GPS receiver, result in computation of a position solution that was pre-determined at the time of signal generation. This work utilizes a custom version of the open-source GPS-SDR-SIM to produce emulated multipath GPS signals. A proof of concept was prototyped and demonstrated using this modified version of GPS-SDR-SIM to produce GPS as well as multipath signals. The generated data was processed using a software defined GPS receiver (GNSS-SDR) and it was found that the introduction of simulated multipath signals successfully produced the expected characteristics of a composite multipath signal in simulation.
Depending on the environment, multipath can be one of the largest error sources contributing to degradation in Global Navigation Satellite System (GNSS) (e.g., GPS) performance. Currently, open-source tools for simulating GPS signals are available and can be used in the testing and evaluation of GPS receiver equipment. These tools can generate GPS signals that, when used by a GPS receiver, result in computation of a position solution that was pre-determined at the time of signal generation. This work utilizes a custom version of the open-source GPS-SDR-SIM to produce emulated multipath GPS signals. A proof of concept was prototyped and demonstrated using this modified version of GPS-SDR-SIM to produce GPS as well as multipath signals. The generated data was processed using a software defined GPS receiver (GNSS-SDR) and it was found that the introduction of simulated multipath signals successfully produced the expected characteristics of a composite multipath signal in simulation.
The overall experiment was designed to test the positioning and navigation capabilities of the GPS timing receivers developed by the Naval Research Laboratory (NRL) for the NASA Goddard Laser Tracking Network (GITN). To perform this experiment, a reliable and redundant time scale was set up onboard the ship, and a back-up on shore. This situation provided the opportunity to perform simultaneously a timing experiment ideally divided into two parts, the main objectives of the experimentation being: (1) To test GPS timing receiver synchronization capabilities on a moving platform, and to perform an intercontinental synchronization via GPS between participating international timing laboratories in Europe and in the United States. (2) To evaluate the performance of cesium portable clocks in the field.
This paper presents results from a study conducted at Goddard Space Flight Center (GSFC) to assess the real-time orbit determination accuracy of GPS-based navigation in a number of different high Earth orbital regimes. Measurements collected from a GPS receiver (connected to a GPS radio frequency (RF) signal simulator) were processed in a navigation filter in real-time, and resulting errors in the estimated states were assessed. For the most challenging orbit simulated, a 12 hour Molniya orbit with an apogee of approximately 39,000 km, mean total position and velocity errors were approximately 7 meters and 3 mm/s respectively. The study also makes direct comparisons between the results from the above hardware in-the-loop tests and results obtained by processing GPS measurements generated from software simulations. Care was taken to use the same models and assumptions in the generation of both the real-time and software simulated measurements, in order that the real-time data could be used to help validate the assumptions and models used in the software simulations. The study makes use of the unique capabilities of the Formation Flying Test Bed at GSFC, which provides a capability to interface with different GPS receivers and to produce real-time, filtered orbit solutions even when less than four satellites are visible. The result is a powerful tool for assessing onboard navigation performance in a wide range of orbital regimes, and a test-bed for developing software and procedures for use in real spacecraft applications.
The interplanetary shock/electric field event of 5-6 November 2001 is analyzed using ACE interplanetary data. The consequential ionospheric effects are studied using GPS receiver data from the CHAMP and SAC-C satellites and altimeter data from the TOPEX/ Poseidon satellite. Data from ~100 ground-based GPS receivers as well as Brazilian Digisonde and Pacific sector magnetometer data are also used. The dawn-to-dusk interplanetary electric field was initially ~33 mV/m just after the forward shock (IMF BZ = -48 nT) and later reached a peak value of ~54 mV/m 1 hour and 40 min later (BZ = -78 nT). The electric field was ~45 mV/m (BZ = -65 nT) 2 hours after the shock. This electric field generated a magnetic storm of intensity DST = -275 nT. The dayside satellite GPS receiver data plus ground-based GPS data indicate that the entire equatorial and midlatitude (up to +/-50(deg) magnetic latitude (MLAT)) dayside ionosphere was uplifted, significantly increasing the electron content (and densities) at altitudes greater than 430 km (CHAMP orbital altitude). This uplift peaked ~2 1/2 hours after the shock passage. The effect of the uplift on the ionospheric total electron content (TEC) lasted for 4 to 5 hours. Our hypothesis is that the interplanetary electric field ''promptly penetrated'' to the ionosphere, and the dayside plasma was convected (by E x B) to higher altitudes. Plasma upward transport/convergence led to a ~55-60% increase in equatorial ionospheric TEC to values above ~430 km (at 1930 LT). This transport/convergence plus photoionization of atmospheric neutrals at lower altitudes caused a 21% TEC increase in equatorial ionospheric TEC at ~1400 LT (from ground-based measurements). During the intense electric field interval, there was a sharp plasma ''shoulder'' detected at midlatitudes by the GPS receiver and altimeter satellites. This shoulder moves equatorward from -54(deg) to -37(deg) MLAT during the development of the main phase of the magnetic storm. We presume this to be an ionospheric signature of the plasmapause and its motion. The total TEC increase of this shoulder is ~80%. Part of this increase may be due to a "superfountain effect." The dayside ionospheric TEC above ~430 km decreased to values ~45% lower than quiet day values 7 to 9 hours after the beginning of the electric field event. The total equatorial ionospheric TEC decrease was ~16%. This decrease occurred both at midlatitudes and at the equator. We presume that thermospheric winds and neutral composition changes produced by the storm-time Joule heating, disturbance dynamo electric fields, and electric fields at auroral and subauroral latitudes are responsible for these decreases.
Test flights of a GPS receiver to replace TACAN began in 1996. Each orbiter has one GPS receiver. After RTF, ramp-up to single string GPS use will commence. Endeavour is undergoing TACAN removal and upgrade to three string GPS. GPS is not used for ascent and is powered on prelaunch to support an emergency landing. GPS has limited use for orbital operations and is not used for Rendezvous and docking. GPS will supplement or replace TACAN, but cannot be used as an MLS replacement. GPS enhances Shuttle navigation and improves safety. State-of-the-art GPS receivers have capabilities that would be useful in supporting automated/autonomous missions.
A reasonable amount of literature can be found on the general topic of GPS receiving antennas, but very little has been published on spaceborne GPS receiving antennas. This very new topic seems to be so far more of interest for the industrial world than for the academic community. For satellite applications, microstrip antennas are usually preferred over other types of antennas mainly because of their non-electrical characteristics, such as small size, relatively lightweight, shape, possibility of integration with microwave integrated circuits, and relatively low costs. Careful design of patch antennas could meet all the requirements (electrical and non-electrical) of GPS receiving antenna to be mounted on a tethered satellite.
Irregularities in ionospheric electron density result in variation in amplitude and phase of Global Positioning System (GPS) signals, or scintillation. GPS receivers tracking scintillated signals may lose carrier phase or frequency lock in the case of phase sc intillation. Amplitude scintillation can cause "enhancement" or "fading" of GPS signals and result in loss of lock. Scintillation can occur over the equatorial and polar regions and is a function of location, time of day, season, and solar and geomagnetic activity. Mid latitude regions are affected only very rarely, resulting from highly disturbed auroral events. In the spring of 1998, due to increasing concern about scintillation of GPS signals during the upcoming solar maximum, the Space Shuttle Program began to assess the impact of scintillation on Collins Miniaturized Airborne GPS Receiver (MAGR) units that are to replace Tactical Air Control and Navigation (TACAN) units on the Space Shuttle orbiters. The Shuttle Program must determine if scintillation effects pose a threat to safety of flight and mission success or require procedural and flight rule changes. Flight controllers in Mission Control must understand scintillation effects on GPS to properly diagnose "off nominal" GPS receiver performance. GPS data from recent Space Shuttle missions indicate that the signals tracked by the Shuttle MAGR manifest scintillation. Scintillation is observed as anomalous noise in velocity measurements lasting for up to 20 minutes on Shuttle orbit passes and are not accounted for in the error budget of the MAGR accuracy parameters. These events are typically coincident with latitude and local time occurrence of previously identified equatorial spread F within about 20 degrees of the magnetic equator. The geographic and seasonal history of these events from ground-based observations and a simple theoretical model, which have potential for predicting events for operational purposes, are reviewed.
For about one year the time scales UTC(OCA) and UTC(TUG) were compared by means of GPS and two-way satellite time transfer. At the end of the experiment both links were independently 'calibrated' by measuring the differential delays of the GPS receivers and of the satellite earth stations by transportation of a GPS receiver and of one of the satellite terminals. The results obtained by both methods differ by about 3 ns, but reveal a seasonal variation of about 8 ns peak-to-peak which is likely the result of a temperature-dependence of the delays of the GPS receivers used. For the comparison of both methods the stabilities of the timescales are of great importance. Unfortunately, during the last three months of the experiment a less stable clock had to be used for the generation of UTC(TUG).