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This project will produce a 3D lidar system (engineering unit) to greatly expand rover navigation capability, including hazard detection range, field of view and light condition sensitivity. Provide required science data products and terrain mapping capabilities.
The Federal Aviation Administration (FAA) and NASA have initiated a joint study in the development of reliable means of tracking, detecting, measuring, and predicting trailing wake-vortices of commercial aircraft. Being sought is an accurate model of the wake-vortex hazard, sufficient to increase airport capacity by reducing minimum safe spacings between planes. Several means of measurement are being evaluated for application to wake-vortex detection and tracking, including Doppler RADAR (Radio Detection and Ranging) systems, 2-micron Doppler LIDAR (Light Detection And Ranging) systems, and SODAR (Sound Detection And Ranging) systems. Of specific interest there is the lidar system, which has demonstrated numerous valuable capabilities as a vortex sensor Aerosols entrained in the vortex flow make the wake velocity signature visible to the lidar, (the observable lidar signal is essentially a measurement of the line-of-sight velocity of the aerosols). Measurement of the occurrence of a wake vortex requires effective reception and monitoring of the beat signal which results from the frequency-offset between the transmitted pulse and the backscattered radiation. This paper discusses the mounting, analysis, troubleshooting, and possible use of an analog processing assembly designed for such an application.
The authors present the evaluation of the displacement response, detection limit, and dynamic range of fiber-optic lever sensors in a general format to establish their dependence on fiber sizes, optoelectronic detector specifications, input power, and other relevant parameters. The formations for the normalized reflected optical power change are derived for the evaluation of the optimal sensor response, the linearity range, and the minimum detectable displacement. The theoretical models are verified by an experiment which determines sensor response, modulation index, reflected optical power change, and linear response range through dynamic measurement. The application of this theoretical model to the study of a fiber-optic microphone for acoustic pressure detection is considered.
The International Laser Ranging Service (ILRS) is currently composed of 45 active satellite laser ranging (SLR) stations with several more set to join the network over the next several years. Station changes and histories are logged to files, but not always in real time. Sometimes these details are not added until long after changes have been made to the station –on occasion, years later. This in addition to unexpected hardware errors and other system issues that are not immediately detected impact the products generated by analysts. The ILRS Central Bureau (CB) and NASA’s Crustal Dynamics Data Information System (CDDIS) have worked to provide tools for station engineers to use. This includes the creation of station plots which contain temperature and pressure information along with LAser GEOdynamic Satellite (LAGEOS) and LAser RElativity Satellite (LARES) tracking information that enable the monitoring of station performance and todetermine whether the station has undergone any changes. As next steps, the CDDIS is working to enhance these station performance monitoring tools through machine learning. Isolation forest is an unsupervised machine learning algorithm commonly applied to anomaly detection. In this poster, the CDDIS details the steps taken to track anomalies within SLR station performance using isolation forest with LAGEOS and LARES satellite data.
The history of lightning striking NASA spacecraft and the development of lightning protection systems is reviewed from the Apollo 12 flight, involving a lightning strike thirty six seconds after launch, to the present date. Particular attention is paid to problems that may arise in this field in the context of planning and implementing the Space Shuttle program. The lightning protection design for Apollo is described: a folding mast mounted on top of the hammerhead crane on top of the Launcher Umbilical Tower, with a lightning rod on top. The effect of lightning storms on the launches of Apollos 12 through 17 is examined, as is the effect of lightning in the Skylab program. The lightning problems encountered by the Apollo-Soyuz mission and by the two unmanned Viking launches to Mars are discussed. The Lightning Detection And Ranging system for detecting RF emission from lightning discharges is described.
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Suzaki and Tachibana (1972, 1973) have developed a method for detecting the arrival time of the return pulse in pulsed laser ranging based on the identification of the time at which the preset threshold level is exceeded by the output of the optical detector. The received optical pulse is considered to be made up of cells of width equal to the resolution time of the receiver and an equation is derived for P sub j, the probability that the threshold is first exceeded in the j-th cell. Using the density P sub j, expressions are obtained for the mean position of the cell at which threshold occurs and for the standard deviation (rms error) in the detection cell. The present paper maintains that, since the number j is purely an artifice for identifying the cells, its mean and standard deviation are inadequate for characterizing the detection cell and detection errors. It is proposed that if the detection cell is defined as the cell at which P sub j attains a maximum, then the above-cited ambiguity would be eliminated.
A detect-and-avoid (DAA) system provides surveillance, alerting, and maneuver guidance (referred to as guidance in this report) that are critical to an unmanned aircraft system’s (UAS) ability to maintain separation from manned aircraft and other unmanned aircraft. The last decade has seen significant progress in the development of DAA requirements, spearheaded by RTCA Special Committee 228 (SC228) and subsequently by other standards organizations such as EUROCAE and ASTM. SC-228’s development of DAA requirements assumes the UAS follows instrument flight rules (IFR) and has a remote pilot or operator in the loop. As of the publication of this document, the SC-228’s latest Minimum Operational Performance Standards (MOPS) for DAA, versioned as DO-365B [1], DAA systems use onboard and/or ground surveillance systems to detect traffic. The surveillance systems must detect both cooperative and non-cooperative air traffic. Cooperative traffic are vehicles that have a broadcasting transponder, while non-cooperative traffic do not, and so must be detected via radar or other sensors. A DAA system’s alerting and guidance functions alert the pilot/operator in the loop of potential hazards, such as intruder aircraft, and provide maneuver solutions which help the pilot/operator avoid or mitigate observed hazards. A UAS pilot is expected to coordinate with air traffic control (ATC) before executing a conflict avoidance maneuver if the type of alert is not urgent enough to require an immediate maneuver.
Lightning, the energetic and broadband electrical discharge produced by thunderstorms, provides a natural remote sensing signal for the study of severe storms and related phenomena on global, regional and local scales. Using this strong signal- one of nature's own probes of severe weather -lightning measurements prove to be straightforward and take advantage of a variety of measurement techniques that have advanced considerably in recent years. We briefly review some of the leading lightning detection systems including satellite-based optical detectors such as the Lightning Imaging Sensor, and ground-based radio frequency systems such as Vaisala's National Lightning Detection Network (NLDN), long range lightning detection systems, and the Lightning Mapping Array (LMA) networks. In addition, we examine some of the exciting new research results and operational capabilities (e.g., shortened tornado warning lead times) derived from these observations. Finally we look forward to the next measurement advance - lightning observations from geostationary orbit.
In support of NASA’s Unmanned Aircraft Systems Integration in the National Airspace System project and RTCA Special Committee 228, an analysis has been performed to provide insight in to the trade space between unmanned aircraft speed and turn capability and detect and avoid sensor range requirements. The work was done as an initial part of the effort to understand low size, weight, and power sensor requirements for aircraft that have a limited speed envelope or can limit the envelope for portions of their mission and may be able to turn at higher than “standard rate.” Range and timeline reductions coming from limiting speed range and from increasing available turn rate in some speed ranges are shown.
This work presents a novel landing site relative topographic measurement model for aslant range sensor being utilized for precision planetary landing operations. The measurement model accounts for the local terrain the slant range sensor captures and leverages knowledge of the estimated landing site provided by the navigation filter. Notably, in contrast to previous works, the new model does not rely on surface normal approximation, reducing the model’s sensitivity to noisy digital elevation maps which represent the local topography. In addition to the measurement model, this work introduces a novel fault detection method, denoted the probabilistic inspection of topographic filter altitude likelihood (PITFAL) algorithm, that implements a statistical outlier rejection algorithm. PITFAL is designed for multi-beam slant range sensors, such as the Navigation Doppler LIDAR (NDL), and identifies statistically inconsistent range estimates through a consensus check on the set of apparent altitudes computed for each individual beam. These models are numerically validated by the Safe and Precise Landing Capability Evolution (SPLICE) project’s high-fidelity terrestrial and lunar lander simulations.
This work presents a novel landing site relative topographic measurement model for aslant range sensor being utilized for precision planetary landing operations. The measurement model accounts for the local terrain the slant range sensor captures and leverages knowledge of the estimated landing site provided by the navigation filter. Notably, in contrast to previous works, the new model does not rely on surface normal approximation, reducing the model’s sensitivity to noisy digital elevation maps which represent the local topography. In addition to the measurement model, this work introduces a novel fault detection method, denoted the probabilistic inspection of topographic filter altitude likelihood (PITFAL) algorithm, that implements a statistical outlier rejection algorithm. PITFAL is designed for multi-beam slant range sensors, such as the Navigation Doppler LIDAR (NDL), and identifies statistically inconsistent range estimates through a consensus check on the set of apparent altitudes computed for each individual beam. These models are numerically validated by the Safe and Precise Landing Capability Evolution (SPLICE) project’s high-fidelity terrestrial and lunar lander simulations.
The pulse spreading resulting from light detection and ranging measurements of the range to earth-orbiting satellites is described. An analysis quantifying this pulse spreading and the calculation of corrections to be applied to the lidar range determination of satellites is detailed.
Some of the instrumentation system used in support of NASA'S Storm Hazards Program are described. These systems include the Radar Atmospheric Research Facility (RARF) with its Space Range Radar and a near real time display from the National Weather Service WSR-57 radar, a lightning detection and ranging system (LDAR), and a Ryan Stormscope. The RARF system can detect, track, and quantify the properties of severe storms. Simultaneous measurements in the UHF (70 cm), S (10 cm), and C (5 cm) bands can be made of clouds and precipitation to deduce particle size and characteristics, including quantitive cross sections of individual hailstones and raindrops. Relative attenuation at these wavelenghts can be used to calculate path integrated rainfall and water content. The track of an instrument aircraft can be displayed on S-band reflectivity map of the individual storm cells. The LDAR system can determine the location of lightning discharges in real time and measure and record the electric field waveform for further study. The Ryan Stormscope can detect and range lightning out to 320 kilometers.
The main focus of this study was changed after it became clear that the object to be observed by the Far Ultraviolet Spectroscopic Explorer (FUSE) could not be observed because of spacecraft attitude control system limitations. Therefore, we replaced the prime object for the program (RXJ1230.8+0115) with a secondary object (H1821+643) and began an analysis of a similar quasar spectrum for comparison with the extant RXJ1230.8+0115 spectrum obtained previously by FUSE. Using high-resolution spectra of the radio-quiet, X-ray bright quasar HE0226-4110 obtained with the Hubble Space Telescope (HST) and FUSE, we have examined the remarkable associated absorption line system. The redshift of the quasar is roughly 0.5 so the FUSE+HST spectra cover the rest-frame wavelength in the extreme ultraviolet range 610-1 160A. In this range, we detect transitions from a wide range of ionization species, including the H I Lyman series, Ne VIII, and, for the first time at this resolution, four adjacent stages of oxygen O III-VI. The high quality of these spectra allow us to disentangle the structure of the gas using the complex kinematics to guide the assessments of the multi-component and multi-phase nature of the system. The kinematics of the absorber indicate that all the H I, C 111, and 0 III reside in a single component, while higher ionization species largely arise in a separate, more kinematically complex structure. An analysis of a ground-based spectrum of the quasar covering the H-beta and [0 III] 5007 emission lines reveal excellent agreement in redshift between the 0 III absorption and emission. Thus, for the first time, we are able to use absorption line diagnostics to place interesting constraints on the location and structure of the narrow emission line region around a quasar. In addition, we detect a narrow absorption line that is only seen O VI and lies roughly 50 km/s redward of the narrow emission line component. Absorption from 0 V, and Ne VIII is also detected at this velocity, but as part of broader, more redshifted, component. The line width of this narrow component imply a maximum temperature that is too small to produce O VI through collisional process, suggesting instead that photoionization from the quasar is the dominant ionization mechanism. The photoionization constraints imply that O VII should be the dominant ionization stage in the component.
This paper provides a survey of modern LIght Detection And Ranging (LIDAR) sensors from a perspective of how they can be used for spacecraft relative navigation. In addition to LIDAR technology commonly used in space applications today (e.g. scanning, flash), this paper reviews emerging LIDAR technologies gaining traction in other non-aerospace fields. The discussion will include an overview of sensor operating principles and specific pros/cons for each type of LIDAR. This paper provides a comprehensive review of LIDAR technology as applied specifically to spacecraft relative navigation. HE problem of orbital rendezvous and docking has been a consistent challenge for complex space missions since before the Gemini 8 spacecraft performed the first successful on-orbit docking of two spacecraft in 1966. Over the years, a great deal of effort has been devoted to advancing technology associated with all aspects of the rendezvous, proximity operations, and docking (RPOD) flight phase. After years of perfecting the art of crewed rendezvous with the Gemini, Apollo, and Space Shuttle programs, NASA began investigating the problem of autonomous rendezvous and docking (AR&D) to support a host of different mission applications. Some of these applications include autonomous resupply of the International Space Station (ISS), robotic servicing/refueling of existing orbital assets, and on-orbit assembly.1 The push towards a robust AR&D capability has led to an intensified interest in a number of different sensors capable of providing insight into the relative state of two spacecraft. The present work focuses on exploring the state-of-the-art in one of these sensors - LIght Detection And Ranging (LIDAR) sensors. It should be noted that the military community frequently uses the acronym LADAR (LAser Detection And Ranging) to refer to what this paper calls LIDARs. A LIDAR is an active remote sensing device that is typically used in space applications to obtain the range to one or more points on a target spacecraft. As the name suggests, LIDAR sensors use light (typically a laser) to illuminate the target and measure the time it takes for the emitted signal to return to the sensor. Because the light must travel from the source, to
NASA's aging Satellite Laser Ranging (SLR) network is scheduled to be replaced over the next few years with a fully automated single photon detection system. A prototype of this new system, called SLR2000, is currently undergoing field trials at the Goddard Space Flight Center in Greenbelt, Maryland to evaluate photon counting techniques and determine system hardware, software, and control algorithm performance levels and limitations. Newly developed diode pumped microchip lasers and quadrant microchannel plate-based photomultiplier tubes have enabled the development of this high repetition rate single photon detection SLR system. The SLR2000 receiver threshold is set at the single photoelectron (pe) level but tracks satellites with an average signal level typically much less than 1 pe. The 2 kHz laser fire rate aids in satellite acquisition and tracking and will enable closed loop tracking by accumulating single photon count statistics in a quadrant detector and using this information to correct for pointing errors. Laser transmitter beamwidths of 10 arcseconds (FWHM) or less are currently being used to maintain an adequate signal level for tracking while the receiver field of view (FOV) has been opened to 40 arcseconds to accommodate point ahead/look behind angular offsets. In the near future, the laser transmitter point ahead will be controlled by a pair of Risley prisms. This will allow the telescope to point behind and enable closure of the receiver FOV to roughly match the transmitter beam divergence. Bandpass filters (BPF) are removed for night tracking operations while 0.2 nm or 1 nm filters are used during daylight operation. Both day and night laser tracking of Low Earth Orbit (LEO) satellites has been achieved with a laser transmitter energy of only 65 microjoules per pulse. Satellite tracking is presently limited to LEO satellites until the brassboard laser transmitter can be upgraded or replaced. Simultaneous tracks have also been observed with NASA s SLR standard, MOBLAS 7, for the purposes of data comparison and identification of biases. Work continues to optimize the receive optics; upgrade or replace the laser transmitter; calibrate the quadrant detector, the point ahead Risley prisms, and event timer verniers; and test normal point generation with SLR2000 data. This paper will report on the satellite tracking results to date, issues yet to be resolved, and future plans for the SLR2000 system.
In recognition of the importance of turbulence mitigation as a tool to improve aviation safety, NASA's Aviation Safety Program developed a Turbulence Detection and Mitigation Sub-element. The objective of this effort is to develop highly reliable turbulence detection technologies for commercial transport aircraft to sense dangerous turbulence with sufficient time warning so that defensive measures can be implemented and prevent passenger and crew injuries. Current research involves three forward sensing products to improve the cockpit awareness of possible turbulence hazards. X-band radar enhancements will improve the capabilities of current weather radar to detect turbulence associated with convective activity. LIDAR (Light Detection and Ranging) is a laser-based technology that is capable of detecting turbulence in clear air. Finally, a possible Radar-LIDAR hybrid sensor is envisioned to detect the full range of convective and clear air turbulence. To support decisions relating to the development of these three forward-looking turbulence sensor technologies, the objective of this study was defined as examination of cost and implementation metrics. Tasks performed included the identification of cost factors and certification issues, the development and application of an implementation model, and the development of cost budget/targets for installing the turbulence sensor and associated software devices into the commercial transport fleet.