SEARCH · Search NASA

Results for “real-time Doppler”

Search indexed NASA NTRS and DOE OSTI research on propulsion, heat transfer, battery materials and energy systems. Follow report and document links to the original sources.

SourceResearch connectionFrom yearThrough year

Quote a phrase for an exact phrase match. Source license links do not imply unrestricted reuse.

At least 109 records · Page 6

All sources NASA NTRS DOE OSTI

NASA NTRS2004

Onboard FPGA-based SAR processing for future spaceborne systems

We present a real-time high-performance and fault-tolerant FPGA-based hardware architecture for the processing of synthetic aperture radar (SAR) images in future spaceborne system. In particular, we will discuss the integrated design approach, from top-level algorithm specifications and system requirements, design methodology, functional verification and performance validation, down to hardware design and implementation.

spaceborne systems↗

NASA NTRS2010

Design of Control Software for a High-Speed Coherent Doppler Lidar System for CO2 Measurement

The design of the software for a 2-micron coherent high-speed Doppler lidar system for CO2 measurement at NASA Langley Research Center is discussed in this paper. The specific strategy and design topology to meet the requirements of the system are reviewed. In order to attain the high-speed digitization of the different types of signals to be sampled on multiple channels, a carefully planned design of the control software is imperative. Samples of digitized data from each channel and their roles in data analysis post processing are also presented. Several challenges of extremely-fast, high volume data acquisition are discussed. The software must check the validity of each lidar return as well as other monitoring channel data in real-time. For such high-speed data acquisition systems, the software is a key component that enables the entire scope of CO2 measurement studies using commercially available system components.

Vanvalkenburg, Randal L.↗

NASA NTRS2012

NASA Tech Briefs, September 2012

Topics covered include: Beat-to-Beat Blood Pressure Monitor; Measurement Techniques for Clock Jitter; Lightweight, Miniature Inertial Measurement System; Optical Density Analysis of X-Rays Utilizing Calibration Tooling to Estimate Thickness of Parts; Fuel Cell/Electrochemical Cell Voltage Monitor; Anomaly Detection Techniques with Real Test Data from a Spinning Turbine Engine-Like Rotor; Measuring Air Leaks into the Vacuum Space of Large Liquid Hydrogen Tanks; Antenna Calibration and Measurement Equipment; Glass Solder Approach for Robust, Low-Loss, Fiber-to-Waveguide Coupling; Lightweight Metal Matrix Composite Segmented for Manufacturing High-Precision Mirrors; Plasma Treatment to Remove Carbon from Indium UV Filters; Telerobotics Workstation (TRWS) for Deep Space Habitats; Single-Pole Double-Throw MMIC Switches for a Microwave Radiometer; On Shaft Data Acquisition System (OSDAS); ASIC Readout Circuit Architecture for Large Geiger Photodiode Arrays; Flexible Architecture for FPGAs in Embedded Systems; Polyurea-Based Aerogel Monoliths and Composites; Resin-Impregnated Carbon Ablator: A New Ablative Material for Hyperbolic Entry Speeds; Self-Cleaning Particulate Prefilter Media; Modular, Rapid Propellant Loading System/Cryogenic Testbed; Compact, Low-Force, Low-Noise Linear Actuator; Loop Heat Pipe with Thermal Control Valve as a Variable Thermal Link; Process for Measuring Over-Center Distances; Hands-Free Transcranial Color Doppler Probe; Improving Balance Function Using Low Levels of Electrical Stimulation of the Balance Organs; Developing Physiologic Models for Emergency Medical Procedures Under Microgravity; PMA-Linked Fluorescence for Rapid Detection of Viable Bacterial Endospores; Portable Intravenous Fluid Production Device for Ground Use; Adaptation of a Filter Assembly to Assess Microbial Bioburden of Pressurant Within a Propulsion System; Multiplexed Force and Deflection Sensing Shell Membranes for Robotic Manipulators; Whispering Gallery Mode Optomechanical Resonator; Vision-Aided Autonomous Landing and Ingress of Micro Aerial Vehicles; Self-Sealing Wet Chemistry Cell for Field Analysis; General MACOS Interface for Modeling and Analysis for Controlled Optical Systems; Mars Technology Rover with Arm-Mounted Percussive Coring Tool, Microimager, and Sample-Handling Encapsulation Containerization Subsystem; Fault-Tolerant, Real-Time, Multi-Core Computer System; Water Detection Based on Object Reflections; SATPLOT for Analysis of SECCHI Heliospheric Imager Data; Plug-in Plan Tool v3.0.3.1; Frequency Correction for MIRO Chirp Transformation Spectroscopy Spectrum; Nonlinear Estimation Approach to Real-Time Georegistration from Aerial Images; Optimal Force Control of Vibro-Impact Systems for Autonomous Drilling Applications; Low-Cost Telemetry System for Small/Micro Satellites; Operator Interface and Control Software for the Reconfigurable Surface System Tri-ATHLETE; and Algorithms for Determining Physical Responses of Structures Under Load.

Source record↗

NASA NTRS1991

Autonomous reconfigurable GPS/INS navigation and pointing system for rendezvous and docking

This paper describes the results of an integrated navigation and pointing system software development effort sponsored by the NASA MSFC through a SBIR Phase 2 Program. The integrated Global Positioning System (GPS)/Inertial Navigation System (INS) implements an autonomous navigation filter that is reconfigurable in real-time to accommodate mission contingencies. An onboard expert system monitors the spacecraft status and reconfigures the navigation filter accordingly, to optimize the system performance. The navigation filter is a multi-mode Kalman filter to estimate the spacecraft position, velocity, and attitude. Three different GPS-based attitude determination techniques, namely, velocity vector matching, attitude vector matching, and interferometric processing, are implemented to encompass different mission contingencies. The integrated GPS/INS navigation filter will use any of these techniques depending on the mission phase and the state of the sensors. The first technique, velocity vector matching, uses the GPS velocity measurement to estimate the INS velocity errors and exploits the correlation between INS velocity and attitude errors to estimate the attitude. The second technique, attitude vector matching, uses INS gyro measurements and GPS carrier phase (integrated Doppler) measurements during a spacecraft rotation maneuver to determine the attitude. Both of these techniques require only one GPS antenna onboard to determine the spacecraft attitude. The third technique, interferometric processing, requires use of multiple GPS antennae. In order to determine 3-axis body attitude, three GPS antennae (2 no-coplanor baselines) are required.

Upadhyay, Triveni N.↗

NASA NTRS2003

Doppler Global Velocimetry at NASA Glenn Research Center: System Discussion and Results

A ruggedized Doppler Global Velocimetry system has been built and tested at NASA Glenn Research Center. One component of planar velocity measurements of subsonic and supersonic flows from an under-expanded free jet are reported, which agree well with predicted values. An error analysis evaluates geometric and spectral error terms, and characterizes speckle noise in isotropic data. A multimode, fused fiber optic bundle is demonstrated to couple up to 650 mJ/pulse of laser light without burning or fiber ablation, and without evidence of Stimulated Brillouin Scattering or other spectral-broadening problems. Comparisons are made between spinning wheel data using illumination by freespace beam propagation and fiber optic beam delivery. The fiber bundle illumination is found to provide more spatially even and stable illumination than is typically available from pulsed Nd:YAG laser beams. The fiber bundle beam delivery is also a step toward making remote measurements and automatic real-time plume sectioning feasible in wind tunnel environments.

Lant, Christian T.↗

NASA NTRS2004

Tropical Cyclone Precipitation Types and Electrical Field Information Observed by High Altitude Aircraft Instrumentation

During the 1998 and 200 1 hurricane seasons of the Atlantic Ocean Basin, the Advanced Microwave Precipitation Radiometer (AMPR), the ER-2 Doppler (EDOP) radar, and the Lightning Instrument Package (LIP) were flown aboard the National Aeronautics and Space Administration (NASA) ER-2 high altitude aircraft as part of the Third Convection And Moisture Experiment (CAMEX-3) and the Fourth Convection And Moisture Experiment (CAMEX-4). Several hurricanes and tropical storms were sampled during these experiments. A rainfall screening technique has been developed using AMPR passive microwave observations of these tropical cyclones (TC) collected at frequencies of 10.7, 19.35,37.1, and 85.5 GHz and verified using vertical profiles of EDOP reflectivity and lower altitude horizontal reflectivity scam collected by the National Oceanic and Atmospheric Administration (NOM) P-3 radar. Matching the rainfall classification results with coincident electrical field information collected by the LIP readily identifl convective rain regions within the TC precipitation fields. Strengths and weaknesses of the rainfall classification procedure will be discussed as well as its potential as a real-time analysis tool for monitoring vertical updrafl strength and convective intensity from a remotely operated or uninhabited aerial vehicle.

Hood, Robbie E.↗

NASA NTRS2010

Maintaining a Local Data Integration System in Support of Weather Forecast Operations

Since 2000, both the National Weather Service in Melbourne, FL (NWS MLB) and the Spaceflight Meteorology Group (SMG) have used a local data integration system (LDIS) as part of their forecast and warning operations. Each has benefited from 3-dimensional analyses that are delivered to forecasters every 15 minutes across the peninsula of Florida. The intent is to generate products that enhance short-range weather forecasts issued in support of NWS MLB and SMG operational requirements within East Central Florida. The current LDIS uses the Advanced Regional Prediction System (ARPS) Data Analysis System (ADAS) package as its core, which integrates a wide variety of national, regional, and local observational data sets. It assimilates all available real-time data within its domain and is run at a finer spatial and temporal resolution than current national- or regional-scale analysis packages. As such, it provides local forecasters with a more comprehensive and complete understanding of evolving fine-scale weather features. Recent efforts have been undertaken to update the LDIS through the formal tasking process of NASA's Applied Meteorology Unit. The goals include upgrading LDIS with the latest version of ADAS, incorporating new sources of observational data, and making adjustments to shell scripts written to govern the system. A series of scripts run a complete modeling system consisting of the preprocessing step, the main model integration, and the post-processing step. The preprocessing step prepares the terrain, surface characteristics data sets, and the objective analysis for model initialization. Data ingested through ADAS include (but are not limited to) Level II Weather Surveillance Radar- 1988 Doppler (WSR-88D) data from six Florida radars, Geostationary Operational Environmental Satellites (GOES) visible and infrared satellite imagery, surface and upper air observations throughout Florida from NOAA's Earth System Research Laboratory/Global Systems Division/Meteorological Assimilation Data Ingest System (MADIS), as well as the Kennedy Space Center ICape Canaveral Air Force Station wind tower network. The scripts provide NWS MLB and SMG with several options for setting a desirable runtime configuration of the LDIS to account for adjustments in grid spacing, domain location, choice of observational data sources, and selection of background model fields, among others. The utility of an improved LDIS will be demonstrated through postanalysis warm and cool season case studies that compare high-resolution model output with and without the ADAS analyses. Operationally, these upgrades will result in more accurate depictions of the current local environment to help with short-range weather forecasting applications, while also offering an improved initialization for local versions of the Weather Research and Forecasting model.

Watson, Leela R.↗

NASA NTRS2004

Classification of Tropical Oceanic Precipitation using High-Altitude Aircraft Microwave and Electric Field Measurements

During the 1998 and 2001 hurricane seasons of the western Atlantic Ocean and Gulf of Mexico, the Advanced Microwave Precipitation Radiometer (AMPR), the ER-2 Doppler (EDOP) radar, and the Lightning Instrument Package (LIP) were flown aboard the NASA ER-2 high-altitude aircraft as part of the Third Convection and Moisture Experiment (CAMEX-3) and the Fourth Convection and Moisture Experiment (CAMEX-4). Several hurricanes, tropical storms, and other precipitation systems were sampled during these experiments. An oceanic rainfall screening technique has been developed using AMPR passive microwave observations of these systems collected at frequencies of 10.7, 19.35, 37.1, and 85.5 GHz. This technique combines the information content of the four AMPR frequencies regarding the gross vertical structure of hydrometeors into an intuitive and easily executable precipitation mapping format. The results have been verified using vertical profiles of EDOP reflectivity and lower-altitude horizontal reflectivity scans collected by the NOAA WP3D Orion radar. Matching the rainfall classification results with coincident electric field information collected by the LIP readily identifies convective rain regions within the precipitation fields. This technique shows promise as a real-time research and analysis tool for monitoring vertical updraft strength and convective intensity from airborne platforms such as remotely operated or uninhabited aerial vehicles. The technique is analyzed and discussed for a wide variety of precipitation types using the 26 August 1998 observations of Hurricane Bonnie near landfall.

Hood, Robbie E.↗

NASA NTRS2004

Classification of Tropical Oceanic Precipitation using High Altitude Aircraft: Microwave and Electric Field Measurements

During the 1998 and 2001 hurricane seasons of the western Atlantic Ocean and Gulf of Mexico, the Advanced Microwave Precipitation Radiometer (AMPR), the ER-2 Doppler (EDOP) radar, and the Lightning Instrument Package (LIP) were flown aboard the National Aeronautics and Space Administration ER-2 high altitude aircraft as part of the Third Convection and Moisture Experiment (CAMEX-3) and the Fourth Convection and Moisture Experiment (CAMEX-4). Several hurricanes, tropical storms, and other precipitation systems were sampled during these experiments. An oceanic rainfall screening technique has been developed using AMPR passive microwave observations of these systems collected at frequencies of 10.7, 19.35,37.1, and 85.5 GHz. This technique combines the information content of the four AMPR frequencies regarding the gross vertical structure of hydrometeors into an intuitive and easily executable precipitation mapping format. The results have been verified using vertical profiles of EDOP reflectivity and lower altitude horizontal reflectivity scans collected by the National Oceanic and Atmospheric Administration WP-3D Orion radar. Matching the rainfall classification results with coincident electric field information collected by the LIP readily identifies convective rain regions within the precipitation fields. This technique shows promise as a real-time research and analysis tool for monitoring vertical updraft strength and convective intensity from airborne platforms such as remotely operated or uninhabited aerial vehicles. The technique is analyzed and discussed for a wide variety of precipitation types using the 26 August 1998 observations of Hurricane Bonnie near landfall.

Hood, Robbie E.↗

NASA NTRS2014

Transition Marshall Space Flight Center Wind Profiler Splicing Algorithm to Launch Services Program Upper Winds Tool

NASAs LSP customers and the future SLS program rely on observations of upper-level winds for steering, loads, and trajectory calculations for the launch vehicles flight. On the day of launch, the 45th Weather Squadron (45 WS) Launch Weather Officers (LWOs) monitor the upper-level winds and provide forecasts to the launch team via the AMU-developed LSP Upper Winds tool for launches at Kennedy Space Center (KSC) and Cape Canaveral Air Force Station. This tool displays wind speed and direction profiles from rawinsondes released during launch operations, the 45th Space Wing 915-MHz Doppler Radar Wind Profilers (DRWPs) and KSC 50-MHz DRWP, and output from numerical weather prediction models.The goal of this task was to splice the wind speed and direction profiles from the 45th Space Wing (45 SW) 915-MHz Doppler radar Wind Profilers (DRWPs) and KSC 50-MHz DRWP at altitudes where the wind profiles overlap to create a smooth profile. In the first version of the LSP Upper Winds tool, the top of the 915-MHz DRWP wind profile and the bottom of the 50-MHz DRWP were not spliced, sometimes creating a discontinuity in the profile. The Marshall Space Flight Center (MSFC) Natural Environments Branch (NE) created algorithms to splice the wind profiles from the two sensors to generate an archive of vertically complete wind profiles for the SLS program. The AMU worked with MSFC NE personnel to implement these algorithms in the LSP Upper Winds tool to provide a continuous spliced wind profile.The AMU transitioned the MSFC NE algorithms to interpolate and fill data gaps in the data, implement a Gaussian weighting function to produce 50-m altitude intervals in each sensor, and splice the data together from both DRWPs. They did so by porting the MSFC NE code written with MATLAB software into Microsoft Excel Visual Basic for Applications (VBA). After testing the new algorithms in stand-alone VBA modules, the AMU replaced the existing VBA code in the LSP Upper Winds tool with the new algorithms. They then tested the code in the LSP Upper Winds tool with archived data. The tool will be delivered to the 45 WS after the 50-MHz DRWP upgrade is complete and the tool is tested with real-time data. The 50-MHz DRWP upgrade is expected to be finished in October 2014.

Space launch↗

NASA NTRS2003

Geometric differences of the mitral apparatus between ischemic and dilated cardiomyopathy with significant mitral regurgitation: real-time three-dimensional echocardiography study

BACKGROUND: This study was conducted to elucidate the geometric differences of the mitral apparatus in patients with significant mitral regurgitation caused by ischemic cardiomyopathy (ICM-MR) and by idiopathic dilated cardiomyopathy (DCM-MR) by use of real-time 3D echocardiography (RT3DE). METHODS AND RESULTS: Twenty-six patients with ICM-MR caused by posterior infarction, 18 patients with DCM-MR, and 8 control subjects were studied. With the 3D software, commissure-commissure plane and 3 perpendicular anteroposterior (AP) planes were generated for imaging the medial, central, and lateral sides of the mitral valve (MV) during mid systole. In 3 AP planes, the angles between the annular plane and each leaflet (anterior, Aalpha; posterior, Palpha) were measured. In ICM-MR, Aalpha measured in the medial and central planes was significantly larger than that in the lateral plane (39+/-5 degrees, 34+/-6 degrees, and 27+/-5 degrees, respectively; P<0.01), whereas Palpha showed no significant difference in any of the 3 AP planes (61+/-7 degrees, 57+/-7 degrees, and 56+/-7 degrees, P>0.05). In DCM-MR, both Aalpha (38+/-8 degrees, 37+/-9 degrees, and 36+/-7 degrees, P>0.05) and Palpha (59+/-6 degrees, 58+/-5 degrees, and 57+/-6 degrees, P>0.05) revealed no significant differences in the 3 planes. CONCLUSIONS: The pattern of MV deformation from the medial to the lateral side was asymmetrical in ICM-MR, whereas it was symmetrical in DCM-MR. RT3DE is a helpful tool for differentiating the geometry of the mitral apparatus between these 2 different types of functional mitral regurgitation.

Evaluation Studies↗

NASA NTRS1974

Data analysis study and performance evaluation of the scanning laser Doppler system

A simulation program which provided information on theoretically expected vortex spectra, evaluations of potential algorithms, and expected location accuracies for given scan patterns is presented. Field tests using an aircraft engine flow field and aircraft vortices during flyby tests were compared to the results of the simulation. From these studies, a vortex location algorithm was developed which provided vortex location for one or two vortices as a function of time. Results of this algorithm used on data from flyby tests were used to study vortex transport, to evaluate system performance, and to provide suggestions for real-time vortex location algorithms. The results of real-time analysis were compared to those which were expected based on theoretical considerations.

Sonnenschein, C. M.↗

NASA NTRS1980

Fabry-Perot-interferometer imaging system for thermospheric temperature and wind measurements

Doppler-broadened Fabry-Perot fringes of weak (less than 1-kR) auroral forbidden O I 5577- and 6300-A emissions have been detected in real time (1/60 sec) with the aid of a low-light level image-orthicon TV camera coupled to a two-stage image intensifier. The imaging scheme permits static-mode operation of a Fabry-Perot interferometer. For maximum use of all the information contained in every TV frame, each circular fringe may be sectioned into several annuli, and the corresponding annuli from all rings are summed to yield an intensity value. This procedure for deriving a fringe profile requires a video digitizer coupled to a digital processing system and should provide fast real-time (1/60 sec) measurements of E- and F-region temperatures and winds. With forbidden O I 5577-A intensity of 750 R, visually prominent TV images of the Fabry-Perot fringes were recorded in 0.5 sec, and the temperature of the emitting region was determined from two percent of the total information in the TV image.

Sivjee, G. G.↗

NASA NTRS1988

High-resolution digital movies of emerging flux and horizontal flows in active regions on the sun

High-resolution observations of active regions in many wavelength bands obtained at the Vacuum Tower Telescope of NSO/Sunspot (Sacramento Peak) are presented. The SOUP tunable filter, HRSO 1024 x 1024 CCD camera, and a sunspot tracker for image stabilization were used. Subarrays of 512 x 512 pixels were processed digitally and recorded on videodisk in movie format. The movies with 0.5 to 1 arcsecond resolution of the following simultaneous observations were shown: green continuum, longitudinal magnetogram, Doppler velocity, Fe I 5576 A line center, H alpha wings, and H alpha line center. The best set of movies show a 90 x 90 arcsecond field-of-view of an active region at S29, W11. When viewed at speeds of a few thousand times real-time, the photospheric movies clearly show the active region fields being distorted by a remarkable combination of systematic flows and small eruptions of new flux. Flux emergence is most easily discovered in line center movies: an elongated dark feature appears first, followed soon after by bright points at one or both ends. A brief, strong upflow is seen when the dark feature first appears; downflow in the bright points persists much longer. The magnetic flux appears to increase gradually over this extended period. Some of the flux emergence events were studied in detail, with measurements of horizontal and vertical velocities and magnetic flux versus time within one footpoint of the loop.

Topka, K.↗

NASA NTRS1993

XRTD: An X-Windows based, real-time radiometric display and analysis system

XRTD is a graphical user interface (GUI) based tool for monitoring real time radiometric spacecraft data. The tool is designed to allow the navigation analyst to both view and analyze the characteristics of Doppler and ranging data. This capability is critical if ground personnel wish to verify the correct performance of ongoing maneuvers. The raw tracking data is transferred from Deep Space Network (DSN) computers to a local workstation, where the predicted value for the observable is subtracted from the actual observed value to create a residual. The tool then allows the navigation analyst to rescale and replot the data using simple GUI techniques. The navigator may then perform a number of data analysis and modeling techniques on the resulting residuals to allow for the real time characterization of spacecraft events. These techniques include the modeling of maneuvers, the compression and differencing of data, and Fast Fourier transforms of the data. This tool has shortened the amount of time required for initial characterization of spacecraft maneuvers from several hours to a few minutes.

Pollmeier, Vincent M.↗

NASA NTRS2004

Forecasting Weather with a Wave of the Hand

Building upon its successful collaboration with NASA, Cybernet introduced GestureStorm(TradeMark), a weather map management system that utilizes both body tracking and gesture recognition technology for televised weather reports. The GestureStorm software interface enables meteorologists to control the computerized visual effects on weather maps using hand gestures and body movements. Prior to this, meteorologists prepared scripted on-air reports to coincide with the timing of graphics on the computerized maps. They knew when and where weather and Doppler radar maps would appear on the monitor, but could not react in real time. Cybernet s new product frees forecasters from a script, enabling them to directly interact with the weather picture in real time, significantly reducing the preparation time for the broadcast. With this technology, meteorologists control the pace of the visuals and can incorporate spontaneous close-ups with simple hand movements. In cases of severe weather, meteorologists strive to report new information as quickly as possible. GestureStorm gives forecasters an edge as they track late-breaking storms. The reduced preparation and real-time interaction shave critical minutes from the time required to broadcast severe weather warnings.

Source record↗

NASA NTRS2005

Sunspot Pattern Classification using PCA and Neural Networks (Poster)

The sunspot classification scheme presented in this paper is considered as a 2-D classification problem on archived datasets, and is not a real-time system. As a first step, it mirrors the Zuerich/McIntosh historical classification system and reproduces classification of sunspot patterns based on preprocessing and neural net training datasets. Ultimately, the project intends to move from more rudimentary schemes, to develop spatial-temporal-spectral classes derived by correlating spatial and temporal variations in various wavelengths to the brightness fluctuation spectrum of the sun in those wavelengths. Once the approach is generalized, then the focus will naturally move from a 2-D to an n-D classification, where "n" includes time and frequency. Here, the 2-D perspective refers both to the actual SOH0 Michelson Doppler Imager (MDI) images that are processed, but also refers to the fact that a 2-D matrix is created from each image during preprocessing. The 2-D matrix is the result of running Principal Component Analysis (PCA) over the selected dataset images, and the resulting matrices and their eigenvalues are the objects that are stored in a database, classified, and compared. These matrices are indexed according to the standard McIntosh classification scheme.

Rajkumar, T.↗

NASA NTRS2015

Lidar Sensor Performance in Closed-Loop Flight Testing of the Morpheus Rocket-Propelled Lander to a Lunar-Like Hazard Field

For the first time, a suite of three lidar sensors have been used in flight to scan a lunar-like hazard field, identify a safe landing site, and, in concert with an experimental Guidance, Navigation, and Control (GN&C) system, guide the Morpheus autonomous, rocket-propelled, free-flying test bed to a safe landing on the hazard field. The lidar sensors and GN&C system are part of the Autonomous Precision Landing and Hazard Detection and Avoidance Technology (ALHAT) project which has been seeking to develop a system capable of enabling safe, precise crewed or robotic landings in challenging terrain on planetary bodies under any ambient lighting conditions. The 3-D imaging flash lidar is a second generation, compact, real-time, air-cooled instrument developed from a number of cutting-edge components from industry and NASA and is used as part of the ALHAT Hazard Detection System (HDS) to scan the hazard field and build a 3-D Digital Elevation Map (DEM) in near-real time for identifying safe sites. The flash lidar is capable of identifying a 30 cm hazard from a slant range of 1 km with its 8 cm range precision at 1 sigma. The flash lidar is also used in Hazard Relative Navigation (HRN) to provide position updates down to a 250m slant range to the ALHAT navigation filter as it guides Morpheus to the safe site. The Doppler Lidar system has been developed within NASA to provide velocity measurements with an accuracy of 0.2 cm/sec and range measurements with an accuracy of 17 cm both from a maximum range of 2,200 m to a minimum range of several meters above the ground. The Doppler Lidar's measurements are fed into the ALHAT navigation filter to provide lander guidance to the safe site. The Laser Altimeter, also developed within NASA, provides range measurements with an accuracy of 5 cm from a maximum operational range of 30 km down to 1 m and, being a separate sensor from the flash lidar, can provide range along a separate vector. The Laser Altimeter measurements are also fed into the ALHAT navigation filter to provide lander guidance to the safe site. The flight tests served as the culmination of the TRL 6 journey for the lidar suite and included launch from a pad situated at the NASA-Kennedy Space Center Shuttle Landing Facility (SLF) runway, a lunar-like descent trajectory from an altitude of 250m, and landing on a lunar-like hazard field of rocks, craters, hazardous slopes, and safe sites 400m down-range just off the North end of the runway. The tests both confirmed the expected performance and also revealed several challenges present in the flight-like environment which will feed into future TRL advancement of the sensors. The flash lidar identified hazards as small as 30 cm from the maximum slant range of 450 m which Morpheus could provide, however, it was occasionally susceptible to an increase in range noise due to heated air from the Morpheus rocket plume which entered its Field-of-View (FOV). The flash lidar was also susceptible to pre-triggering on dust during the HRN phase which was created during launch and transported by the wind. The Doppler Lidar provided velocity and range measurements to the expected accuracy levels yet it was also susceptible to signal degradation due to air heated by the rocket engine. The Laser Altimeter, operating with a degraded transmitter laser, also showed signal attenuation over a few seconds at a specific phase of the flight due to the heat plume generated by the rocket engine.

Roback, Vincent E.↗