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At least 163 records · Page 9

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NASA NTRS2001

Rocket sled testing of a prototype terrain-relative navigation system

The next generation of Martian landers (2007 and beyond) will employ a precision soft-landing capability that will make it possible to explore previously inaccessible regions on the surface of Mars. This capability will be enabled by onboard systems that automatically identify and avoid terrain containing steep slopes or rocks exceeding a particular terrain height. JPL is currently developing such a hazard detection and avoidance system; this system will map the landing zone with a scanning laser radar, identify hazards, select a safe landing zone, and then guide the vehicle to the selected landing area. This paper describes how one component of this system-hazard detection-is being tested using a rocket sled and simulated Martian terrain.

lidar↗

NASA NTRS2008

Piloted Simulation of Various Synthetic Vision Systems Terrain Portrayal and Guidance Symbology Concepts for Low Altitude En-Route Scenario

In support of the NASA Aviation Safety Program's Synthetic Vision Systems Project, a series of piloted simulations were conducted to explore and quantify the relationship between candidate Terrain Portrayal Concepts and Guidance Symbology Concepts, specific to General Aviation. The experiment scenario was based on a low altitude en route flight in Instrument Metrological Conditions in the central mountains of Alaska. A total of 18 general aviation pilots, with three levels of pilot experience, evaluated a test matrix of four terrain portrayal concepts and six guidance symbology concepts. Quantitative measures included various pilot/aircraft performance data, flight technical errors and flight control inputs. The qualitative measures included pilot comments and pilot responses to the structured questionnaires such as perceived workload, subjective situation awareness, pilot preferences, and the rare event recognition. There were statistically significant effects found from guidance symbology concepts and terrain portrayal concepts but no significant interactions between them. Lower flight technical errors and increased situation awareness were achieved using Synthetic Vision Systems displays, as compared to the baseline Pitch/Roll Flight Director and Blue Sky Brown Ground combination. Overall, those guidance symbology concepts that have both path based guidance cue and tunnel display performed better than the other guidance concepts.

Takallu, M. A.↗

NASA NTRS2008

A Topographical Lidar System for Terrain-Relative Navigation

An imaging lidar system is being developed for use in navigation, relative to the local terrain. This technology will potentially be used for future spacecraft landing on the Moon. Systems like this one could also be used on Earth for diverse purposes, including mapping terrain, navigating aircraft with respect to terrain and military applications. The system has been field-tested aboard a helicopter in the Mojave Desert. When this system was designed, digitizers with sufficient sampling rate (2 GHz) were only available with very limited memory. Also, it was desirable to limit the amount of data to be transferred between the digitizer and the mass storage between individual frames. One of the novelty design features of this system was to design the system around the limited amount of memory of the digitizer. The system is required to operate over an altitude (distance) range from a few meters to approximately 1 km, but for each scan across the full field of view, the digitizer memory is only able to hold data for an altitude range no more than 100 m. Data acquisition methods in support of the limited 100 m wide altitude range are described.

Liebe, Carl Christian↗

NASA NTRS2007

Mapping Nearby Terrain in 3D by Use of a Grid of Laser Spots

A proposed optoelectronic system, to be mounted aboard an exploratory robotic vehicle, would be used to generate a three-dimensional (3D) map of nearby terrain and obstacles for purposes of navigating the vehicle across the terrain and avoiding the obstacles. The difference between this system and the other systems would lie in the details of implementation. In this system, the illumination would be provided by a laser. The beam from the laser would pass through a two-dimensional diffraction grating, which would divide the beam into multiple beams propagating in different, fixed, known directions. These beams would form a grid of bright spots on the nearby terrain and obstacles. The centroid of each bright spot in the image would be computed. For each such spot, the combination of (1) the centroid, (2) the known direction of the light beam that produced the spot, and (3) the known baseline would constitute sufficient information for calculating the 3D position of the spot.

Padgett, Curtis↗

NASA NTRS2007

Robot Would Climb Steep Terrain

This brief describes the steep terrain access robot (STAR) -- a walking robot that has been proposed for exploring steep terrain on remote planets. The STAR would be able to climb up or down on slopes as steep as vertical, and even beyond vertical to overhangs. Its system of walking mechanisms and controls would be to react forces and maintain stability. To enable the STAR to anchor itself in the terrain on steep slopes to maintain stability and react forces, it would be necessary to equip the tips of the walking legs with new ultrasonic/ sonic drill corers (USDCs) and to develop sensors and control algorithms to enable robust utilization of the USDCs.

Kennedy, Brett↗

NASA NTRS2010

Comparison of Mapping Tessera Terrain in the Phoebe Regio (V-41) and Tellus Tessera (V-10) Quadrangles

Tessera terrain was first described from data collected by the Venera 15/16 spacecraft. These high standing crustal plateaus are characterized by enhanced radar-scale roughness (i.e. at the 12-cm Magellan radar wavelength), low radar reflectivity and multiple episodes of deformation. Outcrops range from local exposures (100s of km across) to continent sized (e.g. Aphrodite Terra). To understand the tectonic history of these relatively old terrains, detailed geologic and stratigraphic relations have been assessed by a number of investigators. Tessera is typically mapped as a global-scale unit although significant variations in both geologic setting and character are observed. This leads to the suggestion that the rock material making up these terrains may vary across the planet. As such, we are carrying out geologic mapping of both the Phoebe Regio (V-41) and Tellus Tessera (V-10) quadrangles to ascertain their geologic history and make comparisons between these distinct upland plateaus.

Senske, D. A.↗

NASA NTRS2010

Effects of a Velocity-Vector Based Command Augmentation System and Synthetic Vision System Terrain Portrayal and Guidance Symbology Concepts on Single-Pilot Performance

This study investigated the effects of synthetic vision system (SVS) concepts and advanced flight controls on the performance of pilots flying a light, single-engine general aviation airplane. We evaluated the effects and interactions of two levels of terrain portrayal, guidance symbology, and flight control response type on pilot performance during the conduct of a relatively complex instrument approach procedure. The terrain and guidance presentations were evaluated as elements of an integrated primary flight display system. The approach procedure used in the study included a steeply descending, curved segment as might be encountered in emerging, required navigation performance (RNP) based procedures. Pilot performance measures consisted of flight technical performance, perceived workload, perceived situational awareness and subjective preference. The results revealed that an elevation based generic terrain portrayal significantly improved perceived situation awareness without adversely affecting flight technical performance or workload. Other factors (pilot instrument rating, control response type, and guidance symbology) were not found to significantly affect the performance measures.

Liu, Dahai↗

NASA NTRS2016

An Efficient Ray-Tracing Method for Determining Terrain Intercepts in EDL Simulations

The calculation of a ray's intercept from an arbitrary point in space to a prescribed surface is a common task in computer simulations. The arbitrary point often represents an object that is moving according to the simulation, while the prescribed surface is fixed in a defined frame. For detailed simulations, this surface becomes complex, taking the form of real-world objects such as mountains, craters or valleys which require more advanced methods to accurately calculate a ray's intercept location. Incorporation of these complex surfaces has commonly been implemented in graphics systems that utilize highly optimized graphics processing units to analyze such features. This paper proposes a simplified method that does not require computationally intensive graphics solutions, but rather an optimized ray-tracing method for an assumed terrain dataset. This approach was developed for the Mars Science Laboratory mission which landed on the complex terrain of Gale Crater. First, this paper begins with a discussion of the simulation used to implement the model and the applicability of finding surface intercepts with respect to atmosphere modeling, altitude determination, radar modeling, and contact forces influencing vehicle dynamics. Next, the derivation and assumptions of the intercept finding method are presented. Key assumptions are noted making the routines specific to only certain types of surface data sets that are equidistantly spaced in longitude and latitude. The derivation of the method relies on ray-tracing, requiring discussion on the formulation of the ray with respect to the terrain datasets. Further discussion includes techniques for ray initialization in order to optimize the intercept search. Then, the model implementation for various new applications in the simulation are demonstrated. Finally, a validation of the accuracy is presented along with the corresponding data sets used in the validation. A performance summary of the method will be shown using the analysis from the Mars Science Laboratory's terminal descent sensing model. Alternate uses will also be shown for determining horizon maps and orbiter set times.

Shidner, Jeremy D.↗

NASA NTRS2015

Laser Imaging Detection and Ranging Performance in a High-Fidelity Lunar Terrain Field

The prime objective of this project is to evaluate Laser Imaging Detection and Ranging (LIDAR) systems and compare their performance for hazard avoidance when tested at the NASA Marshall Space Flight Center's (MSFC's) lunar high-fidelity terrain field (see fig. 1). Hazard avoidance is the ability to avoid boulders, holes, or slopes that would jeopardize a safe landing and the deployment of scientific payloads. This capability is critical for any sample return mission intending to land in challenging terrain. Since challenging terrain is frequently where the most scientifically attractive targets are, hazard avoidance will be among the highest priorities for future robotic exploration missions. The maturation of hazard avoidance sensing addressed in this project directly supports the MSFC Tier I priority of sample return.

Chuang, Jason↗

NASA NTRS2015

Risk-Aware Planetary Rover Operation: Autonomous Terrain Classification and Path Planning

Identifying and avoiding terrain hazards (e.g., soft soil and pointy embedded rocks) are crucial for the safety of planetary rovers. This paper presents a newly developed groundbased Mars rover operation tool that mitigates risks from terrain by automatically identifying hazards on the terrain, evaluating their risks, and suggesting operators safe paths options that avoids potential risks while achieving specified goals. The tool will bring benefits to rover operations by reducing operation cost, by reducing cognitive load of rover operators, by preventing human errors, and most importantly, by significantly reducing the risk of the loss of rovers.

Ono, Masahiro↗

NASA NTRS2015

Real-time Terrain Relative Navigation Test Results from a Relevant Environment for Mars Landing

Terrain Relative Navigation (TRN) is an on-board GN&C function that generates a position estimate of a spacecraft relative to a map of a planetary surface. When coupled with a divert, the position estimate enables access to more challenging landing sites through pin-point landing or large hazard avoidance. The Lander Vision System (LVS) is a smart sensor system that performs terrain relative navigation by matching descent camera imagery to a map of the landing site and then fusing this with inertial measurements to obtain high rate map relative position, velocity and attitude estimates. A prototype of the LVS was recently tested in a helicopter field test over Mars analog terrain at altitudes representative of Mars Entry Descent and Landing conditions. TRN ran in real-time on the LVS during the flights without human intervention or tuning. The system was able to compute estimates accurate to 40m (3 sigma) in 10 seconds on a flight like processing system. This paper describes the Mars operational test space definition, how the field test was designed to cover that operational envelope, the resulting TRN performance across the envelope and an assessment of test space coverage.

Pin-point Landing↗

NASA NTRS2017

Washboard Terrain on Pluto

Washboard texture or patterning consists of fields of parallel to sub-parallel ridges typically spaced ~1-2 km crest to crest and a few 100 m in amplitude (Fig. 4a in Moore et al., 2016, Science, 351, 1284-1293). For the most part, underlying topography can be easily discerned. We will refer to discrete, well-bounded patches of these landforms as Washboard Terrain (WT). WT is observed to occur along the rim, and just beyond the rim, of Sputnik basin from the West to NNW. Where it is seen in high-resolution data, it has clearly defined limits, beyond which it would be able to be seen if it were there. WT doesn't occur at very low latitudes or very high latitudes (ranging from 22degN to 62degN). WT seems to occur most conspicuously on relatively level, gently sloping terrain. It is restricted to elevations between approximately 2 km to less than +1.5 km (i.e. not at high elevations). The most noticeable regional aspect of the area in which WT occurs is the sinuous valley network, which is suspected to have been formed, or at least substantially modified, by glaciation. WT also appears to occur mainly on an intermediate-albedo reddish material, where seen in enhanced color data. Where it occurs in level terrain, WT tends to trend ENE - there doesn't seem to be a strong local control of its orientation in response to valley drainage directions. WT can display a greater range of orientations where it occurs in higher-relief (not higher elevation) settings such as spurs. WT appears superposed on very ancient landscapes, but is itself cratered locally by clusters of small (approximately 1-3 km) craters, which may be secondaries. This implies that WT may be intermediate in age. Of several working hypotheses, we currently provisionally favor that WT may be akin to terrestrial recessional moraines (or de Geer moraines) associated with the retreat of a higher stand of N2 glaciation that once overfilled Sputnik basin. These putative moraine features may owe their spacing to superseasonal retreat on Milankovitch timescales of approximately 1 Ma. If this hypothesis has validity, then perhaps the intermediate-albedo reddish material may be akin to ground moraine deposits.

Moore, Jeffrey M.↗

NASA NTRS2014

Terrain Physical Properties Derived from Orbital Data and the First 360 Sols of Mars Science Laboratory Curiosity Rover Observations in Gale Crater

Physical properties of terrains encountered by the Curiosity rover during the rst 360 sols of operations have been inferred from analysis of the scour zones produced by Sky Crane Landing System engine plumes, wheel touch down dynamics, pits produced by Chemical Camera (ChemCam) laser shots, rover wheel traverses over rocks, the extent of sinkage into soils, and the magnitude and sign of rover-based slippage during drives. Results have been integrated with morphologic, mineralogic, and thermophysical properties derived from orbital data, and Curiosity-based measurements, to understand the nature and origin of physical properties of traversed terrains. The hummocky plains (HP) landing site and traverse locations consist ofmoderately to well-consolidated bedrock of alluvial origin variably covered by slightly cohesive, hard-packedbasaltic sand and dust, with both embedded and surface-strewn rock clasts. Rock clasts have been addedthrough local bedrock weathering and impact ejecta emplacement and form a pavement-like surface in whichonly small clasts (5 to 10 cm wide) have been pressed into the soil during wheel passages. The beddedfractured (BF) unit, site of Curiositys rst drilling activity, exposes several alluvial-lacustrine bedrock unitswith little to no soil cover and varying degrees of lithication. Small wheel sinkage values (1 cm) for both HPand BF surfaces demonstrate that compaction resistance countering driven-wheel thrust has been minimaland that rover slippage while traversing across horizontal surfaces or going uphill, and skid going downhill,have been dominated by terrain tilts and wheel-surface material shear modulus values.

Mars Science Laboratory Curiosity Gale Crater↗

NASA NTRSDate not supplied

Evaluating SAR Radiometric Terrain Correction products: Optimal products for applied users

Operational applications for Synthetic Aperture Radar (SAR) are under development around the world, driven by the free-and-open access of SAR C-band observations that Sentinel-1 of Copernicus has been providing since 2014. Groups like SERVIR, a joint initiative between NASA and USAID, are at the forefront of remote sensing applied uses, and have made many significant contributions to lower the barrier to access, process, and apply SAR for ecosystem services. A takeaway from the SERVIR experience in using SAR is the need to use the appropriate SAR polarimetric product. Radiometric Terrain Correction (RTC) is a key entry-level product for multiple applications that range from ecosystems to hazards. Many software packages exist to create RTC products from SLC or GRD-type Level-1 SAR data, some of which were released only recently, e.g. Interferometric SAR Computing Environment (ISCE) added an RTC module in April 2020. In addition, new versions of open source softwares are expected to address known issues from previous versions, such as Sentinel-1 Toolbox from the European Space Agency (SNAP-7). Despite the growing availability of RTC software solutions, little work has been done to identify differences between RTC products from different softwares. And to address the question, which open-source software produces the most accurate RTC product? This work evaluates Sentinel-1 RTC products created with three different softwares and approaches, including SNAP-7, ISCE-2, and a pseudo RTC product derived from GEE. The GAMMA-derived RTC product, a known optimal RTC and implemented by Alaska Satellite Facility (ASF), is used as a reference. Time series stacks over ten different sites representing varied terrain and ecosystems are evaluated. Products are evaluated for geolocation quality, absolute radiometric calibration, and for the fidelity of the radiometric terrain flattening. The results provide direct guidance and recommendations about the quality of the RTC products obtained from open source methods. This understanding is key to develop operational applications that rely on SAR Sentinel-1 data that need affordable and scalable solutions.

Africa Flores-Anderson↗

NASA NTRSDate not supplied

Evaluating SAR Radiometric Terrain Correction Solutions: Optimal products for applied users

Operational applications of Synthetic Aperture Radar (SAR) are under development around the world, driven by the regularly-acquired, free-and-open source C-band SAR observations provided by ESA’s Sentinel-1 sensor constellation since 2014. Groups like SERVIR, a joint NASA and USAID initiative, are at the forefront of remote sensing applications for societal benefit. A takeaway from SERVIR’s experience is the need for appropriately geocoded and fully calibrated SAR data that is ready to use for a range of ecosystems-related applications. Radiometric Terrain Corrected (RTC) data are key entry-level products for multiple applications that range from ecosystems to hazards. This work fills a gap in current research by evaluating several RTCs produced by open-source software solutions (SNAP-7 and ISCE-2), the gold standard commercial software (GAMMA), a Google Earth Engine (GEE) based workflow, and the uncorrected GRD products currently available in GEE. RTCs were analyzed for geolocation quality, absolute radiometric calibration, and fidelity of the radiometric terrain flattening over ten sites representing varied terrains. In addition, a time series analysis was conducted over two locations. Overall, no significant differences for radiometric calibration were found across RTC products. However, all RTCs performed better than uncorrected GRD products. The main differences between products were found in geolocation quality. These results not only demonstrate the need for the uptake and distribution of RTC products for ecosystems applications, but demonstrate the ability to do so with open source methods, adding value to developing affordable operational applications.

Helen Blue Parache↗

NASA NTRSDate not supplied

Accuracy Assessment of Two Gps Fidelity Prediction Services in Urban Terrain

Low altitude flight in urban areas is susceptible to degraded GNSS-based navigation system performance due to terrain interference with radio signals from orbital positioning satellites. Predictive navigation performance fidelity tools are needed a) in preflight planning to assist in the creation of safe flight paths and b) in-flight to provide contingency management agents with the navigation risk of proximal flight corridors. Two navigation fidelity prediction services are validated by comparison with over 6000 readings from GNSS sensors collected along a five-mile path through urban areas of Corpus Christi, Texas, on three dates in 2022. Predictions are based on satellite line of sight through 3D terrain data collected in 2018. Each service predicts a set of navigation fidelity metrics over a user-specified time period. One metric estimated by both is the number of visible satellites. A direct comparison of the number of predicted visible satellites with the number sensed by the receiver is used to validate the prediction services. Results show an exact match in the number of predicted satellites for 60% of the measurements, and a match within +/- 4 satellites for 95% of the measurements. As expected, agreement improves away from vertical blocking terrain. Most cases of mismatch are due a lower predicted count than measured (false negatives), and can be accounted for by receiver pickup of stray signals caused by multipath propagation. About 10% of mismatches are false positives and are mostly accounted for by foliage effects. The two services predict visibility of the same set of satellites 80% of the time, differ by two or less satellites 95% of the time, and can compute predictions for one hour of observations in one minute or less. Validation is analyzed statistically and in detailed case studies of selected observation times. The prediction services validated in this study run fast enough for preflight safety planning. The more stringent challenge of inflight navigation fidelity prediction for contingency management requires both a speedup of the current level of modeling and equally fast stray signal modeling.

Andrew Moore↗

NASA NTRS2021

Lunar Terrain Coverage Analysis Data Delivery Workflow

In this work, we are developing a lunar terrain database to enable fast rendering of sun illumination and earth visibility for a proposed coverage analysis tool. This development will advance lunar mission design and formulation for current and future communications architectures, and will aid in lunar surface mission planning and communications/navigation operations. Our effort can be described in three steps: (1) we parallelize a brute force algorithm, which computes elevation masks from laser altimetry data acquired by the Lunar Reconnaissance Orbiter’s (LRO) Lunar Orbiter Laser Altimeter (LOLA); (2) we investigate parallel I/O methods to store terrain mask information from step (1) into a parallel file system; and (3) we finally deliver data to the terrain coverage analysis tool.

Michels, Dominik↗

NASA NTRSDate not supplied

Accuracy Assessment of Two GPS Fidelity Prediction Services in Urban Terrain

Andrew J. Moore↗