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NASA NTRSDate not supplied

MISR Geometric Parameters (MIB2GEOP_V1)

The MISR instrument consists of nine pushbroom cameras which measure radiance in four spectral bands. Global coverage is achieved in nine days. The cameras are arranged with one camera pointing toward the nadir, four cameras pointing forward and four cameras pointing aftward. It takes 7 minutes for all nine cameras to view the same surface location. The view angles relative to the surface reference ellipsoid, are 0, 26.1, 45.6, 60.0, and 70.5 degrees. The spectral band shapes are nominally gaussian, centered at 443, 555, 670, and 865 nm. The MISR Level 1B2 Geometric Parameters data product is part of the georectified radiance product. It contains the geometric parameters which measure the sun and view angles at the reference ellipsoid. [Location=GLOBAL] [Temporal_Coverage: Start_Date=2000-02-24; Stop_Date=] [Spatial_Coverage: Southernmost_Latitude=-90; Northernmost_Latitude=90; Westernmost_Longitude=-180; Easternmost_Longitude=180] [Data_Resolution: Latitude_Resolution=17.6 km; Longitude_Resolution=17.6 km; Horizontal_Resolution_Range=10 km - < 50 km or approximately .09 degree - < .5 degree; Temporal_Resolution=about 15 orbits/day].

SOLAR AZIMUTH ANGLE↗

NASA NTRSDate not supplied

MISR Geometric Parameters (MIB2GEOP_V2)

AM-1↗

NASA NTRS2015

An Imaging System for Satellite Hypervelocity Impact Debris Characterization

This paper discusses the design of an automated imaging system for size characterization of debris produced by the DebriSat hypervelocity impact test. The goal of the DebriSat project is to update satellite breakup models. A representative LEO satellite, DebriSat, was constructed and subjected to a hypervelocity impact test. The impact produced an estimated 85,000 debris fragments. The size distribution of these fragments is required to update the current satellite breakup models. An automated imaging system was developed for the size characterization of the debris fragments. The system uses images taken from various azimuth and elevation angles around the object to produce a 3D representation of the fragment via a space carving algorithm. The system consists of N point-and-shoot cameras attached to a rigid support structure that defines the elevation angle for each camera. The debris fragment is placed on a turntable that is incrementally rotated to desired azimuth angles. The number of images acquired can be varied based on the desired resolution. Appropriate background and lighting is used for ease of object detection. The system calibration and image acquisition process are automated to result in push-button operations. However, for quality assurance reasons, the system is semi-autonomous by design to ensure operator involvement. This paper describes the imaging system setup, calibration procedure, repeatability analysis, and the results of the debris characterization.

Moraguez, Matthew↗

NASA NTRSDate not supplied

Blade Displacement Measurements of a Rotor in Forward Flight in the Langley 14- by 22-Ft Wind Tunnel

Stereo photogrammetry was used to measure the elastic bending and twist of a three-bladed rotor in forward flight in the NASA Langley 14-by 22-Ft Subsonic Wind Tunnel. The rotor was imaged from below by two cameras mounted at windows of a large turntable in the floor of the test section. At each test condition, the turntable and cameras were rotated and the cameras were triggered to allow measurements over a range of blade azimuth angles. Retro-reflective targets were applied along the leading and trailing edges of the lower surface of each blade. Image blur due to blade motion was minimized by illuminating the targets with high-intensity LED flash lamps mounted next to each camera. The cameras were re-calibrated at each angular position of the turntable using the positions in each image of retro-reflective targets on the ceiling of the test section whose spatial coordinates had been very accurately measured. The blade displacement measurements yielded elastic bending and twist along each blade as functions of blade azimuth, thrust coefficient, and advance ratio, all at a constant rotor angle-of-attack. In addition, the measurements produced estimates of the rigid-body blade pitch, flap, and lag angles.

rotor blade displacement↗

NASA NTRSDate not supplied

Blade Displacement Measurements of a Rotor in Forward Flight in the Langley 14-by 22-Foot Wind Tunnel

Stereo photogrammetry was used to measure the elastic bending and twist of a three-bladed rotor in forward flight in the NASA Langley 14-by 22-Ft Subsonic Wind Tunnel. The rotor was imaged from below by two cameras mounted at windows of a large turntable in the floor of the test section. At each test condition, the turntable and cameras were rotated and the cameras were triggered to allow measurements over a range of blade azimuth angles. Retro-reflective targets were applied along the leading and trailing edges of the lower surface of each blade. Image blur due to blade motion was minimized by illuminating the targets with high-intensity LED flash lamps mounted next to each camera. The cameras were re-calibrated at each angular position of the turntable using the positions in each image of retro-reflective targets on the ceiling of the test section whose spatial coordinates had been very accurately measured. The blade displacement measurements yielded elastic bending and twist along each blade as functions of blade azimuth, thrust coefficient, and advance ratio, all at a constant rotor shaft angle. In addition, the measurements produced estimates of the rigid-body blade pitch, flap, and lag angles.

rotor↗

NASA NTRS2012

Compact Autonomous Hemispheric Vision System

Solar System Exploration camera implementations to date have involved either single cameras with wide field-of-view (FOV) and consequently coarser spatial resolution, cameras on a movable mast, or single cameras necessitating rotation of the host vehicle to afford visibility outside a relatively narrow FOV. These cameras require detailed commanding from the ground or separate onboard computers to operate properly, and are incapable of making decisions based on image content that control pointing and downlink strategy. For color, a filter wheel having selectable positions was often added, which added moving parts, size, mass, power, and reduced reliability. A system was developed based on a general-purpose miniature visible-light camera using advanced CMOS (complementary metal oxide semiconductor) imager technology. The baseline camera has a 92 FOV and six cameras are arranged in an angled-up carousel fashion, with FOV overlaps such that the system has a 360 FOV (azimuth). A seventh camera, also with a FOV of 92 , is installed normal to the plane of the other 6 cameras giving the system a > 90 FOV in elevation and completing the hemispheric vision system. A central unit houses the common electronics box (CEB) controlling the system (power conversion, data processing, memory, and control software). Stereo is achieved by adding a second system on a baseline, and color is achieved by stacking two more systems (for a total of three, each system equipped with its own filter.) Two connectors on the bottom of the CEB provide a connection to a carrier (rover, spacecraft, balloon, etc.) for telemetry, commands, and power. This system has no moving parts. The system's onboard software (SW) supports autonomous operations such as pattern recognition and tracking.

Pingree, Paula J.↗

NASA NTRS1992

Enhanced orbital gyrocompassing by the optical flow sensed by an Earth-pointing camera

A new method for improving the orbital gyrocompassing process involving the attitude angle estimation of an earth-pointing satellite in low-Earth orbit uses an electro-optical sensor for direct measurement of the satellite azimuth angle. Simulations have shown that this additional measurement drastically reduces the estimator convergence time, especially when the sun sensor is rendered ineffective, e.g., by high solar elevations. The azimuth-sensing method is based on estimation of the image shift between successive picture frames of an on-board, Earth-pointing, charge-coupled device (CCD) full-matrix camera. The shift-estimation algorithm is based on minimizing a cost function which expresses mean-squared differences in brightness patterns of selected areas of the two frames. An extensive evaluation program with a computer-controlled 2-axis light table and actual satellite images has demonstrated high robustness for a wide range of variation of parameters including image texture content; camera focal length; sampling rate; and number of pixels processed. It was shown to be possible to estimate the azimuth angle within 0.1-0.2 degrees, for a suitably chosen parameter set.

Topaz, Leora↗

NASA NTRS1994

SLR 2000

SLR 2000 is a concept for a totally automated subcentimeter SLR system presently being studied at GSFC. If funding permits, a prototype would be installed and tested at the Goddard Geophysical and Astronomical Observatory (GCAO) in FY98 and a small number of automated stations would be fielded by the year 2000. Unlike present systems, the "SLR 2000" system is being designed to: 1) operate autonomously without the need for onsite operators; 2) present no hazards (i.e., optical, electrical, and/or chemical) to personnel in the vicinity or to overflying aircraft; and 3) have a mean time between failures (MTBF) of at least three months. It is assumed that the systems are located at "friendly" sites where some level of security is provided and where certain low level service functions (e.g. commercial power, communications, heat pump service cleaning, etc.) are available or can be contracted for locally on an as-needed basis. The main system consists of two parts - an optical head and electronics rack. The optical head contains the laser transmitter and power supply, transmit/receive switch, optical telescope, tracking angle sensor (intensified CCD camera), detector and power supply, two angular encoders, azimuth and elevation motors, and a protective dome. The optical head mounts directly to the top of a concrete pier which contains the geodetic monument and forms part of the environmental housing for the hardware and servicing personnel. It is equipped with electronic levels for leveling the mount and monitoring its stability.

Degnan, John J.↗

NASA NTRS1980

Error analysis and corrections to pupil diameter measurements with Langley Research Center's oculometer

Factors that can affect oculometer measurements of pupil diameter are: horizontal (azimuth) and vertical (elevation) viewing angle of the pilot; refraction of the eye and cornea; changes in distance of eye to camera; illumination intensity of light on the eye; and counting sensitivity of scan lines used to measure diameter, and output voltage. To estimate the accuracy of the measurements, an artificial eye was designed and a series of runs performed with the oculometer system. When refraction effects are included, results show that pupil diameter is a parabolic function of the azimuth angle similar to the cosine function predicted by theory: this error can be accounted for by using a correction equation, reducing the error from 6% to 1.5% of the actual diameter. Elevation angle and illumination effects were found to be negligible. The effects of counting sensitivity and output voltage can be calculated directly from system documentation. The overall accuracy of the unmodified system is about 6%. After correcting for the azimuth angle errors, the overall accuracy is approximately 2%.

Fulton, C. L.↗

NASA NTRS1997

Registration assisted mosaic generation

This paper presents a general strategy for assembling mosaics from numerous individual images where uncertainty exists in the position and orientation of those images. Both of the presented applications relate to remotely operated camera platforms, the first being the Galileo solid state imaging (SSI) camera presently in orbit around Jupiter, and the second being the Imager for Mars Pathfinder (IMP) stereo camera on Mars. A basic strategy in both applications is to determine the correct relative camera pointing followed by direct map projection of the images. It is assumed that approximate camera pointing exists sufficient to locate adjacent images and to place initial tiepoints within reach of the correlator. Spatial correlation is used to fix tiepoints whose initial locations are predicted by the camera pointing. We use either an fast fourier transform (fft) algorithm or a variant of Gruen's scheme permitting limited image rotation and skew. The Gruen correlator has three hierarchical modes: 1) A classical spatial least squares correlation on integral pixel boundaries used when rotation is small. 2) An annealing non-deterministic search used when rotations are unknown. A simplex deterministic search used for the end game. The correlation operation can be performed either interactively or autonomously. The final camera pointing solution relies upon a simplex downhill search in 2n or 3n dimensions where n is the number of images comprising the mosaic and the objective function to be minimized is the disagreement between tiepoint locations predicted from the camera pointing with those observed by the correlator. For Galileo the 3n unknowns are euler angles defining camera pointing in planet coordinates, and for Mars Pathfinder they are 2n unknowns representing commanded azimuth and elevation in the Lander coordinate system.

Lorre, Jean J.↗

NASA NTRS2003

Theodolite with CCD Camera for Safe Measurement of Laser-Beam Pointing

The simple addition of a charge-coupled-device (CCD) camera to a theodolite makes it safe to measure the pointing direction of a laser beam. The present state of the art requires this to be a custom addition because theodolites are manufactured without CCD cameras as standard or even optional equipment. A theodolite is an alignment telescope equipped with mechanisms to measure the azimuth and elevation angles to the sub-arcsecond level. When measuring the angular pointing direction of a Class ll laser with a theodolite, one could place a calculated amount of neutral density (ND) filters in front of the theodolite s telescope. One could then safely view and measure the laser s boresight looking through the theodolite s telescope without great risk to one s eyes. This method for a Class ll visible wavelength laser is not acceptable to even consider tempting for a Class IV laser and not applicable for an infrared (IR) laser. If one chooses insufficient attenuation or forgets to use the filters, then looking at the laser beam through the theodolite could cause instant blindness. The CCD camera is already commercially available. It is a small, inexpensive, blackand- white CCD circuit-board-level camera. An interface adaptor was designed and fabricated to mount the camera onto the eyepiece of the specific theodolite s viewing telescope. Other equipment needed for operation of the camera are power supplies, cables, and a black-and-white television monitor. The picture displayed on the monitor is equivalent to what one would see when looking directly through the theodolite. Again, the additional advantage afforded by a cheap black-and-white CCD camera is that it is sensitive to infrared as well as to visible light. Hence, one can use the camera coupled to a theodolite to measure the pointing of an infrared as well as a visible laser.

Crooke, Julie A.↗

NASA NTRSDate not supplied

Ground-Based Vision Tracker for Advanced Air Mobility and Urban Air Mobility

Advanced Air Mobility (AAM) Air Mobility and Urban Air Mobility (UAM) require aircraft surveillance and monitoring for safety and security. Persistent tracking of flying objects provides Air Traffic Control (ATC) and Air Traffic Management (ATM) continuous coverage and knowledge of the national airspace (NAS). Since there are numerous more AAM and UAM aircraft than commercial aircraft, it will be challenging to utilize the same ATC/ATM architectures. A first step in creating a similar ATC/ATM architecture for AAM/UAM will require ground-based and airborne-based sensors to provide monitoring, which will be difficult in urban environments due to GPS degradation. This paper proposes a vision-based tracking method with static cameras by utilizing image subtraction and blob detection, which avoids adding additional electromagnetic interferences in the environment with sensors such as radar. The ground-based vision tracker (GBVT) outputs the detected objects' azimuth and elevation angles from unmanned aerial system (UAS) flight tests. Future and ongoing work includes sending the detected objects' azimuth and elevation angles as inputs for an extended Kalman filter (EKF) to estimate the position and velocity of the detected object.

distributed sensing↗

NASA NTRSDate not supplied

Ground-Based Vision Tracker for Advanced Air Mobility and Urban Air Mobility

Advanced Air Mobility (AAM) Air Mobility and Urban Air Mobility (UAM) require aircraft surveillance and monitoring for safety and security. Persistent tracking of flying objects provides Air Traffic Control (ATC) and Air Traffic Management (ATM) continuous coverage and knowledge of the national airspace system (NAS). Given the significant disparity in the number of AAM and UAM aircraft compared to commercial aircraft in the NAS, coupled with the dense AAM/UAM operations in urban environments, employing the existing ATC/ATM architectures poses considerable challenges. A first step in creating a similar ATC/ATM architecture for AAM/UAM will require ground-based and airborne-based sensors to provide monitoring, which will be difficult in urban environments due to GPS degradation. This paper proposes a vision-based tracking method with static cameras by utilizing image subtraction and blob detection, which avoids adding additional electromagnetic interferences in the environment with sensors such as radar. The ground-based vision tracker (GBVT) outputs the detected objects' azimuth and elevation angles from unmanned aerial system (UAS) flight tests. Future and ongoing work includes sending the detected objects' azimuth and elevation angles as inputs for an extended Kalman filter (EKF) to estimate the position and velocity of the detected object.

distributed sensing↗

NASA NTRS2004

Baseline Monitoring for Astrometry in Interferometry

One of the science goals of NASA's Navigator program is ground-based narrow-angle astrometry for extra-solar planet detection, which could be done as part of the proposed Outrigger Telescopes Project. The narrow-angle measurement process, which would use the outrigger telescopes, starts with the determination of the conventional interferometer astrometric baseline, determined from wide-angle astrometry of Hipparcos stars. A baseline monitor system would be employed at each outrigger telescope. This system monitors the pivot point of each telescope - the end point of the astrometric baseline - to measure telescope imperfections that would cause the baseline to vary with telescope rotation. The baseline monitor includes azimuth and elevation cameras that monitor runout along the azimuth and elevation axes of the telescopes. In conjunction with the baseline monitor system, a pivot monitor camera in the dual-star module is used to register the laser metrology corner-cube reflector to the telescope pivot, tying the narrow-angle baseline, which applies to the narrow-angle astrometric measurement, to the wide-angle baseline. In this paper we present the proposed designs for the baseline monitor and pivot-point camera.

pivot point↗

NASA NTRS2013

High Energy Replicated Optics to Explore the Sun: Hard X-Ray Balloon-Borne Telescope

Set to fly in the Fall of 2013 from Ft. Sumner, NM, the High Energy Replicated Optics to Explore the Sun (HEROES) mission is a collaborative effort between the NASA Marshall Space Flight Center and the Goddard Space Flight Center to upgrade an existing payload, the High Energy Replicated Optics (HERO) balloon-borne telescope, to make unique scientific measurements of the Sun and astrophysical targets during the same flight. The HEROES science payload consists of 8 mirror modules, housing a total of 109 grazing-incidence optics. These modules are mounted on a carbon-fiber - and Aluminum optical bench 6 m from a matching array of high pressure xenon gas scintillation proportional counters, which serve as the focal-plane detectors. The HERO gondola utilizes a differential GPS system (backed by a magnetometer) for coarse pointing in the azimuth and a shaft angle encoder plus inclinometer provides the coarse elevation. The HEROES payload will incorporate a new solar aspect system to supplement the existing star camera, for fine pointing during both the day and night. A mechanical shutter will be added to the star camera to protect it during solar observations. HEROES will also implement two novel alignment monitoring system that will measure the alignment between the optical bench and the star camera and between the optics and detectors for improved pointing and post-flight data reconstruction. The overall payload will also be discussed. This mission is funded by the NASA HOPE (Hands On Project Experience) Training Opportunity awarded by the NASA Academy of Program/Project and Engineering Leadership, in partnership with NASA's Science Mission Directorate, Office of the Chief Engineer and Office of the Chief Technologist

Gaskin, Jessica↗

NASA NTRS1977

Effects of detector threshold, location of the sun, and flight altitude upon spectral variations in remote sensing over water

Photographic flights with Hasselblad cameras were flown on August 28, 1975, at altitudes from 2.66 and 5.3 kilometers over an ocean acid waste dump site while acid dumping was in progress. Repeated flights resulted in broadband spectral radiance data between the wavelengths of 500 to 900 nanometers for sun elevation angles that varied from 26 to 48 degrees, and at all sun azimuth angles over the range of off-nadir angles from 0 to 35 degrees. From film densitometer data, it is shown that before spectral variations in remotely sensed data can be used to quantify substances in water, the longer wavelength data must be above the detection level of the detector, radiance data between + or - 45 degrees in the direction of the sun must be avoided, and off-nadir camera correction factors must be applied to the observed radiance data.

Bressette, W. E.↗

NASA NTRSDate not supplied

Spectral Analysis of Integrated Pressures on Patches with Unsteady Pressure-Sensitive Paint Measurements

This paper describes the spectral analysis of integrated pressures on patches of the scale model of the Space Launch System (SLS) Block 1B crew vehicle with the Unsteady Pressure-Sensitive Paint (uPSP) measurements, which were collected in the ascent transient aerodynamics tests with the Unitary Plan Wind Tunnel 11-by-11-foot Transonic Wind Tunnel in September 2019 at NASA Ames Research Center. Recent research has demonstrated that uPSP can be an essential tool for the assessment of the unsteady, aerodynamic phenomena. The work described in this paper is a part of NASA’s development of a new state-of-the-art uPSP capability in production wind tunnels. In this paper, 108 patches are defined with x station values and azimuth angles of the scale model. For each patch, the polygons are determined from the surface cells of the grid of the model, clipped with the edges of the patch, and each of the polygons is divided into triangles. The inputs of the pressure integration algorithm are the time series of pressure coefficients on the vertices of the grid of the model, generated by the uPSP data processing program from the videos taken with 4 Phantom high-speed cameras during the wind tunnel tests. The integrated pressure of the patch is determined as the ratio of the sum of the forces on the triangles over the sum of the areas of the triangles. For each of the test cases, the Cross Power Spectral Density (CPSD) and Magnitude-Squared Coherence (msCohere) are computed for frequencies over 1/3 octave bands from the time series of the integrated pressures on the patches. The spectral analysis outputs of different cases of the wind tunnel tests are analyzed and the coherence of patches is investigated over frequencies, x station values, azimuth angles, Mach numbers and SLS vehicle attitudes. The pressure integration and spectral analysis described in this paper were executed on the NASA Pleiades supercomputer. Funding for this research was provided by the NASA Aeroscience Evaluation and Test Capabilities (AETC) Project.

Pressure-Sensitive Paint↗

NASA NTRS2016

Summary of Full-Scale Blade Displacement Measurements of the UH- 60A Airloads Rotor

Blade displacement measurements using multi-camera photogrammetry techniques were acquired for a full-scale UH-60A rotor, tested in the National Full-Scale Aerodynamic Complex 40-Foot by 80-Foot Wind Tunnel. The measurements, acquired over the full rotor azimuth, encompass a range of test conditions that include advance ratios from 0.15 to 1.0, thrust coefficient to rotor solidity ratios from 0.01 to 0.13, and rotor shaft angles from -10.0 to 8.0 degrees. The objective was to measure the blade displacements and deformations of the four rotor blades and provide a benchmark blade displacement database to be utilized in the development and validation of rotorcraft prediction techniques. An overview of the blade displacement measurement methodology, system development, and data analysis techniques are presented. Sample results based on the final set of camera calibrations, data reduction procedures and estimated corrections that account for registration errors due to blade elasticity are shown. Differences in blade root pitch, flap and lag between the previously reported results and the current results are small. However, even small changes in estimated root flap and pitch can lead to significant differences in the blade elasticity values.

Displacement↗