Results from the ASTERIA CubeSat Extended Mission Autonomy Experiments
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Fesq, Lorraine M↗
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Results for “CubeSat and Autonomy”
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Space Mobile Network Concepts for Missions Beyond Low Earth Orbit
The Space Mobile Network (SMN) is an architectural framework that will allow for quicker, more efficient and more easily available space communications services, providing user spacecraft with an experience similar to that of terrestrial mobile network users. While previous papers have described SMN concept using examples of users in low-Earth orbit, the framework can also be applied beyond the near-Earth environment. This paper details how SMN concepts such as user-initiated services, which will enable users to request access to high-performance link resources in response to real-time science or operational events, would be applied in and beyond the near-Earth regime. Specifically, the paper explores the application of user-initiated services to direct-to-Earth (DTE), relay, and DTE/relay hybrid scenarios in near-Earth, lunar, Martian and other space regimes.
CubeSat and Autonomy↗
Space Mobile Network (SMN) User Demonstration Satellite (SUDS) for a Practical On-Orbit Demonstration of User Initiated Services (UIS)
This paper will discuss the various aspects of implementation of the Space Mobile Network (SMN) architecture framework within the context of operations of various nodes equipped with the User Initiated Services (UIS) protocol. These aspects include development of a Client-Server architecture in which space based Clients can create links with ground based Servers to negotiate passes with ground stations or contacts with the Tracking and Data Relay Satellite (TDRS) fleet. A key feature of this concept is that Users may require a mix of low data rate continuous contacts with one or more of the TDRS fleet and sporadic contacts with ground stations as passes become available. SUDS (SMN User Demonstration Satellite) will have the availability of TDRS contacts, the U.S. Naval Academy's ground station, NASA Near Earth Network ground sites and others. This mode of operations must be integrated within the traditional mode of scheduling contacts and passes. Thus, SUDS fits into a heterogeneous network operations concept of operations.
CubeSat and Autonomy↗
Onboard Autonomy and Ground Operations Automation for the Intelligent Payload Experiment (IPEX) CubeSat Mission
The Intelligent Payload Experiment (IPEX) is a cubesat manifested for launch in October 2013 that will flight validate autonomous operations for onboard instrument processing and product generation for the Intelligent Payload Module (IPM) of the Hyperspectral Infra-red Imager (HyspIRI) mission concept. We first describe the ground and flight operations concept for HyspIRI IPM operations. We then describe the ground and flight operations concept for the IPEX mission and how that will validate HyspIRI IPM operations. We then detail the current status of the mission and outline the schedule for future development.
project data planning↗
NASA SpaceCube Intelligent Multi-Purpose System for Enabling Remote Sensing, Communication, and Navigation in Mission Architectures
New, innovative CubeSat mission concepts demand modern capabilities such as artificial intelligence and autonomy, constellation coordination, fault mitigation, and robotic servicing –all of which require vastly more processing resources than legacy systems are capable of providing. Enabling these domains within a scalable, configurable processing architecture is advantageous because it also allows for the flexibility to address varying mission roles, such as a command and data-handling system, a high-performance application processor extension, a guidance and navigation solution, or an instrument/sensor interface. This paper describes the NASA SpaceCube Intelligent Multi-Purpose System (IMPS), which allows mission developers to mix-and-match 1U (10 cm × 10 cm) CubeSat payloads configured for mission-specific needs. The central enabling component of the system architecture to address these concerns is the SpaceCube v3.0 Mini Processor. This single-board computer features the 20nm Xilinx Kintex UltraScale FPGA combined with a radiation-hardened FPGA monitor, and extensive IO to integrate and interconnect varying cards within the system. To unify the re-usable designs within this architecture, the CubeSat Card Standard was developed to guide design of 1U cards. This standard define spinout configurations, mechanical, and electrical specifications for 1U CubeSat cards, allowing the backplane and mechanical enclosure to be easily extended. NASA has developed several cards adhering to the standard (System-on-Chip, power card, etc.), which allows the flexibility to configure a payload from a common catalog of cards.
Advanced Avionics, Hybrid Processing, Data Process↗
Starling Animation
NASA’s Starling mission is advancing the readiness of various technologies for cooperative groups of spacecraft – also known as distributed missions, clusters, or swarms. Starling will demonstrate technologies to enable multipoint science data collection by several small spacecraft flying in swarms. The six-month mission will use four CubeSats in low-Earth orbit to test four technologies that let spacecraft operate in a synchronized manner without resources from the ground. The technologies will advance the following capabilities. • Network Communication • Cluster Flight Control • Relative navigation • Distributed Spacecraft Autonomy The Starling mission will test whether the technologies work as expected, what their limitations are, and what developments are still needed for CubeSat swarms to be successful. This animation illustrates Starling mission operations, offering an overview of each technology being demonstrated.
Howard N Cannon↗
The Innovative EDSN and Nodes Cubesat Missions
This presentation reviews and compares the Edison Demonstration of Smallsat Networks (EDSN) and Network and Operation Demonstration Satellites (Nodes) missions, launched in 2015. It highlights their onboard autonomy and its validation.
K Michael Dalal↗
The Innovative EDSN and Nodes Cubesat Missions
This presentation reviews and compares the Edison Demonstration of SmallSat Networks (EDSN) and Network and Operation Demonstration Satellites (Nodes) missions, launched in 2015. It highlights their onboard autonomy and its verification.
K. Michael Dalal↗
Extended Duration: The SIRIUS 21 Crew Perspective
The SIRIUS (Scientific International Research In a Unique terrestrial Station) missions represent a collaborative effort between NASA and Russia’s Institute for Biomedical Problems (IBMP) to conduct a series of long duration isolation and confinement spaceflight analog missions. Three missions of 17-day, 4-month, and 8-month duration (SIRIUS 17, 19, and 21) have been completed at IBMP’s Ground-Based Experimental Complex / Nazemnyy eksperimental'nyy kompleks (NEK) in Moscow, Russia. The international SIRIUS 21 crew comprising representatives from the United States, United Arab Emirates and Russia recently completed the 8-month analog lunar mission. The extended duration mission included simulated lunar transit, orbital, and surface operations with corresponding deep space communication delay, during which the crew participated in nearly 70 studies, eight of which were sponsored by NASA’s Human Research Program. The studies examined the effect of isolation and confinement on the behavioral health of research subjects, and investigated medical countermeasures, team performance, crew dynamics, crew autonomy, food system risks, consequences of confinement and associated physiological stressors. SIRIUS 21 crewmembers also participated in operational tasks such as Rover and CubeSat assembly, simulated lunar sample assessment, VR activities, robotic arm training, environmental systems monitoring, exercise, greenhouse maintenance and 3D printing. Communication with Mission Control was limited to 30-minute periods every two hours. Since access to the internet and email was restricted, simulated ground support provided the Crew’s primary source of daily news and mission information. This panel discussion will include presentations from the US SIRIUS 21 crewmembers – William Brown and Ashley Kowalski – about their experience participating in the mission and science. A facilitated question and answer session will follow with attendees encouraged to ask questions and join in discussion with the SIRIUS 21 crewmembers about their experiences. William Brown came to SIRIUS 21 with experience spread across multiple industries, including the military, defense contracting, healthcare consulting, software engineering, and logistics. He has lived in the Middle East, Central Asia, and Russia. A former Boren Scholar, Brown is fluent in Russian. He holds a Master of International Business degree from the University of South Carolina’s Darla Moore School of Business. Prior to that, he earned a bachelor’s degree in Russian language, literature, and culture from the University of South Carolina. There, he also completed additional undergraduate coursework in computer science. Ashley Kowalski is a Project Leader in The Aerospace Corporation’s International Partnerships Department, where she works with, represents, and provides technical support to the the U.S. Space Force Space Systems Command International Affairs (SSC/IA) office. Through her numerous national and international assignments (Russia, China, and Germany), she has worked on topics related to international space systems, national security space systems, civil systems (including human spaceflight and civil launch projects), space policy, satellite industry analysis, and satellite manufacturing start-ups. She is proficient in Russian and German, and fluent in Polish. Kowalski received her Bachelor of Science and Master of Science degrees in mechanical and aerospace engineering from George Washington University in 2011 and 2012, respectively.
S. E. Whiting↗
Lunar Node 1 and Beyond
Lunar Node 1 (LN-1) is an S-band Navigation beacon for lunar applications that was recently designed and built at MSFC. As part of NASA's Commercial Lunar Payload Services initiative, this beacon will be delivered to the moon's surface on Intuitive Machine's NOVA-C lunar lander in November 2021. During this mission, LN-1’s goal will be to demonstrate navigation technologies that can support local surface and orbital operations around the moon, enabling autonomy which would decrease dependency on heavily utilized Earth based assets like the Deep Space Network. To do this, LN-1’s design leverages Cubesat components as well as the Multi-spacecraft Autonomous Positioning System (MAPS) algorithms, which enable the autonomous spacecraft positioning through communication-integrated navigation measurements. In addition to demonstrating the MAPS payload, the radio will also be used in standard tone-based non-coherent ranging and Doppler tracking to provide an alternate approaches and comparisons for navigation performance. LN-1 will represent a single node in a potential greater MAPS network of assets. While LN-1 awaits launch to demonstrate this initial use of one-way navigation, designs are already under way for proposed subsequent missions like LN-2 to enable expanded capability. The next steps in these missions seek to include a receive capability to allow two-way ranging support with other operational spacecraft in the lunar vicinity, and to provide some component upgrades related to the radio, power, and thermal systems that will improve the longevity of the payload in the harsh lunar environment. The LN-1 design details, status, and potential forward work with mission like LN-2 will be outlined in this presentation.
Evan John Anzalone↗
Starling Formation-Flying Optical Experiment: Initial Operations and Flight Results
This paper presents initial flight results for angles-only navigation of a swarm of small spacecraft, conducted during the Starling Formation-Flying Optical Experiment (StarFOX). StarFOX is one of four experiments aboard the NASA Starling mission, which consists of four CubeSats launched in July 2023. Angles-only methods apply inter-satellite bearing angles obtained by on-board cameras for navigation, increasing satellite autonomy and enabling new mission concepts. Nevertheless, prior flight demonstrations have only featured one observer and target and have relied upon a-priori target orbit knowledge for initialization, translational maneuvers to resolve target range, and external absolute orbit updates to maintain convergence. StarFOX overcomes these limitations by applying the angles-only Absolute and Relative Trajectory Measurement System (ARTMS), which integrates three novel algorithms. Image Processing detects and tracks multiple targets in images, using multi-hypothesis methods and domain-specific kinematic modeling, and computes target bearing angles. Batch Orbit Determination computes initial swarm orbit estimates from bearing angle batches, via iterative batch least squares and sampling of the weakly observable target range. Sequential Orbit Determination leverages an adaptive, efficient unscented Kalman filter with nonlinear models to refine swarm state estimates over time. Multi-observer measurements shared over an intersatellite link are seamlessly fused to enable robust absolute and relative orbit determination. Initial StarFOX experiments are the first demonstrations of autonomous angles-only navigation for a satellite swarm, including multi-target and multi-observer relative navigation; autonomous initialization of navigation for unknown targets; and simultaneous absolute and relative orbit determination. Relative navigation accuracy of 1% (single observer) and 0.2% (multi-observer) of the inter-satellite range is achieved under challenging measurement conditions. Results demonstrate promising performance with regards to ongoing StarFOX campaigns and the application of angles-only navigation to future distributed missions.
Relative Navigation↗
Demonstrations of System-Level Autonomy for Spacecraft
System-level autonomy refers to autonomously meeting the crosscutting needs of a system through awareness and coordinated control spanning the system's breadth of capabilities. In contrast to function-level autonomy, which focuses on capabilities required to achieve a specific function such as surface navigation or image recognition, system-level autonomy addresses the needs to coordinate and manage activities and resources, and estimate the state, across subsystems. This paper describes demonstrations that were conducted on a spacecraft workstation testbed. The autonomy was provided by system-level planning and execution integrated with system-level estimators of orbit knowledge and spacecraft hardware health. These components are embedded in a system-level framework defining how goals are formed and executed, which elements exist, and how control authority is distributed among components. The planning and execution system at the heart of the framework has the capability to schedule, execute and monitor completion of tasks, as well as plan around unexpected events including new science opportunities and anomalies. The planning and scheduling system is the Multi-mission EXECutive (MEXEC), supported by the system-level health state estimator Model-Based Off-Nominal State Identification and Detection (MONSID), and Autonomous Navigation (AutoNav) algorithms, which determine the orbital system state based on optical observation of other targets. These components are applicable to many kinds of missions on different platforms. These demonstrations were elaborations of earlier experiments conducted on the ASTERIA (Arcsecond Space Telescope Enabling Research In Astrophysics) CubeSat, described in a companion submission [1]. The spacecraft’s extended mission served as an in-flight test platform, during which some individual autonomous capabilities were flown successfully. The autonomy experiments described here were performed on the ASTERIA workstation testbed.
Prather, Maurice↗
Localization of Ad-Hoc Lunar Constellations in Communication Failure Modes for Distributed Spacecraft Autonomy
As Lunar missions increase in complexity, inspired by NASA’s Artemis Program, they will require reliable and sufficient Position, Navigation, and Timing (PNT) capability to support the upcoming Lunar users. The navigation service should also be compatible with the smaller platforms, like CubeSats, being sent by the public and private sectors. A non-dedicated, ad-hoc Lunar navigation constellation can provide PNT services on-demand using the non-dedicated swarm assets. Swarm members cooperatively and autonomously localize themselves with minimal interaction from Earth, freeing up valuable bandwidth and ground segment resources. The autonomous localization of Lunar constellations utilizes neighbor two-way intersatellite link (ISL) measurements in a distributed extended Kalman filter (DEKF) system to minimize operating costs. Because the decentralized Lunar PNT system relies on relay communication amongst the agents, network failures or loss of assets among ad-hoc Lunar constellations may impact localization performance. This study presents an evaluation of localization performance under increasing levels of network degradation. A simulation of an ad-hoc Lunar PNT swarm is augmented to include system faults and the impacts of intermittent and permanent failures on localization performance are evaluated. We investigate three potential causes of network degradation: single spacecraft loss, multiple spacecraft loss, and antenna failure. The numerical assessments from the simulation show that the LPNT system under study, based on an autonomous decentralized concept of operation, is highly robust and resilient to communication failures. Minor faults, such as single spacecraft loss, solar interference, technical malfunctions, message delays, and antenna outages, have minimal impact on state estimation, with only a 4.47% and 3.75% degradation in median position error for assets and a representative ground user, respectively, compared to an ideal communication scenario. However, major faults, such as hardware failures or meteor strikes leading to the loss of multiple spacecrafts, are more concerning. The permanent loss of three spacecraft results in a more severe performance degradation, with median position error increasing by 23.3% for assets and 11.7% for a representative ground user, despite the Lunar PNT system remaining functional.
Yeji Kim↗
Lunar Navigation Beacon Network Using Global Navigation Satellite System Receivers
With the increasing traffic in the lunar regime as part of NASA efforts to return humans to the moon. In order to support these missions, new capabilities are needed to support autonomous navigation and inter-asset communication. Additionally, with maturation and flight demonstration of increasingly capable small satellites, there is an opportunity to embed technology into a small spacecraft as part of companion missions. This paper addresses one such architecture, taking advantage of a lunar lander vehicle to host a companion spacecraft to build out lunar navigation and communication capability. The backbone of this spacecraft is the Navigator GPS receiver. This hardware has continually broken records on high altitude GPS coverage and has the potential to support autonomous navigation at lunar distances. This research proposes a large cubesat built around this technology and catching a ride to the moon via a lander mission. The concept of operations includes the spacecraft deploying prior to the lunar sphere of influence and maneuvering to enter into a lunar orbit. With the Navigator receiver, this spacecraft is capable of a large amount of autonomy, with a limited need for ground-based orbit determination. This spacecraft will fly alongside the lander, acting as a navigation reference during cruise, descent, and post-landing for mission validation. To assess this mission scenario, three aspects are covered in detail herein: the feasibility and mission requirements for entering into a lunar orbit given deployment along a lander surface-bound trajectory, the performance capability of the receiver along this transfer trajectory and in lunar orbit, and the ability to support navigation of the lander itself. These three areas are discussed in detail, providing results that support feasibility of the mission and determination of initial requirements.
Anzalone, Evan J.↗
Cognitive Communications for NASA Space Systems
The growing complexity of spacecraft constellations, communication relay offerings, and mission architectures drives the need for the development of autonomous communication systems. NASA has traditionally launched single spacecraft missions that are served by the Space Communication and Navigation (SCaN) program. Operations on SCaN networks are typically scheduled weeks in advance, and often each asset serves a single user spacecraft at a time. Recent movement towards swarm missions could make the current approach unsustainable. Additionally, the integration of commercial communication service providers will substantially increase the data transfer options available to new missions. NASA science missions have found benefit in launching swarms of spacecraft, allowing coordinated simultaneous observations from different perspectives. Inter-spacecraft communication (mesh networking) is an enabler for this architecture, as are CubeSats that allow cost-effective provisioning of distributed mission assets. As more complex swarm missions launch, one challenge is coordinating communication within the swarm and choosing the appropriate mechanism for telemetry, tracking, control, and data services to and from Earth. Cognitive communications research conducted by SCaN aims to mitigate the increasing communication complexity for mission users by increasing the autonomy of links, networks, and service scheduling. By considering automation techniques including recent advances in artificial intelligence and machine learning, cognitive algorithms and related approaches enable increased mission science return, improved resource utilization for service provider networks, and resiliency in unpredictable or unplanned environments. The Cognitive Communications Project at the NASA Glenn Research Center develops applications of data-driven, non-deterministic methods to improve the autonomy of space communication. The project emphasizes development of decentralized space networks with artificial intelligence agents optimizing communication link throughput, data routing, and system-wide asset management. This paper discusses the objectives, approaches, and opportunities of the research to address growing needs of the space communications community.
Chelmins, David↗
Results from the ASTERIA CubeSat Extended Mission Experiments
Over the past two years, JPL has used the ASTERIA (Arcsecond Space Telescope Enabling Research In Astrophysics) CubeSat as an in-flight test platform during extended missions. ASTERIA successfully completed its prime mission in early 2018, and continued to operate in low Earth orbit (LEO) for an additional twenty months. This paper describes demonstrations that were performed on the spacecraft and on the ground-based testbed during the extended mission. These demonstrations fall into three categories: Autonomy technology maturation, hardware characterization, and science discovery. Autonomy technology maturation supported three development efforts. The first shifted the spacecraft commanding paradigm from time-based sequences to Task Networks (tasknets), which allow simpler commanding and more robust onboard execution. The second demonstrated onboard orbit determination in Low Earth Orbit (LEO) without GPS. This activity used a fully-independent means of spacecraft orbit determination for Earth orbiters using only passive imaging. The third technology provided in situ hardware health state estimation using a model-based reasoning technique. These three technologies were demonstrated either in flight or on the testbed individually, and then were combined to demonstrate the capability to perform autonomous navigation on board without ground intervention, even in the presence of anomalies. Hardware characterization involved both onboard and ground-based activities. On board, nonstandard attitude control modes were commanded to characterize the spacecraft pointing jitter as a function of target brightness, reaction wheel speed, controller gain, and the number of guide stars. The results provide insights into the contribution of jitter to the ASTERIA photometry and inform the feasibility of future astrophysics small satellite missions for which jitter control is an enabling technology. On the ground, the ASTERIA Operations Team coordinated with Amazon Web Services (AWS) to configure their new ground stations to communicate with ASTERIA to prove out their viability. ASTERIA used AWS ground stations for nominal operations for the last four months of the mission. Finally, ASTERIA continued to perform exoplanet science as the spacecraft was well-suited to execute long-term monitoring of stars such as alpha Centauri to search for small transiting planets. The science team also imaged a number of interesting objects including a comet, an asteroid, cities at night, and the moon, and coordinated with other projects on Targets of Opportunity for follow-up confirmations and co-observations. Throughout the prime and the extended missions, the ASTERIA spacecraft proved to be a mighty platform that “will go into history as an innovative milestone.”[1 - Zurbuchen]
Doran, Patrick↗
MEXEC: An Onboard Integrated Planning and Execution Approach for Spacecraft Commanding
The traditional form of spacecraft commanding is with sequences that specify when commands should execute based on a schedule generated on the ground. Some sequences have control logic and event driven responses to increase flexibility, but it is limited. An approach to increase autonomy is to use goal-based planning and commanding. Using this paradigm, intention and behavior is modeled on board the spacecraft. In this paper we describe MEXEC (Multi-mission EXECutive), a multi-mission, task-based, onboard planning and execution software designed specifically to be used as flight software. As a path to infusion for future flight projects, we describe two experiments performed on the ASTERIA CubeSat and testbed that demonstrate that MEXEC can be integrated and used for spacecraft operations and increase robustness and science return compared to the standard sequences that were being used.
Campuzano, Brian↗
Localization of Ad-Hoc Lunar Constellations in Communication Failure Modes for Distributed Spacecraft Autonomy
As lunar missions increase in complexity inspired by NASA’s Artemis Program, they will require reliable and sufficient capability of the Position, Navigation, and Timing (PNT) system to support their scientific objectives. In addition, NASA's Commercial Lunar Payload Services (CLPS) program initiates the proliferation of public and private exploration partnerships using small satellites from commercial and private organizations, expanding traditionally confined low Earth orbit to be used for missions beyond geosynchronous orbit (Zucherman et al., 2022). Therefore, the Lunar PNT system is also required to provide navigation services compatible with the smaller platforms being sent by the public and private sectors, like CubeSats. However, traditional approaches to deep space missions’ navigation based on ground radio facilities have difficulties in providing sufficient support for the increasing number of users and communication at a distance from the Earth (Kaplev et al., 2022). In particular, the existing Lunar navigation technologies such as weak signal global positioning system (GPS) and deep space network (DSN) are not able to ensure operations of the upcoming small-scale Lunar missions due to their limitations in localization performance as well as capacity aspects. Another way to provide Lunar PNT service is to create a dedicated Lunar global navigation satellite system (GNSS) constellation, like GNSS systems on Earth. Space agencies like NASA, ESA, and JAXA are now developing the lunar communications relay and navigation systems (LCRNS) and Lunar navigation satellite systems (LNSS). In their systems, satellites will be deployed in moon orbits to provide the communication, positioning, navigation, and timing (CPNT) service at the lunar south pole region where the Artemis base camp will be expected (Murata et al., 2022). Meanwhile, common challenges considered in lunar PNT research arise from poor geometry of the terrestrial GNSS satellites when seen from the lunar user, highly perturbed lunar orbits, and limitations in power, size, and cost of the equipment on lunar satellites (Iiyama et al., 2023). It is also not clear if there will be enough Lunar users to support the cost and resources this would require as the Low-cost surface missions may not be able to support the large power, mass, and weight requirements that these navigation solutions entail (Niemoeller et al., 2022). As an alternative, existing Lunar science and exploration assets could be used to create a low-cost, autonomous, ad-hoc, and on-demand mission-centric Lunar PNT swarm capable of providing PNT services to these low-cost lunar missions (Hagenau et al., 2021). Introducing the non-dedicated and ad-hoc Lunar navigation constellation gives a way to provide PNT services on-demand. The non-dedicated swarm assets of Lunar constellations are designed to localize themselves with minimal interaction with Earth by adding cooperative autonomous localization to lunar missions, freeing up valuable bandwidth and ground segment resources. An autonomous localization of Lunar constellations is based on the concept of the decentralized PNT system with a distributed extended Kalman filter (DEKF) approach to state estimation for minimal onboard operating costs. In the distributed data processing algorithm, computation is broken down and assigned to each satellite, resulting in a considerably decreased computational amount while maintaining the accuracy of the orbit ephemeris and clock offsets as the result of centralized data processing (Wen et al., 2019). The DEKF requires spacecraft to perform two-way ranging operations with each other to communicate simultaneously, leveraging neighbor two-way intersatellite link (ISL) measurements such as pseudoranges to, and relative velocities between, visible satellites as sensor values (Frank et al., 2021). The Lunar autonomous PNT simulation (LAPS) demonstrated the feasibility of orbital asset localization among ad-hoc Lunar small-sat constellations based on the DEKF in Hagenau et al. (2021) and evaluated the matching algorithm proposed by Frank et al. (2021) in scheduling position estimation updates. In previous papers, all assets and measurements are assumed to be always available without consideration of the impact of intermittent and permanent communication failure. This study presents localization performance with increasing levels of network degradation for swarm assets and users to demonstrate the robustness of the decentralized Lunar PNT service in more realistic scenarios. Main issues arising from communication failure include spacecraft permanent or transient loss, antenna failures, message delays, etc. We tested four possible reasons for network degradation for 7 days in 21 satellites frozen with an altitude of 5500 km, evenly spaced around 3 circular, 40 inclination orbital planes where each spacecraft has two directional antennas. As anchor nodes with an independent estimate of their position are required in the DEKF approach, two ground nodes in each pole and one node in the gateway were implemented in the simulation. First, the most probable failure scenario involves the loss of a single spacecraft due to solar interference and technical malfunctions of the assets. Losing the availability of a single spacecraft means losing the two-way ISL measurement of the asset in the DEKF update. In order to provide the best possible quality of PNT service with limited time and resources, the distributed Lunar constellations must schedule the communication activities. The scheduler leverages mixed-integer linear programming (MILP) for the coordination and scheduling of the desired “as-needed” localization service (Niemoeller et al., 2022). We assume the scheduler has completely excluded the spacecraft information before the DEKF update in the failure scenario. When a random spacecraft has been turned off at a specific time, the robustness of the autonomous Lunar PNT system is evaluated. The simulation results give an 11.5% degradation in median position accuracy compared to the idealized performance excluding the asset loss. Second, a large number of assets may vanish due to major hardware problems or meteor strikes around the moon. A multiple spacecraft loss can degrade the localization performance very fast by losing the communication ability to do cross-plane measurements and in-plane measurements in a 3-plane constellation. When the matching-based scheduler is aware of ISL availability, we investigate a large number of in-plane and cross-plane asset vanishments both in close proximity and equally spaced throughout the orbital plane. According to the simulations, the loss of in-plane measurements gives 40.2% degradation while cross-plane measurements degrade 50.5% of asset localization performance among available assets. Therefore, it is concluded that cross-plane measurements are more important in improving the position estimation accuracy. Third, spacecraft failure information can be lost due to the internal message delay, resulting in the DEKF update scheduler to solve the matching problem with unavailable assets. The DEKF update cycle is comprised of network setup, communication, and computations where a global broadcast network and a 2-way ISL network setup take 6 minutes in total (Frank et al., 2021). Once the broadcast network successfully transmits and receives information, a random spacecraft may lose its availability right before solving the matching problem. This means the matching solution is no longer optimal, resulting in degradation in the localization performance. A numerical assessment shows the matching-based scheduler with knowing failure holds 11.5% of position accuracy degradation, whereas the scheduler without knowing failure gives 34% degraded localization performance without asset loss. Fourth, a transient loss of a single or multiple spacecraft may occur due to their antenna outages. After losing the two-way ISL availability for a few DEKF update cycles, the availability of spacecraft can easily be recovered as their states have been independently updated using measurements from anchor nodes. It is likely that the longer failure will result in worse localization performance. We have tested the transient failure of a random single asset for 30 min in the simulation, which is losing 3 update cycles in the DEKF system. From the simulation results, the position accuracy has been degraded to 4.84% which is better than the degraded localization performance of 11.5% from the permanent loss scenario among available assets. In conclusion, the autonomous Lunar PNT system based on the DEKF approach shows the ability to maintain resilience and robustness in the possible communication failure scenarios, ensuring that localization accuracy is preserved across various network degradation and outages. Future studies on investigating user localization performance near the South Pole and the broadcast network system will be continued in the following months.
Yeji Kim↗