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NASA NTRSDate not supplied

Lunar Communications and Navigation: Lunar Communications, Position, Navigation, and Time (CPNT) Architecture

The NASA Moon-to-Mars (M2M) Architecture will enable the return of humans to the Moon, establish a long-term presence there, and open more of the lunar surface to exploration than ever before. This growth of lunar activity requires robust and resilient communications, position, navigation, and time capabilities for crew safety, the command and control of spacecraft, the return of science data, and the precise telerobotic maneuvering of assets both in space and on the lunar surface. Within the M2M Architecture, the sub-architecture for Communications, Position, Navigation, and Time (CPNT) details the specific CPNT systems and infrastructure required to meet the M2M objectives. Two objectives most fundamental to the CPNT sub-architecture are: (1) develop a lunar surface, orbital, and Moon-to-Earth communications architecture that scales to support long term science, exploration, and industrial needs and (2) develop a lunar position, navigation, and timing (PNT) architecture that also scales to support long term needs. The subject presentation provides an overview of the M2M Architecture, planned mission activities, and infrastructure development underway by NASA. The presentation provides overview of the surface wireless network and the challenges associated with operating on the lunar surface.

architecture↗
NASA NTRS2009

Lunar Navigation Architecture Design Considerations

The NASA Constellation Program is aiming to establish a long-term presence on the lunar surface. The Constellation elements (Orion, Altair, Earth Departure Stage, and Ares launch vehicles) will require a lunar navigation architecture for navigation state updates during lunar-class missions. Orion in particular has baselined earth-based ground direct tracking as the primary source for much of its absolute navigation needs. However, due to the uncertainty in the lunar navigation architecture, the Orion program has had to make certain assumptions on the capabilities of such architectures in order to adequately scale the vehicle design trade space. The following paper outlines lunar navigation requirements, the Orion program assumptions, and the impacts of these assumptions to the lunar navigation architecture design. The selection of potential sites was based upon geometric baselines, logistical feasibility, redundancy, and abort support capability. Simulated navigation covariances mapped to entry interface flightpath- angle uncertainties were used to evaluate knowledge errors. A minimum ground station architecture was identified consisting of Goldstone, Madrid, Canberra, Santiago, Hartebeeshoek, Dongora, Hawaii, Guam, and Ascension Island (or the geometric equivalent).

D'Souza, Christopher↗
NASA NTRS2019

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.↗
NASA NTRS2006

Dilution of Precision-Based Lunar Navigation Assessment for Dynamic Position Fixing

The NASA Vision for Space Exploration is focused on the return of astronauts to the Moon. While navigation systems have already been proven in the Apollo missions to the moon, the current exploration campaign will involve more extensive and extended missions requiring new concepts for lunar navigation. In contrast to Apollo missions, which were limited to the near-side equatorial region of the moon, missions under the Exploration Systems Initiative will require navigation on the moon's limb and far-side. As these regions have poor Earth visibility, a navigation system comprised solely of Earth-based tracking stations will not provide adequate navigation solutions in these areas. In this paper, a Dilution of Precision (DoP) based analysis of the performance of a network of Moon orbiting satellites is provided. The analysis extends previous analysis of a Lunar Network (LN) of navigation satellites by providing an assessment of the capability associated with a variety of assumptions. These assumptions are with regard to the navigation receiver and satellite visibility. The assessment is accomplished by making appropriately formed estimates of DoP. Different adaptations of DoP (i.e., GDoP, PDoP, etc.) are associated with a different set of assumptions regarding augmentations to the navigation receiver or transceiver.

Sands, Obed S.↗
NASA NTRS2006

Dilution of Precision-Based Lunar Navigation Assessment for Dynamic Position Fixing

The NASA Vision for Space Exploration is focused on the return of astronauts to the Moon. While navigation systems have already been proven in the Apollo missions to the moon, the current exploration campaign will involve more extensive and extended missions requiring new concepts for lunar navigation. In contrast to Apollo missions, which were limited to the near-side equatorial region of the moon, missions under the Exploration Systems Initiative will require navigation on the moon's limb and far-side. As these regions have poor Earth visibility, a navigation system comprised solely of Earth-based tracking stations will not provide adequate navigation solutions in these areas. In this paper, a Dilution of Precision (DoP) based analysis of the performance of a network of Moon orbiting satellites is provided. The analysis extends previous analysis of a Lunar Network (LN) of navigation satellites by providing an assessment of the capability associated with a variety of assumptions. These assumptions are with regard to the navigation receiver and satellite visibility. The assessment is accomplished by making appropriately formed estimates of DoP. Different adaptations of DoP (i.e. GDoP, PDoP, etc.) are associated with a different set of assumptions regarding augmentations to the navigation receiver or transceiver. A significant innovation described in this paper is the "Generalized" Dilution of Precision. In the same sense that the various versions of DoP can be represented as a functional of the observability grammian, Generalized DoP is defined as a functional of the sum of observability grammians associated with a batch of radiometric measurements. Generalized DoP extends the DoP concept to cases in which radiometric range and range-rate measurements are integrated over time to develop an estimate of user position (referred to here as a 'dynamic' solution.) Generalized DoP allows for the inclusion of cases in which the receiver location is underdetermined when assessed in the usual 'kinematic' sense. The Generalized DoP concept is thereby a method to assess the navigation capability associated with constellations with sparse coverage. This alleviates the burden of performing a full "covariance analysis" for each point on the surface of the Moon.

Sands, Obed S.↗
NASA NTRS2006

Dilution of precision-based lunar navigation assessment for dynamic position fixing

The NASA vision of exploration is focused on the return of astronauts to the Moon [1]. While navigation systems have already been proven in the Apollo missions to the moon, the current exploration campaign will involve more extensive and extended missions requiring new concepts for lunar navigation. In contrast to Apollo missions, which were limited to the near-side equatorial region of the moon, missions under the Exploration Systems Initiative will require navigation on the moon’s limb and far-side. As these regions have poor Earth visibility, a navigation system comprised solely of Earth-based tracking stations will not provide adequate navigation solutions in these areas. In this paper, a Dilution of Precision (DoP) based analysis of the performance of a network of Moon orbiting satellites is provided. The analysis extends previous analysis of a Lunar Network (LN) of navigation satellites by providing an assessment of the capability associated with a variety of assumptions regarding the navigation receiver and satellite visibility. The assessment is accomplished by making appropriately formed estimates of DoP, with different adaptations of DoP (i.e. GDoP, PDoP, etc.) being associated with a different set of assumptions regarding augmentations to the navigation receiver or transceiver A significant innovation described in this paper is the “Generalized” Dilution of Precision. In the same sense that the various versions of DoP can be represented as a functional of the observability grammian, Generalized DoP is defined as a functional of the sum of observability grammians associated with a batch of radiometric measurements. Generalized DoP extends the DoP concept to cases in which radiometric range and range-rate measurements are integrated over time to develop an estimate of user position (referred to here as a ‘dynamic’ solution.) Generalized DoP allows for the inclusion of cases in which the receiver location is underdetermined when assessed in the usual ‘kinematic’ sense. The Generalized DoP concept is thereby a method to assess the navigation capability associated with constellations with sparse coverage without the burden of performing a full “covariance analysis” for each point on the surface of the Moon.

Berry, Kevin↗
NASA NTRSDate not supplied

Lunar Navigation Performance Using the Deep Space Network and Alternate Solutions to Support Precision Landing

As human exploration once again targets the surface of the Moon, questions continue to emerge regarding the necessity of Earth-based tracking systems, such as the Deep Space Network, for spacecraft navigation in support of lunar descent and landing. This paper will derive an extensive Deep Space Network sensor model for use in linear covariance analysis and demonstrate the resulting trajectory dispersions and navigation performance in comparison with alternate solutions, such as terrain relative navigation. An in-depth trade study with considerations for various trajectory profiles, time allocated to ground tracking, number of active ground stations, and interaction with other sensors will be conducted to shed significant insight into sensor suite requirements to ensure safe and precise landing on the Moon.

Navigation↗
NASA NTRS2009

Autonomous Optical Lunar Navigation

The performance of optical autonomous navigation is investigated for low lunar orbits and for high elliptical lunar orbits. Various options for employing the camera measurements are presented and compared. Strategies for improving navigation performance are developed and applied to the Orion vehicle lunar mission

Zanetti, Renato↗
NASA NTRS2010

High Speed Lunar Navigation for Crewed and Remotely Piloted Vehicles

Increased navigation speed is desirable for lunar rovers, whether autonomous, crewed or remotely operated, but is hampered by the low gravity, high contrast lighting and rough terrain. We describe lidar based navigation system deployed on NASA's K10 autonomous rover and to increase the terrain hazard situational awareness of the Lunar Electric Rover crew.

Pedersen, L.↗
NASA NTRSDate not supplied

Lunar Node – 1: Initial Flight Results and the Role of Surface Psuedolites in Lunar Navigation

On February 22, 2024, Intuitive Machines NOVA-C lander, nick-named Odysseus, landed on the lunar surface, carrying with it a cadre of NASA scientific and technology demonstration payloads. These payloads and missions marked the first delivery of NASA instruments to operate from the lunar surface since the Apollo landings. One of these payloads is Lunar Node -1 (LN-1), a navigation beacon demonstration mission. The payload was designed and built by NASA’s Marshall Space Flight Center. The payload’s main goal was to demonstrate and provide insight into the use of lunar surface-based radio navigation aids. As part of the mission, LN-1 successfully conducted multiple one-way transmissions from the NOVA-C vehicle to Deep Space Network ground receivers using its onboard S-band transmitter, while being disciplined by an onboard Space Chip Scale Atomic Clock. LN-1 transmitted to DSN on an almost daily basis during transit to the moon, including two surface passes. The payload was originally plan to conduct 7-10 days of surface operation as an always-on beacon. These passes focused on evaluating two main navigation approaches: performance and stability of ranging using time-based transfer techniques on a cubesat size and grade platform, as well as one-way psuedonoise ranging approaches. To assess performance, the measurements were compared to independent navigation solutions using multiple approaches including: one-way Doppler tracking, two-way Doppler Tracking, and visual verification of the landing location provided by visual observations from orbital platforms. While the mission only conducted limited surface operations, the data provides some initial insight to performance form the lunar surface. These results are compared with initial ground-based testing as well as continued evaluation of the flight-space platform using multiple grades of oscillators for maintaining clock and frequency stability. These focus on the timing stability of platform in a deep-space environment as well variations in state determination. Given these insights, this paper provides additional description and evaluation of how this approach can be utilized as part of a broader lunar navigation architecture, such as being developed and deployed across multiple international space agencies. Analysis is provided to develop overall timing requirements and assessment of operational scenarios, such as orbit and surface location determination. In addition, the results support discussion as to how surface pseudolites could best be used within existing standard signal definitions, such as defined in the LunaNet Interoperability Specifications. This will consider concerns such as the near-/far- problem as well as operational considerations, including whether a beacon is better suited as two- or one-way ranging platform. The use cases are focused on how these psuedolites can provide additional coverage to augment and support planned operational coverage. For example, this analysis provides analysis of mid-latitude surface missions, where there may be limited geometry and availability of orbital relays. The results will show how these navigation psuedolites can fit within the developing architecture to provide additional robustness, capability, and support multiple use cases. Lastly, the paper will discuss challenges and next steps to be addressed in the implementation and testing of a follow-on payload and a continued path towards demonstration and integration of this capability into Lunar PNT architectures.

Evan J Anzalone↗
NASA NTRSDate not supplied

Lunar Node – 1: Initial Flight Results and the Role of Surface Psuedolites in Lunar Navigation

On February 22, 2024, the Intuitive Machines IM-1 NOVA-C lander, nick-named Odysseus, landed on the lunar surface, carrying with it a cadre of NASA scientific and technology demonstration payloads. These payloads and missions marked the first delivery of NASA instruments to operate from the lunar surface since the Apollo landings. One of these payloads is Lunar Node -1 (LN-1), a navigation beacon demonstration mission. The payload was designed and built by NASA’s Marshall Space Flight Center. The payload’s main goal was to demonstrate and provide insight into the use of lunar surface-based radio navigation aids. As part of the mission, LN-1 successfully conducted multiple one-way transmissions from the NOVA-C vehicle to Deep Space Network ground receivers using its onboard S-band transmitter, while being disciplined by an onboard Space Chip Scale Atomic Clock. LN-1 transmitted to DSN on an almost daily basis during transit to the moon, including two surface passes. The payload was originally plan to conduct 7-10 days of surface operation as an always-on beacon. These passes focused on evaluating two main navigation approaches: performance and stability of ranging using time-based transfer techniques on a cubesat size and grade platform, as well as one-way psuedonoise ranging approaches. To assess performance, the measurements were compared to independent navigation solutions using multiple approaches including: one-way Doppler tracking, two-way Doppler Tracking, and visual verification of the landing location provided by visual observations from orbital platforms. While the mission only conducted limited surface operations, the data provides some initial insight to performance form the lunar surface. These results are compared with initial ground-based testing as well as continued evaluation of the flight-space platform using multiple grades of oscillators for maintaining clock and frequency stability. These focus on the timing stability of platform in a deep-space environment as well variations in state determination. Given these insights, this paper provides additional description and evaluation of how this approach can be utilized as part of a broader lunar navigation architecture, such as being developed and deployed across multiple international space agencies. Analysis is provided to develop overall timing requirements and assessment of operational scenarios, such as orbit and surface location determination. In addition, the results support discussion as to how surface pseudolites could best be used within existing standard signal definitions, such as defined in the LunaNet Interoperability Specifications. This will consider concerns such as the near-/far- problem as well as operational considerations, including whether a beacon is better suited as two- or one-way ranging platform. The use cases are focused on how these psuedolites can provide additional coverage to augment and support planned operational coverage. For example, this analysis provides analysis of mid-latitude surface missions, where there may be limited geometry and availability of orbital relays. The results will show how these navigation psuedolites can fit within the developing architecture to provide additional robustness, capability, and support multiple use cases. Lastly, the paper will discuss challenges and next steps to be addressed in the implementation and testing of a follow-on payload and a continued path towards demonstration and integration of this capability into Lunar PNT architectures.

Evan Anzalone↗
NASA NTRS2012

Lunar Navigation Determination System - LaNDS

A portable comprehensive navigational system has been developed that both robotic and human explorers can use to determine their location, attitude, and heading anywhere on the lunar surface independent of external infrastructure (needs no Lunar satellite network, line of sight to the Sun or Earth, etc.). The system combines robust processing power with an extensive topographical database to create a real-time atlas (GIS Geospatial Information System) that is able to autonomously control and monitor both single unmanned rovers and fleets of rovers, as well as science payload stations. The system includes provisions for teleoperation and tele-presence. The system accepts (but does not require) inputs from a wide range of sensors. A means was needed to establish a location when the search is taken deep in a crater (looking for water ice) and out of view of Earth or any other references. A star camera can be employed to determine the user's attitude in menial space and stellar map in body space. A local nadir reference (e.g., an accelerometer that orients the nadir vector in body space) can be used in conjunction with a digital ephemeris and gravity model of the Moon to isolate the latitude, longitude, and azimuth of the user on the surface. That information can be used in conjunction with a Lunar GIS and advanced navigation planning algorithms to aid astronauts (or other assets) to navigate on the Lunar surface.

Quinn, David↗
NASA NTRS2004

Lunar Navigation with Libration Point Orbiters and GPS

NASA is currently studying a Vision for Space Exploration based on spiral development of robotic and piloted missions to the moon and Mars, but research into how to perform such missions has continued ever since the first era of lunar exploration. One area of study that a number of researchers have pursued is libration point navigation and communication relay concepts. These concepts would appear to support many of NASA's current requirements for navigation and communications coverage for human and robotic spacecraft operating in lunar space and beyond. In trading libration point concepts against other options, designers must consider issues such as the number of spacecraft, required to provide coverage, insertion and stationkeeping costs, power and data rate requirements, frequency allocations, and many others. The libration points, along with a typical cis-lunar trajectory, are equilibrium locations for an infinitesimal mass in the rotating coordinate system that follows the motion of two massive bodies in circular orbits with respect to their common barycenter. There are three co-linear points along the line connecting the massive bodies: between the bodies, beyond the secondary body, and beyond the primary body. The relative distances of these points along the line connecting the bodies depend on the mass ratios. There are also two points that form equilateral triangles with the massive bodies. Ideally, motion in the neighborhood of the co-linear points is unstable, while motion near the equilibrium points is stable. However, in the real world, the motions are highly perturbed so that a satellite will require stationkeeping maneuvers.

Carpenter, J. Russell↗