Atomic Test Mass and Atom Interferometry for Inertial Sensing and Gravity Measurements in Space
UNKNOWN
Carpenter, Bradley↗
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Overview of Terrain Relative Navigation Approaches for Precise Lunar Landing
The driving precision landing requirement for the Autonomous Landing and Hazard Avoidance Technology project is to autonomously land within 100m of a predetermined location on the lunar surface. Traditional lunar landing approaches based on inertial sensing do not have the navigational precision to meet this requirement. The purpose of Terrain Relative Navigation (TRN) is to augment inertial navigation by providing position or bearing measurements relative to known surface landmarks. From these measurements, the navigational precision can be reduced to a level that meets the 100m requirement. There are three different TRN functions: global position estimation, local position estimation and velocity estimation. These functions can be achieved with active range sensing or passive imaging. This paper gives a survey of many TRN approaches and then presents some high fidelity simulation results for contour matching and area correlation approaches to TRN using active sensors. Since TRN requires an a-priori reference map, the paper concludes by describing past and future lunar imaging and digital elevation map data sets available for this purpose.
Terrain Relative Navigation (TRN)↗
Overview of terrain relative navigation approaches for Precise Lunar Landing
The driving precision landing requirement for the Autonomous Landing and Hazard Avoidance Technology project is to autonomously land within 100m of a predetermined location on the lunar surface. Traditional lunar landing approaches based on inertial sensing do not have the navigational precision to meet this requirement. The purpose of Terrain Relative Navigation (TRN) is to augment inertial navigation by providing position or bearing measurements relative to known surface landmarks. From these measurements, the navigational precision can be reduced to a level that meets the 100m requirement. There are three different TRN functions: global position estimation, local position estimation and velocity estimation. These functions can be achieved with active range sensing or passive imaging. This paper gives a survey of many TRN approaches and then presents some high fidelity simulation results for contour matching and area correlation approaches to TRN using active sensors. Since TRN requires an a-priori reference map, the paper concludes by describing past and future lunar imaging and digital elevation map data sets available for this purpose.
Montgomery, James F.↗
Proximity Navigation of Highly Constrained Spacecraft
Bandit is a 3-kg automated spacecraft in development at Washington University in St. Louis. Bandit's primary mission is to demonstrate proximity navigation, including docking, around a 25-kg student-built host spacecraft. However, because of extreme constraints in mass, power and volume, traditional sensing and actuation methods are not available. In particular, Bandit carries only 8 fixed-magnitude cold-gas thrusters to control its 6 DOF motion. Bandit lacks true inertial sensing, and the ability to sense position relative to the host has error bounds that approach the size of the Bandit itself. Some of the navigation problems are addressed through an extremely robust, error-tolerant soft dock. In addition, we have identified a control methodology that performs well in this constrained environment: behavior-based velocity potential functions, which use a minimum-seeking method similar to Lyapunov functions. We have also adapted the discrete Kalman filter for use on Bandit for position estimation and have developed a similar measurement vs. propagation weighting algorithm for attitude estimation. This paper provides an overview of Bandit and describes the control and estimation approach. Results using our 6DOF flight simulator are provided, demonstrating that these methods show promise for flight use.
Scarritt, S.↗
Guidance and flight control demonstration in a helicopter flight environment using a laser-gyro inertial navigation system
The present flight test program results indicate that an all-digital inertial sensing system can be used in helicopter flight guidance and control, provided that the rotor rotation-induced motions are filtered from body rate and accelerometer signals before they are used in the feedback control system. Attention is given to the problem posed by the different repetition rates used by each of the manufacturers involved in the procurement of such all-digital subsystems. Autopilot designers must accordingly predict the need for filters and install them where called for in the sensor software. Two alternatives to this method are explored. Recent technological developments indicate that strapped down inertial systems will replace vertical and direction gyros as well as body rate accelerometers in future aircraft systems.
Schmidt, S. F.↗
Strapdown calibration and alignment study. Volume 1 - Development document Final report
Calibration and alignment techniques for inertial sensing unit
Bailey, F. N.↗
Strapdown calibration and alignment study. Volume 2 - Procedural and parametric trade-off analyses document Final report
Parametric and procedural tradeoffs for alignment and calibration of inertial sensing unit
Farrell, E. J.↗
Study of variable thermal impedance devices
Variable thermal impedance devices with application to strapdown inertial sensing unit subassembly
Sununu, J. H.↗
Strapdown calibration and alignment study. Volume 1 - Development document
Techniques for laboratory calibration and alignment of strapdown inertial sensing unit
Bailey, F. N.↗
Strapdown calibration and alignment study. Volume 2 - Procedural and parametric trade- off analyses document
Techniques for laboratory calibration and alignment of strapdown inertial sensing unit - procedural and parametric trade-off analyses
Farrell, E. J.↗
Strapdown calibration and alignment study. Volume 3 - Laboratory procedures manual
Techniques for laboratory calibration and alignment of strapdown inertial sensing unit - procedures manual
Garmer, D. M.↗
The LISA Technology Package
The LISA Technology Package (LTP) is the payload of the European Space Agency's LISA Pathfinder mission. LISA Pathfinder was instigated to test, in a flight environment, the critical technologies required by LISA; namely, the inertial sensing subsystem and associated control laws and micro-Newton thrusters required to place a macroscopic test mass in pure free-fall. The UP is in the late stages of development -- all subsystems are currently either in the final stages of manufacture or in test. Available flight units are being integrated into the real-time testbeds for system verification tests. This poster will describe the UP and its subsystems, give the current status of the hardware and test campaign, and outline the future milestones leading to the UP delivery.
Livas, Jeff↗
Inertial rotation sensor
Mechanism for inertial rotation sensing device for measuring spectral lines of rotating atoms seen by rotating observer
ROTATING MACHINE↗
Coupled Inertial Navigation and Flush Air Data Sensing Algorithm for Atmosphere Estimation
This paper describes an algorithm for atmospheric state estimation based on a coupling between inertial navigation and flush air data-sensing pressure measurements. The navigation state is used in the atmospheric estimation algorithm along with the pressure measurements and a model of the surface pressure distribution to estimate the atmosphere using a nonlinear weighted least-squares algorithm. The approach uses a high-fidelity model of atmosphere stored in table-lookup form, along with simplified models propagated along the trajectory within the algorithm to aid the solution. Thus, the method is a reduced-order Kalman filter in which the inertial states are taken from the navigation solution and atmospheric states are estimated in the filter. The algorithm is applied to data from the Mars Science Laboratory entry, descent, and landing from August 2012. Reasonable estimates of the atmosphere are produced by the algorithm. The observability of winds along the trajectory are examined using an index based on the observability Gramian and the pressure measurement sensitivity matrix. The results indicate that bank reversals are responsible for adding information content. The algorithm is applied to the design of the pressure measurement system for the Mars 2020 mission. A linear covariance analysis is performed to assess estimator performance. The results indicate that the new estimator produces more precise estimates of atmospheric states than existing algorithms.
Karlgaard, Christopher D.↗
Coupled Inertial Navigation and Flush Air Data Sensing Algorithm for Atmosphere Estimation
This paper describes an algorithm for atmospheric state estimation that is based on a coupling between inertial navigation and flush air data sensing pressure measurements. In this approach, the full navigation state is used in the atmospheric estimation algorithm along with the pressure measurements and a model of the surface pressure distribution to directly estimate atmospheric winds and density using a nonlinear weighted least-squares algorithm. The approach uses a high fidelity model of atmosphere stored in table-look-up form, along with simplified models of that are propagated along the trajectory within the algorithm to provide prior estimates and covariances to aid the air data state solution. Thus, the method is essentially a reduced-order Kalman filter in which the inertial states are taken from the navigation solution and atmospheric states are estimated in the filter. The algorithm is applied to data from the Mars Science Laboratory entry, descent, and landing from August 2012. Reasonable estimates of the atmosphere and winds are produced by the algorithm. The observability of winds along the trajectory are examined using an index based on the discrete-time observability Gramian and the pressure measurement sensitivity matrix. The results indicate that bank reversals are responsible for adding information content to the system. The algorithm is then applied to the design of the pressure measurement system for the Mars 2020 mission. The pressure port layout is optimized to maximize the observability of atmospheric states along the trajectory. Linear covariance analysis is performed to assess estimator performance for a given pressure measurement uncertainty. The results indicate that the new tightly-coupled estimator can produce enhanced estimates of atmospheric states when compared with existing algorithms.
Karlgaard, Christopher D.↗
Monolithic, unidirectional single-mode Nd:YAG ring laser
A new solid-state laser has been designed which achieves high single-mode output power by using a unidirectional nonplanar resonator constructed from a single Nd:YAG crystal. When placed in a magnetic field, the laser provides a pump-limited, single-axial-mode output of 163 mW at 1064 nm. The laser has been specifically developed as an oscillator for a long-range coherent Doppler anemometer. Other applications include coherent communications, coherent optical radar, and inertial rotation sensing.
Kane, T. J.↗
Atom Interferometry for Fundamental Physics and Gravity Measurements in Space
Laser-cooled atoms are used as freefall test masses. The gravitational acceleration on atoms is measured by atom-wave interferometry. The fundamental concept behind atom interferometry is the quantum mechanical particle-wave duality. One can exploit the wave-like nature of atoms to construct an atom interferometer based on matter waves analogous to laser interferometers.
atom interferometry↗
Neural Mechanisms to the Space Environment
Highly conserved neural systems have evolved to sense the inertial forces due to head translation and head tilt relative to gravitational vertical. These structures consist of ciliated mechanosensitive receptor cells inserted into a neuroepithelium surmounted by biomineral grains of calcium carbonate (CaCO3) called oto- (vertebrates) or stato-conia (invertebrates). Detection of these forces by receptor cells relies on the CaCO3 mass being weighted in Earths 1G. A change in gravity or orientation with respect to gravity has a profound effect on how an organism interacts with its environment, and it is evident that the nervous system responds to the new gravity state. This response might involve the peripheral receptors, the CaCO3 mass, the brain or any combination of these mechanisms based on the intensity and duration of the gravity change. Here, we examine the arguments supporting the different mechanisms of adaptation to the space environment. First, a pre- or post-synaptic alteration in the strength of synaptic transmission between the receptor cell and nerve afferent can adjust the system output. The number of synaptic ribbons in certain type II hair cells in rodent is labile, increasing following exposure to microgravity. An increase in number of synaptic ribbons in toadfish otolith hair cells following exposure to microgravity could potentially explain the observed afferent hypersensitivity to acceleration postflight. The physiological findings in the isolated statocyst in snails are in line with the vertebrate data, and conform to the proposition that G exposure leads to changes in gravireceptor function. At the same time this similarity in neural response to G exposure between the vertebrates and invertebrates is intriguing: the increased neural sensitivity in the vertebrate was detected in the nerve afferents, one synapse away from the receptor cell, whereas the increased neural sensitivity observed in the snail was detected directly at the receptor level. Second, the CaCO3 mass provides mechanical loading of receptor cell cilia, and their density alters sensitivity. A widely considered mechanism by which the animal responds to a chronic change in amplitude of gravity is a change in weight-lending CaCO3 mass. In G, it is argued, the organism counters the loss of gravity by increasing CaCO3 production, thereby increasing its mass, as a means to increase system gain. In hypergravity, the converse is argued. Earlier evidence in mollusks and recent results in mice suggest a remodeling might occur, especially after long-term space exposure. Lastly, we have to distinguish at least two kinds of neural feedbacks. One is connected with local mechanisms of self-regulation and specific for initial period of organ development when the neural connections are still absent. And the other feedback is related to neural self-regulation and specific for later stages of the organ development, and includes an efferent vestibular feedback. Complexity of the problem is enhanced by incompleteness of experiments, and consequently the experimental results have not led to a clear interpretation despite the numerous studies.
Boyle, Richard D.↗