Effects of Optical Artifacts in a Laser-Based Spacecraft Navigation Sensor

NASA Technical Reports Server (NTRS)

LeCroy, Jerry E.; Hallmark, Dean S.; Howard, Richard T.

2007-01-01

Testing Of the Advanced Video Guidance Sensor (AVGS) used for proximity operations navigation on the Orbital Express ASTRO spacecraft exposed several unanticipated imaging system artifacts and aberrations that required correction, to meet critical navigation performance requirements. Mitigation actions are described for a number of system error sources, including lens aberration, optical train misalignment, laser speckle, target image defects, and detector nonlinearity/noise characteristics. Sensor test requirements and protocols are described, along with a summary ,of test results from sensor confidence tests and system performance testing.

Autonomous navigation using lunar beacons

NASA Technical Reports Server (NTRS)

Khatib, A. R.; Ellis, J.; French, J.; Null, G.; Yunck, T.; Wu, S.

1983-01-01

The concept of using lunar beacon signal transmission for on-board navigation for earth satellites and near-earth spacecraft is described. The system would require powerful transmitters on the earth-side of the moon's surface and black box receivers with antennae and microprocessors placed on board spacecraft for autonomous navigation. Spacecraft navigation requires three position and three velocity elements to establish location coordinates. Two beacons could be soft-landed on the lunar surface at the limits of allowable separation and each would transmit a wide-beam signal with cones reaching GEO heights and be strong enough to be received by small antennae in near-earth orbit. The black box processor would perform on-board computation with one-way Doppler/range data and dynamical models. Alternatively, GEO satellites such as the GPS or TDRSS spacecraft can be used with interferometric techniques to provide decimeter-level accuracy for aircraft navigation.

Integrated communications and optical navigation system

NASA Astrophysics Data System (ADS)

Mueller, J.; Pajer, G.; Paluszek, M.

2013-12-01

The Integrated Communications and Optical Navigation System (ICONS) is a flexible navigation system for spacecraft that does not require global positioning system (GPS) measurements. The navigation solution is computed using an Unscented Kalman Filter (UKF) that can accept any combination of range, range-rate, planet chord width, landmark, and angle measurements using any celestial object. Both absolute and relative orbit determination is supported. The UKF employs a full nonlinear dynamical model of the orbit including gravity models and disturbance models. The ICONS package also includes attitude determination algorithms using the UKF algorithm with the Inertial Measurement Unit (IMU). The IMU is used as the dynamical base for the attitude determination algorithms. This makes the sensor a more capable plug-in replacement for a star tracker, thus reducing the integration and test cost of adding this sensor to a spacecraft. Recent additions include an integrated optical communications system which adds communications, and integrated range and range rate measurement and timing. The paper includes test results from trajectories based on the NASA New Horizons spacecraft.

Fully autonomous navigation for the NASA cargo transfer vehicle

NASA Technical Reports Server (NTRS)

Wertz, James R.; Skulsky, E. David

1991-01-01

A great deal of attention has been paid to navigation during the close approach (less than or equal to 1 km) phase of spacecraft rendezvous. However, most spacecraft also require a navigation system which provides the necessary accuracy for placing both satellites within the range of the docking sensors. The Microcosm Autonomous Navigation System (MANS) is an on-board system which uses Earth-referenced attitude sensing hardware to provide precision orbit and attitude determination. The system is capable of functioning from LEO to GEO and beyond. Performance depends on the number of available sensors as well as mission geometry; however, extensive simulations have shown that MANS will provide 100 m to 400 m (3(sigma)) position accuracy and 0.03 to 0.07 deg (3(sigma)) attitude accuracy in low Earth orbit. The system is independent of any external source, including GPS. MANS is expected to have a significant impact on ground operations costs, mission definition and design, survivability, and the potential development of very low-cost, fully autonomous spacecraft.

Magnetospheric Multiscale Mission Navigation Performance During Apogee-Raising and Beyond

NASA Technical Reports Server (NTRS)

Farahmand, Mitra; Long, Anne; Hollister, Jacob; Rose, Julie; Godine, Dominic

2017-01-01

The primary objective of the Magnetospheric Multiscale (MMS) Mission is to study the magnetic reconnection phenomena in the Earths magnetosphere. The MMS mission consists of four identical spinning spacecraft with the science objectives requiring a tetrahedral formation in highly elliptical orbits. The MMS spacecraft are equipped with onboard orbit and time determination software, provided by a weak-signal Global Positioning System (GPS) Navigator receiver hosting the Goddard Enhanced Onboard Navigation System (GEONS). This paper presents the results of MMS navigation performance analysis during the Phase 2a apogee-raising campaign and Phase 2b science segment of the mission.

Experiment D009: Simple navigation

NASA Technical Reports Server (NTRS)

Silva, R. M.; Jorris, T. R.; Vallerie, E. M., III

1971-01-01

Space position-fixing techniques have been investigated by collecting data on the observable phenomena of space flight that could be used to solve the problem of autonomous navigation by the use of optical data and manual computations to calculate the position of a spacecraft. After completion of the developmental and test phases, the product of the experiment would be a manual-optical technique of orbital space navigation that could be used as a backup to onboard and ground-based spacecraft-navigation systems.

Guidance, navigation, and control systems performance analysis: Apollo 13 mission report

NASA Technical Reports Server (NTRS)

1970-01-01

The conclusions of the analyses of the inflight performance of the Apollo 13 spacecraft guidance, navigation, and control equipment are presented. The subjects discussed are: (1) the command module systems, (2) the lunar module inertial measurement unit, (3) the lunar module digital autopilot, (4) the lunar module abort guidance system, (5) lunar module optical alignment checks, and (6) spacecraft component separation procedures.

Navigation for the new millennium: Autonomous navigation for Deep Space 1

NASA Technical Reports Server (NTRS)

Reidel, J. E.; Bhaskaran, S.; Synnott, S. P.; Desai, S. D.; Bollman, W. E.; Dumont, P. J.; Halsell, C. A.; Han, D.; Kennedy, B. M.; Null, G. W.;

Optical Navigation Preparations for New Horizons Pluto Flyby

NASA Technical Reports Server (NTRS)

Owen, William M., Jr.; Dumont, Philip J.; Jackman, Coralie D.

2012-01-01

The New Horizons spacecraft will encounter Pluto and its satellites in July 2015. As was the case for the Voyager encounters with Jupiter, Saturn, Uranus and Neptune, mission success will depend heavily on accurate spacecraft navigation, and accurate navigation will be impossible without the use of pictures of the Pluto system taken by the onboard cameras. We describe the preparations made by the New Horizons optical navigators: picture planning, image processing algorithms, software development and testing, and results from in-flight imaging.

Unified Simulation and Analysis Framework for Deep Space Navigation Design

NASA Technical Reports Server (NTRS)

Anzalone, Evan; Chuang, Jason; Olsen, Carrie

2013-01-01

As the technology that enables advanced deep space autonomous navigation continues to develop and the requirements for such capability continues to grow, there is a clear need for a modular expandable simulation framework. This tool's purpose is to address multiple measurement and information sources in order to capture system capability. This is needed to analyze the capability of competing navigation systems as well as to develop system requirements, in order to determine its effect on the sizing of the integrated vehicle. The development for such a framework is built upon Model-Based Systems Engineering techniques to capture the architecture of the navigation system and possible state measurements and observations to feed into the simulation implementation structure. These models also allow a common environment for the capture of an increasingly complex operational architecture, involving multiple spacecraft, ground stations, and communication networks. In order to address these architectural developments, a framework of agent-based modules is implemented to capture the independent operations of individual spacecraft as well as the network interactions amongst spacecraft. This paper describes the development of this framework, and the modeling processes used to capture a deep space navigation system. Additionally, a sample implementation describing a concept of network-based navigation utilizing digitally transmitted data packets is described in detail. This developed package shows the capability of the modeling framework, including its modularity, analysis capabilities, and its unification back to the overall system requirements and definition.

Dynamic performance of an aero-assist spacecraft - AFE

NASA Technical Reports Server (NTRS)

Chang, Ho-Pen; French, Raymond A.

1992-01-01

Dynamic performance of the Aero-assist Flight Experiment (AFE) spacecraft was investigated using a high-fidelity 6-DOF simulation model. Baseline guidance logic, control logic, and a strapdown navigation system to be used on the AFE spacecraft are also modeled in the 6-DOF simulation. During the AFE mission, uncertainties in the environment and the spacecraft are described by an error space which includes both correlated and uncorrelated error sources. The principal error sources modeled in this study include navigation errors, initial state vector errors, atmospheric variations, aerodynamic uncertainties, center-of-gravity off-sets, and weight uncertainties. The impact of the perturbations on the spacecraft performance is investigated using Monte Carlo repetitive statistical techniques. During the Solid Rocket Motor (SRM) deorbit phase, a target flight path angle of -4.76 deg at entry interface (EI) offers very high probability of avoiding SRM casing skip-out from the atmosphere. Generally speaking, the baseline designs of the guidance, navigation, and control systems satisfy most of the science and mission requirements.

Laser-based Relative Navigation Using GPS Measurements for Spacecraft Formation Flying

NASA Astrophysics Data System (ADS)

Lee, Kwangwon; Oh, Hyungjik; Park, Han-Earl; Park, Sang-Young; Park, Chandeok

2015-12-01

This study presents a precise relative navigation algorithm using both laser and Global Positioning System (GPS) measurements in real time. The measurement model of the navigation algorithm between two spacecraft is comprised of relative distances measured by laser instruments and single differences of GPS pseudo-range measurements in spherical coordinates. Based on the measurement model, the Extended Kalman Filter (EKF) is applied to smooth the pseudo-range measurements and to obtain the relative navigation solution. While the navigation algorithm using only laser measurements might become inaccurate because of the limited accuracy of spacecraft attitude estimation when the distance between spacecraft is rather large, the proposed approach is able to provide an accurate solution even in such cases by employing the smoothed GPS pseudo-range measurements. Numerical simulations demonstrate that the errors of the proposed algorithm are reduced by more than about 12% compared to those of an algorithm using only laser measurements, as the accuracy of angular measurements is greater than 0.001° at relative distances greater than 30 km.

Navigation Ground Data System Engineering for the Cassini/Huygens Mission

NASA Technical Reports Server (NTRS)

Beswick, R. M.; Antreasian, P. G.; Gillam, S. D.; Hahn, Y.; Roth, D. C.; Jones, J. B.

2008-01-01

The launch of the Cassini/Huygens mission on October 15, 1997, began a seven year journey across the solar system that culminated in the entry of the spacecraft into Saturnian orbit on June 30, 2004. Cassini/Huygens Spacecraft Navigation is the result of a complex interplay between several teams within the Cassini Project, performed on the Ground Data System. The work of Spacecraft Navigation involves rigorous requirements for accuracy and completeness carried out often under uncompromising critical time pressures. To support the Navigation function, a fault-tolerant, high-reliability/high-availability computational environment was necessary to support data processing. Configuration Management (CM) was integrated with fault tolerant design and security engineering, according to the cornerstone principles of Confidentiality, Integrity, and Availability. Integrated with this approach are security benchmarks and validation to meet strict confidence levels. In addition, similar approaches to CM were applied in consideration of the staffing and training of the system administration team supporting this effort. As a result, the current configuration of this computational environment incorporates a secure, modular system, that provides for almost no downtime during tour operations.

GPS/MEMS IMU/Microprocessor Board for Navigation

NASA Technical Reports Server (NTRS)

Gender, Thomas K.; Chow, James; Ott, William E.

2009-01-01

A miniaturized instrumentation package comprising a (1) Global Positioning System (GPS) receiver, (2) an inertial measurement unit (IMU) consisting largely of surface-micromachined sensors of the microelectromechanical systems (MEMS) type, and (3) a microprocessor, all residing on a single circuit board, is part of the navigation system of a compact robotic spacecraft intended to be released from a larger spacecraft [e.g., the International Space Station (ISS)] for exterior visual inspection of the larger spacecraft. Variants of the package may also be useful in terrestrial collision-detection and -avoidance applications. The navigation solution obtained by integrating the IMU outputs is fed back to a correlator in the GPS receiver to aid in tracking GPS signals. The raw GPS and IMU data are blended in a Kalman filter to obtain an optimal navigation solution, which can be supplemented by range and velocity data obtained by use of (l) a stereoscopic pair of electronic cameras aboard the robotic spacecraft and/or (2) a laser dynamic range imager aboard the ISS. The novelty of the package lies mostly in those aspects of the design of the MEMS IMU that pertain to controlling mechanical resonances and stabilizing scale factors and biases.

Science Benefits of Onboard Spacecraft Navigation

NASA Technical Reports Server (NTRS)

Cangahuala, Al; Bhaskaran, Shyam; Owen, Bill

2012-01-01

Primitive bodies (asteroids and comets), which have remained relatively unaltered since their formation, are important targets for scientific missions that seek to understand the evolution of the solar system. Often the first step is to fly by these bodies with robotic spacecraft. The key to maximizing data returns from these flybys is to determine the spacecraft trajectory relative to the target body-in short, navigate the spacecraft- with sufficient accuracy so that the target is guaranteed to be in the instruments' field of view. The most powerful navigation data in these scenarios are images taken by the spacecraft of the target against a known star field (onboard astrometry). Traditionally, the relative trajectory of the spacecraft must be estimated hours to days in advance using images collected by the spacecraft. This is because of (1)!the long round-trip light times between the spacecraft and the Earth and (2)!the time needed to downlink and process navigation data on the ground, make decisions based on the result, and build and uplink instrument pointing sequences from the results. The light time and processing time compromise navigation accuracy considerably, because there is not enough time to use more accurate data collected closer to the target-such data are more accurate because the angular capability of the onboard astrometry is essentially constant as the distance to the target decreases, resulting in better "plane-of- sky" knowledge of the target. Excellent examples of these timing limitations are high-speed comet encounters. Comets are difficult to observe up close; their orbits often limit scientists to brief, rapid flybys, and their coma further restricts viewers from seeing the nucleus in any detail, unless they can view the nucleus at close range. Comet nuclei details are typically discernable for much shorter durations than the roundtrip light time to Earth, so robotic spacecraft must be able to perform onboard navigation. This onboard navigation can be accomplished through a self- contained system that by eliminating light time restrictions dramatically improves the relative trajectory knowledge and control and subsequently increases the amount of quality data collected. Flybys are one-time events, so the system's underlying algorithms and software must be extremely robust. The autonomous software must also be able to cope with the unknown size, shape, and orientation of the previously unseen comet nucleus. Furthermore, algorithms must be reliable in the presence of imperfections and/or damage to onboard cameras accrued after many years of deep-space operations. The AutoNav operational flight software packages, developed by scientists at the Jet Propulsion Laboratory (JPL) under contract with NASA, meet all these requirements. They have been directly responsible for the successful encounters on all of NASA's close-up comet-imaging missions (see Figure !1). AutoNav is the only system to date that has autonomously tracked comet nuclei during encounters and performed autonomous interplanetary navigation. AutoNav has enabled five cometary flyby missions (Table!1) residing on four NASA spacecraft provided by three different spacecraft builders. Using this software, missions were able to process a combined total of nearly 1000 images previously unseen by humans. By eliminating the need to navigate spacecraft from Earth, the accuracy gained by AutoNav during flybys compared to ground-based navigation is about 1!order of magnitude in targeting and 2!orders of magnitude in time of flight. These benefits ensure that pointing errors do not compromise data gathered during flybys. In addition, these benefits can be applied to flybys of other solar system objects, flybys at much slower relative velocities, mosaic imaging campaigns, and other proximity activities (e.g., orbiting, hovering, and descent/ascent).

Autonomous Navigation of the SSTI/Lewis Spacecraft Using the Global Positioning System (GPS)

NASA Technical Reports Server (NTRS)

Hart, R. C.; Long, A. C.; Lee, T.

1997-01-01

The National Aeronautics and Space Administration (NASA) Goddard Space Flight Center (GSFC) Flight Dynamics Division (FDD) is pursuing the application of Global Positioning System (GPS) technology to improve the accuracy and economy of spacecraft navigation. High-accuracy autonomous navigation algorithms are being flight qualified in conjunction with GSFC's GPS Attitude Determination Flyer (GADFLY) experiment on the Small Satellite Technology Initiative (SSTI) Lewis spacecraft, which is scheduled for launch in 1997. Preflight performance assessments indicate that these algorithms can provide a real-time total position accuracy of better than 10 meters (1 sigma) and velocity accuracy of better than 0.01 meter per second (1 sigma), with selective availability at typical levels. This accuracy is projected to improve to the 2-meter level if corrections to be provided by the GPS Wide Area Augmentation System (WAAS) are included.

Optical Navigation Image of Ganymede

NASA Technical Reports Server (NTRS)

1996-01-01

NASA's Galileo spacecraft, now in orbit around Jupiter, returned this optical navigation image June 3, 1996, showing that the spacecraft is accurately targeted for its first flyby of the giant moon Ganymede on June 27. The missing data in the frame is the result of a special editing feature recently added to the spacecraft's computer to transmit navigation images more quickly. This is first in a series of optical navigation frames, highly edited onboard the spacecraft, that will be used to fine-tune the spacecraft's trajectory as Galileo approaches Ganymede. The image, used for navigation purposes only, is the product of new computer processing capabilities on the spacecraft that allow Galileo to send back only the information required to show the spacecraft is properly targeted and that Ganymede is where navigators calculate it to be. 'This navigation image is totally different from the pictures we'll be taking for scientific study of Ganymede when we get close to it later this month,' said Galileo Project Scientist Dr. Torrence Johnson. On June 27, Galileo will fly just 844 kilometers (524 miles) above Ganymede and return the most detailed, full-frame, high-resolution images and other measurements of the satellite ever obtained. Icy Ganymede is the largest moon in the solar system and three-quarters the size of Mars. It is one of the four large Jovian moons that are special targets of study for the Galileo mission. Of the more than 5 million bits contained in a single image, Galileo performed on-board editing to send back a mere 24,000 bits containing the essential information needed to assure proper targeting. Only the light-to-dark transitions of the crescent Ganymede and reference star locations were transmitted to Earth. The navigation image was taken from a distance of 9.8 million kilometers (6.1 million miles). On June 27th, the spacecraft will be 10,000 times closer to Ganymede.

Spacecraft-spacecraft very long baseline interferometry for planetary approach navigation

NASA Technical Reports Server (NTRS)

Edwards, Charles D., Jr.; Folkner, William M.; Border, James S.; Wood, Lincoln J.

1991-01-01

The study presents an error budget for Delta differential one-way range (Delta-DOR) measurements between two spacecraft. Such observations, made between a planetary orbiter (or lander) and another spacecraft approaching that planet, would provide a powerful target-relative angular tracking data type for approach navigation. Accuracies of about 5 nrad should be possible for a pair of X-band spacecraft incorporating 40-MHz DOR tone spacings, while accuracies approaching 1 nrad will be possible if the spacecraft incorporate Ka-band downlinks with DOR tone spacings of order 250 MHz. Operational advantages of this data type are discussed, and ground system requirements needed to enable S/C-S/C Delta-DOR observations are outlined. A covariance analysis is presented to examine the potential navigation improvement for this scenario. The results show factors of 2-3 improvement in spacecraft targeting over conventional Doppler, range, and quasar-relative VLBI, along with reduced sensitivity to ephemeris uncertainty and other systematic errors.

Magnetospheric Multiscale Mission (MMS) Phase 2B Navigation Performance

NASA Technical Reports Server (NTRS)

Scaperoth, Paige Thomas; Long, Anne; Carpenter, Russell

2009-01-01

The Magnetospheric Multiscale (MMS) formation flying mission, which consists of four spacecraft flying in a tetrahedral formation, has challenging navigation requirements associated with determining and maintaining the relative separations required to meet the science requirements. The baseline navigation concept for MMS is for each spacecraft to independently estimate its position, velocity and clock states using GPS pseudorange data provided by the Goddard Space Flight Center-developed Navigator receiver and maneuver acceleration measurements provided by the spacecraft's attitude control subsystem. State estimation is performed onboard in real-time using the Goddard Enhanced Onboard Navigation System flight software, which is embedded in the Navigator receiver. The current concept of operations for formation maintenance consists of a sequence of two maintenance maneuvers that is performed every 2 weeks. Phase 2b of the MMS mission, in which the spacecraft are in 1.2 x 25 Earth radii orbits with nominal separations at apogee ranging from 30 km to 400 km, has the most challenging navigation requirements because, during this phase, GPS signal acquisition is restricted to less than one day of the 2.8-day orbit. This paper summarizes the results from high-fidelity simulations to determine if the MMS navigation requirements can be met between and immediately following the maintenance maneuver sequence in Phase 2b.

Error Analysis System for Spacecraft Navigation Using the Global Positioning System (GPS)

NASA Technical Reports Server (NTRS)

Truong, S. H.; Hart, R. C.; Hartman, K. R.; Tomcsik, T. L.; Searl, J. E.; Bernstein, A.

1997-01-01

The Flight Dynamics Division (FDD) at the National Aeronautics and Space Administration (NASA) Goddard Space Flight Center (GSFC) is currently developing improved space-navigation filtering algorithms to use the Global Positioning System (GPS) for autonomous real-time onboard orbit determination. In connection with a GPS technology demonstration on the Small Satellite Technology Initiative (SSTI)/Lewis spacecraft, FDD analysts and programmers have teamed with the GSFC Guidance, Navigation, and Control Branch to develop the GPS Enhanced Orbit Determination Experiment (GEODE) system. The GEODE system consists of a Kalman filter operating as a navigation tool for estimating the position, velocity, and additional states required to accurately navigate the orbiting Lewis spacecraft by using astrodynamic modeling and GPS measurements from the receiver. A parallel effort at the FDD is the development of a GPS Error Analysis System (GEAS) that will be used to analyze and improve navigation filtering algorithms during development phases and during in-flight calibration. For GEAS, the Kalman filter theory is extended to estimate the errors in position, velocity, and other error states of interest. The estimation of errors in physical variables at regular intervals will allow the time, cause, and effect of navigation system weaknesses to be identified. In addition, by modeling a sufficient set of navigation system errors, a system failure that causes an observed error anomaly can be traced and accounted for. The GEAS software is formulated using Object Oriented Design (OOD) techniques implemented in the C++ programming language on a Sun SPARC workstation. The Phase 1 of this effort is the development of a basic system to be used to evaluate navigation algorithms implemented in the GEODE system. This paper presents the GEAS mathematical methodology, systems and operations concepts, and software design and implementation. Results from the use of the basic system to evaluate navigation algorithms implemented on GEODE are also discussed. In addition, recommendations for generalization of GEAS functions and for new techniques to optimize the accuracy and control of the GPS autonomous onboard navigation are presented.

It All Depends on Your Attitude.

ERIC Educational Resources Information Center

Kastner, Bernice

1992-01-01

Presents six learning exercises that introduce students to the mathematics used to control and track spacecraft attitude. Describes the geocentric system used for Earthbound location and navigation, the celestial sphere, the spacecraft-based celestial system, time-dependent angles, observer-fixed coordinate axes, and spacecraft rotational axes.…

The Deep Space Network. An instrument for radio navigation of deep space probes

NASA Technical Reports Server (NTRS)

Renzetti, N. A.; Jordan, J. F.; Berman, A. L.; Wackley, J. A.; Yunck, T. P.

1982-01-01

The Deep Space Network (DSN) network configurations used to generate the navigation observables and the basic process of deep space spacecraft navigation, from data generation through flight path determination and correction are described. Special emphasis is placed on the DSN Systems which generate the navigation data: the DSN Tracking and VLBI Systems. In addition, auxiliary navigational support functions are described.

Cassini tour navigation strategy

NASA Technical Reports Server (NTRS)

Roth, Duane; Alwar, Vijay; Bordi, John; Goodson, Troy; Hahn, Yungsun; Ionasescu, Rodica; Jones, Jeremy; Owen, William; Pojman, Joan; Roundhill, Ian;

Sensitivity of Magnetospheric Multi-Scale (MMS) Mission Navigation Accuracy to Major Error Sources

NASA Technical Reports Server (NTRS)

Olson, Corwin; Long, Anne; Car[emter. Russell

2011-01-01

The Magnetospheric Multiscale (MMS) mission consists of four satellites flying in formation in highly elliptical orbits about the Earth, with a primary objective of studying magnetic reconnection. The baseline navigation concept is independent estimation of each spacecraft state using GPS pseudorange measurements referenced to an Ultra Stable Oscillator (USO) with accelerometer measurements included during maneuvers. MMS state estimation is performed onboard each spacecraft using the Goddard Enhanced Onboard Navigation System (GEONS), which is embedded in the Navigator GPS receiver. This paper describes the sensitivity of MMS navigation performance to two major error sources: USO clock errors and thrust acceleration knowledge errors.

Relative Navigation for Formation Flying of Spacecraft

NASA Technical Reports Server (NTRS)

Alonso, Roberto; Du, Ju-Young; Hughes, Declan; Junkins, John L.; Crassidis, John L.

2001-01-01

This paper presents a robust and efficient approach for relative navigation and attitude estimation of spacecraft flying in formation. This approach uses measurements from a new optical sensor that provides a line of sight vector from the master spacecraft to the secondary satellite. The overall system provides a novel, reliable, and autonomous relative navigation and attitude determination system, employing relatively simple electronic circuits with modest digital signal processing requirements and is fully independent of any external systems. Experimental calibration results are presented, which are used to achieve accurate line of sight measurements. State estimation for formation flying is achieved through an optimal observer design. Also, because the rotational and translational motions are coupled through the observation vectors, three approaches are suggested to separate both signals just for stability analysis. Simulation and experimental results indicate that the combined sensor/estimator approach provides accurate relative position and attitude estimates.

The Integration, Testing and Flight of the EO-1 GPS

NASA Technical Reports Server (NTRS)

Quinn, David A.; Sanneman, Paul A.; Shulman, Seth E.; Sager, Jennifer A.

2001-01-01

The Global Positioning System has long been hailed as the wave of the future for autonomous on-board navigation of low Earth orbiting spacecraft despite the fact that relatively few spacecraft have actually employed it for this purpose. While several missions operated out of the Goddard Space Flight Center have flown GPS receivers on board, the New Millenium Program (NMP) Earth Orbiting-1 (EO-1) spacecraft is the first to employ GPS for active, autonomous on-board navigation. Since EO-1 was designed to employ GPS as its primary source of the navigation ephemeris, special care had to be taken during the integration phase of spacecraft construction to assure proper performance. This paper is a discussion of that process: a brief overview of how the GPS works, how it fits into the design of the EO-1 Attitude Control System (ACS), the steps taken to integrate the system into the EO-1 spacecraft, the ultimate on-orbit performance during launch and early operations of the EO-1 mission and the performance of the on-board GPS ephemeris versus the ground based ephemeris. Conclusions will include a discussion of the lessons learned.

Small Body Landing Accuracy Using In-Situ Navigation

NASA Technical Reports Server (NTRS)

Bhaskaran, Shyam; Nandi, Sumita; Broschart, Stephen; Wallace, Mark; Olson, Corwin; Cangahuala, L. Alberto

2011-01-01

Spacecraft landings on small bodies (asteroids and comets) can require target accuracies too stringent to be met using ground-based navigation alone, especially if specific landing site requirements must be met for safety or to meet science goals. In-situ optical observations coupled with onboard navigation processing can meet the tighter accuracy requirements to enable such missions. Recent developments in deep space navigation capability include a self-contained autonomous navigation system (used in flight on three missions) and a landmark tracking system (used experimentally on the Japanese Hayabusa mission). The merging of these two technologies forms a methodology to perform autonomous onboard navigation around small bodies. This paper presents an overview of these systems, as well as the results from Monte Carlo studies to quantify the achievable landing accuracies by using these methods. Sensitivity of the results to variations in spacecraft maneuver execution error, attitude control accuracy and unmodeled forces are examined. Cases for two bodies, a small asteroid and on a mid-size comet, are presented.

High accuracy autonomous navigation using the global positioning system (GPS)

NASA Technical Reports Server (NTRS)

Truong, Son H.; Hart, Roger C.; Shoan, Wendy C.; Wood, Terri; Long, Anne C.; Oza, Dipak H.; Lee, Taesul

1997-01-01

The application of global positioning system (GPS) technology to the improvement of the accuracy and economy of spacecraft navigation, is reported. High-accuracy autonomous navigation algorithms are currently being qualified in conjunction with the GPS attitude determination flyer (GADFLY) experiment for the small satellite technology initiative Lewis spacecraft. Preflight performance assessments indicated that these algorithms are able to provide a real time total position accuracy of better than 10 m and a velocity accuracy of better than 0.01 m/s, with selective availability at typical levels. It is expected that the position accuracy will be increased to 2 m if corrections are provided by the GPS wide area augmentation system.

Design and Development of the WVU Advanced Technology Satellite for Optical Navigation

NASA Astrophysics Data System (ADS)

Straub, Miranda

In order to meet the demands of future space missions, it is beneficial for spacecraft to have the capability to support autonomous navigation. This is true for both crewed and uncrewed vehicles. For crewed vehicles, autonomous navigation would allow the crew to safely navigate home in the event of a communication system failure. For uncrewed missions, autonomous navigation reduces the demand on ground-based infrastructure and could allow for more flexible operation. One promising technique for achieving these goals is through optical navigation. To this end, the present work considers how camera images of the Earth's surface could enable autonomous navigation of a satellite in low Earth orbit. Specifically, this study will investigate the use of coastlines and other natural land-water boundaries for navigation. Observed coastlines can be matched to a pre-existing coastline database in order to determine the location of the spacecraft. This paper examines how such measurements may be processed in an on-board extended Kalman filter (EKF) to provide completely autonomous estimates of the spacecraft state throughout the duration of the mission. In addition, future work includes implementing this work on a CubeSat mission within the WVU Applied Space Exploration Lab (ASEL). The mission titled WVU Advanced Technology Satellite for Optical Navigation (WATSON) will provide students with an opportunity to experience the life cycle of a spacecraft from design through operation while hopefully meeting the primary and secondary goals defined for mission success. The spacecraft design process, although simplified by CubeSat standards, will be discussed in this thesis as well as the current results of laboratory testing with the CubeSat model in the ASEL.

Spacecraft applications of advanced global positioning system technology

NASA Technical Reports Server (NTRS)

1988-01-01

This is the final report on the Texas Instruments Incorporated (TI) simulations study of Spacecraft Application of Advanced Global Positioning System (GPS) Technology. This work was conducted for the NASA Johnson Space Center (JSC) under contract NAS9-17781. GPS, in addition to its baselined capability as a highly accurate spacecraft navigation system, can provide traffic control, attitude control, structural control, and uniform time base. In Phase 1 of this program, another contractor investigated the potential of GPS in these four areas and compared GPS to other techniques. This contract was for the Phase 2 effort, to study the performance of GPS for these spacecraft applications through computer simulations. TI had previously developed simulation programs for GPS differential navigation and attitude measurement. These programs were adapted for these specific spacecraft applications. In addition, TI has extensive expertise in the design and production of advanced GPS receivers, including space-qualified GPS receivers. We have drawn on this background to augment the simulation results in the system level overview, which is Section 2 of this report.

A Self-Tuning Kalman Filter for Autonomous Navigation Using the Global Positioning System (GPS)

NASA Technical Reports Server (NTRS)

Truong, Son H.

1999-01-01

Most navigation systems currently operated by NASA are ground-based, and require extensive support to produce accurate results. Recently developed systems that use Kalman filter and GPS (Global Positioning Systems) data for orbit determination greatly reduce dependency on ground support, and have potential to provide significant economies for NASA spacecraft navigation. These systems, however, still rely on manual tuning from analysts. A sophisticated neuro-fuzzy component fully integrated with the flight navigation system can perform the self-tuning capability for the Kalman filter and help the navigation system recover from estimation errors in real time.

The Mathematics of Navigating the Solar System

NASA Technical Reports Server (NTRS)

Hintz, Gerald

2000-01-01

In navigating spacecraft throughout the solar system, the space navigator relies on three academic disciplines - optimization, estimation, and control - that work on mathematical models of the real world. Thus, the navigator determines the flight path that will consume propellant and other resources in an efficient manner, determines where the craft is and predicts where it will go, and transfers it onto the optimal trajectory that meets operational and mission constraints. Mission requirements, for example, demand that observational measurements be made with sufficient precision that relativity must be modeled in collecting and fitting (the estimation process) the data, and propagating the trajectory. Thousands of parameters are now determined in near real-time to model the gravitational forces acting on a spacecraft in the vicinity of an irregularly shaped body. Completing these tasks requires mathematical models, analyses, and processing techniques. Newton, Gauss, Lambert, Legendre, and others are justly famous for their contributions to the mathematics of these tasks. More recently, graduate students participated in research to update the gravity model of the Saturnian system, including higher order gravity harmonics, tidal effects, and the influence of the rings. This investigation was conducted for the Cassini project to incorporate new trajectory modeling features in the navigation software. The resulting trajectory model will be used in navigating the 4-year tour of the Saturnian satellites. Also, undergraduate students are determining the ephemerides (locations versus time) of asteroids that will be used as reference objects in navigating the New Millennium's Deep Space 1 spacecraft autonomously.

Global Positioning System Navigation Above 76,000 km for NASA's Magnetospheric Multiscale Mission

NASA Technical Reports Server (NTRS)

Winternitz, Luke B.; Bamford, William A.; Price, Samuel R.; Carpenter, J. Russell; Long, Anne C.; Farahmand, Mitra

2016-01-01

NASA's Magnetospheric Multiscale (MMS) mission, launched in March of 2015, consists of a controlled formation of four spin-stabilized spacecraft in similar highly elliptic orbits reaching apogee at radial distances of 12 and 25 Earth radii (RE) in the first and second phases of the mission. Navigation for MMS is achieved independently on-board each spacecraft by processing Global Positioning System (GPS) observables using NASA Goddard Space Flight Center (GSFC)'s Navigator GPS receiver and the Goddard Enhanced Onboard Navigation System (GEONS) extended Kalman filter software. To our knowledge, MMS constitutes, by far, the highest-altitude operational use of GPS to date and represents a high point of over a decade of high-altitude GPS navigation research and development at GSFC. In this paper we will briefly describe past and ongoing high-altitude GPS research efforts at NASA GSFC and elsewhere, provide details on the design of the MMS GPS navigation system, and present on-orbit performance data from the first phase. We extrapolate these results to predict performance in the second phase orbit, and conclude with a discussion of the implications of the MMS results for future high-altitude GPS navigation, which we believe to be broad and far-reaching.

Global Positioning System Navigation Above 76,000 km for NASA's Magnetospheric Multiscale Mission

NASA Technical Reports Server (NTRS)

Winternitz, Luke B.; Bamford, William A.; Price, Samuel R.; Carpenter, J. Russell; Long, Anne C.; Farahmand, Mitra

2016-01-01

NASA's Magnetospheric Multiscale (MMS) mission, launched in March of 2015, consists of a controlled formation of four spin-stabilized spacecraft in similar highly elliptic orbits reaching apogee at radial distances of 12 and 25 Earth radii (RE) in the first and second phases of the mission. Navigation for MMSis achieved independently on-board each spacecraft by processing Global Positioning System (GPS) observables using NASA Goddard Space Flight Center (GSFC)'s Navigator GPS receiver and the Goddard Enhanced Onboard Navigation System (GEONS) extended Kalman filter software. To our knowledge, MMS constitutes, by far, the highest-altitude operational use of GPS to date and represents a high point of over a decade of high-altitude GPS navigation research and development at GSFC. In this paper we will briefly describe past and ongoing high-altitude GPS research efforts at NASA GSFC and elsewhere, provide details on the design of the MMS GPS navigation system, and present on-orbit performance data from the first phase. We extrapolate these results to predict performance in the second phase orbit, and conclude with a discussion of the implications of the MMS results for future high-altitude GPS navigation, which we believe to be broad and far-reaching.

A Self-Tuning Kalman Filter for Autonomous Navigation using the Global Positioning System (GPS)

NASA Technical Reports Server (NTRS)

Truong, S. H.

1999-01-01

Most navigation systems currently operated by NASA are ground-based, and require extensive support to produce accurate results. Recently developed systems that use Kalman filter and GPS data for orbit determination greatly reduce dependency on ground support, and have potential to provide significant economies for NASA spacecraft navigation. These systems, however, still rely on manual tuning from analysts. A sophisticated neuro-fuzzy component fully integrated with the flight navigation system can perform the self-tuning capability for the Kalman filter and help the navigation system recover from estimation errors in real time.

Augmentation method of XPNAV in Mars orbit based on Phobos and Deimos observations

NASA Astrophysics Data System (ADS)

Rong, Jiao; Luping, Xu; Zhang, Hua; Cong, Li

2016-11-01

Autonomous navigation for Mars probe spacecraft is required to reduce the operation costs and enhance the navigation performance in the future. X-ray pulsar-based navigation (XPNAV) is a potential candidate to meet this requirement. This paper addresses the use of the Mars' natural satellites to improve XPNAV for Mars probe spacecraft. Two observation variables of the field angle and natural satellites' direction vectors of Mars are added into the XPNAV positioning system. The measurement model of field angle and direction vectors is formulated by processing satellite image of Mars obtained from optical camera. This measurement model is integrated into the spacecraft orbit dynamics to build the filter model. In order to estimate position and velocity error of the spacecraft and reduce the impact of the system noise on navigation precision, an adaptive divided difference filter (ADDF) is applied. Numerical simulation results demonstrate that the performance of ADDF is better than Unscented Kalman Filter (UKF) DDF and EKF. In view of the invisibility of Mars' natural satellites in some cases, a visibility condition analysis is given and the augmented XPNAV in a different visibility condition is numerically simulated. The simulation results show that the navigation precision is evidently improved by using the augmented XPNAV based on the field angle and natural satellites' direction vectors of Mars in a comparison with the conventional XPNAV.

Sensitivity of Magnetospheric Multi-Scale (MMS) Mission Naviation Accuracy to Major Error Sources

NASA Technical Reports Server (NTRS)

Olson, Corwin; Long, Anne; Carpenter, J. Russell

2011-01-01

The Magnetospheric Multiscale (MMS) mission consists of four satellites flying in formation in highly elliptical orbits about the Earth, with a primary objective of studying magnetic reconnection. The baseline navigation concept is independent estimation of each spacecraft state using GPS pseudorange measurements referenced to an Ultra Stable Oscillator (USO) with accelerometer measurements included during maneuvers. MMS state estimation is performed onboard each spacecraft using the Goddard Enhanced Onboard Navigation System (GEONS), which is embedded in the Navigator GPS receiver. This paper describes the sensitivity of MMS navigation performance to two major error sources: USO clock errors and thrust acceleration knowledge errors.

Using neuromorphic optical sensors for spacecraft absolute and relative navigation

NASA Astrophysics Data System (ADS)

Shake, Christopher M.

We develop a novel attitude determination system (ADS) for use on nano spacecraft using neuromorphic optical sensors. The ADS intends to support nano-satellite operations by providing low-cost, low-mass, low-volume, low-power, and redundant attitude determination capabilities with quick and straightforward onboard programmability for real time spacecraft operations. The ADS is experimentally validated with commercial-off-the-shelf optical devices that perform sensing and image processing on the same circuit board and are biologically inspired by insects' vision systems, which measure optical flow while navigating in the environment. The firmware on the devices is modified to both perform the additional biologically inspired task of tracking objects and communicate with a PC/104 form-factor embedded computer running Real Time Application Interface Linux used on a spacecraft simulator. Algorithms are developed for operations using optical flow, point tracking, and hybrid modes with the sensors, and the performance of the system in all three modes is assessed using a spacecraft simulator in the Advanced Autonomous Multiple Spacecraft (ADAMUS) laboratory at Rensselaer. An existing relative state determination method is identified to be combined with the novel ADS to create a self-contained navigation system for nano spacecraft. The performance of the method is assessed in simulation and found not to match the results from its authors using only conditions and equations already published. An improved target inertia tensor method is proposed as an update to the existing relative state method, but found not to perform as expected, but is presented for others to build upon.

The use of x-ray pulsar-based navigation method for interplanetary flight

NASA Astrophysics Data System (ADS)

Yang, Bo; Guo, Xingcan; Yang, Yong

2009-07-01

As interplanetary missions are increasingly complex, the existing unique mature interplanetary navigation method mainly based on radiometric tracking techniques of Deep Space Network can not meet the rising demands of autonomous real-time navigation. This paper studied the applications for interplanetary flights of a new navigation technology under rapid development-the X-ray pulsar-based navigation for spacecraft (XPNAV), and valued its performance with a computer simulation. The XPNAV is an excellent autonomous real-time navigation method, and can provide comprehensive navigation information, including position, velocity, attitude, attitude rate and time. In the paper the fundamental principles and time transformation of the XPNAV were analyzed, and then the Delta-correction XPNAV blending the vehicles' trajectory dynamics with the pulse time-of-arrival differences at nominal and estimated spacecraft locations within an Unscented Kalman Filter (UKF) was discussed with a background mission of Mars Pathfinder during the heliocentric transferring orbit. The XPNAV has an intractable problem of integer pulse phase cycle ambiguities similar to the GPS carrier phase navigation. This article innovatively proposed the non-ambiguity assumption approach based on an analysis of the search space array method to resolve pulse phase cycle ambiguities between the nominal position and estimated position of the spacecraft. The simulation results show that the search space array method are computationally intensive and require long processing time when the position errors are large, and the non-ambiguity assumption method can solve ambiguity problem quickly and reliably. It is deemed that autonomous real-time integrated navigation system of the XPNAV blending with DSN, celestial navigation, inertial navigation and so on will be the development direction of interplanetary flight navigation system in the future.

X-Ray Detection and Processing Models for Spacecraft Navigation and Timing

NASA Technical Reports Server (NTRS)

Sheikh, Suneel; Hanson, John

2013-01-01

The current primary method of deepspace navigation is the NASA Deep Space Network (DSN). High-performance navigation is achieved using Delta Differential One-Way Range techniques that utilize simultaneous observations from multiple DSN sites, and incorporate observations of quasars near the line-of-sight to a spacecraft in order to improve the range and angle measurement accuracies. Over the past four decades, x-ray astronomers have identified a number of xray pulsars with pulsed emissions having stabilities comparable to atomic clocks. The x-ray pulsar-based navigation and time determination (XNAV) system uses phase measurements from these sources to establish autonomously the position of the detector, and thus the spacecraft, relative to a known reference frame, much as the Global Positioning System (GPS) uses phase measurements from radio signals from several satellites to establish the position of the user relative to an Earth-centered fixed frame of reference. While a GPS receiver uses an antenna to detect the radio signals, XNAV uses a detector array to capture the individual xray photons from the x-ray pulsars. The navigation solution relies on detailed xray source models, signal processing, navigation and timing algorithms, and analytical tools that form the basis of an autonomous XNAV system. Through previous XNAV development efforts, some techniques have been established to utilize a pulsar pulse time-of-arrival (TOA) measurement to correct a position estimate. One well-studied approach, based upon Kalman filter methods, optimally adjusts a dynamic orbit propagation solution based upon the offset in measured and predicted pulse TOA. In this delta position estimator scheme, previously estimated values of spacecraft position and velocity are utilized from an onboard orbit propagator. Using these estimated values, the detected arrival times at the spacecraft of pulses from a pulsar are compared to the predicted arrival times defined by the pulsar s pulse timing model. A discrepancy provides an estimate of the spacecraft position offset, since an error in position will relate to the measured time offset of a pulse along the line of sight to the pulsar. XNAV researchers have been developing additional enhanced approaches to process the photon TOAs to arrive at an estimate of spacecraft position, including those using maximum-likelihood estimation, digital phase locked loops, and "single photon processing" schemes that utilize all available time data associated with each photon. Using pulsars from separate, non-coplanar locations provides range and range-rate measurements in each pulsar s direction. Combining these different pulsar measurements solves for offsets in position and velocity in three dimensions, and provides accurate overall navigation for deep space vehicles.

Delta-DOR: The One-Nanoradian Navigation Measurement System of the Deep Space Network --- History, Architecture, and Componentry

NASA Astrophysics Data System (ADS)

Curkendall, D. W.; Border, J. S.

2013-05-01

Doppler and range data alone supported navigation for the earliest missions into deep space. Though extremely precise in line-of-sight coordinates, the navigation system built on these data had a weakness for determining the spacecraft declination component. To address this, the Deep Space Network (DSN) developed the capability for very long baseline interferometry measurements beginning in the late 1970s. Both the implementation of the interferometric system and the importance of such measurements to flight projects have evolved significantly over the past three decades. Innovations introduced through research and development programs have led to continuous improvements in performance. Today's system provides data approaching one-nanoradian accuracy with reliability of 98 percent. This article provides an overview of the development and use of interferometric tracking techniques in the DSN starting with the Viking era and continuing with a description of the current system and its planned use to support interplanetary cruise navigation of the Mars Science Laboratory spacecraft.

Alignment Jig for the Precise Measurement of THz Radiation

NASA Technical Reports Server (NTRS)

Javadi, Hamid H.

2009-01-01

A miniaturized instrumentation package comprising a (1) Global Positioning System (GPS) receiver, (2) an inertial measurement unit (IMU) consisting largely of surface-micromachined sensors of the microelectromechanical systems (MEMS) type, and (3) a microprocessor, all residing on a single circuit board, is part of the navigation system of a compact robotic spacecraft intended to be released from a larger spacecraft [e.g., the International Space Station (ISS)] for exterior visual inspection of the larger spacecraft. Variants of the package may also be useful in terrestrial collision-detection and -avoidance applications. The navigation solution obtained by integrating the IMU outputs is fed back to a correlator in the GPS receiver to aid in tracking GPS signals. The raw GPS and IMU data are blended in a Kalman filter to obtain an optimal navigation solution, which can be supplemented by range and velocity data obtained by use of (l) a stereoscopic pair of electronic cameras aboard the robotic spacecraft and/or (2) a laser dynamic range imager aboard the ISS. The novelty of the package lies mostly in those aspects of the design of the MEMS IMU that pertain to controlling mechanical resonances and stabilizing scale factors and biases.

Pulsar Timing and Its Application for Navigation and Gravitational Wave Detection

NASA Astrophysics Data System (ADS)

Becker, Werner; Kramer, Michael; Sesana, Alberto

2018-02-01

Pulsars are natural cosmic clocks. On long timescales they rival the precision of terrestrial atomic clocks. Using a technique called pulsar timing, the exact measurement of pulse arrival times allows a number of applications, ranging from testing theories of gravity to detecting gravitational waves. Also an external reference system suitable for autonomous space navigation can be defined by pulsars, using them as natural navigation beacons, not unlike the use of GPS satellites for navigation on Earth. By comparing pulse arrival times measured on-board a spacecraft with predicted pulse arrivals at a reference location (e.g. the solar system barycenter), the spacecraft position can be determined autonomously and with high accuracy everywhere in the solar system and beyond. We describe the unique properties of pulsars that suggest that such a navigation system will certainly have its application in future astronautics. We also describe the on-going experiments to use the clock-like nature of pulsars to "construct" a galactic-sized gravitational wave detector for low-frequency (f_{GW}˜ 10^{-9} - 10^{-7} Hz) gravitational waves. We present the current status and provide an outlook for the future.

GPS Navigation Above 76,000 km for the MMS Mission

NASA Technical Reports Server (NTRS)

Winternitz, Luke; Bamford, Bill; Price, Samuel; Long, Anne; Farahmand, Mitra; Carpenter, Russell

2016-01-01

NASA's MMS mission, launched in March of 2015,consists of a controlled formation of four spin-stabilized spacecraft in similar highly elliptic orbits reaching apogee at radial distances of 12and 25 Earth radii in the first and second phases of the mission. Navigation for MMS is achieved independently onboard each spacecraft by processing GPS observables using NASA GSFC's Navigator GPS receiver and the Goddard Enhanced Onboard Navigation System (GEONS) extended Kalman filter software. To our knowledge, MMS constitutes, by far, the highest-altitude operational use of GPS to date and represents the culmination of over a decade of high-altitude GPS navigation research and development at NASA GSFC. In this paper we will briefly describe past and ongoing high-altitude GPS research efforts at NASA GSFC and elsewhere, provide details on the design of the MMS GPS navigation system, and present on-orbit performance data. We extrapolate these results to predict performance in the Phase 2b mission orbit, and conclude with a discussion of the implications of the MMS results for future high-altitude GPS navigation, which we believe to be broad and far-reaching.

A Self-Tuning Kalman Filter for Autonomous Spacecraft Navigation

NASA Technical Reports Server (NTRS)

Truong, Son H.

1998-01-01

Most navigation systems currently operated by NASA are ground-based, and require extensive support to produce accurate results. Recently developed systems that use Kalman Filter and Global Positioning System (GPS) data for orbit determination greatly reduce dependency on ground support, and have potential to provide significant economies for NASA spacecraft navigation. Current techniques of Kalman filtering, however, still rely on manual tuning from analysts, and cannot help in optimizing autonomy without compromising accuracy and performance. This paper presents an approach to produce a high accuracy autonomous navigation system fully integrated with the flight system. The resulting system performs real-time state estimation by using an Extended Kalman Filter (EKF) implemented with high-fidelity state dynamics model, as does the GPS Enhanced Orbit Determination Experiment (GEODE) system developed by the NASA Goddard Space Flight Center. Augmented to the EKF is a sophisticated neural-fuzzy system, which combines the explicit knowledge representation of fuzzy logic with the learning power of neural networks. The fuzzy-neural system performs most of the self-tuning capability and helps the navigation system recover from estimation errors. The core requirement is a method of state estimation that handles uncertainties robustly, capable of identifying estimation problems, flexible enough to make decisions and adjustments to recover from these problems, and compact enough to run on flight hardware. The resulting system can be extended to support geosynchronous spacecraft and high-eccentricity orbits. Mathematical methodology, systems and operations concepts, and implementation of a system prototype are presented in this paper. Results from the use of the prototype to evaluate optimal control algorithms implemented are discussed. Test data and major control issues (e.g., how to define specific roles for fuzzy logic to support the self-learning capability) are also discussed. In addition, architecture of a complete end-to-end candidate flight system that provides navigation with highly autonomous control using data from GPS is presented.

Autonomous Navigation for Deep Space Missions

NASA Technical Reports Server (NTRS)

Bhaskaran, Shyam

2012-01-01

Navigation (determining where the spacecraft is at any given time, controlling its path to achieve desired targets), performed using ground-in- the-loop techniques: (1) Data includes 2-way radiometric (Doppler, range), interferometric (Delta- Differential One-way Range), and optical (images of natural bodies taken by onboard camera) (2) Data received on the ground, processed to determine orbit, commands sent to execute maneuvers to control orbit. A self-contained, onboard, autonomous navigation system can: (1) Eliminate delays due to round-trip light time (2) Eliminate the human factors in ground-based processing (3) Reduce turnaround time from navigation update to minutes, down to seconds (4) React to late-breaking data. At JPL, we have developed the framework and computational elements of an autonomous navigation system, called AutoNav. It was originally developed as one of the technologies for the Deep Space 1 mission, launched in 1998; subsequently used on three other spacecraft, for four different missions. The primary use has been on comet missions to track comets during flybys, and impact one comet.

Navigation of the GRAIL Spacecraft Pair Through the Extended Mission at the Moon

NASA Technical Reports Server (NTRS)

Goodson, Troy D.; Antreasian, Peter G.; Bhat, Ram S.; Chung, Min-Kun; Criddle, Kevin E.; Hatch, Sara J.; Jefferson, David C.; Lau, Eunice L.; Roncoli, Ralph B.; Ryne, Mark S.;

Automated Rendezvous and Docking Sensor Testing at the Flight Robotics Laboratory

NASA Technical Reports Server (NTRS)

Howard, Richard T.; Williamson, Marlin L.; Johnston, Albert S.; Brewster, Linda L.; Mitchell, Jennifer D.; Cryan, Scott P.; Strack, David; Key, Kevin

2007-01-01

The Exploration Systems Architecture defines missions that require rendezvous, proximity operations, and docking (RPOD) of two spacecraft both in Low Earth Orbit (LEO) and in Low Lunar Orbit (LLO). Uncrewed spacecraft must perform automated and/or autonomous rendezvous, proximity operations and docking operations (commonly known as Automated Rendezvous and Docking, (AR&D).) The crewed versions of the spacecraft may also perform AR&D, possibly with a different level of automation and/or autonomy, and must also provide the crew with relative navigation information for manual piloting. The capabilities of the RPOD sensors are critical to the success of the Exploration Program. NASA has the responsibility to determine whether the Crew Exploration Vehicle (CEV) contractor-proposed relative navigation sensor suite will meet the CEV requirements. The relatively low technology readiness of relative navigation sensors for AR&D has been carried as one of the CEV Projects top risks. The AR&D Sensor Technology Project seeks to reduce this risk by increasing technology maturation of selected relative navigation sensor technologies through testing and simulation, and to allow the CEV Project to assess the relative navigation sensors.

Solar oscillation time delay measurement assisted celestial navigation method

NASA Astrophysics Data System (ADS)

Ning, Xiaolin; Gui, Mingzhen; Zhang, Jie; Fang, Jiancheng; Liu, Gang

2017-05-01

Solar oscillation, which causes the sunlight intensity and spectrum frequency change, has been studied in great detail, both observationally and theoretically. In this paper, owing to the existence of solar oscillation, the time delay between the sunlight coming from the Sun directly and the sunlight reflected by the other celestial body such as the satellite of planet or asteroid can be obtained with two optical power meters. Because the solar oscillation time delay is determined by the relative positions of the spacecraft, reflective celestial body and the Sun, it can be adopted as the navigation measurement to estimate the spacecraft's position. The navigation accuracy of single solar oscillation time delay navigation system depends on the time delay measurement accuracy, and is influenced by the distance between spacecraft and reflective celestial body. In this paper, we combine it with the star angle measurement and propose a solar oscillation time delay measurement assisted celestial navigation method for deep space exploration. Since the measurement model of time delay is an implicit function, the Implicit Unscented Kalman Filter (IUKF) is applied. Simulations demonstrate the effectiveness and superiority of this method.

Planetary Gravity Fields and Their Impact on a Spacecraft Trajectory

NASA Technical Reports Server (NTRS)

Weinwurm, G.; Weber, R.

2005-01-01

The present work touches an interdisciplinary aspect of space exploration: the improvement of spacecraft navigation by means of enhanced planetary interior model derivation. The better the bodies in our solar system are known and modelled, the more accurately (and safely) a spacecraft can be navigated. In addition, the information about the internal structure of a planet, moon or any other planetary body can be used in arguments for different theories of solar system evolution. The focus of the work lies in a new approach for modelling the gravity field of small planetary bodies: the implementation of complex ellipsoidal coordinates (figure 1, [4]) for irregularly shaped bodies that cannot be represented well by a straightforward spheroidal approach. In order to carry out the required calculations the computer programme GRASP (Gravity Field of a Planetary Body and its Influence on a Spacecraft Trajectory) has been developed [5]. The programme furthermore allows deriving the impact of the body s gravity field on a spacecraft trajectory and thus permits predictions for future space mission flybys.

The Evolution of Deep Space Navigation: 1989-1999

NASA Technical Reports Server (NTRS)

Wood, Lincoln J.

2008-01-01

The exploration of the planets of the solar system using robotic vehicles has been underway since the early 1960s. During this time the navigational capabilities employed have increased greatly in accuracy, as required by the scientific objectives of the missions and as enabled by improvements in technology. This paper is the second in a chronological sequence dealing with the evolution of deep space navigation. The time interval covered extends from the 1989 launch of the Magellan spacecraft to Venus through a multiplicity of planetary exploration activities in 1999. The paper focuses on the observational techniques that have been used to obtain navigational information, propellant-efficient means for modifying spacecraft trajectories, and the computational methods that have been employed, tracing their evolution through a dozen planetary missions.

Institute of Navigation, Annual Meeting, 47th, Williamsburg, VA, June 10-12, 1991, Proceedings

NASA Astrophysics Data System (ADS)

1991-11-01

The present volume of navigation and exploration discusses space exploration, mapping and geodesy, aircraft navigation, undersea navigation, land and vehicular location, international and legal aspects of navigation, the history of navigation technology and applications, Loran development and implementation, GPS and GLONASS developments, and search and rescue. Topics addressed include stabilization of low orbiting spacecraft using GPS, the employment of laser navigation for automatic rendezvous and docking systems, enhanced pseudostatic processing, and the expanding role of sensor fusion. Attention is given to a gravity-aided inertial navigation system, recent developments in aviation products liability and navigation, the ICAO future air navigation system, and Loran's implementation in NAS. Also discussed are Inmarsat integrated navigation/communication activities, the GPS program status, the evolution of military GPS technology into the Navcore V receiver engine, and Sarsat location algorithms.

Parametric study of sensor placement for vision-based relative navigation system of multiple spacecraft

NASA Astrophysics Data System (ADS)

Jeong, Junho; Kim, Seungkeun; Suk, Jinyoung

2017-12-01

In order to overcome the limited range of GPS-based techniques, vision-based relative navigation methods have recently emerged as alternative approaches for a high Earth orbit (HEO) or deep space missions. Therefore, various vision-based relative navigation systems use for proximity operations between two spacecraft. For the implementation of these systems, a sensor placement problem can occur on the exterior of spacecraft due to its limited space. To deal with the sensor placement, this paper proposes a novel methodology for a vision-based relative navigation based on multiple position sensitive diode (PSD) sensors and multiple infrared beacon modules. For the proposed method, an iterated parametric study is used based on the farthest point optimization (FPO) and a constrained extended Kalman filter (CEKF). Each algorithm is applied to set the location of the sensors and to estimate relative positions and attitudes according to each combination by the PSDs and beacons. After that, scores for the sensor placement are calculated with respect to parameters: the number of the PSDs, number of the beacons, and accuracy of relative estimates. Then, the best scoring candidate is determined for the sensor placement. Moreover, the results of the iterated estimation show that the accuracy improves dramatically, as the number of the PSDs increases from one to three.

Robust approximation of image illumination direction in a segmentation-based crater detection algorithm for spacecraft navigation

NASA Astrophysics Data System (ADS)

Maass, Bolko

2016-12-01

This paper describes an efficient and easily implemented algorithmic approach to extracting an approximation to an image's dominant projected illumination direction, based on intermediary results from a segmentation-based crater detection algorithm (CDA), at a computational cost that is negligible in comparison to that of the prior stages of the CDA. Most contemporary CDAs built for spacecraft navigation use this illumination direction as a means of improving performance or even require it to function at all. Deducing the illumination vector from the image alone reduces the reliance on external information such as the accurate knowledge of the spacecraft inertial state, accurate time base and solar system ephemerides. Therefore, a method such as the one described in this paper is a prerequisite for true "Lost in Space" operation of a purely segmentation-based crater detecting and matching method for spacecraft navigation. The proposed method is verified using ray-traced lunar elevation model data, asteroid image data, and in a laboratory setting with a camera in the loop.

Gaspra Optical Navigation Image

NASA Image and Video Library

1996-02-08

This time-exposure picture of the asteroid Gaspra and background stars is one of four optical navigation images made by NASA Galileo imaging system to improve knowledge of Gaspra location for the spacecraft flyby. http://photojournal.jpl.nasa.gov/catalog/PIA00229

Integrated Docking Simulation and Testing with the Johnson Space Center Six-Degree of Freedom Dynamic Test System

NASA Technical Reports Server (NTRS)

Mitchell, Jennifer D.; Cryan, Scott P.; Baker, Kenneth; Martin, Toby; Goode, Robert; Key, Kevin W.; Manning, Thomas; Chien, Chiun-Hong

2008-01-01

The Exploration Systems Architecture defines missions that require rendezvous, proximity operations, and docking (RPOD) of two spacecraft both in Low Earth Orbit (LEO) and in Low Lunar Orbit (LLO). Uncrewed spacecraft must perform automated and/or autonomous rendezvous, proximity operations and docking operations (commonly known as Automated Rendezvous and Docking, AR&D). The crewed versions may also perform AR&D, possibly with a different level of automation and/or autonomy, and must also provide the crew with relative navigation information for manual piloting. The capabilities of the RPOD sensors are critical to the success of the Constellation Program; this is carried as one of the CEV Project top risks. The Exploration Technology Development Program (ETDP) AR&D Sensor Technology Project seeks to reduce this risk by increasing technology maturation of selected relative navigation sensor technologies through testing and simulation. One of the project activities is a series of "pathfinder" testing and simulation activities to integrate relative navigation sensors with the Johnson Space Center Six-Degree-of-Freedom Test System (SDTS). The SDTS will be the primary testing location for the Orion spacecraft s Low Impact Docking System (LIDS). Project team members have integrated the Orion simulation with the SDTS computer system so that real-time closed loop testing can be performed with relative navigation sensors and the docking system in the loop during docking and undocking scenarios. Two relative navigation sensors are being used as part of a "pathfinder" activity in order to pave the way for future testing with the actual Orion sensors. This paper describes the test configuration and test results.

GPS for low-cost attitude determination. A review of concepts, in-flight experiences, and current developments

NASA Astrophysics Data System (ADS)

Chu, Q. P.; Van Woerkom, P. Th. L. M.

The Global Positioning System or GPS has been developed for the purpose of enabling accurate positioning and navigation anywhere on or near the surface of the Earth. In addition to the US system GPS-NAVSTAR, the Russian GLONASS system is also in place and operational. Other such systems are under study. The key measurement involved is the time of travel of signals from a particular GPS spacecraft to the navigating receiver. Navigation accuracies of the order of tenths of meters are achievable, and accuracies at the centimeter level can also be obtained with special enhancement techniques. In recent years spacecraft have already been exploring the use of GPS for in-orbit navigation. As the receiver is solid state, rugged, power-lean, and cheap, GPS for autonomous navigation will be an objective even for low-cost spacecraft of only modest sophistication. When the GPS receiver is equipped with multiple antennas with baselines even as low as about one meter, it can also give attitude information. In this case, the position of the spacecraft needs to be known with only very moderate accuracy. However, the phase differences between signals received by the different antennas now constitute the key measurements. In this case a centimeter level accuracy of range difference can be obtained. Receivers carrying out the processing of such measurements are already on the market, even in space-qualified versions. For spacecraft maneuvering at low rates, accuracies of the order of tenths of a degree are achievable. There are reasons for maintaining classical attitude sensor suites on a spacecraft even when a GPS receiver is added. In this case the classical sensors may be allowed to be of modest quality only, as subsequent fusion of their data with those from the GPS receiver may restore the accuracy of the final estimate again to an acceptable level. Hence, low-cost attitude sensors combined with a low-cost GPS receiver can still satisfy non-trivial attitude reconstitution accuracy requirements. As carrier phase difference measurements are ambiguous because of the unknown number of GPS signal cycles received, the estimated attitude is in principle ambiguous as well. Therefore, resolution of the GPS signal cycle ambiguity becomes a necessary task before determining the attitude for a stand-alone GPS attitude sensing system. This problem may be solved by introducing additional low-cost reference attitude sensors like three-axis magnetometers. This is also one of the advantages of integrated sensor systems. The paper is organized as follows. Global Positioning System and GPS observables are described in the first two sections. The main attitude determination concepts are presented in the next section. For small spacecraft, GPS integrated with other low-cost attitude sensors results in a data fusion concept, to be discussed next. The last section highlights experiences and on-going projects related to the spacecraft attitude determination using GPS.

Simulation of a navigator algorithm for a low-cost GPS receiver

NASA Technical Reports Server (NTRS)

Hodge, W. F.

1980-01-01

The analytical structure of an existing navigator algorithm for a low cost global positioning system receiver is described in detail to facilitate its implementation on in-house digital computers and real-time simulators. The material presented includes a simulation of GPS pseudorange measurements, based on a two-body representation of the NAVSTAR spacecraft orbits, and a four component model of the receiver bias errors. A simpler test for loss of pseudorange measurements due to spacecraft shielding is also noted.

Improved Modeling in a Matlab-Based Navigation System

NASA Technical Reports Server (NTRS)

Deutschmann, Julie; Bar-Itzhack, Itzhack; Harman, Rick; Larimore, Wallace E.

1999-01-01

An innovative approach to autonomous navigation is available for low earth orbit satellites. The system is developed in Matlab and utilizes an Extended Kalman Filter (EKF) to estimate the attitude and trajectory based on spacecraft magnetometer and gyro data. Preliminary tests of the system with real spacecraft data from the Rossi X-Ray Timing Explorer Satellite (RXTE) indicate the existence of unmodeled errors in the magnetometer data. Incorporating into the EKF a statistical model that describes the colored component of the effective measurement of the magnetic field vector could improve the accuracy of the trajectory and attitude estimates and also improve the convergence time. This model is identified as a first order Markov process. With the addition of the model, the EKF attempts to identify the non-white components of the noise allowing for more accurate estimation of the original state vector, i.e. the orbital elements and the attitude. Working in Matlab allows for easy incorporation of new models into the EKF and the resulting navigation system is generic and can easily be applied to future missions resulting in an alternative in onboard or ground-based navigation.

Autonomous Relative Navigation for Formation-Flying Satellites Using GPS

NASA Technical Reports Server (NTRS)

Gramling, Cheryl; Carpenter, J. Russell; Long, Anne; Kelbel, David; Lee, Taesul

2000-01-01

The Goddard Space Flight Center is currently developing advanced spacecraft systems to provide autonomous navigation and control of formation flyers. This paper discusses autonomous relative navigation performance for a formation of four eccentric, medium-altitude Earth-orbiting satellites using Global Positioning System (GPS) Standard Positioning Service (SPS) and "GPS-like " intersatellite measurements. The performance of several candidate relative navigation approaches is evaluated. These analyses indicate that an autonomous relative navigation position accuracy of 1meter root-mean-square can be achieved by differencing high-accuracy filtered solutions if only measurements from common GPS space vehicles are used in the independently estimated solutions.

Design and validation of a GNC system for missions to asteroids: the AIM scenario

NASA Astrophysics Data System (ADS)

Pellacani, A.; Kicman, P.; Suatoni, M.; Casasco, M.; Gil, J.; Carnelli, I.

2017-12-01

Deep space missions, and in particular missions to asteroids, impose a certain level of autonomy that depends on the mission objectives. If the mission requires the spacecraft to perform close approaches to the target body (the extreme case being a landing scenario), the autonomy level must be increased to guarantee the fast and reactive response which is required in both nominal and contingency operations. The GNC system must be designed in accordance with the required level of autonomy. The GNC system designed and tested in the frame of ESA's Asteroid Impact Mission (AIM) system studies (Phase A/B1 and Consolidation Phase) is an example of an autonomous GNC system that meets the challenging objectives of AIM. The paper reports the design of such GNC system and its validation through a DDVV plan that includes Model-in-the-Loop and Hardware-in-the-Loop testing. Main focus is the translational navigation, which is able to provide online the relative state estimation with respect to the target body using exclusively cameras as relative navigation sensors. The relative navigation outputs are meant to be used for nominal spacecraft trajectory corrections as well as to estimate the collision risk with the asteroid and, if needed, to command the execution of a collision avoidance manoeuvre to guarantee spacecraft safety

Reference earth orbital research and applications investigations (blue book). Volume 5: Communications/navigation

NASA Technical Reports Server (NTRS)

1971-01-01

The design and development of a communications/navigation facility for operation aboard space stations and space shuttles are discussed. The objectives of the facility are as follows: (1) to develop and demonstrate satellite and spacecraft technology applicable to space communications, navigation, and traffic control, (2) to optimize the use of the electromagnetic spectrum for communications and navigation satellite systems, and (3) to provide fundamental understanding of the space communications and navigation sciences to permit application of this discipline to government and industry.

TDRSS Onboard Navigation System (TONS) experiment for the Explorer Platform (EP)

NASA Astrophysics Data System (ADS)

Gramling, C. J.; Hornstein, R. S.; Long, A. C.; Samii, M. V.; Elrod, B. D.

A TDRSS Onboard Navigation System (TONS) is currently being developed by NASA to provide a high-accuracy autonomous spacecraft navigation capability for users of TDRSS and its successor, the Advanced TDRSS. A TONS experiment will be performed in conjunction with the Explorer Platform (EP)/EUV Explorer mission to flight-qualify TONS Block I. This paper presents an overview of TDRSS on-board navigation goals and plans and the technical objectives of the TONS experiment. The operations concept of the experiment is described, including the characteristics of the ultrastable oscillator, the Doppler extractor, the signal-acquisition process, the TONS ground-support system, and the navigation flight software. A description of the on-board navigation algorithms and the rationale for their selection is also presented.

Tracking Data Acquisition System (TDAS) for the 1990's. Volume 6: TDAS navigation system architecture

NASA Technical Reports Server (NTRS)

Elrod, B. D.; Jacobsen, A.; Cook, R. A.; Singh, R. N. P.

1983-01-01

One-way range and Doppler methods for providing user orbit and time determination are examined. Forward link beacon tracking, with on-board processing of independent navigation signals broadcast continuously by TDAS spacecraft; forward link scheduled tracking; with on-board processing of navigation data received during scheduled TDAS forward link service intervals; and return link scheduled tracking; with ground-based processing of user generated navigation data during scheduled TDAS return link service intervals are discussed. A system level definition and requirements assessment for each alternative, an evaluation of potential navigation performance and comparison with TDAS mission model requirements is included. TDAS satellite tracking is also addressed for two alternatives: BRTS and VLBI tracking.

Expanding Hardware-in-the-Loop Formation Navigation and Control with Radio Frequency Crosslink Ranging

NASA Technical Reports Server (NTRS)

Mitchell, Jason W.; Barbee, Brent W.; Baldwin, Philip J.; Luquette, Richard J.

2007-01-01

The Formation Flying Testbed (FFTB) at the National Aeronautics and Space Administration (NASA) Goddard Space Flight Center (GSFC) provides a hardware-in-the-loop test environment for formation navigation and control. The facility continues to evolve as a modular, hybrid, dynamic simulation facility for end-to-end guidance, navigation, and control (GN&C) design and analysis of formation flying spacecraft. The core capabilities of the FFTB, as a platform for testing critical hardware and software algorithms in-the-loop, are reviewed with a focus on recent improvements. With the most recent improvement, in support of Technology Readiness Level (TRL) 6 testing of the Inter-spacecraft Ranging and Alarm System (IRAS) for the Magnetospheric Multiscale (MMS) mission, the FFTB has significantly expanded its ability to perform realistic simulations that require Radio Frequency (RF) ranging sensors for relative navigation with the Path Emulator for RF Signals (PERFS). The PERFS, currently under development at NASA GSFC, modulates RF signals exchanged between spacecraft. The RF signals are modified to accurately reflect the dynamic environment through which they travel, including the effects of medium, moving platforms, and radiated power.

An Integrated Vision-Based System for Spacecraft Attitude and Topology Determination for Formation Flight Missions

NASA Technical Reports Server (NTRS)

Rogers, Aaron; Anderson, Kalle; Mracek, Anna; Zenick, Ray

2004-01-01

With the space industry's increasing focus upon multi-spacecraft formation flight missions, the ability to precisely determine system topology and the orientation of member spacecraft relative to both inertial space and each other is becoming a critical design requirement. Topology determination in satellite systems has traditionally made use of GPS or ground uplink position data for low Earth orbits, or, alternatively, inter-satellite ranging between all formation pairs. While these techniques work, they are not ideal for extension to interplanetary missions or to large fleets of decentralized, mixed-function spacecraft. The Vision-Based Attitude and Formation Determination System (VBAFDS) represents a novel solution to both the navigation and topology determination problems with an integrated approach that combines a miniature star tracker with a suite of robust processing algorithms. By combining a single range measurement with vision data to resolve complete system topology, the VBAFDS design represents a simple, resource-efficient solution that is not constrained to certain Earth orbits or formation geometries. In this paper, analysis and design of the VBAFDS integrated guidance, navigation and control (GN&C) technology will be discussed, including hardware requirements, algorithm development, and simulation results in the context of potential mission applications.

Autonomous Navigation With Ground Station One-Way Forward-Link Doppler Data

NASA Technical Reports Server (NTRS)

Horstkamp, G. M.; Niklewski, D. J.; Gramling, C. J.

1996-01-01

The National Aeronautics and Space Administration (NASA) Goddard Space Flight Center (GSFC) has spent several years developing operational onboard navigation systems (ONS's) to provide real time autonomous, highly accurate navigation products for spacecraft using NASA's space and ground communication systems. The highly successful Tracking and Data Relay Satellite (TDRSS) ONS (TONS) experiment on the Explorer Platform/Extreme Ultraviolet (EP/EUV) spacecraft, launched on June 7, 1992, flight demonstrated the ONS for high accuracy navigation using TDRSS forward link communication services. In late 1994, a similar ONS experiment was performed using EP/EUV flight hardware (the ultrastable oscillator and Doppler extractor card in one of the TDRSS transponders) and ground system software to demonstrate the feasibility of using an ONS with ground station forward link communication services. This paper provides a detailed evaluation of ground station-based ONS performance of data collected over a 20 day period. The ground station ONS (GONS) experiment results are used to project the expected performance of an operational system. The GONS processes Doppler data derived from scheduled ground station forward link services using a sequential estimation algorithm enhanced by a sophisticated process noise model to provide onboard orbit and frequency determination. Analysis of the GONS experiment performance indicates that real time onboard position accuracies of better than 125 meters (1 sigma) are achievable with two or more 5-minute contacts per day for the EP/EUV 525 kilometer altitude, 28.5 degree inclination orbit. GONS accuracy is shown to be a function of the fidelity of the onboard propagation model, the frequency/geometry of the tracking contacts, and the quality of the tracking measurements. GONS provides a viable option for using autonomous navigation to reduce operational costs for upcoming spacecraft missions with moderate position accuracy requirements.

Automatic AVHRR image navigation software

NASA Technical Reports Server (NTRS)

Baldwin, Dan; Emery, William

1992-01-01

This is the final report describing the work done on the project entitled Automatic AVHRR Image Navigation Software funded through NASA-Washington, award NAGW-3224, Account 153-7529. At the onset of this project, we had developed image navigation software capable of producing geo-registered images from AVHRR data. The registrations were highly accurate but required a priori knowledge of the spacecraft's axes alignment deviations, commonly known as attitude. The three angles needed to describe the attitude are called roll, pitch, and yaw, and are the components of the deviations in the along scan, along track and about center directions. The inclusion of the attitude corrections in the navigation software results in highly accurate georegistrations, however, the computation of the angles is very tedious and involves human interpretation for several steps. The technique also requires easily identifiable ground features which may not be available due to cloud cover or for ocean data. The current project was motivated by the need for a navigation system which was automatic and did not require human intervention or ground control points. The first step in creating such a system must be the ability to parameterize the spacecraft's attitude. The immediate goal of this project was to study the attitude fluctuations and determine if they displayed any systematic behavior which could be modeled or parameterized. We chose a period in 1991-1992 to study the attitude of the NOAA 11 spacecraft using data from the Tiros receiving station at the Colorado Center for Astrodynamic Research (CCAR) at the University of Colorado.

Onboard Science Data Analysis: Opportunities, Benefits, and Effects on Mission Design

NASA Technical Reports Server (NTRS)

Stolorz, P.; Cheeseman, P.

1998-01-01

Much of the initial focus for spacecraft autonomy has been on developing new software and systems concepts to automate engineering functions of the spacecraft: guidance, navigation and control, fault protection, and resources management. However, the ultimate objectives of NASA missions are science objectives, which implies that we need a new framework for perfoming science data evaluation and observation planning autonomously onboard spacecraft.

Crew-Aided Autonomous Navigation Project

NASA Technical Reports Server (NTRS)

Holt, Greg

2015-01-01

Manual capability to perform star/planet-limb sightings provides a cheap, simple, and robust backup navigation source for exploration missions independent from the ground. Sextant sightings from spacecraft were first exercised in Gemini and flew as the loss-of-communications backup for all Apollo missions. This study seeks to procure and characterize error sources of navigation-grade sextants for feasibility of taking star and planetary limb sightings from inside a spacecraft. A series of similar studies was performed in the early/mid-1960s in preparation for Apollo missions, and one goal of this study is to modernize and update those findings. This technique has the potential to deliver significant risk mitigation, validation, and backup to more complex low-TRL automated systems under development involving cameras.

Modular Software for Spacecraft Navigation Using the Global Positioning System (GPS)

NASA Technical Reports Server (NTRS)

Truong, S. H.; Hartman, K. R.; Weidow, D. A.; Berry, D. L.; Oza, D. H.; Long, A. C.; Joyce, E.; Steger, W. L.

1996-01-01

The Goddard Space Flight Center Flight Dynamics and Mission Operations Divisions have jointly investigated the feasibility of engineering modular Global Positioning SYSTEM (GPS) navigation software to support both real time flight and ground postprocessing configurations. The goals of this effort are to define standard GPS data interfaces and to engineer standard, reusable navigation software components that can be used to build a broad range of GPS navigation support applications. The paper discusses the GPS modular software (GMOD) system and operations concepts, major requirements, candidate software architecture, feasibility assessment and recommended software interface standards. In additon, ongoing efforts to broaden the scope of the initial study and to develop modular software to support autonomous navigation using GPS are addressed,

Compact autonomous navigation system (CANS)

NASA Astrophysics Data System (ADS)

Hao, Y. C.; Ying, L.; Xiong, K.; Cheng, H. Y.; Qiao, G. D.

2017-11-01

Autonomous navigation of Satellite and constellation has series of benefits, such as to reduce operation cost and ground station workload, to avoid the event of crises of war and natural disaster, to increase spacecraft autonomy, and so on. Autonomous navigation satellite is independent of ground station support. Many systems are developed for autonomous navigation of satellite in the past 20 years. Along them American MANS (Microcosm Autonomous Navigation System) [1] of Microcosm Inc. and ERADS [2] [3] (Earth Reference Attitude Determination System) of Honeywell Inc. are well known. The systems anticipate a series of good features of autonomous navigation and aim low cost, integrated structure, low power consumption and compact layout. The ERADS is an integrated small 3-axis attitude sensor system with low cost and small volume. It has the Earth center measurement accuracy higher than the common IR sensor because the detected ultraviolet radiation zone of the atmosphere has a brightness gradient larger than that of the IR zone. But the ERADS is still a complex system because it has to eliminate many problems such as making of the sapphire sphere lens, birefringence effect of sapphire, high precision image transfer optical fiber flattener, ultraviolet intensifier noise, and so on. The marginal sphere FOV of the sphere lens of the ERADS is used to star imaging that may be bring some disadvantages., i.e. , the image energy and attitude measurements accuracy may be reduced due to the tilt image acceptance end of the fiber flattener in the FOV. Besides Japan, Germany and Russia developed visible earth sensor for GEO [4] [5]. Do we have a way to develop a cheaper/easier and more accurate autonomous navigation system that can be used to all LEO spacecraft, especially, to LEO small and micro satellites? To return this problem we provide a new type of the system—CANS (Compact Autonomous Navigation System) [6].

Laser-Camera Vision Sensing for Spacecraft Mobile Robot Navigation

NASA Technical Reports Server (NTRS)

Maluf, David A.; Khalil, Ahmad S.; Dorais, Gregory A.; Gawdiak, Yuri

2002-01-01

The advent of spacecraft mobile robots-free-flyng sensor platforms and communications devices intended to accompany astronauts or remotely operate on space missions both inside and outside of a spacecraft-has demanded the development of a simple and effective navigation schema. One such system under exploration involves the use of a laser-camera arrangement to predict relative positioning of the mobile robot. By projecting laser beams from the robot, a 3D reference frame can be introduced. Thus, as the robot shifts in position, the position reference frame produced by the laser images is correspondingly altered. Using normalization and camera registration techniques presented in this paper, the relative translation and rotation of the robot in 3D are determined from these reference frame transformations.

The Telecommunications and Data Acquisition Report

NASA Technical Reports Server (NTRS)

Posner, E. C. (Editor)

1988-01-01

Deep Space Network and Systems topics addressed include: tracking and ground-base navigation; communications, spacecraft-ground; station control and system technology; capabilities for existing projects; and network upgrading and sustaining.

Orbit Determination and Navigation Software Testing for the Mars Reconnaissance Orbiter

NASA Technical Reports Server (NTRS)

Pini, Alex

2011-01-01

During the extended science phase of the Mars Reconnaissance Orbiter's lifecycle, the operational duties pertaining to navigation primarily involve orbit determination. The orbit determination process utilizes radiometric tracking data and is used for the prediction and reconstruction of MRO's trajectories. Predictions are done twice per week for ephemeris updates on-board the spacecraft and for planning purposes. Orbit Trim Maneuvers (OTM-s) are also designed using the predicted trajectory. Reconstructions, which incorporate a batch estimator, provide precise information about the spacecraft state to be synchronized with scientific measurements. These tasks were conducted regularly to validate the results obtained by the MRO Navigation Team. Additionally, the team is in the process of converting to newer versions of the navigation software and operating system. The capability to model multiple densities in the Martian atmosphere is also being implemented. However, testing outputs among these different configurations was necessary to ensure compliance to a satisfactory degree.

Navigation Architecture for a Space Mobile Network

NASA Technical Reports Server (NTRS)

Valdez, Jennifer E.; Ashman, Benjamin; Gramling, Cheryl; Heckler, Gregory W.; Carpenter, Russell

2016-01-01

The Tracking and Data Relay Satellite System (TDRSS) Augmentation Service for Satellites (TASS) is a proposed beacon service to provide a global, space based GPS augmentation service based on the NASA Global Differential GPS (GDGPS) System. The TASS signal will be tied to the GPS time system and usable as an additional ranging and Doppler radiometric source. Additionally, it will provide data vital to autonomous navigation in the near Earth regime, including space weather information, TDRS ephemerides, Earth Orientation Parameters (EOP), and forward commanding capability. TASS benefits include enhancing situational awareness, enabling increased autonomy, and providing near real-time command access for user platforms. As NASA Headquarters' Space Communication and Navigation Office (SCaN) begins to move away from a centralized network architecture and towards a Space Mobile Network (SMN) that allows for user initiated services, autonomous navigation will be a key part of such a system. This paper explores how a TASS beacon service enables the Space Mobile Networking paradigm, what a typical user platform would require, and provides an in-depth analysis of several navigation scenarios and operations concepts. This paper provides an overview of the TASS beacon and its role within the SMN and user community. Supporting navigation analysis is presented for two user mission scenarios: an Earth observing spacecraft in low earth orbit (LEO), and a highly elliptical spacecraft in a lunar resonance orbit. These diverse flight scenarios indicate the breadth of applicability of the TASS beacon for upcoming users within the current network architecture and in the SMN.

Deep-space navigation applications of improved ground-based optical astrometry

NASA Technical Reports Server (NTRS)

Null, G. W.; Owen, W. M., Jr.; Synnott, S. P.

1992-01-01

Improvements in ground-based optical astrometry will eventually be required for navigation of interplanetary spacecraft when these spacecraft communicate at optical wavelengths. Although such spacecraft may be some years off, preliminary versions of the astrometric technology can also be used to obtain navigational improvements for the Galileo and Cassini missions. This article describes a technology-development and observational program to accomplish this, including a cooperative effort with U.S. Naval Observatory Flagstaff Station. For Galileo, Earth-based astrometry of Jupiter's Galilean satellites may improve their ephemeris accuracy by a factor of 3 to 6. This would reduce the requirements for onboard optical navigation pictures, so that more of the data transmission capability (currently limited by high-gain antenna deployment problems) can be used for science data. Also, observations of European Space Agency (ESA) Hipparcos stars with asteroid 243 Ida may provide significantly improved navigation accuracy for a planned August 1993 Galileo spacecraft encounter.

GN&C Engineering Best Practices for Human-Rated Spacecraft Systems

NASA Technical Reports Server (NTRS)

Dennehy, Cornelius J.; Lebsock, Kenneth; West, John

2007-01-01

The NASA Engineering and Safety Center (NESC) recently completed an in-depth assessment to identify a comprehensive set of engineering considerations for the Design, Development, Test and Evaluation (DDT&E) of safe and reliable human-rated spacecraft systems. Reliability subject matter experts, discipline experts, and systems engineering experts were brought together to synthesize the current "best practices" both at the spacecraft system and subsystems levels. The objective of this paper is to summarize, for the larger Community of Practice, the initial set of Guidance, Navigation and Control (GN&C) engineering Best Practices as identified by this NESC assessment process.

GN&C Engineering Best Practices for Human-Rated Spacecraft System

NASA Technical Reports Server (NTRS)

Dennehy, Cornelius J.; Lebsock, Kenneth; West, John

2008-01-01

The NASA Engineering and Safety Center (NESC) recently completed an in-depth assessment to identify a comprehensive set of engineering considerations for the Design, Development, Test and Evaluation (DDT&E) of safe and reliable human-rated spacecraft systems. Reliability subject matter experts, discipline experts, and systems engineering experts were brought together to synthesize the current "best practices" both at the spacecraft system and subsystems levels. The objective of this paper is to summarize, for the larger Community of Practice, the initial set of Guidance, Navigation and Control (GN&C) engineering Best Practices as identified by this NESC assessment process.

GN&C Engineering Best Practices For Human-Rated Spacecraft Systems

NASA Technical Reports Server (NTRS)

Dennehy, Cornelius J.; Lebsock, Kenneth; West, John

2007-01-01

The NASA Engineering and Safety Center (NESC) recently completed an in-depth assessment to identify a comprehensive set of engineering considerations for the Design, Development, Test and Evaluation (DDT&E) of safe and reliable human-rated spacecraft systems. Reliability subject matter experts, discipline experts, and systems engineering experts were brought together to synthesize the current "best practices" both at the spacecraft system and subsystems levels. The objective of this paper is to summarize, for the larger Community of Practice, the initial set of Guidance, Navigation and Control (GN&C) engineering Best Practices as identified by this NESC assessment process.

Autonomous spacecraft maintenance study group

NASA Technical Reports Server (NTRS)

Marshall, M. H.; Low, G. D.

1981-01-01

A plan to incorporate autonomous spacecraft maintenance (ASM) capabilities into Air Force spacecraft by 1989 is outlined. It includes the successful operation of the spacecraft without ground operator intervention for extended periods of time. Mechanisms, along with a fault tolerant data processing system (including a nonvolatile backup memory) and an autonomous navigation capability, are needed to replace the routine servicing that is presently performed by the ground system. The state of the art fault handling capabilities of various spacecraft and computers are described, and a set conceptual design requirements needed to achieve ASM is established. Implementations for near term technology development needed for an ASM proof of concept demonstration by 1985, and a research agenda addressing long range academic research for an advanced ASM system for 1990s are established.

Attitude Estimation in Fractionated Spacecraft Cluster Systems

NASA Technical Reports Server (NTRS)

Hadaegh, Fred Y.; Blackmore, James C.

2011-01-01

An attitude estimation was examined in fractioned free-flying spacecraft. Instead of a single, monolithic spacecraft, a fractionated free-flying spacecraft uses multiple spacecraft modules. These modules are connected only through wireless communication links and, potentially, wireless power links. The key advantage of this concept is the ability to respond to uncertainty. For example, if a single spacecraft module in the cluster fails, a new one can be launched at a lower cost and risk than would be incurred with onorbit servicing or replacement of the monolithic spacecraft. In order to create such a system, however, it is essential to know what the navigation capabilities of the fractionated system are as a function of the capabilities of the individual modules, and to have an algorithm that can perform estimation of the attitudes and relative positions of the modules with fractionated sensing capabilities. Looking specifically at fractionated attitude estimation with startrackers and optical relative attitude sensors, a set of mathematical tools has been developed that specify the set of sensors necessary to ensure that the attitude of the entire cluster ( cluster attitude ) can be observed. Also developed was a navigation filter that can estimate the cluster attitude if these conditions are satisfied. Each module in the cluster may have either a startracker, a relative attitude sensor, or both. An extended Kalman filter can be used to estimate the attitude of all modules. A range of estimation performances can be achieved depending on the sensors used and the topology of the sensing network.

Tuning and Robustness Analysis for the Orion Absolute Navigation System

NASA Technical Reports Server (NTRS)

Holt, Greg N.; Zanetti, Renato; D'Souza, Christopher

2013-01-01

The Orion Multi-Purpose Crew Vehicle (MPCV) is currently under development as NASA's next-generation spacecraft for exploration missions beyond Low Earth Orbit. The MPCV is set to perform an orbital test ight, termed Exploration Flight Test 1 (EFT-1), some time in late 2014. The navigation system for the Orion spacecraft is being designed in a Multi-Organizational Design Environment (MODE) team including contractor and NASA personnel. The system uses an Extended Kalman Filter to process measurements and determine the state. The design of the navigation system has undergone several iterations and modi cations since its inception, and continues as a work-in-progress. This paper seeks to show the e orts made to-date in tuning the lter for the EFT-1 mission and instilling appropriate robustness into the system to meet the requirements of manned space ight. The results generally show Monte Carlo error performance bounded by the lter uncertainty for all phases of ight. Some future items of investigation are presented related to suspected anomalies in the trajectory truth reference le.

Orion Integrated Guidance, Navigation, and Control [GN and C

NASA Technical Reports Server (NTRS)

Chevray, Kay

2009-01-01

This slide presentation reviews the integrated Guidance, Navigation and Control (iGN&C) system in the design for the Orion spacecraft. Included in the review are the plans for the design and development of the external interfaces, the functional architecture, the iGN&C software, the development and validation process, and the key challenges that are involved in the development of the iGN&C system

Calibration of Viking imaging system pointing, image extraction, and optical navigation measure

NASA Technical Reports Server (NTRS)

Breckenridge, W. G.; Fowler, J. W.; Morgan, E. M.

1977-01-01

Pointing control and knowledge accuracy of Viking Orbiter science instruments is controlled by the scan platform. Calibration of the scan platform and the imaging system was accomplished through mathematical models. The calibration procedure and results obtained for the two Viking spacecraft are described. Included are both ground and in-flight scan platform calibrations, and the additional calibrations unique to optical navigation.

Results of the Magnetometer Navigation (MAGNAV)lnflight Experiment

NASA Technical Reports Server (NTRS)

Thienel, Julie K.; Harman, Richard R.; Bar-Itzhack, Itzhack Y.; Lambertson, Mike

2004-01-01

The Magnetometer Navigation (MAGNAV) algorithm is currently running as a flight experiment as part of the Wide Field Infrared Explorer (WIRE) Post-Science Engineering Testbed. Initialization of MAGNAV occurred on September 4, 2003. MAGNAV is designed to autonomously estimate the spacecraft orbit, attitude, and rate using magnetometer and sun sensor data. Since the Earth's magnetic field is a function of time and position, and since time is known quite precisely, the differences between the computed magnetic field and measured magnetic field components, as measured by the magnetometer throughout the entire spacecraft orbit, are a function of the spacecraft trajectory and attitude errors. Therefore, these errors are used to estimate both trajectory and attitude. In addition, the time rate of change of the magnetic field vector is used to estimate the spacecraft rotation rate. The estimation of the attitude and trajectory is augmented with the rate estimation into an Extended Kalman filter blended with a pseudo-linear Kalman filter. Sun sensor data is also used to improve the accuracy and observability of the attitude and rate estimates. This test serves to validate MAGNAV as a single low cost navigation system which utilizes reliable, flight qualified sensors. MAGNAV is intended as a backup algorithm, an initialization algorithm, or possibly a prime navigation algorithm for a mission with coarse requirements. Results from the first six months of operation are presented.

Spacecraft-spacecraft radio-metric tracking: Signal acquisition requirements and application to Mars approach navigation

NASA Technical Reports Server (NTRS)

Kahn, R. D.; Thurman, S.; Edwards, C.

1994-01-01

Doppler and ranging measurements between spacecraft can be obtained only when the ratio of the total received signal power to noise power density (P(sub t)/N(sub 0)) at the receiving spacecraft is sufficiently large that reliable signal detection can be achieved within a reasonable time period. In this article, the requirement on P(sub t)/N(sub 0) for reliable carrier signal detection is calculated as a function of various system parameters, including characteristics of the spacecraft computing hardware and a priori uncertainty in spacecraft-spacecraft relative velocity and acceleration. Also calculated is the P(sub t)/N(sub 0) requirements for reliable detection of a ranging signal, consisting of a carrier with pseudonoise (PN) phase modulation. Once the P(sub t)/N(sub 0) requirement is determined, then for a given set of assumed spacecraft telecommunication characteristics (transmitted signal power, antenna gains, and receiver noise temperatures) it is possible to calculate the maximum range at which a carrier signal or ranging signal may be acquired. For example, if a Mars lander and a spacecraft approaching Mars are each equipped with 1-m-diameter antennas, the transmitted power is 5 W, and the receiver noise temperatures are 350 K, then S-band carrier signal acquisition can be achieved at ranges exceeding 10 million km. An error covariance analysis illustrates the utility of in situ Doppler and ranging measurements for Mars approach navigation. Covariance analysis results indicate that navigation accuracies of a few km can be achieved with either data type. The analysis also illustrates dependency of the achievable accuracy on the approach trajectory velocity.

Application of new radio tracking data types to critical spacecraft navigation problems

NASA Technical Reports Server (NTRS)

Ondrasik, V. J.; Rourke, K. H.

1972-01-01

Earth-based radio tracking data types are considered, which involve simultaneous or nearly simultaneous spacecraft tracking from widely separated tracking stations. These data types are conventional tracking instrumentation analogs of the very long baseline interferometry (VLBI) of radio astronomy-hence the name quasi-VLBI. A preliminary analysis of quasi-VLBI is presented using simplified tracking data models. The results of accuracy analyses are presented for a representative mission, Viking 1975. The results indicate that, contingent on projected tracking system accuracy, quasi-VLBI can be expected to significantly improve navigation performance over that expected from conventional tracking data types.

Guidance and Navigation Software Architecture Design for the Autonomous Multi-Agent Physically Interacting Spacecraft (AMPHIS) Test Bed

DTIC Science & Technology

2006-12-01

NAVIGATION SOFTWARE ARCHITECTURE DESIGN FOR THE AUTONOMOUS MULTI-AGENT PHYSICALLY INTERACTING SPACECRAFT (AMPHIS) TEST BED by Blake D. Eikenberry...Engineer Degree 4. TITLE AND SUBTITLE Guidance and Navigation Software Architecture Design for the Autonomous Multi- Agent Physically Interacting...iii Approved for public release; distribution is unlimited GUIDANCE AND NAVIGATION SOFTWARE ARCHITECTURE DESIGN FOR THE AUTONOMOUS MULTI

The Telecommunications and Data Acquisition Report

NASA Technical Reports Server (NTRS)

Posner, E. C. (Editor)

1991-01-01

This quarterly reports on space communications, radio navigation, radio science, and ground based radio and radar astronomy in connection with the Deep Space Network (DSN) in planning, supporting research and technology, implementation, and in operations. Also included is standards activity at JPL for space data and information systems and DSN work. Specific areas of research are: Tracking and ground based navigation; Spacecraft and ground communications; Station control and system technology; DSN Systems Implementation; and DSN Operations.

Autonomous navigation - The ARMMS concept. [Autonomous Redundancy and Maintenance Management Subsystem

NASA Technical Reports Server (NTRS)

Wood, L. J.; Jones, J. B.; Mease, K. D.; Kwok, J. H.; Goltz, G. L.; Kechichian, J. A.

1984-01-01

A conceptual design is outlined for the navigation subsystem of the Autonomous Redundancy and Maintenance Management Subsystem (ARMMS). The principal function of this navigation subsystem is to maintain the spacecraft over a specified equatorial longitude to within + or - 3 deg. In addition, the navigation subsystem must detect and correct internal faults. It comprises elements for a navigation executive and for orbit determination, trajectory, maneuver planning, and maneuver command. Each of these elements is described. The navigation subsystem is to be used in the DSCS III spacecraft.

Autonomous Vision Navigation for Spacecraft in Lunar Orbit

NASA Astrophysics Data System (ADS)

Bader, Nolan A.

NASA aims to achieve unprecedented navigational reliability for the first manned lunar mission of the Orion spacecraft in 2023. A technique for accomplishing this is to integrate autonomous feature tracking as an added means of improving position and velocity estimation. In this thesis, a template matching algorithm and optical sensor are tested onboard three simulated lunar trajectories using linear covariance techniques under various conditions. A preliminary characterization of the camera gives insight into its ability to determine azimuth and elevation angles to points on the surface of the Moon. A navigation performance analysis shows that an optical camera sensor can aid in decreasing position and velocity errors, particularly in a loss of communication scenario. Furthermore, it is found that camera quality and computational capability are driving factors affecting the performance of such a system.

The Telecommunications and Data Acquisition Report

NASA Technical Reports Server (NTRS)

Posner, E. C. (Editor)

1984-01-01

Tracking and ground-based navigation; communications, spacecraft-ground; station control and system technology; capabilities for new projects; networks consolidation program; and network sustaining are described.

Preliminary Design of the Guidance, Navigation, and Control System of the Altair Lunar Lander

NASA Technical Reports Server (NTRS)

Lee, Allan Y.; Ely, Todd; Sostaric, Ronald; Strahan, Alan; Riedel, Joseph E.; Ingham, Mitch; Wincentsen, James; Sarani, Siamak

2010-01-01

Guidance, Navigation, and Control (GN&C) is the measurement and control of spacecraft position, velocity, and attitude in support of mission objectives. This paper provides an overview of a preliminary design of the GN&C system of the Lunar Lander Altair. Key functions performed by the GN&C system in various mission phases will first be described. A set of placeholder GN&C sensors that is needed to support these functions is next described. To meet Crew safety requirements, there must be high degrees of redundancy in the selected sensor configuration. Two sets of thrusters, one on the Ascent Module (AM) and the other on the Descent Module (DM), will be used by the GN&C system. The DM thrusters will be used, among other purposes, to perform course correction burns during the Trans-lunar Coast. The AM thrusters will be used, among other purposes, to perform precise angular and translational controls of the ascent module in order to dock the ascent module with Orion. Navigation is the process of measurement and control of the spacecraft's "state" (both the position and velocity vectors of the spacecraft). Tracking data from the Earth-Based Ground System (tracking antennas) as well as data from onboard optical sensors will be used to estimate the vehicle state. A driving navigation requirement is to land Altair on the Moon with a landing accuracy that is better than 1 km (radial 95%). Preliminary performance of the Altair GN&C design, relative to this and other navigation requirements, will be given. Guidance is the onboard process that uses the estimated state vector, crew inputs, and pre-computed reference trajectories to guide both the rotational and the translational motions of the spacecraft during powered flight phases. Design objectives of reference trajectories for various mission phases vary. For example, the reference trajectory for the descent "approach" phase (the last 3-4 minutes before touchdown) will sacrifice fuel utilization efficiency in order to provide landing site visibility for both the crew and the terrain hazard detection sensor system. One output of Guidance is the steering angle commands sent to the 2 degree-of-freedom (dof) gimbal actuation system of the descent engine. The engine gimbal actuation system is controlled by a Thrust Vector Control algorithm that is designed taking into account the large quantities of sloshing liquids in tanks mounted on Altair. In this early design phase of Altair, the GN&C system is described only briefly in this paper and the emphasis is on the GN&C architecture (that is still evolving). Multiple companion papers will provide details that are related to navigation, optical navigation, guidance, fuel sloshing, rendezvous and docking, machine-pilot interactions, and others. The similarities and differences of GN&C designs for Lunar and Mars landers are briefly compared.

JPRS Report, Science & Technology, Japan, 27th Aircraft Symposium

DTIC Science & Technology

1990-10-29

screen; the relative attitude is then determined . 2) Video Sensor System Specific patterns (grapple target, etc.) drawn on the target spacecraft , or the...entire target spacecraft , is imaged by camera . Navigation information is obtained by on-board image processing, such as extraction of contours and...standard figure called "grapple target" located in the vicinity of the grapple fixture on the target spacecraft is imaged by camera . Contour lines and

Next-Generation Ground Network Architecture for Communications and Tracking of Interplanetary Smallsats

NASA Astrophysics Data System (ADS)

Cheung, K.-M.; Abraham, D.; Arroyo, B.; Basilio, E.; Babuscia, A.; Duncan, C.; Lee, D.; Oudrhiri, K.; Pham, T.; Staehle, R.; Waldherr, S.; Welz, G.; Wyatt, J.; Lanucara, M.; Malphrus, B.; Bellardo, J.; Puig-Suari, J.; Corpino, S.

2015-08-01

As small spacecraft venture out of Earth orbit, they will encounter challenges not experienced or addressed by the numerous low Earth orbit (LEO) CubeSat and smallsat missions staged to date. The LEO CubeSats typically use low-cost, proven CubeSat radios, antennas, and university ground stations with small apertures. As more ambitious yet cost-constrained space mission concepts to the Moon and beyond are being developed, CubeSats and smallsats have the potential to provide a more affordable platform for exploring deep space and performing the associated science. Some of the challenges that have, so far, slowed the proliferation of small interplanetary spacecraft are those of communications and navigation. Unlike Earth-orbiting spacecraft that navigate via government services such as North American Aerospace Defense Command's (NORAD's) tracking elements or the Global Positioning Satellite (GPS) system, interplanetary spacecraft would have to operate in a fundamentally different manner that allows the deep-space communications link to provide both command/telemetry and the radiometric data needed for navigation. Another challenge occurs when smallsat and CubeSat missions would involve multiple spacecraft that require near-simultaneous communication and/or navigation, but have a very limited number of ground antenna assets, as well as available spectrum, to support their links. To address these challenges, the Jet Propulsion Laboratory (JPL) and the Deep Space Network (DSN) it operates for NASA are pursuing the following efforts: (1) Developing a CubeSat-compatible, DSN-compatible transponder -- Iris -- which a commercial vendor can then make available as a product line. (2) Developing CubeSat-compatible high-gain antennas -- deployable reflectors, reflectarrays, and inflatable antennas. (3) Streamlining access and utilization processes for DSN and related services such as the Advanced Multi-Mission Operations System (AMMOS). (4) Developing methodologies for tracking and operating multiple spacecraft simultaneously, including spectrum coordination. (5) Coordination and collaboration with non-DSN facilities. This article further describes the communications and tracking challenges facing interplanetary smallsats and CubeSats, and the next-generation ground network architecture being evolved to mitigate those challenges.

Technology requirements for a generic aerocapture system. [for atmospheric entry

NASA Technical Reports Server (NTRS)

Cruz, M. I.

1980-01-01

The technology requirements for the design of a generic aerocapture vehicle system are summarized. These spacecraft have the capability of completely eliminating fuel-costly retropropulsion for planetary orbit capture through a single aerodynamically controlled atmospheric braking pass from a hyperbolic trajectory into a near circular orbit. This generic system has application at both the inner and outer planets. Spacecraft design integration, navigation, communications, and aerothermal protection system design problems were assessed in the technology requirements study and are discussed in this paper.

Deep Space Positioning System

NASA Technical Reports Server (NTRS)

Vaughan, Andrew T. (Inventor); Riedel, Joseph E. (Inventor)

2016-01-01

A single, compact, lower power deep space positioning system (DPS) configured to determine a location of a spacecraft anywhere in the solar system, and provide state information relative to Earth, Sun, or any remote object. For example, the DPS includes a first camera and, possibly, a second camera configured to capture a plurality of navigation images to determine a state of a spacecraft in a solar system. The second camera is located behind, or adjacent to, a secondary reflector of a first camera in a body of a telescope.

Autonomous GN and C for Spacecraft Exploration of Comets and Asteroids

NASA Technical Reports Server (NTRS)

Carson, John M.; Mastrodemos, Nickolaos; Myers, David M.; Acikmese, Behcet; Blackmore, James C.; Moussalis, Dhemetrio; Riedel, Joseph E.; Nolet, Simon; Chang, Johnny T.; Mandic, Milan;

Applications of different design methodologies in navigation systems and development at JPL

NASA Technical Reports Server (NTRS)

Thurman, S. W.

1990-01-01

The NASA/JPL deep space navigation system consists of a complex array of measurement systems, data processing systems, and support facilities, with components located both on the ground and on-board interplanetary spacecraft. From its beginings nearly 30 years ago, this system has steadily evolved and grown to meet the demands for ever-increasing navigation accuracy placed on it by a succession of unmanned planetary missions. Principal characteristics of this system are its capabilities and great complexity. Three examples in the design and development of interplanetary space navigation systems are examined in order to make a brief assessment of the usefulness of three basic design theories, known as normative, rational, and heuristic. Evaluation of the examples indicates that a heuristic approach, coupled with rational-based mathematical and computational analysis methods, is used most often in problems such as orbit determination strategy development and mission navigation system design, while normative methods have seen only limited use is such applications as the development of large software systems and in the design of certain operational navigation subsystems.

A GNC Perspective of the Launch and Commissioning of NASA's SMAP (Soil Moisture Active Passive) Spacecraft

NASA Technical Reports Server (NTRS)

Brown, Todd S.

2016-01-01

The NASA Soil Moisture Active Passive (SMAP) spacecraft was designed to use radar and radiometer measurements to produce global soil moisture measurements every 2-3 days. The SMAP spacecraft is a complicated dual-spinning design with a large 6 meter deployable mesh reflector mounted on a platform that spins at 14.6 rpm while the Guidance Navigation and Control algorithms maintain precise nadir pointing for the de-spun portion of the spacecraft. After launching in early 2015, the Guidance Navigation and Control software and hardware aboard the SMAP spacecraft underwent an intensive spacecraft checkout and commissioning period. This paper describes the activities performed by the Guidance Navigation and Control team to confirm the health and phasing of subsystem hardware and the functionality of the guidance and control modes and algorithms. The operations tasks performed, as well as anomalies that were encountered during the commissioning, are explained and results are summarized.

Navigating Space by the Stars

NASA Image and Video Library

2018-06-19

A tool that has helped guide sailors across oceans for centuries is now being tested aboard the International Space Station as a potential emergency navigation tool for guiding future spacecraft across the cosmos. The Sextant Navigation investigation tests use of a hand-held sextant aboard the space station. Sextants have a telescope-like optical sight to take precise angle measurements between pairs of stars from land or sea, enabling navigation without computer assistance. NASA’s Gemini missions conducted the first sextant sightings from a spacecraft, and designers built a sextant into Apollo vehicles as a navigation backup in the event the crew lost communications from their spacecraft. Jim Lovell demonstrated on Apollo 8 that sextant navigation could return a space vehicle home. Astronauts conducted additional sextant experiments on Skylab. Read more about the Sextant experiment happening aboard the space station: https://www.nasa.gov/mission_pages/station/research/news/Sextant_ISS HD Download: https://archive.org/details/jsc2018m000418_Navigating_Space_by_the_Stars

Navigating Space by the Stars - 16x9

NASA Image and Video Library

2018-06-18

A tool that has helped guide sailors across oceans for centuries is now being tested aboard the International Space Station as a potential emergency navigation tool for guiding future spacecraft across the cosmos. The Sextant Navigation investigation tests use of a hand-held sextant aboard the space station. Sextants have a telescope-like optical sight to take precise angle measurements between pairs of stars from land or sea, enabling navigation without computer assistance. NASA’s Gemini missions conducted the first sextant sightings from a spacecraft, and designers built a sextant into Apollo vehicles as a navigation backup in the event the crew lost communications from their spacecraft. Jim Lovell demonstrated on Apollo 8 that sextant navigation could return a space vehicle home. Astronauts conducted additional sextant experiments on Skylab. Read more about the Sextant experiment happening aboard the space station: https://www.nasa.gov/mission_pages/station/research/news/Sextant_ISS HD Download: https://archive.org/details/jsc2018m000418_Navigating_Space_by_the_Stars

Automated Rendezvous and Docking Sensor Testing at the Flight Robotics Laboratory

NASA Technical Reports Server (NTRS)

Mitchell, J.; Johnston, A.; Howard, R.; Williamson, M.; Brewster, L.; Strack, D.; Cryan, S.

2007-01-01

The Exploration Systems Architecture defines missions that require rendezvous, proximity operations, and docking (RPOD) of two spacecraft both in Low Earth Orbit (LEO) and in Low Lunar Orbit (LLO). Uncrewed spacecraft must perform automated and/or autonomous rendezvous, proximity operations and docking operations (commonly known as Automated Rendezvous and Docking, AR&D). The crewed versions may also perform AR&D, possibly with a different level of automation and/or autonomy, and must also provide the crew with relative navigation information for manual piloting. The capabilities of the RPOD sensors are critical to the success of the Exploration Program. NASA has the responsibility to determine whether the Crew Exploration Vehicle (CEV) contractor-proposed relative navigation sensor suite will meet the CEV requirements. The relatively low technology readiness of relative navigation sensors for AR&D has been carried as one of the CEV Projects top risks. The AR&D Sensor Technology Project seeks to reduce this risk by increasing technology maturation of selected relative navigation sensor technologies through testing and simulation, and to allow the CEV Project to assess the relative navigation sensors.

ULTOR(Registered TradeMark) Passive Pose and Position Engine For Spacecraft Relative Navigation

NASA Technical Reports Server (NTRS)

Hannah, S. Joel

2008-01-01

The ULTOR(Registered TradeMark) Passive Pose and Position Engine (P3E) technology, developed by Advanced Optical Systems, Inc (AOS), uses real-time image correlation to provide relative position and pose data for spacecraft guidance, navigation, and control. Potential data sources include a wide variety of sensors, including visible and infrared cameras. ULTOR(Registered TradeMark) P3E has been demonstrated on a number of host processing platforms. NASA is integrating ULTOR(Registerd TradeMark) P3E into its Relative Navigation System (RNS), which is being developed for the upcoming Hubble Space Telescope (HST) Servicing Mission 4 (SM4). During SM4 ULTOR(Registered TradeMark) P3E will perform realtime pose and position measurements during both the approach and departure phases of the mission. This paper describes the RNS implementation of ULTOR(Registered TradeMark) P3E, and presents results from NASA's hardware-in-the-loop simulation testing against the HST mockup.

Autonomous Spacecraft Navigation Using Above-the-Constellation GPS Signals

NASA Technical Reports Server (NTRS)

Winternitz, Luke

2017-01-01

GPS-based spacecraft navigation offers many performance and cost benefits, and GPS receivers are now standard GNC components for LEO missions. Recently, more and more high-altitude missions are taking advantage of the benefits of GPS navigation as well. High-altitude applications pose challenges, however, because receivers operating above the GPS constellations are subject to reduced signal strength and availability, and uncertain signal quality. This presentation will present the history and state-of-the-art in high-altitude GPS spacecraft navigation, including early experiments, current missions and receivers, and efforts to characterize and protect signals available to high-altitude users. Recent results from the very-high altitude MMS mission are also provided.

Spacecraft navigation at Mars using earth-based and in situ radio tracking techniques

NASA Astrophysics Data System (ADS)

Thurman, S. W.; Edwards, C. D.; Kahn, R. D.; Vijayaraghavan, A.; Hastrup, R. C.; Cesarone, R. J.

1992-08-01

A survey of earth-based and in situ radiometric data types and results from a number of studies investigating potential radio navigation performance for spacecraft approaching/orbiting Mars and for landed spacecraft and rovers on the surface of Mars are presented. The performance of Doppler, ranging and interferometry earth-based data types involving single or multiple spacecraft is addressed. This evaluation is conducted with that of in situ data types, such as Doppler and ranging measurements between two spacecraft near Mars, or between a spacecraft and one or more surface radio beacons.

Spacecraft navigation at Mars using earth-based and in situ radio tracking techniques

NASA Technical Reports Server (NTRS)

Thurman, S. W.; Edwards, C. D.; Kahn, R. D.; Vijayaraghavan, A.; Hastrup, R. C.; Cesarone, R. J.

1992-01-01

A survey of earth-based and in situ radiometric data types and results from a number of studies investigating potential radio navigation performance for spacecraft approaching/orbiting Mars and for landed spacecraft and rovers on the surface of Mars are presented. The performance of Doppler, ranging and interferometry earth-based data types involving single or multiple spacecraft is addressed. This evaluation is conducted with that of in situ data types, such as Doppler and ranging measurements between two spacecraft near Mars, or between a spacecraft and one or more surface radio beacons.

New High-Altitude GPS Navigation Results from the Magnetospheric Multiscale Spacecraft and Simulations at Lunar Distances

NASA Technical Reports Server (NTRS)

Winternitz, Luke B.; Bamford, William A.; Price, Samuel R.

2017-01-01

As reported in a companion work, in its first phase, NASA's 2015 highly elliptic Magnetospheric Multiscale (MMS) mission set a record for the highest altitude operational use of on-board GPS-based navigation, returning state estimates at 12 Earth radii. In early 2017 MMS transitioned to its second phase which doubled the apogee distance to 25 Earth radii, approaching halfway to the Moon. This paper will present results for GPS observability and navigation performance achieved in MMS Phase 2. Additionally, it will provide simulation results predicting the performance of the MMS navigation system applied to a pair of concept missions at Lunar distances. These studies will demonstrate how high-sensitivity GPS (or GNSS) receivers paired with onboard navigation software, as in MMS-Navigation system, can extend the envelope of autonomous onboard GPS navigation far from the Earth.

Relative Navigation of Formation Flying Satellites

NASA Technical Reports Server (NTRS)

Long, Anne; Kelbel, David; Lee, Taesul; Leung, Dominic; Carpenter, Russell; Gramling, Cheryl; Bauer, Frank (Technical Monitor)

2002-01-01

The Guidance, Navigation, and Control Center (GNCC) at Goddard Space Flight Center (GSFC) has successfully developed high-accuracy autonomous satellite navigation systems using the National Aeronautics and Space Administration's (NASA's) space and ground communications systems and the Global Positioning System (GPS). In addition, an autonomous navigation system that uses celestial object sensor measurements is currently under development and has been successfully tested using real Sun and Earth horizon measurements.The GNCC has developed advanced spacecraft systems that provide autonomous navigation and control of formation flyers in near-Earth, high-Earth, and libration point orbits. To support this effort, the GNCC is assessing the relative navigation accuracy achievable for proposed formations using GPS, intersatellite crosslink, ground-to-satellite Doppler, and celestial object sensor measurements. This paper evaluates the performance of these relative navigation approaches for three proposed missions with two or more vehicles maintaining relatively tight formations. High-fidelity simulations were performed to quantify the absolute and relative navigation accuracy as a function of navigation algorithm and measurement type. Realistically-simulated measurements were processed using the extended Kalman filter implemented in the GPS Enhanced Inboard Navigation System (GEONS) flight software developed by GSFC GNCC. Solutions obtained by simultaneously estimating all satellites in the formation were compared with the results obtained using a simpler approach based on differencing independently estimated state vectors.

The Development of a Simulator System and Hardware Test Bed for Deep Space X-Ray Navigation

NASA Astrophysics Data System (ADS)

Doyle, Patrick T.

2013-03-01

Currently, there is a considerable interest in developing technologies that will allow using photon measurements from celestial x-ray sources for deep space navigation. The impetus for this is that many envisioned future space missions will require spacecraft to have autonomous navigation capabilities. For missions close to Earth, Global Navigation Satellite Systems (GNSS) such as GPS are readily available for use, but for missions far from Earth, other alternatives must be provided. While existing systems such as the Deep Space Network (DSN) can be used, latencies associated with servicing a fleet of vehicles may not be compatible with some autonomous operations requiring timely updates of their navigation solution. Because of their somewhat predictable emissions, pulsars are the ideal candidates for x-ray sources that can be used to provide key parameters for navigation. Algorithms and simulation tools that will enable designing and analyzing x-ray navigation concepts are presented. The development of a compact x-ray detector system is pivotal to the eventual deployment of such navigation systems. Therefore, results of a high altitude balloon test to evaluate the design of a compact x-ray detector system are described as well.

Differential tracking data types for accurate and efficient Mars planetary navigation

NASA Technical Reports Server (NTRS)

Edwards, C. D., Jr.; Kahn, R. D.; Folkner, W. M.; Border, J. S.

1991-01-01

Ways in which high-accuracy differential observations of two or more deep space vehicles can dramatically extend the power of earth-based tracking over conventional range and Doppler tracking are discussed. Two techniques - spacecraft-spacecraft differential very long baseline interferometry (S/C-S/C Delta(VLBI)) and same-beam interferometry (SBI) - are discussed. The tracking and navigation capabilities of conventional range, Doppler, and quasar-relative Delta(VLBI) are reviewed, and the S/C-S/C Delta (VLBI) and SBI types are introduced. For each data type, the formation of the observable is discussed, an error budget describing how physical error sources manifest themselves in the observable is presented, and potential applications of the technique for Space Exploration Initiative scenarios are examined. Requirements for spacecraft and ground systems needed to enable and optimize these types of observations are discussed.

Guidance and Navigation Requirements for Unmanned Flyby and Swingby Missions to the Outer Planets. Volume 3; Low Thrust Missions, Phase B

NASA Technical Reports Server (NTRS)

1970-01-01

The guidance and navigation requirements for unmanned missions to the outer planets, assuming constant, low thrust, ion propulsion are discussed. The navigational capability of the ground based Deep Space Network is compared to the improvements in navigational capability brought about by the addition of guidance and navigation related onboard sensors. Relevant onboard sensors include: (1) the optical onboard navigation sensor, (2) the attitude reference sensors, and (3) highly sensitive accelerometers. The totally ground based, and the combination ground based and onboard sensor systems are compared by means of the estimated errors in target planet ephemeris, and the spacecraft position with respect to the planet.

Navigation systems. [for interplanetary flight

NASA Technical Reports Server (NTRS)

Jordan, J. F.

1985-01-01

The elements of the measurement and communications network comprising the global deep space navigation system (DSN) for NASA missions are described. Among the measurement systems discussed are: VLBI, two-way Doppler and range measurements, and optical measurements carried out on board the spacecraft. Processing of navigation measurement is carried out using two modules: an N-body numerical integration of the trajectory (and state transition partial derivatives) based on pre-guessed initial conditions; and partial derivatives of simulated observables corresponding to each actual observation. Calculations of velocity correction parameters is performed by precise modelling of all physical phenomena influencing the observational measurements, including: planetary motions; tracking station locations, gravity field structure, and transmission media effects. Some of the contributions to earth-relative orbit estimate errors for the Doppler/range system on board Voyager are discussed in detail. A line drawing of the DSN navigation system is provided.

FLASH LIDAR Based Relative Navigation

NASA Technical Reports Server (NTRS)

Brazzel, Jack; Clark, Fred; Milenkovic, Zoran

2014-01-01

Relative navigation remains the most challenging part of spacecraft rendezvous and docking. In recent years, flash LIDARs, have been increasingly selected as the go-to sensors for proximity operations and docking. Flash LIDARS are generally lighter and require less power that scanning Lidars. Flash LIDARs do not have moving parts, and they are capable of tracking multiple targets as well as generating a 3D map of a given target. However, there are some significant drawbacks of Flash Lidars that must be resolved if their use is to be of long-term significance. Overcoming the challenges of Flash LIDARs for navigation-namely, low technology readiness level, lack of historical performance data, target identification, existence of false positives, and performance of vision processing algorithms as intermediaries between the raw sensor data and the Kalman filter-requires a world-class testing facility, such as the Lockheed Martin Space Operations Simulation Center (SOSC). Ground-based testing is a critical step for maturing the next-generation flash LIDAR-based spacecraft relative navigation. This paper will focus on the tests of an integrated relative navigation system conducted at the SOSC in January 2014. The intent of the tests was to characterize and then improve the performance of relative navigation, while addressing many of the flash LIDAR challenges mentioned above. A section on navigation performance and future recommendation completes the discussion.

A Concise Guide to Feature Histograms with Applications to LIDAR-Based Spacecraft Relative Navigation

NASA Astrophysics Data System (ADS)

Rhodes, Andrew P.; Christian, John A.; Evans, Thomas

2017-12-01

With the availability and popularity of 3D sensors, it is advantageous to re-examine the use of point cloud descriptors for the purpose of pose estimation and spacecraft relative navigation. One popular descriptor is the oriented unique repeatable clustered viewpoint feature histogram (OUR-CVFH), which is most often utilized in personal and industrial robotics to simultaneously recognize and navigate relative to an object. Recent research into using the OUR-CVFH descriptor for spacecraft navigation has produced favorable results. Since OUR-CVFH is the most recent innovation in a large family of feature histogram point cloud descriptors, discussions of parameter settings and insights into its functionality are spread among various publications and online resources. This paper organizes the history of feature histogram point cloud descriptors for a straightforward explanation of their evolution. This article compiles all the requisite information needed to implement OUR-CVFH into one location, as well as providing useful suggestions on how to tune the generation parameters. This work is beneficial for anyone interested in using this histogram descriptor for object recognition or navigation - may it be personal robotics or spacecraft navigation.

Exchange of Standardized Flight Dynamics Data

NASA Technical Reports Server (NTRS)

Martin-Mur, Tomas J.; Berry, David; Flores-Amaya, Felipe; Folliard, J.; Kiehling, R.; Ogawa, M.; Pallaschke, S.

2004-01-01

Spacecraft operations require the knowledge of the vehicle trajectory and attitude and also that of other spacecraft or natural bodies. This knowledge is normally provided by the Flight Dynamics teams of the different space organizations and, as very often spacecraft operations involve more than one organization, this information needs to be exchanged between Agencies. This is why the Navigation Working Group within the CCSDS (Consultative Committee for Space Data Systems), has been instituted with the task of establishing standards for the exchange of Flight Dynamics data. This exchange encompasses trajectory data, attitude data, and tracking data. The Navigation Working Group includes regular members and observers representing the participating Space Agencies. Currently the group includes representatives from CNES, DLR, ESA, NASA and JAXA. This Working Group meets twice per year in order to devise standardized language, methods, and formats for the description and exchange of Navigation data. Early versions of some of these standards have been used to support mutual tracking of ESA and NASA interplanetary spacecraft, especially during the arrival of the 2003 missions to Mars. This paper provides a summary of the activities carried out by the group, briefly outlines the current and envisioned standards, describes the tests and operational activities that have been performed using the standards, and lists and discusses the lessons learned from these activities.

An approach to the design and implementation of spacecraft attitude control systems

NASA Technical Reports Server (NTRS)

ODonnell, James R., Jr.; Mangus, David J.

1998-01-01

Over 39 years and a long list of missions, the guidance, navigation, and control (GN&C) groups at the Goddard Space Flight Center have gradually developed approaches to the design and implementation of successful spacecraft attitude control systems. With the recent creation of the Guidance, Navigation, and Control Center at Goddard, there is a desire to document some of these design practices to help to ensure their consistent application in the future. In this paper, we will discuss the beginnings of this effort, drawing primarily on the experience of one of the past attitude control system (ACS) groups at Goddard (what was formerly known as Code 712, the Guidance, Navigation, and Control Branch). We will discuss the analysis and design methods and criteria used, including guidelines for linear and nonlinear analysis, as well as the use of low- and high-fidelity simulation for system design and verification of performance. Descriptions of typical ACS sensor and actuator hardware will be shown, and typical sensor/actuator suites for a variety of mission types detailed. A description of the software and hardware test effort will be given, along with an attempt to make some qualitative estimates on how much effort is involved. The spacecraft and GN&C subsystem review cycles will be discussed, giving an outline of what design reviews are typically held and what information should be presented at each stage. Finally, we will point out some of the lessons learned at Goddard.

An Approach to the Design and Implementation of Spacecraft Attitude Control Systems

NASA Technical Reports Server (NTRS)

ODonnell, James R., Jr.; Mangus, David J.

1998-01-01

Over 39 years and a long list of missions, the guidance, navigation, and control (GN&C) groups at the Goddard Space Flight Center have gradually developed approaches to the design and implementation of successful spacecraft attitude control systems. With the recent creation of the Guidance, Navigation, and Control Center at Goddard, there is a desire to document some of these design practices to help to ensure their consistent application in the future. In this paper, we will discuss the beginnings of this effort, drawing primarily on the experience of one of the past attitude control system (ACS) groups at Goddard (what was formerly known as Code 712, the Guidance, Navigation, and Control Branch). We will discuss the analysis and design methods and criteria used, including guidelines for linear and nonlinear analysis, as well as the use of low- and high-fidelity simulation for system design and verification of performance. Descriptions of typical ACS sensor and actuator hardware will be shown, and typical sensor/actuator suites for a variety of mission types detailed. A description of the software and hardware test effort will be given, along with an attempt to make some qualitative estimates on how much effort is involved. The spacecraft and GN&C subsystem review cycles will be discussed, giving an outline of what design reviews are typically held and .what information should be presented at each stage. Finally, we will point out some of the lessons learned at Goddard.

Tools Automate Spacecraft Testing, Operation

NASA Technical Reports Server (NTRS)

2010-01-01

"NASA began the Small Explorer (SMEX) program to develop spacecraft to advance astrophysics and space physics. As one of the entities supporting software development at Goddard Space Flight Center, the Hammers Company Inc. (tHC Inc.), of Greenbelt, Maryland, developed the Integrated Test and Operations System to support SMEX. Later, the company received additional Small Business Innovation Research (SBIR) funding from Goddard for a tool to facilitate the development of flight software called VirtualSat. NASA uses the tools to support 15 satellites, and the aerospace industry is using them to develop science instruments, spacecraft computer systems, and navigation and control software."

Advanced Navigation Strategies For Asteroid Sample Return Missions

NASA Technical Reports Server (NTRS)

Getzandanner, K.; Bauman, J.; Williams, B.; Carpenter, J.

2010-01-01

Flyby and rendezvous missions to asteroids have been accomplished using navigation techniques derived from experience gained in planetary exploration. This paper presents analysis of advanced navigation techniques required to meet unique challenges for precision navigation to acquire a sample from an asteroid and return it to Earth. These techniques rely on tracking data types such as spacecraft-based laser ranging and optical landmark tracking in addition to the traditional Earth-based Deep Space Network radio metric tracking. A systematic study of navigation strategy, including the navigation event timeline and reduction in spacecraft-asteroid relative errors, has been performed using simulation and covariance analysis on a representative mission.

A Flight-Calibrated Methodology for Determination of Cassini Thruster On-Times for Reaction Wheel Biases

NASA Technical Reports Server (NTRS)

Sarani, Siamak

2010-01-01

This paper describes a methodology for accurate and flight-calibrated determination of the on-times of the Cassini spacecraft Reaction Control System (RCS) thrusters, without any form of dynamic simulation, for the reaction wheel biases. The hydrazine usage and the delta V vector in body frame are also computed from the respective thruster on-times. The Cassini spacecraft, the largest and most complex interplanetary spacecraft ever built, continues to undertake ambitious and unique scientific observations of planet Saturn, Titan, Enceladus, and other moons of Saturn. In order to maintain a stable attitude during the course of its mission, this three-axis stabilized spacecraft uses two different control systems: the RCS and the reaction wheel assembly control system. The RCS is used to execute a commanded spacecraft slew, to maintain three-axis attitude control, control spacecraft's attitude while performing science observations with coarse pointing requirements, e.g. during targeted low-altitude Titan and Enceladus flybys, bias the momentum of reaction wheels, and to perform RCS-based orbit trim maneuvers. The use of RCS often imparts undesired delta V on the spacecraft. The Cassini navigation team requires accurate predictions of the delta V in spacecraft coordinates and inertial frame resulting from slews using RCS thrusters and more importantly from reaction wheel bias events. It is crucial for the Cassini spacecraft attitude control and navigation teams to be able to, quickly but accurately, predict the hydrazine usage and delta V for various reaction wheel bias events without actually having to spend time and resources simulating the event in flight software-based dynamic simulation or hardware-in-the-loop simulation environments. The methodology described in this paper, and the ground software developed thereof, are designed to provide just that. This methodology assumes a priori knowledge of thrust magnitudes and thruster pulse rise and tail-off time constants for eight individual attitude control thrusters, the spacecraft's wet mass and its center of mass location, and a few other key parameters.

Guidance, navigation, and control subsystem equipment selection algorithm using expert system methods

NASA Technical Reports Server (NTRS)

Allen, Cheryl L.

1991-01-01

Enhanced engineering tools can be obtained through the integration of expert system methodologies and existing design software. The application of these methodologies to the spacecraft design and cost model (SDCM) software provides an improved technique for the selection of hardware for unmanned spacecraft subsystem design. The knowledge engineering system (KES) expert system development tool was used to implement a smarter equipment section algorithm than that which is currently achievable through the use of a standard data base system. The guidance, navigation, and control subsystems of the SDCM software was chosen as the initial subsystem for implementation. The portions of the SDCM code which compute the selection criteria and constraints remain intact, and the expert system equipment selection algorithm is embedded within this existing code. The architecture of this new methodology is described and its implementation is reported. The project background and a brief overview of the expert system is described, and once the details of the design are characterized, an example of its implementation is demonstrated.

Optical Navigation Image of Ganymede

NASA Image and Video Library

1996-06-06

NASA Galileo spacecraft, now in orbit around Jupiter, returned this optical navigation image June 3, 1996, showing that the spacecraft is accurately targeted for its first flyby of the giant moon Ganymede on June 27. http://photojournal.jpl.nasa.gov/catalog/PIA00273

Spacecraft Navigation Using X-ray Pulsars

DTIC Science & Technology

2006-01-01

95FEATURED RESEARCH 2006 NRL REVIEW Spacecraft Navigation Using X-ray Pulsars P.S. Ray, K.S. Wood, and B.F. Phlips E.O. Hulburt Center for Space...satellites and computes the range (technically pseudorange) to each satellite Pulsars are the collapsed remnants of massive stars that have become...relatively simple structure, pulsars are exceptionally stable rotators whose timing stability rivals that of conventional atomic clocks. A navigation

Evaluation of Relative Navigation Algorithms for Formation-Flying Satellites

NASA Technical Reports Server (NTRS)

Kelbel, David; Lee, Taesul; Long, Anne; Carpenter, J. Russell; Gramling, Cheryl

2001-01-01

Goddard Space Flight Center is currently developing advanced spacecraft systems to provide autonomous navigation and control of formation flyers. This paper discusses autonomous relative navigation performance for formations in eccentric, medium, and high-altitude Earth orbits using Global Positioning System (GPS) Standard Positioning Service (SPS) and intersatellite range measurements. The performance of several candidate relative navigation approaches is evaluated. These analyses indicate that the relative navigation accuracy is primarily a function of the frequency of acquisition and tracking of the GPS signals. A relative navigation position accuracy of 0.5 meters root-mean-square (RMS) can be achieved for formations in medium-attitude eccentric orbits that can continuously track at least one GPS signal. A relative navigation position accuracy of better than 75 meters RMS can be achieved for formations in high-altitude eccentric orbits that have sparse tracking of the GPS signals. The addition of round-trip intersatellite range measurements can significantly improve relative navigation accuracy for formations with sparse tracking of the GPS signals.

Touch And Go Camera System (TAGCAMS) for the OSIRIS-REx Asteroid Sample Return Mission

NASA Astrophysics Data System (ADS)

Bos, B. J.; Ravine, M. A.; Caplinger, M.; Schaffner, J. A.; Ladewig, J. V.; Olds, R. D.; Norman, C. D.; Huish, D.; Hughes, M.; Anderson, S. K.; Lorenz, D. A.; May, A.; Jackman, C. D.; Nelson, D.; Moreau, M.; Kubitschek, D.; Getzandanner, K.; Gordon, K. E.; Eberhardt, A.; Lauretta, D. S.

2018-02-01

NASA's OSIRIS-REx asteroid sample return mission spacecraft includes the Touch And Go Camera System (TAGCAMS) three camera-head instrument. The purpose of TAGCAMS is to provide imagery during the mission to facilitate navigation to the target asteroid, confirm acquisition of the asteroid sample, and document asteroid sample stowage. The cameras were designed and constructed by Malin Space Science Systems (MSSS) based on requirements developed by Lockheed Martin and NASA. All three of the cameras are mounted to the spacecraft nadir deck and provide images in the visible part of the spectrum, 400-700 nm. Two of the TAGCAMS cameras, NavCam 1 and NavCam 2, serve as fully redundant navigation cameras to support optical navigation and natural feature tracking. Their boresights are aligned in the nadir direction with small angular offsets for operational convenience. The third TAGCAMS camera, StowCam, provides imagery to assist with and confirm proper stowage of the asteroid sample. Its boresight is pointed at the OSIRIS-REx sample return capsule located on the spacecraft deck. All three cameras have at their heart a 2592 × 1944 pixel complementary metal oxide semiconductor (CMOS) detector array that provides up to 12-bit pixel depth. All cameras also share the same lens design and a camera field of view of roughly 44° × 32° with a pixel scale of 0.28 mrad/pixel. The StowCam lens is focused to image features on the spacecraft deck, while both NavCam lens focus positions are optimized for imaging at infinity. A brief description of the TAGCAMS instrument and how it is used to support critical OSIRIS-REx operations is provided.

The Telecommunications and Data Acquisition Report

NASA Technical Reports Server (NTRS)

Posner, E. C. (Editor)

1987-01-01

Topics addressed include: tracking and ground-based navigation; communications, spacecraft-ground; station control and system technology; capabilities for existing projects; network upgrade and sustaining; mission interface and support; and Ka-band capabilities.

Mars NanoOrbiter: A CubeSat for Mars System Science

NASA Astrophysics Data System (ADS)

Ehlmann, Bethany; Klesh, Andrew; Alsedairy, Talal

2017-10-01

The Mars NanoOrbiter mission consists of two identical 12U spacecraft, launched simultaneously as secondary payloads on a larger planetary mission launch, and deployed to Earth-escape, as early as with Mars 2020. The nominal mission will last for 1 year, during which time the craft will independently navigate to Mars, enter into elliptical orbit, and achieve close flybys of Phobos and Deimos, obtaining unprecedented coverage of each moon. The craft will additionally provide high temporal resolution data of Mars clouds and atmospheric phenomena at multiple times of day. Two spacecraft provide redundancy to reduce the risk in meeting the science objectives at the Mars moons and enhanced coverage of the dynamic Mars atmosphere. This technology is enabled by recent advances in CubeSat propulsion technology, attitude control systems, guidance, navigation and control. NanoOrbiter builds directly on the systems heritage of the MarCO mission, scheduled to launch with the 2018 Discovery mission Insight.

Desktop-VR system for preflight 3D navigation training

NASA Astrophysics Data System (ADS)

Aoki, Hirofumi; Oman, Charles M.; Buckland, Daniel A.; Natapoff, Alan

Crews who inhabit spacecraft with complex 3D architecture frequently report inflight disorientation and navigation problems. Preflight virtual reality (VR) training may reduce those risks. Although immersive VR techniques may better support spatial orientation training in a local environment, a non-immersive desktop (DT) system may be more convenient for navigation training in "building scale" spaces, especially if the two methods achieve comparable results. In this study trainees' orientation and navigation performance during simulated space station emergency egress tasks was compared while using immersive head-mounted display (HMD) and DT-VR systems. Analyses showed no differences in pointing angular-error or egress time among the groups. The HMD group was significantly faster than DT group when pointing from destination to start location and from start toward different destination. However, this may be attributed to differences in the input device used (a head-tracker for HMD group vs. a keyboard touchpad or a gamepad in the DT group). All other 3D navigation performance measures were similar using the immersive and non-immersive VR systems, suggesting that the simpler desktop VR system may be useful for astronaut 3D navigation training.

Multi-spacecraft coherent Doppler and ranging for interplanetary-navigation

NASA Technical Reports Server (NTRS)

Pollmeier, Vincent M.

1995-01-01

Future plans for planetary exploration currently include using multiple spacecraft to simultaneously explore one planet. This never before encountered situation places new demands on tracking systems used to support navigation. One possible solution to the problem of heavy ground resource conflicts is the use of multispacecraft coherent radio metric data, also known as, bent-pipe data. Analysis of the information content of these data types show that the information content of multi-spacecraft Doppler is dependent only on the frequency of the final downlink leg and is independent of the frequencies used on other legs. Numerical analysis shows that coherent bent-pipe data can provide significantly better capability to estimate the location of a lander on the surface of Mars than can direct lander to Earth radio metric data. However, this is complicated by difficulties in separating the effect of a lander position error from that of an orbiter position error for single passes of data.

Navigation Concepts for the James Webb Space Telescope

NASA Technical Reports Server (NTRS)

Long, Anne; Leung, Dominic; Kelbel, David; Beckman, Mark; Grambling, Cheryl

2003-01-01

This paper evaluates the performance that can be achieved using candidate ground and onboard navigation approaches for operation of the James Webb Space Telescope, which will be in an orbit about the Sun-Earth L2 libration point. The ground navigation approach processes standard range and Doppler measurements from the Deep Space Network The onboard navigation approach processes celestial object measurements and/or ground-to- spacecraft Doppler measurements to autonomously estimate the spacecraft s position and velocity and Doppler reference frequency. Particular attention is given to assessing the absolute position and velocity accuracy that can be achieved in the presence of the frequent spacecraft reorientations and momentum unloads planned for this mission. The ground navigation approach provides stable navigation solutions using a tracking schedule of one 30-minute contact per day. The onboard navigation approach that uses only optical quality celestial object measurements provides stable autonomous navigation solutions. This study indicates that unmodeled changes in the solar radiation pressure cross-sectional area and modeled momentum unload velocity changes are the major error sources. These errors can be mitigated by modeling these changes, by estimating corrections to compensate for the changes, or by including acceleration measurements.

Interplanetary approach optical navigation with applications

NASA Technical Reports Server (NTRS)

Jerath, N.

1978-01-01

The use of optical data from onboard television cameras for the navigation of interplanetary spacecraft during the planet approach phase is investigated. Three optical data types were studied: the planet limb with auxiliary celestial references, the satellite-star, and the planet-star two-camera methods. Analysis and modelling issues related to the nature and information content of the optical methods were examined. Dynamic and measurement system modelling, data sequence design, measurement extraction, model estimation and orbit determination, as relating optical navigation, are discussed, and the various error sources were analyzed. The methodology developed was applied to the Mariner 9 and the Viking Mars missions. Navigation accuracies were evaluated at the control and knowledge points, with particular emphasis devoted to the combined use of radio and optical data. A parametric probability analysis technique was developed to evaluate navigation performance as a function of system reliabilities.

Inertial Measurements for Aero-assisted Navigation (IMAN)

NASA Technical Reports Server (NTRS)

Jah, Moriba; Lisano, Michael; Hockney, George

2007-01-01

IMAN is a Python tool that provides inertial sensor-based estimates of spacecraft trajectories within an atmospheric influence. It provides Kalman filter-derived spacecraft state estimates based upon data collected onboard, and is shown to perform at a level comparable to the conventional methods of spacecraft navigation in terms of accuracy and at a higher level with regard to the availability of results immediately after completion of an atmospheric drag pass.

Technology initiatives for the autonomous guidance, navigation, and control of single and multiple satellites

NASA Astrophysics Data System (ADS)

Croft, John; Deily, John; Hartman, Kathy; Weidow, David

1998-01-01

In the twenty-first century, NASA envisions frequent low-cost missions to explore the solar system, observe the universe, and study our planet. To realize NASA's goal, the Guidance, Navigation, and Control Center (GNCC) at the Goddard Space Flight Center sponsors technology programs that enhance spacecraft performance, streamline processes and ultimately enable cheaper science. Our technology programs encompass control system architectures, sensor and actuator components, electronic systems, design and development of algorithms, embedded systems and space vehicle autonomy. Through collaboration with government, universities, non-profit organizations, and industry, the GNCC incrementally develops key technologies that conquer NASA's challenges. This paper presents an overview of several innovative technology initiatives for the autonomous guidance, navigation, and control (GN&C) of satellites.

Autonomous vision-based navigation for proximity operations around binary asteroids

NASA Astrophysics Data System (ADS)

Gil-Fernandez, Jesus; Ortega-Hernando, Guillermo

2018-02-01

Future missions to small bodies demand higher level of autonomy in the Guidance, Navigation and Control system for higher scientific return and lower operational costs. Different navigation strategies have been assessed for ESA's asteroid impact mission (AIM). The main objective of AIM is the detailed characterization of binary asteroid Didymos. The trajectories for the proximity operations shall be intrinsically safe, i.e., no collision in presence of failures (e.g., spacecraft entering safe mode), perturbations (e.g., non-spherical gravity field), and errors (e.g., maneuver execution error). Hyperbolic arcs with sufficient hyperbolic excess velocity are designed to fulfil the safety, scientific, and operational requirements. The trajectory relative to the asteroid is determined using visual camera images. The ground-based trajectory prediction error at some points is comparable to the camera Field Of View (FOV). Therefore, some images do not contain the entire asteroid. Autonomous navigation can update the state of the spacecraft relative to the asteroid at higher frequency. The objective of the autonomous navigation is to improve the on-board knowledge compared to the ground prediction. The algorithms shall fit in off-the-shelf, space-qualified avionics. This note presents suitable image processing and relative-state filter algorithms for autonomous navigation in proximity operations around binary asteroids.

Autonomous vision-based navigation for proximity operations around binary asteroids

NASA Astrophysics Data System (ADS)

Gil-Fernandez, Jesus; Ortega-Hernando, Guillermo

2018-06-01

Future missions to small bodies demand higher level of autonomy in the Guidance, Navigation and Control system for higher scientific return and lower operational costs. Different navigation strategies have been assessed for ESA's asteroid impact mission (AIM). The main objective of AIM is the detailed characterization of binary asteroid Didymos. The trajectories for the proximity operations shall be intrinsically safe, i.e., no collision in presence of failures (e.g., spacecraft entering safe mode), perturbations (e.g., non-spherical gravity field), and errors (e.g., maneuver execution error). Hyperbolic arcs with sufficient hyperbolic excess velocity are designed to fulfil the safety, scientific, and operational requirements. The trajectory relative to the asteroid is determined using visual camera images. The ground-based trajectory prediction error at some points is comparable to the camera Field Of View (FOV). Therefore, some images do not contain the entire asteroid. Autonomous navigation can update the state of the spacecraft relative to the asteroid at higher frequency. The objective of the autonomous navigation is to improve the on-board knowledge compared to the ground prediction. The algorithms shall fit in off-the-shelf, space-qualified avionics. This note presents suitable image processing and relative-state filter algorithms for autonomous navigation in proximity operations around binary asteroids.

Autonomous Navigation Above the GNSS Constellations and Beyond: GPS Navigation for the Magnetospheric Multiscale Mission and SEXTANT Pulsar Navigation Demonstration

NASA Technical Reports Server (NTRS)

Winternitz, Luke

2017-01-01

This talk will describe two first-of-their-kind technology demonstrations attached to ongoing NASA science missions, both of which aim to extend the range of autonomous spacecraft navigation far from the Earth. First, we will describe the onboard GPS navigation system for the Magnetospheric Multiscale (MMS) mission which is currently operating in elliptic orbits reaching nearly halfway to the Moon. The MMS navigation system is a key outgrowth of a larger effort at NASA Goddard Space Flight Center to advance high-altitude Global Navigation Satellite System (GNSS) navigation on multiple fronts, including developing Global Positioning System receivers and onboard navigation software, running simulation studies, and leading efforts to characterize and protect signals at high-altitude in the so-called GNSS Space-Service Volume (SSV). In the second part of the talk, we will describe the Station Explorer for X-ray Timing and Navigation Technology (SEXTANT) mission that aims to make the first in-space demonstration of X-ray pulsar navigation (XNAV). SEXTANT is attached to the NASA astrophysics mission Neutron-star Interior Composition ExploreR (NICER) whose International Space Station mounted X-ray telescope is investigating the fundamental physics of extremes in gravity, material density, and electromagnetic fields found in neutron stars, and whose instrument provides a nearly ideal navigation sensor for XNAV.

(abstract) Towards Ancillary Data Standards

NASA Technical Reports Server (NTRS)

Acton, Charles H.

1997-01-01

NASA's SPICE information system for archiving, distributing, and accessing spacecraft navigation, orientation, and other ancillary data is described. A proposal is made for the further evolution of this concept to an internationally useful standard, to be.

Guidance and Navigation for Rendezvous and Proximity Operations with a Non-Cooperative Spacecraft at Geosynchronous Orbit

NASA Technical Reports Server (NTRS)

Barbee, Brent William; Carpenter, J. Russell; Heatwole, Scott; Markley, F. Landis; Moreau, Michael; Naasz, Bo J.; VanEepoel, John

2010-01-01

The feasibility and benefits of various spacecraft servicing concepts are currently being assessed, and all require that the servicer spacecraft perform rendezvous, proximity, and capture operations with the target spacecraft to be serviced. Many high-value spacecraft, which would be logical targets for servicing from an economic point of view, are located in geosynchronous orbit, a regime in which autonomous rendezvous and capture operations are not commonplace. Furthermore, existing GEO spacecraft were not designed to be serviced. Most do not have cooperative relative navigation sensors or docking features, and some servicing applications, such as de-orbiting of a non-functional spacecraft, entail rendezvous and capture with a spacecraft that may be non-functional or un-controlled. Several of these challenges have been explored via the design of a notional mission in which a nonfunctional satellite in geosynchronous orbit is captured by a servicer spacecraft and boosted into super-synchronous orbit for safe disposal. A strategy for autonomous rendezvous, proximity operations, and capture is developed, and the Orbit Determination Toolbox (ODTBX) is used to perform a relative navigation simulation to assess the feasibility of performing the rendezvous using a combination of angles-only and range measurements. Additionally, a method for designing efficient orbital rendezvous sequences for multiple target spacecraft is utilized to examine the capabilities of a servicer spacecraft to service multiple targets during the course of a single mission.

Galileo Earth approach navigation using connected-element interferometer phase-delay tracking

NASA Technical Reports Server (NTRS)

Thurman, S. W.

1990-01-01

The application of a Connected-Element Interferometer (CEI) to the navigation of the Galileo spacecraft during its encounter with Earth in December 1990 is investigated. A CEI tracking demonstration is planned for the week of November 11 through 18, 1990, from 27 days to 20 days prior to Earth encounter on December 8. During this period, the spacecraft will be tracked daily with Deep Space Network Stations 13 and 15 at Goldstone. The purpose of this work is twofold: first, to establish and define the navigation performance expected during the tracking demonstration and, second, to study, in a more general sense, the sensitivity of orbit demonstration results obtained with CEI to the data density within CEI tracking passes and to important system parameters, such as baseline orientation errors and the phase-delay measurement accuracy. Computer simulation results indicate that the use of CEI data, coupled with conventional range and Doppler data, may reduce the uncertainty in the declination of the spacecraft's incoming trajectory by 15 to 66 percent compared with the operational solution using range and Doppler data only. The level of improvement depends upon the quantity and quality of the CEI data.

Observability and Estimation of Distributed Space Systems via Local Information-Exchange Networks

NASA Technical Reports Server (NTRS)

Fathpour, Nanaz; Hadaegh, Fred Y.; Mesbahi, Mehran; Rahmani, Amirreza

2011-01-01

Spacecraft formation flying involves the coordination of states among multiple spacecraft through relative sensing, inter-spacecraft communication, and control. Most existing formation-flying estimation algorithms can only be supported via highly centralized, all-to-all, static relative sensing. New algorithms are proposed that are scalable, modular, and robust to variations in the topology and link characteristics of the formation exchange network. These distributed algorithms rely on a local information exchange network, relaxing the assumptions on existing algorithms. Distributed space systems rely on a signal transmission network among multiple spacecraft for their operation. Control and coordination among multiple spacecraft in a formation is facilitated via a network of relative sensing and interspacecraft communications. Guidance, navigation, and control rely on the sensing network. This network becomes more complex the more spacecraft are added, or as mission requirements become more complex. The observability of a formation state was observed by a set of local observations from a particular node in the formation. Formation observability can be parameterized in terms of the matrices appearing in the formation dynamics and observation matrices. An agreement protocol was used as a mechanism for observing formation states from local measurements. An agreement protocol is essentially an unforced dynamic system whose trajectory is governed by the interconnection geometry and initial condition of each node, with a goal of reaching a common value of interest. The observability of the interconnected system depends on the geometry of the network, as well as the position of the observer relative to the topology. For the first time, critical GN&C (guidance, navigation, and control estimation) subsystems are synthesized by bringing the contribution of the spacecraft information-exchange network to the forefront of algorithmic analysis and design. The result is a formation estimation algorithm that is modular and robust to variations in the topology and link properties of the underlying formation network.

Optimal scheme of star observation of missile-borne inertial navigation system/stellar refraction integrated navigation

NASA Astrophysics Data System (ADS)

Lu, Jiazhen; Yang, Lie

2018-05-01

To achieve accurate and completely autonomous navigation for spacecraft, inertial/celestial integrated navigation gets increasing attention. In this study, a missile-borne inertial/stellar refraction integrated navigation scheme is proposed. Position Dilution of Precision (PDOP) for stellar refraction is introduced and the corresponding equation is derived. Based on the condition when PDOP reaches the minimum value, an optimized observation scheme is proposed. To verify the feasibility of the proposed scheme, numerical simulation is conducted. The results of the Extended Kalman Filter (EKF) and Unscented Kalman Filter (UKF) are compared and impact factors of navigation accuracy are studied in the simulation. The simulation results indicated that the proposed observation scheme has an accurate positioning performance, and the results of EKF and UKF are similar.

Optimal scheme of star observation of missile-borne inertial navigation system/stellar refraction integrated navigation.

PubMed

Lu, Jiazhen; Yang, Lie

2018-05-01

To achieve accurate and completely autonomous navigation for spacecraft, inertial/celestial integrated navigation gets increasing attention. In this study, a missile-borne inertial/stellar refraction integrated navigation scheme is proposed. Position Dilution of Precision (PDOP) for stellar refraction is introduced and the corresponding equation is derived. Based on the condition when PDOP reaches the minimum value, an optimized observation scheme is proposed. To verify the feasibility of the proposed scheme, numerical simulation is conducted. The results of the Extended Kalman Filter (EKF) and Unscented Kalman Filter (UKF) are compared and impact factors of navigation accuracy are studied in the simulation. The simulation results indicated that the proposed observation scheme has an accurate positioning performance, and the results of EKF and UKF are similar.

Proximity Operations Nano-Satellite Flight Demonstration (PONSFD) Rendezvous Proximity Operations Design and Trade Studies

NASA Astrophysics Data System (ADS)

Griesbach, J.; Westphal, J. J.; Roscoe, C.; Hawes, D. R.; Carrico, J. P.

2013-09-01

The Proximity Operations Nano-Satellite Flight Demonstration (PONSFD) program is to demonstrate rendezvous proximity operations (RPO), formation flying, and docking with a pair of 3U CubeSats. The program is sponsored by NASA Ames via the Office of the Chief Technologist (OCT) in support of its Small Spacecraft Technology Program (SSTP). The goal of the mission is to demonstrate complex RPO and docking operations with a pair of low-cost 3U CubeSat satellites using passive navigation sensors. The program encompasses the entire system evolution including system design, acquisition, satellite construction, launch, mission operations, and final disposal. The satellite is scheduled for launch in Fall 2015 with a 1-year mission lifetime. This paper provides a brief mission overview but will then focus on the current design and driving trade study results for the RPO mission specific processor and relevant ground software. The current design involves multiple on-board processors, each specifically tasked with providing mission critical capabilities. These capabilities range from attitude determination and control to image processing. The RPO system processor is responsible for absolute and relative navigation, maneuver planning, attitude commanding, and abort monitoring for mission safety. A low power processor running a Linux operating system has been selected for implementation. Navigation is one of the RPO processor's key tasks. This entails processing data obtained from the on-board GPS unit as well as the on-board imaging sensors. To do this, Kalman filters will be hosted on the processor to ingest and process measurements for maintenance of position and velocity estimates with associated uncertainties. While each satellite carries a GPS unit, it will be used sparsely to conserve power. As such, absolute navigation will mainly consist of propagating past known states, and relative navigation will be considered to be of greater importance. For relative observations, each spacecraft hosts 3 electro-optical sensors dedicated to imaging the companion satellite. The image processor will analyze the images to obtain estimates for range, bearing, and pose, with associated rates and uncertainties. These observations will be fed to the RPO processor's relative Kalman filter to perform relative navigation updates. This paper includes estimates for expected navigation accuracies for both absolute and relative position and velocity. Another key task for the RPO processor is maneuver planning. This includes automation to plan maneuvers to achieve a desired formation configuration or trajectory (including docking), as well as automation to safely react to potentially dangerous situations. This will allow each spacecraft to autonomously plan fuel-efficient maneuvers to achieve a desired trajectory as well as compute adjustment maneuvers to correct for thrusting errors. This paper discusses results from a trade study that has been conducted to examine maneuver targeting algorithms required on-board the spacecraft. Ground software will also work in conjunction with the on-board software to validate and approve maneuvers as necessary.

Terminal navigation analysis for the 1980 comet Encke slow flyby mission

NASA Technical Reports Server (NTRS)

Jacobson, R. A.; Mcdanell, J. P.; Rinker, G. C.

1973-01-01

The initial results of a terminal navigation analysis for the proposed 1980 solar electric slow flyby mission to the comet Encke are presented. The navigation technique employs onboard optical measurements with the scientific television camera, groundbased observations of the spacecraft and comet, and groundbased orbit determination and thrust vector update computation. The knowledge and delivery accuracies of the spacecraft are evaluated as a function of the important parameters affecting the terminal navigation. These include optical measurement accuracy, thruster noise level, duration of the planned terminal coast period, comet ephemeris uncertainty, guidance initiation time, guidance update frequency, and optical data rate.

Results from Navigator GPS Flight Testing for the Magnetospheric MultiScale Mission

NASA Technical Reports Server (NTRS)

Lulich, Tyler D.; Bamford, William A.; Wintermitz, Luke M. B.; Price, Samuel R.

2012-01-01

The recent delivery of the first Goddard Space Flight Center (GSFC) Navigator Global Positioning System (GPS) receivers to the Magnetospheric MultiScale (MMS) mission spacecraft is a high water mark crowning a decade of research and development in high-altitude space-based GPS. Preceding MMS delivery, the engineering team had developed receivers to support multiple missions and mission studies, such as Low Earth Orbit (LEO) navigation for the Global Precipitation Mission (GPM), above the constellation navigation for the Geostationary Operational Environmental Satellite (GOES) proof-of-concept studies, cis-Lunar navigation with rapid re-acquisition during re-entry for the Orion Project and an orbital demonstration on the Space Shuttle during the Hubble Servicing Mission (HSM-4).

Frequency standards requirements of the NASA deep space network to support outer planet missions

NASA Technical Reports Server (NTRS)

Fliegel, H. F.; Chao, C. C.

1974-01-01

Navigation of Mariner spacecraft to Jupiter and beyond will require greater accuracy of positional determination than heretofore obtained if the full experimental capabilities of this type of spacecraft are to be utilized. Advanced navigational techniques which will be available by 1977 include Very Long Baseline Interferometry (VLBI), three-way Doppler tracking (sometimes called quasi-VLBI), and two-way Doppler tracking. It is shown that VLBI and quasi-VLBI methods depend on the same basic concept, and that they impose nearly the same requirements on the stability of frequency standards at the tracking stations. It is also shown how a realistic modelling of spacecraft navigational errors prevents overspecifying the requirements to frequency stability.

Research on starlight hardware-in-the-loop simulator

NASA Astrophysics Data System (ADS)

Zhang, Ying; Gao, Yang; Qu, Huiyang; Liu, Dongfang; Du, Huijie; Lei, Jie

2016-10-01

The starlight navigation is considered to be one of the most important methods for spacecraft navigation. Starlight simulation system is a high-precision system with large fields of view, designed to test the starlight navigation sensor performance on the ground. A complete hardware-in-the-loop simulation of the system has been built. The starlight simulator is made up of light source, light source controller, light filter, LCD, collimator and control computer. LCD is the key display component of the system, and is installed at the focal point of the collimator. For the LCD cannot emit light itself, so light source and light source power controller is specially designed for the brightness demanded by the LCD. Light filter is designed for the dark background which is also needed in the simulation.

Open-Loop Flight Testing of COBALT Navigation and Sensor Technologies for Precise Soft Landing

NASA Technical Reports Server (NTRS)

Carson, John M., III; Restrepo, Caroline I.; Seubert, Carl R.; Amzajerdian, Farzin; Pierrottet, Diego F.; Collins, Steven M.; O'Neal, Travis V.; Stelling, Richard

2017-01-01

An open-loop flight test campaign of the NASA COBALT (CoOperative Blending of Autonomous Landing Technologies) payload was conducted onboard the Masten Xodiac suborbital rocket testbed. The payload integrates two complementary sensor technologies that together provide a spacecraft with knowledge during planetary descent and landing to precisely navigate and softly touchdown in close proximity to targeted surface locations. The two technologies are the Navigation Doppler Lidar (NDL), for high-precision velocity and range measurements, and the Lander Vision System (LVS) for map-relative state esti- mates. A specialized navigation filter running onboard COBALT fuses the NDL and LVS data in real time to produce a very precise Terrain Relative Navigation (TRN) solution that is suitable for future, autonomous planetary landing systems that require precise and soft landing capabilities. During the open-loop flight campaign, the COBALT payload acquired measurements and generated a precise navigation solution, but the Xodiac vehicle planned and executed its maneuvers based on an independent, GPS-based navigation solution. This minimized the risk to the vehicle during the integration and testing of the new navigation sensing technologies within the COBALT payload.

Algorithms for spacecraft formation flying navigation based on wireless positioning system measurements

NASA Astrophysics Data System (ADS)

Goh, Shu Ting

Spacecraft formation flying navigation continues to receive a great deal of interest. The research presented in this dissertation focuses on developing methods for estimating spacecraft absolute and relative positions, assuming measurements of only relative positions using wireless sensors. The implementation of the extended Kalman filter to the spacecraft formation navigation problem results in high estimation errors and instabilities in state estimation at times. This is due to the high nonlinearities in the system dynamic model. Several approaches are attempted in this dissertation aiming at increasing the estimation stability and improving the estimation accuracy. A differential geometric filter is implemented for spacecraft positions estimation. The differential geometric filter avoids the linearization step (which is always carried out in the extended Kalman filter) through a mathematical transformation that converts the nonlinear system into a linear system. A linear estimator is designed in the linear domain, and then transformed back to the physical domain. This approach demonstrated better estimation stability for spacecraft formation positions estimation, as detailed in this dissertation. The constrained Kalman filter is also implemented for spacecraft formation flying absolute positions estimation. The orbital motion of a spacecraft is characterized by two range extrema (perigee and apogee). At the extremum, the rate of change of a spacecraft's range vanishes. This motion constraint can be used to improve the position estimation accuracy. The application of the constrained Kalman filter at only two points in the orbit causes filter instability. Two variables are introduced into the constrained Kalman filter to maintain the stability and improve the estimation accuracy. An extended Kalman filter is implemented as a benchmark for comparison with the constrained Kalman filter. Simulation results show that the constrained Kalman filter provides better estimation accuracy as compared with the extended Kalman filter. A Weighted Measurement Fusion Kalman Filter (WMFKF) is proposed in this dissertation. In wireless localizing sensors, a measurement error is proportional to the distance of the signal travels and sensor noise. In this proposed Weighted Measurement Fusion Kalman Filter, the signal traveling time delay is not modeled; however, each measurement is weighted based on the measured signal travel distance. The obtained estimation performance is compared to the standard Kalman filter in two scenarios. The first scenario assumes using a wireless local positioning system in a GPS denied environment. The second scenario assumes the availability of both the wireless local positioning system and GPS measurements. The simulation results show that the WMFKF has similar accuracy performance as the standard Kalman Filter (KF) in the GPS denied environment. However, the WMFKF maintains the position estimation error within its expected error boundary when the WLPS detection range limit is above 30km. In addition, the WMFKF has a better accuracy and stability performance when GPS is available. Also, the computational cost analysis shows that the WMFKF has less computational cost than the standard KF, and the WMFKF has higher ellipsoid error probable percentage than the standard Measurement Fusion method. A method to determine the relative attitudes between three spacecraft is developed. The method requires four direction measurements between the three spacecraft. The simulation results and covariance analysis show that the method's error falls within a three sigma boundary without exhibiting any singularity issues. A study of the accuracy of the proposed method with respect to the shape of the spacecraft formation is also presented.

Spacecraft guidance, navigation, and control requirements for an intelligent plug-n-play avionics (PAPA) architecture

NASA Technical Reports Server (NTRS)

Kulkarni, Nilesh; Krishnakumar, Kalmaje

2005-01-01

The objective of this research is to design an intelligent plug-n-play avionics system that provides a reconfigurable platform for supporting the guidance, navigation and control (GN&C) requirements for different elements of the space exploration mission. The focus of this study is to look at the specific requirements for a spacecraft that needs to go from earth to moon and back. In this regard we will identify the different GN&C problems in various phases of flight that need to be addressed for designing such a plug-n-play avionics system. The Apollo and the Space Shuttle programs provide rich literature in terms of understanding some of the general GN&C requirements for a space vehicle. The relevant literature is reviewed which helps in narrowing down the different GN&C algorithms that need to be supported along with their individual requirements.

Navigation Algorithms for the SeaWiFS Mission

NASA Technical Reports Server (NTRS)

Hooker, Stanford B. (Editor); Firestone, Elaine R. (Editor); Patt, Frederick S.; McClain, Charles R. (Technical Monitor)

2002-01-01

The navigation algorithms for the Sea-viewing Wide Field-of-view Sensor (SeaWiFS) were designed to meet the requirement of 1-pixel accuracy-a standard deviation (sigma) of 2. The objective has been to extract the best possible accuracy from the spacecraft telemetry and avoid the need for costly manual renavigation or geometric rectification. The requirement is addressed by postprocessing of both the Global Positioning System (GPS) receiver and Attitude Control System (ACS) data in the spacecraft telemetry stream. The navigation algorithms described are separated into four areas: orbit processing, attitude sensor processing, attitude determination, and final navigation processing. There has been substantial modification during the mission of the attitude determination and attitude sensor processing algorithms. For the former, the basic approach was completely changed during the first year of the mission, from a single-frame deterministic method to a Kalman smoother. This was done for several reasons: a) to improve the overall accuracy of the attitude determination, particularly near the sub-solar point; b) to reduce discontinuities; c) to support the single-ACS-string spacecraft operation that was started after the first mission year, which causes gaps in attitude sensor coverage; and d) to handle data quality problems (which became evident after launch) in the direct-broadcast data. The changes to the attitude sensor processing algorithms primarily involved the development of a model for the Earth horizon height, also needed for single-string operation; the incorporation of improved sensor calibration data; and improved data quality checking and smoothing to handle the data quality issues. The attitude sensor alignments have also been revised multiple times, generally in conjunction with the other changes. The orbit and final navigation processing algorithms have remained largely unchanged during the mission, aside from refinements to data quality checking. Although further improvements are certainly possible, future evolution of the algorithms is expected to be limited to refinements of the methods presented here, and no substantial changes are anticipated.

Navigating the MESSENGER Spacecraft through End of Mission

NASA Astrophysics Data System (ADS)

Bryan, C. G.; Williams, B. G.; Williams, K. E.; Taylor, A. H.; Carranza, E.; Page, B. R.; Stanbridge, D. R.; Mazarico, E.; Neumann, G. A.; O'Shaughnessy, D. J.; McAdams, J. V.; Calloway, A. B.

2015-12-01

The MErcury Surface, Space ENvironment, GEochemistry, and Ranging (MESSENGER) spacecraft orbited the planet Mercury from March 2011 until the end of April 2015, when it impacted the planetary surface after propellant reserves used to maintain the orbit were depleted. This highly successful mission was led by the principal investigator, Sean C. Solomon, of Columbia University. The Johns Hopkins University Applied Physics Laboratory (JHU/APL) designed and assembled the spacecraft and served as the home for spacecraft operations. Spacecraft navigation for the entirety of the mission was provided by the Space Navigation and Flight Dynamics Practice (SNAFD) of KinetX Aerospace. Orbit determination (OD) solutions were generated through processing of radiometric tracking data provided by NASA's Deep Space Network (DSN) using the MIRAGE suite of orbital analysis tools. The MESSENGER orbit was highly eccentric, with periapsis at a high northern latitude and periapsis altitude in the range 200-500 km for most of the orbital mission phase. In a low-altitude "hover campaign" during the final two months of the mission, periapsis altitudes were maintained within a narrow range between about 35 km and 5 km. Navigating a spacecraft so near a planetary surface presented special challenges. Tasks required to meet those challenges included the modeling and estimation of Mercury's gravity field and of solar and planetary radiation pressure, and the design of frequent orbit-correction maneuvers. Superior solar conjunction also presented observational modeling issues. One key to the overall success of the low-altitude hover campaign was a strategy to utilize data from an onboard laser altimeter as a cross-check on the navigation team's reconstructed and predicted estimates of periapsis altitude. Data obtained from the Mercury Laser Altimeter (MLA) on a daily basis provided near-real-time feedback that proved invaluable in evaluating alternative orbit estimation strategies, and eventually allowed the navigation team to settle on an approach that gave consistently accurate predictions. Thus, final mission success was truly the result of a collaborative effort between members of the science, mission operations, mission design, and navigation teams.

Flight Mechanics/Estimation Theory Symposium, 1989

NASA Technical Reports Server (NTRS)

Stengle, Thomas (Editor)

1989-01-01

Numerous topics in flight mechanics and estimation were discussed. Satellite attitude control, quaternion estimation, orbit and attitude determination, spacecraft maneuvers, spacecraft navigation, gyroscope calibration, spacecraft rendevous, and atmospheric drag model calculations for spacecraft lifetime prediction are among the topics covered.

7.3 Communications and Navigation

NASA Technical Reports Server (NTRS)

Manning, Rob

2005-01-01

This presentation gives an overview of the networks NASA currently uses to support space communications and navigation, and the requirements for supporting future deep space missions, including manned lunar and Mars missions. The presentation addresses the Space Network, Deep Space Network, and Ground Network, why new support systems are needed, and the potential for catastrophic failure of aging antennas. Space communications and navigation are considered during Aerocapture, Entry, Descent and Landing (AEDL) only in order to precisely position, track and interact with the spacecraft at its destination (moon, Mars and Earth return) arrival. The presentation recommends a combined optical/radio frequency strategy for deep space communications.

Acquisition and cruise sensing for attitude control

NASA Technical Reports Server (NTRS)

Pace, G. D., Jr.; Schmidt, L. F.

1977-01-01

Modified wideangle analog cruise sun sensor coupled with changes in optic attitude correction capabilities, eliminate need of acquisition and sun gate sensors, making on-course navigation of spacecraft flying interplanetary missions less risky and costly. Operational characteristics potentially make system applicable to guidance and control of solar energy collection systems.

Benefits of Operational Consideration into the Guidance, Navigation, and Control Design of Spacecraft

NASA Technical Reports Server (NTRS)

Morris, Mark C.; Holt, Greg N.

2011-01-01

The following paper points out historical examples where operational consideration into the GN&C design could have helped avoid operational complexity, reduce costs, ensure the ability for a GN&C system to be able to adapt to failures, and in some cases might have helped save mission objectives. A costly repeat of mistakes could befall a program if previous operational lessons, especially from operators of vehicles with similar GN&C systems, are not considered during the GN&C design phase of spacecraft. The information gained from operational consideration during the design can lead to improvements of the design, allow less ground support during operations, and prevent repetition of previous mistakes. However, this benefit can only occur if spacecraft operators adequately capture lessons learned that would improve future designs for operations and those who are designing spacecraft incorporate inputs from those that have previously operated similar GN&C systems.

The Telecommunications and Data Acquisition Report

NASA Technical Reports Server (NTRS)

Posner, E. C. (Editor)

1990-01-01

Archival reports on developments in programs managed by the JPL Office of Telecommunications and Data Acquisition (TDA) are provided. Topics covered include: DSN advanced systems (tracking and ground-based navigation; communications, spacecraft-ground; and station control and system technology) and DSN systems implementation (capabilities for existing projects; capabilities for new projects; TDA program management and analysis; and Goldstone solar system radar).

Application of GPS attitude determination to gravity gradient stabilized spacecraft

NASA Technical Reports Server (NTRS)

Lightsey, E. G.; Cohen, Clark E.; Parkinson, Bradford W.

1993-01-01

Recent advances in the Global Positioning System (GPS) technology have initiated a new era in aerospace navigation and control. GPS receivers have become increasingly compact and affordable, and new developments have made attitude determination using subcentimeter positioning among two or more antennas feasible for real-time applications. GPS-based attitude control systems will become highly portable packages which provide time, navigation, and attitude information of sufficient accuracy for many aerospace needs. A typical spacecraft application of GPS attitude determination is a gravity gradient stabilized satellite in low Earth orbit that employs a GPS receiver and four body mounted patch antennas. The coupled, linearized equations of motion enable complete position and attitude information to be extracted from only two antennas. A discussion of the various error sources for spaceborne GPS attitude measurement systems is included. Attitude determination of better than 0.3 degrees is possible for 1 meter antenna separation. Suggestions are provided to improve the accuracy of the attitude solution.

TDRSS Onboard Navigation System (TONS) flight qualification experiment

NASA Technical Reports Server (NTRS)

Gramling, C. J.; Hart, R. C.; Folta, D. C.; Long, A. C.

1994-01-01

The National Aeronautics and Space Administration (NASA) Goddard Space Flight Center (GSFC) is currently developing an operational Tracking and Data Relay Satellite (TDRS) System (TDRSS) Onboard Navigation System (TONS) to provide realtime, autonomous, high-accuracy navigation products to users of TDRSS. A TONS experiment was implemented on the Explorer Platform/Extreme Ultraviolet Explorer (EP/EUVE) spacecraft, launched June 7, 1992, to flight qualify the TONS operational system using TDRSS forward-link communications services. This paper provides a detailed evaluation of the flight hardware, an ultrastable oscillator (USO) and Doppler extractor (DE) card in one of the TDRSS user transponders and the ground-based prototype flight software performance, based on the 1 year of TONS experiment operation. The TONS experiment results are used to project the expected performance of the TONS 1 operational system. TONS 1 processes Doppler data derived from scheduled forward-link S-band services using a sequential estimation algorithm enhanced by a sophisticated process noise model to provide onboard orbit and frequency determination and time maintenance. TONS 1 will be the prime navigation system on the Earth Observing System (EOS)-AM1 spacecraft, currently scheduled for launch in 1998. Inflight evaluation of the USO and DE short-term and long-term stability indicates that the performance is excellent. Analysis of the TONS prototype flight software performance indicates that realtime onboard position accuracies of better than 25 meters root-mean-square are achievable with one tracking contact every one to two orbits for the EP/EUVE 525-kilometer altitude, 28.5 degree inclination orbit. The success of the TONS experiment demonstrates the flight readiness of TONS to support the EOS-AM1 mission.

Autonomous Deep-Space Optical Navigation Project

NASA Technical Reports Server (NTRS)

D'Souza, Christopher

2014-01-01

This project will advance the Autonomous Deep-space navigation capability applied to Autonomous Rendezvous and Docking (AR&D) Guidance, Navigation and Control (GNC) system by testing it on hardware, particularly in a flight processor, with a goal of limited testing in the Integrated Power, Avionics and Software (IPAS) with the ARCM (Asteroid Retrieval Crewed Mission) DRO (Distant Retrograde Orbit) Autonomous Rendezvous and Docking (AR&D) scenario. The technology, which will be harnessed, is called 'optical flow', also known as 'visual odometry'. It is being matured in the automotive and SLAM (Simultaneous Localization and Mapping) applications but has yet to be applied to spacecraft navigation. In light of the tremendous potential of this technique, we believe that NASA needs to design a optical navigation architecture that will use this technique. It is flexible enough to be applicable to navigating around planetary bodies, such as asteroids.

Xenia Spacecraft Study

NASA Technical Reports Server (NTRS)

Hopkins, Randy

2009-01-01

This slide presentation reviews the proposed design for the Xenia mission spacecraft. The goal of this study is to perform a mission concept study for the mission. Included in this study are: the overall ground rules and assumptions (GR&A), a mission analysis, the configuration, the mass properties, the guidance, Navigation and control, the proposed avionics, the power system, the thermal protection system, the propulsion system, and the proposed structures. Conclusions from the study indicate that the observatory fits within the Falcon 9 mass and volume envelope for launching from Omelek, the pointing, slow slewing, and fast slewing requirements and the thermal requirements are met.

Simulating the Liaison Navigation Concept in a Geo + Earth-Moon Halo Constellation

NASA Technical Reports Server (NTRS)

Fujimoto, K.; Leonard, J. M.; McGranaghan, R. M.; Parker, J. S.; Anderson, R. L.; Born, G. H.

2012-01-01

Linked Autonomous Interplanetary Satellite Orbit Navigation, or LiAISON, is a novel satellite navigation technique where relative radiometric measurements between two or more spacecraft in a constellation are processed to obtain the absolute state of all spacecraft. The method leverages the asymmetry of the gravity field that the constellation exists in. This paper takes a step forward in developing a high fidelity navigation simulation for the LiAISON concept in an Earth-Moon constellation. In particular, we aim to process two-way Doppler measurements between a satellite in GEO orbit and another in a halo orbit about the Earth-Moon L1 point.

Major technological innovations introduced in the large antennas of the Deep Space Network

NASA Technical Reports Server (NTRS)

Imbriale, W. A.

2002-01-01

The NASA Deep Space Network (DSN) is the largest and most sensitive scientific, telecommunications and radio navigation network in the world. Its principal responsibilities are to provide communications, tracking, and science services to most of the world's spacecraft that travel beyond low Earth orbit. The network consists of three Deep Space Communications Complexes. Each of the three complexes consists of multiple large antennas equipped with ultra sensitive receiving systems. A centralized Signal Processing Center (SPC) remotely controls the antennas, generates and transmits spacecraft commands, and receives and processes the spacecraft telemetry.

ARTSN: An Automated Real-Time Spacecraft Navigation System

NASA Technical Reports Server (NTRS)

Burkhart, P. Daniel; Pollmeier, Vincent M.

1996-01-01

As part of the Deep Space Network (DSN) advanced technology program an effort is underway to design a filter to automate the deep space navigation process.The automated real-time spacecraft navigation (ARTSN) filter task is based on a prototype consisting of a FORTRAN77 package operating on an HP-9000/700 workstation running HP-UX 9.05. This will be converted to C, and maintained as the operational version. The processing tasks required are: (1) read a measurement, (2) integrate the spacecraft state to the current measurement time, (3) compute the observable based on the integrated state, and (4) incorporate the measurement information into the state using an extended Kalman filter. This filter processes radiometric data collected by the DSN. The dynamic (force) models currently include point mass gravitational terms for all planets, the Sun and Moon, solar radiation pressure, finite maneuvers, and attitude maintenance activity modeled quadratically. In addition, observable errors due to troposphere are included. Further data types, force and observable models will be ncluded to enhance the accuracy of the models and the capability of the package. The heart of the ARSTSN is a currently available continuous-discrete extended Kalman filter. Simulated data used to test the implementation at various stages of development and the results from processing actual mission data are presented.

The Future of NASA's Deep Space Network and Applications to Planetary Probe Missions

NASA Technical Reports Server (NTRS)

Deutsch, Leslie J.; Preston, Robert A.; Vrotsos, Peter

2010-01-01

NASA's Deep Space Network (DSN) has been an invaluable tool in the world's exploration of space. It has served the space-faring community for more than 45 years. The DSN has provided a primary communication pathway for planetary probes, either through direct- to-Earth links or through intermediate radio relays. In addition, its radiometric systems are critical to probe navigation and delivery to target. Finally, the radio link can also be used for direct scientific measurement of the target body ('radio science'). This paper will examine the special challenges in supporting planetary probe missions, the future evolution of the DSN and related spacecraft technology, the advantages and disadvantages of radio relay spacecraft, and the use of the DSN radio links for navigation and scientific measurements.

Sensors and sensor systems for guidance and navigation II; Proceedings of the Meeting, Orlando, FL, Apr. 22, 23, 1992

NASA Astrophysics Data System (ADS)

Welch, Sharon S.

Topics discussed in this volume include aircraft guidance and navigation, optics for visual guidance of aircraft, spacecraft and missile guidance and navigation, lidar and ladar systems, microdevices, gyroscopes, cockpit displays, and automotive displays. Papers are presented on optical processing for range and attitude determination, aircraft collision avoidance using a statistical decision theory, a scanning laser aircraft surveillance system for carrier flight operations, star sensor simulation for astroinertial guidance and navigation, autonomous millimeter-wave radar guidance systems, and a 1.32-micron long-range solid state imaging ladar. Attention is also given to a microfabricated magnetometer using Young's modulus changes in magnetoelastic materials, an integrated microgyroscope, a pulsed diode ring laser gyroscope, self-scanned polysilicon active-matrix liquid-crystal displays, the history and development of coated contrast enhancement filters for cockpit displays, and the effect of the display configuration on the attentional sampling performance. (For individual items see A93-28152 to A93-28176, A93-28178 to A93-28180)

Cassini Spacecraft In-Flight Swap to Backup Attitude Control Thrusters

NASA Technical Reports Server (NTRS)

Bates, David M.

2010-01-01

NASA's Cassini Spacecraft, launched on October 15th, 1997 and arrived at Saturn on June 30th, 2004, is the largest and most ambitious interplanetary spacecraft in history. In order to meet the challenging attitude control and navigation requirements of the orbit profile at Saturn, Cassini is equipped with a monopropellant thruster based Reaction Control System (RCS), a bipropellant Main Engine Assembly (MEA) and a Reaction Wheel Assembly (RWA). In 2008, after 11 years of reliable service, several RCS thrusters began to show signs of end of life degradation, which led the operations team to successfully perform the swap to the backup RCS system, the details and challenges of which are described in this paper. With some modifications, it is hoped that similar techniques and design strategies could be used to benefit other spacecraft.

Looking Back and Looking Forward: Reprising the Promise and Predicting the Future of Formation Flying and Spaceborne GPS Navigation Systems

NASA Technical Reports Server (NTRS)

Bauer, Frank H.; Dennehy, Neil

2015-01-01

A retrospective consideration of two 15-year old Guidance, Navigation and Control (GN&C) technology 'vision' predictions will be the focus of this paper. A look back analysis and critique of these late 1990s technology roadmaps out-lining the future vision, for two then nascent, but rapidly emerging, GN&C technologies will be performed. Specifically, these two GN&C technologies were: 1) multi-spacecraft formation flying and 2) the spaceborne use and exploitation of global positioning system (GPS) signals to enable formation flying. This paper reprises the promise of formation flying and spaceborne GPS as depicted in the cited 1999 and 1998 papers. It will discuss what happened to cause that promise to be mostly unfulfilled and the reasons why the envisioned formation flying dream has yet to become a reality. The recent technology trends over the past few years will then be identified and a renewed government interest in spacecraft formation flying/cluster flight will be highlighted. The authors will conclude with a reality-tempered perspective, 15 years after the initial technology roadmaps were published, predicting a promising future of spacecraft formation flying technology development over the next decade.

The NEAR Spacecraft's Flyby of Asteroid 253 Mathilde

NASA Technical Reports Server (NTRS)

Yeomans, D. K.; Barriot, J. P.; Dunham, D. W.; Farquhar, R. W.; Helfrich, C. E.; Konopliv, A. S.; McAdams, J. V.; Miller, J. K.; Owen, W. M., Jr.; Scheeres, D. J.;

Mariner 9 navigation

NASA Technical Reports Server (NTRS)

Neil, W. J.; Jordan, J. F.; Zielenbach, J. W.; Wong, S. K.; Mitchell, R. T.; Webb, W. A.; Koskela, P. E.

1973-01-01

A final, comprehensive description of the navigation of Mariner 9-the first U.S. spacecraft to orbit another planet is provided. The Mariner 9 navigation function included not only precision flight path control but also pointing of the spacecraft's scientific instruments mounted on a two degree of freedom scan platform. To the extent appropriate, each section describes the perflight analyses on which the operational strategies and performance predictions were based. Inflight results are then discussed and compared with the preflight predictions. Postflight analyses, which were primarily concerned with developing a thorough understanding of unexpected in-flight results, are also presented.

Galileo Spacecraft Scan Platform Celestial Pointing Cone Control Gain Redesign

NASA Technical Reports Server (NTRS)

In, C-H. C.; Hilbert, K. B.

1994-01-01

During September and October 1991, pictures of the Gaspra asteroid and neighboring stars were taken by the Galileo Optical Navigation (OPNAV) Team for the purpose of navigation the spacecraft for a successful Gaspra encounter. The star tracks in these pictures showed that the scan platform celestial pointing cone controller performed poorly in compensating for wobble-induced cone offsets.

Realtime Knowledge Management (RKM): From an International Space Station (ISS) Point of View

NASA Technical Reports Server (NTRS)

Robinson, Peter I.; McDermott, William; Alena, Richard L.

2004-01-01

We are developing automated methods to provide realtime access to spacecraft domain knowledge relevant a spacecraft's current operational state. The method is based upon analyzing state-transition signatures in the telemetry stream. A key insight is that documentation relevant to a specific failure mode or operational state is related to the structure and function of spacecraft systems. This means that diagnostic dependency and state models can provide a roadmap for effective documentation navigation and presentation. Diagnostic models consume the telemetry and derive a high-level state description of the spacecraft. Each potential spacecraft state description is matched against the predictions of models that were developed from information found in the pages and sections in the relevant International Space Station (ISS) documentation and reference materials. By annotating each model fragment with the domain knowledge sources from which it was derived we can develop a system that automatically selects those documents representing the domain knowledge encapsulated by the models that compute the current spacecraft state. In this manner, when the spacecraft state changes, the relevant documentation context and presentation will also change.

Clementine Observes the Moon, Solar Corona, and Venus

NASA Technical Reports Server (NTRS)

1997-01-01

In 1994, during its flight, the Clementine spacecraft returned images of the Moon. In addition to the geologic mapping cameras, the Clementine spacecraft also carried two Star Tracker cameras for navigation. These lightweight (0.3 kg) cameras kept the spacecraft on track by constantly observing the positions of stars, reminiscent of the age-old seafaring tradition of sextant/star navigation. These navigation cameras were also to take some spectacular wide angle images of the Moon.

In this picture the Moon is seen illuminated solely by light reflected from the Earth--Earthshine! The bright glow on the lunar horizon is caused by light from the solar corona; the sun is just behind the lunar limb. Caught in this image is the planet Venus at the top of the frame.

Model-based software engineering for an optical navigation system for spacecraft

NASA Astrophysics Data System (ADS)

Franz, T.; Lüdtke, D.; Maibaum, O.; Gerndt, A.

2017-09-01

The project Autonomous Terrain-based Optical Navigation (ATON) at the German Aerospace Center (DLR) is developing an optical navigation system for future landing missions on celestial bodies such as the moon or asteroids. Image data obtained by optical sensors can be used for autonomous determination of the spacecraft's position and attitude. Camera-in-the-loop experiments in the Testbed for Robotic Optical Navigation (TRON) laboratory and flight campaigns with unmanned aerial vehicle (UAV) are performed to gather flight data for further development and to test the system in a closed-loop scenario. The software modules are executed in the C++ Tasking Framework that provides the means to concurrently run the modules in separated tasks, send messages between tasks, and schedule task execution based on events. Since the project is developed in collaboration with several institutes in different domains at DLR, clearly defined and well-documented interfaces are necessary. Preventing misconceptions caused by differences between various development philosophies and standards turned out to be challenging. After the first development cycles with manual Interface Control Documents (ICD) and manual implementation of the complex interactions between modules, we switched to a model-based approach. The ATON model covers a graphical description of the modules, their parameters and communication patterns. Type and consistency checks on this formal level help to reduce errors in the system. The model enables the generation of interfaces and unified data types as well as their documentation. Furthermore, the C++ code for the exchange of data between the modules and the scheduling of the software tasks is created automatically. With this approach, changing the data flow in the system or adding additional components (e.g., a second camera) have become trivial.

Model-based software engineering for an optical navigation system for spacecraft

NASA Astrophysics Data System (ADS)

Franz, T.; Lüdtke, D.; Maibaum, O.; Gerndt, A.

2018-06-01

The project Autonomous Terrain-based Optical Navigation (ATON) at the German Aerospace Center (DLR) is developing an optical navigation system for future landing missions on celestial bodies such as the moon or asteroids. Image data obtained by optical sensors can be used for autonomous determination of the spacecraft's position and attitude. Camera-in-the-loop experiments in the Testbed for Robotic Optical Navigation (TRON) laboratory and flight campaigns with unmanned aerial vehicle (UAV) are performed to gather flight data for further development and to test the system in a closed-loop scenario. The software modules are executed in the C++ Tasking Framework that provides the means to concurrently run the modules in separated tasks, send messages between tasks, and schedule task execution based on events. Since the project is developed in collaboration with several institutes in different domains at DLR, clearly defined and well-documented interfaces are necessary. Preventing misconceptions caused by differences between various development philosophies and standards turned out to be challenging. After the first development cycles with manual Interface Control Documents (ICD) and manual implementation of the complex interactions between modules, we switched to a model-based approach. The ATON model covers a graphical description of the modules, their parameters and communication patterns. Type and consistency checks on this formal level help to reduce errors in the system. The model enables the generation of interfaces and unified data types as well as their documentation. Furthermore, the C++ code for the exchange of data between the modules and the scheduling of the software tasks is created automatically. With this approach, changing the data flow in the system or adding additional components (e.g., a second camera) have become trivial.

Spacecraft Alignment Determination and Control for Dual Spacecraft Precision Formation Flying

NASA Technical Reports Server (NTRS)

Calhoun, Philip; Novo-Gradac, Anne-Marie; Shah, Neerav

2017-01-01

Many proposed formation flying missions seek to advance the state of the art in spacecraft science imaging by utilizing precision dual spacecraft formation flying to enable a virtual space telescope. Using precision dual spacecraft alignment, very long focal lengths can be achieved by locating the optics on one spacecraft and the detector on the other. Proposed science missions include astrophysics concepts with spacecraft separations from 1000 km to 25,000 km, such as the Milli-Arc-Second Structure Imager (MASSIM) and the New Worlds Observer, and Heliophysics concepts for solar coronagraphs and X-ray imaging with smaller separations (50m-500m). All of these proposed missions require advances in guidance, navigation, and control (GNC) for precision formation flying. In particular, very precise astrometric alignment control and estimation is required for precise inertial pointing of the virtual space telescope to enable science imaging orders of magnitude better than can be achieved with conventional single spacecraft instruments. This work develops design architectures, algorithms, and performance analysis of proposed GNC systems for precision dual spacecraft astrometric alignment. These systems employ a variety of GNC sensors and actuators, including laser-based alignment and ranging systems, optical imaging sensors (e.g. guide star telescope), inertial measurement units (IMU), as well as microthruster and precision stabilized platforms. A comprehensive GNC performance analysis is given for Heliophysics dual spacecraft PFF imaging mission concept.

Spacecraft Alignment Determination and Control for Dual Spacecraft Precision Formation Flying

NASA Technical Reports Server (NTRS)

Calhoun, Philip C.; Novo-Gradac, Anne-Marie; Shah, Neerav

2017-01-01

Many proposed formation flying missions seek to advance the state of the art in spacecraft science imaging by utilizing precision dual spacecraft formation flying to enable a virtual space telescope. Using precision dual spacecraft alignment, very long focal lengths can be achieved by locating the optics on one spacecraft and the detector on the other. Proposed science missions include astrophysics concepts with spacecraft separations from 1000 km to 25,000 km, such as the Milli-Arc-Second Structure Imager (MASSIM) and the New Worlds Observer, and Heliophysics concepts for solar coronagraphs and X-ray imaging with smaller separations (50m 500m). All of these proposed missions require advances in guidance, navigation, and control (GNC) for precision formation flying. In particular, very precise astrometric alignment control and estimation is required for precise inertial pointing of the virtual space telescope to enable science imaging orders of magnitude better than can be achieved with conventional single spacecraft instruments. This work develops design architectures, algorithms, and performance analysis of proposed GNC systems for precision dual spacecraft astrometric alignment. These systems employ a variety of GNC sensors and actuators, including laser-based alignment and ranging systems, optical imaging sensors (e.g. guide star telescope), inertial measurement units (IMU), as well as micro-thruster and precision stabilized platforms. A comprehensive GNC performance analysis is given for Heliophysics dual spacecraft PFF imaging mission concept.

The Telecommunications and Data Acquisition Report

NASA Technical Reports Server (NTRS)

Yuen, Joseph H. (Editor)

1993-01-01

This quarterly publication provides archival reports on developments in programs managed by JPL's Office of Telecommunications and Data Acquisition (TDA). In space communications, radio navigation, radio science, and ground-based radio and radar astronomy, it reports on activities of the Deep Space Network (DSN) in planning, supporting research and technology, implementation, and operations. Also included are standards activity at JPL for space data and information systems and reimbursable DSN work performed for other space agencies through NASA. The papers included in this document cover satellite tracking and ground-based navigation, spacecraft-ground communications, and optical communication systems for the Deep Space Network.

Development of a Radio Frequency Space Environment Path Emulator for Evaluating Spacecraft Ranging Hardware

NASA Technical Reports Server (NTRS)

Mitchell, Jason W.; Baldwin, Philip J.; Kurichh, Rishi; Naasz, Bo J.; Luquette, Richard J.

2007-01-01

The Formation Flying Testbed (FFTB) at the National Aeronautics and Space Administration (NASA) Goddard Space Flight Center (GSFC) provides a hardware-in-the-loop test environment for formation navigation and control. The facility is evolving as a modular, hybrid, dynamic simulation facility for end-to-end guidance, navigation and. control (GN&C) design and analysis of formation flying spacecraft. The core capabilities of the FFTB, as a platform for testing critical hardware and software algorithms in-the-loop, have expanded to include S-band Radio Frequency (RF) modems for inter-spacecraft communication and ranging. To enable realistic simulations that require RF ranging sensors for relative navigation, a mechanism is needed to buffer the RF signals exchanged between spacecraft that accurately emulates the dynamic environment through which the RF signals travel, including the effects of medium, moving platforms, and radiated power. The Path Emulator for RF Signals (PERFS), currently under development at NASA GSFC, provides this capability. The function and performance of a prototype device are presented.

Autonomous formation flying based on GPS — PRISMA flight results

NASA Astrophysics Data System (ADS)

D'Amico, Simone; Ardaens, Jean-Sebastien; De Florio, Sergio

2013-01-01

This paper presents flight results from the early harvest of the Spaceborne Autonomous Formation Flying Experiment (SAFE) conducted in the frame of the Swedish PRISMA technology demonstration mission. SAFE represents one of the first demonstrations in low Earth orbit of an advanced guidance, navigation and control system for dual-spacecraft formations. Innovative techniques based on differential GPS-based navigation and relative orbital elements control are validated and tuned in orbit to fulfill the typical requirements of future distributed scientific instruments for remote sensing.

Natural Satellite Ephemerides at JPL

NASA Astrophysics Data System (ADS)

Jacobson, Robert Arthur; Brozovic, Marina

2015-08-01

There are currently 176 known natural planetary satellites in the solar system; 150 are officially recognized by the IAU and 26 have IAU provisional designations. We maintain ephemerides for all of the satellites at NASA's Jet Propulsion Laboratory (JPL) and make them available electronically through the On-Line Solar System Data Service known as Horizons(http://ssd.jpl.nasa.gov/horizons) and in the form of generic Spice Kernels (SPK files) from NASA's Navigation and Ancillary Information Facility (http://naif.jpl.nasa.gov/naif). General satellite information such as physical constants and descriptive orbital elements can be found on the JPL Solar System Dynamics Website (http://ssd.jpl.nasa.gov). JPL's ephemerides directly support planetary spacecraft missions both in navigation and science data analysis. They are also used in general scientific investigations of planetary systems. We produce the ephemerides by fitting numerically integrated orbits to observational data. Our model for the satellite dynamics accounts for the gravitational interactions within a planetary system and the external gravitational perturbations from the Sun and planets. We rely on an extensive data set to determine the parameters in our dynamical models. The majority of the observations are visual, photographic, and CCD astrometry acquired from Earthbased observatories worldwide and the Hubble Space Telescope. Additional observations include optical and photoelectric transits, eclipses, occultations, Earthbased radar ranging, spacecraft imaging,and spacecraft radiometric tracking. The latter data provide information on the planet and satellite gravity fields as well as the satellite position at the times of spacecraft close encounters. In this paper we report on the status of the ephemerides and our plan for future development, specifically that in support of NASA's Juno, Cassini, and New Horizons missions to Jupiter, Saturn, and Pluto, respectively.

Destination pluto: New horizons performance during the approach phase

NASA Astrophysics Data System (ADS)

Flanigan, Sarah H.; Rogers, Gabe D.; Guo, Yanping; Kirk, Madeline N.; Weaver, Harold A.; Owen, William M.; Jackman, Coralie D.; Bauman, Jeremy; Pelletier, Frederic; Nelson, Derek; Stanbridge, Dale; Dumont, Phillip J.; Williams, Bobby; Stern, S. Alan; Olkin, Cathy B.; Young, Leslie A.; Ennico, Kimberly

2016-11-01

The New Horizons spacecraft began its journey to the Pluto-Charon system on January 19, 2006 on-board an Atlas V rocket from Cape Canaveral, Florida. As the first mission in NASA's New Frontiers program, the objective of the New Horizons mission is to perform the first exploration of ice dwarfs in the Kuiper Belt, extending knowledge of the solar system to include the icy "third zone" for the first time. Arriving at the correct time and correct position relative to Pluto on July 14, 2015 depended on the successful execution of a carefully choreographed sequence of events. The Core command sequence, which was developed and optimized over multiple years and included the highest-priority science observations during the closest approach period, was contingent on precise navigation to the Pluto-Charon system and nominal performance of the guidance and control (G&C) subsystem. The flyby and gravity assist of Jupiter on February 28, 2007 was critical in placing New Horizons on the path to Pluto. Once past Jupiter, trajectory correction maneuvers (TCMs) became the sole source of trajectory control since the spacecraft did not encounter any other planetary bodies along its flight path prior to Pluto. During the Pluto approach phase, which formally began on January 15, 2015, optical navigation images were captured primarily with the Long Range Reconnaissance Imager to refine spacecraft and Pluto-Charon system trajectory knowledge, which in turn was used to design TCMs. Orbit determination solutions were also used to update the spacecraft's on-board trajectory knowledge throughout the approach phase. Nominal performance of the G&C subsystem, accurate TCM designs, and high-quality orbit determination solutions resulted in final Pluto-relative B-plane arrival conditions that facilitated a successful first reconnaissance of the Pluto-Charon system.

Current and planned use of the Navstar Global Positioning System by NASA

NASA Technical Reports Server (NTRS)

Theiss, Harold L.

1993-01-01

NASA was quick to realize the potential that the Global Positioning System (GPS) had to offer for its many diverse vehicles, experiments and platforms. Soon after the first Block 1 GPS satellites were launched, NASA began to use the tremendous capabilities that they had to offer. Even with a partial GPS constellation in place, important results have been obtained about the shape, orientation and rotation of the earth and calibration of the ionosphere and troposphere. These calibrations enhance geophysical science and facilitate the navigation of interplanetary spacecraft. Some very important results have been obtained in the continuing NASA program for aircraft terminal area operations. Currently, a large amount of activity is being concentrated on real time kinematic carrier phase tracking which has the potential to revolutionize aircraft navigation. This year marks the launch of the first GPS receiver equipped earth-orbiting NASA spacecraft: the Extreme Ultraviolet Explorer and the Ocean Topography Experiment (TOPEX/Poseidon). This paper describes a cross section of GPS-based research at NASA.

A GPS Receiver for Lunar Missions

NASA Technical Reports Server (NTRS)

Bamford, William A.; Heckler, Gregory W.; Holt, Greg N.; Moreau, Michael C.

2008-01-01

Beginning with the launch of the Lunar Reconnaissance Orbiter (LRO) in October of 2008, NASA will once again begin its quest to land humans on the Moon. This effort will require the development of new spacecraft which will safely transport people from the Earth to the Moon and back again, as well as robotic probes tagged with science, re-supply, and communication duties. In addition to the next-generation spacecraft currently under construction, including the Orion capsule, NASA is also investigating and developing cutting edge navigation sensors which will allow for autonomous state estimation in low Earth orbit (LEO) and cislunar space. Such instruments could provide an extra layer of redundancy in avionics systems and reduce the reliance on support and on the Deep Space Network (DSN). One such sensor is the weak-signal Global Positioning System (GPS) receiver "Navigator" being developed at NASA's Goddard Space Flight Center (GSFC). At the heart of the Navigator is a Field Programmable Gate Array (FPGA) based acquisition engine. This engine allows for the rapid acquisition/reacquisition of strong GPS signals, enabling the receiver to quickly recover from outages due to blocked satellites or atmospheric entry. Additionally, the acquisition algorithm provides significantly lower sensitivities than a conventional space-based GPS receiver, permitting it to acquire satellites well above the GPS constellation. This paper assesses the performance of the Navigator receiver based upon three of the major flight regimes of a manned lunar mission: Earth ascent, cislunar navigation, and entry. Representative trajectories for each of these segments were provided by NASA. The Navigator receiver was connected to a Spirent GPS signal generator, to allow for the collection of real-time, hardware-in-the-loop results for each phase of the flight. For each of the flight segments, the Navigator was tested on its ability to acquire and track GPS satellites under the dynamical environment unique to that trajectory.

Mars Science Laboratory Interplanetary Navigation Performance

NASA Technical Reports Server (NTRS)

Martin-Mur, Tomas J.; Kruizinga, Gerhard; Wong, Mau

2013-01-01

The Mars Science Laboratory spacecraft, carrying the Curiosity rover to Mars, hit the top of the Martian atmosphere just 200 meters from where it had been predicted more than six days earlier, and 2.6 million kilometers away. This un-expected level of accuracy was achieved by a combination of factors including: spacecraft performance, tracking data processing, dynamical modeling choices, and navigation filter setup. This paper will describe our best understanding of what were the factors that contributed to this excellent interplanetary trajectory prediction performance. The accurate interplanetary navigation contributed to the very precise landing performance, and to the overall success of the mission.

Taurus lightweight manned spacecraft Earth orbiting vehicle

NASA Technical Reports Server (NTRS)

Chase, Kevin A.; Vandersall, Eric J.; Plotkin, Jennifer; Travisano, Jeffrey J.; Loveless, Dennis; Kaczmarek, Michael; White, Anthony G.; Est, Andy; Bulla, Gregory; Henry, Chris

1991-01-01

The Taurus Lightweight Manned Spacecraft (LMS) was developed by students of the University of Maryland's Aerospace Engineering course in Space Vehicle Design. That course required students to design an Alternative Manned Spacecraft (AMS) to augment or replace the Space Transportation System and meet the following design requirements: (1) launch on the Taurus Booster being developed by Orbital Sciences Corporation; (2) 99.9 percent assured crew survival rate; (3) technology cutoff data of 1 Jan. 1991; (4) compatibility with current space administration infrastructure; and (5) first flight by May 1995. The Taurus LMS design meets the above requirements and represents an initial step towards larger and more complex spacecraft. The Taurus LMS has a very limited application when compared to the Space Shuttle, but it demonstrates that the U.S. can have a safe, reliable, and low cost space system. The Taurus LMS is a short mission duration spacecraft designed to place one man into low earth orbit (LEO). The driving factor for this design was the low payload carrying capabilities of the Taurus Booster--1300 kg to a 300 km orbit. The Taurus LMS design is divided into six major design sections. The human factors system deals with the problems of life support and spacecraft cooling. The propulsion section contains the abort system, the Orbital Maneuvering System (OMS), the Reaction Control System (RCS), and power generation. The thermal protection systems and spacecraft structure are contained in the structures section. The avionics section includes navigation, attitude determination, data processing, communication systems, and sensors. The mission analysis section was responsible for ground processing and spacecraft astrodynamics. The systems integration section pulled the above sections together into one spacecraft and addressed costing and reliability.

Establishing a Near Term Lunar Farside Gravity Model via Inexpensive Add-on Navigation Payload

NASA Technical Reports Server (NTRS)

Folta, David; Mesarch, Michael; Miller, Ronald; Bell, David; Jedrey, Tom; Butman, Stanley; Asmar, Sami

2007-01-01

The Space Communications and Navigation, Constellation Integration Project (SCIP) is tasked with defining, developing, deploying and operating an evolving multi-decade communications and navigation (C/N) infrastructure including services and subsystems that will support both robotic and human exploration activities at the Moon. This paper discusses an early far side gravitational mapping service and related telecom subsystem that uses an existing spacecraft (WIND) and the Lunar Reconnaissance Orbiter (LRO) to collect data that would address several needs of the SCIP. An important aspect of such an endeavor is to vastly improve the current lunar gravity model while demonstrating the navigation and stationkeeping of a relay spacecraft. We describe a gravity data acquisition activity and the trajectory design of the relay orbit in an Earth-Moon L2 co-linear libration orbit. Several phases of the transfer from an Earth-Sun to the Earth-Moon region are discussed along with transfers within the Earth-Moon system. We describe a proposed, but not integrated, add-on to LRO scheduled to be launched in October of 2008. LRO provided a real host spacecraft against which we designed the science payload and mission activities. From a strategic standpoint, LRO was a very exciting first flight opportunity for gravity science data collection. Gravity Science data collection requires the use of one or more low altitude lunar polar orbiters. Variations in the lunar gravity field will cause measurable variations in the orbit of a low altitude lunar orbiter. The primary means to capture these induced motions is to monitor the Doppler shift of a radio signal to or from the low altitude spacecraft, given that the signal is referenced to a stable frequency reference. For the lunar far side, a secondary orbiting radio signal platform is required. We provide an in-depth look at link margins, trajectory design, and hardware implications. Our approach posed minimum risk to a host mission while maintaining a very low implementation and operations cost.

Clementine Observes the Moon, Solar Corona, and Venus

NASA Image and Video Library

1999-06-12

In 1994, during its flight, NASA's Clementine spacecraft returned images of the Moon. In addition to the geologic mapping cameras, the Clementine spacecraft also carried two Star Tracker cameras for navigation. These lightweight (0.3 kg) cameras kept the spacecraft on track by constantly observing the positions of stars, reminiscent of the age-old seafaring tradition of sextant/star navigation. These navigation cameras were also to take some spectacular wide angle images of the Moon. In this picture the Moon is seen illuminated solely by light reflected from the Earth--Earthshine! The bright glow on the lunar horizon is caused by light from the solar corona; the sun is just behind the lunar limb. Caught in this image is the planet Venus at the top of the frame. http://photojournal.jpl.nasa.gov/catalog/PIA00434

Deep space telecommunications and the solar cycle: A reappraisal

NASA Technical Reports Server (NTRS)

Berman, A. L.

1978-01-01

Observations of density enhancement in the near corona at solar cycle (sunspot) maximum have rather uncritically been interpreted to apply equally well to the extended corona, thus generating concern about the quality of outer planet navigational data at solar cycle maximum. Spacecraft have been deployed almost continuously during the recently completed solar cycle 20, providing two powerful new coronal investigatory data sources: (1) in-situ spacecraft plasma measurements at approximately 1 AU, and (2) plasma effects on monochromatic spacecraft signals at all signal closest approach points. A comprehensive review of these (solar cycle 20) data lead to the somewhat surprising conclusions that for the region of interest of navigational data, the highest levels of charged particle corruption of navigational data can be expected to occur at solar cycle minimum, rather than solar cycle maximum, as previously believed.

Maneuver Recovery Analysis for the Magnetospheric Multiscale Mission

NASA Technical Reports Server (NTRS)

Gramling, Cheryl; Carpenter, Russell; Volle, Michael; Lee, Taesul; Long, Anne

2007-01-01

The use of spacecraft formations creates new and more demanding requirements for orbit determination accuracy. In addition to absolute navigation requirements, there are typically relative navigation requirements that are based on the size or shape of the formation. The difficulty in meeting these requirements is related to the relative dynamics of the spacecraft orbits and the frequency of the formation maintenance maneuvers. This paper examines the effects of bi-weekly formation maintenance maneuvers on the absolute and relative orbit determination accuracy for the four-spacecraft Magnetospheric Multiscale (MMS) formation. Results are presented from high fidelity simulations that include the effects of realistic orbit determination errors in the maneuver planning process. Solutions are determined using a high accuracy extended Kalman filter designed for onboard navigation. Three different solutions are examined, considering the effects of process noise and measurement rate on the solutions.

Use of Very Long Baseline Array Interferometric Data for Spacecraft Navigation

NASA Technical Reports Server (NTRS)

Martin-Mur, Tomas J.; Antreasian, P.; Border, J.; Benson, J.; Dhawan, V.; Fomalont, E.; Graat, E.; Jacobson, R.; Lanyi, G.; McElrath, T.;

Time determination for spacecraft users of the Navstar Global Positioning System /GPS/

NASA Technical Reports Server (NTRS)

Grenchik, T. J.; Fang, B. T.

1977-01-01

Global Positioning System (GPS) navigation is performed by time measurements. A description is presented of a two body model of spacecraft motion. Orbit determination is the process of inferring the position, velocity, and clock offset of the user from measurements made of the user motion in the Newtonian coordinate system. To illustrate the effect of clock errors and the accuracy with which the user spacecraft time and orbit may be determined, a low-earth-orbit spacecraft (Seasat) as tracked by six Phase I GPS space vehicles is considered. The obtained results indicate that in the absence of unmodeled dynamic parameter errors clock biases may be determined to the nanosecond level. There is, however, a high correlation between the clock bias and the uncertainty in the gravitational parameter GM, i.e., the product of the universal gravitational constant and the total mass of the earth. It is, therefore, not possible to determine clock bias to better than 25 nanosecond accuracy in the presence of a gravitational error of one part per million.

Relative Terrain Imaging Navigation (RETINA) Tool for the Asteroid Redirect Robotic Mission (ARRM)

NASA Technical Reports Server (NTRS)

Wright, Cinnamon A.; Van Eepoel, John; Liounis, Andrew; Shoemaker, Michael; DeWeese, Keith; Getzandanner, Kenneth

2016-01-01

As a part of the NASA initiative to collect a boulder off of an asteroid and return it to Lunar orbit, the Satellite Servicing Capabilities Office (SSCO) and NASA GSFC are developing an on-board relative terrain imaging navigation algorithm for the Asteroid Redirect Robotic Mission (ARRM). After performing several flybys and dry runs to verify and refine the shape, spin, and gravity models and obtain centimeter level imagery, the spacecraft will descend to the surface of the asteroid to capture a boulder and return it to Lunar Orbit. The algorithm implements Stereophotoclinometry methods to register landmarks with images taken onboard the spacecraft, and use these measurements to estimate the position and orientation of the spacecraft with respect to the asteroid. This paper will present an overview of the ARRM GN&C system and concept of operations as well as a description of the algorithm and its implementation. These techniques will be demonstrated for the descent to the surface of the proposed asteroid of interest, 2008 EV5, and preliminary results will be shown.

Lessons Learned from OSIRIS-Rex Autonomous Navigation Using Natural Feature Tracking

NASA Technical Reports Server (NTRS)

Lorenz, David A.; Olds, Ryan; May, Alexander; Mario, Courtney; Perry, Mark E.; Palmer, Eric E.; Daly, Michael

2017-01-01

The Origins, Spectral Interpretation, Resource Identification, Security-Regolith Explorer (Osiris-REx) spacecraft is scheduled to launch in September, 2016 to embark on an asteroid sample return mission. It is expected to rendezvous with the asteroid, Bennu, navigate to the surface, collect a sample (July 20), and return the sample to Earth (September 23). The original mission design called for using one of two Flash Lidar units to provide autonomous navigation to the surface. Following Preliminary design and initial development of the Lidars, reliability issues with the hardware and test program prompted the project to begin development of an alternative navigation technique to be used as a backup to the Lidar. At the critical design review, Natural Feature Tracking (NFT) was added to the mission. NFT is an onboard optical navigation system that compares observed images to a set of asteroid terrain models which are rendered in real-time from a catalog stored in memory on the flight computer. Onboard knowledge of the spacecraft state is then updated by a Kalman filter using the measured residuals between the rendered reference images and the actual observed images. The asteroid terrain models used by NFT are built from a shape model generated from observations collected during earlier phases of the mission and include both terrain shape and albedo information about the asteroid surface. As a result, the success of NFT is highly dependent on selecting a set of topographic features that can be both identified during descent as well as reliably rendered using the shape model data available. During development, the OSIRIS-REx team faced significant challenges in developing a process conducive to robust operation. This was especially true for terrain models to be used as the spacecraft gets close to the asteroid and higher fidelity models are required for reliable image correlation. This paper will present some of the challenges and lessons learned from the development of the NFT system which includes not just the flight hardware and software but the development of the terrain models used to generate the onboard rendered images.

Aerospace Vehicle Design, Spacecraft Section. Volume 3

NASA Technical Reports Server (NTRS)

1988-01-01

Research results are presented for the following groups: Project Mars Airplane Vehicle and Reconnaissance Instrument Carrier (MAVRIC), ACME, ARES, Project ACRONYM, Mars Aircraft Recepticle with Technical Instruments, Aerobraking, and Navigation (MARTIAN), and NOMADS. Each project is described by the following areas of focus: mission planning and costs; aerobraking systems; structures and thermal control systems; attitude and articulation control systems; comman and data control systems; science instrumentation; and power and propulsion systems.

Taurus Lightweight Manned Spacecraft Earth orbiting vehicle

NASA Technical Reports Server (NTRS)

Bosset, M.

1991-01-01

The Taurus Lightweight Manned Spacecraft (LMS) was developed by students of the University of Maryland's Aerospace Engineering course in Space Vehicle Design. That course required students to design an Alternative Manned Spacecraft (AMS) to augment or replace the Space Transportation System and meet the following design requirements: (1) launch on the Taurus Booster being developed by Orbital Sciences Corporation; (2) 99.9 percent assured crew survival rate; (3) technology cutoff date of 1 Jan. 1991; (4) compatibility with current space administration infrastructure; and (5) first flight by May 1995. The Taurus LMS design meets the above requirements and represents an initial step toward larger and more complex spacecraft. The Taurus LMS has a very limited application when compared to the space shuttle, but it demonstrates that the U.S. can have a safe, reliable, and low-cost space system. The Taurus LMS is a short mission duration spacecraft designed to place one man into low Earth orbit (LEO). The driving factor for this design was the low payload carrying capabilities of the Taurus Booster - 1300 kg to a 300-km orbit. The Taurus LMS design is divided into six major design sections. The Human Factors section deals with the problems of life support and spacecraft cooling. The Propulsion section contains the Abort System, the Orbital Maneuvering System (OMS), the Reaction Control System (RCS), and Power Generation. The thermal protection systems and spacecraft structure are contained in the Structures section. The Avionics section includes Navigation, Attitude Determination, Data Processing, Communication systems, and Sensors. The Mission Analysis section was responsible for ground processing and spacecraft astrodynamics. The Systems Integration Section pulled the above sections together into one spacecraft, and addressed costing and reliability.

Estimating the Mass of Asteroid 433 Eros During the Near Spacecraft Flyby

NASA Technical Reports Server (NTRS)

Yeomans, D.; Antreasian, P.; Cheng, A.; Dunham, D.; Farquhar, R.; Gaskell, R.; Giorgini, J.; Helfrich, C.; Konopliv, A.; McAdams, J.;

OSIRIS-REx Asteroid Sample Return Mission Image Analysis

NASA Astrophysics Data System (ADS)

Chevres Fernandez, Lee Roger; Bos, Brent

2018-01-01

NASA’s Origins Spectral Interpretation Resource Identification Security-Regolith Explorer (OSIRIS-REx) mission constitutes the “first-of-its-kind” project to thoroughly characterize a near-Earth asteroid. The selected asteroid is (101955) 1999 RQ36 (a.k.a. Bennu). The mission launched in September 2016, and the spacecraft will reach its asteroid target in 2018 and return a sample to Earth in 2023. The spacecraft that will travel to, and collect a sample from, Bennu has five integrated instruments from national and international partners. NASA's OSIRIS-REx asteroid sample return mission spacecraft includes the Touch-And-Go Camera System (TAGCAMS) three camera-head instrument. The purpose of TAGCAMS is to provide imagery during the mission to facilitate navigation to the target asteroid, confirm acquisition of the asteroid sample and document asteroid sample stowage. Two of the TAGCAMS cameras, NavCam 1 and NavCam 2, serve as fully redundant navigation cameras to support optical navigation and natural feature tracking. The third TAGCAMS camera, StowCam, provides imagery to assist with and confirm proper stowage of the asteroid sample. Analysis of spacecraft imagery acquired by the TAGCAMS during cruise to the target asteroid Bennu was performed using custom codes developed in MATLAB. Assessment of the TAGCAMS in-flight performance using flight imagery was done to characterize camera performance. One specific area of investigation that was targeted was bad pixel mapping. A recent phase of the mission, known as the Earth Gravity Assist (EGA) maneuver, provided images that were used for the detection and confirmation of “questionable” pixels, possibly under responsive, using image segmentation analysis. Ongoing work on point spread function morphology and camera linearity and responsivity will also be used for calibration purposes and further analysis in preparation for proximity operations around Bennu. Said analyses will provide a broader understanding regarding the functionality of the camera system, which will in turn aid in the fly-down to the asteroid, as it will allow the pick of a suitable landing and sample location.

Modeling and Simulation for Multi-Missions Space Exploration Vehicle

NASA Technical Reports Server (NTRS)

Chang, Max

2011-01-01

Asteroids and Near-Earth Objects [NEOs] are of great interest for future space missions. The Multi-Mission Space Exploration Vehicle [MMSEV] is being considered for future Near Earth Object missions and requires detailed planning and study of its Guidance, Navigation, and Control [GNC]. A possible mission of the MMSEV to a NEO would be to navigate the spacecraft to a stationary orbit with respect to the rotating asteroid and proceed to anchor into the surface of the asteroid with robotic arms. The Dynamics and Real-Time Simulation [DARTS] laboratory develops reusable models and simulations for the design and analysis of missions. In this paper, the development of guidance and anchoring models are presented together with their role in achieving mission objectives and relationships to other parts of the simulation. One important aspect of guidance is in developing methods to represent the evolution of kinematic frames related to the tasks to be achieved by the spacecraft and its robot arms. In this paper, we compare various types of mathematical interpolation methods for position and quaternion frames. Subsequent work will be on analyzing the spacecraft guidance system with different movements of the arms. With the analyzed data, the guidance system can be adjusted to minimize the errors in performing precision maneuvers.

ATON (Autonomous Terrain-based Optical Navigation) for exploration missions: recent flight test results

NASA Astrophysics Data System (ADS)

Theil, S.; Ammann, N.; Andert, F.; Franz, T.; Krüger, H.; Lehner, H.; Lingenauber, M.; Lüdtke, D.; Maass, B.; Paproth, C.; Wohlfeil, J.

2018-03-01

Since 2010 the German Aerospace Center is working on the project Autonomous Terrain-based Optical Navigation (ATON). Its objective is the development of technologies which allow autonomous navigation of spacecraft in orbit around and during landing on celestial bodies like the Moon, planets, asteroids and comets. The project developed different image processing techniques and optical navigation methods as well as sensor data fusion. The setup—which is applicable to many exploration missions—consists of an inertial measurement unit, a laser altimeter, a star tracker and one or multiple navigation cameras. In the past years, several milestones have been achieved. It started with the setup of a simulation environment including the detailed simulation of camera images. This was continued by hardware-in-the-loop tests in the Testbed for Robotic Optical Navigation (TRON) where images were generated by real cameras in a simulated downscaled lunar landing scene. Data were recorded in helicopter flight tests and post-processed in real-time to increase maturity of the algorithms and to optimize the software. Recently, two more milestones have been achieved. In late 2016, the whole navigation system setup was flying on an unmanned helicopter while processing all sensor information onboard in real time. For the latest milestone the navigation system was tested in closed-loop on the unmanned helicopter. For that purpose the ATON navigation system provided the navigation state for the guidance and control of the unmanned helicopter replacing the GPS-based standard navigation system. The paper will give an introduction to the ATON project and its concept. The methods and algorithms of ATON are briefly described. The flight test results of the latest two milestones are presented and discussed.

Enhanced Formation Flying for the Earth Observing-1 (EO-1) New Millennium Mission

NASA Technical Reports Server (NTRS)

Folta, David; Quinn, David

1997-01-01

With scientific objectives for Earth observation programs becoming more ambitious and spacecraft becoming more autonomous, the need for new technical approaches on the feasibility of achieving and maintaining formations of spacecraft has come to the forefront. The trend to develop small low cost spacecraft has led many scientists to recognize the advantage of flying several spacecraft in formation, an example of which is shown in the figure below, to achieve the correlated instrument measurements formerly possible only by flying many instruments on a single large platform. Yet, formation flying imposes additional complications on orbit maintenance, especially when each spacecraft has its own orbit requirements. However, advances in automation proposed by GSFC Codes 550 and 712 allow more of the burden in maneuver planning and execution to be placed onboard the spacecraft, mitigating some of the associated operational concerns. The purpose of this analysis is to develop the fundamentals of formation flying mechanics, concepts for understanding the relative motion of free flying spacecraft, and an operational control theory for formation maintenance of the Earth Observing-1 (EO-l) spacecraft that is part of the New Millennium. Results of this development can be used to determine the appropriateness of formation flying for a particular case as well as the operational impacts. Applications to the Mission to Planet Earth (MTPE) Earth Observing System (EOS) and New Millennium (NM) were highly considered in analysis and applications. This paper presents the proposed methods for the guidance and control of the EO-1 spacecraft to formation fly with the Landsat-7 spacecraft using an autonomous closed loop three axis navigation control, GPS, and Cross link navigation support. Simulation results using various fidelity levels of modeling, algorithms developed and implemented in MATLAB, and autonomous 'fuzzy logic' control using AutoCon will be presented. The results of these analysis on the ability to meet mission and formation flying requirements will be presented.

Distributed Timing and Localization (DiGiTaL)

NASA Technical Reports Server (NTRS)

D'Amico, Simone; Hunter, Roger C.; Baker, Christopher

2017-01-01

The Distributed Timing and Localization (DiGiTaL) system provides nano satellite formations with unprecedented,centimeter-level navigation accuracy in real time and nanosecond-level time synchronization. This is achieved through the integration of a multi-constellation Global Navigation Satellite System (GNSS) receiver, a Chip-Scale Atomic Clock (CSAC), and a dedicated Inter-Satellite Link (ISL). In comparison, traditional single spacecraft GNSS navigation solutions are accurate only to the meter-level due to the sole usage of coarse pseudo-range measurements. To meet the strict requirements of future miniaturized distributed space systems, DiGiTaL uses powerful error-cancelling combinations of raw carrier-phase measurements which are exchanged between the swarming nano satellites through a decentralized network. A reduced-dynamics estimation architecture on board each individual nano satellite processes the resulting millimeter-level noise measurements to reconstruct the fullformation state with high accuracy.

Toward a Dynamically Reconfigurable Computing and Communication System for Small Spacecraft

NASA Technical Reports Server (NTRS)

Kifle, Muli; Andro, Monty; Tran, Quang K.; Fujikawa, Gene; Chu, Pong P.

2003-01-01

Future science missions will require the use of multiple spacecraft with multiple sensor nodes autonomously responding and adapting to a dynamically changing space environment. The acquisition of random scientific events will require rapidly changing network topologies, distributed processing power, and a dynamic resource management strategy. Optimum utilization and configuration of spacecraft communications and navigation resources will be critical in meeting the demand of these stringent mission requirements. There are two important trends to follow with respect to NASA's (National Aeronautics and Space Administration) future scientific missions: the use of multiple satellite systems and the development of an integrated space communications network. Reconfigurable computing and communication systems may enable versatile adaptation of a spacecraft system's resources by dynamic allocation of the processor hardware to perform new operations or to maintain functionality due to malfunctions or hardware faults. Advancements in FPGA (Field Programmable Gate Array) technology make it possible to incorporate major communication and network functionalities in FPGA chips and provide the basis for a dynamically reconfigurable communication system. Advantages of higher computation speeds and accuracy are envisioned with tremendous hardware flexibility to ensure maximum survivability of future science mission spacecraft. This paper discusses the requirements, enabling technologies, and challenges associated with dynamically reconfigurable space communications systems.

End-to-end information system concept for the Mars Telecommunications Orbiter

NASA Technical Reports Server (NTRS)

Breidenthal, Julian C.; Edwards, Charles D.; Greenberg, Edward; Kazz, Greg J.; Noreen, Gary K.

2006-01-01

The Mars Telecommunications Orbiter (MTO) was intended to provide high-performance deep space relay links to landers, orbiters, sample-return missions, and approaching spacecraft in the vicinity of Mars, to demostrate interplanetary laser communications, to demonstrate autonomous navigation, and to carry out its own science investigations.

End-to-end information system concept for the Mars Telecommunications Orbiter

NASA Technical Reports Server (NTRS)

Bridenthal, Julian C.; Edwards, Charles D.; Greenberg, Edward; Kazz, Greg J.; Noreen, Gary K.

2006-01-01

The Mars Telecommunications Orbiter (MTO) was intended to provide high-performance deep space relay links to landers, orbiters, sample-return, missions, and approaching spacecraft in the vicinity of Mars, to demonstrate interplanetary laser communications, to demonstrate autonomous navigation, and to carry out is own science investigations.

Autonomous orbital navigation using Kepler's equation

NASA Technical Reports Server (NTRS)

Boltz, F. W.

1974-01-01

A simple method of determining the six elements of elliptic satellite orbits has been developed for use aboard manned and unmanned spacecraft orbiting the earth, moon, or any planet. The system requires the use of a horizon sensor or other device for determining the local vertical, a precision clock or timing device, and Apollo-type navigation equipment including an inertial measurement unit (IMU), a digital computer, and a coupling data unit. The three elements defining the in-plane motion are obtained from simultaneous measurements of central angle traversed around the planet and elapsed flight time using a linearization of Kepler's equation about a reference orbit. It is shown how Kalman filter theory may also be used to determine the in-plane orbital elements. The three elements defining the orbit orientation are obtained from position angles in celestial coordinates derived from the IMU with the spacecraft vertically oriented after alignment of the IMU to a known inertial coordinate frame.

Guidance, Navigation and Control (GN&C): Best Practices for Human-Rated Spacecraft Systems

NASA Technical Reports Server (NTRS)

Lebsock, Ken; West, John

2008-01-01

In 2007 the NESC completed an in-depth assessment to identify, define and document engineering considerations for the Design Development Test and Evaluation (DDT&E) of human-rated spacecraft systems. This study had been requested by the Astronaut Office at JSC to help them to better understand what is required to ensure safe, robust, and reliable human-rated spacecraft systems. The 22 GN&C engineering Best Practices described in this paper are a condensed version of what appears in the NESC Technical Report. These Best Practices cover a broad range from fundamental system architectural considerations to more specific aspects (e.g., stability margin recommendations) of GN&C system design and development. 15 of the Best Practices address the early phases of a GN&C System development project and the remaining 7 deal with the later phases. Some of these Best Practices will cross-over between both phases. We recognize that this set of GN&C Best Practices will not be universally applicable to all projects and mission applications.

Autonomous optical navigation using nanosatellite-class instruments: a Mars approach case study

NASA Astrophysics Data System (ADS)

Enright, John; Jovanovic, Ilija; Kazemi, Laila; Zhang, Harry; Dzamba, Tom

2018-02-01

This paper examines the effectiveness of small star trackers for orbital estimation. Autonomous optical navigation has been used for some time to provide local estimates of orbital parameters during close approach to celestial bodies. These techniques have been used extensively on spacecraft dating back to the Voyager missions, but often rely on long exposures and large instrument apertures. Using a hyperbolic Mars approach as a reference mission, we present an EKF-based navigation filter suitable for nanosatellite missions. Observations of Mars and its moons allow the estimator to correct initial errors in both position and velocity. Our results show that nanosatellite-class star trackers can produce good quality navigation solutions with low position (<300 {m}) and velocity (<0.15 {m/s}) errors as the spacecraft approaches periapse.

JPL VLBI Analysis Center Report for 2012

NASA Technical Reports Server (NTRS)

Jacobs, Chris

2013-01-01

This report describes the activities of the JPL VLBI Analysis Center for the year 2012. The highlight of the year was the successful MSL rover Mars landing, which was supported by VLBI-based navigation using our combined spacecraft, celestial reference frame, terrestrial reference frame, earth orientation, and planetary ephemeris VLBI systems. We also supported several other missions with VLBI navigation measurements. A combined NASA-ESA network was demonstrated with first Ka-band fringes to ESA's Malargue, Argentina 35 m. We achieved first fringes with our new digital back end and Mark 5C recorders.

Dual RF Astrodynamic GPS Orbital Navigator Satellite

NASA Technical Reports Server (NTRS)

Kanipe, David B.; Provence, Robert Steve; Straube, Timothy M.; Reed, Helen; Bishop, Robert; Lightsey, Glenn

2009-01-01

Dual RF Astrodynamic GPS Orbital Navigator Satellite (DRAGONSat) will demonstrate autonomous rendezvous and docking (ARD) in low Earth orbit (LEO) and gather flight data with a global positioning system (GPS) receiver strictly designed for space applications. ARD is the capability of two independent spacecraft to rendezvous in orbit and dock without crew intervention. DRAGONSat consists of two picosatellites (one built by the University of Texas and one built by Texas A and M University) and the Space Shuttle Payload Launcher (SSPL); this project will ultimately demonstrate ARD in LEO.

The Availability of Space Service for Inter-Satellite Links in Navigation Constellations

PubMed Central

Tang, Yinyin; Wang, Yueke; Chen, Jianyun

2016-01-01

Global navigation satellite systems (GNSS) are widely used in low Earth orbit (LEO) satellite navigation; however, their availability is poor for users in medium Earth orbits (MEO), and high Earth orbits (HEO). With the increasing demand for navigation from MEO and HEO users, the inadequate coverage of GNSS has emerged. Inter-satellite links (ISLs) are used for ranging and communication between navigation satellites and can also serve space users that are outside the navigation constellation. This paper aims to summarize their application method and analyze their service performance. The mathematical model of visibility is proposed and then the availability of time division ISLs is analyzed based on global grid points. The BeiDou navigation constellation is used as an example for numerical simulation. Simulation results show that the availability can be enhanced by scheduling more satellites and larger beams, while the presence of more users lowers the availability. The availability of navigation signals will be strengthened when combined with the signals from the ISLs. ISLs can improve the space service volume (SSV) of navigation constellations, and are therefore a promising method for navigation in MEO/HEO spacecraft. PMID:27548181

A Conceptual Framework for Tactical Private Satellite Networks

DTIC Science & Technology

2008-09-01

will be deployed on a controlled basis so as not to consume valuable bandwidth during critical time windows. Faults inside the network can be tracked ... attitude control , timing, and navigation - More precise station keeping - Optical LANs and inter-satellite links - Inter satellite links - New...Cluster operations, such as electromagnetic formation flying systems and remote attitude determination systems. • Distributed spacecraft computing

Radiometric Spacecraft Tracking for Deep Space Navigation

NASA Technical Reports Server (NTRS)

Lanyi, Gabor E.; Border, James S.; Shin, Dong K.

2008-01-01

Interplanetary spacecraft navigation relies on three types of terrestrial tracking observables.1) Ranging measures the distance between the observing site and the probe. 2) The line-of-sight velocity of the probe is inferred from Doppler-shift by measuring the frequency shift of the received signal with respect to the unshifted frequency. 3) Differential angular coordinates of the probe with respect to natural radio sources are nominally obtained via a differential delay technique of (Delta) DOR (Delta Differential One-way Ranging). The accuracy of spacecraft coordinate determination depends on the measurement uncertainties associated with each of these three techniques. We evaluate the corresponding sources of error and present a detailed error budget.

Use and Protection of GPS Sidelobe Signals for Enhanced Navigation Performance in High Earth Orbit

NASA Technical Reports Server (NTRS)

Parker, Joel J. K.; Valdez, Jennifer E.; Bauer, Frank H.; Moreau, Michael C.

2016-01-01

The application of the Global Positioning System (GPS) for navigation of spacecraft in High and Geosynchronous Earth Orbit (HEO/GEO) has crossed a threshold and is now being employed in operational missions. Utilizing advanced GPS receivers optimized for these missions, space users have made extensive use of the sidelobe transmissions from the GPS satellites to realize navigation performance that far exceeds that predicted by pre-launch simulations. Unfortunately, the official specification for the GPS Space Service Volume (SSV), developed in 2006, assumes that only signals emanating from the main beam of the GPS transmit antenna are useful for navigation, which greatly under-estimates the number of signals available for navigation purposes. As a result, future high-altitude space users may be vulnerable to any GPS design changes that suppress the sidelobe transmissions, beginning with Block III space vehicles (SVs) 11-32. This paper presents proposed changes to the GPS system SSV requirements, as informed by data from recent experiments in the SSV and new mission applications that are enabled by GPS navigation in HEO/GEO regimes. The NASA/NOAA GOES-R series satellites are highlighted as an example of a mission that relies on this currently-unspecified GPS system performance to meet mission requirements.

Cerebellum Augmented Rover Development

NASA Technical Reports Server (NTRS)

King, Matthew

2005-01-01

Bio-Inspired Technologies and Systems (BITS) are a very natural result of thinking about Nature's way of solving problems. Knowledge of animal behaviors an be used in developing robotic behaviors intended for planetary exploration. This is the expertise of the JFL BITS Group and has served as a philosophical model for NMSU RioRobolab. Navigation is a vital function for any autonomous system. Systems must have the ability to determine a safe path between their current location and some target location. The MER mission, as well as other JPL rover missions, uses a method known as dead-reckoning to determine position information. Dead-reckoning uses wheel encoders to sense the wheel's rotation. In a sandy environment such as Mars, this method is highly inaccurate because the wheels will slip in the sand. Improving positioning error will allow the speed of an autonomous navigating rover to be greatly increased. Therefore, local navigation based upon landmark tracking is desirable in planetary exploration. The BITS Group is developing navigation technology based upon landmark tracking. Integration of the current rover architecture with a cerebellar neural network tracking algorithm will demonstrate that this approach to navigation is feasible and should be implemented in future rover and spacecraft missions.

Navigation for Rendezvous and Orbit Missions to Small Solar-System Bodies

NASA Technical Reports Server (NTRS)

Helfrich, C. E.; Scheeres, D. J.; Williams, B. G.; Bollman, W. E.; Davis, R. P.; Synnott, S. P.; Yeomans, D. K.

1994-01-01

All previous spacecraft encounters with small solar-system bodies, such as asteroids and comets, have been flybys (e.g. Galileo's flybys of the asteroids Gaspra and Ida). Several future projects plan to build on the flyby experience and progress to the next level with rendezvous and orbit missions to small bodies. This presents several new issues and challenges for navigation which have never been considered before. This paper addresses these challenges by characterizing the different phases of a small body rendezvous and by describing the navigation requirements and goals of each phase. Prior to the encounter with the small body, improvements to its ephemeris and initial estimates of its physical parameters, e.g. size, shape, mass, rotation rate, rotation pole, and possibly outgassing, are made as accurately as ground-based measurements allow. This characterization can take place over years...

Installing Electronics in Juno Vault

NASA Image and Video Library

2010-12-16

Technicians install components that will aid with guidance, navigation and control of NASA Juno spacecraft. Like most of Juno sensitive electronics, these components are situated within the spacecraft titanium radiation vault.

Magellan aerobrake navigation

NASA Technical Reports Server (NTRS)

Giorgini, Jon; Wong, S. Kuen; You, Tung-Han; Chadbourne, Pam; Lim, Lily

1995-01-01

The Magellan spacecraft has been aerobraked into a 197 x 541 km near-circular orbit around Venus from which it is conducting a high-resolution gravity mapping mission. This was the first interplanetary aerobrake maneuver and involved flying the spacecraft through the upper reaches of the Venusian atmosphere 730 times over a 70 day period. Round-trip light-time varied from 9.57 to 18.83 minutes during this period. Navigation for this dynamic phase of the Magellan mission was planned and executed in the face of budget-driven down-sizing with all spacecraft safe modes disabled and a flight-team one-third the size of comparable interplanetary missions. Successful execution of this manuever using spacecraft hardware not designed to operate in a planetary atmosphere, demonstrated a practical cost-saving technique for both large and small future interplanetary missions.

OSIRIS-REx Orbit Determination Covariance Studies at Bennu

NASA Technical Reports Server (NTRS)

Antreasian, P. G.; Moreau, M.; Jackman, C.; Williams, K.; Page, B.; Leonard, J. M.

2016-01-01

The Origins Spectral Interpretation Resource Identification Security Regolith Explorer (OSIRIS-REx) mission is a NASA New Frontiers mission launching in 2016 to rendezvous with the small, Earth-crossing asteroid (101955) Bennu in late 2018, and ultimately return a sample of regolith to Earth. Approximately 3 months before the encounter with Bennu, the asteroid finally becomes detectable in the narrow field PolyCam imager. The spacecraft's rendezvous with Bennu begins with a series of four Asteroid Approach Maneuvers, which slow the spacecraft's speed relative to Bennu beginning two and a half months prior to closest approach, ultimately delivering the spacecraft to a point 18 km from Bennu on Nov 18, 2018. An extensive campaign of proximity operations activities to characterize the properties of Bennu and select a suitable sample site will follow. This paper will discuss the challenges of navigating near a small 500-m diameter asteroid. The navigation at close proximity is dependent on the accurate mathematical model or digital terrain map of the asteroids shape. Predictions of the spacecraft state are very sensitive to spacecraft small forces, solar radiation pressure, and mis-modeling of Bennu's gravity field. Uncertainties in the physical parameters of the central body Bennu create additional challenges. The navigation errors are discussed and their impact on science planning will be presented.

OSIRIS-REx Orbit Determination Covariance Studies at Bennu

NASA Technical Reports Server (NTRS)

Antreasian, P. G.; Moreau, M.; Jackman, C.; Williams, K.; Page, B.; Leonard, J. M.

2016-01-01

The Origins Spectral Interpretation Resource Identification Security Regolith Explorer (OSIRIS-REx) mission is a NASA New Frontiers mission launching in 2016 to rendezvous with the small, Earth-crossing asteroid (101955) Bennu in late 2018, ultimately returning a sample of regolith to Earth. Approximately three months before the encounter with Bennu, the asteroid becomes detectable in the narrow field PolyCam imager. The spacecraft's rendezvous with Bennu begins with a series of four Asteroid Approach Maneuvers, slowing the spacecraft's speed relative to Bennu beginning two and a half months prior to closest approach, ultimately delivering the spacecraft to a point 18 km from Bennu in Nov, 2018. An extensive campaign of proximity operations activities to characterize the properties of Bennu and select a suitable sample site will follow. This paper will discuss the challenges of navigating near a small 500-m diameter asteroid. The navigation at close proximity is dependent on the accurate mathematical model or digital terrain map of the asteroid's shape. Predictions of the spacecraft state are very sensitive to spacecraft small forces, solar radiation pressure, and mis-modeling of Bennu's gravity field. Uncertainties in the physical parameters of the central body Bennu create additional challenges. The navigation errors are discussed and their impact on science planning will be presented.

Multi-Sensor Testing for Automated Rendezvous and Docking Sensor Testing at the Flight Robotics Lab

NASA Technical Reports Server (NTRS)

Brewster, Linda L.; Howard, Richard T.; Johnston, A. S.; Carrington, Connie; Mitchell, Jennifer D.; Cryan, Scott P.

2008-01-01

The Exploration Systems Architecture defines missions that require rendezvous, proximity operations, and docking (RPOD) of two spacecraft both in Low Earth Orbit (LEO) and in Low Lunar Orbit (LLO). Uncrewed spacecraft must perform automated and/or autonomous rendezvous, proximity operations and docking operations (commonly known as AR&D). The crewed missions may also perform rendezvous and docking operations and may require different levels of automation and/or autonomy, and must provide the crew with relative navigation information for manual piloting. The capabilities of the RPOD sensors are critical to the success ofthe Exploration Program. NASA has the responsibility to determine whether the Crew Exploration Vehicle (CEV) contractor-proposed relative navigation sensor suite will meet the requirements. The relatively low technology readiness level of AR&D relative navigation sensors has been carried as one of the CEV Project's top risks. The AR&D Sensor Technology Project seeks to reduce the risk by the testing and analysis of selected relative navigation sensor technologies through hardware-in-the-Ioop testing and simulation. These activities will provide the CEV Project information to assess the relative navigation sensors maturity as well as demonstrate test methods and capabilities. The first year of this project focused on a series of "pathfinder" testing tasks to develop the test plans, test facility requirements, trajectories, math model architecture, simulation platform, and processes that will be used to evaluate the Contractor-proposed sensors. Four candidate sensors were used in the first phase of the testing. The second phase of testing used four sensors simultaneously: two Marshall Space Flight Center (MSFC) Advanced Video Guidance Sensors (AVGS), a laser-based video sensor that uses retroreflectors attached to the target vehicle, and two commercial laser range finders. The multi-sensor testing was conducted at MSFC's Flight Robotics Laboratory (FRL) using the FRL's 6-DOF gantry system, called the Dynamic Overhead Target System (DOTS). The target vehicle for "docking" in the laboratory was a mockup that was representative of the proposed CEV docking system, with added retroreflectors for the AVGS.' The multi-sensor test configuration used 35 open-loop test trajectories covering three major objectives: (l) sensor characterization trajectories designed to test a wide range of performance parameters; (2) CEV-specific trajectories designed to test performance during CEV-like approach and departure profiles; and (3) sensor characterization tests designed for evaluating sensor performance under more extreme conditions as might be induced during a spacecraft failure or during contingency situations. This paper describes the test development, test facility, test preparations, test execution, and test results of the multisensor series oftrajectories

Connection stiffness and dynamical docking process of flux pinned spacecraft modules

NASA Astrophysics Data System (ADS)

Lu, Yong; Zhang, Mingliang; Gao, Dong

2014-02-01

This paper describes a novel kind of potential flux pinned docking system that consists of guidance navigation and control system, the traditional extrusion type propulsion system, and a flux pinned docking interface. Because of characteristics of passive stability of flux pinning, the docking control strategy of flux pinned docking system only needs a series of sequential control rather than necessary active feedback control, as well as avoidance of hazardous collision accident. The flux pinned force between YBaCuO (YBCO) high temperature superconductor bulk and permanent magnet is able to be given vent based on the identical current loop model and improved image dipole model, which can be validated experimentally. Thus, the connection stiffness between two flux pinned spacecraft modules can be calculated based on Hooke's law. This connection stiffness matrix at the equilibrium position has the positive definite performance, which can validate the passively stable connection of two flux pinned spacecraft modules theoretically. Furthermore, the relative orbital dynamical equation of two flux pinned spacecraft modules can be established based on Clohessy-Wiltshire's equations and improved image dipole model. The dynamical docking process between two flux pinned spacecraft modules can be obtained by way of numerical simulation, which suggests the feasibility of flux pinned docking system.

Connection stiffness and dynamical docking process of flux pinned spacecraft modules

DOE Office of Scientific and Technical Information (OSTI.GOV)

Lu, Yong; Zhang, Mingliang, E-mail: niudun12@126.com; Gao, Dong

2014-02-14

This paper describes a novel kind of potential flux pinned docking system that consists of guidance navigation and control system, the traditional extrusion type propulsion system, and a flux pinned docking interface. Because of characteristics of passive stability of flux pinning, the docking control strategy of flux pinned docking system only needs a series of sequential control rather than necessary active feedback control, as well as avoidance of hazardous collision accident. The flux pinned force between YBaCuO (YBCO) high temperature superconductor bulk and permanent magnet is able to be given vent based on the identical current loop model and improvedmore » image dipole model, which can be validated experimentally. Thus, the connection stiffness between two flux pinned spacecraft modules can be calculated based on Hooke's law. This connection stiffness matrix at the equilibrium position has the positive definite performance, which can validate the passively stable connection of two flux pinned spacecraft modules theoretically. Furthermore, the relative orbital dynamical equation of two flux pinned spacecraft modules can be established based on Clohessy-Wiltshire's equations and improved image dipole model. The dynamical docking process between two flux pinned spacecraft modules can be obtained by way of numerical simulation, which suggests the feasibility of flux pinned docking system.« less

Proposal Drafted for Allocating Space-to-Space Frequencies in the GPS Spectrum Bands

NASA Technical Reports Server (NTRS)

Spence, Rodney L.

2000-01-01

Radionavigation Satellite Service (RNSS) systems such as the U.S. Global Positioning System (GPS) and the Russian Global Navigation Satellite System (GLONASS) are primarily being used today in the space-to-Earth direction (i.e., from GPS satellite to Earth user) for a broad range of applications such as geological surveying; aircraft, automobile, and maritime navigation; hiking and mountain climbing; and precision farming and mining. However, these navigation systems are being used increasingly in space. Beginning with the launch of the TOPEX/Poseidon remote-sensing mission in 1992, over 90 GPS receivers have flown onboard spacecraft for such applications as real-time spacecraft navigation, three-axis attitude control, precise time synchronization, precision orbit determination, and atmospheric profiling. In addition to use onboard many science spacecraft, GPS has been used or is planned to be used onboard the shuttles, the International Space Station, the International Space Station Emergency Crew Return Vehicle, and many commercial satellite systems such as Orbcomm, Globalstar, and Teledesic. From a frequency spectrum standpoint, however, one important difference between the space and terrestrial uses of GPS is that it is being used in space with no interference protection. This is because there is no frequency allocation for the space-to-space use of GPS (i.e., from GPS satellite to user spacecraft) in the International Telecommunications Union (ITU) regulatory table of frequency allocations. If another space-based or groundbased radio system interferes with a spaceborne GPS user, the spaceborne user presently has no recourse other than to accept the interference. Consequently, for the past year and a half, the NASA Glenn Research Center at Lewis Field and other Government agencies have been working within ITU toward obtaining a GPS space-to-space allocation at the next World Radio Conference in the year 2000 (WRC 2000). Numerous interference studies have been conducted in support of a primary space-tospace allocation in the 1215- to 1260-MHz and 1559- to 1610-MHz RNSS bands. Most of these studies and analyses were performed by Glenn and submitted as U.S. input documents to the international Working Party 8D meetings in Geneva, Switzerland. In the structure of the ITU, Working Party 8D is responsible for frequency spectrum issues in the RNSS and the mobile satellite service (MSS). The full texts of the studies are available from the ITU web site under Working Party 8D contributions. Note that because spaceborne RNSS receivers operate in a receive-only mode with navigation signals already being broadcast toward the Earth, the addition of a space-tospace allocation will not result in interference with other systems. A space-based RNSS receiver, however, could experience interference from systems of other services, including intraservice interference from other RNSS systems. The interference scenarios examined in the studies can be inferred from the following frequency allocation charts. In these charts, services labeled in all capital letters (e.g., "ARNS") have primary status, whereas those labeled with sentence-style capitalization (e.g., "Amateur radio") have secondary status (i.e., a service with secondary status cannot claim interference protection from or cause harmful interference to a service with primary status). Charts showing the ITU frequency allocations in the 960 to 1350 MHZ range and the 1525-1660 MHZ range are discussed and presented.

Wireless avionics for space applications of fundamental physics

NASA Astrophysics Data System (ADS)

Wang, Linna; Zeng, Guiming

2016-07-01

Fundamental physics (FP) research in space relies on a strong support of spacecraft. New types of spacecraft including reusable launch vehicles, reentry space vehicles, long-term on-orbit spacecraft or other new type of spacecraft will pave the way for FP missions. In order to test FP theories in space, flight conditions have to be controlled to a very high precision, data collection and handling abilities have to be improved, real-time and reliable communications in critical environments are needed. These challenge the existing avionics of spacecraft. Avionics consists of guidance, navigation & control, TT&C, the vehicle management, etc. Wireless avionics is one of the enabling technologies to address the challenges. Reasons are expatiated of why it is of great advantage. This paper analyses the demands for wireless avionics by reviewing the FP missions and on-board wireless systems worldwide. Main types of wireless communication are presented. Preliminary system structure of wireless avionics are given. The characteristics of wireless network protocols and wireless sensors are introduced. Key technologies and design considerations for wireless avionics in space applications are discussed.

Spacecraft-spacecraft very long baseline interferometry. Part 1: Error modeling and observable accuracy

NASA Technical Reports Server (NTRS)

Edwards, C. D., Jr.; Border, J. S.

1992-01-01

In Part 1 of this two-part article, an error budget is presented for Earth-based delta differential one-way range (delta DOR) measurements between two spacecraft. Such observations, made between a planetary orbiter (or lander) and another spacecraft approaching that planet, would provide a powerful target-relative angular tracking data type for approach navigation. Accuracies of better than 5 nrad should be possible for a pair of spacecraft with 8.4-GHz downlinks, incorporating 40-MHz DOR tone spacings, while accuracies approaching 1 nrad will be possible if the spacecraft incorporate 32-GHz downlinks with DOR tone spacing on the order of 250 MHz; these accuracies will be available for the last few weeks or months of planetary approach for typical Earth-Mars trajectories. Operational advantages of this data type are discussed, and ground system requirements needed to enable spacecraft-spacecraft delta DOR observations are outlined. This tracking technique could be demonstrated during the final approach phase of the Mars '94 mission, using Mars Observer as the in-orbit reference spacecraft, if the Russian spacecraft includes an 8.4-GHz downlink incorporating DOR tones. Part 2 of this article will present an analysis of predicted targeting accuracy for this scenario.

Crew-Aided Autonomous Navigation

NASA Technical Reports Server (NTRS)

Holt, Greg N.

2015-01-01

A sextant provides manual capability to perform star/planet-limb sightings and offers a cheap, simple, robust backup navigation source for exploration missions independent from the ground. Sextant sightings from spacecraft were first exercised in Gemini and flew as the lost-communication backup for all Apollo missions. This study characterized error sources of navigation-grade sextants for feasibility of taking star and planetary limb sightings from inside a spacecraft. A series of similar studies was performed in the early/mid-1960s in preparation for Apollo missions. This study modernized and updated those findings in addition to showing feasibility using Linear Covariance analysis techniques. The human eyeball is a remarkable piece of optical equipment and provides many advantages over camera-based systems, including dynamic range and detail resolution. This technique utilizes those advantages and provides important autonomy to the crew in the event of lost communication with the ground. It can also provide confidence and verification of low-TRL automated onboard systems. The technique is extremely flexible and is not dependent on any particular vehicle type. The investigation involved procuring navigation-grade sextants and characterizing their performance under a variety of conditions encountered in exploration missions. The JSC optical sensor lab and Orion mockup were the primary testing locations. For the accuracy assessment, a group of test subjects took sextant readings on calibrated targets while instrument/operator precision was measured. The study demonstrated repeatability of star/planet-limb sightings with bias and standard deviation around 10 arcseconds, then used high-fidelity simulations to verify those accuracy levels met the needs for targeting mid-course maneuvers in preparation for Earth reen.

Virtual Satellite

NASA Technical Reports Server (NTRS)

Hammrs, Stephan R.

2008-01-01

Virtual Satellite (VirtualSat) is a computer program that creates an environment that facilitates the development, verification, and validation of flight software for a single spacecraft or for multiple spacecraft flying in formation. In this environment, enhanced functionality and autonomy of navigation, guidance, and control systems of a spacecraft are provided by a virtual satellite that is, a computational model that simulates the dynamic behavior of the spacecraft. Within this environment, it is possible to execute any associated software, the development of which could benefit from knowledge of, and possible interaction (typically, exchange of data) with, the virtual satellite. Examples of associated software include programs for simulating spacecraft power and thermal- management systems. This environment is independent of the flight hardware that will eventually host the flight software, making it possible to develop the software simultaneously with, or even before, the hardware is delivered. Optionally, by use of interfaces included in VirtualSat, hardware can be used instead of simulated. The flight software, coded in the C or C++ programming language, is compilable and loadable into VirtualSat without any special modifications. Thus, VirtualSat can serve as a relatively inexpensive software test-bed for development test, integration, and post-launch maintenance of spacecraft flight software.

The Deep Space Network

NASA Technical Reports Server (NTRS)

1988-01-01

The Deep Space Network (DSN) is the largest and most sensitive scientific telecommunications and radio navigation network in the world. Its principal responsibilities are to support unmanned interplanetary spacecraft missions and to support radio and radar astronomy observations in the exploration of the solar system and the universe. The DSN facilities and capabilities as of January 1988 are described.

Mathematical Models for Doppler Measurements

NASA Technical Reports Server (NTRS)

Lear, William M.

1987-01-01

Error analysis increases precision of navigation. Report presents improved mathematical models of analysis of Doppler measurements and measurement errors of spacecraft navigation. To take advantage of potential navigational accuracy of Doppler measurements, precise equations relate measured cycle count to position and velocity. Drifts and random variations in transmitter and receiver oscillator frequencies taken into account. Mathematical models also adapted to aircraft navigation, radar, sonar, lidar, and interferometry.

Observability during planetary approach navigation

NASA Technical Reports Server (NTRS)

Bishop, Robert H.; Burkhart, P. Daniel; Thurman, Sam W.

1993-01-01

The objective of the research is to develop an analytic technique to predict the relative navigation capability of different Earth-based radio navigation measurements. In particular, the problem is to determine the relative ability of geocentric range and Doppler measurements to detect the effects of the target planet gravitational attraction on the spacecraft during the planetary approach and near-encounter mission phases. A complete solution to the two-dimensional problem has been developed. Relatively simple analytic formulas are obtained for range and Doppler measurements which describe the observability content of the measurement data along the approach trajectories. An observability measure is defined which is based on the observability matrix for nonlinear systems. The results show good agreement between the analytic observability analysis and the computational batch processing method.

Pose Measurement Performance of the Argon Relative Navigation Sensor Suite in Simulated Flight Conditions

NASA Technical Reports Server (NTRS)

Galante, Joseph M.; Eepoel, John Van; Strube, Matt; Gill, Nat; Gonzalez, Marcelo; Hyslop, Andrew; Patrick, Bryan

2012-01-01

Argon is a flight-ready sensor suite with two visual cameras, a flash LIDAR, an on- board flight computer, and associated electronics. Argon was designed to provide sensing capabilities for relative navigation during proximity, rendezvous, and docking operations between spacecraft. A rigorous ground test campaign assessed the performance capability of the Argon navigation suite to measure the relative pose of high-fidelity satellite mock-ups during a variety of simulated rendezvous and proximity maneuvers facilitated by robot manipulators in a variety of lighting conditions representative of the orbital environment. A brief description of the Argon suite and test setup are given as well as an analysis of the performance of the system in simulated proximity and rendezvous operations.

COBE navigation with one-way return-link Doppler in the post-helium-venting phase

NASA Technical Reports Server (NTRS)

Dunham, Joan; Nemesure, M.; Samii, M. V.; Maher, M.; Teles, Jerome; Jackson, J.

1991-01-01

The results of a navigation experiment with one way return link Doppler tracking measurements for operational orbit determination of the Cosmic Background Explorer (COBE) spacecraft are presented. The frequency of the tracking signal for the one way measurements was stabilized with an Ultrastable Oscillator (USO), and the signal was relayed by the Tracking and Data Relay Satellite System (TDRSS). The study achieved three objectives: space qualification of TDRSS noncoherent one way return link Doppler tracking; determination of flight performance of the USO coupled to the second generation TDRSS compatible user transponder; and verification of algorithms for navigation using actual one way tracking data. Orbit determination and the inflight USO performance evaluation results are presented.

Ontological Modeling for Integrated Spacecraft Analysis

NASA Technical Reports Server (NTRS)

Wicks, Erica

2011-01-01

Current spacecraft work as a cooperative group of a number of subsystems. Each of these requiresmodeling software for development, testing, and prediction. It is the goal of my team to create anoverarching software architecture called the Integrated Spacecraft Analysis (ISCA) to aid in deploying the discrete subsystems' models. Such a plan has been attempted in the past, and has failed due to the excessive scope of the project. Our goal in this version of ISCA is to use new resources to reduce the scope of the project, including using ontological models to help link the internal interfaces of subsystems' models with the ISCA architecture.I have created an ontology of functions specific to the modeling system of the navigation system of a spacecraft. The resulting ontology not only links, at an architectural level, language specificinstantiations of the modeling system's code, but also is web-viewable and can act as a documentation standard. This ontology is proof of the concept that ontological modeling can aid in the integration necessary for ISCA to work, and can act as the prototype for future ISCA ontologies.

Description of the attitude control, guidance and navigation space replaceable units for automated space servicing of selected NASA missions

NASA Technical Reports Server (NTRS)

Chobotov, V. A.

1974-01-01

Control elements such as sensors, momentum exchange devices, and thrusters are described which can be used to define space replaceable units (SRU), in accordance with attitude control, guidance, and navigation performance requirements selected for NASA space serviceable mission spacecraft. A number of SRU's are developed, and their reliability block diagrams are presented. An SRU assignment is given in order to define a set of feasible space serviceable spacecraft for the missions of interest.

Spacecraft Guidance, Navigation, and Control Visualization Tool

NASA Technical Reports Server (NTRS)

Mandic, Milan; Acikmese, Behcet; Blackmore, Lars

2011-01-01

G-View is a 3D visualization tool for supporting spacecraft guidance, navigation, and control (GN&C) simulations relevant to small-body exploration and sampling (see figure). The tool is developed in MATLAB using Virtual Reality Toolbox and provides users with the ability to visualize the behavior of their simulations, regardless of which programming language (or machine) is used to generate simulation results. The only requirement is that multi-body simulation data is generated and placed in the proper format before applying G-View.

Application of high precision two-way S-band ranging to the navigation of the Galileo Earth encounters

NASA Technical Reports Server (NTRS)

Pollmeier, Vincent M.; Kallemeyn, Pieter H.; Thurman, Sam W.

1993-01-01

The application of high-accuracy S/S-band (2.1 GHz uplink/2.3 GHz downlink) ranging to orbit determination with relatively short data arcs is investigated for the approach phase of each of the Galileo spacecraft's two Earth encounters (8 December 1990 and 8 December 1992). Analysis of S-band ranging data from Galileo indicated that under favorable signal levels, meter-level precision was attainable. It is shown that ranginging data of sufficient accuracy, when acquired from multiple stations, can sense the geocentric angular position of a distant spacecraft. Explicit modeling of ranging bias parameters for each station pass is used to largely remove systematic ground system calibration errors and transmission media effects from the Galileo range measurements, which would otherwise corrupt the angle finding capabilities of the data. The accuracy achieved using the precision range filtering strategy proved markedly better when compared to post-flyby reconstructions than did solutions utilizing a traditional Doppler/range filter strategy. In addition, the navigation accuracy achieved with precision ranging was comparable to that obtained using delta-Differenced One-Way Range, an interferometric measurement of spacecraft angular position relative to a natural radio source, which was also used operationally.

Side-effects of a bad attitude: How GNSS spacecraft orientation errors affect solar radiation pressure modelling

NASA Astrophysics Data System (ADS)

Dilssner, Florian; Springer, Tim; Schönemann, Erik; Zandbergen, Rene; Enderle, Werner

2015-04-01

Solar radiation pressure (SRP) is the largest non-gravitational perturbation for Global Navigation Satellite System (GNSS) satellites, and can therefore have substantial impact on their orbital dynamics. Various SRP force models have been developed over the past 30 years for the purpose of precise orbit determination. They all rely upon the assumption that the satellites continuously maintain a Sun-Nadir pointing attitude with the navigation antenna boresight (body-fixed z-axis) pointing towards Earth center, and the solar panel rotation axis (body-fixed y-axis) being normal to the Sun direction. However, in reality, this is not perfectly the case. Reasons for a non-nominal spacecraft attitude may be eclipse maneuvers, commanded attitude biases and Sun/horizon sensor measurement errors, for example due to mounting misalignment or incorrectly calibrated sensor electronics. In this work the effect of GNSS spacecraft orientation errors on SRP modelling is investigated. Simplified mathematical functions describing the SRP force acting on the solar arrays in the presence of yaw-, pitch- and roll-biases are derived. Special attention is paid to the yaw-bias and its relationship to the SRP dynamics, particular in direction of the spacecraft y-axis ("y-bias force"). Analytical and experimental results gathered from orbit and attitude analyses of GPS Block II/IIA/IIF satellites demonstrate how sensitive the SRP coefficients are to changes in yaw.

The search for reference sources for delta VLBI navigation of the Galileo spacecraft

NASA Technical Reports Server (NTRS)

Ulvestad, J. S.; Linfield, R. P.

1986-01-01

A comprehensive search was made in order to identify celestial radio sources that can be used as references for navigation of the Galileo spacecraft by means of VLBI observations. The astronomical literature was seached for potential navigation sources, and several VLBI experiments were performed to determine the suitability of those sources for navigation. The results of such work performed since mid-1983 is reported. A summary is presented of the source properties required, the procedures used to identify candidate sources, and the results of the observations of these sources. The lists of souces presented are not meant to be taken directly and used for VLBI navigation, but they do provide a means of identifying the radio sources that could be used at various positions along the Galileo trajectory. Since the reference sources nearest the critical points of Jupiter encounter and probe release are rather weak, it would be extremely beneficial to use a pair of 70-m antennas for the VLBI measurements.

Relative optical navigation around small bodies via Extreme Learning Machine

NASA Astrophysics Data System (ADS)

Law, Andrew M.

To perform close proximity operations under a low-gravity environment, relative and absolute positions are vital information to the maneuver. Hence navigation is inseparably integrated in space travel. Extreme Learning Machine (ELM) is presented as an optical navigation method around small celestial bodies. Optical Navigation uses visual observation instruments such as a camera to acquire useful data and determine spacecraft position. The required input data for operation is merely a single image strip and a nadir image. ELM is a machine learning Single Layer feed-Forward Network (SLFN), a type of neural network (NN). The algorithm is developed on the predicate that input weights and biases can be randomly assigned and does not require back-propagation. The learned model is the output layer weights which are used to calculate a prediction. Together, Extreme Learning Machine Optical Navigation (ELM OpNav) utilizes optical images and ELM algorithm to train the machine to navigate around a target body. In this thesis the asteroid, Vesta, is the designated celestial body. The trained ELMs estimate the position of the spacecraft during operation with a single data set. The results show the approach is promising and potentially suitable for on-board navigation.

Characterization of a Prototype Radio Frequency Space Environment Path Emulator for Evaluating Spacecraft Ranging Hardware

NASA Technical Reports Server (NTRS)

Mitchell, Jason W.; Baldwin, Philip J.; Kurichh, Rishi; Naasz, Bo J.; Luquette, Richard J.

2007-01-01

The Formation Flying Testbed (FFTB) at the National Aeronautics and Space Administration (NASA) Goddard Space Flight Center (GSFC) provides a hardware-in-the-loop test environment for formation navigation and control. The facility is evolving as a modular, hybrid, dynamic simulation facility for end-to-end guidance, navigation and control (GN&C) design and analysis of formation flying spacecraft. The core capabilities of the FFTB, as a platform for testing critical hardware and software algorithms in-the-loop, have expanded to include S-band Radio Frequency (RF) modems for interspacecraft communication and ranging. To enable realistic simulations that require RF ranging sensors for relative navigation, a mechanism is needed to buffer the RF signals exchanged between spacecraft that accurately emulates the dynamic environment through which the RF signals travel, including the effects of the medium, moving platforms, and radiated power. The Path Emulator for Radio Frequency Signals (PERFS), currently under development at NASA GSFC, provides this capability. The function and performance of a prototype device are presented.

OAST Space Theme Workshop. Volume 3: Working group summary. 1: Navigation, guidance, control (E-1) A. Statement. B. Technology needs (form 1). C. Priority assessment (form 2)

NASA Technical Reports Server (NTRS)

1976-01-01

The six themes identified by the Workshop have many common navigation guidance and control needs. All the earth orbit themes have a strong requirement for attitude, figure and stabilization control of large space structures, a requirement not currently being supported. All but the space transportation theme have need for precision pointing of spacecraft and instruments. In addition all the themes have requirements for increasing autonomous operations for such activities as spacecraft and experiment operations, onboard mission modification, rendezvous and docking, spacecraft assembly and maintenance, navigation and guidance, and self-checkout, test and repair. Major new efforts are required to conceptualize new approaches to large space antennas and arrays that are lightweight, readily deployable, and capable of precise attitude and figure control. Conventional approaches offer little hope of meeting these requirements. Functions that can benefit from increasing automation or autonomous operations are listed.

Autonomous navigation and control of a Mars rover

NASA Technical Reports Server (NTRS)

Miller, D. P.; Atkinson, D. J.; Wilcox, B. H.; Mishkin, A. H.

1990-01-01

A Mars rover will need to be able to navigate autonomously kilometers at a time. This paper outlines the sensing, perception, planning, and execution monitoring systems that are currently being designed for the rover. The sensing is based around stereo vision. The interpretation of the images use a registration of the depth map with a global height map provided by an orbiting spacecraft. Safe, low energy paths are then planned through the map, and expectations of what the rover's articulation sensors should sense are generated. These expectations are then used to ensure that the planned path is correctly being executed.

Martian Atmospheric Modeling of Scale Factors for MarsGRAM 2005 and the MAVEN Project

NASA Technical Reports Server (NTRS)

McCullough, Chris

2011-01-01

For spacecraft missions to Mars, especially the navigation of Martian orbiters and landers, an extensive knowledge of the Martian atmosphere is extremely important. The generally-accepted NASA standard for modeling (MarsGRAM), which was developed at Marshall Space Flight Center. MarsGRAM is useful for task such as aerobraking, performance analysis and operations planning for aerobraking, entry descent and landing, and aerocapture. Unfortunately, the densities for the Martian atmosphere in MarsGRAM are based on table look-up and not on an analytical algorithm. Also, these values can vary drastically from the densities actually experienced by the spacecraft. This does not have much of an impact on simple integrations but drastically affects its usefulness in other applications, especially those in navigation. For example, the navigation team for the Mars Atmosphere Volatile Environment (MAVEN) Project uses MarsGRAM to target the desired atmospheric density for the orbiter's pariapse passage, its closet approach to the planet. After the satellite's passage through pariapsis the computed density is compared to the MarsGRAM model and a scale factor is assigned to the model to account for the difference. Therefore, large variations in the atmosphere from the model can cause unexpected deviations from the spacecraft's planned trajectory. In order to account for this, an analytic stochastic model of the scale factor's behavior is desired. The development of this model will allow for the MAVEN navigation team to determine the probability of various Martian atmospheric variations and their effects on the spacecraft.

An algorithm for enhanced formation flying of satellites in low earth orbit

NASA Astrophysics Data System (ADS)

Folta, David C.; Quinn, David A.

1998-01-01

With scientific objectives for Earth observation programs becoming more ambitious and spacecraft becoming more autonomous, the need for innovative technical approaches on the feasibility of achieving and maintaining formations of spacecraft has come to the forefront. The trend to develop small low-cost spacecraft has led many scientists to recognize the advantage of flying several spacecraft in formation to achieve the correlated instrument measurements formerly possible only by flying many instruments on a single large platform. Yet, formation flying imposes additional complications on orbit maintenance, especially when each spacecraft has its own orbit requirements. However, advances in automation and technology proposed by the Goddard Space Flight Center (GSFC) allow more of the burden in maneuver planning and execution to be placed onboard the spacecraft, mitigating some of the associated operational concerns. The purpose of this paper is to present GSFC's Guidance, Navigation, and Control Center's (GNCC) algorithm for Formation Flying of the low earth orbiting spacecraft that is part of the New Millennium Program (NMP). This system will be implemented as a close-loop flight code onboard the NMP Earth Orbiter-1 (EO-1) spacecraft. Results of this development can be used to determine the appropriateness of formation flying for a particular case as well as operational impacts. Simulation results using this algorithm integrated in an autonomous `fuzzy logic' control system called AutoCon™ are presented.

NASA Workshop on Hybrid (Mixed-Actuator) Spacecraft Attitude Control

NASA Technical Reports Server (NTRS)

Dennehy, Cornelius J.; Kunz, Nans

2014-01-01

At the request of the Science Mission Directorate Chief Engineer, the NASA Technical Fellow for Guidance, Navigation & Control assembled and facilitated a workshop on Spacecraft Hybrid Attitude Control. This multi-Center, academic, and industry workshop, sponsored by the NASA Engineering and Safety Center (NESC), was held in April 2013 to unite nationwide experts to present and discuss the various innovative solutions, techniques, and lessons learned regarding the development and implementation of the various hybrid attitude control system solutions investigated or implemented. This report attempts to document these key lessons learned with the 16 findings and 9 NESC recommendations.

Gyro-based Maximum-Likelihood Thruster Fault Detection and Identification

NASA Technical Reports Server (NTRS)

Wilson, Edward; Lages, Chris; Mah, Robert; Clancy, Daniel (Technical Monitor)

2002-01-01

When building smaller, less expensive spacecraft, there is a need for intelligent fault tolerance vs. increased hardware redundancy. If fault tolerance can be achieved using existing navigation sensors, cost and vehicle complexity can be reduced. A maximum likelihood-based approach to thruster fault detection and identification (FDI) for spacecraft is developed here and applied in simulation to the X-38 space vehicle. The system uses only gyro signals to detect and identify hard, abrupt, single and multiple jet on- and off-failures. Faults are detected within one second and identified within one to five accords,

Cassini-Huygens Maneuver Experience: Ending the Prime Mission

NASA Technical Reports Server (NTRS)

Goodson, Troy D.; Ballard, Christopher G.; Gist, Emily M.; Hahn, Yungsun; Stumpf, Paul W.; Wagner, Sean V.; Williams, Powtawche N.

2008-01-01

The Cassini-Huygens spacecraft was launched in 1997 on a mission to observe Saturn and its many moons. After a seven-year cruise, it entered a Saturnian orbit for a four-year, prime mission. This paper highlights significant maneuver activities performed during the last year of the prime mission. Specifically, results of 42 recent maneuvers are presented. Many maneuvers have been skipped, saving fuel and flight team effort. The system has performed more accurately than the pre-launch expectations and requirements. This is in large part why the Cassini-Huygens spacecraft has been navigated with tremendous success during the prime mission.

The Physics and Technology of Solar Sail Spacecraft.

ERIC Educational Resources Information Center

Dwivedi, B. N.; McInnes, C. R.

1991-01-01

Various aspects of the solar sail spacecraft such as solar sailing, solar sail design, navigation with solar sails, solar sail mission applications and future prospects for solar sailing are described. Several possible student projects are suggested. (KR)

Navigation Performance of Global Navigation Satellite Systems in the Space Service Volume

NASA Technical Reports Server (NTRS)

Force, Dale A.

2013-01-01

This paper extends the results I reported at this year's ION International Technical Meeting on multi-constellation GNSS coverage by showing how the use of multi-constellation GNSS improves Geometric Dilution of Precision (GDOP). Originally developed to provide position, navigation, and timing for terrestrial users, GPS has found increasing use for in space for precision orbit determination, precise time synchronization, real-time spacecraft navigation, and three-axis attitude control of Earth orbiting satellites. With additional Global Navigation Satellite Systems (GNSS) coming into service (GLONASS, Galileo, and Beidou) and the development of Satellite Based Augmentation Services, it is possible to obtain improved precision by using evolving multi-constellation receiver. The Space Service Volume formally defined as the volume of space between three thousand kilometers altitude and geosynchronous altitude ((is) approximately 36,500 km), with the volume below three thousand kilometers defined as the Terrestrial Service Volume (TSV). The USA has established signal requirements for the Space Service Volume (SSV) as part of the GPS Capability Development Documentation (CDD). Diplomatic efforts are underway to extend Space service Volume commitments to the other Position, Navigation, and Timing (PNT) service providers in an effort to assure that all space users will benefit from the enhanced capabilities of interoperating GNSS services in the space domain.

Tracking and Navigation of Future NASA Spacecraft with the Square Kilometer Array

NASA Astrophysics Data System (ADS)

Resch, G. M.; Jones, D. L.; Connally, M. J.; Weinreb, S.; Preston, R. A.

2001-12-01

The international radio astronomy community is currently working on the design of an array of small radio antennas with a total collecting area of one square kilometer - more than a hundred times that of the largest existing (100-m) steerable antennas. An array of this size would provide obvious advantages for high data rate telemetry reception and for spacecraft navigation. Among these advantages are a two-orders-of-magnitude increase in sensitivity for telemetry downlink, flexible sub-arraying to track multiple spacecraft simultaneously, increased reliability through the use of large numbers of identical array elements, very accurate real-time angular spacecraft tracking, and a dramatic reduction in cost per unit area. NASA missions in many disciplines, including planetary science, would benefit from this increased ground-based tracking capability. The science return from planned missions could be increased, and opportunities for less expensive or completely new kinds of missions would be created.

Experiment T002: Manual navigation sightings

NASA Technical Reports Server (NTRS)

Smith, D.

1971-01-01

Navigation-type measurements through the window of the stabilized Gemini 12 spacecraft by the use of a hand-held sextant are reported. The major objectives were as follows: (1) to evaluate the ability of the crewmen to make accurate navigational measurements by the use of simple instruments in an authentic space flight environment; (2) to evaluate the operational feasibility of the measurement techniques by the use of the pressure suit with the helmet off and with the helmet on and the visor closed; (3) to evaluate operational problems associated with the spacecraft environment; and (4) to validate ground based simulation techniques by comparison of the inflight results with base line data obtained by the pilot by the use of simulators and celestial targets from ground based observatories.

Design and implementation of satellite formations and constellations

NASA Technical Reports Server (NTRS)

Folta, David; Newman, Lauri Kraft; Quinn, David

1998-01-01

The direction to develop small low cost spacecraft has led many scientists to recognize the advantage of flying spacecraft in constellations and formations to achieve the correlated instrument measurements formerly possible only by flying many instruments on a single large platform. Yet, constellations and formation flying impose additional complications on orbit selection and orbit maintenance, especially when each spacecraft has its own orbit or science requirements. The purpose of this paper is to develop an operational control method for maintenance of these missions. Examples will be taken from the Earth Observing-1 (EO-1) spacecraft that is part of the New Millennium Program (NMP) and from proposed Earth System Science Program Office (ESSPO) constellations. Results can be used to determine the appropriateness of constellations and formation flying for a particular case as well as the operational impacts. Applications to the ESSPO and NMP are highly considered in analysis and applications. After constellation and formation analysis is completed, implementation of a maneuver maintenance strategy becomes the driver. Advances in technology and automation by GSFC's Guidance, Navigation, and Control Center allow more of the burden of the orbit selection and maneuver maintenance to be automated and ultimately placed onboard the spacecraft, mitigating most of the associated operational concerns. This paper presents the GSFC closed-loop control method to fly in either constellations or formations through the use of an autonomous closed loop three-axis navigation control and innovative orbit maintenance support. Simulation results using AutoCon(TM) and FreeFlyer(TM) with various fidelity levels of modeling and algorithms are presented.

Design and Implementation of Satellite Formations and Constellations

NASA Technical Reports Server (NTRS)

Folta, David; Newman, Lauri Kraft; Quinn, David

1998-01-01

The direction to develop small low cost spacecraft has led many scientists to recognize the advantage of flying spacecraft in constellations and formations to achieve the correlated instrument measurements formerly possible only by flying many instruments on a single large platform. Yet, constellations and formation flying impose additional complications on orbit selection and orbit maintenance, especially when each spacecraft has its own orbit or science requirements. The purpose of this paper is to develop an operational control method for maintenance of these missions. Examples will be taken from the Earth Observing-1 (EO-1) spacecraft that is part of the New Millennium Program (NMP) and from proposed Earth System Science Program Office (ESSPO) constellations. Results can be used to determine the appropriateness of constellations and formation flying for a particular case as well as the operational impacts. Applications to the ESSPO and NMP are highly considered in analysis and applications. After constellation and formation analysis is completed, implementation of a maneuver maintenance strategy becomes the driver. Advances in technology and automation by GSFC's Guidance, Navigation, and Control Center allow more of the burden of the orbit selection and maneuver maintenance to be automated and ultimately placed onboard the spacecraft, mitigating most of the associated operational concerns. This paper presents the GSFC closed-loop control method to fly in either constellations or formations through the use of an autonomous closed loop three-axis navigation control and innovative orbit maintenance support. Simulation results using AutoCon(Trademark) and FreeFlyer(Trademark) with various fidelity levels of modeling and algorithms are presented.

(abstract) Application of Non-coherent Data Types for Deep Space Navigation

NASA Technical Reports Server (NTRS)

Bhaskaran, Shyam

1995-01-01

Several options are being examined to reduce the costs of spacecraft and deep space missions. One such option is to fly spacecraft in a non-coherent mode, that is, the spacecraft does not carry a transponder and cannot coherently return a Doppler signal. Historically, such one-way data has not been used as the sole data type due to the instability of the onboard oscillator, the use of S-band frequencies, and the corresponding larger error sources which could not be modeled. However, with the advent of high-speed work stations and more sophisticated modeling ability, the possibility of using one-way data is being re-examined. This paper addresses the navigation performance of various one-way data types for use in interplanetary missions.

Smoothing-Based Relative Navigation and Coded Aperture Imaging

NASA Technical Reports Server (NTRS)

Saenz-Otero, Alvar; Liebe, Carl Christian; Hunter, Roger C.; Baker, Christopher

2017-01-01

This project will develop an efficient smoothing software for incremental estimation of the relative poses and velocities between multiple, small spacecraft in a formation, and a small, long range depth sensor based on coded aperture imaging that is capable of identifying other spacecraft in the formation. The smoothing algorithm will obtain the maximum a posteriori estimate of the relative poses between the spacecraft by using all available sensor information in the spacecraft formation.This algorithm will be portable between different satellite platforms that possess different sensor suites and computational capabilities, and will be adaptable in the case that one or more satellites in the formation become inoperable. It will obtain a solution that will approach an exact solution, as opposed to one with linearization approximation that is typical of filtering algorithms. Thus, the algorithms developed and demonstrated as part of this program will enhance the applicability of small spacecraft to multi-platform operations, such as precisely aligned constellations and fractionated satellite systems.

Guidance, navigation, and control study for a solar electric propulsion spacecraft

NASA Technical Reports Server (NTRS)

Kluever, Craig A.

1995-01-01

A preliminary investigation of a lunar-comet rendezvous mission using a solar electric propulsion (SEP) spacecraft was performed in two phases.The first phase involved exploration of the moon and the second involved rendezvous with a comet. The initial phase began with a chemical propulsion translunar injection and chemical insertion into a lunar orbit, followed by a low thrust SEP transfer to a circular, polar, low-lunar orbit. After collecting scientific data at the moon, the SEP spacecraft performed a spiral lunar escape maneuver to begin the interplanetary leg of the mission. After escape from the Earth-moon system, the SEP spacecraft maneuvered in interplanetary space and performed a rendezvous with a comet.The immediate goal of this study was to demonstrate the feasibility of using a low-thrust SEP spacecraft for orbit transfer to both the moon and a comet. Another primary goal was to develop a computer optimization code which would be robust enough to obtain minimum-fuel rendezvous trajectories for a wide range of comets.

Navigation and EDL for the Mars Exploration Rovers

NASA Technical Reports Server (NTRS)

Watkins, Michael M.; Han, Dongsuk

2006-01-01

A viewgraph presentation on Deep Space Navigation, and Entry, Decent, and Landing (EDL) for Mars Exploration Rovers is shown. The contents include: 1) JPL Spacecraft Operating across the Solar System; 2) 2003 - 2004: The Busiest Period in JPL's History; 3) Deep Space Navigation Will Enable Many of the New NASA Missions; 4) What Exactly is Navigation vs. GNC for Deep Space?; 5) Cruise and Approach: Why is Deep Space Navigation So Difficult?; 6) Project Importance of GNC: Landing Site Selection; 7) Planetary Communications and Tracking; 8) Tracking Data Types; 9) Delta Differential One-Way Range (deltaDOR); 10) All Solutions Leading up to TCM-4 Design; 11) Entry Flight Path Sensitivities; 12) MER Navigation Results; 13) Atmospheric Entry Targeting and Delivery; 14) Landing Ellipse Orientation; 15) MER Landing Site Trade Example; 16) Entry, Descent and Landing: Entry Guidance or What Things Do We NOT do for MER Landings (but we will later...); 17) Entering Martian Space 8:29 p.m. PST (ERT); 18) Entry, Descent and Landing; 19) Entry, Descent and Landing: Terminal Guidance; 20) The Challenge Going from 12,000 mph to Zero in Less Than Six Minutes; 21) Spirit Landing Location; 22) Entry, Descent and Landing: The Future; 23) Powered Descent Time-Line; and 24) Updated Sky Crane Maneuver Description. A short summary is also given on planetary guidance, navigation and control as it pertains to EDL systems

Pre-Flight Testing of Spaceborne GPS Receivers using a GPS Constellation Simulator

NASA Technical Reports Server (NTRS)

Kizhner, Semion; Davis, Edward; Alonso, R.

1999-01-01

The NASA Goddard Space Flight Center (GSFC) Global Positioning System (GPS) applications test facility has been established within the GSFC Guidance Navigation and Control Center. The GPS test facility is currently housing the Global Simulation Systems Inc. (GSSI) STR2760 GPS satellite 40-channel attitude simulator and a STR4760 12-channel navigation simulator. The facility also contains a few other resources such as an atomic time standard test bed, a rooftop antenna platform and a radome. It provides a new capability for high dynamics GPS simulations of space flight that is unique within the aerospace community. The GPS facility provides a critical element for the development and testing of GPS based technologies i.e. position, attitude and precise time determination used on-board a spacecraft, suborbital rocket balloon. The GPS simulation system is configured in a transportable rack and is available for GPS component development as well as for component, spacecraft subsystem and system level testing at spacecraft integration and tests sites. The GPS facility has been operational since early 1996 and has utilized by space flight projects carrying GPS experiments, such as the OrbView-2 and the Argentine SAC-A spacecrafts. The SAC-A pre-flight test data obtained by using the STR2760 simulator and the comparison with preliminary analysis of the GPS data from SAC-A telemetry are summarized. This paper describes pre-flight tests and simulations used to support a unique spaceborne GPS experiment. The GPS experiment mission objectives and the test program are described, as well as the GPS test facility configuration needed to verify experiment feasibility. Some operational and critical issues inherent in GPS receiver pre-flight tests and simulations using this GPS simulation, and test methodology are described. Simulation and flight data are presented. A complete program of pre-flight testing of spaceborne GPS receivers using a GPS constellation simulator is detailed.

Pre-Flight Testing of Spaceborne GPS Receivers Using a GPS Constellation Simulator

NASA Technical Reports Server (NTRS)

Kizhner, Semion; Davis, Edward; Alonso, Roberto

1999-01-01

The NASA Goddard Space Flight Center (GSFC) Global Positioning System (GPS) applications test facility has been established within the GSFC Guidance Navigation and Control Center. The GPS test facility is currently housing the Global Simulation Systems Inc. (GSSI) STR2760 GPS satellite 40-channel attitude simulator and a STR4760 12-channel navigation simulator. The facility also contains a few other resources such as an atomic time standard test bed, a rooftop antenna platform and a radome. It provides a new capability for high dynamics GPS simulations of space flight that is unique within the aerospace community. The GPS facility provides a critical element for the development and testing of GPS based technologies i.e. position, attitude and precise time determination used on-board a spacecraft, suborbital rocket or balloon. The GPS simulator system is configured in a transportable rack and is available for GPS component development as well as for component, spacecraft subsystem and system level testing at spacecraft integration and test sites. The GPS facility has been operational since early 1996 and has been utilized by space flight projects carrying GPS experiments, such as the OrbView-2 and the Argentine SAC-A spacecrafts. The SAC-A pre-flight test data obtained by using the STR2760 simulator and the comparison with preliminary analysis of the GPS data from SAC-A telemetry are summarized. This paper describes pre-flight tests and simulations used to support a unique spaceborne GPS experiment. The GPS experiment mission objectives and the test program are described, as well as the GPS test facility configuration needed to verify experiment feasibility. Some operational and critical issues inherent in GPS receiver pre-flight tests and simulations using this GPS simulator, and test methodology are described. Simulation and flight data are presented. A complete program of pre-flight testing of spaceborne GPS receivers using a GPS constellation simulator is detailed.

Apollo 13 Guidance, Navigation, and Control Challenges

NASA Technical Reports Server (NTRS)

Goodman, John L.

2009-01-01

Combustion and rupture of a liquid oxygen tank during the Apollo 13 mission provides lessons and insights for future spacecraft designers and operations personnel who may never, during their careers, have participated in saving a vehicle and crew during a spacecraft emergency. Guidance, Navigation, and Control (GNC) challenges were the reestablishment of attitude control after the oxygen tank incident, re-establishment of a free return trajectory, resolution of a ground tracking conflict between the LM and the Saturn V S-IVB stage, Inertial Measurement Unit (IMU) alignments, maneuvering to burn attitudes, attitude control during burns, and performing manual GNC tasks with most vehicle systems powered down. Debris illuminated by the Sun and gaseous venting from the Service Module (SM) complicated crew attempts to identify stars and prevented execution of nominal IMU alignment procedures. Sightings on the Sun, Moon, and Earth were used instead. Near continuous communications with Mission Control enabled the crew to quickly perform time critical procedures. Overcoming these challenges required the modification of existing contingency procedures.

Subnanosecond GPS-based clock synchronization and precision deep-space tracking

NASA Technical Reports Server (NTRS)

Dunn, C. E.; Lichten, S. M.; Jefferson, D. C.; Border, J. S.

1992-01-01

Interferometric spacecraft tracking is accomplished by the Deep Space Network (DSN) by comparing the arrival time of electromagnetic spacecraft signals at ground antennas separated by baselines on the order of 8000 km. Clock synchronization errors within and between DSN stations directly impact the attainable tracking accuracy, with a 0.3-nsec error in clock synchronization resulting in an 11-nrad angular position error. This level of synchronization is currently achieved by observing a quasar which is angularly close to the spacecraft just after the spacecraft observations. By determining the differential arrival times of the random quasar signal at the stations, clock offsets and propagation delays within the atmosphere and within the DSN stations are calibrated. Recent developments in time transfer techniques may allow medium accuracy (50-100 nrad) spacecraft tracking without near-simultaneous quasar-based calibrations. Solutions are presented for a worldwide network of Global Positioning System (GPS) receivers in which the formal errors for DSN clock offset parameters are less than 0.5 nsec. Comparisons of clock rate offsets derived from GPS measurements and from very long baseline interferometry (VLBI), as well as the examination of clock closure, suggest that these formal errors are a realistic measure of GPS-based clock offset precision and accuracy. Incorporating GPS-based clock synchronization measurements into a spacecraft differential ranging system would allow tracking without near-simultaneous quasar observations. The impact on individual spacecraft navigation-error sources due to elimination of quasar-based calibrations is presented. System implementation, including calibration of station electronic delays, is discussed.

Electromagnetic Spacecraft Used for Magnetic Navigation Within Asteroid Belt, Mining Concepts and Asteroid Magnetic Classification

NASA Astrophysics Data System (ADS)

Kletetschka, G.; Adachi, T.; Mikula, V.

2007-03-01

Application of expandable/collapsible magnetic coil increases/decreases spacecraft velocity without using chemical propellants, allows effective mining of metals from asteroids and is used for the first order classification of asteroids.

Individual Global Navigation Satellite Systems in the Space Service Volume

NASA Technical Reports Server (NTRS)

Force, Dale A.

2015-01-01

Besides providing position, navigation, and timing (PNT) to terrestrial users, GPS is currently used to provide for precision orbit determination, precise time synchronization, real-time spacecraft navigation, and three-axis control of Earth orbiting satellites. With additional Global Navigation Satellite Systems (GNSS) coming into service (GLONASS, Beidou, and Galileo), it will be possible to provide these services by using other GNSS constellations. The paper, "GPS in the Space Service Volume," presented at the ION GNSS 19th International Technical Meeting in 2006 (Ref. 1), defined the Space Service Volume, and analyzed the performance of GPS out to 70,000 km. This paper will report a similar analysis of the performance of each of the additional GNSS and compare them with GPS alone. The Space Service Volume, defined as the volume between 3,000 km altitude and geosynchronous altitude, as compared with the Terrestrial Service Volume between the surface and 3,000 km. In the Terrestrial Service Volume, GNSS performance will be similar to performance on the Earth's surface. The GPS system has established signal requirements for the Space Service Volume. A separate paper presented at the conference covers the use of multiple GNSS in the Space Service Volume.

Multi-Sensor Testing for Automated Rendezvous and Docking Sensor Testing at the Flight Robotics Laboratory

NASA Technical Reports Server (NTRS)

Brewster, L.; Johnston, A.; Howard, R.; Mitchell, J.; Cryan, S.

2007-01-01

The Exploration Systems Architecture defines missions that require rendezvous, proximity operations, and docking (RPOD) of two spacecraft both in Low Earth Orbit (LEO) and in Low Lunar Orbit (LLO). Uncrewed spacecraft must perform automated and/or autonomous rendezvous, proximity operations and docking operations (commonly known as AR&D). The crewed missions may also perform rendezvous and docking operations and may require different levels of automation and/or autonomy, and must provide the crew with relative navigation information for manual piloting. The capabilities of the RPOD sensors are critical to the success of the Exploration Program. NASA has the responsibility to determine whether the Crew Exploration Vehicle (CEV) contractor proposed relative navigation sensor suite will meet the requirements. The relatively low technology readiness level of AR&D relative navigation sensors has been carried as one of the CEV Project's top risks. The AR&D Sensor Technology Project seeks to reduce the risk by the testing and analysis of selected relative navigation sensor technologies through hardware-in-the-loop testing and simulation. These activities will provide the CEV Project information to assess the relative navigation sensors maturity as well as demonstrate test methods and capabilities. The first year of this project focused on a series of"pathfinder" testing tasks to develop the test plans, test facility requirements, trajectories, math model architecture, simulation platform, and processes that will be used to evaluate the Contractor-proposed sensors. Four candidate sensors were used in the first phase of the testing. The second phase of testing used four sensors simultaneously: two Marshall Space Flight Center (MSFC) Advanced Video Guidance Sensors (AVGS), a laser-based video sensor that uses retroreflectors attached to the target vehicle, and two commercial laser range finders. The multi-sensor testing was conducted at MSFC's Flight Robotics Laboratory (FRL) using the FRL's 6-DOF gantry system, called the Dynamic Overhead Target System (DOTS). The target vehicle for "docking" in the laboratory was a mockup that was representative of the proposed CEV docking system, with added retroreflectors for the AVGS. The multi-sensor test configuration used 35 open-loop test trajectories covering three major objectives: (1) sensor characterization trajectories designed to test a wide range of performance parameters; (2) CEV-specific trajectories designed to test performance during CEV-like approach and departure profiles; and (3) sensor characterization tests designed for evaluating sensor performance under more extreme conditions as might be induced during a spacecraft failure or during contingency situations. This paper describes the test development, test facility, test preparations, test execution, and test results of the multi-sensor series of trajectories.

Autonomous Navigation Performance During The Hartley 2 Comet Flyby

NASA Technical Reports Server (NTRS)

Abrahamson, Matthew J; Kennedy, Brian A.; Bhaskaran, Shyam

2012-01-01

On November 4, 2010, the EPOXI spacecraft performed a 700-km flyby of the comet Hartley 2 as follow-on to the successful 2005 Deep Impact prime mission. EPOXI, an extended mission for the Deep Impact Flyby spacecraft, returned a wealth of visual and infrared data from Hartley 2, marking the fifth time that high-resolution images of a cometary nucleus have been captured by a spacecraft. The highest resolution science return, captured at closest approach to the comet nucleus, was enabled by use of an onboard autonomous navigation system called AutoNav. AutoNav estimates the comet-relative spacecraft trajectory using optical measurements from the Medium Resolution Imager (MRI) and provides this relative position information to the Attitude Determination and Control System (ADCS) for maintaining instrument pointing on the comet. For the EPOXI mission, AutoNav was tasked to enable continuous tracking of a smaller, more active Hartley 2, as compared to Tempel 1, through the full encounter while traveling at a higher velocity. To meet the mission goal of capturing the comet in all MRI science images, position knowledge accuracies of +/- 3.5 km (3-?) cross track and +/- 0.3 seconds (3-?) time of flight were required. A flight-code-in-the-loop Monte Carlo simulation assessed AutoNav's statistical performance under the Hartley 2 flyby dynamics and determined optimal configuration. The AutoNav performance at Hartley 2 was successful, capturing the comet in all of the MRI images. The maximum residual between observed and predicted comet locations was 20 MRI pixels, primarily influenced by the center of brightness offset from the center of mass in the observations and attitude knowledge errors. This paper discusses the Monte Carlo-based analysis that led to the final AutoNav configuration and a comparison of the predicted performance with the flyby performance.

Enhanced orbit determination filter: Inclusion of ground system errors as filter parameters

NASA Technical Reports Server (NTRS)

Masters, W. C.; Scheeres, D. J.; Thurman, S. W.

1994-01-01

The theoretical aspects of an orbit determination filter that incorporates ground-system error sources as model parameters for use in interplanetary navigation are presented in this article. This filter, which is derived from sequential filtering theory, allows a systematic treatment of errors in calibrations of transmission media, station locations, and earth orientation models associated with ground-based radio metric data, in addition to the modeling of the spacecraft dynamics. The discussion includes a mathematical description of the filter and an analytical comparison of its characteristics with more traditional filtering techniques used in this application. The analysis in this article shows that this filter has the potential to generate navigation products of substantially greater accuracy than more traditional filtering procedures.

Rendezvous Integration Complexities of NASA Human Flight Vehicles

NASA Technical Reports Server (NTRS)

Brazzel, Jack P.; Goodman, John L.

2009-01-01

Propellant-optimal trajectories, relative sensors and navigation, and docking/capture mechanisms are rendezvous disciplines that receive much attention in the technical literature. However, other areas must be considered. These include absolute navigation, maneuver targeting, attitude control, power generation, software development and verification, redundancy management, thermal control, avionics integration, robotics, communications, lighting, human factors, crew timeline, procedure development, orbital debris risk mitigation, structures, plume impingement, logistics, and in some cases extravehicular activity. While current and future spaceflight programs will introduce new technologies and operations concepts, the complexity of integrating multiple systems on multiple spacecraft will remain. The systems integration task may become more difficult as increasingly complex software is used to meet current and future automation, autonomy, and robotic operation requirements.

Orion GN&C Fault Management System Verification: Scope And Methodology

NASA Technical Reports Server (NTRS)

Brown, Denise; Weiler, David; Flanary, Ronald

2016-01-01

In order to ensure long-term ability to meet mission goals and to provide for the safety of the public, ground personnel, and any crew members, nearly all spacecraft include a fault management (FM) system. For a manned vehicle such as Orion, the safety of the crew is of paramount importance. The goal of the Orion Guidance, Navigation and Control (GN&C) fault management system is to detect, isolate, and respond to faults before they can result in harm to the human crew or loss of the spacecraft. Verification of fault management/fault protection capability is challenging due to the large number of possible faults in a complex spacecraft, the inherent unpredictability of faults, the complexity of interactions among the various spacecraft components, and the inability to easily quantify human reactions to failure scenarios. The Orion GN&C Fault Detection, Isolation, and Recovery (FDIR) team has developed a methodology for bounding the scope of FM system verification while ensuring sufficient coverage of the failure space and providing high confidence that the fault management system meets all safety requirements. The methodology utilizes a swarm search algorithm to identify failure cases that can result in catastrophic loss of the crew or the vehicle and rare event sequential Monte Carlo to verify safety and FDIR performance requirements.

IEEE/AIAA/NASA Digital Avionics Systems Conference, 9th, Virginia Beach, VA, Oct. 15-18, 1990, Proceedings

NASA Technical Reports Server (NTRS)

1990-01-01

The present conference on digital avionics discusses vehicle-management systems, spacecraft avionics, special vehicle avionics, communication/navigation/identification systems, software qualification and quality assurance, launch-vehicle avionics, Ada applications, sensor and signal processing, general aviation avionics, automated software development, design-for-testability techniques, and avionics-software engineering. Also discussed are optical technology and systems, modular avionics, fault-tolerant avionics, commercial avionics, space systems, data buses, crew-station technology, embedded processors and operating systems, AI and expert systems, data links, and pilot/vehicle interfaces.

Phase Calibration for the Block 1 VLBI System

NASA Technical Reports Server (NTRS)

Roth, M. G.; Runge, T. F.

1983-01-01

Very Long Baseline Interferometry (VLBI) in the DSN provides support for spacecraft navigation, Earth orientation measurements, and synchronization of network time and frequency standards. An improved method for calibrating instrumental phase shifts has recently been implemented as a computer program in the Block 1 system. The new calibration program, called PRECAL, performs calibrations over intervals as small as 0.4 seconds and greatly reduces the amount of computer processing required to perform phase calibration.

Significant Accomplishments in Science and Technology

NASA Technical Reports Server (NTRS)

1975-01-01

The proceedings of a symposium on significant accomplishments in science and technology are presented. The symposium was held at the Goddard Space Flight Center in December 1973. The subjects discussed are as follows: (1) cometary physics, (2) X-ray and gamma ray astronomy, (3) solar and terrestrial physics, (4) spacecraft technology, (5) Earth Resources Technology Satellite, (6) earth and ocean physics, (6) communications and navigation, (7) mission operations and data systems, and (8) networks systems and operations.

Interfacing Space Communications and Navigation Network Simulation with Distributed System Integration Laboratories (DSIL)

NASA Technical Reports Server (NTRS)

Jennings, Esther H.; Nguyen, Sam P.; Wang, Shin-Ywan; Woo, Simon S.

2008-01-01

NASA's planned Lunar missions will involve multiple NASA centers where each participating center has a specific role and specialization. In this vision, the Constellation program (CxP)'s Distributed System Integration Laboratories (DSIL) architecture consist of multiple System Integration Labs (SILs), with simulators, emulators, testlabs and control centers interacting with each other over a broadband network to perform test and verification for mission scenarios. To support the end-to-end simulation and emulation effort of NASA' exploration initiatives, different NASA centers are interconnected to participate in distributed simulations. Currently, DSIL has interconnections among the following NASA centers: Johnson Space Center (JSC), Kennedy Space Center (KSC), Marshall Space Flight Center (MSFC) and Jet Propulsion Laboratory (JPL). Through interconnections and interactions among different NASA centers, critical resources and data can be shared, while independent simulations can be performed simultaneously at different NASA locations, to effectively utilize the simulation and emulation capabilities at each center. Furthermore, the development of DSIL can maximally leverage the existing project simulation and testing plans. In this work, we describe the specific role and development activities at JPL for Space Communications and Navigation Network (SCaN) simulator using the Multi-mission Advanced Communications Hybrid Environment for Test and Evaluation (MACHETE) tool to simulate communications effects among mission assets. Using MACHETE, different space network configurations among spacecrafts and ground systems of various parameter sets can be simulated. Data that is necessary for tracking, navigation, and guidance of spacecrafts such as Crew Exploration Vehicle (CEV), Crew Launch Vehicle (CLV), and Lunar Relay Satellite (LRS) and orbit calculation data are disseminated to different NASA centers and updated periodically using the High Level Architecture (HLA). In addition, the performance of DSIL under different traffic loads with different mix of data and priorities are evaluated.

Synopsis of Precision Landing and Hazard Avoidance (PL&HA) Capabilities for Space Exploration

NASA Technical Reports Server (NTRS)

Robertson, Edward A.

2017-01-01

Until recently, robotic exploration missions to the Moon, Mars, and other solar system bodies relied upon controlled blind landings. Because terrestrial techniques for terrain relative navigation (TRN) had not yet been evolved to support space exploration, landing dispersions were driven by the capabilities of inertial navigation systems combined with surface relative altimetry and velocimetry. Lacking tight control over the actual landing location, mission success depended on the statistical vetting of candidate landing areas within the predicted landing dispersion ellipse based on orbital reconnaissance data, combined with the ability of the spacecraft to execute a controlled landing in terms of touchdown attitude, attitude rates, and velocity. In addition, the sensors, algorithms, and processing technologies required to perform autonomous hazard detection and avoidance in real time during the landing sequence were not yet available. Over the past decade, NASA has invested substantial resources on the development, integration, and testing of autonomous precision landing and hazard avoidance (PL&HA) capabilities. In addition to substantially improving landing accuracy and safety, these autonomous PL&HA functions also offer access to targets of interest located within more rugged and hazardous terrain. Optical TRN systems are baselined on upcoming robotic landing missions to the Moon and Mars, and NASA JPL is investigating the development of a comprehensive PL&HA system for a Europa lander. These robotic missions will demonstrate and mature PL&HA technologies that are considered essential for future human exploration missions. PL&HA technologies also have applications to rendezvous and docking/berthing with other spacecraft, as well as proximity navigation, contact, and retrieval missions to smaller bodies with microgravity environments, such as asteroids.

Optimal rotation sequences for active perception

NASA Astrophysics Data System (ADS)

Nakath, David; Rachuy, Carsten; Clemens, Joachim; Schill, Kerstin

2016-05-01

One major objective of autonomous systems navigating in dynamic environments is gathering information needed for self localization, decision making, and path planning. To account for this, such systems are usually equipped with multiple types of sensors. As these sensors often have a limited field of view and a fixed orientation, the task of active perception breaks down to the problem of calculating alignment sequences which maximize the information gain regarding expected measurements. Action sequences that rotate the system according to the calculated optimal patterns then have to be generated. In this paper we present an approach for calculating these sequences for an autonomous system equipped with multiple sensors. We use a particle filter for multi- sensor fusion and state estimation. The planning task is modeled as a Markov decision process (MDP), where the system decides in each step, what actions to perform next. The optimal control policy, which provides the best action depending on the current estimated state, maximizes the expected cumulative reward. The latter is computed from the expected information gain of all sensors over time using value iteration. The algorithm is applied to a manifold representation of the joint space of rotation and time. We show the performance of the approach in a spacecraft navigation scenario where the information gain is changing over time, caused by the dynamic environment and the continuous movement of the spacecraft

Application of high-precision two-way ranging to Galileo Earth-1 encounter navigation

NASA Technical Reports Server (NTRS)

Pollmeier, V. M.; Thurman, S. W.

1992-01-01

The application of precision two-way ranging to orbit determination with relatively short data arcs is investigated for the Galileo spacecraft's approach to its first Earth encounter (December 8, 1990). Analysis of previous S-band (2.3-GHz) ranging data acquired from Galileo indicated that under good signal conditions submeter precision and 10-m ranging accuracy were achieved. It is shown that ranging data of sufficient accuracy, when acquired from multiple stations, can sense the geocentric angular position of a distant spacecraft. A range data filtering technique, in which explicit modeling of range measurement bias parameters for each station pass is utilized, is shown to largely remove the systematic ground system calibration errors and transmission media effects from the Galileo range measurements, which would otherwise corrupt the angle-finding capabilities of the data. The accuracy of the Galileo orbit solutions obtained with S-band Doppler and precision ranging were found to be consistent with simple theoretical calculations, which predicted that angular accuracies of 0.26-0.34 microrad were achievable. In addition, the navigation accuracy achieved with precision ranging was marginally better than that obtained using delta-differenced one-way range (delta DOR), the principal data type that was previously used to obtain spacecraft angular position measurements operationally.

Orbit Determination During Spacecraft Emergencies with Sparse Tracking Data - THEMIS and TDRS-3 Lessons Learned

NASA Technical Reports Server (NTRS)

Morinelli, Patrick J.; Ward, Douglas T.; Blizzard, Michael R.; Mendelsohn, Chad R.

2008-01-01

This paper provides an overview of the lessons learned from the National Aeronautics and Space Administration (NASA) Goddard Space Flight Center s (GSFC) Flight Dynamics Facility s (FDF) support of the Time History of Events and Macroscale Interactions during Substorms (THEMIS) spacecraft emergency in February 2007, and the Tracking and Data Relay Satellite-3 (TDRS-3) spacecraft emergency in March 2006. A successful and timely recovery from both of these spacecraft emergencies depended on accurate knowledge of the orbit. Unfortunately, the combination of each spacecraft emergency with very little tracking data contributed to difficulties in estimating and predicting the orbit and delayed recovery efforts in both cases. In both the THEMIS and TDRS-3 spacecraft emergencies, numerous factors contributed to problems with obtaining nominal tracking data measurements. This paper details the various causative factors and challenges. This paper further enumerates lessons learned from FDF s recovery efforts involving the THEMIS and TDRS-3 spacecraft emergencies and scant tracking data, as well as recommendations for improvements and corrective actions. In addition, this paper describes the broad range of resources and complex navigation methods employed within the FDF for supporting critical navigation activities during all mission phases, including launch, early orbit, and on-orbit operations.

SEXTANT X-Ray Pulsar Navigation Demonstration: Initial On-Orbit Results

NASA Technical Reports Server (NTRS)

Mitchell, Jason W.; Winternitz, Luke B.; Hassouneh, Munther A.; Price, Samuel R.; Semper, Sean R.; Yu, Wayne H.; Ray, Paul S.; Wolf, Michael T.; Kerr, Matthew; Wood, Kent S.;

ORION-II: A True Formation Flying Mission in LEO

NASA Technical Reports Server (NTRS)

How, Jonathan P.

2004-01-01

The final report for the Orion-II project is taken from Chapter 5 of "CDGPS-Based Relative Navigation for Multiple Spacecraft," a thesis by Megan Mitchell submitted to the MIT Department of Aeronautics and Astronautics, June 2004. This chapter begins with a comparison of the simulation architecture for the original and current simulation setups. Next, the changes made to the individual components of the navigation system are described. Finally, tests performed with a Spirent Simulator at NASA Goddard Space Flight Center (GSFC) are discussed. In addition to the development of the testbed components described, a new clean room facility was developed in the Orion Laboratory at MIT.

Software for Engineering Simulations of a Spacecraft

NASA Technical Reports Server (NTRS)

Shireman, Kirk; McSwain, Gene; McCormick, Bernell; Fardelos, Panayiotis

2005-01-01

Spacecraft Engineering Simulation II (SES II) is a C-language computer program for simulating diverse aspects of operation of a spacecraft characterized by either three or six degrees of freedom. A functional model in SES can include a trajectory flight plan; a submodel of a flight computer running navigational and flight-control software; and submodels of the environment, the dynamics of the spacecraft, and sensor inputs and outputs. SES II features a modular, object-oriented programming style. SES II supports event-based simulations, which, in turn, create an easily adaptable simulation environment in which many different types of trajectories can be simulated by use of the same software. The simulation output consists largely of flight data. SES II can be used to perform optimization and Monte Carlo dispersion simulations. It can also be used to perform simulations for multiple spacecraft. In addition to its generic simulation capabilities, SES offers special capabilities for space-shuttle simulations: for this purpose, it incorporates submodels of the space-shuttle dynamics and a C-language version of the guidance, navigation, and control components of the space-shuttle flight software.

Navigation Challenges in the MAVEN Science Phase

NASA Technical Reports Server (NTRS)

Demcak, Stuart; Young, Brian; Lam, Try; Trawny, Nikolas; Lee, Clifford; Anderson, Rodney; Broschart, Stephen; Ballard, Christopher; Folta, David C.

2012-01-01

The MAVEN spacecraft will explore Mars' upper atmosphere. The primary science phase will last one (Earth) year, during which the spacecraft will be in an elliptical 4.5 hour orbit at an inclination of 75 degrees. The 75 degree inclination results in the orbit periapsis oscillating between +/-75 degrees latitude, thus naturally covering most Mars latitudes during the primary mission. The orbit will be controlled via maneuvers so that the maximum orbit density remains in a density corridor. This results in the MAVEN science phase being in a light aerobraking type orbit of around 160 km for an extended period. In addition, the mission has significantly less tracking data than aerobraking phases of other missions, and even less than other NASA Mars orbiter primary phases. This results in significant challenges for the Navigation Team. They can be summarized as a difficulty in determining the current density profile, which maps into degraded trajectory predictions and less accurate control over the spacecraft location in the targeted density corridor via maneuvers. This paper describes these challenges and the Navigation Team's plans to meet them.

Force Modeling and State Propagation for Navigation and Maneuver Planning for the Proximity Operations Nano-Satellite Flight Demonstration Mission

NASA Astrophysics Data System (ADS)

Roscoe, C.; Griesbach, J.; Westphal, J.; Hawes, D.; Carrico, J.

2013-09-01

The state propagation accuracy resulting from different choices of gravitational force models and orbital perturbations is investigated for a pair of CubeSats flying in formation in low Earth orbit (LEO). Accurate on-board state propagation is necessary to autonomously plan maneuvers and perform proximity operations and docking safely. The ability to perform high-precision navigation is made especially challenging by the limited computer processing power available on-board the spacecraft. Propagation accuracy is investigated both in terms of the absolute (chief) state and the relative (deputy relative to chief) state. Different perturbing effects are quantified and related directly to important mission factors such as maneuver accuracy, fuel use (mission lifetime), and collision prediction/avoidance (mission safety). The Proximity Operations Nano-Satellite Flight Demonstration (PONSFD) program is to demonstrate rendezvous proximity operations (RPO), formation flying, and docking with a pair of 3U CubeSats. The program is sponsored by NASA Ames via the Office of the Chief Technologist (OCT) in support of its Small Spacecraft Technology Program (SSTP). The goal of the mission is to demonstrate complex RPO and docking operations with a pair of low-cost 3U CubeSat satellites using passive navigation sensors. The primary orbital perturbation affecting spacecraft in low Earth orbit (LEO) is the Earth oblateness, or J2, perturbation. Provided that a spacecraft does not have an extremely high area-to-mass ratio or is not flying at a very low altitude, the effect of J2 will usually be greater than that of atmospheric drag, which will typically be the next largest perturbing force in LEO. After these perturbations, factors such as higher-order Earth gravitational parameters, third-body perturbations, and solar radiation pressure will follow in magnitude but will have much less noticeable effects than J2 and drag. For spacecraft formations, where relative dynamics and not absolute dynamics are of primary importance, J2 will still be significant but drag effects become highly dependent on differences in the ballistic coefficients of the spacecraft in the formation. The PONSFD program uses a pair of 3U CubeSats with protruding solar panels, which means that inertial attitude differences between the two spacecraft will result in large differences in presented cross-sectional area. However, on-board prediction of drag effects may not be practical in all circumstances because it requires accurate knowledge of the Earth's atmospheric density as well as of the attitude of both spacecraft. This paper investigates the accuracy of performing long-term state propagation using different choices of gravitational force models and orbital perturbations for a wide range of orbit altitude and inclination possibilities. Propagation accuracy is affected by a number of orbit parameters and force model parameters which makes performing such a study with uncertain orbit knowledge a challenging prospect. However, much intuition can be gained by breaking the study down in terms of each of these parameters to see the effect of each one individually. The results of this study will be used to select a propagation method for the on-board navigation system for the mission.

System for Estimating Horizontal Velocity During Descent

NASA Technical Reports Server (NTRS)

Johnson, Andrew; Cheng, Yang; Wilson, Reg; Goguen, Jay; Martin, Alejandro San; Leger, Chris; Matthies, Larry

2007-01-01

The descent image motion estimation system (DIMES) is a system of hardware and software, designed for original use in estimating the horizontal velocity of a spacecraft descending toward a landing on Mars. The estimated horizontal velocity is used in generating rocket-firing commands to reduce the horizontal velocity as part of an overall control scheme to minimize the landing impact. DIMES can also be used for estimating the horizontal velocity of a remotely controlled or autonomous aircraft for purposes of navigation and control.

Planetary exploration - Earth's new horizon /12th von Karman Lecture/. [ground based and spaceborne

NASA Technical Reports Server (NTRS)

Schurmeier, H. M.

1975-01-01

The article gives an account of the history of unmanned exploration of the planets of the solar system, including both earthbound exploration and exploration with spacecraft. Examples of images of the Martian surface are presented along with images obtained in Jupiter and Mercury flybys. Data are presented on the growth of US launch vehicle performance capability, navigation performance, and planetary data rate capability. Basic information regarding the nature of the scientific experiments aboard the Pioneer and Viking spacecraft is given. A case is put forward for the ongoing exploration of the planets as a worthwhile endeavor for man.

Optical Flow Experiments for Small-Body Navigation

NASA Astrophysics Data System (ADS)

Schmidt, A.; Kueppers, M.

2012-09-01

Optical Flow algorithms [1, 2] have been successfully used and been robustly implemented in many application domains from motion estimation to video compression. We argue that they also show potential for autonomous spacecraft payload operation around small solar system bodies, such as comets or asteroids. Operating spacecraft around small bodies in close distance provides numerous challenges, many of which are related to uncertainties in spacecraft position and velocity relative to a body. To make best use of usually scarce resource, it would be good to grant a certain amount of autonomy to a spacecraft, for example, to make time-critical decisions when to operate the payload. The Optical Flow describes is the apparent velocities of common, usually brightness-related features in at least two images. From it, one can make estimates about the spacecraft velocity and direction relative to the last manoeuvre or known state. The authors have conducted experiments with readily-available optical imagery using the relatively robust and well-known Lucas-Kanade method [3]; it was found to be applicable in a large number of cases. Since one of the assumptions is that the brightness of corresponding points in subsequent images does not change greatly, it is important that imagery is acquired at sensible intervals, during which illumination conditions can be assumed constant and the spacecraft does not move too far so that there is significant overlap. Full-frame Optical Flow can be computationally more expensive than image compression and usually focuses on movements of regions with significant brightness-gradients. However, given that missions which explore small bodies move at low relative velocities, computation time is not expected to be a limiting resource. Since there are now several missions which either have flown to small bodies or are planned to visit small bodies and stay there for some time, it shows potential to explore how instrument operations can benefit from the additional knowledge that is gained from analysing readily available data on-board. The algorithms for Optical Flow show the maturity that is necessary to be considered in safety-critical systems; their use can be complemented with shape models, pattern matching, housekeeping data and navigation techniques to obtain even more accurate information.

Evaluation of optical data for Mars approach navigation.

NASA Technical Reports Server (NTRS)

Jerath, N.

1972-01-01

Investigation of several optical data types which can be obtained from science and engineering instruments normally aboard interplanetary spacecraft. TV cameras are assumed to view planets or satellites and stars for celestial references. Also, spacecraft attitude sensors are assumed to yield celestial references. The investigation of approach phases of typical Mars missions showed that the navigation accuracy was greatly enhanced with the addition of optical data to radio data. Viewing stars and the planet Mars was found most advantageous ten days before Mars encounter, and viewing Deimos or Phobos and stars was most advantageous within ten days of encounter.

Mariner-Venus-Mercury optical navigation demonstration - Results and implications for future missions

NASA Technical Reports Server (NTRS)

Acton, C. H., Jr.; Ohtakay, H.

1975-01-01

Optical navigation uses spacecraft television pictures of a target body against a known star background in a process which relates the spacecraft trajectory to the target body. This technology was used in the Mariner-Venus-Mercury mission, with the optical data processed in near-real-time, simulating a mission critical environment. Optical data error sources were identified, and a star location error analysis was carried out. Several methods for selecting limb crossing coordinates were used, and a limb smear compensation was introduced. Omission of planetary aberration corrections was the source of large optical residuals.

Development of an integrated spacecraft Guidance, Navigation, & Control subsystem for automated proximity operations

NASA Astrophysics Data System (ADS)

Schulte, Peter Z.; Spencer, David A.

2016-01-01

This paper describes the development and validation process of a highly automated Guidance, Navigation, & Control subsystem for a small satellite on-orbit inspection application, enabling proximity operations without human-in-the-loop interaction. The paper focuses on the integration and testing of Guidance, Navigation, & Control software and the development of decision logic to address the question of how such a system can be effectively implemented for full automation. This process is unique because a multitude of operational scenarios must be considered and a set of complex interactions between subsystem algorithms must be defined to achieve the automation goal. The Prox-1 mission is currently under development within the Space Systems Design Laboratory at the Georgia Institute of Technology. The mission involves the characterization of new small satellite component technologies, deployment of the LightSail 3U CubeSat, entering into a trailing orbit relative to LightSail using ground-in-the-loop commands, and demonstration of automated proximity operations through formation flight and natural motion circumnavigation maneuvers. Operations such as these may be utilized for many scenarios including on-orbit inspection, refueling, repair, construction, reconnaissance, docking, and debris mitigation activities. Prox-1 uses onboard sensors and imaging instruments to perform Guidance, Navigation, & Control operations during on-orbit inspection of LightSail. Navigation filters perform relative orbit determination based on images of the target spacecraft, and guidance algorithms conduct automated maneuver planning. A slew and tracking controller sends attitude actuation commands to a set of control moment gyroscopes, and other controllers manage desaturation, detumble, thruster firing, and target acquisition/recovery. All Guidance, Navigation, & Control algorithms are developed in a MATLAB/Simulink six degree-of-freedom simulation environment and are integrated using decision logic to autonomously determine when actions should be performed. The complexity of this decision logic is the primary challenge of the automated process, and the Stateflow tool in Simulink is used to establish logical relationships and manage data flow between each of the individual hardware and software components. Once the integrated simulation is fully developed in MATLAB/Simulink, the algorithms are autocoded to C/C++ and integrated into flight software. Hardware-in-the-loop testing provides validation of the Guidance, Navigation, & Control subsystem performance.

Unmanned spacecraft for research

NASA Technical Reports Server (NTRS)

Graves, C. D.

1972-01-01

The applications of unmanned spacecraft for research purposes are discussed. Specific applications of the Communication and Navigation satellites and the Earth Observations satellites are described. Diagrams of communications on world-wide basis using synchronous satellites are developed. Photographs of earth resources and geology obtained from space vehicles are included.

On-board landmark navigation and attitude reference parallel processor system

NASA Technical Reports Server (NTRS)

Gilbert, L. E.; Mahajan, D. T.

1978-01-01

An approach to autonomous navigation and attitude reference for earth observing spacecraft is described along with the landmark identification technique based on a sequential similarity detection algorithm (SSDA). Laboratory experiments undertaken to determine if better than one pixel accuracy in registration can be achieved consistent with onboard processor timing and capacity constraints are included. The SSDA is implemented using a multi-microprocessor system including synchronization logic and chip library. The data is processed in parallel stages, effectively reducing the time to match the small known image within a larger image as seen by the onboard image system. Shared memory is incorporated in the system to help communicate intermediate results among microprocessors. The functions include finding mean values and summation of absolute differences over the image search area. The hardware is a low power, compact unit suitable to onboard application with the flexibility to provide for different parameters depending upon the environment.

Trajectory and navigation system design for robotic and piloted missions to Mars

NASA Technical Reports Server (NTRS)

Thurman, S. W.; Matousek, S. E.

1991-01-01

Future Mars exploration missions, both robotic and piloted, may utilize Earth to Mars transfer trajectories that are significantly different from one another, depending upon the type of mission being flown and the time period during which the flight takes place. The use of new or emerging technologies for future missions to Mars, such as aerobraking and nuclear rocket propulsion, may yield navigation requirements that are much more stringent than those of past robotic missions, and are very difficult to meet for some trajectories. This article explores the interdependencies between the properties of direct Earth to Mars trajectories and the Mars approach navigation accuracy that can be achieved using different radio metric data types, such as ranging measurements between an approaching spacecraft and Mars orbiting relay satellites, or Earth based measurements such as coherent Doppler and very long baseline interferometry. The trajectory characteristics affecting navigation performance are identified, and the variations in accuracy that might be experienced over the range of different Mars approach trajectories are discussed. The results predict that three sigma periapsis altitude navigation uncertainties of 2 to 10 km can be achieved when a Mars orbiting satellite is used as a navigation aid.

Further development and flight test of an autonomous precision landing system using a parafoil

NASA Technical Reports Server (NTRS)

Murray, James E.; Sim, Alex G.; Neufeld, David C.; Rennich, Patrick K.; Norris, Stephen R.; Hughes, Wesley S.

1994-01-01

NASA Dryden Flight Research Center and NASA Johnson Space Center are jointly conducting a phased program to determine the feasibility of the autonomous recovery of a spacecraft using a ram-air parafoil system for the final stages of entry from space to a precision landing. The feasibility is being studied using a flight model of a spacecraft in the generic shape of a flattened biconic that weighs approximately 120 lb and is flown under a commercially available ram-air parafoil. Key components of the vehicle include the global positioning system (GPS) guidance for navigation, a flight control computer, an electronic compass, a yaw rate gyro, and an onboard data recorder. A flight test program is being used to develop and refine the vehicle. The primary flight goal is to demonstrate autonomous flight from an altitude of 3,000 m (10,000 ft) with a lateral offset of 1.6 km (1.0 mi) to a precision soft landing. This paper summarizes the progress to date. Much of the navigation system has been tested, including a heading tracker that was developed using parameter estimation techniques and a complementary filter. The autoland portion of the autopilot is still in development. The feasibility of conducting the flare maneuver without servoactuators was investigated as a means of significantly reducing the servoactuator rate and load requirements.

On-board orbit determination for low thrust LEO-MEO transfer by Consider Kalman Filtering and multi-constellation GNSS

NASA Astrophysics Data System (ADS)

Menzione, Francesco; Renga, Alfredo; Grassi, Michele

2017-09-01

In the framework of the novel navigation scenario offered by the next generation satellite low thrust autonomous LEO-to-MEO orbit transfer, this study proposes and tests a GNSS based navigation system aimed at providing on-board precise and robust orbit determination strategy to override rising criticalities. The analysis introduces the challenging design issues to simultaneously deal with the variable orbit regime, the electric thrust control and the high orbit GNSS visibility conditions. The Consider Kalman Filtering approach is here proposed as the filtering scheme to process the GNSS raw data provided by a multi-antenna/multi-constellation receiver in presence of uncertain parameters affecting measurements, actuation and spacecraft physical properties. Filter robustness and achievable navigation accuracy are verified using a high fidelity simulation of the low-thrust rising scenario and performance are compared with the one of a standard Extended Kalman Filtering approach to highlight the advantages of the proposed solution. Performance assessment of the developed navigation solution is accomplished for different transfer phases.

Lunar far side surface navigation using Linked Autonomous Interplanetary Satellite Orbit Navigation (LiAISON)

NASA Astrophysics Data System (ADS)

Hesar, Siamak G.; Parker, Jeffrey S.; Leonard, Jason M.; McGranaghan, Ryan M.; Born, George H.

2015-12-01

We study the application of Linked Autonomous Interplanetary Satellite Orbit Navigation (LiAISON) to track vehicles on the far side of the lunar surface. The LiAISON architecture is demonstrated to achieve accurate orbit determination solutions for various mission scenarios in the Earth-Moon system. Given the proper description of the force field, LiAISON is capable of producing absolute orbit determination solutions using relative satellite-to-satellite tracking observations alone. The lack of direct communication between Earth-based tracking stations and the far side of the Moon provides an ideal opportunity for implementing LiAISON. This paper presents a novel approach to use the LiAISON architecture to perform autonomous navigation of assets on the lunar far side surface. Relative measurements between a spacecraft placed in an EML-2 halo orbit and lunar surface asset(s) are simulated and processed. Comprehensive simulation results show that absolute states of the surface assets are observable with an achieved accuracy of the position estimate on the order of tens of meters.

P91-1 ARGOS spacecraft thermal control

NASA Astrophysics Data System (ADS)

Sadunas, Jonas; Baginski, Ben; McCarthy, Daniel

1993-07-01

The P91-1, or ARGOS, is a Department of Defense funded (DOD) Space Test Program (STP) satellite managed by the Space and Missile Systems Center Space and Small Launch Vehicle Programs Office (SMC/CUL). Rockwell International Space Systems Division is the space vehicle prime contractor. The P91-1 mission is to fly a suite of eight experiments in a 450 nautical mile sun-synchronous orbit dedicated to three dimensional UV imaging of the ionosphere, X-ray source mapping, navigation, space debris characterization, performance characterization of high temperature super conductivity RF devices, and on orbit demonstration of an electrical propulsion system. The primary purpose of this paper is to acquaint the thermal control community, and potential future follow on mission users, with the thermal control characteristics of the spacecraft, experiment/SV thermal integration aspects, and test verification plans.

Report on Active and Planned Spacecraft and Experiments

NASA Technical Reports Server (NTRS)

Vostreys, R. W. (Editor); Maitson, H. H. (Editor)

1981-01-01

Active and planned spacecraft activity and experiments between June 1, 1980 and May 31, 1981 known to the National Space Science Data Center are described. The information covers a wide range of disciplines: astronomy, Earth sciences, meteorology, planetary sciences, aeronomy, particles and fields, solar physics, life sciences, and material sciences. Each spacecraft and experiment is described and its current status presented. Descriptions of navigational and communications satellites and of spacecraft that contain only continuous radio beacons used for ionospheric studies are specifically excluded.

Analysis of filter tuning techniques for sequential orbit determination

NASA Technical Reports Server (NTRS)

Lee, T.; Yee, C.; Oza, D.

1995-01-01

This paper examines filter tuning techniques for a sequential orbit determination (OD) covariance analysis. Recently, there has been a renewed interest in sequential OD, primarily due to the successful flight qualification of the Tracking and Data Relay Satellite System (TDRSS) Onboard Navigation System (TONS) using Doppler data extracted onboard the Extreme Ultraviolet Explorer (EUVE) spacecraft. TONS computes highly accurate orbit solutions onboard the spacecraft in realtime using a sequential filter. As the result of the successful TONS-EUVE flight qualification experiment, the Earth Observing System (EOS) AM-1 Project has selected TONS as the prime navigation system. In addition, sequential OD methods can be used successfully for ground OD. Whether data are processed onboard or on the ground, a sequential OD procedure is generally favored over a batch technique when a realtime automated OD system is desired. Recently, OD covariance analyses were performed for the TONS-EUVE and TONS-EOS missions using the sequential processing options of the Orbit Determination Error Analysis System (ODEAS). ODEAS is the primary covariance analysis system used by the Goddard Space Flight Center (GSFC) Flight Dynamics Division (FDD). The results of these analyses revealed a high sensitivity of the OD solutions to the state process noise filter tuning parameters. The covariance analysis results show that the state estimate error contributions from measurement-related error sources, especially those due to the random noise and satellite-to-satellite ionospheric refraction correction errors, increase rapidly as the state process noise increases. These results prompted an in-depth investigation of the role of the filter tuning parameters in sequential OD covariance analysis. This paper analyzes how the spacecraft state estimate errors due to dynamic and measurement-related error sources are affected by the process noise level used. This information is then used to establish guidelines for determining optimal filter tuning parameters in a given sequential OD scenario for both covariance analysis and actual OD. Comparisons are also made with corresponding definitive OD results available from the TONS-EUVE analysis.

The near real time image navigation of pictures returned by Voyager 2 at Neptune

NASA Technical Reports Server (NTRS)

Underwood, Ian M.; Bachman, Nathaniel J.; Taber, William L.; Wang, Tseng-Chan; Acton, Charles H.

1990-01-01

The development of a process for performing image navigation in near real time is described. The process was used to accurately determine the camera pointing for pictures returned by the Voyager 2 spacecraft at Neptune Encounter. Image navigation improves knowledge of the pointing of an imaging instrument at a particular epoch by correlating the spacecraft-relative locations of target bodies in inertial space with the locations of their images in a picture taken at that epoch. More than 8,500 pictures returned by Voyager 2 at Neptune were processed in near real time. The results were used in several applications, including improving pointing knowledge for nonimaging instruments ('C-smithing'), making 'Neptune, the Movie', and providing immediate access to geometrical quantities similar to those traditionally supplied in the Supplementary Experiment Data Record.

Mariner Mars 1971 optical navigation demonstration

NASA Technical Reports Server (NTRS)

Born, G. H.; Duxbury, T. C.; Breckenridge, W. G.; Acton, C. H.; Mohan, S.; Jerath, N.; Ohtakay, H.

1974-01-01

The feasibility of using a combination of spacecraft-based optical data and earth-based Doppler data to perform near-real-time approach navigation was demonstrated by the Mariner Mars 71 Project. The important findings, conclusions, and recommendations are documented. A summary along with publications and papers giving additional details on the objectives of the demonstration are provided. Instrument calibration and performance as well as navigation and science results are reported.

Drift Recovery and Station Keeping for the CanX-4 & CanX-5 Nanosatellite Formation Flying Mission

NASA Astrophysics Data System (ADS)

Newman, Joshua Zachary

Canadian Advanced Nanospace eXperiments 4 & 5 (CanX-4&5) are a pair of formation flying nanosatellites that demonstrated autonomous sub-metre formation control at ranges of 1000 to 50 m. To facilitate the autonomous formation flight mission, it is necessary that the two spacecraft be brought within a few kilometres of one another, with a low relative velocity. Therefore, a system to calculate fuel-efficient recovery trajectories and produce the corresponding spacecraft commands was required. This system was also extended to provide station keeping capabilities. In this thesis, the overall drift recovery strategy is outlined, and the design of the controller is detailed. A method of putting the formation into a passively safe state, where the spacecraft cannot collide, is also presented. Monte-Carlo simulations are used to estimate the fuel losses associated with navigational and attitude errors. Finally, on-orbit results are presented, validating both the design and the error expectations.

Sensitivity Analysis and Mitigation with Applications to Ballistic and Low-thrust Trajectory Design

NASA Astrophysics Data System (ADS)

Alizadeh, Iman

The ever increasing desire to expand space mission capabilities within the limited budgets of space industries requires new approaches to the old problem of spacecraft trajectory design. For example, recent initiatives for space exploration involve developing new tools to design low-cost, fail-safe trajectories to visit several potential destinations beyond our celestial neighborhood such as Jupiter's moons, asteroids, etc. Designing and navigating spacecraft trajectories to reach these destinations safely are complex and challenging. In particular, fundamental questions of orbital stability imposed by planetary protection requirements are not easily taken into account by standard optimal control schemes. The event of temporary engine loss or an unexpected missed thrust can indeed quickly lead to impact with planetary bodies or other unrecoverable trajectories. While electric propulsion technology provides superior efficiency compared to chemical engines, the very low-control authority and engine performance degradation can impose higher risk to the mission in strongly perturbed orbital environments. The risk is due to the complex gravitational field and its associated chaotic dynamics which causes large navigation dispersions in a short time if left un-controlled. Moreover, in these situations it can be outside the low-thrust propulsion system capability to correct the spacecraft trajectory in a reasonable time frame. These concerns can lead to complete or partial mission failure or even an infeasible mission concept at the early design stage. The goal of this research is to assess and increase orbital stability of ballistic and low-thrust transfer trajectories in multi-body systems. In particular, novel techniques are presented to characterize sensitivity and improve recovery characteristics of ballistic and low-thrust trajectories in unstable orbital environments. The techniques developed are based on perturbation analysis around ballistic trajectories to determine analytically the maximum divergence directions and also optimal control theory with nonstandard cost functions along with inverse dynamics applied to low-thrust trajectories. Several mission scenarios are shown to demonstrate the applicability of the techniques in the Earth-Moon and the Jupiter-Europa system. In addition, the results provide fundamental insight into design, stability analysis and guidance, navigation and control of low-thrust trajectories to meet challenging mission requirements in support of NASA's vision for space exploration.

Satellites at Work, Space in the Seventies.

ERIC Educational Resources Information Center

Corliss, William R.

This publication in the "Space in the Seventies" series describes current status and future plans for "working" spacecraft, also called "application satellites." These spacecraft serve the needs of communications, meteorology, geodesy, and navigation. They also enable us to study earth resources from space. Many scientific and technical concepts…

Mars Aerocapture Systems Study

NASA Technical Reports Server (NTRS)

Wright, Henry S.; Oh, David Y.; Westhelle, Carlos H.; Fisher, Jody L.; Dyke, R. Eric; Edquist, Karl T.; Brown, James L.; Justh, Hilary L.; Munk, Michelle M.

2006-01-01

Mars Aerocapture Systems Study (MASS) is a detailed study of the application of aerocapture to a large Mars robotic orbiter to assess and identify key technology gaps. This study addressed use of an Opposition class return segment for use in the Mars Sample Return architecture. Study addressed mission architecture issues as well as system design. Key trade studies focused on design of aerocapture aeroshell, spacecraft design and packaging, guidance, navigation and control with simulation, computational fluid dynamics, and thermal protection system sizing. Detailed master equipment lists are included as well as a cursory cost assessment.

Estimating Thruster Impulses From IMU and Doppler Data

NASA Technical Reports Server (NTRS)

Lisano, Michael E.; Kruizinga, Gerhard L.

2009-01-01

A computer program implements a thrust impulse measurement (TIM) filter, which processes data on changes in velocity and attitude of a spacecraft to estimate the small impulsive forces and torques exerted by the thrusters of the spacecraft reaction control system (RCS). The velocity-change data are obtained from line-of-sight-velocity data from Doppler measurements made from the Earth. The attitude-change data are the telemetered from an inertial measurement unit (IMU) aboard the spacecraft. The TIM filter estimates the threeaxis thrust vector for each RCS thruster, thereby enabling reduction of cumulative navigation error attributable to inaccurate prediction of thrust vectors. The filter has been augmented with a simple mathematical model to compensate for large temperature fluctuations in the spacecraft thruster catalyst bed in order to estimate thrust more accurately at deadbanding cold-firing levels. Also, rigorous consider-covariance estimation is applied in the TIM to account for the expected uncertainty in the moment of inertia and the location of the center of gravity of the spacecraft. The TIM filter was built with, and depends upon, a sigma-point consider-filter algorithm implemented in a Python-language computer program.

SCL: An off-the-shelf system for spacecraft control

NASA Astrophysics Data System (ADS)

Buckley, Brian; Vangaasbeck, James

1994-11-01

In this age of shrinking military, civil, and commercial space budgets, an off-the-shelf solution is needed to provide a multimission approach to spacecraft control. A standard operational interface which can be applied to multiple spacecraft allows a common approach to ground and space operations. A trend for many space programs has been to reduce operational staff by applying autonomy to the spacecraft and to the ground stations. The Spacecraft Command Language (SCL) system developed by Interface and Control Systems, Inc. (ICS) provides an off-the-shelf solution for spacecraft operations. The SCL system is designed to provide a hyper-scripting interface which remains standard from program to program. The spacecraft and ground station hardware specifics are isolated to provide the maximum amount of portability from system to system. Uplink and downlink interfaces are also isolated to allow the system to perform independent of the communications protocols chosen. The SCL system can be used for both the ground stations and the spacecraft, or as a value added package for existing ground station environments. The SCL system provides an expanded stored commanding capability as well as a rule-based expert system on-board. The expert system allows reactive control on-board the spacecraft for functions such as electrical power systems (EPS), thermal control, etc. which have traditionally been performed on the ground. The SCL rule and scripting capability share a common syntax allowing control of scripts from rules and rules from scripts. Rather than telemeter over sampled data to the ground, the SCL system maintains a database on-board which is available for interrogation by the scripts and rules. The SCL knowledge base is constructed on the ground and uploaded to the spacecraft. The SCL system follows an open-systems approach allowing other tasks to communicate with SCL on the ground and in space. The SCL system was used on the Clementine program (launched January 25, 1994) and is required to have bidirectional communications with the guidance, navigation, and control (GNC) algorithms which were written as another task. Sequencing of the spacecraft maneuvers are handled by SCL, but the low-level thruster pulse commands are handled by the GNC software. Attitude information is reported back as telemetry, allowing the SCL expert system to inference on the changing data. The Clementine SCL flight software was largely reused from another Naval Center for Space Technology (NCST) satellite program.

SCL: An off-the-shelf system for spacecraft control

NASA Technical Reports Server (NTRS)

Buckley, Brian; Vangaasbeck, James

1994-01-01

In this age of shrinking military, civil, and commercial space budgets, an off-the-shelf solution is needed to provide a multimission approach to spacecraft control. A standard operational interface which can be applied to multiple spacecraft allows a common approach to ground and space operations. A trend for many space programs has been to reduce operational staff by applying autonomy to the spacecraft and to the ground stations. The Spacecraft Command Language (SCL) system developed by Interface and Control Systems, Inc. (ICS) provides an off-the-shelf solution for spacecraft operations. The SCL system is designed to provide a hyper-scripting interface which remains standard from program to program. The spacecraft and ground station hardware specifics are isolated to provide the maximum amount of portability from system to system. Uplink and downlink interfaces are also isolated to allow the system to perform independent of the communications protocols chosen. The SCL system can be used for both the ground stations and the spacecraft, or as a value added package for existing ground station environments. The SCL system provides an expanded stored commanding capability as well as a rule-based expert system on-board. The expert system allows reactive control on-board the spacecraft for functions such as electrical power systems (EPS), thermal control, etc. which have traditionally been performed on the ground. The SCL rule and scripting capability share a common syntax allowing control of scripts from rules and rules from scripts. Rather than telemeter over sampled data to the ground, the SCL system maintains a database on-board which is available for interrogation by the scripts and rules. The SCL knowledge base is constructed on the ground and uploaded to the spacecraft. The SCL system follows an open-systems approach allowing other tasks to communicate with SCL on the ground and in space. The SCL system was used on the Clementine program (launched January 25, 1994) and is required to have bidirectional communications with the guidance, navigation, and control (GNC) algorithms which were written as another task. Sequencing of the spacecraft maneuvers are handled by SCL, but the low-level thruster pulse commands are handled by the GNC software. Attitude information is reported back as telemetry, allowing the SCL expert system to inference on the changing data. The Clementine SCL flight software was largely reused from another Naval Center for Space Technology (NCST) satellite program. This paper details the SCL architecture and how an off-the-shelf solution makes sense for multimission spacecraft programs. The Clementine mission will be used as a case study in the application of the SCL to a 'fast track' program. The benefits of such a system in a 'better, cheaper, faster' climate will be discussed.

ASTRONAUT LOVELL, JAMES A., JR. - APOLLO VIII (GUIDANCE & NAVIGATION [G&N])

NASA Image and Video Library

1969-05-25

S69-35099 (21-27 Dec. 1968) --- Astronaut James A. Lovell Jr., Apollo 8 command module pilot, is seen at the Apollo 8 Spacecraft Command Module's Guidance and Navigation station during the Apollo 8 lunar orbit mission. This picture was taken from 16mm motion picture film.

Thermospheric Studies with Mars Global Surveyor

NASA Technical Reports Server (NTRS)

Lemoine, F. G.; Bruinsma, S.; Chin, D. S.; Forbes, J. M.

2006-01-01

The Mars Global Surveyor spacecraft has been located in a near-circular, polar, and low-altitude mapping orbit about Mars for six years, since February 1999. The spacecraft is tracked routinely by the antennae of the Deep Space Network (DSN), using the X Band radio system of the spacecraft. These tracking data have been used for routine spacecraft navigation, and for radio science studies, such as the estimation of the static and time-varying gravity field of Mars. In this paper we describe the methodology for reduction of these data in order to estimate the Mars atmospheric density (normalized to an altitude 380 km) over half a solar cycle, where we discern the correlation of the density with the incident solar flux, and the 27-day solar rotation. The results show that the density at the MGS altitude varies from a mean of 0.7 x 10(exp -17) grams/cu cm near aphelion to a mean of 3.0 x 10(exp -17)grams/cu cm near perihelion.

A Hyperbolic Ontology Visualization Tool for Model Application Programming Interface Documentation

NASA Technical Reports Server (NTRS)

Hyman, Cody

2011-01-01

Spacecraft modeling, a critically important portion in validating planned spacecraft activities, is currently carried out using a time consuming method of mission to mission model implementations and integration. A current project in early development, Integrated Spacecraft Analysis (ISCA), aims to remedy this hindrance by providing reusable architectures and reducing time spent integrating models with planning and sequencing tools. The principle objective of this internship was to develop a user interface for an experimental ontology-based structure visualization of navigation and attitude control system modeling software. To satisfy this, a number of tree and graph visualization tools were researched and a Java based hyperbolic graph viewer was selected for experimental adaptation. Early results show promise in the ability to organize and display large amounts of spacecraft model documentation efficiently and effectively through a web browser. This viewer serves as a conceptual implementation for future development but trials with both ISCA developers and end users should be performed to truly evaluate the effectiveness of continued development of such visualizations.

Sub-nanosecond clock synchronization and precision deep space tracking

NASA Technical Reports Server (NTRS)

Dunn, Charles; Lichten, Stephen; Jefferson, David; Border, James S.

1992-01-01

Interferometric spacecraft tracking is accomplished at the NASA Deep Space Network (DSN) by comparing the arrival time of electromagnetic spacecraft signals to ground antennas separated by baselines on the order of 8000 km. Clock synchronization errors within and between DSN stations directly impact the attainable tracking accuracy, with a 0.3 ns error in clock synchronization resulting in an 11 nrad angular position error. This level of synchronization is currently achieved by observing a quasar which is angularly close to the spacecraft just after the spacecraft observations. By determining the differential arrival times of the random quasar signal at the stations, clock synchronization and propagation delays within the atmosphere and within the DSN stations are calibrated. Recent developments in time transfer techniques may allow medium accuracy (50-100 nrad) spacecraft observations without near-simultaneous quasar-based calibrations. Solutions are presented for a global network of GPS receivers in which the formal errors in clock offset parameters are less than 0.5 ns. Comparisons of clock rate offsets derived from GPS measurements and from very long baseline interferometry and the examination of clock closure suggest that these formal errors are a realistic measure of GPS-based clock offset precision and accuracy. Incorporating GPS-based clock synchronization measurements into a spacecraft differential ranging system would allow tracking without near-simultaneous quasar observations. The impact on individual spacecraft navigation error sources due to elimination of quasar-based calibrations is presented. System implementation, including calibration of station electronic delays, is discussed.

Miniature Robotic Spacecraft for Inspecting Other Spacecraft

NASA Technical Reports Server (NTRS)

Fredrickson, Steven; Abbott, Larry; Duran, Steve; Goode, Robert; Howard, Nathan; Jochim, David; Rickman, Steve; Straube, Tim; Studak, Bill; Wagenknecht, Jennifer;

Lidar-Based Navigation Algorithm for Safe Lunar Landing

NASA Technical Reports Server (NTRS)

Myers, David M.; Johnson, Andrew E.; Werner, Robert A.

2011-01-01

The purpose of Hazard Relative Navigation (HRN) is to provide measurements to the Navigation Filter so that it can limit errors on the position estimate after hazards have been detected. The hazards are detected by processing a hazard digital elevation map (HDEM). The HRN process takes lidar images as the spacecraft descends to the surface and matches these to the HDEM to compute relative position measurements. Since the HDEM has the hazards embedded in it, the position measurements are relative to the hazards, hence the name Hazard Relative Navigation.

Orion Absolute Navigation System Progress and Challenges

NASA Technical Reports Server (NTRS)

Holt, Greg N.; D'Souza, Christopher

2011-01-01

The Orion spacecraft is being designed as NASA's next-generation exploration vehicle for crewed missions beyond Low-Earth Orbit. The navigation system for the Orion spacecraft is being designed in a Multi-Organizational Design Environment (MODE) team including contractor and NASA personnel. The system uses an Extended Kalman Filter to process measurements and determine the state. The design of the navigation system has undergone several iterations and modifications since its inception, and continues as a work-in-progress. This paper seeks to benchmark the current state of the design and some of the rationale and analysis behind it. There are specific challenges to address when preparing a timely and effective design for the Exploration Flight Test (EFT-1), while still looking ahead and providing software extensibility for future exploration missions. The primary measurements in a Near-Earth or Mid-Earth environment consist of GPS pseudorange and deltarange, but for future explorations missions the use of star-tracker and optical navigation sources need to be considered. Discussions are presented for state size and composition, processing techniques, and consider states. A presentation is given for the processing technique using the computationally stable and robust UDU formulation with an Agee-Turner Rank-One update. This allows for computational savings when dealing with many parameters which are modeled as slowly varying Gauss-Markov processes. Preliminary analysis shows up to a 50% reduction in computation versus a more traditional formulation. Several state elements are discussed and evaluated, including position, velocity, attitude, clock bias/drift, and GPS measurement biases in addition to bias, scale factor, misalignment, and non-orthogonalities of the accelerometers and gyroscopes. Another consideration is the initialization of the EKF in various scenarios. Scenarios such as single-event upset, ground command, pad alignment, cold start are discussed as are strategies for whole and partial state updates as well as covariance considerations. Strategies are given for dealing with latent measurements and high-rate propagation using multi-rate architecture. The details of the rate groups and the data ow between the elements is discussed and evaluated.

Space shuttle guidance, navigation and control design equations. Volume 4: Deorbit and atmospheric operations

NASA Technical Reports Server (NTRS)

Cox, K. J.

1971-01-01

A baseline set of equations which fulfill the computation requirements for guidance, navigation, and control of the space shuttle orbiter vehicle is presented. All shuttle mission phases are covered from prelaunch through landing/rollout. The spacecraft flight mode and the aircraft flight mode are addressed. The baseline equations may be implemented in a single guidance, navigation, and control computer or may be distributed among several subsystem computers.

Orbit Maintenance and Navigation of Human Spacecraft at Cislunar Near Rectilinear Halo Orbits

NASA Technical Reports Server (NTRS)

Davis, Diane; Bhatt, Sagar; Howell, Kathleen; Jang, Jiann-Woei; Whitley, Ryan; Clark, Fred; Guzzetti, Davide; Zimovan, Emily; Barton, Gregg

2017-01-01

Multiple studies have concluded that Earth-Moon libration point orbits are attractive candidates for staging operations. The Near Rectilinear Halo Orbit (NRHO), a member of the Earth-Moon halo orbit family, has been singularly demonstrated to meet multi-mission architectural constraints. In this paper, the challenges associated with operating human spacecraft in the NRHO are evaluated. Navigation accuracies and human vehicle process noise effects are applied to various station keeping strategies in order to obtain a reliable orbit maintenance algorithm. Additionally, the ability to absorb missed burns, construct phasing maneuvers to avoid eclipses and conduct rendezvous and proximity operations are examined.

Conic state extrapolation. [computer program for space shuttle navigation and guidance requirements

NASA Technical Reports Server (NTRS)

Shepperd, S. W.; Robertson, W. M.

1973-01-01

The Conic State Extrapolation Routine provides the capability to conically extrapolate any spacecraft inertial state vector either backwards or forwards as a function of time or as a function of transfer angle. It is merely the coded form of two versions of the solution of the two-body differential equations of motion of the spacecraft center of mass. Because of its relatively fast computation speed and moderate accuracy, it serves as a preliminary navigation tool and as a method of obtaining quick solutions for targeting and guidance functions. More accurate (but slower) results are provided by the Precision State Extrapolation Routine.

Interplanetary CubeSat Navigational Challenges

NASA Technical Reports Server (NTRS)

Martin-Mur, Tomas J.; Gustafson, Eric D.; Young, Brian T.

2015-01-01

CubeSats are miniaturized spacecraft of small mass that comply with a form specification so they can be launched using standardized deployers. Since the launch of the first CubeSat into Earth orbit in June of 2003, hundreds have been placed into orbit. There are currently a number of proposals to launch and operate CubeSats in deep space, including MarCO, a technology demonstration that will launch two CubeSats towards Mars using the same launch vehicle as NASA's Interior Exploration using Seismic Investigations, Geodesy and Heat Transport (InSight) Mars lander mission. The MarCO CubeSats are designed to relay the information transmitted by the InSight UHF radio during Entry, Descent, and Landing (EDL) in real time to the antennas of the Deep Space Network (DSN) on Earth. Other CubeSatts proposals intend to demonstrate the operation of small probes in deep space, investigate the lunar South Pole, and visit a near Earth object, among others. Placing a CubeSat into an interplanetary trajectory makes it even more challenging to pack the necessary power, communications, and navigation capabilities into such a small spacecraft. This paper presents some of the challenges and approaches for successfully navigating CubeSats and other small spacecraft in deep space.

Proximity Navigation of Highly Constrained Spacecraft

NASA Technical Reports Server (NTRS)

Scarritt, S.; Swartwout, M.

2007-01-01

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.

The GPS Space Service Volume

NASA Technical Reports Server (NTRS)

Bauer, F. H.; Moreau, M. C.; Dahle-Melsaether, M. E.; Petrofski, W. P.; Stanton, B. J.; Thomason, S.; Harris, G. A.; Sena, R. P.; Temple, L. Parker, III

2006-01-01

Prior to the advent of artificial satellites, the concept of navigating in space and the desire to understand and validate the laws of planetary and satellite motion dates back centuries. At the initiation of orbital flight in 1957, space navigation was dominated by inertial and groundbased tracking methods, underpinned by the laws of planetary motion. It was early in the 1980s that GPS was first explored as a system useful for refining the position, velocity, and timing (PVT) of other spacecraft equipped with GPS receivers. As a result, an entirely new GPS utility was developed beyond its original purpose of providing PVT services for land, maritime, and air applications. Spacecraft both above and below the GPS constellation now receive the GPS signals, including the signals that spill over the limb of the Earth. The use of radionavigation satellite services for space navigation in High Earth Orbits is in fact a capability unique to GPS. Support to GPS space applications is being studied and planned as an important improvement to GPS. This paper discusses the formalization of PVT services in space as part of an overall GPS improvement effort. It describes the GPS Space Service Volume (SSV) and compares it to the Terrestrial Service Volume (TSV). It also discusses SSV coverage with the current GPS constellation, coverage characteristics as a function of altitude, expected power levels, and coverage figures of merit.

Nanotechnology at NASA Ames

NASA Technical Reports Server (NTRS)

Srivastava, Deepak; Meyyappan, Meyya; Yan, Jerry (Technical Monitor)

2000-01-01

Advanced miniaturization, a key thrust area to enable new science and exploration missions, provides ultrasmall sensors, power sources, communication, navigation, and propulsion systems with very low mass, volume, and power consumption. Revolutions in electronics and computing will allow reconfigurable, autonomous, 'thinking' spacecraft. Nanotechnology presents a whole new spectrum of opportunities to build device components and systems for entirely new space architectures: (1) networks of ultrasmall probes on planetary surfaces; (2) micro-rovers that drive, hop, fly, and burrow; and (3) collections of microspacecraft making a variety of measurements.

Development of a Crosslink Channel Simulator

NASA Technical Reports Server (NTRS)

Hunt, Chris; Smith, Carl; Burns, Rich

2004-01-01

Distributed Spacecraft missions are an integral part of current and future plans for NASA and other space agencies. Many of these multi-vehicle missions involve utilizing the array of spacecraft as a single, instrument requiring communication via crosslinks to achieve mission goals. NASA s Goddard Space Flight Center (GSFC) is developing the Formation Flying Test Bed (FFTB) to provide a hardware-in-the-loop simulation environment to support mission concept development and system trades with a primary focus on Guidance, Navigation, and Control (GN&C) challenges associated with spacecraft flying. The goal of the FFTB is to reduce mission risk by assisting in mission planning and analysis, provide a technology development platform that allows algorithms to be developed for mission functions such as precision formation navigation and control and time synchronization. The FFTB will provide a medium in which the various crosslink transponders being used in multi-vehicle missions can be integrated for development and test; an integral part of the FFTB is the Crosslink Channel Simulator (CCS). The CCS is placed into the communications channel between the crosslinks under test, and is used to simulate on-mission effects to the communications channel such as vehicle maneuvers, relative vehicle motion, or antenna misalignment. The CCS is based on the Starlight software programmable platform developed at General Dynamics Decision Systems and provides the CCS with the ability to be modified on the fly to adapt to new crosslink formats or mission parameters. This paper briefly describes the Formation Flying Test Bed and its potential uses. It then provides details on the current and future development of the Crosslink Channel Simulator and its capabilities.

A Flight-Calibrated Methodology for Determination of Cassini Thruster On-Times for Reaction Wheel Biases

NASA Technical Reports Server (NTRS)

Sarani, Sam

2010-01-01

The Cassini spacecraft, the largest and most complex interplanetary spacecraft ever built, continues to undertake unique scientific observations of planet Saturn, Titan, Enceladus, and other moons of the ring world. In order to maintain a stable attitude during the course of its mission, this three-axis stabilized spacecraft uses two different control systems: the Reaction Control System (or RCS) and the Reaction Wheel Assembly (RWA) control system. In the course of its mission, Cassini performs numerous reaction wheel momentum biases (or unloads) using its reaction control thrusters. The use of the RCS thrusters often imparts undesired velocity changes (delta Vs) on the spacecraft and it is crucial for Cassini navigation and attitude control teams to be able to, quickly but accurately, predict the hydrazine usage and delta V vector in Earth Mean Equatorial (J2000) inertial coordinates for reaction wheel bias events, without actually having to spend time and resources simulating the event in a dynamic or hardware-in-the-loop simulation environments. The flight-calibrated methodology described in this paper, and the ground software developed thereof, are designed to provide the RCS thruster on-times, with acceptable accuracy and without any form of dynamic simulation, for reaction wheel biases, along with the hydrazine usage and the delta V in EME-2000 inertial frame.

Observability and Estimation of Distributed Space Systems via Local Information-Exchange Networks

NASA Technical Reports Server (NTRS)

Rahmani, Amirreza; Mesbahi, Mehran; Fathpour, Nanaz; Hadaegh, Fred Y.

2008-01-01

In this work, we develop an approach to formation estimation by explicitly characterizing formation's system-theoretic attributes in terms of the underlying inter-spacecraft information-exchange network. In particular, we approach the formation observer/estimator design by relaxing the accessibility to the global state information by a centralized observer/estimator- and in turn- providing an analysis and synthesis framework for formation observers/estimators that rely on local measurements. The noveltyof our approach hinges upon the explicit examination of the underlying distributed spacecraft network in the realm of guidance, navigation, and control algorithmic analysis and design. The overarching goal of our general research program, some of whose results are reported in this paper, is the development of distributed spacecraft estimation algorithms that are scalable, modular, and robust to variations inthe topology and link characteristics of the formation information exchange network. In this work, we consider the observability of a spacecraft formation from a single observation node and utilize the agreement protocol as a mechanism for observing formation states from local measurements. Specifically, we show how the symmetry structure of the network, characterized in terms of its automorphism group, directly relates to the observability of the corresponding multi-agent system The ramification of this notion of observability over networks is then explored in the context of distributed formation estimation.

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

NASA Technical Reports Server (NTRS)

Johnson, Andrew E.; Cheng, Yang; Montgomery, James; Trawny, Nikolas; Tweddle, Brent; Zheng, Jason

2015-01-01

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

LIDAR-Aided Inertial Navigation with Extended Kalman Filtering for Pinpoint Landing

NASA Technical Reports Server (NTRS)

Busnardo, David M.; Aitken, Matthew L.; Tolson, Robert H.; Pierrottet, Diego; Amzajerdian, Farzin

2011-01-01

In support of NASA s Autonomous Landing and Hazard Avoidance Technology (ALHAT) project, an extended Kalman filter routine has been developed for estimating the position, velocity, and attitude of a spacecraft during the landing phase of a planetary mission. The proposed filter combines measurements of acceleration and angular velocity from an inertial measurement unit (IMU) with range and Doppler velocity observations from an onboard light detection and ranging (LIDAR) system. These high-precision LIDAR measurements of distance to the ground and approach velocity will enable both robotic and manned vehicles to land safely and precisely at scientifically interesting sites. The filter has been extensively tested using a lunar landing simulation and shown to improve navigation over flat surfaces or rough terrain. Experimental results from a helicopter flight test performed at NASA Dryden in August 2008 demonstrate that LIDAR can be employed to significantly improve navigation based exclusively on IMU integration.

KSC-07pd2405

NASA Image and Video Library

2007-09-10

KENNEDY SPACE CENTER, FLA. -- At Astrotech Space Operations in Titusville, Fla., workers guide the upper transportation canister toward the Dawn spacecraft in the background. The canister will be lowered onto the lower segments and attached. The canister will protect the spacecraft and booster during transfer to Launch Pad 17-B at Cape Canaveral Air Force Station (CCAFS). During its nearly decade-long mission, the Dawn mission will study the asteroid Vesta and dwarf planet Ceres, celestial bodies believed to have accreted early in the history of the solar system. To carry out its scientific mission, the Dawn spacecraft will carry a visible camera, a visible and infrared mapping spectrometer, and a gamma ray and neutron spectrometer, whose data will be used in combination to characterize these bodies. In addition to the three instruments, radiometric and optical navigation data will provide data relating to the gravity field and thus bulk properties and internal structure of the two bodies. Data returned from the Dawn spacecraft could provide opportunities for significant breakthroughs in our knowledge of how the solar system formed. Launch via a Delta II rocket is scheduled in a window from 7:25 to 7:54 a.m. Sept. 26 from CCAFS. Photo credit: NASA/Jim Grossmann

KSC-07pd2407

NASA Image and Video Library

2007-09-10

KENNEDY SPACE CENTER, FLA. -- At Astrotech Space Operations in Titusville, Fla., workers watch as the upper transportation canister is lowered over the Dawn spacecraft. The canister will be attached to the bottom segments already in place. The canister will protect the spacecraft and booster during transfer to Launch Pad 17-B at Cape Canaveral Air Force Station (CCAFS). During its nearly decade-long mission, the Dawn mission will study the asteroid Vesta and dwarf planet Ceres, celestial bodies believed to have accreted early in the history of the solar system. To carry out its scientific mission, the Dawn spacecraft will carry a visible camera, a visible and infrared mapping spectrometer, and a gamma ray and neutron spectrometer, whose data will be used in combination to characterize these bodies. In addition to the three instruments, radiometric and optical navigation data will provide data relating to the gravity field and thus bulk properties and internal structure of the two bodies. Data returned from the Dawn spacecraft could provide opportunities for significant breakthroughs in our knowledge of how the solar system formed. Launch via a Delta II rocket is scheduled in a window from 7:25 to 7:54 a.m. Sept. 26 from CCAFS. Photo credit: NASA/Jim Grossmann

KSC-07pd2403

NASA Image and Video Library

2007-09-10

KENNEDY SPACE CENTER, FLA. -- At Astrotech Space Operations in Titusville, Fla., workers place another segment of the transportation canister around the upper stage booster beneath the Dawn spacecraft. The canister will protect the spacecraft and booster during transfer to Launch Pad 17-B at Cape Canaveral Air Force Station (CCAFS). During its nearly decade-long mission, the Dawn mission will study the asteroid Vesta and dwarf planet Ceres, celestial bodies believed to have accreted early in the history of the solar system. To carry out its scientific mission, the Dawn spacecraft will carry a visible camera, a visible and infrared mapping spectrometer, and a gamma ray and neutron spectrometer, whose data will be used in combination to characterize these bodies. In addition to the three instruments, radiometric and optical navigation data will provide data relating to the gravity field and thus bulk properties and internal structure of the two bodies. Data returned from the Dawn spacecraft could provide opportunities for significant breakthroughs in our knowledge of how the solar system formed. Launch via a Delta II rocket is scheduled in a window from 7:25 to 7:54 a.m. Sept. 26 from CCAFS. Photo credit: NASA/Jim Grossmann

KSC-07pd2404

NASA Image and Video Library

2007-09-10

KENNEDY SPACE CENTER, FLA. -- At Astrotech Space Operations in Titusville, Fla., workers check the fitting on the lower transportation canister segments in place around the upper stage booster beneath the Dawn spacecraft. The canister will protect the spacecraft and booster during transfer to Launch Pad 17-B at Cape Canaveral Air Force Station (CCAFS). During its nearly decade-long mission, the Dawn mission will study the asteroid Vesta and dwarf planet Ceres, celestial bodies believed to have accreted early in the history of the solar system. To carry out its scientific mission, the Dawn spacecraft will carry a visible camera, a visible and infrared mapping spectrometer, and a gamma ray and neutron spectrometer, whose data will be used in combination to characterize these bodies. In addition to the three instruments, radiometric and optical navigation data will provide data relating to the gravity field and thus bulk properties and internal structure of the two bodies. Data returned from the Dawn spacecraft could provide opportunities for significant breakthroughs in our knowledge of how the solar system formed. Launch via a Delta II rocket is scheduled in a window from 7:25 to 7:54 a.m. Sept. 26 from CCAFS. Photo credit: NASA/Jim Grossmann

KSC-07pd2402

NASA Image and Video Library

2007-09-10

KENNEDY SPACE CENTER, FLA. -- At Astrotech Space Operations in Titusville, Fla., workers place the lower segments of the transportation canister around the upper stage booster beneath the Dawn spacecraft. The canister will protect the spacecraft and booster during transfer to Launch Pad 17-B at Cape Canaveral Air Force Station (CCAFS). During its nearly decade-long mission, the Dawn mission will study the asteroid Vesta and dwarf planet Ceres, celestial bodies believed to have accreted early in the history of the solar system. To carry out its scientific mission, the Dawn spacecraft will carry a visible camera, a visible and infrared mapping spectrometer, and a gamma ray and neutron spectrometer, whose data will be used in combination to characterize these bodies. In addition to the three instruments, radiometric and optical navigation data will provide data relating to the gravity field and thus bulk properties and internal structure of the two bodies. Data returned from the Dawn spacecraft could provide opportunities for significant breakthroughs in our knowledge of how the solar system formed. Launch via a Delta II rocket is scheduled in a window from 7:25 to 7:54 a.m. Sept. 26 from CCAFS. Photo credit: NASA/Jim Grossmann

KSC-07pd2406

NASA Image and Video Library

2007-09-10

KENNEDY SPACE CENTER, FLA. -- At Astrotech Space Operations in Titusville, Fla., workers guide the upper transportation canister as it is lowered onto the Dawn spacecraft. The canister will be attached to the bottom segments already in place. The canister will protect the spacecraft and booster during transfer to Launch Pad 17-B at Cape Canaveral Air Force Station (CCAFS). During its nearly decade-long mission, the Dawn mission will study the asteroid Vesta and dwarf planet Ceres, celestial bodies believed to have accreted early in the history of the solar system. To carry out its scientific mission, the Dawn spacecraft will carry a visible camera, a visible and infrared mapping spectrometer, and a gamma ray and neutron spectrometer, whose data will be used in combination to characterize these bodies. In addition to the three instruments, radiometric and optical navigation data will provide data relating to the gravity field and thus bulk properties and internal structure of the two bodies. Data returned from the Dawn spacecraft could provide opportunities for significant breakthroughs in our knowledge of how the solar system formed. Launch via a Delta II rocket is scheduled in a window from 7:25 to 7:54 a.m. Sept. 26 from CCAFS. Photo credit: NASA/Jim Grossmann

SpaceX CRS-10 "What's On Board" Science Briefing

NASA Image and Video Library

2017-02-17

Jolyn Russell, deputy Robotics program manager at NASA’s Goddard Space Flight Center’s Satellite Servicing Projects Division in Maryland, speaks to members of social media in the Kennedy Space Center’s Press Site auditorium. The briefing focused on “Raven” research planned for the International Space Station. The Raven investigation studies a real-time robotic spacecraft navigation system that provides the eyes and intelligence to see a target and steer safely toward it. Raven will be part of experiments aboard a Dragon spacecraft scheduled for launch from Kennedy’s Launch Complex 39A on Feb. 18 atop a SpaceX Falcon 9 rocket on the company's 10th Commercial Resupply Services mission to the space station.

The Virtual Space Telescope: A New Class of Science Missions

NASA Technical Reports Server (NTRS)

Shah, Neerav; Calhoun, Philip

2016-01-01

Many science investigations proposed by GSFC require two spacecraft alignment across a long distance to form a virtual space telescope. Forming a Virtual Space telescope requires advances in Guidance, Navigation, and Control (GNC) enabling the distribution of monolithic telescopes across multiple space platforms. The capability to align multiple spacecraft to an intertial target is at a low maturity state and we present a roadmap to advance the system-level capability to be flight ready in preparation of various science applications. An engineering proof of concept, called the CANYVAL-X CubeSat MIssion is presented. CANYVAL-X's advancement will decrease risk for a potential starshade mission that would fly with WFIRST.

The Deep Space Atomic Clock Mission

NASA Technical Reports Server (NTRS)

Ely, Todd A.; Koch, Timothy; Kuang, Da; Lee, Karen; Murphy, David; Prestage, John; Tjoelker, Robert; Seubert, Jill

2012-01-01

The Deep Space Atomic Clock (DSAC) mission will demonstrate the space flight performance of a small, low-mass, high-stability mercury-ion atomic clock with long term stability and accuracy on par with that of the Deep Space Network. The timing stability introduced by DSAC allows for a 1-Way radiometric tracking paradigm for deep space navigation, with benefits including increased tracking via utilization of the DSN's Multiple Spacecraft Per Aperture (MSPA) capability and full ground station-spacecraft view periods, more accurate radio occultation signals, decreased single-frequency measurement noise, and the possibility for fully autonomous on-board navigation. Specific examples of navigation and radio science benefits to deep space missions are highlighted through simulations of Mars orbiter and Europa flyby missions. Additionally, this paper provides an overview of the mercury-ion trap technology behind DSAC, details of and options for the upcoming 2015/2016 space demonstration, and expected on-orbit clock performance.

Methods for increasing noise immunity of radio electronic systems with redundancy

NASA Astrophysics Data System (ADS)

Orlov, P. E.; Medvedev, A. V.; Sharafutdinov, V. R.; Gazizov, T. R.; Ubaichin, A. V.

2018-05-01

The idea of increasing the noise immunity of radioelectronic systems with redundancy is presented. Specific technical solutions based on this idea of modal redundancy are described. An estimation of noise immunity improvement was performed by the example of implementation of modal redundancy with the broad-side electromagnetic coupling for a printed circuit board of the digital signal processing unit for an autonomous navigation system of a spacecraft. It is shown that the implementation of modal redundancy can provide an attenuation coefficient for the interference signal up to 12 dB.

Cassini's Maneuver Automation Software (MAS) Process: How to Successfully Command 200 Navigation Maneuvers

NASA Technical Reports Server (NTRS)

Yang, Genevie Velarde; Mohr, David; Kirby, Charles E.

2008-01-01

To keep Cassini on its complex trajectory, more than 200 orbit trim maneuvers (OTMs) have been planned from July 2004 to July 2010. With only a few days between many of these OTMs, the operations process of planning and executing the necessary commands had to be automated. The resulting Maneuver Automation Software (MAS) process minimizes the workforce required for, and maximizes the efficiency of, the maneuver design and uplink activities. The MAS process is a well-organized and logically constructed interface between Cassini's Navigation (NAV), Spacecraft Operations (SCO), and Ground Software teams. Upon delivery of an orbit determination (OD) from NAV, the MAS process can generate a maneuver design and all related uplink and verification products within 30 minutes. To date, all 112 OTMs executed by the Cassini spacecraft have been successful. MAS was even used to successfully design and execute a maneuver while the spacecraft was in safe mode.

Worst-error analysis of batch filter and sequential filter in navigation problems. [in spacecraft trajectory estimation

NASA Technical Reports Server (NTRS)

Nishimura, T.

1975-01-01

This paper proposes a worst-error analysis for dealing with problems of estimation of spacecraft trajectories in deep space missions. Navigation filters in use assume either constant or stochastic (Markov) models for their estimated parameters. When the actual behavior of these parameters does not follow the pattern of the assumed model, the filters sometimes result in very poor performance. To prepare for such pathological cases, the worst errors of both batch and sequential filters are investigated based on the incremental sensitivity studies of these filters. By finding critical switching instances of non-gravitational accelerations, intensive tracking can be carried out around those instances. Also the worst errors in the target plane provide a measure in assignment of the propellant budget for trajectory corrections. Thus the worst-error study presents useful information as well as practical criteria in establishing the maneuver and tracking strategy of spacecraft's missions.

Orbit Determination and Navigation of the Solar Terrestrial Relations Observatory (STEREO)

NASA Technical Reports Server (NTRS)

Mesarch, Michael A.; Robertson, Mika; Ottenstein, Neil; Nicholson, Ann; Nicholson, Mark; Ward, Douglas T.; Cosgrove, Jennifer; German, Darla; Hendry, Stephen; Shaw, James

2007-01-01

This paper provides an overview of the required upgrades necessary for navigation of NASA's twin heliocentric science missions, Solar TErestrial RElations Observatory (STEREO) Ahead and Behind. The orbit determination of the STEREO spacecraft was provided by the NASA Goddard Space Flight Center's (GSFC) Flight Dynamics Facility (FDF) in support of the mission operations activities performed by the Johns Hopkins University Applied Physics Laboratory (APL). The changes to FDF's orbit determination software included modeling upgrades as well as modifications required to process the Deep Space Network X-band tracking data used for STEREO. Orbit results as well as comparisons to independently computed solutions are also included. The successful orbit determination support aided in maneuvering the STEREO spacecraft, launched on October 26, 2006 (00:52 Z), to target the lunar gravity assists required to place the spacecraft into their final heliocentric drift-away orbits where they are providing stereo imaging of the Sun.

Orbit Determination and Navigation of the Solar Terrestrial Relations Observatory (STEREO)

NASA Technical Reports Server (NTRS)

Mesarch, Michael; Robertson, Mika; Ottenstein, Neil; Nicholson, Ann; Nicholson, Mark; Ward, Douglas T.; Cosgrove, Jennifer; German, Darla; Hendry, Stephen; Shaw, James

2007-01-01

This paper provides an overview of the required upgrades necessary for navigation of NASA's twin heliocentric science missions, Solar TErestrial RElations Observatory (STEREO) Ahead and Behind. The orbit determination of the STEREO spacecraft was provided by the NASA Goddard Space Flight Center's (GSFC) Flight Dynamics Facility (FDF) in support of the mission operations activities performed by the Johns Hopkins University Applied Physics Laboratory (APL). The changes to FDF s orbit determination software included modeling upgrades as well as modifications required to process the Deep Space Network X-band tracking data used for STEREO. Orbit results as well as comparisons to independently computed solutions are also included. The successful orbit determination support aided in maneuvering the STEREO spacecraft, launched on October 26, 2006 (00:52 Z), to target the lunar gravity assists required to place the spacecraft into their final heliocentric drift-away orbits where they are providing stereo imaging of the Sun.

Proceedings of the NASA Aerospace Technology Symposium 2002

NASA Technical Reports Server (NTRS)

Bowen, Brent D. (Editor); Fink, Mary M. (Editor); Schaaf, Michaela M. (Editor)

2002-01-01

Reports are presented from the NASA Aerospace Technology Symposium 2002 on the following: Geo-Referenced Altitude Hold For Latex Ballons; NASA Spaceport Research: Opportunities For space Grant and EPSCoR Involvement; Numerical Simulation Of The Combustion Of Fuel Droplets: Applications, Aircraft/Spacecraft Flight Control, Guidance Navigation; Expertise In System Dynamics and Control, Control Theory and Aerospace Education Ooutreach Opportunities; and Technology For The Improvement Of General Aviation Security: A Needs Assessmemt.

Video guidance, landing, and imaging systems

NASA Technical Reports Server (NTRS)

Schappell, R. T.; Knickerbocker, R. L.; Tietz, J. C.; Grant, C.; Rice, R. B.; Moog, R. D.

1975-01-01

The adaptive potential of video guidance technology for earth orbital and interplanetary missions was explored. The application of video acquisition, pointing, tracking, and navigation technology was considered to three primary missions: planetary landing, earth resources satellite, and spacecraft rendezvous and docking. It was found that an imaging system can be mechanized to provide a spacecraft or satellite with a considerable amount of adaptability with respect to its environment. It also provides a level of autonomy essential to many future missions and enhances their data gathering ability. The feasibility of an autonomous video guidance system capable of observing a planetary surface during terminal descent and selecting the most acceptable landing site was successfully demonstrated in the laboratory. The techniques developed for acquisition, pointing, and tracking show promise for recognizing and tracking coastlines, rivers, and other constituents of interest. Routines were written and checked for rendezvous, docking, and station-keeping functions.

Pegasus XL CYGNSS Spacecraft Mate

NASA Image and Video Library

2016-10-28

Inside Building 1555 at Vandenberg Air Force Base in California, the eight NASA Cyclone Global Navigation Satellite System (CYGNSS) spacecraft installed on their deployment module undergo inspections prior to NASA’s Kennedy Space Center in Florida. Processing activities will prepare the spacecraft for launch aboard an Orbital ATK Pegasus XL rocket. When preparations are competed at Vandenberg, the rocket will be transported to Kennedy attached to the Orbital ATK L-1011 carrier aircraft with in its payload fairing. CYGNSS will launch on the Pegasus XL rocket from the Skid Strip at Cape Canaveral Air Force Station. CYGNSS will make frequent and accurate measurements of ocean surface winds throughout the life cycle of tropical storms and hurricanes. The data that CYGNSS provides will enable scientists to probe key air-sea interaction processes that take place near the core of storms, which are rapidly changing and play a critical role in the beginning and intensification of hurricanes.

The development and flight test of a deployable precision landing system for spacecraft recovery

NASA Technical Reports Server (NTRS)

Sim, Alex G.; Murray, James E.; Neufeld, David C.; Reed, R. Dale

1993-01-01

A joint NASA Dryden Flight Research Facility and Johnson Space Center program was conducted to determine the feasibility of the autonomous recovery of a spacecraft using a ram-air parafoil system for the final stages of entry from space that included a precision landing. The feasibility of this system was studied using a flight model of a spacecraft in the generic shape of a flattened biconic which weighed approximately 150 lb and was flown under a commercially available, ram-air parachute. Key elements of the vehicle included the Global Positioning System guidance for navigation, flight control computer, ultrasonic sensing for terminal altitude, electronic compass, and onboard data recording. A flight test program was used to develop and refine the vehicle. This vehicle completed an autonomous flight from an altitude of 10,000 ft and a lateral offset of 1.7 miles which resulted in a precision flare and landing into the wind at a predetermined location. At times, the autonomous flight was conducted in the presence of winds approximately equal to vehicle airspeed. Several techniques for computing the winds postflight were evaluated. Future program objectives are also presented.

Miniature wide field-of-view star trackers for spacecraft attitude sensing and navigation

NASA Technical Reports Server (NTRS)

Mccarty, William; Curtis, Eric; Hull, Anthony; Morgan, William

1993-01-01

Introducing a family of miniature, wide field-of-view star trackers for low cost, high performance spacecraft attitude determination and navigation applications. These devices, derivative of the WFOV Star Tracker Camera developed cooperatively by OCA Applied Optics and the Lawrence Livermore National Laboratory for the Brilliant Pebbles program, offer a suite of options addressing a wide range of spacecraft attitude measurement and control requirements. These sensors employ much wider fields than are customary (ranging between 20 and 60 degrees) to assure enough bright stars for quick and accurate attitude determinations without long integration intervals. The key benefit of this approach are light weight, low power, reduced data processing loads and high information carrier rates for wide ACS bandwidths. Devices described range from the proven OCA/LLNL WFOV Star Tracker Camera (a low-cost, space-qualified star-field imager utilizing the spacecraft's own computer and centroiding and position-finding), to a new autonomous subsystem design featuring dual-redundant cameras and completely self-contained star-field data processing with output quaternion solutions accurate to 100 micro-rad, 3 sigma, for stand-alone applications.

Improving Polar Motion Predictions Using AAM χ1 and χ2 Forecasts

NASA Astrophysics Data System (ADS)

Ratcliff, J. T.; Gross, R. S.

2017-12-01

The uncertainty in our knowledge of the Earth's changing orientation in space is a majorsource of error in tracking and navigating interplanetary spacecraft. Because the Earth'sorientation changes rapidly and unpredictably, measurements must be acquired frequentlyand processed rapidly in order to meet the near-real-time Earth orientation requirements ofthe interplanetary spacecraft navigation teams. The Kalman Earth Orientation Filter (KEOF)is used to combine GPS polar motion and LOD measurements, Very Long Baseline Interferometry(VLBI) polar motion and UT measurements, along with other publicly available Earth orientationmeasurements including proxy measurements such as atmospheric angular momentum (AAM),in order to generate and deliver the required polar motion and UT1 Earth orientation parametersto the spacecraft navigation teams. Short-term predictions of the EOPs are produced in order toprovide the navigation teams with an uninterrupted series of Earth orientation parameters. WhileAAM 𝜒3 forecasts are used as a proxy LOD forecast to improve UT1 predictions, Polar Motionpredictions had not been similarly treated. In order to evaluate the effectiveness off AAM 𝜒1 and 𝜒2forecasts on improving Polar Motion predictions we reprocessed one year (Jan.-Dec. 2015) of EOP measurementsto include the 𝜒1 and 𝜒2 components of National Centers for Environmental Prediction (NCEP)AAM daily 5-day forecasts. Inclusion of AAM 𝜒1 and 𝜒2 forecasts into EOP predictions was foundto improve the accuracy of the Polar Motion 5-day predictions by 33% in the X-component and 34% in the Y-component.

NASA Precision Landing Technologies Completes Initial Flight Tests on Vertical Testbed Rocket

NASA Image and Video Library

2017-04-19

This 2-minute, 40-second video shows how over the past 5 weeks, NASA and Masten Space Systems teams have prepared for and conducted sub-orbital rocket flight tests of next-generation lander navigation technology through the CoOperative Blending of Autonomous Landing Technologies (COBALT) project. The COBALT payload was integrated onto Masten’s rocket, Xodiac. The Xodiac vehicle used the Global Positioning System (GPS) for navigation during this first campaign, which was intentional to verify and refine COBALT system performance. The joint teams conducted numerous ground verification tests, made modifications in the process, practiced and refined operations’ procedures, conducted three tether tests, and have now flown two successful free flights. This successful, collaborative campaign has provided the COBALT and Xodiac teams with the valuable performance data needed to refine the systems and prepare them for the second flight test campaign this summer when the COBALT system will navigate the Xodiac rocket to a precision landing. The technologies within COBALT provide a spacecraft with knowledge during entry, descent, and landing that enables it to precisely navigate and softly land close to surface locations that have been previously too risky to target with current capabilities. The technologies will enable future exploration destinations on Mars, the moon, Europa, and other planets and moons. The two primary navigation components within COBALT include the Langley Research Center’s Navigation Doppler Lidar, which provides ultra-precise velocity and line-of-sight range measurements, and Jet Propulsion Laboratory’s Lander Vision System (LVS), which provides navigation estimates relative to an existing surface map. The integrated system is being flight tested onboard a Masten suborbital rocket vehicle called Xodiac. The COBALT project is led by the Johnson Space Center, with funding provided through the Game Changing Development, Flight Opportunities program, and Advanced Exploration Systems programs. Based at NASA’s Armstrong Flight Research Center in Edwards, CA, the Flight Opportunities program funds technology development flight tests on commercial suborbital space providers of which Masten is a vendor. The program has previously tested the LVS on the Masten rocket and validated the technology for the Mars 2020 rover.

A Low Cost Spacecraft Architecture for Robotic Lunar Exploration Projects

NASA Technical Reports Server (NTRS)

Lemke, Lawrence G.; Gonzales, Andrew A.

2006-01-01

A program of frequent, capable, but affordable lunar robotic missions prior to return of humans to the moon can contribute to the Vision for Space Exploration (VSE) NASA is tasked to execute. The Lunar Reconnaissance Orbiter (LRO) and its secondary payload are scheduled to orbit the moon, and impact it, respectively, in 2008. It is expected that the sequence of missions occurring for approximately the decade after 2008 will place an increasing emphasis on soft landed payloads. These missions are requited to explore intrinsic characteristics of the moon, such as hydrogen distribution in the regolith, and levitated dust, to demonstrate the ability to access and process in-situ resources, and to demonstrate functions critical to supporting human presence, such as automated precision navigation and landing. Additional factors governing the design of spacecraft to accomplish this diverse set of objectives are: operating within a relatively modest funding profile, the need tb visit multiple sites (both polar and equatorial) repeatedly, and to use the current generation of launch vehicles. In the US, this implies use of the Evolved Expendable Launch Vehicles, or EELVs, although this design philosophy may be extended to launch vehicles of other nations, as well. Many of these factors are seemingly inconsistent with each other. For example, the cost of a spacecraft usually increases with mass; therefore the desire to fly frequent, modestly priced spacecraft seems to imply small spacecraft (< 1 Mt, injected mass). On the other hand, the smallest of the EELVs will inject approx. 3 Mt. on a Trans Lunar Injection (TLI) trajectory md would therefore be wasteful or launching a single, small spacecraft. Increasing the technical capability of a spacecraft (such as autonomous navigation and soft landing) also usually increases cost. A strategy for spacecraft design that meets these conflicting requirements is presented. Taken together, spacecraft structure and propulsion subsystems constitute the majority of spacecraft mass; saving development and integration cost on these elements is critical to controlling cost. Therefore, a low cost, modular design for spacecraft structure and propulsion subsystems is presented which may be easily scaled up or down for either insertion into lunar orbit or braking for landing on the lunar surface. In order to effectively use the approx.3 Mt mass-to-TLI of the EELV, two low cost spacecraft will be manifested on the same launch. One spacecraft will be located on top of the other for launch and the two will have to be released in sequence in order to achieve all mission objectives. The two spacecraft could both be landers, both orbiters, or one lander and one orbiter. In order to achieve mass efficiency, the body of the spacecraft will serve the dual purposes of carrying launch loads and providing attachment points for all the spacecraft subsystems. In order to avoid unaffordable technology development costs, small liquid propulsion components and autonomous, scene-matching navigation cameras may be adapted from military missile programs in order to execute precision soft landings.

Achieving reliability - The evolution of redundancy in American manned spacecraft computers

NASA Technical Reports Server (NTRS)

Tomayko, J. E.

1985-01-01

The Shuttle is the first launch system deployed by NASA with full redundancy in the on-board computer systems. Fault-tolerance, i.e., restoring to a backup with less capabilities, was the method selected for Apollo. The Gemini capsule was the first to carry a computer, which also served as backup for Titan launch vehicle guidance. Failure of the Gemini computer resulted in manual control of the spacecraft. The Apollo system served vehicle flight control and navigation functions. The redundant computer on Skylab provided attitude control only in support of solar telescope pointing. The STS digital, fly-by-wire avionics system requires 100 percent reliability. The Orbiter carries five general purpose computers, four being fully-redundant and the fifth being soley an ascent-descent tool. The computers are synchronized at input and output points at a rate of about six times a second. The system is projected to cause a loss of an Orbiter only four times in a billion flights.

NASA's first in-space optical gyroscope: A technology experiment on the X ray Timing Explorer spacecraft

NASA Technical Reports Server (NTRS)

Unger, Glenn; Kaufman, David M.; Krainak, Michael; Sanders, Glenn; Taylor, Bill; Schulze, Norman R.

1993-01-01

A technology experiment on the X-ray Timing Explorer spacecraft to determine the feasibility of Interferometric Fiber Optic Gyroscopes for space flight navigation is described. The experiment consists of placing a medium grade fiber optic gyroscope in parallel with the spacecraft's inertial reference unit. The performance of the fiber optic gyroscope will be monitored and compared to the primary mechanical gyroscope's performance throughout the two-year mission life.

Navigation of the Twin GRAIL Spacecraft into Science Formation at the Moon

NASA Technical Reports Server (NTRS)

Antreasian, P. G.; Bhat, R. S.; Criddle, K. E.; Goodson, T. D.; Hatch, S. J; Jefferson, D. C.; Lau, E. L.; Mohan, S.; Parker, J. S.; Roncoli, R. B.;

Comet Wild 2 Up Close and Personal

NASA Technical Reports Server (NTRS)

2004-01-01

On January 2, 2004 NASA's Stardust spacecraft made a close flyby of comet Wild 2 (pronounced 'Vilt-2'). Among the equipment the spacecraft carried on board was a navigation camera. This is the 34th of the 72 images taken by Stardust's navigation camera during close encounter. The exposure time was 10 milliseconds. The two frames are actually of 1 single exposure. The frame on the left depicts the comet as the human eye would see it. The frame on the right depicts the same image but 'stretched' so that the faint jets emanating from Wild 2 can be plainly seen. Comet Wild 2 is about five kilometers (3.1 miles) in diameter.

Relative navigation for spacecraft formation flying

NASA Technical Reports Server (NTRS)

Hartman, Kate R.; Gramling, Cheryl J.; Lee, Taesul; Kelbel, David A.; Long, Anne C.

1998-01-01

The Goddard Space Flight Center Guidance, Navigation, and Control Center (GNCC) is currently developing and implementing advanced satellite systems to provide autonomous control of formation flyers. The initial formation maintenance capability will be flight-demonstrated on the Earth-Orbiter-1 (EO-1) satellite, which is planned under the National Aeronautics and Space Administration New Millennium Program to be a coflight with the Landsat-7 (L-7) satellite. Formation flying imposes relative navigation accuracy requirements in addition to the orbit accuracy requirements for the individual satellites. In the case of EO-1 and L-7, the two satellites are in nearly coplanar orbits, with a small difference in the longitude of the ascending node to compensate for the Earth's rotation. The GNCC has performed trajectory error analysis for the relative navigation of the EO-1/L-7 formation, as well as for a more advanced tracking configuration using cross-link satellite communications. This paper discusses the orbit determination and prediction accuracy achievable for EO-1 and L-7 under various tracking and orbit determination scenarios and discusses the expected relative separation errors in their formation flying configuration.

Relative Navigation for Spacecraft Formation Flying

NASA Technical Reports Server (NTRS)

Hartman, Kate R.; Gramling, Cheryl J.; Lee, Taesul; Kelbel, David A.; Long, Anne C.

1998-01-01

The Goddard Space Flight Center Guidance, Navigation, and Control Center (GNCC) is currently developing and implementing advanced satellite systems to provide autonomous control of formation flyers. The initial formation maintenance capability will be flight-demonstrated on the Earth-Orbiter-1 (EO-l) satellite, which is planned under the National Aeronautics and Space Administration New Millennium Program to be a coflight with the Landsat-7 (L-7) satellite. Formation flying imposes relative navigation accuracy requirements in addition to the orbit accuracy requirements for the individual satellites. In the case of EO-1 and L-7, the two satellites are in nearly coplanar orbits, with a small difference in the longitude of the ascending node to compensate for the Earth's rotation. The GNCC has performed trajectory error analysis for the relative navigation of the EO-1/L-7 formation, as well as for a more advanced tracking configuration using cross- link satellite communications. This paper discusses the orbit determination and prediction accuracy achievable for EO-1 and L-7 under various tracking and orbit determination scenarios and discusses the expected relative separation errors in their formation flying configuration.

Conceptual design of a manned orbital transfer vehicle

NASA Technical Reports Server (NTRS)

Davis, Richard; Duquette, Miles; Fredrick, Rebecca; Schumacher, Daniel; Somers, Schaeffer; Stafira, Stanley; Williams, James; Zelinka, Mark

1988-01-01

With the advent of the manned space station, man now requires a spacecraft based on the space station with the ability to deploy, recover, and repair satellites quickly and economically. Such a craft would prolong and enhance the life and performance of many satellites. A basic design was developed for an orbital tansfer vehicle (OTV). The basic design criteria are discussed. The design of the OTV and systems were researched in the following areas: avionics, crew systems, electrical power systems, environmental control/life support systems, navigation and orbital maneuvers, propulsion systems, reaction control systems (RCS), servicing systems, and structures. The basic concepts in each of the areas are summarized.

Navigation Flight Operations for Mars Pathfinder

NASA Technical Reports Server (NTRS)

Vaughan, Robin M.; Kallemeyn, Pieter H., Jr.; Spencer, David A.; Braun, Robert D.

2004-01-01

On July 4, 1997, Mars Pathfinder became the first spacecraft to land on the surface of Mars in 21 years. Pathfinder was launched on December 4, 1996 and spent seven months en route to the red planet. This report discusses the navigation flight experience for the Mars Pathfinder interplanetary cruise. In particular, orbit determination and maneuver design and execution results are presented. Special emphasis is given to the navigation role in the days and hours leading up to and including the Entry, Descent, and Landing (EDL) phase.

The Telecommunications and Data Acquisition Report

NASA Technical Reports Server (NTRS)

Posner, E. C. (Editor)

1992-01-01

Archival reports on developments in programs managed by JPL's Office of Telecommunications and Data Acquisition (TDA) are provided. In space communications, radio navigation, radio science, and ground-based radio and radar astronomy, it reports on activities of the Deep Space Network (DSN) in planning, in supporting research and technology, in implementation, and in operations. Also included is standards activity at JPL for space data and information. In the search for extraterrestrial intelligence (SETI), the TDA Progress Report reports on implementation and operations for searching the microwave spectrum. Topics covered include tracking and ground-based navigation; communications, spacecraft-ground; station control and system technology; capabilities for new projects; network upgrade and sustaining; network operations and operations support; and TDA program management and analysis.

Optimetrics for Precise Navigation

NASA Technical Reports Server (NTRS)

Yang, Guangning; Heckler, Gregory; Gramling, Cheryl

2017-01-01

Optimetrics for Precise Navigation will be implemented on existing optical communication links. The ranging and Doppler measurements are conducted over communication data frame and clock. The measurement accuracy is two orders of magnitude better than TDRSS. It also has other advantages of: The high optical carrier frequency enables: (1) Immunity from ionosphere and interplanetary Plasma noise floor, which is a performance limitation for RF tracking; and (2) High antenna gain reduces terminal size and volume, enables high precision tracking in Cubesat, and in deep space smallsat. High Optical Pointing Precision provides: (a) spacecraft orientation, (b) Minimal additional hardware to implement Precise Optimetrics over optical comm link; and (c) Continuous optical carrier phase measurement will enable the system presented here to accept future optical frequency standard with much higher clock accuracy.

A Survey of LIDAR Technology and Its Use in Spacecraft Relative Navigation

NASA Technical Reports Server (NTRS)

Christian, John A.; Cryan, Scott P.

2013-01-01

This paper provides a survey of modern LIght Detection And Ranging (LIDAR) sensors from a perspective of how they can be used for spacecraft relative navigation. In addition to LIDAR technology commonly used in space applications today (e.g. scanning, flash), this paper reviews emerging LIDAR technologies gaining traction in other non-aerospace fields. The discussion will include an overview of sensor operating principles and specific pros/cons for each type of LIDAR. This paper provides a comprehensive review of LIDAR technology as applied specifically to spacecraft relative navigation. HE problem of orbital rendezvous and docking has been a consistent challenge for complex space missions since before the Gemini 8 spacecraft performed the first successful on-orbit docking of two spacecraft in 1966. Over the years, a great deal of effort has been devoted to advancing technology associated with all aspects of the rendezvous, proximity operations, and docking (RPOD) flight phase. After years of perfecting the art of crewed rendezvous with the Gemini, Apollo, and Space Shuttle programs, NASA began investigating the problem of autonomous rendezvous and docking (AR&D) to support a host of different mission applications. Some of these applications include autonomous resupply of the International Space Station (ISS), robotic servicing/refueling of existing orbital assets, and on-orbit assembly.1 The push towards a robust AR&D capability has led to an intensified interest in a number of different sensors capable of providing insight into the relative state of two spacecraft. The present work focuses on exploring the state-of-the-art in one of these sensors - LIght Detection And Ranging (LIDAR) sensors. It should be noted that the military community frequently uses the acronym LADAR (LAser Detection And Ranging) to refer to what this paper calls LIDARs. A LIDAR is an active remote sensing device that is typically used in space applications to obtain the range to one or more points on a target spacecraft. As the name suggests, LIDAR sensors use light (typically a laser) to illuminate the target and measure the time it takes for the emitted signal to return to the sensor. Because the light must travel from the source, to

System Architectural Considerations on Reliable Guidance, Navigation, and Control (GN and C) for Constellation Program (CxP) Spacecraft

NASA Technical Reports Server (NTRS)

Dennehy, Cornelius J.

2010-01-01

This final report summarizes the results of a comparative assessment of the fault tolerance and reliability of different Guidance, Navigation and Control (GN&C) architectural approaches. This study was proactively performed by a combined Massachusetts Institute of Technology (MIT) and Draper Laboratory team as a GN&C "Discipline-Advancing" activity sponsored by the NASA Engineering and Safety Center (NESC). This systematic comparative assessment of GN&C system architectural approaches was undertaken as a fundamental step towards understanding the opportunities for, and limitations of, architecting highly reliable and fault tolerant GN&C systems composed of common avionic components. The primary goal of this study was to obtain architectural 'rules of thumb' that could positively influence future designs in the direction of an optimized (i.e., most reliable and cost-efficient) GN&C system. A secondary goal was to demonstrate the application and the utility of a systematic modeling approach that maps the entire possible architecture solution space.

Guidance, Navigation and Control (GN and C) Design Overview and Flight Test Results from NASA's Max Launch Abort System (MLAS)

NASA Technical Reports Server (NTRS)

Dennehy, Cornelius J.; Lanzi, Raymond J.; Ward, Philip R.

2010-01-01

The National Aeronautics and Space Administration Engineering and Safety Center designed, developed and flew the alternative Max Launch Abort System (MLAS) as risk mitigation for the baseline Orion spacecraft launch abort system already in development. The NESC was tasked with both formulating a conceptual objective system design of this alternative MLAS as well as demonstrating this concept with a simulated pad abort flight test. Less than 2 years after Project start the MLAS simulated pad abort flight test was successfully conducted from Wallops Island on July 8, 2009. The entire flight test duration was 88 seconds during which time multiple staging events were performed and nine separate critically timed parachute deployments occurred as scheduled. This paper provides an overview of the guidance navigation and control technical approaches employed on this rapid prototyping activity; describes the methodology used to design the MLAS flight test vehicle; and lessons that were learned during this rapid prototyping project are also summarized.

KSC-07pd2429

NASA Image and Video Library

2007-09-11

KENNEDY SPACE CENTER, FLA. -- On Launch Pad 17-B at Cape Canaveral Air Force Station, the Dawn spacecraft is moved toward the opening above the Delta II rocket in the mobile service tower. Dawn will be mated with the Delta in preparation for launch. Dawn is scheduled for launch in a window from 7:25 to 7:54 a.m. Sept. 26 from CCAFS. During its nearly decade-long mission, the Dawn mission will study the asteroid Vesta and dwarf planet Ceres, celestial bodies believed to have accreted early in the history of the solar system. To carry out its scientific mission, the Dawn spacecraft will carry a visible camera, a visible and infrared mapping spectrometer, and a gamma ray and neutron spectrometer, whose data will be used in combination to characterize these bodies. In addition to the three instruments, radiometric and optical navigation data will provide data relating to the gravity field and thus bulk properties and internal structure of the two bodies. Data returned from the Dawn spacecraft could provide opportunities for significant breakthroughs in our knowledge of how the solar system formed. Photo credit: NASA/Jack Pfaller

KSC-07pd2401

NASA Image and Video Library

2007-09-10

KENNEDY SPACE CENTER, FLA. -- At Astrotech Space Operations in Titusville, Fla., workers move the platform with the Dawn spacecraft. They are preparing to install the transportation canister around Dawn for transfer to Launch Pad 17-B at Cape Canaveral Air Force Station (CCAFS). During its nearly decade-long mission, the Dawn mission will study the asteroid Vesta and dwarf planet Ceres, celestial bodies believed to have accreted early in the history of the solar system. To carry out its scientific mission, the Dawn spacecraft will carry a visible camera, a visible and infrared mapping spectrometer, and a gamma ray and neutron spectrometer, whose data will be used in combination to characterize these bodies. In addition to the three instruments, radiometric and optical navigation data will provide data relating to the gravity field and thus bulk properties and internal structure of the two bodies. Data returned from the Dawn spacecraft could provide opportunities for significant breakthroughs in our knowledge of how the solar system formed. Launch via a Delta II rocket is scheduled in a window from 7:25 to 7:54 a.m. Sept. 26 from CCAFS. Photo credit: NASA/Jim Grossmann

KSC-07pd2408

NASA Image and Video Library

2007-09-10

KENNEDY SPACE CENTER, FLA. -- At Astrotech Space Operations in Titusville, Fla., workers ensure the upper transportation canister is securely attached to the lower segments. The canister will protect the spacecraft and booster during transfer to Launch Pad 17-B at Cape Canaveral Air Force Station (CCAFS). During its nearly decade-long mission, the Dawn mission will study the asteroid Vesta and dwarf planet Ceres, celestial bodies believed to have accreted early in the history of the solar system. To carry out its scientific mission, the Dawn spacecraft will carry a visible camera, a visible and infrared mapping spectrometer, and a gamma ray and neutron spectrometer, whose data will be used in combination to characterize these bodies. In addition to the three instruments, radiometric and optical navigation data will provide data relating to the gravity field and thus bulk properties and internal structure of the two bodies. Data returned from the Dawn spacecraft could provide opportunities for significant breakthroughs in our knowledge of how the solar system formed. Launch via a Delta II rocket is scheduled in a window from 7:25 to 7:54 a.m. Sept. 26 from CCAFS. Photo credit: NASA/Jim Grossmann

KSC-07pd2430

NASA Image and Video Library

2007-09-11

KENNEDY SPACE CENTER, FLA. -- On Launch Pad 17-B at Cape Canaveral Air Force Station, the Dawn spacecraft is lowered toward the awaiting Delta II rocket in the mobile service tower. Dawn will be mated with the Delta in preparation for launch. Dawn is scheduled for launch in a window from 7:25 to 7:54 a.m. Sept. 26 from CCAFS. During its nearly decade-long mission, the Dawn mission will study the asteroid Vesta and dwarf planet Ceres, celestial bodies believed to have accreted early in the history of the solar system. To carry out its scientific mission, the Dawn spacecraft will carry a visible camera, a visible and infrared mapping spectrometer, and a gamma ray and neutron spectrometer, whose data will be used in combination to characterize these bodies. In addition to the three instruments, radiometric and optical navigation data will provide data relating to the gravity field and thus bulk properties and internal structure of the two bodies. Data returned from the Dawn spacecraft could provide opportunities for significant breakthroughs in our knowledge of how the solar system formed. Photo credit: NASA/Jack Pfaller

KSC-07pd2427

NASA Image and Video Library

2007-09-11

KENNEDY SPACE CENTER, FLA. -- On Launch Pad 17-B at Cape Canaveral Air Force Station, the Dawn spacecraft is lifted alongside the mobile service tower. At the top, Dawn will be prepared for mating with the awaiting Delta II rocket. Dawn is scheduled for launch in a window from 7:25 to 7:54 a.m. Sept. 26 from CCAFS. During its nearly decade-long mission, the Dawn mission will study the asteroid Vesta and dwarf planet Ceres, celestial bodies believed to have accreted early in the history of the solar system. To carry out its scientific mission, the Dawn spacecraft will carry a visible camera, a visible and infrared mapping spectrometer, and a gamma ray and neutron spectrometer, whose data will be used in combination to characterize these bodies. In addition to the three instruments, radiometric and optical navigation data will provide data relating to the gravity field and thus bulk properties and internal structure of the two bodies. Data returned from the Dawn spacecraft could provide opportunities for significant breakthroughs in our knowledge of how the solar system formed. Photo credit: NASA/Jack Pfaller

KSC-07pd2431

NASA Image and Video Library

2007-09-11

KENNEDY SPACE CENTER, FLA. -- On Launch Pad 17-B at Cape Canaveral Air Force Station, workers in the mobile service tower keep watch as the Dawn spacecraft is lowered toward the awaiting Delta II rocket. Dawn will be mated with the Delta in preparation for launch. Dawn is scheduled for launch in a window from 7:25 to 7:54 a.m. Sept. 26 from CCAFS. During its nearly decade-long mission, the Dawn mission will study the asteroid Vesta and dwarf planet Ceres, celestial bodies believed to have accreted early in the history of the solar system. To carry out its scientific mission, the Dawn spacecraft will carry a visible camera, a visible and infrared mapping spectrometer, and a gamma ray and neutron spectrometer, whose data will be used in combination to characterize these bodies. In addition to the three instruments, radiometric and optical navigation data will provide data relating to the gravity field and thus bulk properties and internal structure of the two bodies. Data returned from the Dawn spacecraft could provide opportunities for significant breakthroughs in our knowledge of how the solar system formed. Photo credit: NASA/Jack Pfaller

KSC-07pd2438

NASA Image and Video Library

2007-09-11

KENNEDY SPACE CENTER, FLA. -- In the mobile service tower on Launch Pad 17-B at Cape Canaveral Air Force Station, workers remove the transportation canister from around the Dawn spacecraft. After removal of the canister, Dawn will be mated with the waiting Delta II rocket. Dawn is scheduled for launch in a window from 7:25 to 7:54 a.m. EDT Sept. 26 from CCAFS. During its nearly decade-long mission, the Dawn mission will study the asteroid Vesta and dwarf planet Ceres, celestial bodies believed to have accreted early in the history of the solar system. To carry out its scientific mission, the Dawn spacecraft will carry a visible camera, a visible and infrared mapping spectrometer, and a gamma ray and neutron spectrometer, whose data will be used in combination to characterize these bodies. In addition to the three instruments, radiometric and optical navigation data will provide data relating to the gravity field and thus bulk properties and internal structure of the two bodies. Data returned from the Dawn spacecraft could provide opportunities for significant breakthroughs in our knowledge of how the solar system formed. Photo credit: NASA/Jim Grossmann

KSC-07pd2426

NASA Image and Video Library

2007-09-11

KENNEDY SPACE CENTER, FLA. -- On Launch Pad 17-B at Cape Canaveral Air Force Station, the Dawn spacecraft is lifted alongside the mobile service tower. At the top, Dawn will be prepared for mating with the awaiting Delta II rocket. Dawn is scheduled for launch in a window from 7:25 to 7:54 a.m. Sept. 26 from CCAFS. During its nearly decade-long mission, the Dawn mission will study the asteroid Vesta and dwarf planet Ceres, celestial bodies believed to have accreted early in the history of the solar system. To carry out its scientific mission, the Dawn spacecraft will carry a visible camera, a visible and infrared mapping spectrometer, and a gamma ray and neutron spectrometer, whose data will be used in combination to characterize these bodies. In addition to the three instruments, radiometric and optical navigation data will provide data relating to the gravity field and thus bulk properties and internal structure of the two bodies. Data returned from the Dawn spacecraft could provide opportunities for significant breakthroughs in our knowledge of how the solar system formed. Photo credit: NASA/Jack Pfaller

KSC-07pd2445

NASA Image and Video Library

2007-09-11

KENNEDY SPACE CENTER, FLA. -- In the mobile service tower on Launch Pad 17-B at Cape Canaveral Air Force Station, the Dawn spacecraft is ready for mating with the waiting Delta II rocket. Dawn is scheduled for launch in a window from 7:25 to 7:54 a.m. EDT Sept. 26 from CCAFS. During its nearly decade-long mission, the Dawn mission will study the asteroid Vesta and dwarf planet Ceres, celestial bodies believed to have accreted early in the history of the solar system. To carry out its scientific mission, the Dawn spacecraft will carry a visible camera, a visible and infrared mapping spectrometer, and a gamma ray and neutron spectrometer, whose data will be used in combination to characterize these bodies. In addition to the three instruments, radiometric and optical navigation data will provide data relating to the gravity field and thus bulk properties and internal structure of the two bodies. Data returned from the Dawn spacecraft could provide opportunities for significant breakthroughs in our knowledge of how the solar system formed. Photo credit: NASA/Jim Grossmann

KSC-07pd2428

NASA Image and Video Library

2007-09-11

KENNEDY SPACE CENTER, FLA. -- On Launch Pad 17-B at Cape Canaveral Air Force Station, the Dawn spacecraft arrives at the upper level of the mobile service tower. It will be moved inside and prepared for mating with the awaiting Delta II rocket. Dawn is scheduled for launch in a window from 7:25 to 7:54 a.m. Sept. 26 from CCAFS. During its nearly decade-long mission, the Dawn mission will study the asteroid Vesta and dwarf planet Ceres, celestial bodies believed to have accreted early in the history of the solar system. To carry out its scientific mission, the Dawn spacecraft will carry a visible camera, a visible and infrared mapping spectrometer, and a gamma ray and neutron spectrometer, whose data will be used in combination to characterize these bodies. In addition to the three instruments, radiometric and optical navigation data will provide data relating to the gravity field and thus bulk properties and internal structure of the two bodies. Data returned from the Dawn spacecraft could provide opportunities for significant breakthroughs in our knowledge of how the solar system formed. Photo credit: NASA/Jack Pfaller

KSC-07pd2424

NASA Image and Video Library

2007-09-11

KENNEDY SPACE CENTER, FLA. -- The Dawn spacecraft arrives on Launch Pad 17-B at Cape Canaveral Air Force Station. At the pad, Dawn will be lifted into the mobile service tower and prepared for mating with the awaiting Delta II rocket. Dawn is scheduled for launch in a window from 7:25 to 7:54 a.m. Sept. 26 from CCAFS. During its nearly decade-long mission, the Dawn mission will study the asteroid Vesta and dwarf planet Ceres, celestial bodies believed to have accreted early in the history of the solar system. To carry out its scientific mission, the Dawn spacecraft will carry a visible camera, a visible and infrared mapping spectrometer, and a gamma ray and neutron spectrometer, whose data will be used in combination to characterize these bodies. In addition to the three instruments, radiometric and optical navigation data will provide data relating to the gravity field and thus bulk properties and internal structure of the two bodies. Data returned from the Dawn spacecraft could provide opportunities for significant breakthroughs in our knowledge of how the solar system formed. Photo credit: NASA/Jack Pfaller

KSC-07pd2442

NASA Image and Video Library

2007-09-11

KENNEDY SPACE CENTER, FLA. -- In the mobile service tower on Launch Pad 17-B at Cape Canaveral Air Force Station, the upper transportation canister is lifted away from the Dawn spacecraft. After removal of the canister, Dawn will be mated with the waiting Delta II rocket. Dawn is scheduled for launch in a window from 7:25 to 7:54 a.m. EDT Sept. 26 from CCAFS. During its nearly decade-long mission, the Dawn mission will study the asteroid Vesta and dwarf planet Ceres, celestial bodies believed to have accreted early in the history of the solar system. To carry out its scientific mission, the Dawn spacecraft will carry a visible camera, a visible and infrared mapping spectrometer, and a gamma ray and neutron spectrometer, whose data will be used in combination to characterize these bodies. In addition to the three instruments, radiometric and optical navigation data will provide data relating to the gravity field and thus bulk properties and internal structure of the two bodies. Data returned from the Dawn spacecraft could provide opportunities for significant breakthroughs in our knowledge of how the solar system formed. Photo credit: NASA/Jim Grossmann

KSC-07pd2425

NASA Image and Video Library

2007-09-11

KENNEDY SPACE CENTER, FLA. -- On Launch Pad 17-B at Cape Canaveral Air Force Station, the Dawn spacecraft is lifted off its transporter. Dawn will be lifted into the mobile service tower and prepared for mating with the awaiting Delta II rocket.Dawn is scheduled for launch in a window from 7:25 to 7:54 a.m. Sept. 26 from CCAFS. During its nearly decade-long mission, the Dawn mission will study the asteroid Vesta and dwarf planet Ceres, celestial bodies believed to have accreted early in the history of the solar system. To carry out its scientific mission, the Dawn spacecraft will carry a visible camera, a visible and infrared mapping spectrometer, and a gamma ray and neutron spectrometer, whose data will be used in combination to characterize these bodies. In addition to the three instruments, radiometric and optical navigation data will provide data relating to the gravity field and thus bulk properties and internal structure of the two bodies. Data returned from the Dawn spacecraft could provide opportunities for significant breakthroughs in our knowledge of how the solar system formed. Photo credit: NASA/Jack Pfaller

Fault Protection Design and Testing for the Cassini Spacecraft in a "Mixed" Thruster Configuration

NASA Technical Reports Server (NTRS)

Bates, David; Lee, Allan; Meakin, Peter; Weitl, Raquel

2013-01-01

NASA's Cassini Spacecraft, launched on October 15th, 1997 and arrived at Saturn on June 30th, 2004, is the largest and most ambitious interplanetary spacecraft in history. In order to meet the challenging attitude control and navigation requirements of the orbit profile at Saturn, Cassini is equipped with a monopropellant thruster based Reaction Control System (RCS), a bipropellant Main Engine Assembly (MEA) and a Reaction Wheel Assembly (RWA). In 2008, after 11 years of reliable service, several RCS thrusters began to show signs of end of life degradation, which led the operations team to successfully perform the swap from the A-branch to the B-branch RCS system. If similar degradation begins to occur on any of the B-branch thrusters, Cassini might have to assume a "mixed" thruster configuration, where a subset of both A and B branch thrusters will be designated as prime. The Cassini Fault Protection FSW was recently updated to handle this scenario. The design, implementation, and testing of this update is described in this paper.

Time frequency requirements for radio interferometric earth physics

NASA Technical Reports Server (NTRS)

Thomas, J. B.; Fliegel, H. F.

1973-01-01

Two systems of VLBI (Very Long Baseline Interferometry) are now applicable to earth physics: an intercontinental baseline system using antennas of the NASA Deep Space Network, now observing at one-month intervals to determine UTI for spacecraft navigation; and a shorter baseline system called ARIES (Astronomical Radio Interferometric Earth Surveying), to be used to measure crustal movement in California for earthquake hazards estimation. On the basis of experience with the existing DSN system, a careful study has been made to estimate the time and frequency requirements of both the improved intercontinental system and of ARIES. Requirements for the two systems are compared and contrasted.

Development And Test of A Digitally Steered Antenna Array for The Navigator GPS Receiver

NASA Technical Reports Server (NTRS)

Pinto, Heitor David; Valdez, Jennifer E.; Winternitz, Luke M. B.; Hassouneh, Munther A.; Price, Samuel R.

2012-01-01

Global Positioning System (GPS)-based navigation has become common for low-Earth orbit spacecraft as the signal environment is similar to that on the Earth s surface. The situation changes abruptly, however, for spacecraft whose orbital altitudes exceed that of the GPS constellation. Visibility is dramatically reduced and signals that are present may be very weak and more susceptible to interference. GPS receivers effective at these altitudes require increased sensitivity, which often requires a high-gain antenna. Pointing such an antenna can pose a challenge. One efficient approach to mitigate these problems is the use of a digitally steered antenna array. Such an antenna can optimally allocate gain toward desired signal sources and away from interferers. This paper presents preliminary results in the development and test of a digitally steered antenna array for the Navigator GPS research program at NASA s Goddard Space Flight Center. In particular, this paper highlights the development of an array and front-end electronics, the development and test of a real-time software GPS receiver, and implementation of three beamforming methods for combining the signals from the array. Additionally, this paper discusses the development of a GPS signal simulator which produces digital samples of the GPS L1C/A signals as they would be received by an arbitrary antenna array configuration. The simulator models transmitter and receiver dynamics, near-far and multipath interference, and has been a critical component in both the development and test of the GPS receiver. The GPS receiver system was tested with real and simulated GPS signals. Preliminary results show that performance improvement was achieved in both the weak signal and interference environments, matching analytical predictions. This paper summarizes our initial findings and discusses the advantages and limitations of the antenna array and the various beamforming methods.

Optical devices for proximity operations study and test report. [intensifying images for visual observation during space transportation system activities

NASA Technical Reports Server (NTRS)

Smith, R. A.

1979-01-01

Operational and physical requirements were investigated for a low-light-level viewing device to be used as a window-mounted optical sight for crew use in the pointing, navigating, stationkeeping, and docking of space vehicles to support space station operations and the assembly of large structures in space. A suitable prototype, obtained from a commercial vendor, was subjected to limited tests to determine the potential effectiveness of a proximity optical device in spacecraft operations. The constructional features of the device are discussed as well as concepts for its use. Tests results show that a proximity optical device is capable of performing low-light-level viewing services and will enhance manned spacecraft operations.

ANTARES: Spacecraft Simulation for Multiple User Communities and Facilities

NASA Technical Reports Server (NTRS)

Acevedo, Amanda; Berndt, Jon; Othon, William; Arnold, Jason; Gay, Robet

2007-01-01

The Advanced NASA Technology Architecture for Exploration Studies (ANTARES) simulation is the primary tool being used for requirements assessment of the NASA Orion spacecraft by the Guidance Navigation and Control (GN&C) teams at Johnson Space Center (JSC). ANTARES is a collection of packages and model libraries that are assembled and executed by the Trick simulation environment. Currently, ANTARES is being used for spacecraft design assessment, performance analysis, requirements validation, Hardware In the Loop (HWIL) and Human In the Loop (HIL) testing.

Performance modelling of miniaturized flash-imaging lidars for future mars exploration missions

NASA Astrophysics Data System (ADS)

Mitev, V.; Pollini, A.; Haesler, J.; Pereira do Carmo, João.

2017-11-01

Future planetary exploration missions require the support of 3D vision in the GN&C during key spacecraft's proximity phases, namely: i) spacecraft precision and soft Landing on the planet's surface; ii) Rendezvous and Docking (RVD) between a Sample Canister (SC) and an orbiter spacecraft; iii) Rover Navigation (RN) on planetary surface. The imaging LiDARs are among the best candidate for such tasks [1-3]. The combination of measurement requirements and environmental conditions seems to find its optimum in the flash 3D LiDAR architecture. Here we present key steps is the evaluation of novelty light detectors and MOEMS (Micro-Opto- Electro-Mechanical Systems) technologies with respect to LiDAR system performance and miniaturization. The objectives of the project MILS (Miniaturized Imaging LiDAR System, Phase 1) concentrated on the evaluation of novel detection and scanning technologies for the miniaturization of 3D LiDARs intended for planetary mission. Preliminary designs for an elegant breadboard (EBB) for the three tasks stated above (Landing, RVD and RN) were proposed, based on results obtained with a numerical model developed in the project and providing the performances evaluation of imaging LiDARs.

A Global Approach to Delta Differential One-Way Range

NASA Technical Reports Server (NTRS)

Border, James S.

2006-01-01

Radio interferometric techniques for measuring spacecraft angular position play a role of increasing importance in today's missions of interplanetary exploration. Several national and international space agencies have or are developing operational systems to support spacecraft navigation using interferometric measurements. NASA's Deep Space Network has provided Delta Differential One-way Range ((Delta)DOR) for this purpose since 1980. Steady improvements in system performance and operability have taken place with accuracy today approaching the 1-nrad level. In this paper the current performance of NASA's (Delta)DOR system is presented. Recent data from the Mars Reconnaissance Orbiter cruise from Earth to Mars are used to illustrate system performance at 8.4 and 32 GHz. Technical feasibility and requirements for combining tracking stations from different agencies to support (Delta)DOR observations are discussed. The advantages of having additional stations to form baselines for measurements are presented. Results of a covariance study for encounter targeting are given for a candidate mission that may need (Delta)DOR data from additional baselines.

Mars Exploration Rover Navigation Camera in-flight calibration

NASA Astrophysics Data System (ADS)

Soderblom, Jason M.; Bell, James F.; Johnson, Jeffrey R.; Joseph, Jonathan; Wolff, Michael J.

2008-06-01

The Navigation Camera (Navcam) instruments on the Mars Exploration Rover (MER) spacecraft provide support for both tactical operations as well as scientific observations where color information is not necessary: large-scale morphology, atmospheric monitoring including cloud observations and dust devil movies, and context imaging for both the thermal emission spectrometer and the in situ instruments on the Instrument Deployment Device. The Navcams are a panchromatic stereoscopic imaging system built using identical charge-coupled device (CCD) detectors and nearly identical electronics boards as the other cameras on the MER spacecraft. Previous calibration efforts were primarily focused on providing a detailed geometric calibration in line with the principal function of the Navcams, to provide data for the MER navigation team. This paper provides a detailed description of a new Navcam calibration pipeline developed to provide an absolute radiometric calibration that we estimate to have an absolute accuracy of 10% and a relative precision of 2.5%. Our calibration pipeline includes steps to model and remove the bias offset, the dark current charge that accumulates in both the active and readout regions of the CCD, and the shutter smear. It also corrects pixel-to-pixel responsivity variations using flat-field images, and converts from raw instrument-corrected digital number values per second to units of radiance (W m-2 nm-1 sr-1), or to radiance factor (I/F). We also describe here the initial results of two applications where radiance-calibrated Navcam data provide unique information for surface photometric and atmospheric aerosol studies.

Spacecraft angular velocity estimation algorithm for star tracker based on optical flow techniques

NASA Astrophysics Data System (ADS)

Tang, Yujie; Li, Jian; Wang, Gangyi

2018-02-01

An integrated navigation system often uses the traditional gyro and star tracker for high precision navigation with the shortcomings of large volume, heavy weight and high-cost. With the development of autonomous navigation for deep space and small spacecraft, star tracker has been gradually used for attitude calculation and angular velocity measurement directly. At the same time, with the dynamic imaging requirements of remote sensing satellites and other imaging satellites, how to measure the angular velocity in the dynamic situation to improve the accuracy of the star tracker is the hotspot of future research. We propose the approach to measure angular rate with a nongyro and improve the dynamic performance of the star tracker. First, the star extraction algorithm based on morphology is used to extract the star region, and the stars in the two images are matched according to the method of angular distance voting. The calculation of the displacement of the star image is measured by the improved optical flow method. Finally, the triaxial angular velocity of the star tracker is calculated by the star vector using the least squares method. The method has the advantages of fast matching speed, strong antinoise ability, and good dynamic performance. The triaxial angular velocity of star tracker can be obtained accurately with these methods. So, the star tracker can achieve better tracking performance and dynamic attitude positioning accuracy to lay a good foundation for the wide application of various satellites and complex space missions.

Lunar Navigation with Libration Point Orbiters and GPS

NASA Technical Reports Server (NTRS)

Carpenter, J. Russell

2004-01-01

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.

Spaceflight dynamics 1993; AAS/NASA International Symposium, 8th, Greenbelt, MD, Apr. 26-30, 1993, Parts 1 & 2

NASA Technical Reports Server (NTRS)

Teles, Jerome (Editor); Samii, Mina V. (Editor)

1993-01-01

A conference on spaceflight dynamics produced papers in the areas of orbit determination, spacecraft tracking, autonomous navigation, the Deep Space Program Science Experiment Mission (DSPSE), the Global Positioning System, attitude control, geostationary satellites, interplanetary missions and trajectories, applications of estimation theory, flight dynamics systems, low-Earth orbit missions, orbital mechanics, mission experience in attitude dynamics, mission experience in sensor studies, attitude dynamics theory and simulations, and orbit-related experience. These papaers covered NASA, European, Russian, Japanese, Chinese, and Brazilian space programs and hardware.

Study of a tracking and data acquisition system for the 1990's. Volume 3: TDAS Communication Mission Model

NASA Technical Reports Server (NTRS)

Mccreary, T.

1983-01-01

A parametric description of the communication channels required between the user spacecraft to be supported and the user ground data systems is developed. Scenarios of mission models, which reflect a range of free flyers vs space platform usage as well as levels of NASA activity and potential support for military missions, and potential channel requirements which identify: (1) bounds on TDAS forward and return link data communication demand, and (2) the additional demand for providing navigation/tracking support are covered.

Error Free Software

NASA Technical Reports Server (NTRS)

1985-01-01

A mathematical theory for development of "higher order" software to catch computer mistakes resulted from a Johnson Space Center contract for Apollo spacecraft navigation. Two women who were involved in the project formed Higher Order Software, Inc. to develop and market the system of error analysis and correction. They designed software which is logically error-free, which, in one instance, was found to increase productivity by 600%. USE.IT defines its objectives using AXES -- a user can write in English and the system converts to computer languages. It is employed by several large corporations.

Hybrid Guidance Control for a Hypervelocity Small Size Asteroid Interceptor Vehicle

NASA Technical Reports Server (NTRS)

Zebenay, Melak M.; Lyzhoft, Joshua R.; Barbee, Brent W.

2017-01-01

Near-Earth Objects (NEOs) are comets and/or asteroids that have orbits in proximity with Earth's own orbit. NEOs have collided with the Earth in the past, which can be seen at such places as Chicxulub crater, Barringer crater, and Manson crater, and will continue in the future with potentially significant and devastating results. Fortunately such NEO collisions with Earth are infrequent, but can happen at any time. Therefore it is necessary to develop and validate techniques as well as technologies necessary to prevent them. One approach to mitigate future NEO impacts is the concept of high-speed interceptor. This concept is to alter the NEO's trajectory via momentum exchange by using kinetic impactors as well as nuclear penetration devices. The interceptor has to hit a target NEO at relative velocity which imparts a sufficient change in NEO velocity. NASA's Deep Impact mission has demonstrated this scenario by intercepting Comet Temple 1, 5 km in diameter, with an impact relative speed of approximately 10 km/s. This paper focuses on the development of hybrid guidance navigation and control (GNC) algorithms for precision hypervelocity intercept of small sized NEOs. The spacecraft's hypervelocity and the NEO's small size are critical challenges for a successful mission as the NEO will not fill the field of view until a few seconds before intercept. The investigation needs to consider the error sources modeled in the navigation simulation such as spacecraft initial state uncertainties in position and velocity. Furthermore, the paper presents three selected spacecraft guidance algorithms for asteroid intercept and rendezvous missions. The selected algorithms are classical Proportional Navigation (PN) based guidance that use a first order difference to compute the derivatives, Three Plane Proportional Navigation (TPPN), and the Kinematic Impulse (KI). A manipulated Bennu orbit that has been changed to impact Earth will be used as a demonstrative example to compare the three methods. In addition, a hybrid approach that is a combination between proportional navigation and kinematic impulse will be investigated to find an effective, error tolerant, and power saving approach. A 3-dimension mission scenario for both the asteroid and the interceptor spacecraft software simulator is developed for testing of the controllers. The current result demonstrates that a miss distance magnitude of less than 10m is found using the PN and TPPN guidance laws for small asteroid in the presence of error in the spacecraft states. Moreover, the paper presents these results and also the hybrid control approach simulation results.

How to use the Sun-Earth Lagrange points for fundamental physics and navigation

NASA Astrophysics Data System (ADS)

Tartaglia, A.; Lorenzini, E. C.; Lucchesi, D.; Pucacco, G.; Ruggiero, M. L.; Valko, P.

2018-01-01

We illustrate the proposal, nicknamed LAGRANGE, to use spacecraft, located at the Sun-Earth Lagrange points, as a physical reference frame. Performing time of flight measurements of electromagnetic signals traveling on closed paths between the points, we show that it would be possible: (a) to refine gravitational time delay knowledge due both to the Sun and the Earth; (b) to detect the gravito-magnetic frame dragging of the Sun, so deducing information about the interior of the star; (c) to check the possible existence of a galactic gravitomagnetic field, which would imply a revision of the properties of a dark matter halo; (d) to set up a relativistic positioning and navigation system at the scale of the inner solar system. The paper presents estimated values for the relevant quantities and discusses the feasibility of the project analyzing the behavior of the space devices close to the Lagrange points.

A Hardware-in-the-Loop Testbed for Spacecraft Formation Flying Applications

NASA Technical Reports Server (NTRS)

Leitner, Jesse; Bauer, Frank H. (Technical Monitor)

2001-01-01

The Formation Flying Test Bed (FFTB) at NASA Goddard Space Flight Center (GSFC) is being developed as a modular, hybrid dynamic simulation facility employed for end-to-end guidance, navigation, and control (GN&C) analysis and design for formation flying clusters and constellations of satellites. The FFTB will support critical hardware and software technology development to enable current and future missions for NASA, other government agencies, and external customers for a wide range of missions, particularly those involving distributed spacecraft operations. The initial capabilities of the FFTB are based upon an integration of high fidelity hardware and software simulation, emulation, and test platforms developed at GSFC in recent years; including a high-fidelity GPS simulator which has been a fundamental component of the Guidance, Navigation, and Control Center's GPS Test Facility. The FFTB will be continuously evolving over the next several years from a too[ with initial capabilities in GPS navigation hardware/software- in-the- loop analysis and closed loop GPS-based orbit control algorithm assessment to one with cross-link communications and relative navigation analysis and simulation capability. Eventually the FFT13 will provide full capability to support all aspects of multi-sensor, absolute and relative position determination and control, in all (attitude and orbit) degrees of freedom, as well as information management for satellite clusters and constellations. In this paper we focus on the architecture for the FFT13 as a general GN&C analysis environment for the spacecraft formation flying community inside and outside of NASA GSFC and we briefly reference some current and future activities which will drive the requirements and development.

Astrophysics space systems critical technology needs

NASA Technical Reports Server (NTRS)

Gartrell, C. F.

1982-01-01

This paper addresses an independent assessment of space system technology needs for future astrophysics flight programs contained within the NASA Space Systems Technology Model. The critical examination of the system needs for the approximately 30 flight programs in the model are compared to independent technology forecasts and possible technology deficits are discussed. These deficits impact the developments needed for spacecraft propulsion, power, materials, structures, navigation, guidance and control, sensors, communications and data processing. There are also associated impacts upon in-orbit assembly technology and space transportation systems. A number of under-utilized technologies are highlighted which could be exploited to reduce cost and enhance scientific return.

Enabling Future Science and Human Exploration with NASA's Next Generation Near Earth and Deep Space Communications and Navigation Architecture

NASA Technical Reports Server (NTRS)

Reinhart, Richard; Schier, James; Israel, David; Tai, Wallace; Liebrecht, Philip; Townes, Stephen

2017-01-01

The National Aeronautics and Space Administration (NASA) is studying alternatives for the United States space communications architecture through the 2040 timeframe. This architecture provides communication and navigation services to both human exploration and science missions throughout the solar system. Several of NASA's key space assets are approaching their end of design life and major systems are in need of replacement. The changes envisioned in the relay satellite architecture and capabilities around both Earth and Mars are significant undertakings and occur only once or twice each generation, and therefore is referred to as NASA's next generation space communications architecture. NASA's next generation architecture will benefit from technology and services developed over recent years. These innovations will provide missions with new operations concepts, increased performance, and new business and operating models. Advancements in optical communications will enable high-speed data channels and the use of new and more complex science instruments. Modern multiple beam/multiple access technologies such as those employed on commercial high throughput satellites will enable enhanced capabilities for on-demand service, and with new protocols will help provide Internet-like connectivity for cooperative spacecraft to improve data return and coordinate joint mission objectives. On-board processing with autonomous and cognitive networking will play larger roles to help manage system complexity. Spacecraft and ground systems will coordinate among themselves to establish communications, negotiate link connectivity, and learn to share spectrum to optimize resource allocation. Spacecraft will autonomously navigate, plan trajectories, and handle off-nominal events. NASA intends to leverage the ever-expanding capabilities of the satellite communications industry and foster its continued growth. NASA's technology development will complement and extend commercial capabilities to meet unique space environment requirements and to provide capabilities that are beyond the commercial marketplace. The progress of the communications industry, including the emerging global space internet segment and its planned constellations of 100's of satellites offer additional opportunities for new capability and mission concepts. The opportunities and challenges of a future space architecture require an optimal solution encompassing a global perspective. The concepts and technologies intentionally define an architecture that applies not only to NASA, but to other U.S. government agencies, international space and government agencies, and domestic and international industries to advance the openness, interoperability, and affordability of space communications. Cooperation among the worlds space agencies, their capabilities, standards, operations, and interoperability are key to advancing humankinds understand of the universe and extending human presence into the solar system.

Enabling Future Science and Human Exploration with NASA's Next Generation near Earth and Deep Space Communications and Navigation Architecture

NASA Technical Reports Server (NTRS)

Reinhart, Richard C.; Schier, James S.; Israel, David J.; Tai, Wallace; Liebrecht, Philip E.; Townes, Stephen A.

2017-01-01

The National Aeronautics and Space Administration (NASA) is studying alternatives for the United States space communications architecture through the 2040 timeframe. This architecture provides communication and navigation services to both human exploration and science missions throughout the solar system. Several of NASA's key space assets are approaching their end of design life and major systems are in need of replacement. The changes envisioned in the relay satellite architecture and capabilities around both Earth and Mars are significant undertakings and occur only once or twice each generation, and therefore is referred to as NASA's next generation space communications architecture. NASA's next generation architecture will benefit from technology and services developed over recent years. These innovations will provide missions with new operations concepts, increased performance, and new business and operating models. Advancements in optical communications will enable high-speed data channels and the use of new and more complex science instruments. Modern multiple beam/multiple access technologies such as those employed on commercial high throughput satellites will enable enhanced capabilities for on-demand service, and with new protocols will help provide Internet-like connectivity for cooperative spacecraft to improve data return and coordinate joint mission objectives. On-board processing with autonomous and cognitive networking will play larger roles to help manage system complexity. Spacecraft and ground systems will coordinate among themselves to establish communications, negotiate link connectivity, and learn to share spectrum to optimize resource allocation. Spacecraft will autonomously navigate, plan trajectories, and handle off-nominal events. NASA intends to leverage the ever-expanding capabilities of the satellite communications industry and foster its continued growth. NASA's technology development will complement and extend commercial capabilities to meet unique space environment requirements and to provide capabilities that are beyond the commercial marketplace. The progress of the communications industry, including the emerging global space internet segment and its planned constellations of 100's of satellites offer additional opportunities for new capability and mission concepts. The opportunities and challenges of a future space architecture require an optimal solution encompassing a global perspective. The concepts and technologies intentionally define an architecture that applies not only to NASA, but to other U.S. government agencies, international space and government agencies, and domestic and international industries to advance the openness, interoperability, and affordability of space communications. Cooperation among the worlds space agencies, their capabilities, standards, operations, and interoperability are key to advancing humankind's understand of the universe and extending human presence into the solar system.

An Autonomous Control System for an Intra-Vehicular Spacecraft Mobile Monitor Prototype

NASA Technical Reports Server (NTRS)

Dorais, Gregory A.; Desiano, Salvatore D.; Gawdiak, Yuri; Nicewarner, Keith

2003-01-01

This paper presents an overview of an ongoing research and development effort at the NASA Ames Research Center to create an autonomous control system for an internal spacecraft autonomous mobile monitor. It primary functions are to provide crew support and perform intra- vehicular sensing activities by autonomously navigating onboard the International Space Station. We describe the mission roles and high-level functional requirements for an autonomous mobile monitor. The mobile monitor prototypes, of which two are operational and one is actively being designed, physical test facilities used to perform ground testing, including a 3D micro-gravity test facility, and simulators are briefly described. We provide an overview of the autonomy framework and describe each of its components, including those used for automated planning, goal-oriented task execution, diagnosis, and fault recovery. A sample mission test scenario is also described.

Absolute orbit determination using line-of-sight vector measurements between formation flying spacecraft

NASA Astrophysics Data System (ADS)

Ou, Yangwei; Zhang, Hongbo; Li, Bin

2018-04-01

The purpose of this paper is to show that absolute orbit determination can be achieved based on spacecraft formation. The relative position vectors expressed in the inertial frame are used as measurements. In this scheme, the optical camera is applied to measure the relative line-of-sight (LOS) angles, i.e., the azimuth and elevation. The LIDAR (Light radio Detecting And Ranging) or radar is used to measure the range and we assume that high-accuracy inertial attitude is available. When more deputies are included in the formation, the formation configuration is optimized from the perspective of the Fisher information theory. Considering the limitation on the field of view (FOV) of cameras, the visibility of spacecraft and the installation of cameras are investigated. In simulations, an extended Kalman filter (EKF) is used to estimate the position and velocity. The results show that the navigation accuracy can be enhanced by using more deputies and the installation of cameras significantly affects the navigation performance.

Comparison of Orion Vision Navigation Sensor Performance from STS-134 and the Space Operations Simulation Center

NASA Technical Reports Server (NTRS)

Christian, John A.; Patangan, Mogi; Hinkel, Heather; Chevray, Keiko; Brazzel, Jack

2012-01-01

The Orion Multi-Purpose Crew Vehicle is a new spacecraft being designed by NASA and Lockheed Martin for future crewed exploration missions. The Vision Navigation Sensor is a Flash LIDAR that will be the primary relative navigation sensor for this vehicle. To obtain a better understanding of this sensor's performance, the Orion relative navigation team has performed both flight tests and ground tests. This paper summarizes and compares the performance results from the STS-134 flight test, called the Sensor Test for Orion RelNav Risk Mitigation (STORRM) Development Test Objective, and the ground tests at the Space Operations Simulation Center.

Aerocapture Technologies

NASA Technical Reports Server (NTRS)

Keys, Andrew S.

2006-01-01

Aeroassist technology development is a vital part of the NASA In-Space Propulsion Technology (ISPT) Program. One of the main focus areas of ISPT is aeroassist technologies through the Aerocapture Technology (AT) Activity. Within the ISPT, the current aeroassist technology development focus is aerocapture. Aerocapture relies on the exchange of momentum with an atmosphere to achieve thrust, in this case a decelerating thrust leading to orbit capture. Without aerocapture, a substantial propulsion system would be needed on the spacecraft to perform the same reduction of velocity. This could cause reductions in the science payload delivered to the destination, increases in the size of the launch vehicle (to carry the additional fuel required for planetary capture) or could simply make the mission impossible due to additional propulsion requirements. The AT is advancing each technology needed for the successful implementation of aerocapture in future missions. The technology development focuses on both rigid aeroshell systems as well as the development of inflatable aerocapture systems, advanced aeroshell performance sensors, lightweight structure and higher temperature adhesives. Inflatable systems such as tethered trailing ballutes ('balloon parachutes'), clamped ballutes, and inflatable aeroshells are also under development. Aerocapture-specific computational tools required to support future aerocapture missions are also an integral part of the ATP. Tools include: engineering reference atmosphere models, guidance and navigation, aerothermodynamic modeling, radiation modeling and flight simulation. Systems analysis plays a key role in the AT development process. The NASA in-house aerocapture systems analysis team has been taken with multiple systems definition and concept studies to complement the technology development tasks. The team derives science requirements, develops guidance and navigation algorithms, as well as engineering reference atmosphere models and aeroheating specifications. The study team also creates designs for the overall mission spacecraft. Presentation slides are provided to further describe the aerocapture project.

Use of Faraday-rotation data from beacon satellites to determine ionospheric corrections for interplanetary spacecraft navigation

NASA Technical Reports Server (NTRS)

Royden, H. N.; Green, D. W.; Walson, G. R.

1981-01-01

Faraday-rotation data from the linearly polarized 137-MHz beacons of the ATS-1, SIRIO, and Kiku-2 geosynchronous satellites are used to determine the ionospheric corrections to the range and Doppler data for interplanetary spacecraft navigation. The JPL operates the Deep Space Network of tracking stations for NASA; these stations monitor Faraday rotation with dual orthogonal, linearly polarized antennas, Teledyne polarization tracking receivers, analog-to-digital converter/scanners, and other support equipment. Computer software examines the Faraday data, resolves the pi ambiguities, constructs a continuous Faraday-rotation profile and converts the profile to columnar zenith total electron content at the ionospheric reference point; a second program computes the line-of-sight ionospheric correction for each pass of the spacecraft over each tracking complex. Line-of-sight ionospheric electron content using mapped Faraday-rotation data is compared with that using dispersive Doppler data from the Voyager spacecraft; a difference of about 0.4 meters, or 5 x 10 to the 16th electrons/sq m is obtained. The technique of determining the electron content of interplanetary plasma by subtraction of the ionospheric contribution is demonstrated on the plasma torus surrounding the orbit of Io.

Comet Wild 2 Up Close and Personal

NASA Image and Video Library

2004-01-02

On January 2, 2004 NASA's Stardust spacecraft made a close flyby of comet Wild 2 (pronounced "Vilt-2"). Among the equipment the spacecraft carried on board was a navigation camera. This is the 34th of the 72 images taken by Stardust's navigation camera during close encounter. The exposure time was 10 milliseconds. The two frames are actually of 1 single exposure. The frame on the left depicts the comet as the human eye would see it. The frame on the right depicts the same image but "stretched" so that the faint jets emanating from Wild 2 can be plainly seen. Comet Wild 2 is about five kilometers (3.1 miles) in diameter. http://photojournal.jpl.nasa.gov/catalog/PIA05571

Geostationary Operational Environmental Satellite (GOES-N report). Volume 2: Technical appendix

NASA Technical Reports Server (NTRS)

1992-01-01

The contents include: operation with inclinations up to 3.5 deg to extend life; earth sensor improvements to reduce noise; sensor configurations studied; momentum management system design; reaction wheel induced dynamic interaction; controller design; spacecraft motion compensation; analog filtering; GFRP servo design - modern control approach; feedforward compensation as applied to GOES-1 sounder; discussion of allocation of navigation, inframe registration and image-to-image error budget overview; and spatial response and cloud smearing study.

Space Weather and the Ground-Level Solar Proton Events of the 23rd Solar Cycle

NASA Astrophysics Data System (ADS)

Shea, M. A.; Smart, D. F.

2012-10-01

Solar proton events can adversely affect space and ground-based systems. Ground-level events are a subset of solar proton events that have a harder spectrum than average solar proton events and are detectable on Earth's surface by cosmic radiation ionization chambers, muon detectors, and neutron monitors. This paper summarizes the space weather effects associated with ground-level solar proton events during the 23rd solar cycle. These effects include communication and navigation systems, spacecraft electronics and operations, space power systems, manned space missions, and commercial aircraft operations. The major effect of ground-level events that affect manned spacecraft operations is increased radiation exposure. The primary effect on commercial aircraft operations is the loss of high frequency communication and, at extreme polar latitudes, an increase in the radiation exposure above that experienced from the background galactic cosmic radiation. Calculations of the maximum potential aircraft polar route exposure for each ground-level event of the 23rd solar cycle are presented. The space weather effects in October and November 2003 are highlighted together with on-going efforts to utilize cosmic ray neutron monitors to predict high energy solar proton events, thus providing an alert so that system operators can possibly make adjustments to vulnerable spacecraft operations and polar aircraft routes.

Outer planet mission guidance and navigation for spinning spacecraft

NASA Technical Reports Server (NTRS)

Paul, C. K.; Russell, R. K.; Ellis, J.

1974-01-01

The orbit determination accuracies, maneuver results, and navigation system specification for spinning Pioneer planetary probe missions are analyzed to aid in determining the feasibility of deploying probes into the atmospheres of the outer planets. Radio-only navigation suffices for a direct Saturn mission and the Jupiter flyby of a Jupiter/Uranus mission. Saturn ephemeris errors (1000 km) plus rigid entry constraints at Uranus result in very high velocity requirements (140 m/sec) on the final legs of the Saturn/Uranus and Jupiter/Uranus missions if only Earth-based tracking is employed. The capabilities of a conceptual V-slit sensor are assessed to supplement radio tracking by star/satellite observations. By processing the optical measurements with a batch filter, entry conditions at Uranus can be controlled to acceptable mission-defined levels (+ or - 3 deg) and the Saturn-Uranus leg velocity requirements can be reduced by a factor of 6 (from 139 to 23 m/sec) if nominal specified accuracies of the sensor can be realized.

CLIpSAT for Interplanetary Missions: Common Low-cost Interplanetary Spacecraft with Autonomy Technologies

NASA Astrophysics Data System (ADS)

Grasso, C.

2015-10-01

Blue Sun Enterprises, Inc. is creating a common deep space bus capable of a wide variety of Mars, asteroid, and comet science missions, observational missions in and near GEO, and interplanetary delivery missions. The spacecraft are modular and highly autonomous, featuring a common core and optional expansion for variable-sized science or commercial payloads. Initial spacecraft designs are targeted for Mars atmospheric science, a Phobos sample return mission, geosynchronous reconnaissance, and en-masse delivery of payloads using packetized propulsion modules. By combining design, build, and operations processes for these missions, the cost and effort for creating the bus is shared across a variety of initial missions, reducing overall costs. A CLIpSAT can be delivered to different orbits and still be able to reach interplanetary targets like Mars due to up to 14.5 km/sec of delta-V provided by its high-ISP Xenon ion thruster(s). A 6U version of the spacecraft form fits PPOD-standard deployment systems, with up to 9 km/s of delta-V. A larger 12-U (with the addition of an expansion module) enables higher overall delta-V, and has the ability to jettison the expansion module and return to the Earth-Moon system from Mars orbit with the main spacecraft. CLIpSAT utilizes radiation-hardened electronics and RF equipment, 140+ We of power at earth (60 We at Mars), a compact navigation camera that doubles as a science imager, and communications of 2000 bps from Mars to the DSN via X-band. This bus could form the cornerstone of a large number asteroid survey projects, comet intercept missions, and planetary observation missions. The TugBot architecture uses groups of CLIpSATs attached to payloads lacking innate high-delta-V propulsion. The TugBots use coordinated trajectory following by each individual spacecraft to move the payload to the desired orbit - for example, a defense asset might be moved from GEO to lunar transfer orbit in order to protect and hide it, then returned to a useful GEO orbit as a replacement for a failed GEO asset. Interplanetary payload delivery can be undertaken by arraying these spacecraft buses, then staging each one. This approach is implemented by using CLIpSATs as propulsion "packets", delivered independently to low earth orbit and directed to rendezvous individually with a structure. Once all packets have attached themselves, the ensemble burns to follow a trajectory, delivering the payload to the desired planetary or heliocentric orbit. Autonomy technologies in CLIpSAT software include Virtual Machine Language 3 (VML 3) sequencing, JPL AutoNav software, optical navigation, ephemeris tracking, trajectory replanning, maneuver execution, advanced state-driven sequencing, expert systems, and fail-operational strategies. These technologies enable small teams to operate large numbers of spacecraft and lessen the need for the deep knowledge normally required. The consortium building CLIpSAT includes Blue Sun Enterprises, the Jet Propulsion Laboratory, Millennium Space Systems, the Laboratory for Atmospheric and Space Physics, and the Southwest Research Institute.

Rendezvous and Proximity Operations of the Space Shuttle

NASA Technical Reports Server (NTRS)

Goodman, John L.

2005-01-01

Space Shuttle rendezvous missions present unique challenges that were not fully recognized when the Shuttle was designed. Rendezvous targets could be passive (i.e., no lights or transponders), and not designed to facilitate Shuttle rendezvous, proximity operations, and retrieval. Shuttle reaction control system jet plume impingement on target spacecraft presented induced dynamics, structural loading, and contamination concerns. These issues, along with limited reaction control system propellant in the Shuttle nose, drove a change from the legacy Gemini/Apollo coelliptic profile to a stable orbit profile, and the development of new proximity operations techniques. Multiple scientific and on-orbit servicing missions, and crew exchange, assembly and replenishment flights to Mir and to the International Space Station drove further profile and piloting technique changes. These changes included new proximity operations, relative navigation sensors, and new computer generated piloting cues. However, the Shuttle's baseline rendezvous navigation system has not required modification to place the Shuttle at the proximity operations initiation point for all rendezvous missions flown.

Navigation Performance of Global Navigation Satellite Systems in the Space Service Volume

NASA Technical Reports Server (NTRS)

Force, Dale A.

2013-01-01

GPS has been used for spacecraft navigation for many years center dot In support of this, the US has committed that future GPS satellites will continue to provide signals in the Space Service Volume center dot NASA is working with international agencies to obtain similar commitments from other providers center dot In support of this effort, I simulated multi-constellation navigation in the Space Service Volume In this presentation, I extend the work to examine the navigational benefits and drawbacks of the new constellations center dot A major benefit is the reduced geometric dilution of precision (GDOP). I show that there is a substantial reduction in GDOP by using all of the GNSS constellations center dot The increased number of GNSS satellites broadcasting does produce mutual interference, raising the noise floor. A near/far signal problem can also occur where a nearby satellite drowns out satellites that are far away. - In these simulations, no major effect was observed Typically, the use of multi-constellation GNSS navigation improves GDOP by a factor of two or more over GPS alone center dot In addition, at the higher altitudes, four satellite solutions can be obtained much more often center dot This show the value of having commitments to provide signals in the Space Service Volume Besides a commitment to provide a minimum signal in the Space Service Volume, detailed signal gain information is useful for mission planning center dot Knowledge of group and phase delay over the pattern would also reduce the navigational uncertainty

Small Spacecraft for Planetary Science

NASA Astrophysics Data System (ADS)

Baker, John; Castillo-Rogez, Julie; Bousquet, Pierre-W.; Vane, Gregg; Komarek, Tomas; Klesh, Andrew

2016-07-01

As planetary science continues to explore new and remote regions of the Solar system with comprehensive and more sophisticated payloads, small spacecraft offer the possibility for focused and more affordable science investigations. These small spacecraft or micro spacecraft (< 100 kg) can be used in a variety of architectures consisting of orbiters, landers, rovers, atmospheric probes, and penetrators. A few such vehicles have been flown in the past as technology demonstrations. However, technologies such as new miniaturized science-grade sensors and electronics, advanced manufacturing for lightweight structures, and innovative propulsion are making it possible to fly much more capable micro spacecraft for planetary exploration. While micro spacecraft, such as CubeSats, offer significant cost reductions with added capability from advancing technologies, the technical challenges for deep space missions are very different than for missions conducted in low Earth orbit. Micro spacecraft must be able to sustain a broad range of planetary environments (i.e., radiations, temperatures, limited power generation) and offer long-range telecommunication performance on a par with science needs. Other capabilities needed for planetary missions, such as fine attitude control and determination, capable computer and data handling, and navigation are being met by technologies currently under development to be flown on CubeSats within the next five years. This paper will discuss how micro spacecraft offer an attractive alternative to accomplish specific science and technology goals and what relevant technologies are needed for these these types of spacecraft. Acknowledgements: Part of this work is being carried out at the Jet Propulsion Laboratory, California Institute of Technology under contract to NASA. Government sponsorship acknowledged.

Global Controlled Mosaic of Mercury from MESSENGER Orbital Images

NASA Astrophysics Data System (ADS)

Becker, K. J.; Weller, L. A.; Edmundson, K. L.; Becker, T. L.; Robinson, M. S.; Solomon, S. C.

2011-12-01

The MESSENGER spacecraft entered orbit around Mercury in March 2011. Since then, the Mercury Dual Imaging System (MDIS) has been steadily acquiring images from the monochrome, narrow-angle camera (NAC) and the multispectral, wide-angle camera (WAC). With these images, the U.S. Geological Survey (USGS) is constructing a global, controlled monochrome base map of the planet using the Integrated Software for Imagers and Spectrometers (ISIS3) [1]. Although the characterization of MESSENGER spacecraft's navigation and attitude data has proven to be reliable to date, an element of uncertainty in these parameters is unavoidable. This leads to registration offsets between images in the base map. To minimize these errors, images are controlled using a least-squares bundle adjustment that provides refined spacecraft attitude and position parameters plus triangulated ground coordinates of image tie points. As a first effort, 4542 images (2781 NAC, 1761 WAC G filter) have been controlled with a root mean squared error of 0.25 pixels in image space [2]. A preliminary digital elevation model (DEM) is also being produced from the large number of ground points (~ 47,000) triangulated in this adjustment. The region defined by these points ranges from 80°S to 86°N latitude and 158°E to 358°E longitude. A symmetric, unimodal distribution and a dynamic range of 10.5 km characterize the hypsometry of this area. Minimum, maximum, and mean elevations are -5.0, 5.5, and -0.2 km relative to the mean radius of Mercury (2440 km) as defined by the mission. The USGS will use the DEM and base map for the construction of a registered color (WAC) map of high spatial integrity essential for reliable scientific interpretation of the color data. Ongoing improvements to the base map will be made as new images from MDIS become available, providing continuity in resolution, illumination, and viewing conditions. Additional bundle adjustments will further improve spacecraft attitude. The results from further bundle adjustments will ultimately be provided to users in the form of a new, smithed (derived) CK SPICE [3] kernel (C-matrix subsystem dealing with orientation of spacecraft and rotating structures on the spacecraft), replacing the original reconstructed kernel (typically provided by the mission navigation team). The determination of updated attitude parameters for every image acquired by MDIS is a primary goal of the USGS. [1] Anderson, J. A., et al. (2004) Modernization of the Integrated Software for Imagers and Spectrometers, Lunar Planet. Sci. 35, abstract 2039. [2] Edmundson, K. L., et al. (2011), Preliminary photogrammetric control of MESSENGER orbital images of Mercury, GSA Annual Meeting, submitted. [3] Acton, C. H. (1966), Ancillary data services of NASA's Navigation and Ancillary Information Facility, Planet. Space Sci. 44, 65-70.

Free-flying teleoperator requirements and conceptual design.

NASA Technical Reports Server (NTRS)

Onega, G. T.; Clingman, J. H.

1973-01-01

A teleoperator, as defined by NASA, is a remotely controlled cybernetic man-machine system designed to augment and extend man's sensory, manipulative, and cognitive capabilities. Teleoperator systems can fulfill an important function in the Space Shuttle program. They can retrieve automated satellites for refurbishment and reuse. Cargo can be transferred over short or large distances and orbital operations can be supported. A requirements analysis is discussed, giving attention to the teleoperator spacecraft, docking and stowage systems, display and controls, propulsion, guidance, navigation, control, the manipulators, the video system, the electrical power, and aspects of communication and data management. Questions of concept definition and evaluation are also examined.

Parachute Testing for the NASA X-38 Crew Return Vehicle

NASA Technical Reports Server (NTRS)

Stein, Jenny M.

2005-01-01

NASA's X-38 program was an in-house technology demonstration program to develop a Crew Return Vehicle (CRV) for the International Space Station capable of returning seven crewmembers to Earth when the Space Shuttle was not present at the station. The program, managed out of NASA's Johnson Space Center, was started in 1995 and was cancelled in 2003. Eight flights with a prototype atmospheric vehicle were successfully flown at Edwards Air Force Base, demonstrating the feasibility of a parachute landing system for spacecraft. The intensive testing conducted by the program included testing of large ram-air parafoils. The flight test techniques, instrumentation, and simulation models developed during the parachute test program culminated in the successful demonstration of a guided parafoil system to land a 25,000 Ib spacecraft. The test program utilized parafoils of sizes ranging from 750 to 7500 p. The guidance, navigation, and control system (GN&C) consisted of winches, laser or radar altimeter, global positioning system (GPS), magnetic compass, barometric altimeter, flight computer, and modems for uplink commands and downlink data. The winches were used to steer the parafoil and to perform the dynamic flare maneuver for a soft landing. The laser or radar altimeter was used to initiate the flare. In the event of a GPS failure, the software navigated by dead reckoning using the compass and barometric altimeter data. The GN&C test beds included platforms dropped from cargo aircraft, atmospheric vehicles released from a 8-52, and a Buckeye powered parachute. This paper will describe the test program and significant results.

Operation and performance of the New Horizons Long-Range Reconnaissance Imager during the Pluto encounter

NASA Astrophysics Data System (ADS)

Conard, S. J.; Weaver, H. A.; Núñez, J. I.; Taylor, H. W.; Hayes, J. R.; Cheng, A. F.; Rodgers, D. J.

2017-09-01

The Long-Range Reconnaissance Imager (LORRI) is a high-resolution imaging instrument on the New Horizons spacecraft. LORRI collected over 5000 images during the approach and fly-by of the Pluto system in 2015, including the highest resolution images of Pluto and Charon and the four much smaller satellites (Styx, Nix, Kerberos, and Hydra) near the time of closest approach on 14 July 2015. LORRI is a narrow field of view (0.29°), Ritchey-Chrétien telescope with a 20.8 cm diameter primary mirror and a three-lens field flattener. The telescope has an effective focal length of 262 cm. The focal plane unit consists of a 1024 × 1024 pixel charge-coupled device (CCD) detector operating in frame transfer mode. LORRI provides panchromatic imaging over a bandpass that extends approximately from 350 nm to 850 nm. The instrument operates in an extreme thermal environment, viewing space from within the warm spacecraft. For this reason, LORRI has a silicon carbide optical system with passive thermal control, designed to maintain focus without adjustment over a wide temperature range from -100 C to +50 C. LORRI operated flawlessly throughout the encounter period, providing both science and navigation imaging of the Pluto system. We describe the preparations for the Pluto system encounter, including pre-encounter rehearsals, calibrations, and navigation imaging. In addition, we describe LORRI operations during the encounter, and the resulting imaging performance. Finally, we also briefly describe the post-Pluto encounter imaging of other Kuiper belt objects and the plans for the upcoming encounter with KBO 2014 MU69.

Guidance, Navigation, and Control Technology Assessment for Future Planetary Science Missions

NASA Technical Reports Server (NTRS)

Beauchamp, Pat; Cutts, James; Quadrelli, Marco B.; Wood, Lincoln J.; Riedel, Joseph E.; McHenry, Mike; Aung, MiMi; Cangahuala, Laureano A.; Volpe, Rich

2013-01-01

Future planetary explorations envisioned by the National Research Council's (NRC's) report titled Vision and Voyages for Planetary Science in the Decade 2013-2022, developed for NASA Science Mission Directorate (SMD) Planetary Science Division (PSD), seek to reach targets of broad scientific interest across the solar system. This goal requires new capabilities such as innovative interplanetary trajectories, precision landing, operation in close proximity to targets, precision pointing, multiple collaborating spacecraft, multiple target tours, and advanced robotic surface exploration. Advancements in Guidance, Navigation, and Control (GN&C) and Mission Design in the areas of software, algorithm development and sensors will be necessary to accomplish these future missions. This paper summarizes the key GN&C and mission design capabilities and technologies needed for future missions pursuing SMD PSD's scientific goals.

The Status of Spacecraft Bus and Platform Technology Development under the NASA ISPT Program

NASA Technical Reports Server (NTRS)

Anderson, David J.; Munk, Michelle M.; Pencil, Eric; Dankanich, John; Glaab, Louis; Peterson, Todd

2013-01-01

The In-Space Propulsion Technology (ISPT) program is developing spacecraft bus and platform technologies that will enable or enhance NASA robotic science missions. The ISPT program is currently developing technology in four areas that include Propulsion System Technologies (electric and chemical), Entry Vehicle Technologies (aerocapture and Earth entry vehicles), Spacecraft Bus and Sample Return Propulsion Technologies (components and ascent vehicles), and Systems/Mission Analysis. Three technologies are ready for near-term flight infusion: 1) the high-temperature Advanced Material Bipropellant Rocket (AMBR) engine providing higher performance; 2) NASA s Evolutionary Xenon Thruster (NEXT) ion propulsion system, a 0.6-7 kW throttle-able gridded ion system; and 3) Aerocapture technology development with investments in a family of thermal protection system (TPS) materials and structures; guidance, navigation, and control (GN&C) models of blunt-body rigid aeroshells; and aerothermal effect models. Two component technologies being developed with flight infusion in mind are the Advanced Xenon Flow Control System and ultralightweight propellant tank technologies. Future directions for ISPT are technologies that relate to sample return missions and other spacecraft bus technology needs like: 1) Mars Ascent Vehicles (MAV); 2) multi-mission technologies for Earth Entry Vehicles (MMEEV); and 3) electric propulsion. These technologies are more vehicles and mission-focused, and present a different set of technology development and infusion steps beyond those previously implemented. The Systems/Mission Analysis area is focused on developing tools and assessing the application of propulsion and spacecraft bus technologies to a wide variety of mission concepts. These inspace propulsion technologies are applicable, and potentially enabling for future NASA Discovery, New Frontiers, and sample return missions currently under consideration, as well as having broad applicability to potential Flagship missions. This paper provides a brief overview of the ISPT program, describing the development status and technology infusion readiness of in-space propulsion technologies in the areas of electric propulsion, Aerocapture, Earth entry vehicles, propulsion components, Mars ascent vehicle, and mission/systems analysis.

The status of spacecraft bus and platform technology development under the NASA ISPT program

NASA Astrophysics Data System (ADS)

Anderson, D. J.; Munk, M. M.; Pencil, E.; Dankanich, J.; Glaab, L.; Peterson, T.

The In-Space Propulsion Technology (ISPT) program is developing spacecraft bus and platform technologies that will enable or enhance NASA robotic science missions. The ISPT program is currently developing technology in four areas that include Propulsion System Technologies (electric and chemical), Entry Vehicle Technologies (aerocapture and Earth entry vehicles), Spacecraft Bus and Sample Return Propulsion Technologies (components and ascent vehicles), and Systems/Mission Analysis. Three technologies are ready for near-term flight infusion: 1) the high-temperature Advanced Material Bipropellant Rocket (AMBR) engine providing higher performance; 2) NASA's Evolutionary Xenon Thruster (NEXT) ion propulsion system, a 0.6-7 kW throttle-able gridded ion system; and 3) Aerocapture technology development with investments in a family of thermal protection system (TPS) materials and structures; guidance, navigation, and control (GN& C) models of blunt-body rigid aeroshells; and aerothermal effect models. Two component technologies being developed with flight infusion in mind are the Advanced Xenon Flow Control System and ultra-lightweight propellant tank technologies. Future directions for ISPT are technologies that relate to sample return missions and other spacecraft bus technology needs like: 1) Mars Ascent Vehicles (MAV); 2) multi-mission technologies for Earth Entry Vehicles (MMEEV); and 3) electric propulsion. These technologies are more vehicles and mission-focused, and present a different set of technology development and infusion steps beyond those previously implemented. The Systems/Mission Analysis area is focused on developing tools and assessing the application of propulsion and spacecraft bus technologies to a wide variety of mission concepts. These in-space propulsion technologies are applicable, and potentially enabling for future NASA Discovery, New Frontiers, and sample return missions currently under consideration, as well as having broad applicabilit- to potential Flagship missions. This paper provides a brief overview of the ISPT program, describing the development status and technology infusion readiness of in-space propulsion technologies in the areas of electric propulsion, Aerocapture, Earth entry vehicles, propulsion components, Mars ascent vehicle, and mission/systems analysis.

The Status of Spacecraft Bus and Platform Technology Development Under the NASA ISPT Program

NASA Technical Reports Server (NTRS)

Anderson, David J.; Munk, Michelle M.; Pencil, Eric J.; Dankanich, John; Glaab, Louis J.

2013-01-01

The In-Space Propulsion Technology (ISPT) program is developing spacecraft bus and platform technologies that will enable or enhance NASA robotic science missions. The ISPT program is currently developing technology in four areas that include Propulsion System Technologies (electric and chemical), Entry Vehicle Technologies (aerocapture and Earth entry vehicles), Spacecraft Bus and Sample Return Propulsion Technologies (components and ascent vehicles), and Systems/Mission Analysis. Three technologies are ready for near-term flight infusion: 1) the high-temperature Advanced Material Bipropellant Rocket (AMBR) engine providing higher performance 2) NASAs Evolutionary Xenon Thruster (NEXT) ion propulsion system, a 0.6-7 kW throttle-able gridded ion system and 3) Aerocapture technology development with investments in a family of thermal protection system (TPS) materials and structures guidance, navigation, and control (GN&C) models of blunt-body rigid aeroshells and aerothermal effect models. Two component technologies being developed with flight infusion in mind are the Advanced Xenon Flow Control System, and ultra-lightweight propellant tank technologies. Future direction for ISPT are technologies that relate to sample return missions and other spacecraft bus technology needs like: 1) Mars Ascent Vehicles (MAV) 2) multi-mission technologies for Earth Entry Vehicles (MMEEV) and 3) electric propulsion. These technologies are more vehicle and mission-focused, and present a different set of technology development and infusion steps beyond those previously implemented. The Systems/Mission Analysis area is focused on developing tools and assessing the application of propulsion and spacecraft bus technologies to a wide variety of mission concepts. These in-space propulsion technologies are applicable, and potentially enabling for future NASA Discovery, New Frontiers, and sample return missions currently under consideration, as well as having broad applicability to potential Flagship missions. This paper provides a brief overview of the ISPT program, describing the development status and technology infusion readiness of in-space propulsion technologies in the areas of electric propulsion, Aerocapture, Earth entry vehicles, propulsion components, Mars ascent vehicle, and mission/systems analysis.

Viking navigation

NASA Technical Reports Server (NTRS)

Oneil, W. J.; Rudd, R. P.; Farless, D. L.; Hildebrand, C. E.; Mitchell, R. T.; Rourke, K. H.; Euler, E. A.

1979-01-01

A comprehensive description of the navigation of the Viking spacecraft throughout their flight from Earth launch to Mars landing is given. The flight path design, actual inflight control, and postflight reconstruction are discussed in detail. The preflight analyses upon which the operational strategies and performance predictions were based are discussed. The inflight results are then discussed and compared with the preflight predictions and, finally, the results of any postflight analyses are presented.

INSPIRE and MarCO - Technology Development for the First Deep Space CubeSats

NASA Astrophysics Data System (ADS)

Klesh, Andrew

2016-07-01

INSPIRE (Interplanetary NanoSpacecraft Pathfinder In a Relevant Environment) and MarCO (Mars Cube One) will open the door for tiny spacecraft to explore the solar system. INSPIRE serves as a trailblazer, designed to demonstrate new technology needed for deep space. MarCO will open the door for NanoSpacecraft to serve in support roles for much larger primary missions - in this case, providing a real-time relay of for the InSight project and will likely be the first CubeSats to reach deep space. Together, these four spacecraft (two for each mission) enable fundamental science objectives to be met with tiny vehicles. Originally designed for a March, 2016 launch with the InSight mission to Mars, the MarCO spacecraft are now complete and in storage. When launched with the InSight lander from Vandenberg Air Force Base, the spacecraft will begin a 6.5 month cruise to Mars. Soon after InSight itself separates from the upper stage of the launch vehicle, the two MarCO CubeSats will deploy and independently fly to Mars to support telecommunications relay for InSight's entry, descent, and landing sequence. These spacecraft will have onboard capability for deep space trajectory correction maneuvers; high-speed direct-to-Earth & DSN-compatible communications; an advanced navigation transponder; a large deployable reflect-array high gain antenna; and a robust software suite. This talk will present an overview of the INSPIRE and MarCO projects, including a concept of operations, details of the spacecraft and subsystem design, and lessons learned from integration and test. Finally, the talk will outline how lessons from these spacecraft are already being utilized in the next generation of interplanetary CubeSats, as well as a brief vision of their applicability for solar system exploration. The research described here was carried out at the Jet Propulsion Laboratory, Caltech, under a contract with the National Aeronautics and Space Administration (NASA).

Pegasus XL CYGNSS Microsats Installation on Deployment Module

NASA Image and Video Library

2016-10-11

Inside Building 1555 at Vandenberg Air Force Base in California, NASA’s Cyclone Global Navigation Satellite System (CYGNSS) deployment module is inspected prior to installation of eight spacecraft that will be part of the program’s constellation of spacecraft. Processing activities will prepare the spacecraft for launch aboard an Orbital ATK Pegasus XL rocket. When preparations are competed at Vandenberg, the rocket will be transported to NASA’s Kennedy Space Center in Florida attached to the Orbital ATK L-1011 carrier aircraft with in its payload fairing. CYGNSS will launch on the Pegasus XL rocket from the Skid Strip at Cape Canaveral Air Force Station. CYGNSS will make frequent and accurate measurements of ocean surface winds throughout the life cycle of tropical storms and hurricanes. The data that CYGNSS provides will enable scientists to probe key air-sea interaction processes that take place near the core of storms, which are rapidly changing and play a critical role in the beginning and intensification of hurricanes.

Demonstration of automated proximity and docking technologies

NASA Astrophysics Data System (ADS)

Anderson, Robert L.; Tsugawa, Roy K.; Bryan, Thomas C.

An autodock was demonstrated using straightforward techniques and real sensor hardware. A simulation testbed was established and validated. The sensor design was refined with improved optical performance and image processing noise mitigation techniques, and the sensor is ready for production from off-the-shelf components. The autonomous spacecraft architecture is defined. The areas of sensors, docking hardware, propulsion, and avionics are included in the design. The Guidance Navigation and Control architecture and requirements are developed. Modular structures suitable for automated control are used. The spacecraft system manager functions including configuration, resource, and redundancy management are defined. The requirements for autonomous spacecraft executive are defined. High level decisionmaking, mission planning, and mission contingency recovery are a part of this. The next step is to do flight demonstrations. After the presentation the following question was asked. How do you define validation? There are two components to validation definition: software simulation with formal and vigorous validation, and hardware and facility performance validated with respect to software already validated against analytical profile.

Voyager flight engineering - Preparing for Uranus

NASA Technical Reports Server (NTRS)

Mclaughlin, W. I.; Wolff, D. M.

1985-01-01

Two Voyager spacecraft are currently engaged in exploration of the outer solar system with Voyager 2 scheduled to conduct the first close-up investigation of the planet Uranus during the period November 4, 1985 through March 3, 1986. Flight engineering for the Voyager project has the objectives of delivering a functioning spacecraft containing observing sequences to the right places at the right times. Due to the changing environment as the mission has progressed outward from Jupiter to Saturn to Uranus (and on to Neptune), this engineering task has included the development of significant new capabilities. The paper utilizes the case-study method to examine some new spacecraft capabilities in three subsystems: data, attitude and articulation control, and power. The implementation of a new navigational data-type, delta DOR, is also reviewed. An overview is given of the Voyager sequencing process for the cruise and encounter phases with a case study focusing on late updating of part of the near encounter sequence. The prospective mission to Neptune is previewed.

Deep Space 1 Using its Ion Engine (Artist's Concept)

NASA Technical Reports Server (NTRS)

2003-01-01

NASA's New Millennium Deep Space 1 spacecraft approaching the comet 19P/Borrelly. With its primary mission to serve as a technology demonstrator--testing ion propulsion and 11 other advanced technologies--successfully completed in September 1999, Deep Space 1 is now headed for a risky, exciting rendezvous with Comet Borrelly. NASA extended the mission, taking advantage of the ion propulsion and other systems to target the daring encounter with the comet in September 2001. Once a sci-fi dream, the ion propulsion engine has powered the spacecraft for over 12,000 hours. Another onboard experiment includes software that tracks celestial bodies so the spacecraft can make its own navigation decisions without the intervention of ground controllers. The first flight in NASA's New Millennium Program, Deep Space 1 was launched October 24, 1998 aboard a Boeing Delta 7326 rocket from Cape Canaveral Air Station, FL. Deep Space 1 successfully completed and exceeded its mission objectives in July 1999 and flew by a near-Earth asteroid, Braille (1992 KD), in September 1999.

Enceladus Plume Density Modeling and Reconstruction for Cassini Attitude Control System

NASA Technical Reports Server (NTRS)

Sarani, Siamak

2010-01-01

In 2005, Cassini detected jets composed mostly of water, spouting from a set of nearly parallel rifts in the crust of Enceladus, an icy moon of Saturn. During an Enceladus flyby, either reaction wheels or attitude control thrusters on the Cassini spacecraft are used to overcome the external torque imparted on Cassini due to Enceladus plume or jets, as well as to slew the spacecraft in order to meet the pointing needs of the on-board science instruments. If the estimated imparted torque is larger than it can be controlled by the reaction wheel control system, thrusters are used to control the spacecraft. Having an engineering model that can predict and simulate the external torque imparted on Cassini spacecraft due to the plume density during all projected low-altitude Enceladus flybys is important. Equally important is being able to reconstruct the plume density after each flyby in order to calibrate the model. This paper describes an engineering model of the Enceladus plume density, as a function of the flyby altitude, developed for the Cassini Attitude and Articulation Control Subsystem, and novel methodologies that use guidance, navigation, and control data to estimate the external torque imparted on the spacecraft due to the Enceladus plume and jets. The plume density is determined accordingly. The methodologies described have already been used to reconstruct the plume density for three low-altitude Enceladus flybys of Cassini in 2008 and will continue to be used on all remaining low-altitude Enceladus flybys in Cassini's extended missions.

Automatic control in planetary exploration in the 1980s. [onboard spacecraft

NASA Technical Reports Server (NTRS)

Moore, J. W.

1973-01-01

Based on an examination of the planetary missions in the 1980s and their related objectives, a broad assessment of the automatic control capabilities required for these missions is presented. The ten outer-planet, terrestrial-planet, and small-body missions considered involve various operations encompassing a complex series of modes including cruise, maneuver, and powered flight control. In addition to routine navigation and attitude control, onboard control is required to point scientific instruments and antennas with respect to the vehicle and to maneuver the spacecraft in time-constrained or hazardous environments. These 1980 missions aimed at exploring new areas of the solar system will be more demanding. New design philosophies and increased performance capabilities will be required to meet the constraints imposed by science requirements and mission-cost effectiveness.

A demonstration of the value of spacecraft computers

NASA Astrophysics Data System (ADS)

Jenkins, R. E.

1984-09-01

The Transit Improvement Program TIP satellites were designed to upgrade the navigation satellite system. One of the improvements made in connection with these satellites is related to the employment of a general-purpose minicomputer. A description is provided of the uses of the TIP/Nova flight computer to overcome some early failures in the spacecraft development which, although later corrected, could have jeopardized the entire program. The flight computer and its software is discussed, taking into account the delayed command program, and the telemetry storage program. The effect of the failures is considered along with the post-launch operations. Attention is given to power management, spin-up operations, the firing of the orbit adjust rocket, the tumble-thrust program, a digital phase-locked loop for de-tumble, and the generation of a tumble motion.

Mars Aerobraking Spacecraft State Estimation by Processing Inertial Measurement Unit Data

NASA Technical Reports Server (NTRS)

Jah, Moriba K.; Lisano, Michael E.,, II; Born, George H.; Axelrad, Penina

2006-01-01

Aerobraking is an efficient technique for orbit adjustment of planetary spacecraft, such as Magellan (Venus), Mars Global Surveyor, and Mars Odyssey. Determination of the vehicle state during the aerobraking phase has conventionally been performed using only radiometric tracking data prior to and following the atmospheric drag pass. This approach is sufficiently accurate and timely to meet current mission operational requirements; however, it is expensive in terms of ground support and leads to delayed results because ofthe need for post-drag pass data. This research presents a new approach to estimation of the vehicle state during the atmospheric pass that sequentially incorporates observations from an Inertial Measurement Unit (IMU) and models of the vehicle and environment. The approach, called Inertial Measurements for Aerobraking Navigation (IMAN), is shown to perform at a level comparable to the conventional methods in terms of navigation accuracy and superior to them in terms of availability of the results immediately after completion ofthe pass. Furthermore, the research shows that IMAN can be used to reliably predict subsequent periapsis times and locations over all aerobraking regimes. IMAN also yields accurate peak dynamic pressure and heating rates, critical for a successful corridor control strategy, comparable to navigation team reconstructed values. This research also provides the first instance of the utilization of the Unscented Kalman Filter for the purpose of estimating an actual spacecraft trajectory arc about another planet.

Mars aerobraking spacecraft state estimation by processing inertial measurement unit data

NASA Astrophysics Data System (ADS)

Jah, Moriba Kemessia

Aerobraking is an efficient technique for orbit adjustment of planetary spacecraft such as Magellan (Venus), Mars Global Surveyor, and Mars Odyssey. Determination of the vehicle state during the Aerobraking phase has conventionally been performed using only radiometric tracking data prior to and following the atmospheric drag pass. This approach is sufficiently accurate and timely to meet current mission operational requirements; however, it is expensive in terms of ground support and leads to delayed results because of the need for post drag pass data. This dissertation presents a new approach to estimation of the vehicle state during the atmospheric pass that sequentially incorporates observations from an Inertial Measurement Unit (IMU) and models of the vehicle and environment. The approach, called Inertial Measurements for Aerobraking Navigation (IMAN), is shown to perform at a level comparable to the conventional methods in terms of navigation accuracy and superior to them in terms of availability of the results immediately after completion of the pass. Furthermore, the research shows that IMAN can be used to reliably predict subsequent periapsis times and locations over all aerobraking regimes. IMAN also yields accurate peak dynamic pressure and heating rates, critical for a successful corridor control strategy, comparable to navigation team reconstructed values. This research also provides the first instance of the utilization of the Unscented Kalman Filter for the purpose of estimating an actual spacecraft trajectory arc about another planet.

Asteroid approach covariance analysis for the Clementine mission

NASA Technical Reports Server (NTRS)

Ionasescu, Rodica; Sonnabend, David

1993-01-01

The Clementine mission is designed to test Strategic Defense Initiative Organization (SDIO) technology, the Brilliant Pebbles and Brilliant Eyes sensors, by mapping the moon surface and flying by the asteroid Geographos. The capability of two of the instruments available on board the spacecraft, the lidar (laser radar) and the UV/Visible camera is used in the covariance analysis to obtain the spacecraft delivery uncertainties at the asteroid. These uncertainties are due primarily to asteroid ephemeris uncertainties. On board optical navigation reduces the uncertainty in the knowledge of the spacecraft position in the direction perpendicular to the incoming asymptote to a one-sigma value of under 1 km, at the closest approach distance of 100 km. The uncertainty in the knowledge of the encounter time is about 0.1 seconds for a flyby velocity of 10.85 km/s. The magnitude of these uncertainties is due largely to Center Finding Errors (CFE). These systematic errors represent the accuracy expected in locating the center of the asteroid in the optical navigation images, in the absence of a topographic model for the asteroid. The direction of the incoming asymptote cannot be estimated accurately until minutes before the asteroid flyby, and correcting for it would require autonomous navigation. Orbit determination errors dominate over maneuver execution errors, and the final delivery accuracy attained is basically the orbit determination uncertainty before the final maneuver.

Modulating Retro-Reflectors for Space, Tracking, Acquisition and Ranging using Multiple Quantum Well Technology (Preprint)

DTIC Science & Technology

2002-01-01

feedback signals were derived from the motion of the platform rather than directly measured, though an actual spacecraft would likely utilize... large position error spikes due to target motion reversal. Of course, these tracking errors are highly dependent on the feedback gains chosen for the...Key Words: MQW Retromodulators, Modulating Retroreflector(s),Inter- spacecraft communications and navigation, space control

Space Station-based deep-space optical communication experiments

NASA Technical Reports Server (NTRS)

Chen, Chien-Chung; Schwartz, Jon A.

1988-01-01

A series of three experiments proposed for advanced optical deep-space communications is described. These proposed experiments would be carried out aboard the Space Station to test and evaluate the capability of optical instruments to conduct data communication and spacecraft navigation for deep-space missions. Techniques for effective data communication, precision spacecraft ranging, and accurate angular measurements will be developed and evaluated in a spaceborne environment.

Spacecraft Radio Scintillation and Solar System Exploration

NASA Technical Reports Server (NTRS)

Woo, Richard

1993-01-01

When a wave propagates through a turbulent medium, scattering by the random refractive index inhomogeneities can lead to a wide variety of phenomena that have been the subject of extensive study. The observed scattering effects include amplitude or intensity scintillation, phase scintillation, angular broadening, and spectral broadening, among others. In this paper, I will refer to these scattering effects collectively as scintillation. Although the most familiar example is probably the twinkling of stars (light wave intensity scintillation by turbulence in the Earth's atmosphere), scintillation has been encountered and investigated in such diverse fields as ionospheric physics, oceanography, radio astronomy, and radio and optical communications. Ever since planetary spacecraft began exploring the solar system, scintillation has appeared during the propagation of spacecraft radio signals through planetary atmospheres, planetary ionospheres, and the solar wind. Early studies of these phenomena were motivated by the potential adverse effects on communications and navigation, and on experiments that use the radio link to conduct scientific investigations. Examples of the latter are radio occultation measurements (described below) of planetary atmospheres to deduce temperature profiles, and the search for gravitational waves. However,these concerns soon gave way to the emergence of spacecraft radio scintillation as a new scientific tool for exploring small-scale dynamics in planetary atmospheres and structure in the solar wind, complementing in situ and other remote sensing spacecraft measurements, as well as scintillation measurements using natural (celestial) radio sources. The purpose of this paper is to briefly describe and review the solar system spacecraft radio scintillation observations, to summarize the salient features of wave propagation analyses employed in interpreting them, to underscore the unique remote sensing capabilities and scientific relevance of the scintillation measurements, and to highlight some of the scientific results obtained to date. Special emphasis is placed on comparing the remote sensing features of planetary and terrestrial scintillation measurements, and on contrasting spacecraft and natural radio source scintillation measurements. I will first discuss planetary atmospheres and ionospheres, and then the solar wind.

Parameter estimation of a three-axis spacecraft simulator using recursive least-squares approach with tracking differentiator and Extended Kalman Filter

NASA Astrophysics Data System (ADS)

Xu, Zheyao; Qi, Naiming; Chen, Yukun

2015-12-01

Spacecraft simulators are widely used to study the dynamics, guidance, navigation, and control of a spacecraft on the ground. A spacecraft simulator can have three rotational degrees of freedom by using a spherical air-bearing to simulate a frictionless and micro-gravity space environment. The moment of inertia and center of mass are essential for control system design of ground-based three-axis spacecraft simulators. Unfortunately, they cannot be known precisely. This paper presents two approaches, i.e. a recursive least-squares (RLS) approach with tracking differentiator (TD) and Extended Kalman Filter (EKF) method, to estimate inertia parameters. The tracking differentiator (TD) filter the noise coupled with the measured signals and generate derivate of the measured signals. Combination of two TD filters in series obtains the angular accelerations that are required in RLS (TD-TD-RLS). Another method that does not need to estimate the angular accelerations is using the integrated form of dynamics equation. An extended TD (ETD) filter which can also generate the integration of the function of signals is presented for RLS (denoted as ETD-RLS). States and inertia parameters are estimated simultaneously using EKF. The observability is analyzed. All proposed methods are illustrated by simulations and experiments.

Standalone GPS L1 C/A Receiver for Lunar Missions.

PubMed

Capuano, Vincenzo; Blunt, Paul; Botteron, Cyril; Tian, Jia; Leclère, Jérôme; Wang, Yanguang; Basile, Francesco; Farine, Pierre-André

2016-03-09

Global Navigation Satellite Systems (GNSSs) were originally introduced to provide positioning and timing services for terrestrial Earth users. However, space users increasingly rely on GNSS for spacecraft navigation and other science applications at several different altitudes from the Earth surface, in Low Earth Orbit (LEO), Medium Earth Orbit (MEO), Geostationary Earth Orbit (GEO), and feasibility studies have proved that GNSS signals can even be tracked at Moon altitude. Despite this, space remains a challenging operational environment, particularly on the way from the Earth to the Moon, characterized by weaker signals with wider gain variability, larger dynamic ranges resulting in higher Doppler and Doppler rates and critically low satellite signal availability. Following our previous studies, this paper describes the proof of concept "WeakHEO" receiver; a GPS L1 C/A receiver we developed in our laboratory specifically for lunar missions. The paper also assesses the performance of the receiver in two representative portions of an Earth Moon Transfer Orbit (MTO). The receiver was connected to our GNSS Spirent simulator in order to collect real-time hardware-in-the-loop observations, and then processed by the navigation module. This demonstrates the feasibility, using current technology, of effectively exploiting GNSS signals for navigation in a MTO.

CDGPS-Based Relative Navigation for Multiple Spacecraft

NASA Technical Reports Server (NTRS)

Mitchell, Megan Leigh

2004-01-01

This thesis investigates the use of Carrier-phase Differential GPS (CDGPS) in relative navigation filters for formation flying spacecraft. This work analyzes the relationship between the Extended Kalman Filter (EKF) design parameters and the resulting estimation accuracies, and in particular, the effect of the process and measurement noises on the semimajor axis error. This analysis clearly demonstrates that CDGPS-based relative navigation Kalman filters yield good estimation performance without satisfying the strong correlation property that previous work had associated with "good" navigation filters. Several examples are presented to show that the Kalman filter can be forced to create solutions with stronger correlations, but these always result in larger semimajor axis errors. These linear and nonlinear simulations also demonstrated the crucial role of the process noise in determining the semimajor axis knowledge. More sophisticated nonlinear models were included to reduce the propagation error in the estimator, but for long time steps and large separations, the EKF, which only uses a linearized covariance propagation, yielded very poor performance. In contrast, the CDGPS-based Unscented Kalman relative navigation Filter (UKF) handled the dynamic and measurement nonlinearities much better and yielded far superior performance than the EKF. The UKF produced good estimates for scenarios with long baselines and time steps for which the EKF would diverge rapidly. A hardware-in-the-loop testbed that is compatible with the Spirent Simulator at NASA GSFC was developed to provide a very flexible and robust capability for demonstrating CDGPS technologies in closed-loop. This extended previous work to implement the decentralized relative navigation algorithms in real time.

Saturn Apollo Program

NASA Image and Video Library

1968-01-01

This view depicts engineers conducting a system test on the Saturn V instrument unit (IU) at International Business Machines (IBM) in Huntsville, Alabama. IBM is a prime contractor for development and fabrication of the IU. The IU is vital to the proper flight of the vehicle. It contains navigation, guidance, control, and sequencing equipment for the launch vehicle. Three-feet tall, twenty-one feet in diameter, and weighing about 4,000 pounds, the IU is mounted atop the S-IVB (third) stage, between the S-IVB stage and the Apollo spacecraft.

Application of the Deep Space Network (DSN) to the testing of general relativity

NASA Technical Reports Server (NTRS)

Anderson, J. D.; Levy, G. S.; Renzetti, N. A.

1986-01-01

The NASA Deep Space Network, a precision telecommunications and radio navigation facility, is described in detail. The first spacecraft relativity test with Mariner 6 and Mariner 7 at solar conjunction is discussed as well as more accurate tests using the Mariner 9 anchored to Mars. Consideration is also given to solar system tests of relativistic celestial mechanics and future prospects. It is noted that the NASA Mars Observer orbital mission is under development and is expected to reach Mars in 1991.

Pegasus XL CYGNSS Second Launch Attempt

NASA Image and Video Library

2016-12-15

An Orbital ATK L-1011 Stargazer aircraft carrying a Pegasus XL Rocket with eight NASA Cyclone Global Navigation Satellite System, or CYGNSS, spacecraft takes off from the Skid Strip at Cape Canaveral Air Force Station, Florida. With the aircraft flying off shore, the Pegasus rocket will be released. Five seconds later, the solid propellant engine will ignite and boost the eight hurricane observatories to orbit. The eight CYGNSS satellites will make frequent and accurate measurements of ocean surface winds throughout the life cycle of tropical storms and hurricanes.

Deep Space 1 Ion Engine Completed a 3-Year Journey

NASA Technical Reports Server (NTRS)

Sovey, James S.; Patterson, Michael J.; Rawlin, Vincent K.; Hamley, John A.

2001-01-01

A xenon ion engine and power processor system, which was developed by the NASA Glenn Research Center in partnership with the Jet Propulsion Laboratory and Boeing Electron Dynamic Devices, completed nearly 3 years of operation aboard the Deep Space 1 spacecraft. The 2.3-kW ion engine, which provided primary propulsion and two-axis attitude control, thrusted for more than 16,000 hr and consumed more than 70 kg of xenon propellant. The Deep Space 1 spacecraft was launched on October 24, 1998, to validate 12 futuristic technologies, including the ion-propulsion system. After the technology validation process was successfully completed, the Deep Space 1 spacecraft flew by the small asteroid Braille on July 29, 1999. The final objective of this mission was to encounter the active comet Borrelly, which is about 6 miles long. The ion engine was on a thrusting schedule to navigate the Deep Space 1 spacecraft to within 1400 miles of the comet. Since the hydrazine used for spacecraft attitude control was in short supply, the ion engine also provided two-axis attitude control to conserve the hydrazine supply for the Borrelly encounter. The comet encounter took place on September 22, 2001. Dr. Marc Rayman, project manager of Deep Space 1 at the Jet Propulsion Laboratory said, "Deep Space 1 plunged into the heart of the comet Borrelly and has lived to tell every detail of its spinetingling adventure! The images are even better than the impressive images of comet Halley taken by Europe's Giotto spacecraft in 1986." The Deep Space 1 mission, which successfully tested the 12 high-risk, advanced technologies and captured the best images ever taken of a comet, was voluntarily terminated on December 18, 2001. The successful demonstration of the 2-kW-class ion propulsion system technology is now providing mission planners with off-the-shelf flight hardware. Higher power, next generation ion propulsion systems are being developed for large flagship missions, such as outer planet explorers and sample-return missions.

Mars Exploration Rover Navigation Camera in-flight calibration

USGS Publications Warehouse

Soderblom, J.M.; Bell, J.F.; Johnson, J. R.; Joseph, J.; Wolff, M.J.

2008-01-01

The Navigation Camera (Navcam) instruments on the Mars Exploration Rover (MER) spacecraft provide support for both tactical operations as well as scientific observations where color information is not necessary: large-scale morphology, atmospheric monitoring including cloud observations and dust devil movies, and context imaging for both the thermal emission spectrometer and the in situ instruments on the Instrument Deployment Device. The Navcams are a panchromatic stereoscopic imaging system built using identical charge-coupled device (CCD) detectors and nearly identical electronics boards as the other cameras on the MER spacecraft. Previous calibration efforts were primarily focused on providing a detailed geometric calibration in line with the principal function of the Navcams, to provide data for the MER navigation team. This paper provides a detailed description of a new Navcam calibration pipeline developed to provide an absolute radiometric calibration that we estimate to have an absolute accuracy of 10% and a relative precision of 2.5%. Our calibration pipeline includes steps to model and remove the bias offset, the dark current charge that accumulates in both the active and readout regions of the CCD, and the shutter smear. It also corrects pixel-to-pixel responsivity variations using flat-field images, and converts from raw instrument-corrected digital number values per second to units of radiance (W m-2 nm-1 sr-1), or to radiance factor (I/F). We also describe here the initial results of two applications where radiance-calibrated Navcam data provide unique information for surface photometric and atmospheric aerosol studies. Copyright 2008 by the American Geophysical Union.

8-Meter UV/Optical Space Telescope

NASA Technical Reports Server (NTRS)

Stahl, H. Philip

2008-01-01

This slide presentation proposes using the unprecedented capability of the planned Ares V launch vehicle, to place a 8 meter monolithic space telescope at the Earth-Sun L2 point. This new capability enables a new design pardigm -- simplicity. The six to eight meter class telescope with a massive high Technical Readiness Level ground observatory class monolithic primary mirror has been determined feasible. The proposed design, structural analysis, spacecraft design and shroud integration, thermal analysis, propulsion system, guidance navigation and pointing control assumptions about the avionics, and power systems, operational lifetime, and the idea of in-space servicing are reviewed.

Innovations in Delta Differential One-Way Range: from Viking to Mars Science Laboratory

NASA Technical Reports Server (NTRS)

Border, James S.

2009-01-01

The Deep Space Network has provided the capability for very-long-baseline interferometry measurements in support of spacecraft navigation since the late 1970s. Both system implementation and the importance of such measurements to flight projects have evolved significantly over the past three decades. Innovations introduced through research and development programs have led to much better performance. This paper provides an overview of the development and use of interferometric tracking techniques in the DSN starting with the Viking era and continuing with a description of the current system and its planned use to support Mars Science Laboratory.

System, Apparatus, and Method for Active Debris Removal

NASA Technical Reports Server (NTRS)

Hickey, Christopher J. (Inventor); Spehar, Peter T. (Inventor); Griffith, Sr., Anthony D. (Inventor); Kohli, Rajiv (Inventor); Burns, Susan H. (Inventor); Gruber, David J. (Inventor); Lee, David E. (Inventor); Robinson, Travis M. (Inventor); Damico, Stephen J. (Inventor); Smith, Jason T. (Inventor)

2017-01-01

Systems, apparatuses, and methods for removal of orbital debris are provided. In one embodiment, an apparatus includes a spacecraft control unit configured to guide and navigate the apparatus to a target. The apparatus also includes a dynamic object characterization unit configured to characterize movement, and a capture feature, of the target. The apparatus further includes a capture and release unit configured to capture a target and deorbit or release the target. The collection of these apparatuses is then employed as multiple, independent and individually operated vehicles launched from a single launch vehicle for the purpose of disposing of multiple debris objects.

The Cambridge encyclopedia of space (revised edition)

NASA Technical Reports Server (NTRS)

D'Allest, Frederic; Arets, Jean; Baker, Phillip J.; Balmino, Georges; Barth, Hans; Benson, Robert H.

1990-01-01

A comprehensive and intensively illustrated development history is presented for spaceflight, ranging over its basic concepts' speculative and fictional origins, the historical roots of rocket-related technologies, and the scientific accomplishments of earth orbit and interplanetary missions to date. Attention is given to propulsion systems, spaceflight launch centers, satellite systems, and solar system exploration by the U.S. and the Soviet Union. Current space-related activities encompass the meteorology, remote sensing, telecommunications and direct broadcasting, and navigation functions of unmanned satellites, as well as such manned spacecraft roles as medical and materials science research. The military uses of space, and increasingly important space industrialization concepts, are discussed as well.

KSC-07pd2423

NASA Image and Video Library

2007-09-11

KENNEDY SPACE CENTER, FLA. -- The Dawn spacecraft is moved out of the Astrotech Space Operations facility, on its way to Launch Pad 17-B at Cape Canaveral Air Force Station. At the pad, Dawn will be lifted into the mobile service tower and prepared for mating with the awaiting Delta II rocket. Dawn is scheduled for launch in a window from 7:25 to 7:54 a.m. Sept. 26 from CCAFS. During its nearly decade-long mission, the Dawn mission will study the asteroid Vesta and dwarf planet Ceres, celestial bodies believed to have accreted early in the history of the solar system. To carry out its scientific mission, the Dawn spacecraft will carry a visible camera, a visible and infrared mapping spectrometer, and a gamma ray and neutron spectrometer, whose data will be used in combination to characterize these bodies. In addition to the three instruments, radiometric and optical navigation data will provide data relating to the gravity field and thus bulk properties and internal structure of the two bodies. Data returned from the Dawn spacecraft could provide opportunities for significant breakthroughs in our knowledge of how the solar system formed. Photo credit: NASA/Jack Pfaller

KSC-07pd2444

NASA Image and Video Library

2007-09-11

KENNEDY SPACE CENTER, FLA. -- In the mobile service tower on Launch Pad 17-B at Cape Canaveral Air Force Station, workers remove the lower segments of the transportation canister away from the Dawn spacecraft. After removal of the canister, Dawn will be mated with the waiting Delta II rocket. Dawn is scheduled for launch in a window from 7:25 to 7:54 a.m. EDT Sept. 26 from CCAFS. During its nearly decade-long mission, the Dawn mission will study the asteroid Vesta and dwarf planet Ceres, celestial bodies believed to have accreted early in the history of the solar system. To carry out its scientific mission, the Dawn spacecraft will carry a visible camera, a visible and infrared mapping spectrometer, and a gamma ray and neutron spectrometer, whose data will be used in combination to characterize these bodies. In addition to the three instruments, radiometric and optical navigation data will provide data relating to the gravity field and thus bulk properties and internal structure of the two bodies. Data returned from the Dawn spacecraft could provide opportunities for significant breakthroughs in our knowledge of how the solar system formed. Photo credit: NASA/Jim Grossmann

KSC-07pd2409

NASA Image and Video Library

2007-09-10

KENNEDY SPACE CENTER, FLA. -- At Astrotech Space Operations in Titusville, Fla., workers ensure the upper transportation canister is securely attached to the lower segments. The transportation canister will protect the spacecraft and booster during transfer to Launch Pad 17-B at Cape Canaveral Air Force Station (CCAFS). During its nearly decade-long mission, the Dawn mission will study the asteroid Vesta and dwarf planet Ceres, celestial bodies believed to have accreted early in the history of the solar system. To carry out its scientific mission, the Dawn spacecraft will carry a visible camera, a visible and infrared mapping spectrometer, and a gamma ray and neutron spectrometer, whose data will be used in combination to characterize these bodies. In addition to the three instruments, radiometric and optical navigation data will provide data relating to the gravity field and thus bulk properties and internal structure of the two bodies. Data returned from the Dawn spacecraft could provide opportunities for significant breakthroughs in our knowledge of how the solar system formed. Launch via a Delta II rocket is scheduled in a window from 7:25 to 7:54 a.m. Sept. 26 from CCAFS. Photo credit: NASA/Jim Grossmann

Agent Based Software for the Autonomous Control of Formation Flying Spacecraft

NASA Technical Reports Server (NTRS)

How, Jonathan P.; Campbell, Mark; Dennehy, Neil (Technical Monitor)

2003-01-01

Distributed satellite systems is an enabling technology for many future NASA/DoD earth and space science missions, such as MMS, MAXIM, Leonardo, and LISA [1, 2, 3]. While formation flying offers significant science benefits, to reduce the operating costs for these missions it will be essential that these multiple vehicles effectively act as a single spacecraft by performing coordinated observations. Autonomous guidance, navigation, and control as part of a coordinated fleet-autonomy is a key technology that will help accomplish this complex goal. This is no small task, as most current space missions require significant input from the ground for even relatively simple decisions such as thruster burns. Work for the NMP DS1 mission focused on the development of the New Millennium Remote Agent (NMRA) architecture for autonomous spacecraft control systems. NMRA integrates traditional real-time monitoring and control with components for constraint-based planning, robust multi-threaded execution, and model-based diagnosis and reconfiguration. The complexity of using an autonomous approach for space flight software was evident when most of its capabilities were stripped off prior to launch (although more capability was uplinked subsequently, and the resulting demonstration was very successful).

Smoothing and Predicting Celestial Pole Offsets using a Kalman Filter and Smoother

NASA Astrophysics Data System (ADS)

Nastula, J.; Chin, T. M.; Gross, R. S.; Winska, M.; Winska, J.

2017-12-01

Since the early days of interplanetary spaceflight, accounting for changes in the Earth's rotation is recognized to be critical for accurate navigation. In the 1960s, tracking anomalies during the Ranger VII and VIII lunar missions were traced to errors in the Earth orientation parameters. As a result, Earth orientation calibration methods were improved to support the Mariner IV and V planetary missions. Today, accurate Earth orientation parameters are used to track and navigate every interplanetary spaceflight mission. The interplanetary spacecraft tracking and navigation teams at JPL require the UT1 and polar motion parameters, and these Earth orientation parameters are estimated by the use of a Kalman filter to combine past measurements of these parameters and predict their future evolution. A model was then used to provide the nutation/precession components of the Earth's orientation separately. As a result, variations caused by the free core nutation were not taken into account. But for the highest accuracy, these variations must be considered. So JPL recently developed an approach based upon the use of a Kalman filter and smoother to provide smoothed and predicted celestial pole offsets (CPOs) to the interplanetary spacecraft tracking and navigation teams. The approach used at JPL to do this and an evaluation of the accuracy of the predicted CPOs will be given here.

Risk-based analysis and decision making in multi-disciplinary environments

NASA Technical Reports Server (NTRS)

Feather, Martin S.; Cornford, Steven L.; Moran, Kelly

2003-01-01

A risk-based decision-making process conceived of and developed at JPL and NASA, has been used to help plan and guide novel technology applications for use on spacecraft. These applications exemplify key challenges inherent in multi-disciplinary design of novel technologies deployed in mission-critical settings. 1) Cross-disciplinary concerns are numerous (e.g., spacecraft involve navigation, propulsion, telecommunications). These concems are cross-coupled and interact in multiple ways (e.g., electromagnetic interference, heat transfer). 2) Time and budget pressures constrain development, operational resources constrain the resulting system (e.g., mass, volume, power). 3) Spacecraft are critical systems that must operate correctly the first time in only partially understood environments, with no chance for repair. 4) Past experience provides only a partial guide: New mission concepts are enhanced and enabled by new technologies, for which past experience is lacking. The decision-making process rests on quantitative assessments of the relationships between three classes of information - objectives (the things the system is to accomplish and constraints on its operation and development), risks (whose occurrence detracts from objectives), and mitigations (options for reducing the likelihood and or severity of risks). The process successfully guides experts to pool their knowledge, using custom-built software to support information gathering and decision-making.

The Navstar GPS master control station's Kalman filter experience

NASA Technical Reports Server (NTRS)

Scardera, Michael P.

1990-01-01

The Navstar Global Positioning System (GPS) is a highly accurate space based navigation system providing all weather, 24 hour a day service to both military and civilian users. The system provides a Gaussian position solution with four satellites, each providing its ephemeris and clock offset with respect to GPS time. The GPS Master Clock Station (MCS) is charged with tracking each Navstar spacecraft and precisely defining the ephemeris and clock parameters for upload into the vehicle's navigation message. Briefly described here are the Navstar system and the Kalman filter estimation process used by MCS to determine, predict, and ensure quality control for each of the satellite's ephemeris and clock states. Routine performance is shown. Kalman filter reaction and response is discussed for anomalous clock behavior and trajectory perturbations. Particular attention is given to MCS efforts to improve orbital adjust modeling. The satellite out of service time due to orbital maneuvering has been reduced in the past year from four days to under twelve hours. The planning, reference trajectory model, and Kalman filter management improvements are explained.

KSC-98pc1209

NASA Image and Video Library

1998-10-02

KENNEDY SPACE CENTER, FLA. -- KSC workers give a final check to Deep Space 1 before starting a spin test on the spacecraft at the Defense Satellite Communications System Processing Facility (DPF), Cape Canaveral Air Station. The first flight in NASA's New Millennium Program, Deep Space 1 is designed to validate 12 new technologies for scientific space missions of the next century. Onboard experiments include a solar-powered ion propulsion engine and software that tracks celestial bodies so the spacecraft can make its own navigation decisions without the intervention of ground controllers. The ion propulsion engine is the first non-chemical propulsion to be used as the primary means of propelling a spacecraft. Deep Space 1 will complete most of its mission objectives within the first two months, but may also do a flyby of a near-Earth asteroid, 1992 KD, in July 1999. The spacecraft will be launched aboard a Boeing Delta 7326 rocket from Launch Pad 17A, Cape Canaveral Air Station, in October. Delta II rockets are medium capacity expendable launch vehicles derived from the Delta family of rockets built and launched since 1960. Since then there have been more than 245 Delta launches

KSC-98pc1193

NASA Image and Video Library

1998-09-30

KENNEDY SPACE CENTER, FLA. -- KSC workers lower the "can" over Deep Space 1. The can will protect the spacecraft during transport to the Defense Satellite Communications System Processing Facility (DPF), Cape Canaveral Air Station, for testing. The first flight in NASA's New Millennium Program, Deep Space 1 is designed to validate 12 new technologies for scientific space missions of the next century. Onboard experiments include a solar-powered ion propulsion engine and software that tracks celestial bodies so the spacecraft can make its own navigation decisions without the intervention of ground controllers. The ion propulsion engine is the first non-chemical propulsion to be used as the primary means of propelling a spacecraft. Deep Space 1 will complete most of its mission objectives within the first two months, but may also do a flyby of a near-Earth asteroid, 1992 KD, in July 1999. The spacecraft will be launched aboard a Boeing Delta 7326 rocket from Launch Pad 17A, Cape Canaveral Air Station, in October. Delta II rockets are medium capacity expendable launch vehicles derived from the Delta family of rockets built and launched since 1960. Since then there have been more than 245 Delta launches

Deep Space 1 moves to CCAS for testing

NASA Technical Reports Server (NTRS)

1998-01-01

KSC workers lower the 'can' over Deep Space 1. The can will protect the spacecraft during transport to the Defense Satellite Communications System Processing Facility (DPF), Cape Canaveral Air Station, for testing. The first flight in NASA's New Millennium Program, Deep Space 1 is designed to validate 12 new technologies for scientific space missions of the next century. Onboard experiments include a solar-powered ion propulsion engine and software that tracks celestial bodies so the spacecraft can make its own navigation decisions without the intervention of ground controllers. The ion propulsion engine is the first non- chemical propulsion to be used as the primary means of propelling a spacecraft. Deep Space 1 will complete most of its mission objectives within the first two months, but may also do a flyby of a near-Earth asteroid, 1992 KD, in July 1999. The spacecraft will be launched aboard a Boeing Delta 7326 rocket from Launch Pad 17A, Cape Canaveral Air Station, in October. Delta II rockets are medium capacity expendable launch vehicles derived from the Delta family of rockets built and launched since 1960. Since then there have been more than 245 Delta launches.

Deep Space 1 is prepared for spin test at CCAS

NASA Technical Reports Server (NTRS)

1998-01-01

KSC workers give a final check to Deep Space 1 before starting a spin test on the spacecraft at the Defense Satellite Communications System Processing Facility (DPF), Cape Canaveral Air Station. The first flight in NASA's New Millennium Program, Deep Space 1 is designed to validate 12 new technologies for scientific space missions of the next century. Onboard experiments include a solar-powered ion propulsion engine and software that tracks celestial bodies so the spacecraft can make its own navigation decisions without the intervention of ground controllers. The ion propulsion engine is the first non-chemical propulsion to be used as the primary means of propelling a spacecraft. Deep Space 1 will complete most of its mission objectives within the first two months, but may also do a flyby of a near-Earth asteroid, 1992 KD, in July 1999. The spacecraft will be launched aboard a Boeing Delta 7326 rocket from Launch Pad 17A, Cape Canaveral Air Station, in October. Delta II rockets are medium capacity expendable launch vehicles derived from the Delta family of rockets built and launched since 1960. Since then there have been more than 245 Delta launches.

Recent Developments in Hardware-in-the-Loop Formation Navigation and Control

NASA Technical Reports Server (NTRS)

Mitchell, Jason W.; Luquette, Richard J.

2005-01-01

The Formation Flying Test-Bed (FFTB) at NASA Goddard Space Flight Center (GSFC) provides a hardware-in-the-loop test environment for formation navigation and control. The facility is evolving as a modular, hybrid, dynamic simulation facility for end-tc-end guidance, navigation, and control (GN&C) design and analysis of formation flying spacecraft. The core capabilities of the FFTB, as a platform for testing critical hardware and software algorithms in-the-loop, are reviewed with a focus on many recent improvements. Two significant upgrades to the FFTB are a message-oriented middleware (MOM) architecture, and a software crosslink for inter-spacecraft ranging. The MOM architecture provides a common messaging bus for software agents, easing integration, arid supporting the GSFC Mission Services Evolution Center (GMSEC) architecture via software bridge. Additionally, the FFTB s hardware capabilities are expanding. Recently, two Low-Power Transceivers (LPTs) with ranging capability have been introduced into the FFTB. The LPT crosslinks will be connected to a modified Crosslink Channel Simulator (CCS), which applies realistic space-environment effects to the Radio Frequency (RF) signals produced by the LPTs.

Navigation Challenges of the Mars Phoenix Lander Mission

NASA Technical Reports Server (NTRS)

Portock, Brian M.; Kruizinga, Gerhard; Bonfiglio, Eugene; Raofi, Behzad; Ryne, Mark

2008-01-01

The Mars Phoenix Lander mission was launched on August 4th, 2007. To land safely at the desired landing location on the Mars surface, the spacecraft trajectory had to be controlled to a set of stringent atmospheric entry and landing conditions. The landing location needed to be controlled to an elliptical area with dimensions of 100km by 20km. The two corresponding critical components of the atmospheric entry conditions are the entry flight path angle (target: -13.0 deg +/-0.21 deg) and the entry time (within +/-30 seconds). The purpose of this paper is to describe the navigation strategies used to overcome the challenges posed during spacecraft operations, which included an attitude control thruster calibration campaign, a trajectory control strategy, and a trajectory reconstruction strategy. Overcoming the navigation challenges resulted in final Mars atmospheric entry conditions just 0.007 deg off in entry flight path angle and 14.9 sec early in entry time. These entry dispersions in addition to the entry, descent, and landing trajectory dispersion through the atmosphere, lead to a final landing location just 7 km away from the desired landing target.

Planetary quarantine: Space research and technology

NASA Technical Reports Server (NTRS)

1974-01-01

The impact of satisfying satellite quarantine constraints on current outer planet mission and spacecraft designs is considered. Tools required to perform trajectory and navigation analyses for determining satellite impact probabilities are developed.

Development and flight test of a deployable precision landing system

NASA Technical Reports Server (NTRS)

Sim, Alex G.; Murray, James E.; Neufeld, David C.; Reed, R. Dale

1994-01-01

A joint NASA Dryden Flight Research Facility and Johnson Space Center program was conducted to determine the feasibility of the autonomous recovery of a spacecraft using a ram-air parafoil system for the final stages of entry from space that included a precision landing. The feasibility of this system was studied using a flight model of a spacecraft in the generic shape of a flattened biconic that weighed approximately 150 lb and was flown under a commercially available, ram-air parachute. Key elements of the vehicle included the Global Positioning System guidance for navigation, flight control computer, ultrasonic sensing for terminal altitude, electronic compass, and onboard data recording. A flight test program was used to develop and refine the vehicle. This vehicle completed an autonomous flight from an altitude of 10,000 ft and a lateral offset of 1.7 miles that resulted in a precision flare and landing into the wind at a predetermined location. At times, the autonomous flight was conducted in the presence of winds approximately equal to vehicle airspeed. Several novel techniques for computing the winds postflight were evaluated. Future program objectives are also presented.

Neptune Aerocapture Systems Analysis

NASA Technical Reports Server (NTRS)

Lockwood, Mary Kae

2004-01-01

A Neptune Aerocapture Systems Analysis is completed to determine the feasibility, benefit and risk of an aeroshell aerocapture system for Neptune and to identify technology gaps and technology performance goals. The high fidelity systems analysis is completed by a five center NASA team and includes the following disciplines and analyses: science; mission design; aeroshell configuration screening and definition; interplanetary navigation analyses; atmosphere modeling; computational fluid dynamics for aerodynamic performance and database definition; initial stability analyses; guidance development; atmospheric flight simulation; computational fluid dynamics and radiation analyses for aeroheating environment definition; thermal protection system design, concepts and sizing; mass properties; structures; spacecraft design and packaging; and mass sensitivities. Results show that aerocapture can deliver 1.4 times more mass to Neptune orbit than an all-propulsive system for the same launch vehicle. In addition aerocapture results in a 3-4 year reduction in trip time compared to all-propulsive systems. Aerocapture is feasible and performance is adequate for the Neptune aerocapture mission. Monte Carlo simulation results show 100% successful capture for all cases including conservative assumptions on atmosphere and navigation. Enabling technologies for this mission include TPS manufacturing; and aerothermodynamic methods and validation for determining coupled 3-D convection, radiation and ablation aeroheating rates and loads, and the effects on surface recession.

Navigation Image of Ceres

NASA Image and Video Library

2017-04-07

NASA's Dawn spacecraft took this picture on its way to a new orbit, at an altitude of about 30,000 miles (48,300 kilometers), as part of a series of images intended to help the navigation of the spacecraft relative to Ceres. The image was taken on March 28, 2017. Several familiar features can be identified: At the top, we see Occator Crater and its faculae (bright deposits identified as a mixture of sodium carbonate and other salts). Below center is the crater Urvara, and to the right of it, the larger crater Yalode (the third and second largest craters on Ceres, respectively). Large-scale faults called Samhain Catenae stretch from the Occator region toward the Yalode-Urvara region. The spacecraft will settle into a new orbit that will allow it to observe Ceres in opposition at the end of April 2017, when Dawn is directly between the sun and the Occator bright spots, at an altitude of about 12,400 miles (20,000 kilometers). The Dawn Journal has more details about the science expected from these observations. https://photojournal.jpl.nasa.gov/catalog/PIA21401

Observations of the Geometry of Horizon-Based Optical Navigation

NASA Technical Reports Server (NTRS)

Christian, John; Robinson, Shane

2016-01-01

NASA's Orion Project has sparked a renewed interest in horizon-based optical navigation(OPNAV) techniques for spacecraft in the Earth-Moon system. Some approaches have begun to explore the geometry of horizon-based OPNAV and exploit the fact that it is a conic section problem. Therefore, the present paper focuses more deeply on understanding and leveraging the various geometric interpretations of horizon-based OPNAV. These results provide valuable insight into the fundamental workings of OPNAV solution methods, their convergence properties, and associated estimate covariance. Most importantly, the geometry and transformations uncovered in this paper lead to a simple and non-iterative solution to the generic horizon-based OPNAV problem. This represents a significant theoretical advancement over existing methods. Thus, we find that a clear understanding of geometric relationships is central to the prudent design, use, and operation of horizon-based OPNAV techniques.

Aerospace Applications of Weibull and Monte Carlo Simulation with Importance Sampling

NASA Technical Reports Server (NTRS)

Bavuso, Salvatore J.

1998-01-01

Recent developments in reliability modeling and computer technology have made it practical to use the Weibull time to failure distribution to model the system reliability of complex fault-tolerant computer-based systems. These system models are becoming increasingly popular in space systems applications as a result of mounting data that support the decreasing Weibull failure distribution and the expectation of increased system reliability. This presentation introduces the new reliability modeling developments and demonstrates their application to a novel space system application. The application is a proposed guidance, navigation, and control (GN&C) system for use in a long duration manned spacecraft for a possible Mars mission. Comparisons to the constant failure rate model are presented and the ramifications of doing so are discussed.

Visual Orientation in Unfamiliar Gravito-Inertial Environments

NASA Technical Reports Server (NTRS)

Oman, Charles M.

1999-01-01

The goal of this project is to better understand the process of spatial orientation and navigation in unfamiliar gravito-inertial environments, and ultimately to use this new information to develop effective countermeasures against the orientation and navigation problems experienced by astronauts. How do we know our location, orientation, and motion of our body with respect to the external environment ? On earth, gravity provides a convenient "down" cue. Large body rotations normally occur only in a horizontal plane. In space, the gravitational down cue is absent. When astronauts roll or pitch upside down, they must recognize where things are around them by a process of mental rotation which involves three dimensions, rather than just one. While working in unfamiliar situations they occasionally misinterpret visual cues and experience striking "visual reorientation illusions" (VRIs), in which the walls, ceiling, and floors of the spacecraft exchange subjective identities. VRIs cause disorientation, reaching errors, trigger attacks of space motion sickness, and potentially complicate emergency escape. MIR crewmembers report that 3D relationships between modules - particularly those with different visual verticals - are difficult to visualize, and so navigating through the node that connects them is not instinctive. Crew members learn routes, but their apparent lack of survey knowledge is a concern should fire, power loss, or depressurization limit visibility. Anecdotally, experience in mockups, parabolic flight, neutral buoyancy and virtual reality (VR) simulators helps. However, no techniques have been developed to quantify individual differences in orientation and navigation abilities, or the effectiveness of preflight visual. orientation training. Our understanding of the underlying physiology - for example how our sense of place and orientation is neurally coded in three dimensions in the limbic system of the brain - is incomplete. During the 16 months that this human and animal research project has been underway, we have obtained several results that are not only of basic research interest, but which have practical implications for the architecture and layout of spacecraft interiors and for the development of astronaut spatial orientation training countermeasures.

Planetary quarantine, supporting research and technology

NASA Technical Reports Server (NTRS)

1975-01-01

The impact of satisfying satellite quarantine on current outer planet mission and spacecraft designs was determined and the tools required to perform trajectory and navigation analyses for determining satellite impact probabilities were developed.

Fast Light Optical Gyroscopes

NASA Technical Reports Server (NTRS)

Smith, David D.

2015-01-01

Next-generation space missions are currently constrained by existing spacecraft navigation systems which are not fully autonomous. These systems suffer from accumulated dead-reckoning errors and must therefore rely on periodic corrections provided by supplementary technologies that depend on line-of-sight signals from Earth, satellites, or other celestial bodies for absolute attitude and position determination, which can be spoofed, incorrectly identified, occluded, obscured, attenuated, or insufficiently available. These dead-reckoning errors originate in the ring laser gyros themselves, which constitute inertial measurement units. Increasing the time for standalone spacecraft navigation therefore requires fundamental improvements in gyroscope technologies. One promising solution to enhance gyro sensitivity is to place an anomalous dispersion or fast light material inside the gyro cavity. The fast light essentially provides a positive feedback to the gyro response, resulting in a larger measured beat frequency for a given rotation rate as shown in figure 1. Game Changing Development has been investing in this idea through the Fast Light Optical Gyros (FLOG) project, a collaborative effort which began in FY 2013 between NASA Marshall Space Flight Center (MSFC), the U.S. Army Aviation and Missile Research, Development, and Engineering Center (AMRDEC), and Northwestern University. MSFC and AMRDEC are working on the development of a passive FLOG (PFLOG), while Northwestern is developing an active FLOG (AFLOG). The project has demonstrated new benchmarks in the state of the art for scale factor sensitivity enhancement. Recent results show cavity scale factor enhancements of approx.100 for passive cavities.

Considerations and Architectures for Inter-Satellite Communications in Distributed Spacecraft Systems

NASA Technical Reports Server (NTRS)

Edwards, Bernard; Horne, William; Israel, David; Kwadrat, Carl; Bauer, Frank H. (Technical Monitor)

2001-01-01

This paper will identify the important characteristics and requirements necessary for inter-satellite communications in distributed spacecraft systems and present analysis results focusing on architectural and protocol comparisons. Emerging spacecraft systems plan to deploy multiple satellites in various "distributed" configurations ranging from close proximity formation flying to widely separated constellations. Distributed spacecraft configurations provide advantages for science exploration and operations since many activities useful for missions may be better served by distributing them between spacecraft. For example, many scientific observations can be enhanced through spatially separated platforms, such as for deep space interferometry. operating multiple distributed spacecraft as a mission requires coordination that may be best provided through inter-satellite communications. For example, several future distributed spacecraft systems envision autonomous operations requiring relative navigational calculations and coordinated attitude and position corrections. To conduct these operations, data must be exchanged between spacecraft. Direct cross-links between satellites provides an efficient and practical method for transferring data and commands. Unlike existing "bent-pipe" relay networks supporting space missions, no standard or widely-used method exists for cross-link communications. Consequently, to support these future missions, the characteristics necessary for inter-satellite communications need to be examined. At first glance, all of the missions look extremely different. Some missions call for tens to hundreds of nano-satellites in constant communications in close proximity to each other. Other missions call for a handful of satellites communicating very slowly over thousands to hundreds of thousands of kilometers. The paper will first classify distributed spacecraft missions to help guide the evaluation and definition of cross-link architectures and approaches. Based on this general classification, the paper will examine general physical layer parameters, such as frequency bands and data rates, necessary to support the missions. The paper will also identify classes of communication architectures that may be employed, ranging from fully distributed to centralized topologies. Numerous factors, such as number of spacecraft, must be evaluated when attempting to pick a communications architecture. Also important is the stability of the formation from a communications standpoint. For example, do all of the spacecraft require equal bandwidth and are spacecraft allowed to enter and leave a formation? The type of science mission being attempted may also heavily influence the communications architecture. In addition, the paper will assess various parameters and characteristics typically associated with the data link layer. The paper will analyze the performance of various multiple access techniques given the operational scenario, requirements, and communication topologies envisioned for missions. This assessment will also include a survey of existing standards and their applicability for distributed spacecraft systems. An important consideration includes the interoperability of the lower layers (physical and data link) examined in this paper with the higher layer protocols(network) envisioned for future space internetworking. Finally, the paper will define a suggested path, including preliminary recommendations, for defining and developing a standard for intersatellite communications based on the classes of distributed spacecraft missions and analysis results.

An atlas of monthly mean distributions of SSMI surface wind speed, ARGOS buoy drift, AVHRR/2 sea surface temperature, and ECMWF surface wind components during 1990

NASA Technical Reports Server (NTRS)

Halpern, D.; Knauss, W.; Brown, O.; Wentz, F.

1993-01-01

The following monthly mean global distributions for 1990 are proposed with a common color scale and geographical map: 10-m height wind speed estimated from the Special Sensor Microwave Imager (SSMI) on a United States (US) Air Force Defense Meteorological Satellite Program (DMSP) spacecraft; sea surface temperature estimated from the advanced very high resolution radiometer (AVHRR/2) on a U.S. National Oceanic and Atmospheric Administration (NOAA) spacecraft; Cartesian components of free drifting buoys which are tracked by the ARGOS navigation system on NOAA satellites; and Cartesian components on the 10-m height wind vector computed by the European Center for Medium-Range Weather Forecasting (ECMWF). Charts of monthly mean value, sampling distribution, and standard deviation values are displayed. Annual mean distributions are displayed.

An atlas of monthly mean distributions of SSMI surface wind speed, ARGOS buoy drift, AVHRR/2 sea surface temperature, and ECMWF surface wind components during 1991

NASA Technical Reports Server (NTRS)

Halpern, D.; Knauss, W.; Brown, O.; Wentz, F.

1993-01-01

The following monthly mean global distributions for 1991 are presented with a common color scale and geographical map: 10-m height wind speed estimated from the Special Sensor Microwave Imager (SSMI) on a United States Air Force Defense Meteorological Satellite Program (DMSP) spacecraft; sea surface temperature estimated from the advanced very high resolution radiometer (AVHRR/2) on a U.S. National Oceanic and Atmospheric Administration (NOAA) spacecraft; Cartesian components of free-drifting buoys which are tracked by the ARGOS navigation system on NOAA satellites; and Cartesian components of the 10-m height wind vector computed by the European Center for Medium-Range Weather Forecasting (ECMWF). Charts of monthly mean value, sampling distribution, and standard deviation value are displayed. Annual mean distributions are displayed.

Pegasus XL CYGNSS Fairing Inspection

NASA Image and Video Library

2016-10-20

The payload fairing for an Orbital ATK Pegasus XL rocket is inspected in Building 1555 at Vandenberg Air Force Base in California. The fairing will protect NASA's Cyclone Global Navigation Satellite System (CYGNSS) spacecraft during launch. The rocket and spacecraft are being prepared at Vandenberg, then will be attached to the Orbital ATK L-1011 carrier aircraft and transported to NASA's Kennedy Space Center in Florida. CYGNSS will launch on the Pegasus XL rocket from the Skid Strip at Cape Canaveral Air Force Station. CYGNSS will make frequent and accurate measurements of ocean surface winds throughout the life cycle of tropical storms and hurricanes. The data that CYGNSS provides will enable scientists to probe key air-sea interaction processes that take place near the core of storms, which are rapidly changing and play a critical role in the beginning and intensification of hurricanes.

Micro-Inspector Spacecraft for Space Exploration Missions

NASA Technical Reports Server (NTRS)

Mueller, Juergen; Alkalai, Leon; Lewis, Carol

2005-01-01

NASA is seeking to embark on a new set of human and robotic exploration missions back to the Moon, to Mars, and destinations beyond. Key strategic technical challenges will need to be addressed to realize this new vision for space exploration, including improvements in safety and reliability to improve robustness of space operations. Under sponsorship by NASA's Exploration Systems Mission, the Jet Propulsion Laboratory (JPL), together with its partners in government (NASA Johnson Space Center) and industry (Boeing, Vacco Industries, Ashwin-Ushas Inc.) is developing an ultra-low mass (<3.0 kg) free-flying micro-inspector spacecraft in an effort to enhance safety and reduce risk in future human and exploration missions. The micro-inspector will provide remote vehicle inspections to ensure safety and reliability, or to provide monitoring of in-space assembly. The micro-inspector spacecraft represents an inherently modular system addition that can improve safety and support multiple host vehicles in multiple applications. On human missions, it may help extend the reach of human explorers, decreasing human EVA time to reduce mission cost and risk. The micro-inspector development is the continuation of an effort begun under NASA's Office of Aerospace Technology Enabling Concepts and Technology (ECT) program. The micro-inspector uses miniaturized celestial sensors; relies on a combination of solar power and batteries (allowing for unlimited operation in the sun and up to 4 hours in the shade); utilizes a low-pressure, low-leakage liquid butane propellant system for added safety; and includes multi-functional structure for high system-level integration and miniaturization. Versions of this system to be designed and developed under the H&RT program will include additional capabilities for on-board, vision-based navigation, spacecraft inspection, and collision avoidance, and will be demonstrated in a ground-based, space-related environment. These features make the micro-inspector design unique in its ability to serve crewed as well as robotic spacecraft, well beyond Earth-orbit and into arenas such as robotic missions, where human teleoperation capability is not locally available.

Position reporting system using small satellites

NASA Technical Reports Server (NTRS)

Pavesi, B.; Rondinelli, G.; Graziani, F.

1990-01-01

A system able to provide position reporting and monitoring services for mobile applications represents a natural complement to the Global Positioning System (GPS) navigation system. The system architecture is defined on the basis of the communications requirements derived by user needs, allowing maximum flexibility in the use of channel capacity, and a very simple and low cost terminal. The payload is sketched, outlining the block modularity and the use of qualified hardware. The global system capacity is also derived. The spacecraft characteristics are defined on the basis of the payload requirements. A small bus optimized for Ariane IV, Delta II vehicles and based on the modularity concept is presented. The design takes full advantage of each launcher with a common basic bus or bus elements for a mass production.

Simulation of Attitude and Trajectory Dynamics and Control of Multiple Spacecraft

NASA Technical Reports Server (NTRS)

Stoneking, Eric T.

2009-01-01

Agora software is a simulation of spacecraft attitude and orbit dynamics. It supports spacecraft models composed of multiple rigid bodies or flexible structural models. Agora simulates multiple spacecraft simultaneously, supporting rendezvous, proximity operations, and precision formation flying studies. The Agora environment includes ephemerides for all planets and major moons in the solar system, supporting design studies for deep space as well as geocentric missions. The environment also contains standard models for gravity, atmospheric density, and magnetic fields. Disturbance force and torque models include aerodynamic, gravity-gradient, solar radiation pressure, and third-body gravitation. In addition to the dynamic and environmental models, Agora supports geometrical visualization through an OpenGL interface. Prototype models are provided for common sensors, actuators, and control laws. A clean interface accommodates linking in actual flight code in place of the prototype control laws. The same simulation may be used for rapid feasibility studies, and then used for flight software validation as the design matures. Agora is open-source and portable across computing platforms, making it customizable and extensible. It is written to support the entire GNC (guidance, navigation, and control) design cycle, from rapid prototyping and design analysis, to high-fidelity flight code verification. As a top-down design, Agora is intended to accommodate a large range of missions, anywhere in the solar system. Both two-body and three-body flight regimes are supported, as well as seamless transition between them. Multiple spacecraft may be simultaneously simulated, enabling simulation of rendezvous scenarios, as well as formation flying. Built-in reference frames and orbit perturbation dynamics provide accurate modeling of precision formation control.

Reactive Sequencing for Autonomous Navigation Evolving from Phoenix Entry, Descent, and Landing

NASA Technical Reports Server (NTRS)

Grasso, Christopher A.; Riedel, Joseph E.; Vaughan, Andrew T.

2010-01-01

Virtual Machine Language (VML) is an award-winning advanced procedural sequencing language in use on NASA deep-space missions since 1997, and was used for the successful entry, descent, and landing (EDL) of the Phoenix spacecraft onto the surface of Mars. Phoenix EDL utilized a state-oriented operations architecture which executed within the constraints of the existing VML 2.0 flight capability, compatible with the linear "land or die" nature of the mission. The intricacies of Phoenix EDL included the planned discarding of portions of the vehicle, the complex communications management for relay through on-orbit assets, the presence of temporally indeterminate physical events, and the need to rapidly catch up four days of sequencing should a reboot of the spacecraft flight computer occur shortly before atmospheric entry. These formidable operational challenges led to new techniques for packaging and coordinating reusable sequences called blocks using one-way synchronization via VML sequencing global variable events. The coordinated blocks acted as an ensemble to land the spacecraft, while individually managing various elements in as simple a fashion as possible. This paper outlines prototype VML 2.1 flight capabilities that have evolved from the one-way synchronization techniques in order to implement even more ambitious autonomous mission capabilities. Target missions for these new capabilities include autonomous touch-and-go sampling of cometary and asteroidal bodies, lunar landing of robotic missions, and ultimately landing of crewed lunar vehicles. Close proximity guidance, navigation, and control operations, on-orbit rendezvous, and descent and landing events featured in these missions require elaborate abort capability, manifesting highly non-linear scenarios that are so complex as to overtax traditional sequencing, or even the sort of one-way coordinated sequencing used during EDL. Foreseeing advanced command and control needs for small body and lunar landing guidance, navigation and control scenarios, work began three years ago on substantial upgrades to VML that are now being exercised in scenarios for lunar landing and comet/asteroid rendezvous. The advanced state-based approach includes coordinated state transition machines with distributed decision-making logic. These state machines are not merely sequences - they are reactive logic constructs capable of autonomous decision making within a well-defined domain. Combined with the JPL's AutoNav software used on Deep Space 1 and Deep Impact, the system allows spacecraft to autonomously navigate to an unmapped surface, soft-contact, and either land or ascend. The state machine architecture enabled by VML 2.1 has successfully performed sampling missions and lunar descent missions in a simulated environment, and is progressing toward flight capability. The authors are also investigating using the VML 2.1 flight director architecture to perform autonomous activities like rendezvous with a passive hypothetical Mars sample return capsule. The approach being pursued is similar to the touch-and-go sampling state machines, with the added complications associated with the search for, physical capture of, and securing of a separate spacecraft. Complications include optically finding and tracking the Orbiting Sample Capsule (OSC), keeping the OSC illuminated, making orbital adjustments, and physically capturing the OSC. Other applications could include autonomous science collection and fault compensation.

Navigational Challenges for a Europa Flyby Mission

NASA Technical Reports Server (NTRS)

Martin-Mur, Tomas J.; Ionasescu, Rodica; Valerino, Powtawche; Criddle, Kevin; Roncoli, Ralph

2014-01-01

Jupiter's moon Europa is a prime candidate in the search for present-day habitable environments outside of the Earth. A number of missions have provided increasingly detailed images of the complex surface of Europa, including the Galileo mission, which also carried instruments that allowed for a limited investigation of the environment of Europa. A new mission to Europa is needed to pursue these exciting discoveries using close-up observations with modern instrumentation designed to address the habitability of Europa. In all likelihood the most cost effective way of doing this would be with a spacecraft carrying a comprehensive suite of instruments and performing multiple flybys of Europa. A number of notional trajectory designs have been investigated, utilizing gravity assists from other Galilean moons to decrease the period of the orbit and shape it in order to provide a globally distributed coverage of different regions of Europa. Navigation analyses are being performed on these candidate trajectories to assess the total Delta V that would be needed to complete the mission, to study how accurately the flybys could be executed, and to determine which assumptions most significantly affect the performance of the navigation system.

Autonomous interplanetary constellation design

NASA Astrophysics Data System (ADS)

Chow, Cornelius Channing, II

According to NASA's integrated space technology roadmaps, space-based infrastructures are envisioned as necessary ingredients to a sustained effort in continuing space exploration. Whether it be for extra-terrestrial habitats, roving/cargo vehicles, or space tourism, autonomous space networks will provide a vital communications lifeline for both future robotic and human missions alike. Projecting that the Moon will be a bustling hub of activity within a few decades, a near-term opportunity for in-situ infrastructure development is within reach. This dissertation addresses the anticipated need for in-space infrastructure by investigating a general design methodology for autonomous interplanetary constellations; to illustrate the theory, this manuscript presents results from an application to the Earth-Moon neighborhood. The constellation design methodology is formulated as an optimization problem, involving a trajectory design step followed by a spacecraft placement sequence. Modeling the dynamics as a restricted 3-body problem, the investigated design space consists of families of periodic orbits which play host to the constellations, punctuated by arrangements of spacecraft autonomously guided by a navigation strategy called LiAISON (Linked Autonomous Interplanetary Satellite Orbit Navigation). Instead of more traditional exhaustive search methods, a numerical continuation approach is implemented to map the admissible configuration space. In particular, Keller's pseudo-arclength technique is used to follow folding/bifurcating solution manifolds, which are otherwise inaccessible with other parameter continuation schemes. A succinct characterization of the underlying structure of the local, as well as global, extrema is thus achievable with little a priori intuition of the solution space. Furthermore, the proposed design methodology offers benefits in computation speed plus the ability to handle mildly stochastic systems. An application of the constellation design methodology to the restricted Earth-Moon system, reveals optimal pairwise configurations for various L1, L2, and L5 (halo, axial, and vertical) periodic orbit families. Navigation accuracies, ranging from O (10+/-1) meters in position space, are obtained for the optimal Earth-Moon constellations, given measurement noise on the order of 1 meter.

Mars Science Laboratory Navigation Results

NASA Technical Reports Server (NTRS)

Martin-Mur, Tomas J.; Kruizingas, Gerhard L.; Burkhart, P. Daniel; Wong, Mau C.; Abilleira, Fernando

2012-01-01

The Mars Science Laboratory (MSL), carrying the Curiosity rover to Mars, was launched on November 26, 2011, from Cape Canaveral, Florida. The target for MSL was selected to be Gale Crater, near the equator of Mars, with an arrival date in early August 2012. The two main interplanetary navigation tasks for the mission were to deliver the spacecraft to an entry interface point that would allow the rover to safely reach the landing area, and to tell the spacecraft where it entered the atmosphere of Mars, so it could guide itself accurately to close proximity of the landing target. MSL used entry guidance as it slowed down from the entry speed to a speed low enough to allow for a successful parachute deployment, and this guidance allowed shrinking the landing ellipse to a 99% conservative estimate of 7 by 20 kilometers. Since there is no global positioning system in Mars, achieving this accuracy was predicated on flying a trajectory that closely matched the reference trajectory used to design the guidance algorithm, and on initializing the guidance system with an accurate Mars-relative entry state that could be used as the starting point to integrate the inertial measurement unit data during entry and descent. The pre-launch entry flight path angle (EFPA) delivery requirement was +/- 0.20 deg, but after launch a smaller threshold of +/- 0.05 deg was used as the criteria for late trajectory correction maneuver (TCM) decisions. The pre-launch requirement for entry state knowledge was 2.8 kilometers in position error and 2 meters per second in velocity error, but also smaller thresholds were defined after launch to evaluate entry state update opportunities. The biggest challenge for the navigation team was to accurately predict the trajectory of the spacecraft, so the estimates of the entry conditions could be stable, and late trajectory correction maneuvers or entry parameter updates could be waved off. As a matter of fact, the prediction accuracy was such that the last TCM performed was a small burn executed eight days before landing, and the entry state that was calculated just 36 hours after that TCM, and that was uploaded to the spacecraft the same day, did not need to be updated. The final EFPA was 0.013 deg shallower than the -15.5 deg target, and the on-board entry state was just 200 meters in position and 0.11 meters per second in velocity from the post-landing reconstructed entry state. Overall the entry delivery and knowledge requirements were fulfilled with a margin of more than 90% with respect to the pre-launch thresholds. This excellent accuracy contributed to a very successful and accurate entry, descent, and landing, and surface mission.

Performance of differenced range data types in Voyager navigation

NASA Technical Reports Server (NTRS)

Taylor, T. H.; Campbell, J. K.; Jacobson, R. A.; Moultrie, B.; Nichols, R. A., Jr.; Riedel, J. E.

1982-01-01

Voyager radio navigation made use of a differenced rage data type for both Saturn encounters because of the low declination singularity of Doppler data. Nearly simultaneous two-way range from two-station baselines was explicitly differenced to produce this data type. Concurrently, a differential VLBI data type (DDOR), utilizing doubly differenced quasar-spacecraft delays, with potentially higher precision was demonstrated. Performance of these data types is investigated on the Jupiter-to-Saturn leg of Voyager 2. The statistics of performance are presented in terms of actual data noise comparisons and sample orbit estimates. Use of DDOR as a primary data type for navigation to Uranus is discussed.

Performance of differenced range data types in Voyager navigation

NASA Technical Reports Server (NTRS)

Taylor, T. H.; Campbell, J. K.; Jacobson, R. A.; Moultrie, B.; Nichols, R. A., Jr.; Riedel, J. E.

1982-01-01

Voyager radio navigation made use of differenced range data type for both Saturn encounters because of the low declination singularity of Doppler data. Nearly simultaneous two-way range from two-station baselines was explicitly differenced to produce this data type. Concurrently, a differential VLBI data type (DDOR), utilizing doubly differenced quasar-spacecraft delays, with potentially higher precision was demonstrated. Performance of these data types is investigated on the Jupiter to Saturn leg of Voyager 2. The statistics of performance are presented in terms of actual data noise comparisons and sample orbit estimates. Use of DDOR as a primary data type for navigation to Uranus is discussed.

Deep Space 1 Using its Ion Engine Artist Concept

NASA Image and Video Library

2003-07-02

NASA's New Millennium Deep Space 1 spacecraft approaching the comet 19P/Borrelly. With its primary mission to serve as a technology demonstrator--testing ion propulsion and 11 other advanced technologies--successfully completed in September 1999, Deep Space 1 is now headed for a risky, exciting rendezvous with Comet Borrelly. NASA extended the mission, taking advantage of the ion propulsion and other systems to target the daring encounter with the comet in September 2001. Once a sci-fi dream, the ion propulsion engine has powered the spacecraft for over 12,000 hours. Another onboard experiment includes software that tracks celestial bodies so the spacecraft can make its own navigation decisions without the intervention of ground controllers. The first flight in NASA's New Millennium Program, Deep Space 1 was launched October 24, 1998 aboard a Boeing Delta 7326 rocket from Cape Canaveral Air Station, FL. Deep Space 1 successfully completed and exceeded its mission objectives in July 1999 and flew by a near-Earth asteroid, Braille (1992 KD), in September 1999. http://photojournal.jpl.nasa.gov/catalog/PIA04604

Small Rocket/Spacecraft Technology (SMART) Platform

NASA Technical Reports Server (NTRS)

Esper, Jaime; Flatley, Thomas P.; Bull, James B.; Buckley, Steven J.

2011-01-01

The NASA Goddard Space Flight Center (GSFC) and the Department of Defense Operationally Responsive Space (ORS) Office are exercising a multi-year collaborative agreement focused on a redefinition of the way space missions are designed and implemented. A much faster, leaner and effective approach to space flight requires the concerted effort of a multi-agency team tasked with developing the building blocks, both programmatically and technologically, to ultimately achieve flights within 7-days from mission call-up. For NASA, rapid mission implementations represent an opportunity to find creative ways for reducing mission life-cycle times with the resulting savings in cost. This in tum enables a class of missions catering to a broader audience of science participants, from universities to private and national laboratory researchers. To that end, the SMART (Small Rocket/Spacecraft Technology) micro-spacecraft prototype demonstrates an advanced avionics system with integrated GPS capability, high-speed plug-and-playable interfaces, legacy interfaces, inertial navigation, a modular reconfigurable structure, tunable thermal technology, and a number of instruments for environmental and optical sensing. Although SMART was first launched inside a sounding rocket, it is designed as a free-flyer.

Guidance and navigation requirements for unmanned flyby and swingby missions to the outer planets. Volume 1: Summary report

NASA Technical Reports Server (NTRS)

1971-01-01

Unmanned spacecraft missions to the outer planets are of current interest to planetary scientists, and are being studied for the post 1970 time period. Flyby, entry and orbiter missions are all being considered using both direct and planetary swingby trajectory modes. The navigation and guidance requirements for a variety of missions to the outer planets and comets including both the three and four planet Grand Tours, are summarized.