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Regehr, Martin W.

Publications and source records attributed to Regehr, Martin W..

10 records
All sourcesNASA NTRSDOE OSTI
NASA NTRS2015

Flight Testing of Terrain-Relative Navigation and Large-Divert Guidance on a VTVL Rocket

Since 2011, the Autonomous Descent and Ascent Powered-Flight Testbed (ADAPT) has been used to demonstrate advanced descent and landing technologies onboard the Masten Space Systems (MSS) Xombie vertical-takeoff, vertical-landing suborbital rocket. The current instantiation of ADAPT is a stand-alone payload comprising sensing and avionics for terrain-relative navigation and fuel-optimal onboard planning of large divert trajectories, thus providing complete pin-point landing capabilities needed for planetary landers. To this end, ADAPT combines two technologies developed at JPL, the Lander Vision System (LVS), and the Guidance for Fuel Optimal Large Diverts (G-FOLD) software. This paper describes the integration and testing of LVS and G-FOLD in the ADAPT payload, culminating in two successful free flight demonstrations on the Xombie vehicle conducted in December 2014.

ADAPT↗
NASA NTRS2012

Progress on the Development of a Simulation Environment for Optical Communications

Deep space laser communications require extremely accurate beam pointing to take advantage of the narrow beams achievable at optical wavelengths. This pointing accuracy must be achieved in the presence of spacecraft basebody motion which may exceed laser pointing requirements by orders of magnitude.In this paper a model of an optical band transceiver pointing control system is developed that can be used to predict performance under various operating scenarios. The transceiver model consists of an electro-mechanical model of the telescope platform and isolator. A novel photon counting detector array is used in the simulation as the focal plane detector. In the simulation we are able to inject various cases of spacecraft basebody motion based on both flight data and future mission spacecraft jitter requirements. Various models of uplink beacon flux levels and atmospheric scintillation are also available for analysis.Using these models, detector processing and control functions are implemented in the simulation. A complete acquisition sequence is demonstrated with blind acquisition and tracking of the modulated uplink beam and positioning of the downlink beam on the focal plane array. These simulations predict that pointing requirements will be met with representative disturbance models and uplink beam scintillation.

pointing control↗
NASA NTRS2011

Diagonal-Axes Stage for Pointing an Optical Communications Transceiver

Traditional azimuth-elevation ("az-el") stages are used to point a variety of devices ranging from large optical telescopes to tank guns. Such a stage typically has an elevation stage having a horizontal axis mounted on an azimuth stage with a vertical axis. Both stages are often motorized. Optical communications transceivers often require two-axis motorized control, as when the communications link is between a ground station and an aircraft or satellite. In such applications, the traditional azimuth-elevation stage has two important drawbacks: a gimbal lock exclusion zone at zenith and susceptibility to pointing errors caused by backlash. Az-el stages in which the azimuth stage cannot rotate a full 360deg have the additional drawback of an azimuth exclusion zone. The diagonal-axes stage described here mitigates or eliminates all of these problems. Instead of one vertical axis and one horizontal axis, a diagonal-axes stage has two horizontal axes, both oriented at 45 to the trajectory of the target. For example, a ground station located on the equator tracking a satellite with an equatorial orbit would have one axis parallel to northeast and southwest, and the other axis parallel to northwest and southeast. The diagonal-axes stage is considerably less vulnerable to backlash. If it is correctly oriented, its axes rotate in only one direction during an overhead pass by a satellite. As a result, the effects of backlash may be inherently eliminated. If the gravity-induced torque on either axis changes during the pass, then backlash may become important during the part of the pass where the gravity torque, instead of opposing the motion of the stage, pushes the stage in the direction of motion. This can result in the loss of gear-to-gear contact in one or more stages of the gear reduction mechanism. In this case, a preload spring used to eliminate backlash need only be sufficiently strong to overcome the gravity torque, i.e. it need not overcome friction in the gear train. The diagonal-axes stage is not backlash-free for arbitrary target trajectories such as an aircraft might execute. If properly oriented for any particular satellite, however, it is backlash-free for all passes of that satellite, which will trace out parallel paths on the sky, and for all passes of any other satellite that are perpendicular to the first. It will also be backlash-free for some fraction of other satellite trajectories.

Regehr, Martin W.↗
NASA NTRS2011

Optical Communications Link to Airborne Transceiver

An optical link from Earth to an aircraft demonstrates the ability to establish a link from a ground platform to a transceiver moving overhead. An airplane has a challenging disturbance environment including airframe vibrations and occasional abrupt changes in attitude during flight. These disturbances make it difficult to maintain pointing lock in an optical transceiver in an airplane. Acquisition can also be challenging. In the case of the aircraft link, the ground station initially has no precise knowledge of the aircraft s location. An airborne pointing system has been designed, built, and demonstrated using direct-drive brushless DC motors for passive isolation of pointing disturbances and for high-bandwidth control feedback. The airborne transceiver uses a GPS-INS system to determine the aircraft s position and attitude, and to then illuminate the ground station initially for acquisition. The ground transceiver participates in link-pointing acquisition by first using a wide-field camera to detect initial illumination from the airborne beacon, and to perform coarse pointing. It then transfers control to a high-precision pointing detector. Using this scheme, live video was successfully streamed from the ground to the aircraft at 270 Mb/s while simultaneously downlinking a 50 kb/s data stream from the aircraft to the ground.

Regehr, Martin W.↗
NASA NTRS2010

Emulating an Optical Planetary Access Link with an Aircraft

Video imagery was streamed from the ground to an aircraft using a free-space laser communication link. The link operated at 270 Mb/s over slant ranges of 5-9 km in day and night time background conditions. The experiment was designed to demonstrate autonomous link acquisition and served as a first proof-of-concept for a planetary access link between a surface asset and an orbiter at Mars. System parameters monitored during the link demonstration including acquisition and tracking and communication performance are discussed.

Ground-to-Aircraft↗
NASA NTRS2007

White-light Interferometry using a Channeled Spectrum: II. Calibration Methods, Numerical and Experimental Results

In the companion paper, [Appl. Opt. 46, 5853 (2007)] a highly accurate white light interference model was developed from just a few key parameters characterized in terms of various moments of the source and instrument transmission function. We develop and implement the end-to-end process of calibrating these moment parameters together with the differential dispersion of the instrument and applying them to the algorithms developed in the companion paper. The calibration procedure developed herein is based on first obtaining the standard monochromatic parameters at the pixel level: wavenumber, phase, intensity, and visibility parameters via a nonlinear least-squares procedure that exploits the structure of the model. The pixel level parameters are then combined to obtain the required 'global' moment and dispersion parameters. The process is applied to both simulated scenarios of astrometric observations and to data from the microarcsecond metrology testbed (MAM), an interferometer testbed that has played a prominent role in the development of this technology.

phase correction↗
NASA NTRS2006

The Least-Squares Calibration on the Micro-Arcsecond Metrology Test Bed

The Space Interferometry Mission (S1M) will measure optical path differences (OPDs) with an accuracy of tens of picometers, requiring precise calibration of the instrument. In this article, we present a calibration approach based on fitting star light interference fringes in the interferometer using a least-squares algorithm. The algorithm is first analyzed for the case of a monochromatic light source with a monochromatic fringe model. Using fringe data measured on the Micro-Arcsecond Metrology (MAM) testbed with a laser source, the error in the determination of the wavelength is shown to be less than 10pm. By using a quasi-monochromatic fringe model, the algorithm can be extended to the case of a white light source with a narrow detection bandwidth. In SIM, because of the finite bandwidth of each CCD pixel, the effect of the fringe envelope can not be neglected, especially for the larger optical path difference range favored for the wavelength calibration.

interferometer calibrations↗
NASA NTRS2004

The Formation Control Testbed

This paper describes the design and construction of the Formation Control Testbed. The FCT consists of three robots navigating on an air bearing floor, propelled by cold gas thrusters. Each robot contains an attitude platform supported on a spherical air bearing which provides three rotational degrees of freedom. The sixth degree of freedom, vertical translation, will be provided by a powered vertical stage, actively controlled to provide a simulated zero-g environment for the attitude platform.

Singh, Gurkirpal↗