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Sensor employs triangulation technique to locate objects that lie in intersections of four emitted beams of light and fields of view of four phototransistors. Signals from individual phototransistors are filtered and identified by individual synchronous detectors, one for each beam-intersection point.
Problems related to the design and control of an autonomous rover for the purpose of unmanned exploration of the planets were considered. Building on the basis of prior studies, a four wheeled rover of unusual mobility and maneuverability was further refined and tested under both laboratory and field conditions. A second major effort was made to develop autonomous guidance. Path selection systems capable of dealing with relatively formidable hazard and terrains involving various short range (1.0-3.0 meters), hazard detection systems using a triangulation detection concept were simulated and evaluated. The mechanical/electronic systems required to implement such a scheme were constructed and tested. These systems include: laser transmitter, photodetectors, the necessary data handling/controlling systems and a scanning mast. In addition, a telemetry system to interface the vehicle, the off-board computer and a remote control module for operator intervention were developed. Software for the autonomous control concept was written. All of the systems required for complete autonomous control were shown to be satisfactory except for that portion of the software relating to the handling of interrupt commands.
A new observatory for meteor research which provides data for study of meteor heights, velocities, orbits, and meteoroid abundances is described. The observing equipment is automated to take advantage of the long periods of favorable observing weather common to the region. Four K-24 cameras, electrically operated, provide the triangulation observations, and four Maksutov f/1.3 cameras with blazed transmission grating provide spectral coverage. The patrol cameras have operated for a year and a half, and approximately 6,000 frames have been exposed by 9 March 1975. Meteor trails appear on 260 of these frames. Sixty-eight trails are of meteors photographed from two locations and thus allow trajectory and orbit determinations for 34 meteors. Photoelectric sensors initiate the 2-second spectrograph exposures, and electrical controls open and close the observatory at present times.
Optical proximity sensing techniques which could be used to help control the critical grasping phase of a remote manipulation are described. The proximity sensors described use a triangulation geometry to detect a surface located in a pre-determined region. The design of the proximity sensors themselves is discussed, as well as their application to manipulator control with a local control loop, and possibilities for future development are discussed.
A planetwide control net of Mars has been computed by a single large-block analytical triangulation derived from 17,224 measurements of 3,037 control points on 928 Mariner 9 pictures. The computation incorporated the Viking-determined direction of the spin axis and rotation rate of Mars. The angle measured from the vernal equinox to the prime meridian (areocentric right ascension) of Mars was determined to be 148.368 deg + 350.891986 deg (JD - 2433282.5), where JD refers to the Julian date. The prime meridian of Mars passes through the center of the small crater Airy-O. The longitudes of the Viking landers are 47.82 + or - 0.1 deg for Lander 1 and 225.59 + or - 0.1 deg for Lander 2.
Satellite geodesy and the creation of worldwide geodetic reference systems is discussed. The geometric description of the surface and the analytical description of the gravity field of the earth by means of worldwide reference systems, with the aid of satellite geodesy, are presented. A triangulation method based on photogrammetric principles is described in detail. Results are derived in the form of three dimensional models. These mathematical models represent the frame of reference into which one can fit the existing geodetic results from the various local datums, as well as future measurements.
An autonomous roving science vehicle that relies on terrain data acquired by a hierarchy of sensors for navigation was one method of carrying out such a mission. The hierarchy of sensors included a short range sensor with sufficient resolution to detect every possible obstacle and with the ability to make fast and reliable terrain characterizations. A multilaser, multidetector triangulation system was proposed as a short range sensor. The general system was studied to determine its perception capabilities and limitations. A specific rover and low resolution sensor system was then considered. After studying the data obtained, a hazard detection algorithm was developed that accounts for all possible terrains given the sensor resolution. Computer simulation of the rover on various terrains was used to test the entire hazard detection system.
A continuous-wave-spectrum high-frequency Doppler sounder array with three transmitters at each of three sites was used to observe the dynamics of the coupling of energy between the stratosphere and the ionosphere. During times of severe weather activity wavelike disturbances have been detected on ground-based ionospheric sounding records as perturbations in electron densities. Infrasonic waves with wave periods of 3-7 min and with horizontal phase velocities of 600-800 m/s were observed when there was thunderstorm activity; gravity waves with wave periods of 10-15 min and horizontal phase velocities of 100-200 m/s were detected when there was tornado activity. Both triangulations from the cross correlation functions of the Doppler records based on an assumption of no background wind shear and ray-tracing computations including an assumed background wind shear indicate that the waves originated in the vicinity of the thunderstorms and tornadoes. A comparison of the wavelengths of the infrasonic and gravity waves observed at ionospheric heights and those in cloud-top pictures from satellites show that they are all of the order of 100-300 km.
The paper deals with the Triscan concept - a dual-antenna microwave landing guidance system, using triangulation for close-in accuracy - developed to facilitate the landing of VTOL aircraft on ships in all-weather conditions. Analysis of the navigation performance of an onboard system receiving data from Triscan and data-linked information regarding the motion of the ship showed that the approach navigation performance depends on the approach path profile flown, the magnitude of the measurement bias error, and the navigation system's knowledge of the shipboard landing pad motion, which was implemented through the concept of a landing pad deviation vector.
The photogrammetric methods can be applied only if the horizontal displacements of the ground are of the order of several centimeters, because the standard error of the points so determined cannot, at the present time, be smaller than two centimeters. The procedure to be adopted, which has already been applied with satisfactory results for the densification of geodetic nets, is the aerial analytical triangulation. The taking can be executed with wide-angle cameras (f = 15 cm), or normal-angle cameras (f = 30 cm) and format 23 x 23 cm. Since the average scale of photos must be chosen in relation with the desired accuracy and then is independent of the principal distance of the cameras, the number of photos is constant, whereas the flying height varies according to the focal length.
Some results of optical television measurements in the Zarnitsa-2 experiment are presented. The altitudes of the lower edge of artificial auroral rays were determined by the triangulation method and are compared with theoretical calculations of these altitudes based on the Jacchia and CIRA models of the atmosphere.
A previous global solution for the earth's gravitational field and station positions employed a combination of 21 weeks of Doppler tracking data from seven satellites, a complete set of 5-deg mean gravity anomalies, and geometric constraints from the worldwide satellite triangulation network on 17 of the stations. To this is now added geoid heights over the major part of the oceans obtained from GEOS 3 altimeter observations. The solution has a form based on the simple density-layer method and is equivalent to a solution in spherical harmonics to the tenth degree and order. The rms difference of 5-deg mean geoid heights of the new solution with the GEM 10 solution is 5.6 m.
The procedure developed to extract average source direction and average source size from spin-modulated radio astronomy data measured on the IMP-6 spacecraft is described. Because all measurements are used, rather than just finding maxima or minima in the data, the method is very sensitive, even in the presence of large amounts of noise. The technique is applicable to all experiments with directivity characteristics. It is suitable for onboard processing on satellites to reduce the data flow to Earth. The application to spin-modulated nonpolarized radio astronomy data is made and includes the effects of noise, background, and second source interference. The analysis was tested with computer simulated data and the results agree with analytic predictions. Applications of this method with IMP-6 radio data have led to: (1) determination of source positions of traveling solar radio bursts at large distances from the Sun; (2) mapping of magnetospheric radio emissions by radio triangulation; and (3) detection of low frequency radio emissions from Jupiter and Saturn.
An analysis of mining explosive accident reports indicates a need for clear and ample warning of approaching electrical storms to reduce injuries/fatalities due to lightning induced premature detonation. Six lightning warning devices were comparatively evaluated at three test sites. The devices tested were: (1) flash counter, (2) corona point, (3) radioactive probe, (4) field mill, (5) azimuth/range locator, and (6) triangulation locator. The test sites were chosen to provide system evaluation under varied thunderstorm conditions. The devices were tested at San Antonio, Texas, Kennedy Space Center, Florida and Langmuir Laboratory, New Mexico. Comparative performance is reviewed in terms of alarm reliability, false alarm, and failure to alarm probabilities. Lightning warning system requirements and methods of relating warning criteria to explosive hazard are discussed.
The measurement of longitude of the Viking 1 landing site and the accuracy of the coordinates of features in the area around the landing site are discussed. The longitude must be measured photogrammatically from the small crater, Airy 0, which defines the 0 deg meridian on Mars. The computer program, GIANT, which was used to perform the analytical triangulations, and the photogrammetric computation of the longitude of the Viking 1 lander site are described. Improved coordinates of features in the vicinity of the Viking 1 lander site are presented.
The problem of determining the time of occurrence of gamma flares at different points in space is considered. This problem arises in the localization of sources of gamma flares by the triangulation method using several spacecraft. A study is made of different methods for determining the time at which the flare reaches the spacecraft and algorithms are given for estimating their accuracy. Results of processing the model information are also given.
A terrain modeling algorithm that would reconstruct the sensed ground images formed by the triangulation scheme, and classify as unsafe any terrain feature that would pose a hazard to a roving vehicle is described. This modeler greatly reduces quantization errors inherent in a laser/sensing system through the use of a thinning algorithm. Dual filters are employed to separate terrain steps from the general landscape, simplifying the analysis of terrain features. A crosspath analysis is utilized to detect and avoid obstacles that would adversely affect the roll of the vehicle. Computer simulations of the rover on various terrains examine the performance of the modeler.
The Mars Rover Laser Scanning system uses a precision laser pointing mechanism, a photodetector array, and the concept of triangulation to perform three dimensional scene analysis. The system is used for real time terrain sensing and vision. The Multi-Laser/Multi-Detector laser scanning system is controlled by a digital device called the ML/MD controller. A next generation laser scanning system, based on the Level 2 controller, is microprocessor based. The new controller capabilities far exceed those of the ML/MD device. The first draft circuit details and general software structure are presented.