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NASA NTRS2018

6DOF Testing of the SLS Inertial Navigation Unit

The Navigation System on the NASA Space Launch System (SLS) Block 1 vehicle performs initial alignment of the Inertial Navigation System (INS) navigation frame through gyrocompass alignment (GCA). In lieu of direct testing of GCA accuracy in support of requirement verification, the SLS Navigation Team proposed and conducted an engineering test to, among other things, validate the GCA performance and overall behavior of the SLS INS model through comparison with test data. This paper will detail dynamic hardware testing of the SLS INS, conducted by the SLS Navigation Team at Marshall Space Flight Center's 6DOF Table Facility, in support of GCA performance characterization and INS model validation. A 6-DOF motion platform was used to produce 6DOF pad twist and sway dynamics while a simulated SLS flight computer communicated with the INS. Tests conducted include an evaluation of GCA algorithm robustness to increasingly dynamic pad environments, an examination of GCA algorithm stability and accuracy over long durations, and a long-duration static test to gather enough data for Allan Variance analysis. Test setup, execution, and data analysis will be discussed, including analysis performed in support of SLS INS model validation.

Geohagan, Kevin W.↗

NASA NTRS2018

Initial Results of the Software-Driven Navigation for Station Experiment

To enable the next generation of robotic and human exploration of the solar system, improvements are needed to enable robust and accurate autonomous navigation. The purpose of this work is to take advantage of the growth in and use of software-defined platforms to incorporate additional navigation capability on existing assets, while also incorporating with new vehicle designs. The Software-driven Navigation for Station Experiment focuses on implementing two soft solutions to this: transmitting pseudolite signals to perform ranging and Doppler measurements as part of the signal coding (similar to underlying Global Navigation Satellite System approaches), and the Multi-spacecraft Autonomous Positioning System, which uses existing communication protocols to embed navigation and timing information to be shared among all assets in a peer-to-peer network. These technologies were implemented on the SCaN Testbed onboard the International Space Station and exercised over the course of mid-June and late-July 2018. This paper will discuss the operational architecture, experiment plan, and initial results from the data collected. One of the key conclusions of this work is the strong need for stable accurate clock synchronization across the dispersed space network.

Anzalone, Evan J.↗

NASA NTRS2019

Predicted Performance of an X-Ray Navigation System for Future Deep Space and Lunar Missions

In November 2017, the NASA Goddard Space Flight Center (GSFC) Station Explorer for X-ray Timing and Navigation Technology (SEXTANT) experiment successfully demonstrated the feasibility of X-ray Pulsar Navigation (XNAV) as part of the Neutron Star Interior Composition Explorer (NICER) mission, which is an X-ray Astrophysics Mission of Opportunity currently operating onboard the International Space Station (ISS). XNAV provides a GPS-like absolute autonomous navigation and timing capability available anywhere in the Solar System and beyond. While the most significant benefits of XNAV are expected to come in support of very deep-space missions, the absolute autonomous navigation and timing capability also has utility for inner Solar System missions where increased autonomy or backup navigation and timing services are required, e.g., address loss of communication scenarios.The NASA commitment to develop a Gateway to support exploration of the Moon and eventually Mars, as well as current and future robotic missions such as James Webb Space Telescope (JWST), New Horizons, and much more, certainly will tax the existing ground based infrastructure in terms of availability. There- fore, an extended look at the feasibility and potential performance of XNAV for comparable missions is warranted. In this paper, we briefly review the XNAV concept and present case studies of its utility and performance for a Gateway orbit, Sun-Earth libration orbit, and a deep space transit trajectory.

Getchius, Joel↗

NASA NTRS2019

NASA Station Explorer for X-Ray Timing and Navigation Technology (SEXTANT) Mission Operations Architecture

"The Station Explorer for X-Ray Timing and Navigation (SEXTANT) mission is a technology demonstrationenhancement to the Neutron Star Interior Composition Explorer (NICER) mission, a NASA AstrophysicsExplorer Mission of Opportunity to the International Space Station (ISS) that was launched in June of 2017.The NICER instrument is a precision pointing X-ray telescope that provides measurements of neutron stars,which the SEXTANT mission uses to perform autonomous onboard X-ray Pulsar Navigation (XNAV) by usingmilli-second pulsars (MSPs), a category of neutron stars, as timing sources for navigation. By comparing thedetected time of arrival of X-ray photons to a reference of expected pulsar lightcurve timing models, one caninfer a range and range rate measurement based on light time delay. Since both timing and orientationinformation comes from a celestial source, this technology could provide a GPS-like navigation capabilityavailable throughout our Solar System and beyond. Applications that XNAV can support include outer planetand interstellar missions, manned missions, libration orbit missions, and current infrastructure such as the DeepSpace Network (DSN). The SEXTANT team successfully completed a rst demonstration of in-space andautonomous XNAV in November 2017. NICER and SEXTANT have separate teams, with NICER being theprimary team with its own science objectives. Operational modes for both missions must have concurrent andindependent components as well as an integrated ground system. Within this joint mission pro le, SEXTANToperations requires an infrastructure and cadence that is exible to handle concurrent science operations fromthe NICER team, independent autonomous navigation demonstrations, and events within the extensive ISSoperations environment. This paper rst details the infrastructure implemented and its concept of operations.It then describes the operations for the SEXTANT demonstration and lessons learned."

Yu, Wayne H.↗

NASA NTRS2020

Use of Navigation Beacons to Support Lunar Vehicle Operations

To support a wide variety of lunar missions in a condensed regime, solutions are needed outside of the use of Earth-based orbit determination. This research presents an alternate approach to in-situ navigation through the use of beacons, similar to that used on Earth as well as under technology development efforts. An overview of the current state of navigation aids included as well as discussion of the Lunar Node – 1 payload being built at NASA/Marshall Space Flight Center. Expected navigation results of this beacon payload for planned operation from the lunar surface are provided. Applications of navigation beacons to multiple stages of the proposed human lunar landing architecture are given, with initial analysis showing performance gains from the use of this technology. This work provides a starting point for continued analysis and design, laying out the foundation of how navigation beacons can be incorporated into the architecture to enable continued analysis, design, and future expanded capability.

Lunar node-1↗

NASA NTRS2018

In-Situ Navigation and Timing Services for a Human Mars Landing Site Part 2: System Design and Simulations

In a previous paper, we described the system concept of a proposed Mars Regional Navigation Satellite System (MRNSS) that is built upon a number of notional Mars orbiting and surface missions in the human exploration era of Mars. We assume two areostationary Mars relay orbiters that have continuous line-of-sight visibility with the Mars landing site, a Deep Space Habitat (DSH) in an inclined 48-hour circular orbit, and a surface communication lander that could serve as the reference point. These orbiting and surface infrastructure elements broadcast GPS-like ranging signals and other ephemeris information to the mission users. With one or more additional orbiters in areosynchronous orbits that trace around a figure-8 path, a regional navigation satellite system can be realized that provides in-situ course absolute localization and precision relative localization and timing services to the users in the vicinity of a Mars landing site. We also introduced a new geometric trilateration method that simultaneously performs absolute positioning and relative positioning. The relative position is derived from a “differencing” function of two raw-range measurements between a known reference point and of the target from a navigation satellite, thereby eliminating most of the common errors like atmospheric delays, ephemeris errors, and instrument delays in real-time. In the Mars environment, this “error-cancellation” function greatly reduces the need to perform extensive orbit determination (OD) of the navigation satellites like the Earth’s GPS, and only requires occasional tracks from the Earth’s large-aperture deep space antennas to perform OD’s. In this paper, we provide detailed simulations on both the absolute positioning scheme and the relative positioning scheme, and show that the relative positioning scheme provides 200 – 400 times improvement in localization accuracy. On the ground side, we discuss new approaches that simultaneously perform 2-way Doppler/ranging, and re-introduce the method of Same Beam Interferometry (SBI) for the Mars navigation orbiters. This helps to further reduce the tracking burden of the ground antennas required to support the OD of the Mars orbiters, making the concept of MRNSS more realizable.

Lightsey, Glenn↗

NASA NTRS2019

Aerobracking the ExoMars TGO: the JPL Navigation Experience

In October 2016, ESA’s Trace Gas Orbiter entered into orbit around Mars. The transfer from its initial 24-hour elliptical orbit into the final 2-hour science orbit was helped by means of 952 aerobraking passes between March 2017 and February 2018. For this first aerobraking operation by European Space Operations Centre (ESOC), a dedicated partnership was organized between ESOC and NASA’s Jet Propulsion Laboratory (JPL) to allow for JPL navigation team’s support during the TGO aerobraking operations. The Mission Design and Navigation section at JPL supported the mission by providing consulting in aerobraking navigation operations and independent orbit determination solutions during TGO’s aerobraking. This paper discusses the JPL Navigation team’s experience, challenges faced, and lessons learned during TGO’s aerobraking at Mars. Topics include the collaboration between the two navigation teams, configuration of orbit determination for aero drag passes, arrangement of automated orbit determination, and reporting processes.

Young, Brian↗

NASA NTRS2021

Concept of Operations for OSIRIS-REx Optical Navigation Image Planning

Optical navigation (OpNav) is a critical subsystem of the OSIRIS-REx asteroid sample return mission, which operated in the vicinity of near-Earth asteroid (101955) Bennu from August 2018 through April 2021. A substantial amount of mission resources across multiple subsystems and institutions is required to ensure that the OpNav data are successfully acquired. The KinetX OpNav team, part of the Flight Dynamics System (FDS), is responsible for performing required analysis to develop the OpNav operations plans; requesting, reviewing and verifying the plans; and ultimately using the image data for critical navigation operations. The FDS team, responsible for the mission navigation, is operated by KinetX Aerospace with management and operations support from NASA’s Goddard Space Flight Center. The Science Processing and Operations Center (SPOC), located at the University of Arizona’s Lunar and Planetary Laboratory, is responsible for generating the planning products for all science and most OpNav data. These plans are integrated into the spacecraft sequences, tested, and commanded by the Mission Support Area (MSA) at Lockheed Martin Space. To ensure mission-critical navigation image data are successfully acquired, the plan is developed through a waterfall of planning cycles over the course of 3 months prior to onboard plan execution. During the initial strategic planning for a mission phase, detailed analysis is performed by the OpNav team to conceptualize the concept of operations (ConOps) for image data collection. This phase OpNav Narrative is included along with other strategic planning documents for the key ground segment stakeholders to review and provide feedback. The detailed OpNav plans get defined in the tactical planning cycle, which spans 8 to 3 weeks before the week-long integrated sequence is executed on-board the spacecraft. During the tactical cycle, the initial OpNav Request is submitted along with the science requests, kicking off development of the science and OpNav plans. Once the initial plan is drafted, interfaces are exercised so that the plan can be reviewed and iterated, if necessary. A rigorous schedule is followed by the planning teams during the implementation cycle, spanning the last 18 days before uplink, to ensure all the necessary integration, testing, and reviewing can occur on time. The development of the OpNav planning ConOps, including responsibilities, interfaces, timelines, and procedures, took extensive collaboration across mission elements and institutions. The process was robust throughout the 137 weeks of continuous Optical Navigation Operations at Bennu, which concluded on April 9th, 2021.

Coralie D. Adam↗

NASA NTRS2020

Preliminary Design, Testing, and Performance of the LOFTID Navigation System

The Low Earth Orbit Flight Test of an Inflatable Decelerator (LOFTID) involves the first orbital test of an inflatable decelerator. This test involves the LOFTID re-entry vehicle using an inflatable decelerator to re-enter the atmosphere after flying to orbit as a secondary payload. Due to system constraints, including spin stabilization, unknown time of day, a limited space available for antennas, and a heat shield which blocks magnetic fields, the navigation system includes only an inertial measurement unit and a single GPS receiver. As the vehicle is turned off for the first part of the mission and will not receive commands or data from the ground, the navigation system will not have accurate initialization, and will in-stead rely on pre-flight estimates or first measurement estimation. This could result in significant unknown error in the initial state, resulting in needing to initialize the state on-orbit and requires using the single GPS antenna for attitude updates. These design considerations led to using an Extended Kalman filter, modified to perform with these design constraints. A streamlined testing approach, including tests with flight-like rotations, is being used to limit the time and resources needed to test the navigation system while still fully testing the performance and robustness of the navigation system. This testing approach follows the NASA test-as-you-fly principle and allows for early detection of errors and changes that are needed in the software. This results in a navigation system that, even within the design constraints of the mission architecture, will provide the performance and robustness needed of the mission.

Joel Amert↗

NASA NTRS2024

Autonomous Navigation of a Lunar Relay Using GNSS and Other Measurements

NASA’s Lunar Communications Relay and Navigation Services (LCRNS) project will establish a relay constellation at the Moon to provide the south pole region with communications and position, navigation, and time (PNT) services. These services will require highly accurate knowledge of position, velocity, and time (PVT) for each relay. This paper explores one approach for performing onboard PVT estimation, the LCRNS PNT Instrument (LPI). This paper considers different configurations of the instrument, specifically different measurement types and clocks, and the resulting navigation performance. Simulation results are first shown for an instrument configuration that uses GPS pseudorange and Doppler measurements with a highly sensitive GPS receiver (i.e., an acquisition and tracking threshold of 23 dB-Hz) and a chip-scale atomic clock (CSAC). The importance of Doppler, clock quality, receiver sensitivity, and optical navigation is examined through comparison of these results to other instrument configurations. Clock quality (i.e., stability) is the strongest determinant of achievable performance, and the inclusion of GPS Doppleralso has a significant effect. Finally, simulation results are compared to two laboratory tests: first a case that includes GPS receiver hardware in the loop, then a case that includes optical navigation and filter flight software in the loop. These agreeclosely with the simulation results and provide evidence the simulation is accurately modeling the instrument under development.

Benjamin W Ashman↗

NASA NTRSDate not supplied

Onboard Navigation Error Analysis for Aerocapture at Uranus

Capturing into an orbit around Uranus using aerocapture allows one to design a mission with faster interplanetary trajectories and less propellant requirements. Such an aerocapture mission would rely on the onboard Guidance, Navigation, and Control (GNC) subsystems to successfully capture into an orbit around Uranus. Uncertainty in the state information and the noise in the sensor measurements induce navigation errors in the guidance and control subsystems, which can affect the overall performance of the aerocapture mission at Uranus. Understanding the effect of these navigation errors on mission performance is essential. To this end, this work considers different sensors with varying quality to understand their impact on the overall mission performance. In addition, this paper studies the impact of the uncertainty in the initial states used to initialize the onboard navigation filter and understands their effect on mission performance. This paper also shows the onboard navigation errors obtained from the Linear Covariance (LinCov) analysis and uses them for verification and validation (V&V) of the results from Program to Optimize and Simulate Trajectories-II (POST2).

Pardha Sai Chadalavada↗

NASA NTRS2015

X-ray Pulsar Navigation Algorithms and Testbed for SEXTANT

The Station Explorer for X-ray Timing and Navigation Technology (SEXTANT) is a NASA funded technologydemonstration. SEXTANT will, for the first time, demonstrate real-time, on-board X-ray Pulsar-based Navigation (XNAV), a significant milestone in the quest to establish a GPS-like navigation capability available throughout our Solar System and beyond. This paper describes the basic design of the SEXTANT system with a focus on core models and algorithms, and the design and continued development of the GSFC X-ray Navigation Laboratory Testbed (GXLT) with its dynamic pulsar emulation capability. We also present early results from GXLT modeling of the combined NICER X-ray timing instrument hardware and SEXTANT flight software algorithms.

Pulsar Navigation↗

NASA NTRS2013

Interplanetary Departure Stage Navigation by Means of Liaison Orbit Determination Architecture

Autonomous orbit determination for departure stages of interplanetary trajectories is conducted by means of realistic radiometric observations between the departing spacecraft and a satellite orbiting the first lunar libration point. Linked Autonomous Interplanetary Satellite Orbit Navigation (LiAISON) is used to estimate the orbit solution. This paper uses high-fidelity simulations to explore the utilization of LiAISON in providing improved accuracy for interplanetary departure missions. The use of autonomous navigation to supplement current techniques for interplanetary spacecraft is assessed using comparisons with groundbased navigation. Results from simulations including the Mars Science Laboratory, Mars Exploration Rover, and Cassini are presented. It is shown that observations from a dedicated LiAISON navigation satellite could be used to supplement ground-based measurements and significantly improve tracking performance.

interplanetary↗

NASA NTRS2013

Interplanetary Departure Stage Navigation by Means of Liaison Orbit Determination Architecture

Linked Autonomous Interplanetary Satellite Orbit N↗

NASA NTRSDate not supplied

Machine Learning Based Crater Detection for Terrain Relative Navigation

As Lunar exploration continues to become more commonplace, reliable methods of precise Terrain Relative Navigation (TRN) are needed. While there are many TRN techniques available, one that has received increased interest in the past few years is that of crater based navigation. Crater based navigation has numerous benefits, including being a human recognizable feature (important for crewed missions), as well as the fact that craters are often possible hazards that need to be detected and avoided. The use of crater based navigation has been limited however. This has been due to the difficulty of running such algorithms on board a spacecraft, as well as the difficulty in procuring large amounts of the required training data. This paper presents a new rendering tool for generating large amounts of high quality training data. It then looks at two recently developed machine learning techniques for crater detection and crater identification in real-time on near-future space hardware.

computer vision↗

NASA NTRS1962

A STATISTICAL OPTIMIZING NAVIGATION PROCEDURE FOR SPACE FLIGHT

In a typical self-contained space navigation system, celestial observation data are gathered and processed to produce estimated velocity corrections. The results of this paper provide a basis for determining the best celestial measurements and the proper time s to implement velocity corrections. Fundamental to the navigation system is a procedure for processing celestial measurement data which permits incorporation of each individual measurement as it is made in order to provide an improved estimate of position and velocity. In order to "optimize" the navigation, a statistical evaluation of a number of alternative courses of action is made. The various alternatives, which form the basis of a decision process, concern the following: 1) which star and planet combination provides the "best" available observation; 2) whether the best observation gives a sufficient reduction in the predicted target error to warrant making the measurement; and 3) whether the uncertainty in the indicated velocity correction is a small enough percentage of the correction itself to justify an engine re-start and propellant expenditure. Numerical results are presented which illustrate the effectiveness of this approach to the space navigation problem.

NAVIGATION↗

NASA NTRS2006

The JPL roadmap for Deep Space navigation

This paper reviews the tentative set of deep space missions that will be supported by NASA's Deep Space Mission System in the next twenty-five years, and extracts the driving set of navigation capabilities that these missions will require. There will be many challenges including the support of new mission navigation approaches such as formation flying and rendezvous in deep space, low-energy and low-thrust orbit transfers, precise landing and ascent vehicles, and autonomous navigation. Innovative strategies and approaches will be needed to develop and field advanced navigation capabilities.

navigation↗

NASA NTRS2004

Mars Exploration Rovers navigation results

The twin Mars Exploration Rovers, Spirit and Opportunity, were launched on June 10, 2003(dagger), and July 8, 2003, from Cape Canaveral, Florida. Spirit and Opportunity were targeted for landings at Gusev Crater (arrival on January 4, 2004) and Meridiani Planum (arrival on January 25, 2004). The primary navigation challenge was to deliver each spacecraft to the desired atmospheric entry interface point with sufficient accuracy such that each lander would touch down within a specified landing ellipse (about 70 km x 5 km) determined to be safe for landing and also judged to be scientifically interesting. In order to achieve landing within the target ellipse, precise control of the inertial entry flight path angle (FPA) at atmospheric entry was required. The maximum allowable errors in FPA following TCM-5 (trajectory correction maneuver #5) at Entry (E) - 2 days were +/-0.12(deg) (3(sigma)) for Spirit and +/-0.14(deg) (3(sigma)) for Opportunity. Achieving these entry delivery accuracies necessitated significant improvements to the interplanetary avigation system used for MER. These improvements included new processes and software for orbit determination, propulsive maneuver design, and entry, descent, and landing (EDL) trajectory simulation. The actual achieved atmospheric entry accuracies for Spirit and Opportunity significantly exceeded the requirements. At the navigation data cutoff for the TCM-5 final design, the orbit determination FPA knowledge error was +/-0.028(deg) (3(sigma) ) for Spirit and +/-0.035(deg) (3(sigma)) for Opportunity. Because of exceptionally accurate navigation performance, TCM-5 (E - 2 days) and TCM-6 (E - 4 hours) were canceled for both Spirit and Opportunity. The actual landing locations (determined from in-situ Doppler tracking between the MER rovers and the Mars Odyssey orbiter) differed from the target landing points by 10.1 km (downtrack) for Spirit and 24.6 km (downtrack) for Opportunity. The majority of the landing position offsets for both landers was primarily caused by variations in atmosphere and spacecraft aerodynamic modeling from what was predicted. The amount of the landing position offset caused by navigation-only errors was only 3.3 km (uptrack) for Spirit and 9.7 km (downtrack) for Opportunity.

Mars Exploration Rover (MER)↗