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NASA NTRS1996

Orbit Determination for the Lunar Reconnaissance Orbiter Using an Extended Kalman Filter

Orbit determination (OD) analysis results are presented for the Lunar Reconnaissance Orbiter (LRO) using a commercially available Extended Kalman Filter, Analytical Graphics' Orbit Determination Tool Kit (ODTK). Process noise models for lunar gravity and solar radiation pressure (SRP) are described and OD results employing the models are presented. Definitive accuracy using ODTK meets mission requirements and is better than that achieved using the operational LRO OD tool, the Goddard Trajectory Determination System (GTDS). Results demonstrate that a Vasicek stochastic model produces better estimates of the coefficient of solar radiation pressure than a Gauss-Markov model, and prediction accuracy using a Vasicek model meets mission requirements over the analysis span. Modeling the effect of antenna motion on range-rate tracking considerably improves residuals and filter-smoother consistency. Inclusion of off-axis SRP process noise and generalized process noise improves filter performance for both definitive and predicted accuracy. Definitive accuracy from the smoother is better than achieved using GTDS and is close to that achieved by precision OD methods used to generate definitive science orbits. Use of a multi-plate dynamic spacecraft area model with ODTK's force model plugin capability provides additional improvements in predicted accuracy.

Orbit Determination↗

NASA NTRS2016

Digital Image Correlation for Performance Monitoring

Evaluating the health of a mechanism requires more than just a binary evaluation of whether an operation was completed. It requires analyzing more comprehensive, full-field data. Health monitoring is a process of non-destructively identifying characteristics that indicate the fitness of an engineered component. In order to monitor unit health in a production setting, an automated test system must be created to capture the motion of mechanism parts in a real-time and non-intrusive manner. One way to accomplish this is by using high-speed video and Digital Image Correlation (DIC). In this approach, individual frames of the video are analyzed to track the motion of mechanism components. The derived performance metrics allow for state-of-health monitoring and improved fidelity of mechanism modeling. The results are in-situ state-of-health identification and performance prediction. This paper introduces basic concepts of this test method, and discusses two main themes: the use of laser marking to add fiducial patterns to mechanism components, and new software developed to track objects with complex shapes, even as they move behind obstructions. Finally, the implementation of these tests into an automated tester is discussed.

Palaviccini, Miguel↗

NASA NTRS2007

Motion Parameters Determination of the SC and Phobos in the Project Phobos-Grunt

The SC "Phobos-Grunt" flight is planned to 2009 in Russia with the purpose to deliver to the Earth the soil samples of the Mars satellite Phobos. The mission will pass under the following scheme [1-4]: the SC flight from the Earth to the Mars, the SC transit on the Mars satellite orbit, the motion round the Mars on the observation orbit and on the quasi-synchronous one [5], landing on Phobos, taking of a ground and start in the direction to the Earth. The implementation of complicated dynamical operations in the Phobos vicinity is foreseen by the project. The SC will be in a disturbance sphere of gravitational fields from the Sun, the Mars and the Phobos. The SC orbit determination is carried out on a totality of trajectory measurements executed from ground tracking stations and measurements of autonomous systems onboard space vehicle relatively the Phobos. As ground measurements the radio engineering measurements of range and range rate are used. There are possible as onboard optical observations of the Phobos by a television system and ranges from the SC up to the Phobos surface by laser locator. As soon as the Phobos orbit accuracy is insufficient for a solution of a problem of landing its orbit determination will be carried out together with determination of the SC orbit. Therefore the algorithms for joint improving of initial conditions of the SC and the Phobos are necessary to determine parameters of the SC relative the Phobos motion within a single dynamical motion model. After putting on the martial satellite orbit, on the Phobos observation orbit, on the quasi-synchronous orbit in the Phobos vicinity the equipment guidance and the following process of the SC orbit determination relatively Phobos requires a priori knowledge of the Phobos orbit parameters with sufficiently high precision. These parameters should be obtained beforehand using both all modern observations and historical ones.

Akim, E. L.↗

NASA NTRS1981

Analyze satellite-tracking laser data in order to study satellite ephemerides, solid-Earth and ocean tides and laser system performance

The decrease in the semimajor axis of Lageos is considerably larger than expected. Gravitational effects, reference system effects, solar radiation pressure, Earth albedo pressure, neutral atmospheric drag, the Poynting Robertson Effect, and electrodynamic effects were used in explaining the observations. Quick look data provided are used to determine the Earth's polar motion and length of day. This process is routine, and provides these geophysical data every five days.

Gaposchkin, E. M.↗

NASA NTRS2014

The International DORIS Service (IDS) - Recent Developments in Preparation for ITRF2013

The International DORIS Service (IDS) was created in 2003 under the umbrella of the International Association of Geodesy (IAG) to foster scientific research related to the French DORIS tracking system and to deliver scientific products, mostly related to the International Earth rotation and Reference systems Service (IERS). We first present some general background related to the DORIS system (current and planned satellites, current tracking network and expected evolution) and to the general IDS organization (from Data Centers, Analysis Centers and Combination Center). Then, we discuss some of the steps recently taken to prepare the IDS submission to ITRF2013 (combined weekly time series based on individual solutions from several Analysis Centers). In particular, recent results obtained from the Analysis Centers and the Combination Center show that improvements can still be made when updating physical models of some DORIS satellites, such as Envisat, Cryosat-2 or Jason-2. The DORIS contribution to ITRF2013 should also benefit from the larger number of ground observations collected by the last generation of DGXX receivers (first instrument being onboard Jason-2 satellite). In particular for polar motion, sub-millarcsecond accuracy seems now to be achievable. Weekly station positioning internal consistency also seems to be improved with a larger DORIS constellation.

tracking↗

NASA NTRS1991

Investigation of air transportation technology at Ohio University, 1990-1991

The status of the Joint University Program is given. Brief synopsis of some areas of research follow. The study of spectrum efficient methods for transmitting weather information to aircraft has resulted in definition of an improved amplitude and phase modulation process which permits reutilization of voice channels for both voice and data. The system is being implemented for testing. Multisensor navigation systems introduce increased flexibility and performance for aviation, at the expense of increased complexity. Insuring a high level of system reliability and integrity requires that faults not only be detected, but also isolated to specific elements, so that the remaining capabilities of the system may be used with confidence. An algorithm was developed. The JUP has served as a vehicle for reporting work accomplished in evoked potential vision tracking experiments to determine the engineering parameters of this input and control method. Application of GPS in an interferometric mode permits accurate measurement of differential motion; aircraft attitude may be determined using GPS only, with multiple antennas.

Lilley, Robert W.↗

NASA NTRS1996

STS-78 Flight Day 10

On this tenth day of the STS-78 mission, the flight crew, Cmdr. Terence T. Henricks, Pilot Kevin R. Kregel, Payload Cmdr. Susan J. Helms, Mission Specialists Richard M. Linnehan, Charles E. Brady, Jr., and Payload Specialists Jean-Jacques Favier, Ph.D. and Robert B. Thirsk, M.D., continue to perform in a nearly flawless fashion. The crew is shown completing another of four tests focusing on the effects of microgravity on the vestibular system in the inner ear. In space, the vestibular system sometimes becomes confused as to which way is up and down, leading to nausea and disorientation. Using specially designed head gear to monitor head movement and eye coordination, Linnehan, Brady, Favier, Thirsk and Helms performed tests throughout their shifts to determine how the head and eyes track visual and motion targets in microgravity. The study is providing scientists with important information about the crews' ability to adapt to microgravity.

Source record↗

NASA NTRS2002

NASA Tech Briefs, April 2002

The contents include: 1) Application Briefs; 2) Sneak Preview of Sensors Expo; 3) The Complexity of the Diagnosis Problem; 4) Design Concepts for the ISS TransHab Module; 5) Characteristics of Supercritical Transitional Mixing Layers; 6) Electrometer for Triboelectric Evaluation of Materials; 7) Infrared CO2 Sensor With Built-In Calibration Chambers; 8) Solid-State Potentiometric CO Sensor; 9) Planetary Rover Absolute Heading Detection Using a Sun Sensor; 10) Concept for Utilizing Full Areas of STJ Photodetector Arrays; 11) Development of Cognitive Sensors; 12) Enabling Higher-Voltage Operation of SOl CMOS Transistors; 13) Estimating Antenna-Pointing Errors From Beam Squints; 14) Advanced-Fatigue-Crack-Growth and Fracture- Mechanics Program; 15) Software for Sequencing Spacecraft Actions; 16) Program Distributes and Tracks Organizational Memoranda; 16) Flat Membrane Device for Dehumidification of Air; 17) Inverted Hindle Mount Reduces Sag of a Large, Precise Mirror; 18) Heart-Pump-Outlet/Cannula Coupling; 19) Externally Triggered Microcapsules Release Drugs In Situ; 20) Combinatorial Drug Design Augmented by Information Theory; 21) Multiple-Path-Length Optical Absorbance Cell; 22) Model of a Fluidized Bed Containing a Mixture of Particles; 23) Refractive Secondary Concentrators for Solar Thermal Systems; 24) Cold Flow Calorimeter; 25) Methodology for Tracking Hazards and Predicting Failures; 26) Estimating Heterodyne-Interferometer Polarization Leakage; 27) An Efficient Algorithm for Propagation of Temporal- Constraint Networks; 28) Software for Continuous Replanning During Execution; 29) Surface-Launched Explorers for Reconnaissance/Scouting; 30) Firmware for a Small Motion-Control Processor; 31) Gear Bearings and Gear-Bearing Transmissions; and 32) Linear Dynamometer With Variable Stroke and Frequency.

Source record↗

NASA NTRS2022

Atmospheric Lunar Tide in the Low Latitude Thermosphere-Ionosphere

We present simultaneous, independent measurements of the atmospheric semidiurnal lunar tide in neutral winds and plasma velocities from NASA's Ionospheric Connection Explorer, and in atomic oxygen 135.6 nm airglow measured by the Global-scale Observations of the Limb and Disk. Westward tidal winds near 115 km at the magnetic equator occur during part of the upward phase of the in-situ plasma drift. Vertical motions associated with the field-aligned plasma velocity occur away from the magnetic equator. The morphology of the lunar tide, and the phasing between the airglow and plasma velocities are consistent with E × B drift as a mechanism for linking neutral wind and plasma perturbations. This work provides the first observational quantification of global-scale E- and F-region coupling through E × B and field-aligned vertical drifts. Plain Language Summary: Tidal winds propagating upward from the neutral atmosphere influence ionospheric dynamo electric fields and vertical plasma drifts. However, these mechanisms have never been fully identified in comprehensive and simultaneous measurements spanning the ionosphere-thermosphere-mesosphere (ITM) system. The atmospheric lunar tide is an effective marker of ITM coupling because it originates at Earth's surface, propagates vertically, and is fully sampled in daytime-only and post-sunset satellite measurements. We utilize measurements from two new NASA missions to track the lunar tide in neutral and plasma velocities, and in an electron density proxy. Our work provides observational confirmation, and quantitative estimates of F-region vertical plasma motions driven by neutral winds and electrodynamical forces

Ruth S. Lieberman↗

NASA NTRS2004

Real-time detection of moving objects from moving vehicles using dense stereo and optical flow

Dynamic scene perception is very important for autonomous vehicles operating around other moving vehicles and humans. Most work on real-time object tracking from moving platforms has used sparse features or assumed flat scene structures. We have recently extended a real-time, dense stereo system to include real-time, dense optical flow, enabling more comprehensive dynamic scene analysis. We describe algorithms to robustly estimate 6-DOF robot egomotion in the presence of moving objects using dense flow and dense stereo. We then use dense stereo and egomotion estimates to identity other moving objects while the robot itself is moving. We present results showing accurate egomotion estimation and detection of moving people and vehicles under general 6-DOF motion of the robot and independently moving objects. The system runs at 18.3 Hz on a 1.4 GHz Pentium M laptop, computing 160x120 disparity maps and optical flow fields, egomotion, and moving object segmentation. We believe this is a significant step toward general unconstrained dynamic scene analysis for mobile robots, as well as for improved position estimation where GPS is unavailable.

egomotion↗

NASA NTRS2008

Flexcam Image Capture Viewing and Spot Tracking

Flexcam software was designed to allow continuous monitoring of the mechanical deformation of the telescope structure at Palomar Observatory. Flexcam allows the user to watch the motion of a star with a low-cost astronomical camera, to measure the motion of the star on the image plane, and to feed this data back into the telescope s control system. This automatic interaction between the camera and a user interface facilitates integration and testing. Flexcam is a CCD image capture and analysis tool for the ST-402 camera from Santa Barbara Instruments Group (SBIG). This program will automatically take a dark exposure and then continuously display corrected images. The image size, bit depth, magnification, exposure time, resolution, and filter are always displayed on the title bar. Flexcam locates the brightest pixel and then computes the centroid position of the pixels falling in a box around that pixel. This tool continuously writes the centroid position to a network file that can be used by other instruments.

Rao, Shanti↗

NASA NTRS2006

A Countermeasure for Space Motion Sickness

Overall, the results obtained in both the U.S. and the Russian space programs indicate that most space crews will experience some symptoms of motion sickness (MS) causing significant impact on the operational objectives that must be accomplished to assure mission success. At this time the primary countermeasure for MS requires the administration of Promethazine. Promethazine is not a benign drug, and is most frequently administered just prior to the sleep cycle to prevent its side effects from further compromising mission objectives. Clearly other countermeasures for SMS must be developed. Currently the primary focus is on two different technologies: (1) developing new and different pharmacological compounds with less significant side effects, (2) preflight training. The primary problem with all of these methods for controlling MS is time. New drugs that may be beneficial are years from testing and development, and preflight training requires a significant investment of crew time during an already intensive pre-launch schedule. Granted, motion sickness symptoms can be minimized with either of the two methods detailed above, however, it may be possible to develop a countermeasure that does not require either extensive adaptation time or exposure to motion sickness. Approximately 25 years ago Professor Geoffrey Melvill Jones presented his work on adaptation of the vestibuloocular reflex (VOR) using optically reversed vision (left-right prisms) during head rotations in the horizontal plane. It was of no surprise that most subjects experienced motion sickness while wearing the optically reversing prisms. However, a serendipitous finding emerged during this research showing that the same subjects did not experience motion sickness symptoms when wearing the reversing prisms under stroboscopic illumination. The mechanism, by which this side-effect was believed to have occurred, is not clearly understood. However, the fact that no motion sickness was ever noted, suggests the possibility of producing functionally useful adaptation during space flight without the penalty of disabling motion sickness by controlling the rate of the adaptive process by means of an appropriate stroboscopically presented environment. After several recent meetings with Professor Melvill Jones, we were encouraged to repeat the motion sickness portions of his and Mandl's 1981 stroboscopic experiment. In conducting this experiment we used a randomized cross-over design where subjects were randomly assigned to either a stroboscopic flash or no strobe for their first exposure in the experimental design. Twenty subjects (19 subjects completed the study) read a short passage from Treasure Island mounted on the wall approximately 1 m from their eyes while wearing left-right reversing prisms. The strobe on time of 3 microseconds and flash frequency of 4 Hz was set to equal that used in the original study. Motion sickness was scored using a modified Miller and Graybiel scale that we constructed to include symptoms that may be elicited under conditions where reversing prisms are worn. On this scale a score of 5 represented Malaise IIa (mild motion sickness) and a score of 8 or above is approaching frank sickness. Symptoms were tracked and recorded every 5 min during the task. Testing was limited to 30 min unless the subject had reached the MIIa score, at which time the test was terminated. Performance under stroboscopic illumination was significantly better than when the subjects read under normal room illumination while wearing the left-right reversing prisms. Based on these results we developed a goggle system using LCD material that can be strobed. To evaluate the effectiveness of stroboscopic goggles we tested an additional 9 subjects in addition to retesting 10 used in the stroboscopic pilot study described above. These 19 subjects wore a pair of strobing LCD goggles that could be cycled at 4 Hz. These subjects wore the goggles while also wearing left-right reversg prisms. Results while wearing the goggles showed that none of the 19 subjects scored at the MIIa level on the motion sickness rating scale. When the goggles did not flash (no strobe), 11 of the 19 developed symptoms above the MIIa criteria. As a countermeasure the goggles seem to be effective, even with an on time of 10 msec (time the goggles are clear). We have also collected anecdotal data, from our personnel in the Neuroscience Laboratory at the Johnson Space Center, suggesting that the goggles may effective in preventing carsickness.

Reschke, M. F.↗

NASA NTRS1978

Nodding feed antenna for communications with satellites in synchronous orbit

The design, fabrication, and performance of a parabolic, ground receiving antenna system with a feed that nods in one axis producing a maximum beam deviation 1.1 deg from boresight is described. The antenna design was: (1)to lower the weight (and the subsequent cost) of the supporting structure and the actuator motors for a tracking antenna by moving just the feed; (2) to use a manual tracking system eliminating the need for expensive electronic controls or computers; (3) to provide for several hours of unattended operation; and (4)to permit operation of the antenna by unskilled personnel. Also described are some physical and orbital phenomenon that effect the operation or design of the antenna. One is the motion of a nearly geostationary satellite due to gravitational forces from the sun, the moon, and other stellar bodies. Others are the rotation of the nodding axis and the feed polarization as a function of the location of the station on the earth. A comparison of per unit cost was made for one unit and a quantity of 100.

Smetana, J.↗

NASA NTRS1999

Calibration of the Geosar Dual Frequency Interferometric SAR

GeoSAR is an airborne, interferometric Synthetic Aperture Radar (INSAR) system for terrain mapping, currently under development by a consortium including NASA's Jet Propulsion Laboratory (JPL), Calgis, Inc., and the California Department of Conservation (CalDOC) with funding provided by the Topographic Engineering Center (TEC) of the U.S. Army Corps of Engineers and the Defense Advanced Research Projects Agency (DARPA). The radar simultaneously maps swaths on both sides of the aircraft at two frequencies, X-Band and P-Band. For the P-Band system, data is collected for two across track interferometric baselines and at the crossed polarization. The aircraft position and attitude are measured using two Honeywell Embedded GPS Inertial Navigation Units (EGI) and an Ashtech Z12 GPS receiver. The mechanical orientation and position of the antennas are actively measured using a Laser Baseline Metrology System (LBMS). In the GeoSAR motion measurement software, these data are optimally combined with data from a nearby ground station using Ashtech PNAV software to produce the position, orientation, and baseline information are used to process the dual frequency radar data. Proper calibration of the GeoSAR system is essential to obtaining digital elevation models (DEMS) with the required sub-meter level planimetric and vertical accuracies. Calibration begins with the determination of the yaw and pitch biases for the two EGI units. Common range delays are determined for each mode, along with differential time and phase delays between channels. Because the antennas are measured by the LBMS, baseline calibration consists primarily of measuring a constant offset between mechanical center and the electrical phase center of the antennas. A phase screen, an offset to the interferometric phase difference which is a function of absolute phase, is applied to the interferometric data to compensate for multipath and leakage. Calibration parameters are calculated for each of the ten processing modes, each of the operational bandwidths (80 and 160 MHZ), and each aircraft altitude. In this talk we will discuss the layout calibration sites, the synthesis of data from multiple flights to improve the calibration, methods for determining time and phase delays, and techniques for determining radiometric and polarimetric quantities. We will describe how calibration quantities are incorporated into the processor and pre-processor. We will demonstrate our techniques applied to GeoSar data and assess the stability and accuracy of the calibration. This will be compared to the modeled performance determined from calibrating the output of a point target simulator. The details of baseline determination and phase screen calculation are covered in related talks.

Chapine, Elaine↗

NASA NTRSDate not supplied

Relative Navigation for Spacecraft in Nearly Rectilinear Halo Orbits

Lunar orbit missions are of great interest to the space exploration community. This paper is focused on the research, development, and feasibility of spacecraft docking within Nearly Rectilinear Halo Orbits (NRHO). In this work, a proximity estimation algorithm is developed using the Circular Restricted Three Body Problem (CR3BP) equations of motion, which can be used to estimate the proximity between a follower spacecraft and leader spacecraft while docking in NRHOs around the Moon. Promising initial simulation results are provided and discussed. This proximity estimation algorithm is shown to to provide useful tracking estimates which can be fed to the spacecraft control system and will help ensure mission success.

Luke J. Miller↗

NASA NTRS2012

Motion Imagery and Robotics Application (MIRA): Standards-Based Robotics

This technology development originated from the need to assess the debris threat resulting from soil material erosion induced by landing spacecraft rocket plume impingement on extraterrestrial planetary surfaces. The impact of soil debris was observed to be highly detrimental during NASA s Apollo lunar missions and will pose a threat for any future landings on the Moon, Mars, and other exploration targets. The innovation developed under this program provides a simulation tool that combines modeling of the diverse disciplines of rocket plume impingement gas dynamics, granular soil material liberation, and soil debris particle kinetics into one unified simulation system. The Unified Flow Solver (UFS) developed by CFDRC enabled the efficient, seamless simulation of mixed continuum and rarefied rocket plume flow utilizing a novel direct numerical simulation technique of the Boltzmann gas dynamics equation. The characteristics of the soil granular material response and modeling of the erosion and liberation processes were enabled through novel first principle-based granular mechanics models developed by the University of Florida specifically for the highly irregularly shaped and cohesive lunar regolith material. These tools were integrated into a unique simulation system that accounts for all relevant physics aspects: (1) Modeling of spacecraft rocket plume impingement flow under lunar vacuum environment resulting in a mixed continuum and rarefied flow; (2) Modeling of lunar soil characteristics to capture soil-specific effects of particle size and shape composition, soil layer cohesion and granular flow physics; and (3) Accurate tracking of soil-borne debris particles beginning with aerodynamically driven motion inside the plume to purely ballistic motion in lunar far field conditions.

Martinez, Lindolfo↗

NASA NTRS1974

A review of averaging techniques and their application to orbit determination systems

The theory of numerical averaging and analytical averaging will be reviewed and the application of these techniques to orbit and parameter estimation problems will be presented. Comparisons will be made between utilizing mean elements versus tracking data as the observation types. Results will be presented comparing the accuracy and efficiency of the combined orbit estimation and orbit prediction problem using averaged equations of motion, the Cowell equations of motion and the Brouwer general perturbation theory. The problem of converting the averaged element space back to osculating element space for orbit operations will also be discussed.

Velez, C. E.↗