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All sourcesNASA NTRSDOE OSTI
NASA NTRS2015

Small UAV Automatic Ground Collision Avoidance System Design Considerations and Flight Test Results

The National Aeronautics and Space Administration (NASA) Armstrong Flight Research Center Small Unmanned Aerial Vehicle (SUAV) Automatic Ground Collision Avoidance System (Auto GCAS) project demonstrated several important collision avoidance technologies. First, the SUAV Auto GCAS design included capabilities to take advantage of terrain avoidance maneuvers flying turns to either side as well as straight over terrain. Second, the design also included innovative digital elevation model (DEM) scanning methods. The combination of multi-trajectory options and new scanning methods demonstrated the ability to reduce the nuisance potential of the SUAV while maintaining robust terrain avoidance. Third, the Auto GCAS algorithms were hosted on the processor inside a smartphone, providing a lightweight hardware configuration for use in either the ground control station or on board the test aircraft. Finally, compression of DEM data for the entire Earth and successful hosting of that data on the smartphone was demonstrated. The SUAV Auto GCAS project demonstrated that together these methods and technologies have the potential to dramatically reduce the number of controlled flight into terrain mishaps across a wide range of aviation platforms with similar capabilities including UAVs, general aviation aircraft, helicopters, and model aircraft.

Sorokowski, Paul↗
NASA NTRS2015

Data-Driven Surface Traversability Analysis for Mars 2020 Landing Site Selection

The objective of this paper is three-fold: 1) to describe the engineering challenges in the surface mobility of the Mars 2020 Rover mission that are considered in the landing site selection processs, 2) to introduce new automated traversability analysis capabilities, and 3) to present the preliminary analysis results for top candidate landing sites. The analysis capabilities presented in this paper include automated terrain classification, automated rock detection, digital elevation model (DEM) generation, and multi-ROI (region of interest) route planning. These analysis capabilities enable to fully utilize the vast volume of high-resolution orbiter imagery, quantitatively evaluate surface mobility requirements for each candidate site, and reject subjectivity in the comparison between sites in terms of engineering considerations. The analysis results supported the discussion in the Second Landing Site Workshop held in August 2015, which resulted in selecting eight candidate sites that will be considered in the third workshop.

Ono, Masahiro↗
NASA NTRS2018

Deriving Three Dimensional Reservoir Bathymetry from Multi-Satellite Datasets

We evaluate different techniques that rebuild reservoir bathymetry by combining multi-satellite imagery of surface water elevation and extent. Digital elevation models (DEMs) are processed in two distinct ways in order to determine 3-D reservoir bathymetry. They are defined as (a) linear extrapolation and (b) linear interpolation. The first one linearly extrapolates the land slope, defining the bottom as the intersection of all extrapolated lines. The second linearly interpolates the uppermost and lowermost pixels of the reservoir's main river, repeating the process for all other tributaries. A visible bathymetry, resulting from the combination of radar altimetry and water extent masks, can be coupled with the DEM, improving the accuracy of techniques (a) and (b). Envisat-and Altika-based altimetric time series is combined to a Landsat-based water extent database over the2002-2016 period in order to generate the visible bathymetry, and topography is derived from the 3-arcsecHydroSHEDS DEM. Fourteen 3-D bathymetries derived from the combination of these techniques and datasets, plus the inclusion of upstream and downstream riverbed elevations, are evaluated over Lake Mead. Accuracy is measured using ground observations, and show that metrics improve as a function of added data requirement and processing. Best bathymetry estimates are obtained when the visible bathymetry, linear extrapolation technique and riverbed elevation are combined. Water storage variability is also evaluated and shows that best results are derived from the aforementioned combination. This study contributes to our understanding and representation of reservoir water impoundment impacts on the hydrological cycle.

HydroSHEDS↗
NASA NTRS2019

Satellite-Based Assessment of Grassland Conversion and Related Fire Disturbance in the Kenai Peninsula, Alaska

Spruce beetle-induced (Dendroctonus rufipennis (Kirby)) mortality on the Kenai Peninsula has heightened local wildfire risk as canopy loss facilitates the conversion from bare to fire-prone grassland. We collected images from NASA satellite-based Earth observations to visualize land cover succession at roughly five-year intervals following a severe, mid-1990's beetle infestation to the present. We classified these data by vegetation cover type to quantify grassland encroachment patterns over time. Raster band math provided a change detection analysis on the land cover classifications. Results indicate the highest wildfire risk is linked to herbaceous and black spruce land cover types, The resulting land cover change image will give the Kenai National Wildlife Refuge (KENWR) ecologists a better understanding of where forests have converted to grassland since the 1990s. These classifications provided a foundation for us to integrate digital elevation models (DEMs), temperature, and historical fire data into a model using Python for assessing and mapping changes in wildfire risk. Spatial representations of this risk will contribute to a better understanding of ecological trajectories of beetle-affected landscapes, thereby informing management decisions at KENWR.

Risk modeling↗
NASA NTRS2018

Probing Supraglacial Debris on Mars 1: Sources, Thickness, and Stratigraphy

Geomorphic and geophysical evidence supports a debris-covered glacier origin for a suite of landforms at themid-latitudes of Mars, including lobate debris aprons (LDA), lineated valley fill (LVF), and concentric crater fill (CCF). These large reservoirs of ice and their near-surface structure provide a rich record for understanding the planet's climate and history of global volatile exchange over the past billion years. LDA, LVF, and CCF are also potential sites for future robotic and human missions but the accessibility of glacial ice for direct sampling and in situ resource utilization depends largely on the geotechnical properties of the surface debris ("supraglacial debris"), including its thickness, grain sizes, and density structure. The physical properties of this supraglacial debris layer have been poorly constrained. We use images of morphology, digital elevation models, thermal inertia data, and radar sounding data to probe the near surface of LDA, LVF, and CCF in Deuteronilus Mensae in order to place constraints on the sources, grain sizes, thickness, and stratigraphy of supraglacial debris. We find evidence for at least a two-layer stratigraphy. Layered mantle consisting of atmospherically emplaced dust and ice superposes boulder-rich sediment sourced by rockfalls glacially transported downslope. High thermal inertia, boulder-rich termini and debris bands reminiscent of medial moraines are found throughout the study region, supporting a rockfall origin for at least a fraction of the debris exposed at the surface. This supraglacial debris layer would have thickened with time from sublimation of glacial ice and liberation of englacial sediment and dust. At present, the entire supraglacial debris package is a minimum of a few meters in thickness and is likely tens of meters in thickness in many locations, possibly thinning regionally at lower latitudes and locally thinning toward the headwalls. The lack of terracing or interior structures in craters formed within LDA, LVF, and CCF and the absence of near-surface reflectors in SHARAD radar data further suggest that no strong contrasts in

Supraglacial↗
NASA NTRS2019

A Terrestrial Validation of ICESat Elevation Measurements and Implications for Global Reanalyses

The primary goal of NASA's Ice, Cloud, and land Elevation Satellite (ICESat) mission was to detect centimeter-level changes in global ice sheet elevations at the spatial scale of individual ice streams. Confidence in detecting these small signals requires careful validation over time to characterize the uncertainty and stability of measured elevations. A common validation approach compares altimeter elevations to an independently characterized and stable reference surface. Using a digital elevation model (DEM) from geodetic surveys of one such surface, the salar de Uyuni in Bolivia, we show that ICESat elevations at this location have a 0.0-centimeter bias relative to the WGS84 ellipsoid, 4.0-centimeter (1-sigma) uncertainty overall, and 1.8-centimeter uncertainty under ideal conditions over short (50 kilometer) profiles. We observe no elevation bias between ascending and descending orbits, but we do find that elevations measured immediately after transitions from low to high surface albedo may be negatively biased. Previous studies have reported intercampaign biases (ICBs) between various ICESat observation campaigns, but we find no statistically significant ICBs or ICB trends in our data. We do find a previously unreported 3.1-centimeter bias between ICESat's Laser 2 and Laser 3, and we find even larger interlaser biases in reanalyzed data from other studies. For an altimeter with an exact repeat orbit like ICESat, we also demonstrate that validation results with respect to averaged elevation profiles along a single ground track are comparable to results obtained using reference elevations from an in situ survey.

Laser Ranging↗
NASA NTRS2019

Deriving High-Resolution Reservoir Bathymetry from ICESat-2 Prototype Photon-Counting Lidar and Landsat Imagery

Knowledge of reservoir bathymetry is essential for many studies on terrestrial hydrological and biogeochemical processes. However, there are currently no cost-effective approaches to derive reservoir bathymetry at the global scale. This study explores the potential of generating high-resolution global bathymetry using elevation data collected by the 532-nm Advanced Topographic Laser Altimeter System (ATLAS) onboard the Ice, Cloud, and Land Elevation Satellite (ICESat-2). The novel algorithm was developed and tested using the ICESat-2 airborne prototype, the Multiple Altimeter Beam Experimental Lidar (MABEL), with Landsat-based water classifications (from 1982 to 2017). MABEL photon elevations were paired with Landsat water occurrence percentiles to establish the elevation-area (E-A) relationship, which in turn was applied to the percentile image to obtain partial bathymetry over the historic dynamic range of reservoir area. The bathymetry for the central area was projected to achieve the full bathymetry. The bathymetry image was then embedded onto the digital elevation model (DEM). Results were validated over Lake Mead against survey data. Results over four transects show coefficient of determination (R²) values from 0.82 to 0.99 and root-mean-square error (RMSE) values from 1.18 to 2.36 m. In addition, the E-A and elevation-storage (E-S) curves have RMSEs of 1.56 m and 0.08 km³, respectively. Over the entire dynamic reservoir area, the derived bathymetry agrees very well with independent survey data, except for within the highest and lowest percentile bands. With abundant overpassing tracks and high spatial resolution, the newly launched ICESat-2 should enable the derivation of bathymetry over an unprecedented number of reservoirs.

Yao Li↗
NASA NTRS2019

Water Storage Trends in High Mountain Asia

Changes in terrestrial water storage (TWS) in High Mountain Asia (HMA) could have major societal impacts, as the region’s large reservoirs of glaciers, snow, and groundwater provide a freshwater source to more than one billion people. We seek to quantify and close the budget of secular changes in TWS over the span of the GRACE satellite mission (2003–2016). To assess the TWS trend budget we consider a new high-resolution mass trend product determined directly from GRACE L1B data, glacier mass balance derived from Digital Elevation Models (DEMs), groundwater variability determined from confined and unconfined well observations, and terrestrial water budget estimates from a suite of land surface model simulations with the NASA Land Information System (LIS). This effort is successful at closing the aggregated TWS trend budget over the entire HMA region, the glaciated portion of HMA, and the Indus and Ganges basins, where the full-region trends are primarily due to the glacier mass balance and groundwater signals. Additionally, we investigate the closure of TWS trends at individual 1-arc-degree mascons (area ≈12,000 km2); a significant improvement in spatial resolution over previous analyses of GRACE-derived trends. This mascon-level analysis reveals locations where the TWS trends are well-explained by the independent datasets, as well as regions where they are not; identifying specific geographic areas where additional data and model improvements are needed. The accurate characterization of total TWS trends and its components presented here is critical to understanding the complex dynamics of the region, and is a necessary step toward projecting future water mass changes in HMA.

Bryant D Loomis↗
NASA NTRS2020

Monitoring River Basin Development and Variation in Water Resources in Transboundary Imjin River in North and South Korea Using Remote Sensing

This paper presents methods of monitoring river basin development and water variability for the transboundary river in North and South Korea. River basin development, such as dams and water infrastructure in transboundary rivers, can be a potential factor of tensions between upstream and downstream countries since dams constructed upstream can adversely affect downstream riparians. However, because most of the information related to North Korea has been limited to the public, the information about dams constructed and their locations were inaccurate in many previous studies. In addition, water resources in transboundary rivers can be exploited as a political tool. Specifically, due to the unexpected water release from the Hwanggang Dam, upstream of the transboundary Imjin River in North and South Korea, six South Koreans died on 6 September 2009. The Imjin River can be used as a political tool by North Korea, and seven events were reported as water conflicts in the Imjin River from 2001 to 2016. In this paper, firstly, we have updated the information about the dams constructed over the Imjin River in North Korea using multi-temporal images with a high spatial resolution (15-30 cm) obtained from Google Earth. Secondly, we analyzed inter- and intra-water variability over the Hwanggang Reservoir using open-source images obtained from the Global Surface Water Explorer. We found a considerable change in water surface variability before and after 2008, which might result from the construction of the Hwanggang Dam. Thirdly, in order to further investigate intra-annual water variability, we present a method monitoring water storage changes of the Hwanggang Reservoir using the area-elevation curve (AEC), which was derived from multi-sensor Synthetic Aperture Radar (SAR) images (Sentinel-1A and -1B) and the Shuttle Radar Topography Mission (SRTM) Digital Elevation Model (DEM). Since many previous studies for estimating water storage change have depended on satellite altimetry dataset and optical images for deriving AEC, the method adopted in this study is the only application for such inaccessible areas since no altimetry ground track exists for the Hwanggang Reservoir and because clouds can block the study area for wet seasons. Moreover, this study has newly proven that unexpected water release can occur in dry seasons because the water storage in the Hwanggang Reservoir can be high enough to conduct a release that can be used as a geopolitical tool. Using our method, potential risks can be mitigated, not in response to a water release, but based on pre-event water storage changes in the Hwanggang Reservoir.

Kim, Donghwan↗
NASA NTRS1996

An Automated Mapping Processor Using C-Band Interferometric SAR Data

We present the description of a processor which has been implemented to generate map products starting from C-band interferometric data. The first stage of the processor consists of the conventional interferometric SAR processing producing a Digital Elevation Model (DEMs) and a SAR brightness image in sensor coordinates.

processor↗
NASA NTRS2002

Geological interpretations of the topography of selected regions of Venus from Arecibo to Goldstone radar interferometry

We report on the geological interpretation of the mapping analysis of several successful radar experiments, which are part of a program to generate a high resolution digital elevation model (DEM) of the equatorial region of Venus between Phoebe Regio and far western Ovda Regio. These experiments used radar interferometry with Arecibo transmitting and Goldstone receiving.

Venus↗
NASA NTRS2021

ICESat-2 Pointing Calibration and Geolocation Performance

ICESat-2 science requirements are dependent on the accurate real-time pointing control (i.e. geolocation control) and post-processed geolocation knowledge of the laser altimeter surface returns. Pre-launch pointing alignment errors and post-launch pointing alignment variation result in large geolocation errors that must be calibrated on orbit. In addition, the changing sun-orbit geometry causes thermal-mechanical forced laser frame alignment variations at the orbit period and trends from days, weeks and months. Early mission analysis computed precise post-launch laser beam alignment calibration. The alignment calibration was uploaded to the spacecraft and enabled the pointing control performance to achieve 4.4 ± 6.0 m, a significant improvement over the 45 m (1 σ) mission requirement. Laser frame alignment calibrations are used to reduce the alignment bias and time variation, as well as the orbital variation contributions to geolocation knowledge error from 6 m to 1.7 m (1 σ). Relative beam alignment of the six beams is calibrated and shown to contribute between 0.5 ± 0.1 m and 2.4 ± 0.2 m of remaining geolocation knowledge error. Independent geolocation assessment based on comparison to high-resolution digital elevation models agrees well with the calibration geolocation error estimates. The analysis demonstrates the ICESat-2 mission is performing far better than its geolocation knowledge requirement of 6.5 m (1 σ) after the laser frame alignment bias variation and orbital variation calibrations have been applied. Remaining geolocation error is beam dependent and ranges from 2.5 m for beam 6 to 4.4 m for beam 2 (mean + 1 σ).

S. B. Luthcke↗
NASA NTRS2021

The New Landsat Global Land Survey (GLS) DEM

The Landsat project, for its Collection 2 distribution, is going to introduce a new global Digital Elevation Model (DEM) for scene orthorectification. The new global DEM is a composite of the latest and greatest available DEM sources and will include reprocessed SRTM (called NASADEM), hi-resolution stereo optical data (ArcticDEM), and various nationally produced datasets. With exception of a few places, most of the world will have the updated DEM, with improvements in absolute vertical accuracy and horizontal improvements of up to 360 meters (12 Landsat 30m pixels). This new DEM will be used to process all the scenes from Landsat 1-8 in Collection 2 processing and will be made available to public in Summer 2020.

Landsat↗
NASA NTRS2020

ICESat 2/ATLAS Onboard Flight Science Receiver Algorithms: Purpose, Process, and Performance

The Advanced Topographic Laser Altimetry System (ATLAS) is the sole instrument on the Ice, Cloud, and land Elevation Satellite 2 (ICESat-2). Without some method of reducing the transmitted data, the volume of ATLAS telemetry would far exceed the normal X-band downlink capability or require many more ground station contacts. The ATLAS Onboard Flight Science Receiver Algorithms (hereinafter Receiver Algorithms or Algorithms) control the amount of science data that is telemetered from the instrument, limiting the data volume by distinguishing surface echoes from background noise, and allowing the instrument to telemeter data from only a small vertical region about the signal. This is accomplished through the transfer of the spacecraft's location and attitude to the instrument every second, use of an onboard Digital Elevation Model, implementation of signal processing techniques, and use of onboard relief and surface type reference maps. Extensive ground testing verified the performance of the Algorithms. On-orbit analysis shows that the Algorithms are working as expected from the ground testing; they are performing well and meeting the mission requirements.

Algoritms, Signal Processing, Optimization, Flight↗
NASA NTRS2021

ICESat-2 Pointing Calibration and Geolocation Performance

ICESat-2 science requirements are dependent on the accurate real-time pointing control (i.e., geolocation control) and postprocessed geolocation knowledge of the laser altimeter surface returns. Prelaunch pointing alignment errors and postlaunch pointing alignment variation result in large geolocation errors that must be calibrated on orbit. In addition, the changing sun-orbit geometry causes thermal-mechanical forced laser frame alignment variations at the orbit period and trends from days, weeks, and months. Early mission analysis computed precise postlaunch laser beam alignment calibration. The alignment calibration was uploaded to the spacecraft and enabled the pointing control performance to achieve 4.4 ± 6.0 m, a significant improvement over the 45 m (1 σ) mission requirement. Laser frame alignment calibrations are used to reduce the alignment bias and time variation, as well as the orbital variation contributions to geolocation knowledge error from 6 to 1.7 m (1 σ). Relative beam alignment of the six beams is calibrated and shown to contribute between 0.5 ± 0.1 m and 2.4 ± 0.2 m of remaining geolocation knowledge error. Independent geolocation assessment based on comparison to high-resolution digital elevation models agrees well with the calibration geolocation error estimates. The analysis demonstrates the ICESat-2 mission is performing far better than its geolocation knowledge requirement of 6.5 m (1 σ) after the laser frame alignment bias variation and orbital variation calibrations have been applied. Remaining geolocation error is beam dependent and ranges from 2.5 m for beam 6 to 4.4 m for beam 2 (mean + 1 σ).

S B Luthcke↗
NASA NTRS2021

LiDAR-Inertial Based Navigation and Mapping for Precision Landing

Future lander missions will travel to ambitious, scientifically interesting locations near rough and dangerous terrain. They will need to operate with limited prior information about the terrain, and under varying lighting conditions. Landing safely and precisely in the face of these challenges is difficult for existing vision-based landing systems, which require detailed orbital reconnaissance, a priori hazard maps, and impose time-of-day restrictions on landing to ensure similar lighting conditions in orbital and descent imagery. Advanced 3D imaging LiDAR systems currently under development, and originally intended for single-scan hazard detection, have the potential to be operated continuously from altitudes of up to 5 km. Used together with existing inertial measurement units (IMUs), these sensors open a path-to-flight for a full navigation and mapping system, which could replace or augment a traditional landing sensor suite. A landing system based around these sensors can perform accurate altimetry, map-relative localization (MRL), LiDAR-inertial odometry, and map refinement in an illumination-insensitive manner, over unknown or partially known terrain. This paper outlines preliminary work on a LiDAR-inertial landing system that: estimates the spacecraft trajectory during entry, descent, and landing (EDL); and maps the topography of the terrain below, for future use in hazard detection and avoidance. An incremental, factor graph based, smoothing approach is used to solve for the maximum a posteriori trajectory of spacecraft states. Integrated IMU measurements and features tracked in adjacent range and intensity images are used to estimate motion (LiDAR-inertial odometry). LiDAR scans are binned into motion-corrected digital elevation models (DEMs), which are matched to an existing orbital topographic map to provide absolute position information (MRL). The estimated trajectory is then used to project the LiDAR scans into the map frame, creating a variable-resolution quadtree topographic map suitable for hazard detection and avoidance. Existing topographic maps from throughout the solar system (i.e., Earth, the Moon, Mars, Ceres, Vesta, Europa, Enceladus, and Eros) are upsampled for use in EDL simulations. The Mars 2020 Lander Vision System Simulator (LVSS) is extended to simulate LiDAR-inertial data for realistic EDL trajectories. Results of the algorithm operating on the simulated data are presented. Estimated spacecraft trajectory and refined map are compared to ground truth to assess estimation accuracy.

Katake, Anup↗
NASA NTRS2021

LiDAR-Based Map Relative Localization Performance Analysis for Landing on Europa

This paper presents preliminary simulations andanalyses done to assess the feasibility of performing Map RelativeLocalization (MRL) with the Europa Lander LiDAR beingdeveloped for the Europa Lander Pre-Phase A concept. MapRelative Localization is the process of determining the horizontalposition of a lander with respect to an onboard, a-priori map,by comparing the map to sensor observations of the terrain duringdeorbit, descent, and landing (DDL). Although kilometerscaleposition knowledge is commonly available during DDL,landing in hazard-rich environments requires position errors of100 m or less. Prior knowledge in the case of Europa Landerwill be visual and topographic maps collected by the upcomingEuropa Clipper mission. The Mars 2020 Lander Vision System(LVS) uses images from a camera to localize with respect tovisual maps. This technology, as well as a 3D imaging LiDAR indevelopment for hazard detection, is currently baselined for theEuropa Lander Pre-Phase A concept. This paper investigatesthe potential use of the hazard detection LiDAR to performMRL with respect to a 3D digital elevation model (DEM)provided by the Europa Clipper mission, as an alternative orbackup solution to passive optical MRL. Compared to passiveoptical MRL, one advantage of LiDAR-based localization isthat it is insensitive to lighting conditions, potentially relaxingrequirements on synchronizing map acquisition and landingtime of day. To analyze LiDAR based MRL performance,six representative terrains are synthetically up-sampled fromGalileo-derived maps of Europa to a resolution of 0.5 m/pxand covering an area of 4 km by 4 km. These maps are usedas ground-truth to generate simulated noisy a-priori onboardtopographic maps expected from Europa Clipper as well assimulated LiDAR DEMs generated at an altitude of 5 km duringEuropa Lander DDL. The simulated LiDAR DEM is matchedagainst the simulated map via 2D normalized cross-correlation,exploiting the accurately known spacecraft attitude to avoidthe need for more computationally intensive algorithms such asIterative Closest Point (ICP). Two sources of measurement errorare identified for analysis: 1) additive Gaussian noise in therange measurements from the Europa Lander LiDAR and theEuropa Clipper derived maps and 2) errors in the LiDAR DEMinduced by errors in the Europa Lander state estimate which isused to de-warp the LiDAR scan data into a DEM format. Weassess the effect of each of these types of errors independently onmatching performance as well as the overall performance whenall types of error are introduced. Additionally, we present theresult of a sensitivity study to terrain frequency content.

Trawny, Nikolas↗