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NASA NTRS1984

Application of differential GPS to civil helicopter terminal guidance

NASA is conducting a research program to evaluate differential Global Positioning System (GPS) concepts for civil helicopter navigation. It is pointed out that the civil helicopter community will probably be an early user of GPS because of the unique mission operations in areas where precise navigation aids are not available. Applications with very demanding accuracy requirements are related to remote area search and rescue, offshore oil platform approach, remote area precision landing, and other precise navigation operations. Differential GPS appears to provide a solution for meeting the accuracy requirements involved in the considered operations. The present investigation is concerned with results obtained in three areas studied in connection with the conducted research program. Attention is given to mission-tailored satellite selection, a satellite selection algorithm concept, satellite selection algorithm simulation results, and differential GPS ground station design.

Denaro, R. P.↗

NASA NTRS1981

ATC simulation of helicopter IFR approaches into major terminal areas using RNAV, MLS, and CDTI

The introduction of independent helicopter IFR routes at hub airports was investigated in a real time air traffic control system simulation involving a piloted helicopter simulator, computer generated air traffic, and air traffic controllers. The helicopter simulator was equipped to fly area navigation (RNAV) routes and microwave landing system approaches. Problems studied included: (1) pilot acceptance of the approach procedure and tracking accuracy; (2) ATC procedures for handling a mix of helicopter and fixed wing traffic; and (3) utility of the cockpit display of traffic information (CDTI) for the helicopter in the hub airport environment. Results indicate that the helicopter routes were acceptable to the subject pilots and were noninterfering with fixed wing traffic. Merging and spacing maneuvers using CDTI were successfully carried out by the pilots, but controllers had some reservations concerning the acceptability of the CDTI procedures.

Tobias, L.↗

NASA NTRS2015

NASA Near Earth Network (NEN), Deep Space Network (DSN) and Space Network (SN) Support of CubeSat Communications

There has been a historical trend to increase capability and drive down the Size, Weight and Power (SWAP) of satellites and that trend continues today. Small satellites, including systems conforming to the CubeSat specification, because of their low launch and development costs, are enabling new concepts and capabilities for science investigations across multiple fields of interest to NASA. NASA scientists and engineers across many of NASAs Mission Directorates and Centers are developing exciting CubeSat concepts and welcome potential partnerships for CubeSat endeavors. From a communications and tracking point of view, small satellites including CubeSats are a challenge to coordinate because of existing small spacecraft constraints, such as limited SWAP and attitude control, low power, and the potential for high numbers of operational spacecraft. The NASA Space Communications and Navigation (SCaN) Programs Near Earth Network (NEN), Deep Space Network (DSN) and the Space Network (SN) are customer driven organizations that provide comprehensive communications services for space assets including data transport between a missions orbiting satellite and its Mission Operations Center (MOC). The NASA NEN consists of multiple ground antennas. The SN consists of a constellation of geosynchronous (Earth orbiting) relay satellites, named the Tracking and Data Relay Satellite System (TDRSS). The DSN currently makes available 13 antennas at its three tracking stations located around the world for interplanetary communication. The presentation will analyze how well these space communication networks are positioned to support the emerging small satellite and CubeSat market. Recognizing the potential support, the presentation will review the basic capabilities of the NEN, DSN and SN in the context of small satellites and will present information about NEN, DSN and SN-compatible flight radios and antenna development activities at the Goddard Space Flight Center (GSFC) and across industry. The presentation will review concepts on how the SN multiple access capability could help locate CubeSats and provide a low-latency early warning system. The presentation will also present how the DSN is evolving to maximize use of its assets for interplanetary CubeSats. The critical spectrum-related topics of available and appropriate frequency bands, licensing, and coordination will be reviewed. Other key considerations, such as standardization of radio frequency interfaces and flight and ground communications hardware systems, will be addressed as such standardization may reduce the amount of time and cost required to obtain frequency authorization and perform compatibility and end-to-end testing. Examples of standardization that exist today are the NASA NEN, DSN and SN systems which have published users guides and defined frequency bands for high data rate communication, as well as conformance to CCSDS standards. The workshop session will also seek input from the workshop participants to better understand the needs of small satellite systems and to identify key development activities and operational approaches necessary to enhance communication and navigation support using NASA's NEN, DSN and SN.

Telecommunication↗

DOE OSTI2024

Electric Mobility Opportunities for Brooklyn Park, Minnesota

This report will support Brooklyn Park as it navigates changes in mobility technologies and approaches to best serve the transportation needs of its communities. The content details the advantages of electric mobility, reviews electric mobility options that meet diverse needs and constraints, and maps the benefits and limitations of these options in terms of available technologies, their uses, and incentives that aim to improve accessibility and affordability. Although personal EVs provide both individual and collective advantages to residents - from lowering the total cost of ownership over the lifetime of a vehicle to improving air quality in the surrounding environment by reducing tailpipe emissions - they may still be unaffordable and/or inaccessible to some households in Brooklyn Park. Therefore, this report provides an overview of other accessible and affordable electric mobility options, including electric carshares, e-micromobility (i.e., e-scooters, e-bikes), and on-demand services, as enabled by web-connected technologies and the proliferation of smartphones.

33 ADVANCED PROPULSION SYSTEMS↗

NASA NTRS1962

Empire. a study of early manned interplanetary missions final report, may 26 - nov. 25, 1962

This report summarizes the investigations and results of the EMPIRE Study Program undertaken by Aeronutronic Division of Ford Motor Company for the Future Projects Office, Marshall Space Flight Center, under Contract NAS8-5025. The dual planet flyby missions of the Crocco and Symmetric trajectory classes are discussed. The Crocco mission with an August 1971 launch window requires an interplanetary injection velocity increment of i0.i km/sec, has a return velocity of 13.5 km/sec, and takes approximately 400 days. The Symmetric mission with a July 1970 launch window has an injection velocity increment of 5.3 km/sec, a return velocity of 15.8 km/sec, and takes approximately 630 days. Additional results of the trajectory studies and abort trajectories are reported. The guidance and navigation subsystem, midcourse corrections, and planetary approach corrections are discussed. A detailed analysis of the reentry phase of EMPIRE includes consideration of an Apollo-type, a Drag Brake, and a lifting-type reentry vehicle to return the six-man crew at mission completion or in an aborted condition. The High L/D reentry vehicle is used in the missions considered. The various technological areas required for design criteria are developed and several spacecraft designs are considered. The all chemical propulsion Crocco system is discarded due to weight, complexity, and cost. The nuclear injected Crocco is treated in a similar manner. The lower energy injection for the Symmetric Mission leads to the feasibility of a nuclear injected vehicle with an Earth orbit weight of about 180,000 kilograms (400,000 pounds) before interplanetary transit. In addition, two chemical symmetric vehicles are treated. Conservative radiation exposures are derived, for the 630 day mission, of less than 200 REM and a polyethelene radiation shelter is designed. Scientific aspects of the missions are discussed. Mission Success Probabilities are presented for the various missions considered and for Saturn C-5, Nova, and Super-Nova Earth launch vehicles in light of possible development. The need for acceleration of nuclear rocket engine developments and auxiliary power developments is indicated. Definition of a larger nuclear engine of the order of 200,000 pounds thrust and about 800 seconds burning time or 50,000 pound thrust and 3600 seconds burning time is indicated for the Symmetric Mission in 1970 (energy requirements are higher in 1972 and for later launch due to the less favorable position of Mars)_ Immediate development of this advanced nuclear propulsion capability is recommended. A Development Plan and Funding Schedule is given for the 1970 launch window pinpointing the critical development areas and indicating a total program cost of $12.6 billion independent of other programmed R&D costs. In conclusion, technological feasibility for an early manned dual planet Mars-Venus flyby is believed to be demonstrated in this study. Several areas of accelerated development and experimental confirmation of theory are pinpointed. The necessary funding and development of Nova or orbital operations capability with Saturn C-5's is required. The 1970 launch window appears to offer the least expensive Symmetric Mission for several years into the 1980's.

F. P. Dixon↗

NASA NTRS1978

Single pilot IFR operating problems determined from accidental data analysis

The accident reports examined were restricted to instrument rated pilots flying in IFR weather. A brief examination was made of accidents which occurred during all phases of flight and which were due to all causes. A detailed examination was made of those accidents which involved a single pilot which occurred during the landing phases of flight, and were due to pilot error. Problem areas found include: (1) landing phase operations especially final approach, (2) pilot weather briefings, (3) night approaches in low IFR weather, (4) below minimum approaches, (5) aircraft icing, (6) imprecise navigation, (7) descending below minimum IFR altitudes, (8) fuel mismanagement, (9) pilot overconfidence, and (10) high pilot workload especially in twins. Some suggested areas of research included: (1) low cost deicing systems, (2) standardized navigation displays, (3) low cost low-altitude warning systems, (4) improved fuel management systems, (5) improved ATC communications, (6) more effective pilot training and experience acquisition methods, and (7) better weather data dissemination techniques.

Forsyth, D. L.↗

NASA NTRS1981

Flight evaluation of LORAN-C in the State of Vermont

A flight evaluation of LORAN C as a supplement to existing navigation aids for general aviation aircraft, particularly in mountainous regions of the United States and where VOR coverage is limited was conducted. Flights, initiated in the summer months, extend through four seasons and practically all weather conditions typical of northeastern U.S. operations. Assessment of all the data available indicates that LORAN C signals are suitable as a means of navigation during enroute, terminal and nonprecision approach operations and the performance exceeds the minimum accuracy criteria.

Mackenzie, F. D.↗

NASA NTRS1991

Autonomous Mars ascent and orbit rendezvous for earth return missions

The details of tha assessment of autonomous Mars ascent and orbit rendezvous for earth return missions are presented. Analyses addressing navigation system assessments, trajectory planning, targeting approaches, flight control guidance strategies, and performance sensitivities are included. Tradeoffs in the analysis and design process are discussed.

Edwards, H. C.↗

NASA NTRS1995

Time aspects of the European Complement to GPS: Continental and transatlantic experimental phases

The CNES project of a European Complement to GPS (CE-GPS) is conceived to fulfill the needs of Civil Aviation for a non-precise approach phase with GPS as sole navigation means. This generates two missions: a monitoring mission - alarm of failure - ,and a navigation mission - generating a GPS-like signal on board the geostationary satellites. The host satellites will be the Inmarsat constellation. The CE-GPS missions lead to some time requirements, mainly the accuracy of GPS time restitution and of monitoring clock synchronization. To demonstrate that the requirements of the CE-GPS could be achieved, including the time aspects, an experiment has been scheduled over the Last two years, using a part of the Inmarsat II F-2 payload and specially designed ground stations based on 10 channels GPS receivers. This paper presents a review of the results obtained during the continental phase of the CE-GPS experiment with two stations in France, along with some experimental results obtained during the transatlantic phase (three stations in France, French Guyana, and South Africa). It describes the synchronization of the monitoring clocks using the GPS Common-view or the C- to L-Band transponder of the Inmarsat satellite, with an estimated accuracy better than 10 ns (1 sigma).

Uhrich, Pierre J. M.↗

NASA NTRS2002

2001 Mars Odyssey Project report

The Mars Odyssey orbiter was launched on April 7, 2001, and arrived at Mars on October 24, 2001. The orbiter carries scientific instruments that will determine surface elemental composition, mineralogy and morphology, and measure the Mars radiation environment from orbit. In addition, the orbiter will serve as a data relay for future surface missions. This paper will present an overview of the Odyssey project, including the key elements of the spacecraft design, mission design and navigation, mission operations, and the science approach. The project's risk management process will be described. Initial findings of the science team will be summarized.

Mars Odyssey↗

NASA NTRS2006

Mars Aerobraking Spacecraft State Estimation by Processing Inertial Measurement Unit Data

Aerobraking is an efficient technique for orbit adjustment of planetary spacecraft, such as Magellan (Venus), Mars Global Surveyor, and Mars Odyssey. Determination of the vehicle state during the aerobraking phase has conventionally been performed using only radiometric tracking data prior to and following the atmospheric drag pass. This approach is sufficiently accurate and timely to meet current mission operational requirements; however, it is expensive in terms of ground support and leads to delayed results because ofthe need for post-drag pass data. This research presents a new approach to estimation of the vehicle state during the atmospheric pass that sequentially incorporates observations from an Inertial Measurement Unit (IMU) and models of the vehicle and environment. The approach, called Inertial Measurements for Aerobraking Navigation (IMAN), is shown to perform at a level comparable to the conventional methods in terms of navigation accuracy and superior to them in terms of availability of the results immediately after completion ofthe pass. Furthermore, the research shows that IMAN can be used to reliably predict subsequent periapsis times and locations over all aerobraking regimes. IMAN also yields accurate peak dynamic pressure and heating rates, critical for a successful corridor control strategy, comparable to navigation team reconstructed values. This research also provides the first instance of the utilization of the Unscented Kalman Filter for the purpose of estimating an actual spacecraft trajectory arc about another planet.

Unscented Kalman Filter↗

NASA NTRS2010

System Architectural Considerations on Reliable Guidance, Navigation, and Control (GN and C) for Constellation Program (CxP) Spacecraft

This final report summarizes the results of a comparative assessment of the fault tolerance and reliability of different Guidance, Navigation and Control (GN&C) architectural approaches. This study was proactively performed by a combined Massachusetts Institute of Technology (MIT) and Draper Laboratory team as a GN&C "Discipline-Advancing" activity sponsored by the NASA Engineering and Safety Center (NESC). This systematic comparative assessment of GN&C system architectural approaches was undertaken as a fundamental step towards understanding the opportunities for, and limitations of, architecting highly reliable and fault tolerant GN&C systems composed of common avionic components. The primary goal of this study was to obtain architectural 'rules of thumb' that could positively influence future designs in the direction of an optimized (i.e., most reliable and cost-efficient) GN&C system. A secondary goal was to demonstrate the application and the utility of a systematic modeling approach that maps the entire possible architecture solution space.

Dennehy, Cornelius J.↗

NASA NTRS2010

GN and C Design Overview and Flight Test Results from NASA's Max Launch Abort System (MLAS)

The National Aeronautics and Space Administration (NASA) Engineering and Safety Center (NESC) designed, developed and flew the alternative Max Launch Abort System (MLAS) as risk mitigation for the baseline Orion spacecraft launch abort system (LAS) already in development. The NESC was tasked with both formulating a conceptual objective system (OS) design of this alternative MLAS as well as demonstrating this concept with a simulated pad abort flight test. The goal was to obtain sufficient flight test data to assess performance, validate models/tools, and to reduce the design and development risks for a MLAS OS. Less than 2 years after Project start the MLAS simulated pad abort flight test was successfully conducted from Wallops Island on July 8, 2009. The entire flight test duration was 88 seconds during which time multiple staging events were performed and nine separate critically timed parachute deployments occurred as scheduled. Overall, the as-flown flight performance was as predicted prior to launch. This paper provides an overview of the guidance navigation and control (GN&C) technical approaches employed on this rapid prototyping activity. This paper describes the methodology used to design the MLAS flight test vehicle (FTV). Lessons that were learned during this rapid prototyping project are also summarized.

Dennehy, Cornelius J.↗

NASA NTRS2011

Navigation Strategies for Primitive Solar System Body Rendezvous and Proximity Operations

A wealth of scientific knowledge regarding the composition and evolution of the solar system can be gained through reconnaissance missions to primitive solar system bodies. This paper presents analysis of a baseline navigation strategy designed to address the unique challenges of primitive body navigation. Linear covariance and Monte Carlo error analysis was performed on a baseline navigation strategy using simulated data from a· design reference mission (DRM). The objective of the DRM is to approach, rendezvous, and maintain a stable orbit about the near-Earth asteroid 4660 Nereus. The outlined navigation strategy and resulting analyses, however, are not necessarily limited to this specific target asteroid as they may he applicable to a diverse range of mission scenarios. The baseline navigation strategy included simulated data from Deep Space Network (DSN) radiometric tracking and optical image processing (OpNav). Results from the linear covariance and Monte Carlo analyses suggest the DRM navigation strategy is sufficient to approach and perform proximity operations in the vicinity of the target asteroid with meter-level accuracy.

Getzandanner, Kenneth M.↗

NASA NTRS2021

Navigating Low-Energy Trajectories to Land on the Surface of Europa

The current interest in sending a probe to the surface of Europa in search of life demands not only efficient strategies in mission design, but also requires the capability of knowing the navigability of such types of trajectories. An initial search to find low-energy approach trajectories with a variety of topologies that are challenging to navigate is initially performed in the circular restricted three-body problem. These trajectories are subsequently converted to the ephemeris model and used for detailed navigation analysis. We explore several maneuver strategies and assess spacecraft state uncertainties at Europa arrival as well as fuel consumption.

McElrath, Tim↗

NASA NTRSDate not supplied

A Proposed Clock Synchronization Method for the Solar System Internet

Networked communications in space are necessary to achieve scalability in terms of the number of communicating nodes but also in terms of the overall system complexity. A key component to such a system is the ability to synchronize clocks, which is the focus of this paper. The so-called Solar System Internet (SSI) will be built upon Delay Tolerant Networking (DTN), which, in analogy to the Internet Protocol (IP), can be considered a suite of protocols necessary for networking in the space domain. Therefore, our goal is to extend this suite to include a DTN clock synchronization capability, analogous to the Network Time Protocol (NTP) used in the Internet. A motivating example of a network in space is NASA’s LunaNet, a vision for a multi-hop multi-path network extending to the moon wherein not all nodes will have direct connections to an authoritative reference clock. In this paper, we propose a general clock synchronization methodology and algorithm that could be used for LunaNet as well as more elaborate time-varying networks. In recent years, DTN has benefited from modeling efforts founded on the mathematical tool of sheaves. Here we continue this work to provide an approach to clock synchronization. Due to the time-varying nature of space networks, absolute consensus is not possible. However, the sheaf Laplacian provides a practical, distributed approach to approximating consensus by allowing data to diffuse through the network. In particular, the sheaf Laplacian is readily computable, lending our approach to implementation. Our approach is well suited to handle the difficulties of space networks. For instance, differences in clock accuracy mean certain nodes are more authoritative than others; we can account for these differences through hierarchies in the network, generalizing the strata in NTP. Furthermore, just as error estimation is an integral part of NTP, we are able to give concrete error bounds for our approach. Indeed, different applications (e.g., communications schedules, pointing, navigation, distributed science) will have different requirements, hence it is necessary to maintain clocks within a given tolerance. We outline some of the necessary steps to turn our approach into a practical network protocol that could be used in DTN, and we conclude the paper with suggestions for future research.

Michael Moy↗

NASA NTRS1997

Initial Results from Vision-based Control of the Marsokhod Rover

A geologist characterizing a field site typically wanders from one interesting geologic feature to another. Performing geology remotely with a mobile robot, we have observed the same behavior: geologists see a visually-interesting feature and wish to approach it for closer inspection. To date, navigating a mobile robot to a visually-interesting feature has been accomplished by driving to a location close to the feature. This introduces two problems: assigning a location to the feature and navigating the rover to that location. In practice, solutions to both of these problems are susceptable to positional error. Fundamentally, we can see where we want the robot to go, but it is difficult to precisely quantify where either the target or the robot are located. The development of vision-based control of robot manipulators suggests an alternative approach for mobile robot explorers. We have developed a vision-based control system that enables the Marsokhod rover to drive to within sampling distance of visually-designated rock or natural feature. We will describe this system and our initial results using it during a field experiment in the Painted Desert of Arizona.

Wettergreen, David↗

NASA NTRS2011

Mars Science Laboratory Interplanetary Navigation Analysis

The Mars Science Laboratory (MSL) is a NASA rover mission that will be launched in late 2011 and will land on Mars in August of 2012. This paper describes the analyses performed to validate the navigation system for launch, interplanetary cruise, and approach. MSL will use guidance during its descent into Mars in order to minimize landing dispersions, and therefore will be able to use smaller landing zones that are closer to terrain of high scientific interest. This will require a more accurate delivery of the spacecraft to the atmospheric entry interface, and a late update of the state of the spacecraft at entry. During cruise and approach the spacecraft may perform up to six trajectory correction maneuvers (TCMs), to target to the desired landing site with the required flight path angle at entry. Approach orbit determination covariance analyses have been performed to evaluate the accuracy that can be achieved in delivering the spacecraft to the entry interface point, and to determine how accurately the state of the spacecraft can be predicted to initialize the guidance algorithm. In addition, a sensitivity analysis has been performed to evaluate which factors most contribute to the improvement or degradation of the navigation performance, for both entry flight path angle delivery and entry state knowledge.

orbit determination↗