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NASA NTRS2016

Localization from Visual Landmarks on a Free-Flying Robot

We present the localization approach for Astrobee, a new free-flying robot designed to navigate autonomously on the International Space Station (ISS). Astrobee will accommodate a variety of payloads and enable guest scientists to run experiments in zero-g, as well as assist astronauts and ground controllers. Astrobee will replace the SPHERES robots which currently operate on the ISS, whose use of fixed ultrasonic beacons for localization limits them to work in a 2 meter cube. Astrobee localizes with monocular vision and an IMU, without any environmental modifications. Visual features detected on a pre-built map, optical flow information, and IMU readings are all integrated into an extended Kalman filter (EKF) to estimate the robot pose. We introduce several modifications to the filter to make it more robust to noise, and extensively evaluate the localization algorithm.

Coltin, Brian↗

NASA NTRS2016

Localization from Visual Landmarks on a Free-Flying Robot

We present the localization approach for Astrobee,a new free-flying robot designed to navigate autonomously on board the International Space Station (ISS). Astrobee will conduct experiments in microgravity, as well as assisst astronauts and ground controllers. Astrobee replaces the SPHERES robots which currently operate on the ISS, which were limited to operating in a small cube since their localization system relied on triangulation from ultrasonic transmitters. Astrobee localizes with only monocular vision and an IMU, enabling it to traverse the entire US segment of the station. Features detected on a previously-built map, optical flow information,and IMU readings are all integrated into an extended Kalman filter (EKF) to estimate the robot pose. We introduce several modifications to the filter to make it more robust to noise.Finally, we extensively evaluate the behavior of the filter on atwo-dimensional testing surface.

Coltin, Brian↗

NASA NTRSDate not supplied

Optical Navigation Attitude Estimation and Calibration Performance Improvement using Outlier Rejection

Spacecraft optical navigation (OpNav) systems process a sequence of images of celestial bodies against a starfield background to estimate the position and velocity of the vehicle. While attitude is sometimes available from an onboard star tracker, it is often desirable to recognize the background stars in the OpNav images to better align the image. While many image processing algorithms exist for finding stars, efficiency and reliability remain key issues in the presence of extended bodies(e.g. the Moon, Earth), especially when attempting to solve the full lost-in-space problem. Some star outliers(stars identified with high residuals)could appear in the camera field of view, however using them in the attitude estimation or camera calibration would lead to less accurate results. Therefore, we require new and robust approaches to remove these outliers before any further processing. The emphasis of the work is on developing a simple and robust iterative technique to detect and reject the outliers which could be found in any frame during the lost in space attitude determination or during the camera calibration. These outliers are determined based on the residuals of the centroids of the detected stars and the corresponding location using the star catalog. If the residuals exceed a predetermined threshold value, the object will be detected as an outlier and will be removed before another attitude determination and calibration iteration is performed. The performance for both attitude determination and on-orbit camera calibration are improved by an almost two-fold increase in accuracy when applying this outlier rejection technique.

OpNav↗

NASA NTRSDate not supplied

Modeling Evolvable Water Recovery Systems for Short and Long-Duration Missions in Partial Gravity

Water recovery technologies on the International Space Station (ISS) are designed and optimized for microgravity environments, thus creating a need for innovative systems optimized for mission operations in the presence of gravity. Alternative water recovery technologies under research by the Life Support Systems division were compiled into a series of Partial Gravity Water Recovery System (PGWRS) architectures. Individual unit processes were modeled via fundamental physical-chemical process equations to simulate their method of treatment, including chemical or biological oxidation, flash evaporation, filtration, or a combination of adsorption and ion exchange processes. Dimension and sizing data were then utilized to scale each architecture. Modeling was completed on an assortment of architectures assuming three scenarios in which treatment methods could take advantage of partial gravity: a short-duration mission with a temporary surface habitat, a longer duration mission with a more permanent habitat, and a long duration mission without resupply. Total system mass was estimated to quantitatively compare architectures within scenarios, but qualitative observations were also made regarding system robustness, flexibility, and capacity to meet more stringent demands. Technologies that traded most favorably between the scenarios were those that included a pre-oxidation stage to minimize mass loading to downstream absorption and ion exchange beds, exploited gravity in liquid-vapor separation processes, and reconstituted wastewater components into recyclable material streams.

Avery Carlson↗

NASA NTRSDate not supplied

Modeling Evolvable Water Recovery Systems for Short and Long-Duration Missions in Partial Gravity

Avery L. Carlson↗

NASA NTRS2024

Modeling Evolvable Water Recovery Systems for Short and Long-Duration Missions in Partial Gravity

Water recovery technologies on the International Space Station (ISS) are designed and optimized for microgravity environments, thus creating a need for innovative systems optimized for mission operations in the presence of gravity. Alternative water recovery technologies under research by the Life Support Systems division were compiled into a series of Partial Gravity Water Recovery System (PGWRS) architectures. Individual unit processes were modeled via fundamental physical-chemical process equations to simulate their method of treatment, including chemical or biological oxidation, flash evaporation, filtration, or adsorption and ion exchange. Dimension and sizing data were then utilized to scale each architecture. Modeling was completed on an assortment of architectures assuming three scenarios in which treatment methods could take advantage of partial gravity: a short-duration mission with a temporary surface habitat, a longer duration mission with a more permanent habitat, and a long duration mission with minimal resupply. Total system mass was estimated to quantitatively compare architectures within scenarios, but qualitative observations were also made regarding system robustness, flexibility, and capacity to meet more stringent demands. Technologies that traded most favorably between the scenarios were those that included a pre-oxidation stage to minimize mass loading to downstream absorption and ion exchange beds, exploited gravity in liquid-vapor separation processes, and reconstituted wastewater components into recyclable material streams.

Avery L. Carlson↗

NASA NTRSDate not supplied

Modeling Evolvable Water Recovery Systems for Short and Long-Duration Missions in Partial Gravity

Water recovery technologies on the International Space Station (ISS) are designed and optimized for microgravity environments, thus creating a need for innovative systems optimized for mission operations in the presence of gravity. Alternative water recovery technologies under research by the Life Support Systems division were compiled into a series of Partial Gravity Water Recovery System (PGWRS) architectures. Individual unit processes were modeled via fundamental physical-chemical process equations to simulate their method of treatment, including chemical or biological oxidation, flash evaporation, filtration, or adsorption and ion exchange. Dimension and sizing data were then utilized to scale each architecture. Modeling was completed on an assortment of architectures assuming three scenarios in which treatment methods could take advantage of partial gravity: a short-duration mission with a temporary surface habitat, a longer duration mission with a more permanent habitat, and a long duration mission with minimal resupply. Total system mass was estimated to quantitatively compare architectures within scenarios, but qualitative observations were also made regarding system robustness, flexibility, and capacity to meet more stringent demands. Technologies that traded most favorably between the scenarios were those that included a pre-oxidation stage to minimize mass loading to downstream absorption and ion exchange beds, exploited gravity in liquid-vapor separation processes, and reconstituted wastewater components into recyclable material streams.

Avery Carlson↗

NASA NTRSDate not supplied

Towards an Optimal Estimation Retrieval of Cirrus Cloud Optical and Microphysical Properties Using Hyperspectral Shortwave Instruments and A Fast Radiative Transfer Algorithm

Cirrus cloud retrieval products (here, cloud optical depth, effective particle size, and cloud top height) are important inputs into numerical weather and climate models. Uncertainties in such retrieval products, as a matter of course, propagate downstream, impacting model calculations. Improvements in high-quality global cirrus cloud optical and microphysical data products from satellite observations are needed to understand and reduce retrieval uncertainties. Hyperspectral instruments produce high-resolution and information-dense radiance spectra, thus offering the opportunity to reduce uncertainties in retrieval products. An optimal estimation-based cirrus cloud optical and microphysical product retrieval is under development for the NASA Airborne Visible/Infrared Imaging Spectrometer (AVIRIS) and the Earth Surface Mineral Dust Source Investigation (EMIT) instruments, and the forthcoming Climate Absolute Radiance and Refractivity Observatory Pathfinder (CLARREO-Pathfinder). The spectral coverage of all three instruments includes the ultraviolet, visible, and near-infrared. In this study a very fast radiative transfer model, the Principal Component-based Radiative Transfer Model in the solar spectral region (PCRTM-Solar), is used for forward modeling computations. This will reduce the computational burden in the forward radiance and Jacobian calculations as the cost function is minimized, enabling the entire AVIRIS, EMIT, and CLARREO-Pathfinder spectral range to be used in the optimal estimation framework. Using the entire spectrum will maximize the information content, resulting in a more robust and more accurate retrieval. As a first step, the retrieval is being designed for single layer ice clouds over open ocean water. Preliminary results will be shown.

Jeffrey Mast↗

NASA NTRS2024

Starling Formation-Flying Optical Experiment: Initial Operations and Flight Results

This paper presents initial flight results for angles-only navigation of a swarm of small spacecraft, conducted during the Starling Formation-Flying Optical Experiment (StarFOX). StarFOX is one of four experiments aboard the NASA Starling mission, which consists of four CubeSats launched in July 2023. Angles-only methods apply inter-satellite bearing angles obtained by on-board cameras for navigation, increasing satellite autonomy and enabling new mission concepts. Nevertheless, prior flight demonstrations have only featured one observer and target and have relied upon a-priori target orbit knowledge for initialization, translational maneuvers to resolve target range, and external absolute orbit updates to maintain convergence. StarFOX overcomes these limitations by applying the angles-only Absolute and Relative Trajectory Measurement System (ARTMS), which integrates three novel algorithms. Image Processing detects and tracks multiple targets in images, using multi-hypothesis methods and domain-specific kinematic modeling, and computes target bearing angles. Batch Orbit Determination computes initial swarm orbit estimates from bearing angle batches, via iterative batch least squares and sampling of the weakly observable target range. Sequential Orbit Determination leverages an adaptive, efficient unscented Kalman filter with nonlinear models to refine swarm state estimates over time. Multi-observer measurements shared over an intersatellite link are seamlessly fused to enable robust absolute and relative orbit determination. Initial StarFOX experiments are the first demonstrations of autonomous angles-only navigation for a satellite swarm, including multi-target and multi-observer relative navigation; autonomous initialization of navigation for unknown targets; and simultaneous absolute and relative orbit determination. Relative navigation accuracy of 1% (single observer) and 0.2% (multi-observer) of the inter-satellite range is achieved under challenging measurement conditions. Results demonstrate promising performance with regards to ongoing StarFOX campaigns and the application of angles-only navigation to future distributed missions.

Relative Navigation↗

NASA NTRS1984

A robust pseudo-inverse spectral filter applied to the Earth Radiation Budget Experiment (ERBE) scanning channels

Computer simulations of a least squares estimator operating on the ERBE scanning channels are discussed. The estimator is designed to minimize the errors produced by nonideal spectral response to spectrally varying and uncertain radiant input. The three ERBE scanning channels cover a shortwave band a longwave band and a ""total'' band from which the pseudo inverse spectral filter estimates the radiance components in the shortwave band and a longwave band. The radiance estimator draws on instantaneous field of view (IFOV) scene type information supplied by another algorithm of the ERBE software, and on a priori probabilistic models of the responses of the scanning channels to the IFOV scene types for given Sun scene spacecraft geometry. It is found that the pseudoinverse spectral filter is stable, tolerant of errors in scene identification and in channel response modeling, and, in the absence of such errors, yields minimum variance and essentially unbiased radiance estimates.

Avis, L. M.↗

NASA NTRS1998

Application of Multilayer Feedforward Neural Networks to Precipitation Cell-Top Altitude Estimation

The use of passive 118-GHz O2 observations of rain cells for precipitation cell-top altitude estimation is demonstrated by using a multilayer feed forward neural network retrieval system. Rain cell observations at 118 GHz were compared with estimates of the cell-top altitude obtained by optical stereoscopy. The observations were made with 2 4 km horizontal spatial resolution by using the Millimeter-wave Temperature Sounder (MTS) scanning spectrometer aboard the NASA ER-2 research aircraft during the Genesis of Atlantic Lows Experiment (GALE) and the COoperative Huntsville Meteorological EXperiment (COHMEX) in 1986. The neural network estimator applied to MTS spectral differences between clouds, and nearby clear air yielded an rms discrepancy of 1.76 km for a combined cumulus, mature, and dissipating cell set and 1.44 km for the cumulus-only set. An improvement in rms discrepancy to 1.36 km was achieved by including additional MTS information on the absolute atmospheric temperature profile. An incremental method for training neural networks was developed that yielded robust results, despite the use of as few as 56 training spectra. Comparison of these results with a nonlinear statistical estimator shows that superior results can be obtained with a neural network retrieval system. Imagery of estimated cell-top altitudes was created from 118-GHz spectral imagery gathered from CAMEX, September through October 1993, and from cyclone Oliver, February 7, 1993.

Spina, Michelle S.↗

NASA NTRS2018

Polarization Decomposition and Temperature Bias Resolution for SMAP Passive Soil Moisture Retrieval Using Time Series Brightness Temperature Observations

In passive microwave remote sensing of soil moisture, the tau-omega (τ-ω) model has often been used to provide soil moisture estimates at a spatial scale representative of the satellite footprint dimensions. For modeling simplicity, model parameters such as the single scattering albedo (ω) and vegetation opacity (τ) that go into the geophysical inversion process are often assumed to be independent of polarizations. Although this absence of polarization dependence can often be justified in special cases as in low-frequency remote sensing or under dense vegetation conditions, it is not a robust assumption in general. Additional model parameterization errors arising from this assumption are possible, leading to degradation in soil moisture estimation accuracy. In this paper, we propose a time series approach to try to resolve the polarization dependence of several τ-ω model parameters as well as the temperature bias arising from the ancillary temperature data. The Version 4 of the Soil Moisture Active Passive (SMAP) Level 1B brightness temperature time series observations were used to illustrate the mechanics of this approach, with an emphasis on a comparison between resulting satellite soil moisture retrievals and in situ data collected at several core validation sites. It was found that this time series approach resulted in significant reduction of the dry bias exhibited in the current SMAP passive soil moisture data products, while retaining the same performance in other metrics of the current baseline passive soil moisture retrieval algorithm.

time series↗

NASA NTRS1991

Optical correlators for automated rendezvous and capture

The paper begins with a description of optical correlation. In this process, the propagation physics of coherent light is used to process images and extract information. The processed image is operated on as an area, rather than as a collection of points. An essentially instantaneous convolution is performed on that image to provide the sensory data. In this process, an image is sensed and encoded onto a coherent wavefront, and the propagation is arranged to create a bright spot of the image to match a model of the desired object. The brightness of the spot provides an indication of the degree of resemblance of the viewed image to the mode, and the location of the bright spot provides pointing information. The process can be utilized for AR&C to achieve the capability to identify objects among known reference types, estimate the object's location and orientation, and interact with the control system. System characteristics (speed, robustness, accuracy, small form factors) are adequate to meet most requirements. The correlator exploits the fact that Bosons and Fermions pass through each other. Since the image source is input as an electronic data set, conventional imagers can be used. In systems where the image is input directly, the correlating element must be at the sensing location.

Juday, Richard D.↗

NASA NTRS1999

Wavelet Applications for Flight Flutter Testing

Wavelets present a method for signal processing that may be useful for analyzing responses of dynamical systems. This paper describes several wavelet-based tools that have been developed to improve the efficiency of flight flutter testing. One of the tools uses correlation filtering to identify properties of several modes throughout a flight test for envelope expansion. Another tool uses features in time-frequency representations of responses to characterize nonlinearities in the system dynamics. A third tool uses modulus and phase information from a wavelet transform to estimate modal parameters that can be used to update a linear model and reduce conservatism in robust stability margins.

Lind, Rick↗

NASA NTRS1999

Wavelet Applications for Flight Flutter Testing

Lind, Rick↗

NASA NTRS2010

Multiple Exhaust Nozzle Effects on J-2X Gas Generator Outlet Impedance

The current test setup of the J-2X gas generator system uses a multiple nozzle configuration to exhaust hot gases to drive the propellant supply turbines. Combustion stability assessment of this gas generator design requires knowledge of the impedance effects the multiple nozzle configuration creates on the combustion chamber acoustic modes. Parallel work between NASA and Sierra Engineering is presented, showing two methods used to calculate the effective end impedance resulting from multiple nozzle configurations. The NASA method is a simple estimate of the effective impedance using the long wavelength approximation. Sierra Engineering has developed a more robust numerical integration method implemented in ROCCID to accommodate for multiple nozzles. Analysis using both methods are compared to J-2X gas generator test data collected over the past year.

Kenny, R. Jeremy↗

NASA NTRS2015

Assessing Air-Sea Interaction in the Evolving NASA GEOS Model

In order to understand how the climate responds to variations in forcing, one necessary component is to understand the full distribution of variability of exchanges of heat and moisture between the atmosphere and ocean. Surface heat and moisture fluxes are critical to the generation and decay of many coupled air-sea phenomena. These mechanisms operate across a number of scales and contain contributions from interactions between the anomalous (i.e. non-mean), often extreme-valued, flux components. Satellite-derived estimates of the surface turbulent and radiative heat fluxes provide an opportunity to assess results from modeling systems. Evaluation of only time mean and variability statistics, however only provides limited traceability to processes controlling what are often regime-dependent errors. This work will present an approach to evaluate the representation of the turbulent fluxes at the air-sea interface in the current and evolving Goddard Earth Observing System (GEOS) model. A temperature and moisture vertical profile-based clustering technique is used to identify robust weather regimes, and subsequently intercompare the turbulent fluxes and near-surface parameters within these regimes in both satellite estimates and GEOS-driven data sets. Both model reanalysis (MERRA) and seasonal-to-interannual coupled GEOS model simulations will be evaluated. Particular emphasis is placed on understanding the distribution of the fluxes including extremes, and the representation of near-surface forcing variables directly related to their estimation. Results from these analyses will help identify the existence and source of regime-dependent biases in the GEOS model ocean surface turbulent fluxes. The use of the temperature and moisture profiles for weather-state clustering will be highlighted for its potential broad application to 3-D output typical of model simulations.

Clayson, Carol Anne↗

NASA NTRS2011

Local Estimators for Spacecraft Formation Flying

A formation estimation architecture for formation flying builds upon the local information exchange among multiple local estimators. Spacecraft formation flying involves the coordination of states among multiple spacecraft through relative sensing, inter-spacecraft communication, and control. Most existing formation flying estimation algorithms can only be supported via highly centralized, all-to-all, static relative sensing. New algorithms are needed that are scalable, modular, and robust to variations in the topology and link characteristics of the formation exchange network. These distributed algorithms should rely on a local information-exchange network, relaxing the assumptions on existing algorithms. In this research, it was shown that only local observability is required to design a formation estimator and control law. The approach relies on breaking up the overall information-exchange network into sequence of local subnetworks, and invoking an agreement-type filter to reach consensus among local estimators within each local network. State estimates were obtained by a set of local measurements that were passed through a set of communicating Kalman filters to reach an overall state estimation for the formation. An optimization approach was also presented by means of which diffused estimates over the network can be incorporated in the local estimates obtained by each estimator via local measurements. This approach compares favorably with that obtained by a centralized Kalman filter, which requires complete knowledge of the raw measurement available to each estimator.

Fathpour, Nanaz↗