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At least 379 records · Page 21
All sourcesNASA NTRSDOE OSTI
NASA NTRS2005

Single-Command Approach and Instrument Placement by a Robot on a Target

AUTOAPPROACH is a computer program that enables a mobile robot to approach a target autonomously, starting from a distance of as much as 10 m, in response to a single command. AUTOAPPROACH is used in conjunction with (1) software that analyzes images acquired by stereoscopic cameras aboard the robot and (2) navigation and path-planning software that utilizes odometer readings along with the output of the image-analysis software. Intended originally for application to an instrumented, wheeled robot (rover) in scientific exploration of Mars, AUTOAPPROACH could be adapted to terrestrial applications, notably including the robotic removal of land mines and other unexploded ordnance. A human operator generates the approach command by selecting the target in images acquired by the robot cameras. The approach path consists of multiple legs. Feature points are derived from images that contain the target and are thereafter tracked to correct odometric errors and iteratively refine estimates of the position and orientation of the robot relative to the target on successive legs. The approach is terminated when the robot attains the position and orientation required for placing a scientific instrument at the target. The workspace of the robot arm is then autonomously checked for self/terrain collisions prior to the deployment of the scientific instrument onto the target.

Huntsberger, Terrance↗
NASA NTRS1972

Digital simulation of continuous error models with application to an instrument landing system error

A digital simulation of the continuous error of the localized beam of a conventional instrument landing system is discussed. The digital simulation was developed during the analysis of space shuttle navigation capabilities. A discrete mathematical model for use on a digital computer is described. The model generates an output random sequence which is equivalent, for simulation purposes, to the desired random process. The model is a system of difference equations driven by a zero-mean Gaussian random sequence.

Merrick, R. B.↗
NASA NTRS1982

Evaluation of the sensitivity and intrusion of workload estimation techniques in piloting tasks emphasizing mediational activity

In this experiment, pilots flew an instrumented moving-base simulator. Mediational loading was elicited by having them solve a variety of navigational problems. The problems were sorted into low, medium, and high load conditions based on the number and complexity of arithmetic and geometric operations required to solve them. Workload estimation techniques based on opinion, spare mental capacity, primary task performance, and physiological measures were obtained and compared. This paper describes: (1) the ability of the techniques to discriminate statistically between the three levels of loading conditions, and (2) changes in primary task performance caused by introduction of the workload technique procedures and equipment.

Rahimi, M.↗
NASA NTRS1988

Lessons learned in ground processing scientific and applications payloads at Kennedy Space Center

The payload ground processing of experiments which flew on the Shuttle is examined, including studies of atmosphere and earth observation, life science, advance technology, materials science, plasma physics, astrophysics and solar physics, astronomy, navigation and communication, and fluid mechanics. The process of designing and development payloads, the integration of instruments, carrier interface verification, and late servicing at the launch pad are discussed. The problems of cost, red tape, contamination, safety, and propriety protection are considered.

Elfrey, Priscilla↗
NASA NTRS1998

Inertial Pointing and Positioning System

An inertial pointing and control system and method for pointing to a designated target with known coordinates from a platform to provide accurate position, steering, and command information. The system continuously receives GPS signals and corrects Inertial Navigation System (INS) dead reckoning or drift errors. An INS is mounted directly on a pointing instrument rather than in a remote location on the platform for-monitoring the terrestrial position and instrument attitude. and for pointing the instrument at designated celestial targets or ground based landmarks. As a result. the pointing instrument and die INS move independently in inertial space from the platform since the INS is decoupled from the platform. Another important characteristic of the present system is that selected INS measurements are combined with predefined coordinate transformation equations and control logic algorithms under computer control in order to generate inertial pointing commands to the pointing instrument. More specifically. the computer calculates the desired instrument angles (Phi, Theta. Psi). which are then compared to the Euler angles measured by the instrument- mounted INS. and forms the pointing command error angles as a result of the compared difference.

Yee, Robert↗
NASA NTRSDate not supplied

Optical Characterization of CLPS MiniatureLaser Retroreflector Arrays

Laser retroreflector arrays (LRAs) consisting of corner cube retroreflectors (CCRs) can act as fiducial markers for decades of laser ranging on the Moon and other planetary bodies. Upcoming lunar lander missions from government space agencies and commercial partners offer a unique opportunity to support lunar science and exploration through the deployment of small LRAs on lander decks. Placement of an LRA on the deck of a lander or rover enables tracking with an orbital laser altimeter to aprecision on the order of centimeters. When mounted alongside a suite of scientific instruments the LRA enables precise geolocation of those instruments in the lunar geodetic frame. Finally, optical markers such as LRAs can support precision autonomous navigation and landing regardless of lighting conditions, an especially valuable capability for lunar polar exploration where long shadows complicate terrain relative nagivation using imaging methods.

Daniel R. Cremons↗
NASA NTRS2000

Rovers as Geological Helpers for Planetary Surface Exploration

Rovers can be used to perform field science on other planetary surfaces and in hostile and dangerous environments on Earth. Rovers are mobility systems for carrying instrumentation to investigate targets of interest and can perform geologic exploration on a distant planet (e.g. Mars) autonomously with periodic command from Earth. For nearby sites (such as the Moon or sites on Earth) rovers can be teleoperated with excellent capabilities. In future human exploration, robotic rovers will assist human explorers as scouts, tool and instrument carriers, and a traverse "buddy". Rovers can be wheeled vehicles, like the Mars Pathfinder Sojourner, or can walk on legs, like the Dante vehicle that was deployed into a volcanic caldera on Mt. Spurr, Alaska. Wheeled rovers can generally traverse slopes as high as 35 degrees, can avoid hazards too big to roll over, and can carry a wide range of instrumentation. More challenging terrain and steeper slopes can be negotiated by walkers. Limitations on rover performance result primarily from the bandwidth and frequency with which data are transmitted, and the accuracy with which the rover can navigate to a new position. Based on communication strategies, power availability, and navigation approach planned or demonstrated for Mars missions to date, rovers on Mars will probably traverse only a few meters per day. Collecting samples, especially if it involves accurate instrument placement, will be a slow process. Using live teleoperation (such as operating a rover on the Moon from Earth) rovers have traversed more than 1 km in an 8 hour period while also performing science operations, and can be moved much faster when the goal is simply to make the distance. I will review the results of field experiments with planetary surface rovers, concentrating on their successful and problematic performance aspects. This paper will be accompanied by a working demonstration of a prototype planetary surface rover.

Stoker, Carol↗
NASA NTRSDate not supplied

Navigation Doppler Lidar for Lunar Landers

The new generation of Navigation Doppler Lidar has been designed, developed, and tested for lunar missions. Comprehensive environmental testing is performed to assess the performance of the instrument for upcoming lunar missions and future missions to the Moon and other planetary bodies.

Lidar↗
NASA NTRSDate not supplied

Navigation Doppler Lidar for Lunar Landers

The new generation of Navigation Doppler Lidar has been designed, developed, and tested for lunar missions. Comprehensive environmental testing is performed to assess the performance of the instrument for upcoming lunar missions and future missions to the Moon and other planetary bodies.

Lidar↗
NASA NTRS2019

NASA SEXTANT Mission Operations Architecture

The Station Explorer for X-Ray Timing and Navigation (SEXTANT) mission is a technology demonstration enhancement to the Neutron Star Interior Composition Explorer (NICER) mission, a NASA Astrophysics Explorer Mission of Opportunity to the International Space Station (ISS) that was launched in June of 2017. The NICER instrument is a precision pointing X-ray telescope that times pulsar sourced photon arrivals which the SEXTANT mission uses to perform autonomous onboard X-ray Pulsar Navigation (XNAV). By comparing the detected time of arrival of X-ray photons to a reference of expected pulsar timing models, one can infer a range and range rate measurement based on light time delay. Since both timing and orientation information comes from a celestial source, this technology could provide a GPS-like navigation capability available throughout our Solar System and beyond. Applications that XNAV can support include outer planet and interstellar missions, manned missions, libration orbit missions, and current infrastructure such as the Deep Space Network (DSN). The SEXTANT team successfully completed a first demonstration of in-space and autonomous XNAV in November 2017. NICER and SEXTANT have separate teams, with NICER being the primary team with its own science objectives. Operational modes for both missions must have concurrent and independent components as well as an integrated ground system. This paper describes on the operational infrastructure and successful operations for performing X-ray Pulsar Navigation with the Station Explorer for X-ray Timing and Navigation Technology (SEXTANT) demonstration. This paper first details the infrastructure implemented, then the concept of operations, and finally the operations for the SEXTANT demonstration and lessons learned.

Ground Systems↗
NASA NTRSDate not supplied

Simulated Vision-based Approach and Landing System for Advanced Air Mobility

Advanced Air Mobility (AAM) aircraft require precision approach and landing systems (PALS) in several environments, such as urban, suburban, and rural. It is challenging to implement current state-of-the-art methods approved for automated approach and landing for AAM operations with challenges such as GPS degradation in urban environments and visual navigation aids like the glideslope and localizer being narrow and not allowing alternative incoming landing angles at vertiports. However, existing technology and systems, i.e., the instrument landing system (ILS) with glideslope and localizer indicators that use vision, IR, radar, or GPS methods, provide baseline perception and sensing requirements for AAM aircraft approach and landing. This paper focuses on vision-based PAL and computer vision feature correspondence methods to demonstrate a baseline navigation system while adhering to the Federal Aviation Administration requirements and regulations about heliport design (FAA AC 150/5390-2C), which is one of the closest references for vertiport requirements and regulations. The coplanar pose from orthography and scaling with iterations (COPOSIT) algorithm determines pose estimation, which feeds into an Extended Kalman filter that combines IMU with vision to create a vision-based approach and landing (VAL) sensor fusion navigation solution for GPS-denied environments. The VAL navigation solution provides promising simulation results for AAM PALS with Hough circle detection and feature correspondence, which demonstrate robustness to false positives. This paper incorporates moderately high- fidelity simulations with computer graphics rendering to show a distributed sensor network to track an AAM aircraft during approach and landing to compare with the aircraft’s onboard vision-based navigation solution.

distributed sensing↗
NASA NTRS1981

Automatic helical rotorcraft descent and landing using a Microwave Landing System

A helical-approach concept is presented for Instrument Flight Rules (IFR) operation of rotorcraft into congested terminal areas where separation from high-speed jet traffic is highly desirable and the airport-precision-approach aid is a Microwave Landing System (MLS). The concept takes advantage of the fact that rotorcraft need not land on the main runway but can operate from a pad that lies on an MLS radial offset from the centerline. The results of 48 flights using a UH-1H helicopter and a research avionics system are presented. Three levels of navigation sophistication were also investigated. It is shown that an approach helix can be contained in a relatively small volume and that being within the Instrument Landing System (ILS) Category II window at a 30-m (100-ft) altitude is not a requirement for a successful hover over a landing pad. Only two of the three navigation systems provided estimates that allowed all flights to descend from hover to touchdown.

Mcgee, L. A.↗
NASA NTRS1973

Instrumentation for one-way satellite PTTI applications

A review of general principles and operational procedures illustrates how the typical passive user and omni receiving antenna can recover Precise Time and Time Interval (PTTI) information from a low altitude navigation satellite system for clock calibration and synchronization. Detailed discussions of concepts and theory of the receiver design are presented. The importance of RF correlation of the received and local PN encoded sequences is emphasized as a means of reducing delay uncertainties of the instrumentation to values compatible with nanosecond to submicrosecond PTTI objectives. Two receiver configurations were fabricated for use in satellite-to-laboratory experiments. In one receiver the delay-locked loop for PN signals synchronization used a dithered amplitude detection process while the second receiver used a complex sums phase detection method for measurement of delay error. The necessity for compensation of Doppler shift is discussed. Differences in theoretical signal acquisition and tracking performance of the design concepts are noted.

Osborne, A. E.↗
NASA NTRS1972

Remote control and navigation tests for application to long-range lunar surface exploration.

A vehicle system has been built and tested to investigate some of the unknown factors with regard to the operation of a remotely controlled vehicle on the surface of the moon. A general vehicle system description is presented, giving attention to the wheel drive subsystem, the steering subsystem, the power system, the control console, the command subsystem, the television subsystem, the telemetry subsystem, and the navigation subsystem. The remote control driving station consists of the antenna system, the video display system, the instrument and control panel, the data panel, and the steering and throttle controls. Initial tests with the vehicle and the remote driving station were conducted in March and April 1971.

Mastin, W. C.↗
NASA NTRS1973

Mariner 9 navigation

A final, comprehensive description of the navigation of Mariner 9-the first U.S. spacecraft to orbit another planet is provided. The Mariner 9 navigation function included not only precision flight path control but also pointing of the spacecraft's scientific instruments mounted on a two degree of freedom scan platform. To the extent appropriate, each section describes the perflight analyses on which the operational strategies and performance predictions were based. Inflight results are then discussed and compared with the preflight predictions. Postflight analyses, which were primarily concerned with developing a thorough understanding of unexpected in-flight results, are also presented.

Neil, W. J.↗
NASA NTRS1981

Operational compensation for effect of close Titan flyby on remainder of Voyager 1 Saturn near encounter

The satellite instrument pointing update process (SPUP) developed for the Voyager 1 Saturn encounter is assessed. At certain times, navigation errors translated into target pointing errors, impede camera operation. Two sigma pointing accuracy of 1.5 to 2.0 mrads per axis was required. The SPUP combines correction slews implemented by immediate action commands with preevent modifications. The process worked perfectly, producing good quality images of target areas.

Laeser, R. P.↗