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All sourcesNASA NTRSDOE OSTI
NASA NTRS2023

Statistical Decomposition and Machine Learning to Clean In Situ Spaceflight Magnetic Field Measurements

Robust in situ magnetic field measurements are critical to understanding the various mechanisms that couple mass, momentum, and energy throughout our solar system. However, the spacecraft on which magnetometers are often deployed contaminate the magnetic field measurements via onboard subsystems including reaction wheels and magnetorquers. Two magnetometers can be deployed at different distances from the spacecraft to determine an approximation of the interfering field for subsequent removal, but constant data streams from both magnetometers can be impractical due to power and telemetry limitations. Here we propose a method to identify and remove time-varying magnetic interference from sources such as reaction wheels using statistical decomposition and convolutional neural networks, providing high-fidelity magnetic field data even in cases where dual-sensor measurements are not constantly available. For example, a measurement interval from the Parker Solar Probe outboard magnetometer experienced a 95.1% reduction in reaction wheel interference following application of the proposed technique.

magnetic field data↗
DOE OSTI2021

High-accuracy absolute magnetometry with application to the Fermilab Muon g-2 experiment

We present details of a high-accuracy absolute scalar magnetometer based on pulsed proton NMR. The B-field magnitude is determined from the precession frequency of proton spins in a cylindrical sample of water after accounting for field perturbations from probe materials, sample shape, and other corrections. Features of the design, testing procedures, and corrections necessary for qualification as an absolute scalar magnetometer are described. The device was tested at B = 1.45 T but can be modified for a range exceeding 1–3 T. The magnetometer was used to calibrate other NMR magnetometers and measure absolute magnetic field magnitudes to an accuracy of 19 parts per billion as part of a measurement of the muon magnetic moment anomaly at Fermilab.

46 INSTRUMENTATION RELATED TO NUCLEAR SCIENCE AND ↗
NASA NTRS1974

Magnetism and the interior of the moon

During the time period 1961-1972 eleven magnetometers were sent to the moon. The results of lunar magnetometer data analysis are reviewed, with emphasis on the lunar interior. Magnetic fields have been measured on the lunar surface at the Apollo 12, 14, 15, and 16 landing sites. The remanent field values at these sites are given. Satellite and surface measurements show strong evidence that the lunar crust is magnetized over much of the lunar globe. The origin of the lunar remanent field is not yet satisfactorily understood; several source models are presented. Simultaneous data from the Apollo 12 lunar surface magnetometer and the Explorer 35 Ames magnetometer are used to construct a wholemoon hysteresis curve, from which the global lunar permeability is determined. Total iron abundance is calculated for two assumed compositional models of the lunar interior. Other lunar models with a small iron core and with a shallow iron-rich layer are also discussed in light of the measured global permeability.

Dyal, P.↗
NASA NTRS1974

A magnetic field measurement technique using a miniature transducer

The development, fabrication, and application of a magnetometer are described. The magnetometer has a miniature transducer and is capable of automatic scanning. The magnetometer described here is capable of detecting static magnetic fields as low as 1.6 A/m and its transducer has an active area 0.64 mm by 0.76 mm. Thin and rugged, the transducer uses wire, 0.05 mm in diameter, which is plated with a magnetic film, enabling measurement of transverse magnetic fields as close as 0.08 mm from a surface. The magnetometer, which is simple to operate and has a fast response, uses an inexpensive clip-on milliammeter (commonly found in most laboratories) for driving and processing the electrical signals and readout. A specially designed transducer holding mechanism replaces the XY recorder ink pen; this mechanism provides the basis for an automatic scanning technique. The instrument has been applied to the measurements of magnetic fields arising from remanent magnetization in experimental plated-wire memory planes and regions of magnetic activity in geological rock specimens.

Fales, C. L., Jr.↗
NASA NTRS1977

Magnetic heading reference

This invention employs a magnetometer as a magnetic heading reference for a vehicle such as a small aircraft. The magnetometer is mounted on a directional dial in the aircraft in the vicinity of the pilot such that it is free to turn with the dial about the yaw axis of the aircraft. The invention includes a circuit for generating a signal proportional to the northerly turning error produced in the magnetometer due to the vertical component of the earth's magnetic field. This generated signal is then subtracted from the output of the magnetometer to compensate for the northerly turning error.

Garner, H. D.↗
NASA NTRS1980

Magsat - A new satellite to survey the earth's magnetic field

The Magsat satellite was launched on Oct. 30, 1979 into a sun-synchronous dawn-dusk orbit, of 97 deg inclination, 350 km perigee, and 550 km apogee. It contains a precision vector magnetometer and a cesium-vapor scalar magnetometer at the end of a 6-m long graphite epoxy scissors boom. The magnetometers are accurate to 2 nanotesla. A pair of star cameras are used to define the body orientation to 10 arc sec rms. An 'attitude transfer system' measures the orientation of the magnetometer sensors relative to the star cameras to approximately 5 arc sec rms. The satellite position is determined to 70 meters rms by Doppler tracking. The overall objective is to determine each component of the earth's vector magnetic field to an accuracy of 6 nanotesla rms. The Magsat satellite gathers a complete picture of the earth's magnetic field every 12 hours. The vector components are sampled 16 times per second with a resolution of 0.5 nanotesla. The data will be used by the U.S. Geological Survey to prepare 1980 world magnetic field charts and to detect large-scale magnetic anomalies in the earth's crust for use in planning resource exploration strategy.

Mobley, F. F.↗
NASA NTRS1981

MAGSAT data processing: A report for investigators

The in-flight attitude and vector magnetometer data bias recovery techniques and results are described. The attitude bias recoveries are based on comparisons with a magnetic field model and are thought to be accurate to 20 arcsec. The vector magnetometer bias recoveries are based on comparisons with the scalar magnetometer data and are thought to be accurate to 3 nT or better. The MAGSAT position accuracy goals of 60 m radially and 300 m horizontally were achieved for all but the last 3 weeks of Magsat lifetime. This claim is supported by ephemeris overlap statistics and by comparisons with ephemerides computed with an independent orbit program using data from an independent tracking network. MAGSAT time determination accuracy is estimated at 1 ms. Several errors in prelaunch assumptions regarding data time tags, which escaped detection in prelaunch data tests, and were discovered and corrected postlaunch are described. Data formats and products, especially the Investigator-B tapes, which contain auxiliary parameters in addition to the basic magnetometer and ephemeris data, are described.

Langel, R. A.↗
NASA NTRS1986

Observations of field-aligned currents, waves, and electric fields at substorm onset

Substorm onsets, identified Pi 2 pulsations observed on the Air Force Geophysics Laboratory Magnetometer Network, are studied using magnetometer and electric field data from ISEE 1 as well as magnetometer data from the geosynchronous satellites GOES 2 and 3. The mid-latitude magnetometer data provides the means of both timing and locating the substorm onset so that the spacecraft locations with respect to the substorm current systems are known. During two intervals, each containing several onsets or intensifications, ISEE 1 observed field-aligned current signatures beginning simultaneously with the mid-latitude Pi 2 pulsation. Close to the earth broadband bursts of wave noise were observed in the electric field data whenever field-aligned currents were detected. One onset occurred when ISEE 1 and GOES 2 were on the same field line but in opposite hemispheres. During this onset ISEE 1 and GOES 2 saw magnetic signatures which appear to be due to conjugate field-aligned currents flowing out of the western end of the westward auroral electrojets. The ISEE 1 signature is of a line current moving westward past the spacecraft. During the other interval, ISEE 1 was in the near-tail region near the midnight meridian. Plasma data confirms that the plasma sheet thinned and subsequently expanded at onset. Electric field data shows that the plasma moved in the opposite direction to the plasma sheet boundary as the boundary expanded which implies that there must have been an abundant source of hot plasma present. The plasma motion was towards the center of the plasma sheet and earthwards and consisted of a series of pulses rather than a steady flow.

Smits, D. P.↗
NASA NTRS1990

Processing of DMSP magnetic data: Handbook of programs, tapes, and datasets

The DMSP F-7 satellite was an operational Air Force meteorological satellite which carried a magnetometer for geophysical measurements. The magnetometer was located within the body of the spacecraft in the presence of large spacecraft fields. In addition to stray magnetic fields, the data have inherent position and time inaccuracies. Algorithms were developed to identify and remove time varying magnetic field noise from the data. These algorithms are embodied in an automated procedure which fits a smooth curve through the data and then identifies outliers and which filters the predominant Fourier component of noise from the data. Techniques developed for Magsat were then modified and used to attempt determination of the spacecraft fields, of any rotation between the magnetometer axes and the spacecraft axes, and of any scale changes within the magnetometer itself. Software setup and usage are documented and program listings are included in the Appendix. The initial and resulting data are archived on magnetic cartridge and the formats are documented.

Langel, R. A.↗
NASA NTRS1992

Survey Parameters and Availability of Low-level Aeromagnetic Data for Geomagnetic Field Modelling

Since aeromagnetic surveying started immediately after World War II, a considerable area of the earth's surface both onshore (in excess of 25 million sq. km) has been magnetically surveyed. For about the first 15 years or so, fluxgate magnetometers were employed in aeromagnetic surveys, but the introduction of proton free-precession magnetometers resulted in absolute readings being recorded. Proton precession magnetometers have now been replaced to a large extent by the more sensitive optical absorption magnetometers. Some care has to be taken to calibrate aeromagnetic survey systems and this is best done using a calibration range tied to a magnetic observatory so that accuracies of 10nT or better are achieved for the total field values recorded. Survey navigation has always posed a problem for aeromagnetic surveys, especially offshore. Over land, vertically pointed 35 mm cameras were initially used to recover the aircraft track using a combination of aerial photos and topographic maps. Over featureless areas, it was necessary to utilize existing electronic positioning systems such as Loran C or set up special navigation systems. The advent of the satellite-based Global Positioning Systems (GPS) has to a larger extent solved the navigational problem because there is now almost continuous worldwide coverage to 10 m accuracy in the differential mode. The resultant aeromagnetic data is normally compiled into contour maps in which the diurnal variation and aircraft heading effects are removed. The resultant digital data are normally made publicly available both in gridded and profile form along with the published contour maps. Most aeromagnetic coverage has been obtained in the developed western countries, but elsewhere a considerable amount of surveying has been carried out; as an example, some 80 percent of Africa has been surveyed mostly as a result of aid programs. The data is usually held by the national geological survey or equivalent organizations, but in a number of cases the data (e.g., for the Magnetic Anomaly Map of North America) is also held by the World Data Centres.

Hood, Peter↗
NASA NTRS1986

Practical design of magnetic heading sensors

Although fluxgate magnetometers have been in use for many years, and a number of theoretical studies of these sensors are available, very little information has been published on the engineering choices relating to the detailed design of magnetometers intended for navigational applications in aircraft and other vehicles. This paper addresses some of the problems encountered in the design of the sensing head, the choice of operating mode, and the design of the supporting electronics for a simple low-cost magnetometer system which will produce a digital readout of the magnetic heading of the vehicle in which it is mounted. A major goal of this study has been to develop a design which minimizes circuit complexity, is easy to fabricate and calibrate, and utilizes a minimum of specialized components. Such a magnetometer system is intended either as a stand-alone indicating instrument or as a source of magnetic heading information for a more sophisticated navigational system.

Garner, H. D.↗
NASA NTRS1993

The Gravity Probe B `Niobium bird' experiment: Verifying the data reduction scheme for estimating the relativistic precession of Earth-orbiting gyroscopes

Gravity Probe B (GP-B) is a relatively gyroscope experiment begun at Stanford University in 1960 and supported by NASA since 1963. This experiment will check, for the first time, the relativistic precession of an Earth-orbiting gyroscope that was predicted by Einstein's General Theory of Relativity, to an accuracy of 1 milliarcsecond per year or better. A drag-free satellite will carry four gyroscopes in a polar orbit to observe their relativistic precession. The primary sensor for measuring the direction of gyroscope spin axis is the SQUID (superconducting quantum interference device) magnetometer. The data reduction scheme designed for the GP-B program processes the signal from the SQUID magnetometer and estimates the relativistic precession rates. We formulated the data reduction scheme and designed the Niobium bird experiment to verify the performance of the data reduction scheme experimentally with an actual SQUID magnetometer within the test loop. This paper reports the results from the first phase of the Niobium bird experiment, which used a commercially available SQUID magnetometer as its primary sensor, and adresses the issues they raised. The first phase resulted in a large, temperature-dependent bias drift in the insensitive design and a temperature regulation scheme.

Uemaatsu, Hirohiko↗
NASA NTRS1997

Accurate Magnetometer/Gyroscope Attitudes Using a Filter with Correlated Sensor Noise

Magnetometers and gyroscopes have been shown to provide very accurate attitudes for a variety of spacecraft. These results have been obtained, however, using a batch-least-squares algorithm and long periods of data. For use in onboard applications, attitudes are best determined using sequential estimators such as the Kalman filter. When a filter is used to determine attitudes using magnetometer and gyroscope data for input, the resulting accuracy is limited by both the sensor accuracies and errors inherent in the Earth magnetic field model. The Kalman filter accounts for the random component by modeling the magnetometer and gyroscope errors as white noise processes. However, even when these tuning parameters are physically realistic, the rate biases (included in the state vector) have been found to show systematic oscillations. These are attributed to the field model errors. If the gyroscope noise is sufficiently small, the tuned filter 'memory' will be long compared to the orbital period. In this case, the variations in the rate bias induced by field model errors are substantially reduced. Mistuning the filter to have a short memory time leads to strongly oscillating rate biases and increased attitude errors. To reduce the effect of the magnetic field model errors, these errors are estimated within the filter and used to correct the reference model. An exponentially-correlated noise model is used to represent the filter estimate of the systematic error. Results from several test cases using in-flight data from the Compton Gamma Ray Observatory are presented. These tests emphasize magnetometer errors, but the method is generally applicable to any sensor subject to a combination of random and systematic noise.

Sedlak, J.↗
NASA NTRS1998

A low cost approach to simultaneous orbit, attitude, and rate estimation using an extended Kalman filter

An innovative approach to autonomous attitude and trajectory estimation is available using only magnetic field data and rate data. The estimation is performed simultaneously using an Extended Kalman Filter (EKF), a well known algorithm used extensively in onboard applications. The magnetic field is measured on a satellite by a magnetometer, an inexpensive and reliable sensor flown on virtually all satellites in low earth orbit. Rate data is provided by a gyro, which can be costly. This system has been developed and successfully tested in a post-processing mode using magnetometer and gyro data from 4 satellites supported by the Flight Dynamics Division at Goddard. In order for this system to be truly low cost, an alternative source for rate data must be utilized. An independent system which estimates spacecraft rate has been successfully developed and tested using only magnetometer data or a combination of magnetometer data and sun sensor data, which is less costly than a gyro. This system also uses an EKF. Merging the two systems will provide an extremely low cost, autonomous approach to attitude and trajectory estimation. In this work we provide the theoretical background of the combined system. The measurement matrix is developed by combining the measurement matrix of the orbit and attitude estimation EKF with the measurement matrix of the rate estimation EKF, which is composed of a pseudo-measurement which makes the effective measurement a function of the angular velocity. Associated with this is the development of the noise covariance matrix associated with the original measurement combined with the new pseudo-measurement. In addition, the combination of the dynamics from the two systems is presented along with preliminary test results.

Deutschmann, Julie↗
NASA NTRS1998

A Low Cost Approach to Simultaneous Orbit, Attitude, and Rate Estimation Using an Extended Kalman Filter

An innovative approach to autonomous attitude and trajectory estimation is available using only magnetic field data and rate data. The estimation is performed simultaneously using an Extended Kalman Filter, a well known algorithm used extensively in onboard applications. The magnetic field is measured on a satellite by a magnetometer, an inexpensive and reliable sensor flown on virtually all satellites in low earth orbit. Rate data is provided by a gyro, which can be costly. This system has been developed and successfully tested in a post-processing mode using magnetometer and gyro data from 4 satellites supported by the Flight Dynamics Division at Goddard. In order for this system to be truly low cost, an alternative source for rate data must be utilized. An independent system which estimate spacecraft rate has been successfully developed and tested using only magnetometer data or a combination of magnetometer data and sun sensor data, which is less costly than a gyro. This system also uses an Extended Kalman Filter. Merging the two systems will provide an extremely low cost, autonomous approach to attitude and trajectory estimation. In this work we provide the theoretical background of the combined system. The measurement matrix is developed by combining the measurement matrix of the orbit and attitude estimation EKF with the measurement matrix of the rate estimation EKF, which is composed of a pseudo-measurement which makes the effective measurement a function of the angular velocity. Associated with this is the development of the noise covariance matrix associated with the original measurement combined with the new pseudo-measurement. In addition, the combination of the dynamics from the two systems is presented along with preliminary test results.

Deutschmann, Julie↗
NASA NTRS1998

Multi-Instrument Analysis of a Traveling Convection Vortex Event on July 24, 1996 Coordinated with the Polar UVI

We present the analysis of a coordinated set of observations from the POLAR Ultraviolet Imager (UVI), ground magnetometers, incoherent scatter radar, solar wind monitors, DMSP and GOES satellites, focused on a traveling convection vortex (TCV) event on 24th July 1996. Starting at approximately 10:48 UT, around magnetometers in Greenland and northern Canada observe pulsations consistent with the passing overhead of a series of alternating TCV filed-aligned current pairs. Azimuthal scans by the Sondrestrom incoherent scatter radar located near Kangerlussuaq (formerly Sondrestrom), Greenland, at this time show strong modulation in the strength and direction of ionospheric plasma flow. The magnetometer pulsations grow in magnitude over the next hour, peaking in intensity at 11:39 UT, at which time images form the UVI instrument show a localized intensification of auroral emissions over central and western Greenland. Subsequent images show the intensification grow in strength and propagate westward (tailward) until approximately 11:58 UT at which time the intensification fades. These observations are consistent with the westward passage of two pairs of moderately intense TCVs over central Greenland followed by a third very intense TCV pair. The intensification of auroral emissions at 11:39 UT is associated with the trailing vortex of the third TCV pair, thought to be the result of an upward field aligned current. The modulated flow observed by the radar is the result of the strong electric fields associated with the impulsive TCV related field aligned current systems as they pass through the field of view of the radar. Measurements of the solar wind from the V;IND and IMP-8 spacecraft suggest that a pressure change may be responsible for triggering the first two pairs of TCVS, and that a subsequent sudden change in the orientation of the interplanetary magnetic field may have produced the intensification of the third TCV pair and the associated auroral brightening. Magnetometer data from the GOES satellite located over the eastern United States at geostationary orbit is consistent with a series of field-aligned moving tailward past the satellite. DMSP particle data indicated that the TCVs occur on field lines which map to the boundary plasma sheet (BPS).

Sitar, R. J.↗
NASA NTRS2000

Comprehensive Evaluation of Attitude and Orbit Estimation Using Actual Earth Magnetic Field Data

A single, augmented Extended Kalman Filter (EKF), which simultaneously and autonomously estimates spacecraft attitude and orbit has been developed and successfully tested with real magnetometer and gyro data only. Because the earth magnetic field is a function of time and position, and because time is known quite precisely, the differences between the computed and measured magnetic field components, as measured by the magnetometers throughout the entire spacecraft orbit, are a function of both orbit and attitude errors. Thus, conceivably these differences could be used to estimate both orbit and attitude; an observability study validated this assumption. The results of testing the EKF with actual magnetometer and gyro data, from four satellites supported by the NASA Goddard Space Flight Center (GSFC) Guidance, Navigation, and Control Center, are presented and evaluated. They confirm the assumption that a single EKF can estimate both attitude and orbit when using gyros and magnetometers only.

Deutschmann, Julie K.↗
NASA NTRS2004

Space Technology 5: Pathfinder for Future Micro-Sat Constellations

The Space Technology 5 (ST-5) Project, currently in the implementation phase, is part of the National Aeronautics and Space Administration (NASA) s New Millennium Program (NMP). ST-5 will consist of a constellation of three miniature satellites, each with mass less than 25 kg and size approximately 60 cm by 30 cm. ST-5 addresses technology challenges, as well as fabrication, assembly, test and operations strategies for future micro-satellite missions. ST-5 will be deployed into a highly eccentric, geo-transfer orbit (GTO). This will expose the spacecraft to a high radiation environment as well as provide a low level magnetic background. A three-month flight demonstration phase is planned to validate the technologies and demonstrate concepts for future missions. Each ST-5 spacecraft incorporates NMP competitively-selected breakthrough technologies. These include Cold Gas Micro-Thrusters for propulsion and attitude control, miniature X-band transponder for space-ground communications, Variable Emittance Coatings for dynamic thermal control, and CULPRiT ultra low power logic chip used for Reed-Solomon encoding. The ST-5 spacecraft itself is a technology that can be infused into future missions. It is a fully functional micro-spacecraft built within tight volume and mass constraints. It is built to withstand a high radiation environment, large thermal variations, and high launch loads. The spacecraft power system is low-power and low-voltage, and is designed to turn on after separation &om the launch vehicle. Some of the innovations that are included in the ST-5 design are a custom spacecraft deployment structure, magnetometer deployment boom, nutation damper, X-band antenna, miniature spinning sun sensor, solar array with triple junction solar cells, integral card cage assembly containing single card Command and Data Handling and Power System Electronics, miniature magnetometer, and lithium ion battery. ST-5 will demonstrate the ability of a micro satellite to perform research-quality science. Each ST-5 spacecraft will deploy a precision magnetometer to be used both for attitude determination and as a representative science instrument. The spacecraft has been developed with a low magnetic signature to avoid interference with the magnetometer. The spacecraft will be able to detect and respond autonomously to science events, i.e. significant changes in the magnetic field measurements. The three spacecraft will be a pathfinder for future constellation missions. They will be deployed to demonstrate an appropriate geometry for scientific measurements as a constellation. They will be operationally managed as a constellation, demonstrating automation and communication strategies that will be useful for future missions. The technologies and future mission concepts will be validated both on the ground and in space. Technologies will be validated on the ground by a combination of component level and system level testing of the flight hardware in a thermal vacuum environment. In flight, specific validation runs are planned for each of the technologies. Each validation run consists of one or more orbits with a specific validation objective. This paper will describe the ST-5 mission, and the applicability of the NMP technologies, spacecraft, and mission concepts to future missions. It will also discuss the validation approach for the ST-5 technologies and mission concepts.

Carlisle, Candace↗