Engineering Papers⌕ Search

SEARCH · Engineering Papers

Results for “Return mapping algorithm”

Search indexed NASA NTRS and DOE OSTI research on propulsion, heat transfer, battery materials and energy systems. Follow report and document links to the original sources.

Quote a phrase for an exact phrase match. Source license links do not imply unrestricted reuse.

At least 55 records · Page 3

Progress in Planetary Radarclinometry

Efforts have continued to improve radarclinometry in spite of the fact that the theory and algorithms still predate the development of the radiometrically calibrated radar upon which they must depend in order to achieve metric precision. Such efforts help to insure the availability of the technique for data returned by the Venus Radar Mapper. Even now, compensation for layover and production of synthesized stereo enhance geologic interpretability of radar images. The theory of radarclinometry utilizes a knowledge of the relation between pixel DN value and terrain surface orientation to produce a topographic map. The process may be conceived in terms of a surface integral which develops away from a topographic profile as available ground truth. Alternatively, in consideration of the unavailability of ground truth in extraterrestrial applications, radarclinometry may develop as a line integral developing from a single point, providing reasonable assumptions about the mathematical nature of local curvature.

Wildey, R. L.↗

Cloud and Aerosol Retrieval for the 2001 GLAS Satellite Lidar Mission

The Geoscience Laser Altimeter System (GLAS) is scheduled for launch in July of 2001 aboard the Ice, Cloud and Land Elevation Satellite (ICESAT). In addition to being a precision altimeter for mapping the height of the Earth's icesheets, GLAS will be an atmospheric lidar, sensitive enough to detect gaseous, aerosol, and cloud backscatter signals, at horizontal and vertical resolutions of 175 and 75m, respectively. GLAS will be the first lidar to produce temporally continuous atmospheric backscatter profiles with nearly global coverage (94-degree orbital inclination). With a projected operational lifetime of five years, GLAS will collect approximately six billion lidar return profiles. The large volume of data dictates that operational analysis algorithms, which need to keep pace with the data yield of the instrument, must be efficient. So, we need to evaluate the ability of operational algorithms to detect atmospheric constituents that affect global climate. We have to quantify, in a statistical manner, the accuracy and precision of GLAS cloud and aerosol observations. Our poster presentation will show the results of modeling studies that are designed to reveal the effectiveness and sensitivity of GLAS in detecting various atmospheric cloud and aerosol features. The studies consist of analyzing simulated lidar returns. Simulation cases are constructed either from idealized renditions of atmospheric cloud and aerosol layers or from data obtained by the NASA ER-2 Cloud Lidar System (CLS). The fabricated renditions permit quantitative evaluations of operational algorithms to retrieve cloud and aerosol parameters. The use of observational data permits the evaluations of performance for actual atmospheric conditions. The intended outcome of the presentation is that climatology community will be able to use the results of these studies to evaluate and quantify the impact of GLAS data upon atmospheric modeling efforts.

Hart, William D.↗

Remote Sensing of In-Flight Icing Conditions: Operational, Meteorological, and Technological Considerations

Remote-sensing systems that map aircraft icing conditions in the flight path from airports or aircraft would allow icing to be avoided and exited. Icing remote-sensing system development requires consideration of the operational environment, the meteorological environment, and the technology available. Operationally, pilots need unambiguous cockpit icing displays for risk management decision-making. Human factors, aircraft integration, integration of remotely sensed icing information into the weather system infrastructures, and avoid-and-exit issues need resolution. Cost, maintenance, power, weight, and space concern manufacturers, operators, and regulators. An icing remote-sensing system detects cloud and precipitation liquid water, drop size, and temperature. An algorithm is needed to convert these conditions into icing potential estimates for cockpit display. Specification development requires that magnitudes of cloud microphysical conditions and their spatial and temporal variability be understood at multiple scales. The core of an icing remote-sensing system is the technology that senses icing microphysical conditions. Radar and microwave radiometers penetrate clouds and can estimate liquid water and drop size. Retrieval development is needed; differential attenuation and neural network assessment of multiple-band radar returns are most promising to date. Airport-based radar or radiometers are the most viable near-term technologies. A radiometer that profiles cloud liquid water, and experimental techniques to use radiometers horizontally, are promising. The most critical operational research needs are to assess cockpit and aircraft system integration, develop avoid-and-exit protocols, assess human factors, and integrate remote-sensing information into weather and air traffic control infrastructures. Improved spatial characterization of cloud and precipitation liquid-water content, drop-size spectra, and temperature are needed, as well as an algorithm to convert sensed conditions into a measure of icing potential. Technology development also requires refinement of inversion techniques. These goals can be accomplished with collaboration among federal agencies including NASA, the FAA, the National Center for Atmospheric Research, NOAA, and the Department of Defense. This report reviews operational, meteorological, and technological considerations in developing the capability to remotely map in-flight icing conditions from the ground and from the air.

Ryerson, Charles C.↗

Global digital topography mapping using a scanning radar altimeter

The conceptual design of a Scanning Radar Altimeter system capable of collecting less than 300-m spatial and less than 3-m height resolution digital topography data for the entire globe, from an orbital platform, is presented. A 37-GHz frequency SRA system is used to achieve the requisite resolution while reducing antenna length in the along-track dimension. Near-global coverage in a short time period is obtained by scanning the antenna beam cross-track, in a swath of about 100 km. Attention is given to the algorithm that will be used to retrieve pixel height from the return waveform.

Elachi, C.↗

Self-Directed Cooperative Planetary Rovers

The project is concerned with the development of decision-theoretic techniques to optimize the scientific return of planetary rovers. Planetary rovers are small unmanned vehicles equipped with cameras and a variety of sensors used for scientific experiments. They must operate under tight constraints over such resources as operation time, power, storage capacity, and communication bandwidth. Moreover, the limited computational resources of the rover limit the complexity of on-line planning and scheduling. We have developed a comprehensive solution to this problem that involves high-level tools to describe a mission; a compiler that maps a mission description and additional probabilistic models of the components of the rover into a Markov decision problem; and algorithms for solving the rover control problem that are sensitive to the limited computational resources and high-level of uncertainty in this domain.

Zilberstein, Shlomo↗

Detection of Water Hazards for Autonomous Robotic Vehicles

Four methods of detection of bodies of water are under development as means to enable autonomous robotic ground vehicles to avoid water hazards when traversing off-road terrain. The methods involve processing of digitized outputs of optoelectronic sensors aboard the vehicles. It is planned to implement these methods in hardware and software that would operate in conjunction with the hardware and software for navigation and for avoidance of solid terrain obstacles and hazards. The first method, intended for use during the day, is based on the observation that, under most off-road conditions, reflections of sky from water are easily discriminated from the adjacent terrain by their color and brightness, regardless of the weather and of the state of surface waves on the water. Accordingly, this method involves collection of color imagery by a video camera and processing of the image data by an algorithm that classifies each pixel as soil, water, or vegetation according to its color and brightness values (see figure). Among the issues that arise is the fact that in the presence of reflections of objects on the opposite shore, it is difficult to distinguish water by color and brightness alone. Another issue is that once a body of water has been identified by means of color and brightness, its boundary must be mapped for use in navigation. Techniques for addressing these issues are under investigation. The second method, which is not limited by time of day, is based on the observation that ladar returns from bodies of water are usually too weak to be detected. In this method, ladar scans of the terrain are analyzed for returns and the absence thereof. In appropriate regions, the presence of water can be inferred from the absence of returns. Under some conditions in which reflections from the bottom are detectable, ladar returns could, in principle, be used to determine depth. The third method involves the recognition of bodies of water as dark areas in short-wavelength infrared (SWIR) images. This method is based on the fact, well known among experts in remote sensing, that water bodies of any appreciable depth appear very dark in near-infrared, overhead imagery. Even under a thick layer of marine fog, SWIR illumination is present. Hence, this method may work even in the presence of clouds, though it is unlikely to work at night. Snow and ice also exhibit very strong absorption at wavelengths greater than about 1.4 m. Hence, the wavelength range of about 1.5 to 1.6 m might be useable in this method for recognizing water, snow, and ice. One notable drawback of this method is that useful look-ahead distance could be limited by surface reflections. The fourth method, intended for use at night, involves the contrast between water and terrain in thermal-infrared (medium-wavelength infrared) imagery. This method is based on the fact that at night, water is usually warmer than the adjacent terrain. Look-ahead distance could be limited in this method because, for reasons not yet fully understood, water appears to darken in the thermal infrared with increasing distance.

Matthes, Larry↗

Dawn Spacecraft Performance at Ceres: Results of Hybrid Control for Ceres Mapping

Dawn is a low-thrust interplanetary spacecraft currently orbiting the dwarf planet Ceres, to better understand the early creation of the solar system. Launched in September 2007, Dawn arrived at Vesta in July 2011. After a 16-month successful science campaign at Vesta, Dawn departed for Ceres, arriving in early 2015. The Dawn spacecraft uses both reaction wheel assemblies (RWA) and a reaction control system (RCS) to provide 3-axis attitude control for the spacecraft. Reaction wheels were designed to be the primary system for attitude control, however two wheels have shown high friction anomalies and have been removed from service. The project has implemented a hybrid control algorithm using two reaction wheels and RCS thrusters. This hybrid control capability enabled Dawn to achieve very high science return, while significantly conserving remaining hydrazine propellant. With only two remaining healthy RWA’s, hybrid control became part of the baseline plan for Ceres science operations. The Dawn team developed specific operational approaches in which sequences were developed with careful consideration of science versus resource trades. Commanding and sequence planning also incorporated contingency planning, in the event that another reaction wheel may fail. Despite the differences in operational approach between Vesta and Ceres, both campaigns achieved very rich scientific data return. This paper highlights Dawn’s recent flight experience with hybrid attitude control during Ceres orbit operations. The discussion includes the approaches utilized by the Dawn team to address unique operational challenges presented by the hybrid approach, and reviews spacecraft performance under hybrid control in low orbit at Ceres. Additionally, methods used to optimize hydrazine use and thereby extend the science campaign will be presented. Finally, a preliminary assessment of an orbit transfer with two reaction wheels, during extended mission operations, is discussed.

Smith, Brett A.↗

Elastic Model Transitions: A Hybrid Approach Utilizing Quadratic Inequality Constrained Least Squares (LSQI) and Direct Shape Mapping (DSM)

A method for transitioning linear time invariant (LTI) models in time varying simulation is proposed that utilizes a hybrid approach for determining physical displacements by augmenting the original quadratically constrained least squares (LSQI) algorithm with Direct Shape Mapping (DSM) and modifying the energy constraints. The approach presented is applicable to simulation of the elastic behavior of launch vehicles and other structures that utilize discrete LTI finite element model (FEM) derived mode sets (eigenvalues and eigenvectors) that are propagated throughout time. The time invariant nature of the elastic data presents a problem of how to properly transition elastic states from the prior to the new model while preserving motion across the transition and ensuring there is no truncation or excitation of the system. A previous approach utilizes a LSQI algorithm with an energy constraint to effect smooth transitions between eigenvector sets with no requirement that the models be of similar dimension or have any correlation. This approach assumes energy is conserved across the transition, which results in significant non-physical transients due to changing quasi-steady state energy between mode sets, a phenomenon seen when utilizing a truncated mode set. The computational burden of simulating a full mode set is significant so a subset of modes is often selected to reduce run time. As a result of this truncation, energy between mode sets may not be constant and solutions across transitions could produce non-physical transients. In an effort to abate these transients an improved methodology was developed based on the aforementioned approach, but this new approach can handle significant changes in energy across mode set transitions. It is proposed that physical velocities due to elastic behavior be solved for using the LSQI algorithm, but solve for displacements using a two-step process that independently addresses the quasi-steady-state and non-steady-state contributions to the elastic displacement. For structures subject to large external forces, such as thrust or atmospheric drag, it is imperative to capture these forces when solving for elastic displacement. To simplify the mathematical formulation, assumptions are made regarding mass matrix normalization, constant external forcing, and constant viscous damping. These simplifications allow for direct solutions to the quasi-steady-state displacements through a process titled Direct Shape Mapping. DSM solves for the displacements using the eigenvalues of the elastic modes and the external forcing and returns a set of elastic displacements dictated by the eigenvectors of the post-transition mode set. For the non-steady-state contributions to displacement we formulate a LSQI problem that is constrained by energy of the non-steady state terms. The contributions from the quasi-steady-state and non-steady state solutions are then combined to obtain the physical displacements associated with the new set of eigenvectors. Results for the LSQI-DSM approach show significant reduction/complete removal of transients across mode set transitions while maintaining elastic motion from the prior state. For time propagation applications employing discrete elastic models that need to be transitioned in time and where running with full a full mode set is not feasible, the method developed offers a practical solution to simulating vehicle elasticity.

Hannan, Mike R.↗

Assessing the Sampleability of Bennu’s Surface for the OSIRIS-REx Asteroid Sample Return Mission

NASA’s first asteroid sample return mission, OSIRIS-REx, collected a sample from the surface of near-Earth asteroid Bennu in October 2020 and will deliver it to Earth in September 2023. Selecting a sample collection site on Bennu’s surface was challenging due to the surprising lack of large ponded deposits of regolith particles exclusively fine enough (≤ 2 cm diameter) to be ingested by the spacecraft’s Touch-and-Go Sample Acquisition Mechanism (TAGSAM). Here we describe the Sampleability Map of Bennu, which was constructed to aid in the selection of candidate sampling sites and to estimate the probability of collecting sufficient sample. “Sampleability” is a numeric score that expresses the compatibility of a given area’s surface properties with the sampling mechanism. The algorithm that determines sampleability is a best fit functional form to an extensive suite of laboratory testing outcomes tracking the TAGSAM performance as a function of four observable properties of the target asteroid. The algorithm and testing were designed to measure and subsequently predict TAGSAM collection amounts as a function of the minimum particle size, maximum particle size, particle size frequency distribution, and the tilt of the TAGSAM head off the surface. The sampleability algorithm operated at two general scales, consistent with the resolution and coverage of data collected during the mission. The first scale was global and evaluated nearly the full surface. Due to Bennu’s unexpected boulder coverage and lack of ponded regolith deposits, the global sampleability efforts relied heavily on additional strategies to find and characterize regions of interest based on quantifying and avoiding areas heavily covered by material too large to be collected. The second scale was site-specific and used higher-resolution data to predict collected mass at a given contact location. The rigorous sampleability assessments gave the mission confidence to select the best possible sample collection site and directly enabled successful collection of hundreds of grams of material.

Asteroid exploration↗

Automated Target Planning for FUSE Using the SOVA Algorithm

The SOVA algorithm was originally developed under the Resilient Systems and Operations Project of the Engineering for Complex Systems Program from NASA s Aerospace Technology Enterprise as a conceptual framework to support real-time autonomous system mission and contingency management. The algorithm and its software implementation were formulated for generic application to autonomous flight vehicle systems, and its efficacy was demonstrated by simulation within the problem domain of Unmanned Aerial Vehicle autonomous flight management. The approach itself is based upon the precept that autonomous decision making for a very complex system can be made tractable by distillation of the system state to a manageable set of strategic objectives (e.g. maintain power margin, maintain mission timeline, and et cetera), which if attended to, will result in a favorable outcome. From any given starting point, the attainability of the end-states resulting from a set of candidate decisions is assessed by propagating a system model forward in time while qualitatively mapping simulated states into margins on strategic objectives using fuzzy inference systems. The expected return value of each candidate decision is evaluated as the product of the assigned value of the end-state with the assessed attainability of the end-state. The candidate decision yielding the highest expected return value is selected for implementation; thus, the approach provides a software framework for intelligent autonomous risk management. The name adopted for the technique incorporates its essential elements: Strategic Objective Valuation and Attainability (SOVA). Maximum value of the approach is realized for systems where human intervention is unavailable in the timeframe within which critical control decisions must be made. The Far Ultraviolet Spectroscopic Explorer (FUSE) satellite, launched in 1999, has been collecting science data for eight years.[1] At its beginning of life, FUSE had six gyros in two IRUs and four reaction wheels. Over time through various failures, the satellite has been left with one reaction wheel on the vehicle skew axis and two gyros. To remain operational, a control scheme has been implemented using the magnetic torque rods and the remaining momentum wheel.[2] As a consequence, there are attitude regions where there is insufficient torque authority to overcome environmental disturbances (e.g. gravity gradient torques). The situation is further complicated by the fact that these attitude regions shift inertially with time as the spacecraft moves through earth s magnetic field during the course of its orbit. Under these conditions, the burden of planning targets and target-to-target slew maneuvers has increased significantly since the beginning of the mission.[3] Individual targets must be selected so that the magnetic field remains roughly aligned with the skew wheel axis to provide enough control authority to the other two orthogonal axes. If the field moves too far away from the skew axis, the lack of control authority allows environmental torques to pull the satellite away from the target and can potentially cause it to tumble. Slew maneuver planning must factor the stability of targets at the beginning and end, and the torque authority at all points along the slew. Due to the time varying magnetic field geometry relative to any two inertial targets, small modifications in slew maneuver timing can make large differences in the achievability of a maneuver.

Heatwole, Scott↗

Autonomous GN and C for Spacecraft Exploration of Comets and Asteroids

A spacecraft guidance, navigation, and control (GN&C) system is needed to enable a spacecraft to descend to a surface, take a sample using a touch-and-go (TAG) sampling approach, and then safely ascend. At the time of this reporting, a flyable GN&C system that can accomplish these goals is beyond state of the art. This article describes AutoGNC, which is a GN&C system capable of addressing these goals, which has recently been developed and demonstrated to a maturity TRL-5-plus. The AutoGNC solution matures and integrates two previously existing JPL capabilities into a single unified GN&C system. The two capabilities are AutoNAV and GREX. AutoNAV is JPL s current flight navigation system, and is fairly mature with respect to flybys and rendezvous with small bodies, but is lacking capability for close surface proximity operations, sampling, and contact. G-REX is a suite of low-TRL algorithms and capabilities that enables spacecraft operations in close surface proximity and for performing sampling/contact. The development and integration of AutoNAV and G-REX components into AutoGNC provides a single, unified GN&C capability for addressing the autonomy, close-proximity, and sampling/contact aspects of small-body sample return missions. AutoGNC is an integrated capability comprising elements that were developed separately. The main algorithms and component capabilities that have been matured and integrated are autonomy for near-surface operations, terrain-relative navigation (TRN), real-time image-based feedback guidance and control, and six degrees of freedom (6DOF) control of the TAG sampling event. Autonomy is achieved based on an AutoGNC Executive written in Virtual Machine Language (VML) incorporating high-level control, data management, and fault protection. In descending to the surface, the AutoGNC system uses camera images to determine its position and velocity relative to the terrain. This capability for TRN leverages native capabilities of the original AutoNAV system, but required advancements that integrate the separate capabilities for shape modeling, state estimation, image rendering, defining a database of onboard maps, and performing real-time landmark recognition against the stored maps. The ability to use images to guide the spacecraft requires the capability for image-based feedback control. In Auto- GNC, navigation estimates are fed into an onboard guidance and control system that keeps the spacecraft guided along a desired path, as it descends towards its targeted landing or sampling site. Once near the site, AutoGNC achieves a prescribed guidance condition for TAG sampling (position/orientation, velocity), and a prescribed force profile on the sampling end-effector. A dedicated 6DOF TAG control then implements the ascent burn while recovering from sampling disturbances and induced attitude rates. The control also minimizes structural interactions with flexible solar panels and disallows any part of the spacecraft from making contact with the ground (other than the intended end-effector).

Carson, John M.↗

KNaCK-SLAM: Kinematic Navigation and Cartography Knapsack Velocity-aided LiDAR Inertial Simultaneous Localization and Mapping (SLAM)

As manned missions return to the Moon and continue on to Mars in the near future, surface navigation and mapping in extremely low solar illumination and unstructured environments without navigation aids like Global Navigation Satellite Systems (GNSS) becomes more important than even. This work explores the use of LiDAR-based Simultaneous Localization and Mapping (SLAM) to solve those problems. A LiDAR-based SLAM system be deployed as a self-contained instrument independent of external sensor inputs, and can operate in unlit environments where Vision-based SLAM system are inoperable. Furthermore, the advent of chip-scale frequency modulated continuous wave (FMCW) LiDAR technology provides Doppler-velocity information for each sensed point in the scene, which can be used to further constrain localization error in the SLAM front-end. Here we discuss the development of SLAM algorithm that makes use of the unique velocity and range sensing capabilities of FMCW-LiDAR based sensors for rover and kinematic (i.e. person-mounted) mobile navigation and terrain mapping applications for surface exploration and scientific investigations.

Kyle Miller↗

Progress in Modeling the 2019 Extended Magnetically Insulated Transmission Line (MITL) and Courtyard Environment Trial at HERMES-III

This report documents the progress made in simulating the HERMES-III Magnetically Insulated Transmission Line (MITL) and courtyard with EMPIRE and ITS. This study focuses on the shots that were taken during the months of June and July of 2019 performed with the new MITL extension. There were a few shots where there was dose mapping of the courtyard, 11132, 11133, 11134, 11135, 11136, and 11146. This report focuses on these shots because there was full data return from the MITL electrical diagnostics and the radiation dose sensors in the courtyard. The comparison starts with improving the processing of the incoming voltage into the EMPIRE simulation from the experiment. The currents are then compared at several location along the MITL. The simulation results of the electrons impacting the anode are shown. The electron impact energy and angle is then handed off to ITS which calculates the dose on the faceplate and locations in the courtyard and they are compared to experimental measurements. ITS also calculates the photons and electrons that are injected into the courtyard, these quantities are then used by EMPIRE to calculated the photon and electron transport in the courtyard. The details for the algorithms used to perform the courtyard simulations are presented as well as qualitative comparisons of the electric field, magnetic field, and the conductivity in the courtyard. Because of the computational burden of these calculations the pressure was reduce in the courtyard to reduce the computational load. The computation performance is presented along with suggestion on how to improve both the computational performance as well as the algorithmic performance. Some of the algorithmic changed would reduce the accuracy of the models and detail comparison of these changes are left for a future study. As well as, list of code improvements there is also a list of suggested experimental improvements to improve the quality of the data return.

47 OTHER INSTRUMENTATION↗

The Kinematic Navigation and Cartography Knapsack (KNaCK) LiDAR System: Overview and Applications.

Improved terrain characterization and navigation sensors and methods are needed to enhance crew safety, ISRU return, and scientific understanding of future landing sites. Specific to the Artemis Program and sustained exploration at the lunar South Pole, extreme low-angle solar illumination conditions pose significant challenges to existing photogrammetry-based robotic navigation. Additionally, a major challenge for navigation on the Moon and other planetary surfaces is the lack of Global Positioning and Navigation Systems (GPS or GNSS). Thus, there is a need for an alternative to image-based navigation that allow for precise and accurate mapping in GPS-denied environments on any planetary body. Here, we describe the Kinematic Navigation and Cartography Knapsack (KNaCK) LiDAR system; a backpack-mounted, mobile navigation and terrain mapping system that uses a velocity-sensing coherent light detection and ranging (LiDAR) system based on a frequency modulated continuous wave (FMCW) technique, contains minimal moving parts, and employs sophisticated positioning algorithms. During a traverse, this instrument emits light pulses to continually scan a scene to build a three-dimensional point cloud representation of topography. A measure of the Doppler-velocity at each of millions of range points sampled per second allows for a 6 degree of freedom (6- DoF) estimate of the sensor’s position and the development of novel position-from-velocity mapping and positioning algorithms for loop-closure in GPS denied environments. Included with paper is the video presentation for the Figure 2: FMCW-LiDAR sensor on Kinematic Navigation and Cartography Knapsack (KNaCK) (Aeva Aeries 1)

M. Zanetti↗

Planetary lander guidance using binary phase-only filters

We demonstrate the use of binary phase-only filters (BPOFs) in a closed loop guidance system for a laboratory lander mockup. Images of a 3-D terrain board taken by the lander's video camera are preprocessed to produce 128 x 128 binary intensity contour maps of the simulated planetary surface. A BPOF is made from a section of the current preprocessed image centered on the exact desired landing site. After the lander has descended to a lower altitude, the BPOF is correlated with a new image. The position of the correlation peak is used in making the next filter and to guide the lander so as to recenter the landing site in the camera's view. We present results of the accuracy with which a site may be tracked from orbit to landing, and the maximum scale, translation, and rotation which can be tolerated between subsequent images. The tolerable scale distortion is quite critical, as it determines the maximum filter update time available at a given descent rate. Application of the results to NASA's proposed Mars Rover Sample Return (MRSR) and Mars Environmental Survey (MESUR) missions is discussed. In both cases, electronic implementations of the algorithm may be sufficient to provide the required guidance system performance.

Reid, Max B.↗

Terrain Relative Navigation for Guided Descent on Titan

Titan’s dense atmosphere, low gravity, and high winds at high altitudes create descent times of >90 minutes with standard entry/descent/landing (EDL) architectures and result in large unguided landing ellipses, with 99% values of 110x110 km and 149x72 km in recent Titan lander proposals. Enabling precision landing on Titan could increase science return for the types of missions proposed to date and make additional types of landing sites accessible, opening up new possibilities for science investigations. Precision landing on Titan has unique challenges, because the hazy atmosphere makes it difficult to see the surface and because it requires guided descent with divert ranges that are one to two orders of magnitude larger than needed for other target bodies, i.e. up to on the order of 100 km. It is conceivable that such a divert capability could be provided economically by a parafoil or other steerable aerodynamic decelerator deployed several 10s of km above the surface. The long descent times lead to large inertial navigation errors, hence a need for terrain relative navigation (TRN). This would require a TRN capability that can operate at such altitudes, despite challenges of seeing the surface sufficiently clearly and of depending on map products that are two orders of magnitude lower in spatial resolution than those for Mars and airless bodies. We then develop algorithms for map matching and feature tracking with descent images and test these with synthetic images created from Cassini/Huygens data sets and our radiative transfer model. We also introduce new possibilities for TRN based on the potential to discriminate some specific types of terrain onboard in descent imagery, such as lake vs adjacent ground and dune vs interdune. We use sensor measurement noise models in simulations of state estimation with an extended Kalman filter that includes coordinates of a set of tracked features in the state vector. Case studies were done for two notional landing sites, one in a site with only dry ground and one in a Titan lake district. In both cases, the filter error model shows 3 position error at touchdown on the order of 2 km. More work is needed to validate these results with higher fidelity camera models and larger data sets, but this is very promising.

Matthies, Larry↗

Development of High Altitude UAV Weather Radars for Hurricane Research

A proposed effort within NASA called (ASHE) over the past few years was aimed at studying the genesis of tropical disturbances off the east coast of Africa. This effort was focused on using an instrumented Global Hawk UAV with high altitude (%Ok ft) and long duration (30 h) capability. While the Global Hawk availability remains uncertain, development of two relevant instruments, a Doppler radar (URAD - UAV Radar) and a backscatter lidar (CPL-UAV - Cloud Physics Lidar), are in progress. The radar to be discussed here is based on two previous high-altitude, autonomously operating radars on the NASA ER-2 aircraft, the ER-2 Doppler Radar (EDOP) at X-band (9.6 GHz), and the Cloud Radar System (CRS) at W- band (94 GHz). The nadir-pointing EDOP and CRS radars profile vertical reflectivity structure and vertical Doppler winds in precipitation and clouds, respectively. EDOP has flown in all of the CAMEX flight series to study hurricanes over storms such as Hurricanes Bonnie, Humberto, Georges, Erin, and TS Chantal. These radars were developed at Goddard over the last decade and have been used for satellite algorithm development and validation (TRMM and Cloudsat), and for hurricane and convective storm research. We describe here the development of URAD that will measure wind and reflectivity in hurricanes and other weather systems from a top down, high-altitude view. URAD for the Global Hawk consists of two subsystems both of which are at X-band (9.3-9.6 GHz) and Doppler: a nadir fixed-beam Doppler radar for vertical motion and precipitation measurement, and a Conical scanning radar for horizontal winds in cloud and at the surface, and precipitation structure. These radars are being designed with size, weight, and power consumption suitable for the Global Hawk and other UAV's. The nadir radar uses a magnetron transmitter and the scanning radar uses a TWT transmitter. With conical scanning of the radar at a 35" incidence angle over an ocean surface in the absence of precipitation, the surface return over a single 360 degree sweep over -25 h-diameter region provides information on the surface wind speed and direction within the scan circle. In precipitation regions, the conical scan with appropriate mapping and analysis provides the 3D structure of reflectivity beneath the plane and the horizontal winds. The use of conical scanning in hurricanes has recently been demonstrated for measuring inner core winds with the IWRAP system flying on the NOAA P3's. In this presentation, we provide a description of the URAD system hardware, status, and future plans. In addition to URAD, NASA SBIR activity is supporting a Phase I study by Remote Sensing Solutions and the University of Massachusetts for a dual-frequency IWRAP for a high altitude UAV that utilizes solid state transmitters at 14 and 35 GHz, the same frequencies that are planned for the radar on the Global Precipitation System satellite. This will be discussed elsewhere at the meeting.

Heymsfield, Gerald↗

Chapter 10 - Remote Sensing Measurements of Aerosol Properties

Satellite instruments have proven especially capable at monitoring the quantity of airborne particles in columns of atmosphere, globally. This chapter describes the principles of satellite measurements and retrieval algorithms, and surveys current instruments and their capabilities. We outline the issues associated with retrieval algorithms, such as surface characterization and aerosol proximity to clouds, and the challenges with interpretation of the results. The relationship between measured aerosol properties and climate-relevant aerosol properties simulated in models is outlined, as well as how measurements are used to evaluate models. Most space-based aerosol instruments are passive sensors that measure reflected sunlight at multiple wavelengths, some at multiple viewing angles. A few are active sensors that send out their own laser light and measure the returned signal. Except when clouds are present, the excess amount of light scattered back to space, beyond that expected from the surface and atmospheric gas, is attributed to aerosol. Satellite measurements are used in many ways in aerosol research. They often provide the only method for monitoring hazardous phenomena such as major wildfire and volcanic eruption plumes, especially in remote areas. Stable, long-term, near-global-scale satellite data records make it possible to identify regional and global aerosol trends. Aerosol radiative effects on climate can be quantified on a near-global scale and used to estimate the strength of aerosol–radiation and aerosol–cloud interactions as well as to evaluate climate model simulations of these interactions. Aerosol-type mapping from satellite imagery is helpful for source attribution, model validation, and to constrain particle light-absorption properties that are essential for radiative forcing calculations. The range of aerosol properties retrieved from satellite observations has grown considerably since the first global estimates of aerosol optical depth (τ a) over ocean were made in the late 1970s. Methods for retrieving particle size and light-absorption properties were explored in the 1990s using multispectral, multi-angle observations, and polarization in visible and near-infrared wavelengths. Sensitivity to particle light absorption, primarily from black or brown carbon content, improved with the inclusion of UV channels, and sensitivity to very thin aerosol layers in the upper troposphere and lower stratosphere was advanced with the use of limb-sounding instruments and active sensors. There are limitations to every measurement technique, including satellite aerosol remote sensing. For wide-swath, passive instruments, aerosol retrievals near clouds can present substantial challenges as far as 15 km away due to cloud-scattered light contaminating the signal. In nearly all cases, retrievals over bright snow and ice surfaces are precluded because surface reflectance uncertainties can overwhelm the aerosol signal. Similarly, meteorological cloud is identified and masked out where possible. Data from passive sensors also lack vertical resolution except those that view toward the limb or where multi-angle imagery is acquired over plumes from wildfires, erupting volcanoes, and wind-blown dust. Yet, passive sensors provide vastly more coverage than the active instruments that mitigate these issues. Particle microphysical information is qualitative from all remote sensing techniques, relying on proxies to infer particle composition, hygroscopicity, and the amount of light-absorbing material. Further, particles smaller than about 200 nm diameter cannot be distinguished from atmospheric gas molecules with remote sensing, which hinders studies of cloud condensation nuclei and their effects on clouds. Most satellite instruments dedicated to aerosol observations are in low-Earth, near-polar, sun-synchronous orbits, which means they cross the equator at the same local time each day. Most are set on cycles that repeat approximately every 16 days, which makes it difficult to monitor aerosol evolution locally. Geostationary satellites make it possible to observe changes occurring from minutes to hours over regions up to 8000 km in size, but lack coverage of high latitudes, and often provide more limited constraints on aerosol properties. Ground-truth data are vital for satellite aerosol-retrieval validation. The AErosol RObotic NETwork (AERONET) of sun photometers was created in 1993 and has become an established global network of over 350 instruments for validating satellite measurements. The network, as well as global networks of ground-based lidars, solar flux radiometers and other sun photometers, are widely used for evaluating global satellite retrievals and model simulations. NASA's Earth Observing System (EOS) program beginning in 1999 led to improvements in reliability, spatial resolution, and spectral resolution (and hence, to improved particle size discrimination and light absorption properties). Satellite payloads include advanced broad-swath and multi-angle imagers, along with the first space-based active sensor focused largely on long-term aerosol monitoring. Since about 2002, Europe's SENTINEL and operational meteorological satellite fleets are also providing sustained aerosol observations, with planned continuation until at least 2030. Satellite remote sensing instruments offer valuable data for evaluating aerosol representations in global climate models. They have been used to assess aerosol optical and physical properties, trends and distributions, and are applied increasingly as direct model constraints in data assimilation to create global aerosol reanalysis products. Aerosol optical depth is the most common quantity adopted for routine model evaluation, including multiwavelength data to loosely constrain particle-size distributions. These evaluations of multiple models have revealed general biases in their regional aerosol amounts and seasonal patterns of transport and removal. Although satellite measurements have near-global coverage, substantial errors can be introduced into the model observation comparison unless attention is paid to spatial and temporal collocation, cloud screening, subgrid-scale variability, and measurement uncertainties that vary with retrieval conditions.

aerosol properties↗