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Tracking accuracy and resolution of charge-coupled device (CCD) imaging arrays measured by instrument originally developed for measuring performance of star-tracking telescope. Operates by projecting one or more artifical star images on surface of CCD array, moving stars in controlled patterns, and comparing star locations computed from CCD outputs with those calculated from step coordinates of micropositioner.
The present volume on free-space laser communication technologies discusses system analysis, performance, and applications, pointing, acquisition, and tracking in beam control, laboratory demonstration systems, and transmitter and critical component technologies. Attention is given to a space station laser communication transceiver, meeting intersatellite links mission requirements by an adequate optical terminal design, an optical approach to proximity-operations communications for Space Station Freedom, and optical space-to-ground link availability assessment and diversity requirements. Topics addressed include nonmechanical steering of laser beams by multiple aperture antennas, a free-space simulator for laser transmission, heterodyne acquisition and tracking in a free-space diode laser link, and laser terminal attitude determination via autonomous star tracking. Also discussed are stability considerations in relay lens design for optical communications, liquid crystals for lasercom applications, and narrowband optical interference filters.
The Star Tracker is an essential sensor for precision pointing and tracking in most 3-axis stabilized spacecraft. In the interest (of) improving pointing performance by taking advantage of dramatic increases in flight computer power and memory anticipated over the next decade, this paper investigates the use of a neural net for adaptive in-flight calibration of the Star Tracker.
Charge-Coupled Device (CCD) based star trackes provide reliable attitude estimation onboard most 3 axis stabilized spacecraft. The spacecraft attitude is calculated based on observed positions of stars, which are located and identified in a CCD image of the sky.
This paper describes an in-flight scale and distortion calibration procedure that has been developed for the Ball Aerospace Systems Division Fixed-Head Star Trackers (FHST's) used on the Hubble Space Telescope (HST). The FHST is a magnetically focused and deflected imaging sensor that is designed to track stars as faint as m(sub v) = 5.7 over an 8 degree by 8 degree field of view. Raw FHST position measurements are accurate to approximately 200 arcseconds, but this can be improved to 10-15 arcseconds by processing the raw measurements through calibration polynomials that correct for flat field, temperature intensity, and magnetic field effects. The coefficients for these polynomials were initially determined using ground test data. On HST the use of three FHST's is an integral part of the preliminary attitude update procedures required before the acquisition of guide stars for science observations. To this end, FHST-based attitude determination having single-axis errors no worse than 22 arcseconds (1 sigma) is required. In early 1991 it became evident that one of the HST FHST's was experiencing a significant change in its optical scale. By mid-1993 the size of this error had grown to a point that, if not corrected, it would correspond to a maximum position error on the order of 100 arcseconds. Subsequent investigations demonstrated that substantial, uncompensated cubic distortion effects had also developed, the maximum contribution to position errors from the cubic terms being on the order of 30 arcseconds. To ensure accurate FHST-based attitude updates, procedures have been developed to redetermine the FHST scale and distortion calibration coefficients based on in-flight data gathered during normal HST operations. These scale and distortion calibrations have proven very effective operationally, and procedures are in place to monitor FHST calibration changes on a continuing basis.
A new design procedure is presented for a predictive controller that significantly improves antenna tracking performance. The predictive controller uses future values of the stored output command to generate the control signal. For antennas tracking stars or spacecraft, these values are known in advance, hence the predictive control scheme is easily implemented in this case. The predictive controller is designed for tracking control of the the NASA/JPL 70-m antenna. On-axis tracking is considered, where the output is taken on the encoder, or tachometer. Simulation results show a significant improvement in performance over the LQ controller.
The paper presents the autonomous Initial Stellar Acquisition (ISA) algorithm developed for the X-Ray Timing Explorer for prividing the attitude quaternion within the desired accuracy, based on the one-axis attitude knowledge (through the use of the Digital Sun Sensor, CCD Star Trackers, and the onboard star catalog, OSC). Mathematical analysis leads to an accurate measure of the performance of the algorithm as a function of various parameters, such as the probability of a tracked star being in the OSC, the sensor noise level, and the number of stars matched. It is shown that the simplicity, tractability, and robustness of the ISA algorithm, compared to a general three-axis attiude determination algorithm, make it a viable on-board solution.
The Video Inertial Pointing (VIP) System developed to satisfy the acquisition and pointing requirements of astronomical telescopes is described. A unique feature of the system is the use of a single sensor to provide information for the generation of three axis pointing error signals and for a cathode ray tube (CRT) display of the star field. The pointing error signals are used to update the telescope's gyro stabilization and the CRT display is used by an operator to facilitate target acquisition and to aid in manual positioning of the telescope optical axis. A model of the system using a low light level vidicon built and flown on a balloon-borne infrared telescope is briefly described from a state of the art charge coupled device (CCD) sensor. The advanced system hardware is described and an analysis of the multi-star tracking and three axis error signal generation, along with an analysis and design of the gyro update filter, are presented. Results of a hybrid simulation are described in which the advanced VIP system hardware is driven by a digital simulation of the star field/CCD sensor and an analog simulation of the telescope and gyro stabilization dynamics.
A dual star-tracking system and a system including a telescope, an echelle spectrograph, and a SEC vidicon are the chief components of the Balloon-borne Ultraviolet Stellar Spectrograph (BUSS), which has flown four successful missions. The BUSS missions have yielded 81 spectra for 56 stars, recorded with a resolution of 0.1 A in the wavelength range from 2200 to 3400 A. BUSS observations include: profiles of Mg II lines indicating considerable mass flow in early-type supergiants; Mg II features suggesting a cool expanding outer shell above a hotter chromosphere; emission features in Zeta Tau (a shell star) indicating infalling material; and emission features of the Be star Phi Per suggesting mass outflow.
This program aims in understanding the connection between the discrete X-ray source populations observed in nearby galaxies and the history of star-formation in these galaxies. The ultimate goal is to use this knowledge in order to constrain X-ray binary evolution channels. For this reason although the program is primarily observational it has a significant modeling component. During the first year of this study we focused on the definition of a pilot sample of galaxies with well know star-formation histories. A small part of this sample has already been observed and we performed initial analysis of the data. However, the majority of the objects in our sample either have not been observed at all, or the detection limit of the existing observations is not low enough to probe the bulk of their young X-ray binary populations. For this reason we successfully proposed for additional Chandra observations of three targets in Cycle-5. These observations are currently being performed. The analysis of the (limited) archival data for this sample indicated that the X-ray luminosity functions (XLF) of the discrete sources in these galaxies may not have the same shape as is widely suggested. However, any solid conclusions are hampered by the small number of detected sources. For this reason during the second year of this study, we will try to extend the sample in order to include more objects in each evolutionary stage. In addition we are completing the analysis of the Chandra monitoring observations of the Antennae galaxies. The results from this work, apart from important clues on the nature of the most luminous sources (Ultra-luminous X-ray sources; ULXs) provide evidence that source spectral and/or temporal variability does not significantly affect the shape of their X-ray luminosity functions. This is particularly important for comparisons between the XLFs of different galaxies and comparisons with predictions from theoretical models. Results from this work have been presented in several conferences. Refereed journal papers presenting these conclusions are currently in preparation. An important part of this study is the Chandra survey of the Small Magellanic Cloud, our second nearest star- forming galaxy. So far we have been awarded 5 Chandra observations of the central youngest part of the galaxy. These observations will help to study the very faint end of the young X-ray binary populations which is not possible to probe in more distant objects. Results from this study have been presented in several conferences and two papers are in preparation. In addition during year-2 we are planning of undertaking the task of identifying optical counterparts to the X-ray sources, which will help us to isolate interlopers (sources not associated with the SMC) and classify the X-ray binaries which are found to be associated with the SMC. In the theoretical front, the Star-Track X-ray binary population synthesis code which will be used for the modeling of the X-ray binary populations (led by co-I V. Kalogera and C. Belczynski), is complete. A first test using the XLF of the star-forming galaxy NGC-1569 showed remarkable agreement between the observed and the modeled XLF. These results are presented in an ApJ. Letters paper (Belczynski et al, 2004, 601, 147). During year-2 of this study we are planning of performing a parameter study in order to investigate which parameters are most important for the shape of the XLF. In addition we will perform comparisons with observations of other galaxies from our sample as they become available.
Fine guidance technology development for the Shuttle Infrared Telescope Facility (SIRTF) centers upon the use of a single multiple-star-tracking sensor to provide the position information necessary to produce three-axis attitude control signals for precision payload pointing. The effort described in this paper is concerned with the development of a fine guidance sensor that employs a high-density charge-coupled imaging device for producing position information signals by using star fields. Multiple star position information produces three-axis position error signals that are used to update inertial reference gyros. The sensor employs advanced position interpolation algorithms to enhance field-of-view resolution and to correct for optical aberrations inherent in spatially chopped star images resulting from the telescope's movable secondary mirror. Operation of the sensor is under the control of a high-performance microcomputer that provides both autonomy and flexibility in a guidance application.
We have designed, built, and flight-tested a new star camera for daytime guiding of pointed balloon-borne experiments at altitudes around 40km. The camera and lens are commercially available, off-the-shelf components, but require a custom-built baffle to reduce stray light, especially near the sunlit limb of the balloon. This new camera, which operates in the 600-1000 nm region of the spectrum, successfully provided daytime aspect information of approximately 10 arcsecond resolution for two distinct star fields near the galactic plane. The detected scattered-light backgrounds show good agreement with the Air Force MODTRAN models, but the daytime stellar magnitude limit was lower than expected due to dispersion of red light by the lens. Replacing the commercial lens with a custom-built lens should allow the system to track stars in any arbitrary area of the sky during the daytime.
We have designed, built, and flight-tested a new star camera for daytime guiding of pointed balloon-borne experiments at altitudes around 40 km. The camera and lens are commercially available, off-the-shelf components, but require a custom-built baffle to reduce stray light, especially near the sunlit limb of the balloon. This new camera, which operates in the 600- to 1000-nm region of the spectrum, successfully provides daytime aspect information of approx. 10 arcsec resolution for two distinct star fields near the galactic plane. The detected scattered-light backgrounds show good agreement with the Air Force MODTRAN models used to design the camera, but the daytime stellar magnitude limit was lower than expected due to longitudinal chromatic aberration in the lens. Replacing the commercial lens with a custom-built lens should allow the system to track stars in any arbitrary area of the sky during the daytime.
NASA's Ice, Cloud and Land Elevation Satellite (ICESat) has been measuring elevations of the Antarctic ice sheet and sea-ice freeboard elevations with unprecedented accuracy. Since February 20,2003, data has been acquired during three periods of laser operation varying from 36 to 54 days, which is less than the continuous operation of 3 to 5 years planned for the mission. The primary purpose of ICESat is to measure time-series of ice-sheet elevation changes for determination of the present-day mass balance of the ice sheets, study of associations between observed ice changes and polar climate, and estimation of the present and future contributions of the ice sheets to global sea level rise. ICESat data will continue to be acquired for approximately 33 days periods at 3 to 6 month intervals with the second of ICESat's three lasers, and eventually with the third laser. The laser footprints are about 70 m on the surface and are spaced at 172 m along-track. The on-board GPS receiver enables radial orbit determinations to an accuracy better than 5 cm. The orbital altitude is around 600 km at an inclination of 94 degrees with a 8-day repeat pattern for the calibration and validation period, followed by a 91 -day repeat period for the rest of the mission. The expected range precision of single footprint measurements was 10 cm, but the actual range precision of the data has been shown to be much better at 2 to 3 cm. The star-tracking attitude-determination system should enable footprints to be located to 6 m horizontally when attitude calibrations are completed. With the present attitude calibration, the elevation accuracy over the ice sheets ranges from about 30 cm over the low-slope areas to about 80 cm over areas with slopes of 1 to 2 degrees, which is much better than radar altimetry. After the first period of data collection, the spacecraft attitude was controlled to point the laser beam to within 50 m of reference surface tracks over the ice sheets. Detection of ice elevation changes over select areas of the ice sheet is demonstrated with using both crossover analysis and precise-repeat track analysis. Sea ice freeboard-height distributions over the Antarctic sea pack are derived over distances of 50 km and converted into maps of average freeboard thickness and sea-ice thickness.
The Palomar Testbed Interferometer (PTI) is a long-baseline infrared interferometer located at Palomar Observatory, California. It was built as a testbed for interferometric techniques applicable to the Keck Interferometer. First fringes were obtained in 1995 July. PTI implements a dual-star architecture, tracking two stars simultaneously for phase referencing and narrow-angle astrometry. The three fixed 40 cm apertures can be combined pairwise to provide baselines to 110 m. The interferometer actively tracks the white-light fringe using an array detector at 2.2 microns and active delay lines with a range of +/-38 m. Laser metrology of the delay lines allows for servo control, and laser metrology of the complete optical path enables narrow-angle astrometric measurements. The instrument is highly automated, using a multiprocessing computer system for instrument control and sequencing.
In the domain of telerobotic operations, the primary challenge facing the operator is to understand the state of the robotic platform. One key aspect of understanding the state is to visualize the physical location and configuration of the platform. As there is a wide variety of mobile robots, the requirements for visualizing their configurations vary diversely across different platforms. There can also be diversity in the mechanical mobility, such as wheeled, tracked, or legged mobility over surfaces. Adaptable 3D articulated robot visualization software can accommodate a wide variety of robotic platforms and environments. The visualization has been used for surface, aerial, space, and water robotic vehicle visualization during field testing. It has been used to enable operations of wheeled and legged surface vehicles, and can be readily adapted to facilitate other mechanical mobility solutions. The 3D visualization can render an articulated 3D model of a robotic platform for any environment. Given the model, the software receives real-time telemetry from the avionics system onboard the vehicle and animates the robot visualization to reflect the telemetered physical state. This is used to track the position and attitude in real time to monitor the progress of the vehicle as it traverses its environment. It is also used to monitor the state of any or all articulated elements of the vehicle, such as arms, legs, or control surfaces. The visualization can also render other sorts of telemetered states visually, such as stress or strains that are measured by the avionics. Such data can be used to color or annotate the virtual vehicle to indicate nominal or off-nominal states during operation. The visualization is also able to render the simulated environment where the vehicle is operating. For surface and aerial vehicles, it can render the terrain under the vehicle as the avionics sends it location information (GPS, odometry, or star tracking), and locate the vehicle over or on the terrain correctly. For long traverses over terrain, the visualization can stream in terrain piecewise in order to maintain the current area of interest for the operator without incurring unreasonable resource constraints on the computing platform. The visualization software is designed to run on laptops that can operate in field-testing environments without Internet access, which is a frequently encountered situation when testing in remote locations that simulate planetary environments such as Mars and other planetary bodies.
Digital computer programs including external display testing, symbolic paper tape editing, and real time star tracking
General relativity test proposal using low temperature techniques involving satellite-borne gyroscopes and star tracking telescope