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NASA NTRS2012

Mars Relay Lander and Orbiter Overflight Profile Estimation

This software allows science and mission operations to view graphs of geometric overflights of satellites and landers within the Mars (or other planetary) networks. It improves on the MaROS Web interface within any modern Web browser, in that it adds new capabilities to the MaROS suite. The profile for an overflight is an important element for selecting communication/ overflight opportunities between the landers and orbiters within the Mars network. Unfortunately, determining these estimates is very computationally expensive and difficult to compute by hand. This software allows the user to select different overflights (via the existing MaROS Web interface) and specify the smoothness of the estimation. Estimates for the geometric relationship between a lander and an orbiter are determined based upon the orbital conditions of the orbiter at the moment the orbiter rises above the horizon from the perspective of the lander. It utilizes 2-body orbital equations to propagate the trajectory through the duration of the view period, and returns profiles that represent the range between the two vehicles, and the elevation and azimuth angles of the orbiter as measured from the lander s position. The algorithms assume a 2-body relationship with an ideal, spherical planetary body, so therefore can see errors less than 2% at polar landing sites on Mars. These algorithms are being implemented to provide rough estimates rapidly for the geometry of a geometric view period where more complete data is unavailable, such as for planning purposes. While other software for this task exists, each at the time of this reporting has been contained within a much more complicated package. This tool allows science and mission operations to view the estimates with a few clicks of the mouse.

Wallick, Michael N.↗
NASA NTRS2020

Communications with Curiosity during solar conjunction

This study examines the methodology for operating and communicating with NASA's Curiosity Rover (MSL) during the 2019 solar conjunction. For MSL, solar conjunction occurs when the viewing angle between the Sun and Mars from Earth's perspective falls below 3 degrees, which occurs roughly every two Earth years and lasts for about two weeks. This presents a challenge for engineers operating a vehicle on Mars because the degraded signal to noise ratio disrupts data flow between Earth and the spacecraft. As a result, operators designate a command moratorium in which no commands are sent to the rover and instead design long-term plans that are uplinked weeks in advance (rather than the nominal case of daily uplinks). Coordinating communications with the rover leading up to and following conjunction requires negotiations with several orbiters, another lander, and the Deep Space Network (DSN) each with their own set of constraints. It is the Strategic Comm Planning T coordination, which acts as a baseline for the conjunction Comm team faced additional complications such as the arrival of two new spacecraft at Mars - Roscosmos ExoMars Trace Gas Orbiter (TGO).

Laubach, Sharon↗
NASA NTRS2007

High-Capacity Communications from Martian Distances

High capacity communications from Martian distances, required for the envisioned human exploration and desirable for data-intensive science missions, is challenging. NASA s Deep Space Network currently requires large antennas to close RF telemetry links operating at kilobit-per-second data rates. To accommodate higher rate communications, NASA is considering means to achieve greater effective aperture at its ground stations. This report, focusing on the return link from Mars to Earth, demonstrates that without excessive research and development expenditure, operational Mars-to-Earth RF communications systems can achieve data rates up to 1 Gbps by 2020 using technology that today is at technology readiness level (TRL) 4-5. Advanced technology to achieve the needed increase in spacecraft power and transmit aperture is feasible at an only moderate increase in spacecraft mass and technology risk. In addition, both power-efficient, near-capacity coding and modulation and greater aperture from the DSN array will be required. In accord with these results and conclusions, investment in the following technologies is recommended:(1) lightweight (1 kg/sq m density) spacecraft antenna systems; (2) a Ka-band receive ground array consisting of relatively small (10-15 m) antennas; (3) coding and modulation technology that reduces spacecraft power by at least 3 dB; and (4) efficient generation of kilowatt-level spacecraft RF power.

Williams, W. Dan↗
NASA NTRS2006

Mars Reconnaissance Orbiter Ka-band (32 GHz) Demonstration: Cruise Phase Operations

The X-band (8.41 GHz) frequency currently used for deep space telecommunications is too narrow (50 MHz) to support future high rate missions. Because of this NASA has decided to transition to Ka-band (32 GHz) frequencies. As weather effects cause much larger fluctuations on Ka-band than on X-band, the traditional method of using a few dBs of margin to cover these fluctuations is wasteful of power for Ka-band; therefore, a different operations concept is needed for Ka-band links. As part of the development of the operations concept for Ka-band, NASA has implemented a fully functioning Ka-band communications suite on its Mars Reconnaissance Orbiter (MRO). This suite will be used during the primary science phase to develop and refine the Ka-band operations concept for deep space missions. In order to test the functional readiness of the spacecraft and the Deep Space Network's (DSN) readiness to support the demonstration activities a series of passes over DSN 34-m Beam Waveguide (BWG) antennas were scheduled during the cruise phase of the mission. MRO was launched on August 12, 2005 from Kennedy Space Center, Cape Canaveral, Florida, USA and went into Mars Orbit on March 10, 2006. A total of ten telemetry demonstration and one high gain antenna (HGA) calibration passes were allocated to the Ka-band demonstration. Furthermore, a number of "shadow" passes were also scheduled where, during a regular MRO track over a Ka-band capable antenna, Ka-band was identically configured as the X-band and tracked by the station. In addition, nine Ka-band delta differential one way ranging ((delta)DOR) passes were scheduled. During these passes, the spacecraft and the ground system were put through their respective paces. Among the highlights of these was setting a single day record for data return from a deep space spacecraft (133 Gbits) achieved during one 10-hour pass; achieving the highest data rate ever from a planetary mission (6 Mbps) and successfully demonstrating Ka-band DDOR. In addition, DSN performed well. However, there are concerns with the active pointing of the Ka-band antennas as well as delivery of the monitor data from the stations. The spacecraft also presented challenges not normally associated with planetary missions mostly because of its very high equivalent isotropic radiated power (EIRP). This caused problems in accurately evaluating the in-flight EIRP of the spacecraft which led to difficulties evaluating the quality of the HGA calibration data. These led to the development of additional measurement techniques that could be used for future high-power deep space missions.

Mars Reconnaissance Orbiter (MRO)↗
NASA NTRS2008

Lunar Communication Terminals for NASA Exploration Missions: Needs, Operations Concepts and Architectures

NASA is conducting architecture studies prior to deploying a series of short- and long-duration human and robotic missions for the exploration of the Moon and Mars under the Vision for Space Exploration Initiative. A key objective of these missions is to establish and expand, through a series of launches, a system of systems approach to exploration capabilities and science return. The systems identified were Crew Exploration Vehicles, crew and cargo launch vehicles, crew EVA suits, crew and cargo landers, habitats, mobility carriers, and small, pressurized rovers. Multiple space communication networks and systems, deployed over time, will support these space exploration systems of systems. Each deployment phase will support interoperability of components and provide 20 years of legacy systems. In this paper, we describe the modular lunar communications terminals needed for the emerging lunar mission operational scenarios. These lunar communication terminals require flexibility for use in stationary, integrated, and mobile environments. They will support links directly to Earth, to lunar relay satellites, to astronauts and to fixed and mobile lunar surface systems. The operating concepts and traffic models are presented for these terminals within variety of lunar scenarios. A preliminary architecture is outlined, providing for suitable long-duration operations in the harsh lunar environment.

Bhasin, Kul B.↗
NASA NTRS2006

Dawn of a New Space Age: Developing a Global Exploration Strategy.

Jeff Volosin is an aerospace engineer with over 20 years of experience in the design, development, and operations of both robotic and crewed spacecraft. Mr. Volosin is currently leading the NASA effort to develop and integrate a global exploration strategy which reflects the lunar exploration interests of international space agencies, academia and commercial stakeholders. Prior to joining NASA as a member of the Exploration Systems Mission Directorate in 2004, Jeff was an aerospace contractor, serving in a number of leadership positions including: Operations Manager for the NASA Communications Network and Flight Operations Manager for the Advanced Composition Explorer, Tropical Rainfall Measuring Mission, and the NOAA Polar and Geostationary satellite constellations. Earlier in his career, Jeff spent 4 years as a system engineer supporting the Space Exploration Initiative studies on human voyages to the Moon and Mars and also supported the Space Station program as an advanced life support engineer.

Volosin, Jeff↗
NASA NTRS2015

Mars Exploration Rover Spirit End of Mission Report

The Mars Exploration Rover (MER) Spirit landed in Gusev crater on Mars on January 4, 2004, for a prime mission designed to last three months (90 sols). After more than six years operating on the surface of Mars, the last communication received from Spirit occurred on Sol 2210 (March 22, 2010). Following the loss of signal, the Mars Exploration Rover Project radiated over 1400 commands to Mars in an attempt to elicit a response from the rover. Attempts were made utilizing Deep Space Network X-Band and UHF relay via both Mars Odyssey and the Mars Reconnaissance Orbiter. Search and recovery efforts concluded on July 13, 2011. It is the MER project's assessment that Spirit succumbed to the extreme environmental conditions experienced during its fourth winter on Mars. Focusing on the time period from the end of the third Martian winter through the fourth winter and end of recovery activities, this report describes possible explanations for the loss of the vehicle and the extent of recovery efforts that were performed. It offers lessons learned and provides an overall mission summary.

Callas, John L.↗
NASA NTRS1988

Environmental projects. Volume 7: Environmental resources document

The Goldstone Deep Space Communications Complex (GDSCC) in Barstow, California, is part of the NASA Deep Space Network, one of the world's largest and most sensitive scientific telecommunications and radio navigation networks. Goldstone is managed, directed and operated by the Jet Propulsion Laboratory of Pasadena, California. The GDSCC includes five distinct operational sites: Echo, Venus, Mars, Apollo, and Mojave Base. Within each site is a Deep Space Station (DPS), consisting of a large dish antenna and its support facilities. As required by NASA directives concerning the implementation of the National Environmental Policy Act, each NASA field installation is to publish an Environmental Resources Document describing the current environment at the installation, including any adverse effects that NASA operations may have on the local environment.

Kushner, Len↗
NASA NTRS1990

System control of an autonomous planetary mobile spacecraft

The goal is to suggest the scheduling and control functions necessary for accomplishing mission objectives of a fairly autonomous interplanetary mobile spacecraft, while maximizing reliability. Goals are to provide an extensible, reliable system conservative in its use of on-board resources, while getting full value from subsystem autonomy, and avoiding the lure of ground micromanagement. A functional layout consisting of four basic elements is proposed: GROUND and SYSTEM EXECUTIVE system functions and RESOURCE CONTROL and ACTIVITY MANAGER subsystem functions. The system executive includes six subfunctions: SYSTEM MANAGER, SYSTEM FAULT PROTECTION, PLANNER, SCHEDULE ADAPTER, EVENT MONITOR and RESOURCE MONITOR. The full configuration is needed for autonomous operation on Moon or Mars, whereas a reduced version without the planning, schedule adaption and event monitoring functions could be appropriate for lower-autonomy use on the Moon. An implementation concept is suggested which is conservative in use of system resources and consists of modules combined with a network communications fabric. A language concept termed a scheduling calculus for rapidly performing essential on-board schedule adaption functions is introduced.

Dias, William C.↗
NASA NTRS1982

Telecommunications and data acquisition systems support for the Viking 1975 mission to Mars, volume 5

The support provided by the Deep Space Network to the Viking Project from 1 June 1978 to 30 April 1980 is described. The project was supported by the worldwide network of Deep Space Stations with 26- and 64-meter-diameter antennas, together with a ground communications system, for the transmission of commands, telemetry, radio metric data, and operational instructions between the stations and the network operation control center in Pasadena, California. Assistance was substantially less than in the previous phases of the Viking Project in order to provide adequate support to the Pioneer and Voyager Projects.

Larkin, W. E.↗
NASA NTRS1997

Innovative Educational Aerospace Research at the Northeast High School Space Research Center

Northeast High Magnet School of Philadelphia, Pennsylvania is a proud sponsor of the Space Research Center (SPARC). SPARC, a model program of the Medical, Engineering, and Aerospace Magnet school, provides talented students the capability to successfully exercise full simulations of NASA manned missions. These simulations included low-Earth Shuttle missions and Apollo lunar missions in the past, and will focus on a planetary mission to Mars this year. At the end of each scholastic year, a simulated mission, lasting between one and eight days, is performed involving 75 students as specialists in seven teams The groups are comprised of Flight Management, Spacecraft Communications (SatCom), Computer Networking, Spacecraft Design and Engineering, Electronics, Rocketry, Robotics, and Medical teams in either the mission operations center or onboard the spacecraft. Software development activities are also required in support of these simulations The objective of this paper is to present the accomplishments, technology innovations, interactions, and an overview of SPARC with an emphasis on how the program's educational activities parallel NASA mission support and how this education is preparing student for the space frontier.

Audra Luyet↗
NASA NTRS1993

Conceptual communications system design in the 25.25-27.5 and 37.0-40.5 GHz frequency bands

Future space applications are likely to rely heavily on Ka-band frequencies (20-40 GHz) for communications traffic. Many space research activities are now conducted using S-band and X-band frequencies, which are becoming congested and require a degree of pre-coordination. In addition to providing relief from frequency congestion, Ka-band technologies offer potential size, weight, and power savings when compared to lower frequency bands. The use of the 37.0-37.5 and 40.0-40.5 GHz bands for future planetary missions was recently approved at the 1992 World Administrative Radio Conference (WARC-92). WARC-92 also allocated the band 25.25-27.5 GHz to the Intersatellite Service on a primary basis to accommodate Data Relay Satellite return link requirements. Intersatellite links are defined to be between artificial satellites and thus a communication link with the surface of a planetary body, such as the moon, and a relay satellite orbiting that body are not permitted in this frequency band. This report provides information about preliminary communications system concepts for forward and return links for earth-Mars and earth-lunar links using the 37.0-37.5 (return link) and 40.0-40.5 (forward link) GHz frequency bands. In this study we concentrate primarily on a conceptual system for communications between earth and a single lunar surface terminal (LST), and between earth and a single Mars surface terminal (MST). Due to large space losses, these links have the most stringent link requirements for an overall interplanetary system. The earth ground station is assumed to be the Deep Space Network (DSN) using either 34 meter or 70 meter antennas. We also develop preliminary communications concepts for a space-to-space system operating at near 26 GHz. Space-to-space applications can encompass a variety of operating conditions, and we consider several 'typical' scenarios described in more detail later in this report. Among these scenarios are vehicle-to-vehicle communications, vehicle-to-geosyncronous satellite (GEO) communications, and GEO-to-GEO communications. Additional details about both the interplanetary and space-to-space communications systems are provided in an 'expanded' final report which has been submitted to the Tracking and Communications Division (TCD) at the NASA Johnson Space Center.

Thompson, Michael W.↗
NASA NTRS2021

Assessing Relay Communications for Mars Sample Return Surface Mission Concepts

The Mars Sample Return (MSR) Campaign is a 3-mission campaign concept supported by NASA and ESA to return samples from the Mars surface. MSR will, for the firsttime ever, present a need to communicate with multiple surfaceassets that are co-located on Mars in a coordinated effort toaccomplish the unified objective of fetching, transporting, andreturning samples from Mars. Currently, Mars surface assetsrelay data to and from Earth using a number of orbiters inwhat’s known as the Mars Relay Network (MRN). This networkis characterized by a small number of surface assets distributedacross the Martian globe and a larger number of orbiters toprovide relay services. As of June 2020, there are two surfaceassets for which five orbiters are providing relay. During theMSR Campaign, there will be two rovers and a lander that allwill require relay communication from a small number of Marsorbiters to meet the aggressive MSR timeline. The inversion ofthe current MRN paradigm, a system of many surface assetsrequiring relay and few orbiters to provide relay, necessitatesthe unique challenge of optimally allocating relay passes tomaximize the operational capability of all assets. The allocationmust consider a large number of trade variables includingMars asset operational requirements and Earth ground systemconstraints, including staffing schedules, operations planningacross time zones, and more. To address these telecommunicationchallenges, the Mars Asset Relay Mission Link AllocationDesign Environment (MARMLADE) tool was developed. Itis a MATLAB-based tool to assign orbiter passes or Direct-From-Earth (DFE) links to each of the three surface assets andquantify the operational efficiency of each surface asset.MARMLADE uses a data set of simulated Mars relay orbitergeometry and telecommunication capabilities provided by JPL’sTelecom Orbit Analysis and Simulation Tool (TOAST) softwareto compute which asset should get each pass based on a seriesof heuristics and predictions of all assets’ states. WithinMARMLADE, the user can provide inputs including the optionfor time-based pass splitting, fixed FWD data rate capabilities,DFE communication capabilities, and link parameters allowingfor the assessment of complex operations and hardware tradesusing surface mission operational efficiency as a primary figureof merit. As the MSR mission concepts continue to mature,MARMLADE is being used to assess ability of all MSR elementsto meet the surface mission timeline requirements and to provide relay link allocations to each of the MSR surface assets.

Lee, Charles↗
NASA NTRS2020

Supervised Autonomy for Communication-Degraded Subterranean Exploration by a Robot Team

The importance of autonomy in robotics is magnified when the robots need to be deployed and operated in areas that are too dangerous or not accessible for humans, ranging from disaster areas (to assist in emergency situations) to Mars exploration (to uncover the mystery of our neighboring planet). The DARPA Subterranean (SubT) Challenge presents a great opportunity and a formidable robotics challenge to foster such technological advancement for operations in extreme and underground environments. Robot teams are expected to rapidly map, navigate, and search underground environments including natural cave networks, tunnel systems, and urban underground infrastructure. Subterranean environments pose significant challenges for manned and unmanned operations due to limited situational awareness. In the first phase of the DARPA Subterranean Challenge (held in August 2019; targeting underground tunnels and mines), Team CoSTAR, led by NASA JPL, placed second among 11 teams across the world, accurately mapping several kilometers of two mine systems and localizing 17 target objects in the course of four one-hour missions. While the main goal of Team CoSTAR at the end of this threeyear challenge (August 2021) is a fully autonomous robotic solution, this paper describes Team CoSTAR’s results in the first phase of the challenge (August 2019), focusing on supervised autonomy of a multi-robot team under severe communication constraints. This paper also presents the design and initial results obtained from field test campaigns conducted in various tunnel-like environments, leading to the competition.

Otsu, Kyohei↗
NASA NTRS2001

Communication System Architecture for Planetary Exploration

Future human missions to Mars will require effective communications supporting exploration activities and scientific field data collection. Constraints on cost, size, weight and power consumption for all communications equipment make optimization of these systems very important. These information and communication systems connect people and systems together into coherent teams performing the difficult and hazardous tasks inherent in planetary exploration. The communication network supporting vehicle telemetry data, mission operations, and scientific collaboration must have excellent reliability, and flexibility.

Braham, Stephen P.↗
NASA NTRS2008

The NASA Phoenix 2007 Mars Lander Thruster Calibration Estimator: Design and Validation

The NASA Phoenix 2007 Mars Lander mission, launched in August 2007 on its mission to land near the north pole of Mars in May 2008, had a driving need for entry-corridor delivery precision, which parlayed into stringent requirements on deep space navigation accuracy. This, in turn, necessitated in-cruise calibration of the three-axis thrust force vectors produced by each of the vehicle's four reactioncontrol system (RCS) thrusters during frequent daily low-catalyst-bed-temperature firings done to maintain the 3-axis attitude deadbands. A novel recursive sigmapoint consider-covariance filter was designed, validated and ultimately utilized extensively during flight operations, to estimate the RCS force vectors, per individual thruster. The estimate was achieved through ground-based processing of Deep Space Network (DSN) and telemetered gyroscope data from the spacecraft's inertial measurement unit (IMU), using a novel sigma-point consider filter (SPCF) formulation. During early-cruise active calibration, the spacecraft was flown in attitudes chosen, using this filter, to maximize observability of all thruster axes, to an extent constrained by vehicle thermal and communication considerations. The design of the Phoenix thruster calibration filter, and its validation through processing of archived Mars Odyssey thruster calibration radiometric data, and simulated sets of data, are discussed in this paper. The paper concludes with the formulation of the thruster calibration campaign and a summary of the thruster calibration campaign results. The SPCF algorithm is summarized in the Appendix.

sigma-point filter↗
NASA NTRS2015

An Updated Process for Automated Deepspace Conjunction Assessment

There is currently a high level of interest in the areas of conjunction assessment and collision avoidance from organizations conducting space operations. Current conjunction assessment activity is mainly focused on spacecraft and debris in the Earth orbital environment [1]. However, collisions are possible in other orbital environments as well [2]. This paper will focus on the current operations of and recent updates to the Multimission Automated Deep Space Conjunction Assessment Process (MADCAP) used at the Jet Propulsion Laboratory for NASA to perform conjunction assessment at Mars and the Moon. Various space agencies have satellites in orbit at Mars and the Moon with additional future missions planned. The consequences of collisions are catastrophically high. Intuitive notions predict low probability of collisions in these sparsely populated environments, but may be inaccurate due to several factors. Orbits of scientific interest often tend to have similar characteristics as do the orbits of spacecraft that provide a communications relay for surface missions. The MADCAP process is controlled by an automated scheduler which initializes analysis based on a set timetable or the appearance of new ephemeris files either locally or on the Deep Space Network (DSN) Portal. The process then generates and communicates reports which are used to facilitate collision avoidance decisions. The paper also describes the operational experience and utilization of the automated tool during periods of high activity and interest such as: the close approaches of NASA's Lunar Atmosphere & Dust Environment Explorer (LADEE) and Lunar Reconnaissance Orbiter (LRO) during the LADEE mission. In addition, special consideration was required for the treatment of missions with rapidly varying orbits and less reliable long term downtrack estimates; in particular this was necessitated by perturbations to MAVEN's orbit induced by the Martian atmosphere. The application of special techniques to non-operational spacecraft with large uncertainties is also studied. Areas for future work are also described. Although the applications discussed in this paper are in the Martian and Lunar environments, the techniques are not unique to these bodies and could be applied to other orbital environments.

collision↗
NASA NTRS1999

Architectural Design for a Mars Communications and Navigation Orbital Infrastructure

The planet Mars has become the focus of an intensive series of missions that span decades of time, a wide array of international agencies and an evolution from robotics to humans. The number of missions to Mars at any one time, and over a period of time, is unprecedented in the annals of space exploration. To meet the operational needs of this exploratory fleet will require the implementation of new architectural concepts for communications and navigation. To this end, NASA's Jet Propulsion Laboratory has begun to define and develop a Mars communications and navigation orbital infrastructure. This architecture will make extensive use of assets at Mars, as well as use of traditional Earth-based assets, such as the Deep Space Network, DSN. Indeed, the total system can be thought of as an extension of DSN nodes and services to the Mars in-situ region. The concept has been likened to the beginnings of an interplanetary Internet that will bring the exploration of Mars right into our living rooms. The paper will begin with a high-level overview of the concept for the Mars communications and navigation infrastructure. Next, the mission requirements will be presented. These will include the relatively near-term needs of robotic landers, rovers, ascent vehicles, balloons, airplanes, and possibly orbiting, arriving and departing spacecraft. Requirements envisioned for the human exploration of Mars will also be described. The important Mars orbit design trades on telecommunications and navigation capabilities will be summarized, and the baseline infrastructure will be described. A roadmap of NASA's plan to evolve this infrastructure over time will be shown. Finally, launch considerations and delivery to Mars will be briefly treated.

Ceasrone R. J.↗