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All sourcesNASA NTRSDOE OSTI
NASA NTRS2006

Current Characteristics and Trends of the Tracked Satellite Population in the Human Space Flight Regime

Since the end of the Apollo program in 1972, human space flight has been restricted to altitudes below 600 km above the Earth s surface with most missions restricted to a ceiling below 400 km. An investigation of the tracked satellite population transiting and influencing the human space flight regime during the past 11 years (equivalent to a full solar cycle) has recently been completed. The overall effects of satellite breakups and solar activity are typically less pronounced in the human space flight regime than other regions of low Earth orbit. As of January 2006 nearly 1500 tracked objects resided in or traversed the human space flight regime, although two-thirds of these objects were in orbits of moderate to high eccentricity, significantly reducing their effect on human space flight safety. During the period investigated, the spatial density of tracked objects in the 350-400 km altitude regime of the International Space Station demonstrated a steady decline, actually decreasing by 50% by the end of the period. On the other hand, the region immediately above 600 km experienced a significant increase in its population density. This regime is important for future risk assessments, since this region represents the reservoir of debris which will influence human space flight safety in the future. The paper seeks to put into sharper perspective the risks posed to human space flight by the tracked satellite population, as well as the influences of solar activity and the effects of compliance with orbital debris mitigation guidelines on human space flight missions. Finally, the methods and successes of characterizing the population of smaller debris at human space flight regimes are addressed.

Johnson, Nicholas L.↗
NASA NTRS1983

Application of the one-dimensional Fourier transform for tracking moving objects in noisy environments

In Riddle and Rajala (1981), an algorithm was presented which operates on an image sequence to identify all sets of pixels having the same velocity. The algorithm operates by performing a transformation in which all pixels with the same two-dimensional velocity map to a peak in a transform space. The transform can be decomposed into applications of the one-dimensional Fourier transform and therefore can gain from the computational advantages of the FFT. The aim of this paper is the concern with the fundamental limitations of that algorithm, particularly as relates to its sensitivity to image-disturbing parameters as noise, jitter, and clutter. A modification to the algorithm is then proposed which increases its robustness in the presence of these disturbances.

Rajala, S. A.↗
NASA NTRS2011

Small Orbital Debris Mitigation Mission Architecture

Small orbital debris in LEO (1-10 cm in size) presents a clear and present danger to operational LEO spacecraft. This debris field has dramatically increased (nearly doubled) in recent years following the Chinese ASAT Test in 2007 and the Iridium/Cosmos collision in 2009. Estimates of the number of small debris have grown to 500,000 objects after these two events; previously the population was 300,000 objects. These small, untracked debris objects (appproximately 500,000) outnumber the larger and tracked objects (appproximately 20,000) by a factor 25 to 1. Therefore, the risk of the small untracked debris objects to operational spacecraft is much greater than the risk posed by the larger and tracked LEO debris objects. A recent study by The Aerospace Corporation found that the debris environment will increase the costs of maintaining a constellation of government satellites by 5%, a constellation of large commercial satellites by 11%, and a constellation of factory built satellites by 26% from $7.6 billion to $9.57 billion. Based upon these facts, the NASA Marshall Space Flight Center (MSFC) Advanced Concepts Office (ACO) performed an architecture study on Small Orbital Debris Active Removal (SODAR) using a space-based nonweapons- class laser satellite for LEO debris removal. The goal of the SODAR study was to determine the ability of a space-based laser system to remove the most pieces of debris (1 cm to 10 cm, locations unknown), in the shortest amount of time, with the fewest number of spacecraft. The ESA developed MASTER2005 orbital debris model was used to probabilistically classify the future debris environment including impact velocity, magnitude, and directionality. The study ground rules and assumptions placed the spacecraft into a high inclination Low Earth Orbit at 800 km as an initial reference point. The architecture study results found that a spacecraft with an integrated forward-firing laser is capable of reducing the small orbital debris flux within a 60 to 100 km orbital shell by a significant amount within the one spacecraft's operational lifetime. The technology developments required for such an architecture to be successfully employed are: 1) A pico-pulsed, space qualified laser and 2) The ability to detect and track a small LEO small debris object from a space based platform. Therefore, a conceptual design for a demonstration satellite to showcase the ability to detect and track small orbital debris was completed

Wiegmann, Bruce M.↗
NASA NTRS2018

The Zwicky Transient Facility: Data Processing, Products, and Archive

The Zwicky Transient Facility (ZTF) is a new robotic time-domain survey currently in progress using the Palomar 48-inch Schmidt Telescope. ZTF uses a 47 square degree field with a 600 megapixel camera to scan the entire northern visible sky at rates of ∼3760 square degrees/hour to median depths of g ~ 20.8 and r ~ 20.6 mag (AB, 5σ in 30 sec). We describe the Science Data System that is housed at IPAC, Caltech. This comprises the data-processing pipelines, alert production system, data archive, and user interfaces for accessing and analyzing the products. The real-time pipeline employs a novel image-differencing algorithm, optimized for the detection of point-source transient events. These events are vetted for reliability using a machine-learned classifier and combined with contextual information to generate data-rich alert packets. The packets become available for distribution typically within 13 minutes (95th percentile) of observation. Detected events are also linked to generate candidate moving-object tracks using a novel algorithm. Objects that move fast enough to streak in the individual exposures are also extracted and vetted. We present some preliminary results of the calibration performance delivered by the real-time pipeline. The reconstructed astrometric accuracy per science image with respect to Gaia DR1 is typically 45 to 85 milliarcsec. This is the RMS per-axis on the sky for sources extracted with photometric S/N ≥10 and hence corresponds to the typical astrometric uncertainty down to this limit. The derived photometric precision (repeatability) at bright unsaturated fluxes varies between 8 and 25 millimag. The high end of these ranges corresponds to an airmass approaching ∼2—the limit of the public survey. Photometric calibration accuracy with respect to Pan-STARRS1 is generally better than 2%. The products support a broad range of scientific applications: fast and young supernovae; rare flux transients; variable stars; eclipsing binaries; variability from active galactic nuclei; counterparts to gravitational wave sources; a more complete census of Type Ia supernovae; and solar-system objects.

Frank J. Masci↗
NASA NTRS1981

Visual tracking in stereo

A method is described for visual object tracking by a computer vision system using TV cameras and special low-level image processing hardware. The tracker maintains an internal model of the location, orientation, and velocity of the object in three-dimensional space. This model is used to predict where features of the object will lie on the two-dimensional images produced by stereo TV cameras. The differences in the locations of features in the two-dimensional images as predicted by the internal model and as actually seen create an error signal in the two-dimensional representation. This is multiplied by a generalized inverse Jacobian matrix to deduce the error in the internal model. The procedure repeats to update the internal model of the object's location, orientation and velocity continuously.

Saund, E.↗
NASA NTRS1987

Real-time optical multiple object recognition and tracking system and method

The invention relates to an apparatus and associated methods for the optical recognition and tracking of multiple objects in real time. Multiple point spatial filters are employed that pre-define the objects to be recognized at run-time. The system takes the basic technology of a Vander Lugt filter and adds a hololens. The technique replaces time, space and cost-intensive digital techniques. In place of multiple objects, the system can also recognize multiple orientations of a single object. This later capability has potential for space applications where space and weight are at a premium.

Chao, Tien-Hsin↗
NASA NTRS2004

Real-time detection of moving objects from moving vehicles using dense stereo and optical flow

Dynamic scene perception is very important for autonomous vehicles operating around other moving vehicles and humans. Most work on real-time object tracking from moving platforms has used sparse features or assumed flat scene structures. We have recently extended a real-time, dense stereo system to include real-time, dense optical flow, enabling more comprehensive dynamic scene analysis. We describe algorithms to robustly estimate 6-DOF robot egomotion in the presence of moving objects using dense flow and dense stereo. We then use dense stereo and egomotion estimates to identity other moving objects while the robot itself is moving. We present results showing accurate egomotion estimation and detection of moving people and vehicles under general 6-DOF motion of the robot and independently moving objects. The system runs at 18.3 Hz on a 1.4 GHz Pentium M laptop, computing 160x120 disparity maps and optical flow fields, egomotion, and moving object segmentation. We believe this is a significant step toward general unconstrained dynamic scene analysis for mobile robots, as well as for improved position estimation where GPS is unavailable.

egomotion↗
NASA NTRS2015

Summary of Aqua, Aura, and Terra High Interest Events

Single-obs tracking Sparsely tracked objects are an unfortunate reality of CARA operations Terra vs. 32081: new track with bad data was included in OD solution for secondary object and risk became high CARA and JSpOC discussed tracking and OSAs threw out the bad data. Event no longer presented high risk based on new OD Improvement: CARA now sends JSpOC a flag indicating when a single obs is included, so OSAs can evaluate if manual update to OD is required. Missing ASW OCMsAura vs. 87178, TCA: 317 at 08:04 UTC. Post-maneuver risk (conjunction was identified in OO results)CARA confirmed with JSpOC that ASW OCMs should have been received in addition to OO OCMsJSpOC corrected the manual error in their script that prevented the data from being delivered to CARAJSpOC QAd their other scripts to ensure this error did not exist in other places.

Conjunction↗
NASA NTRS2018

Radar Measurements of the LEO Orbital Debris Environment

Access to space and the preservation of the near-Earth space environment is of critical significance. Increased interest in issues surrounding space traffic management and the continued assessment and discussion of orbital debris at the United Nations Committee on the Peaceful Uses of Outer Space (COPUOS) illustrates the significance of the topic of orbital debris. There are currently over 20,000 tracked objects in the publicly available satellite catalog on Space-Track.org. The catalog is maintained by the US Air Force Space Command using a network of optical and radar ground-based sensors and is believed to be complete for a characteristic size of 10 cm or larger in low Earth orbit (LEO). Based on the work of the NASA Orbital Debris Program Office (ODPO) over approximately the past 40 years it is understood that the small debris population (< 10 cm) increases by orders of magnitude as characteristic size decreases. With population estimates ranging from 500,000 to 1,000,000 small debris objects (> 5 mm) in orbit, it is currently not practical to track and maintain precision orbits on every object. Instead the NASA ODPO uses powerful ground-based radars to sample the low Earth Orbit (LEO) environment and assign approximate orbits to each detection. This poses an interesting signal processing challenge as we are trying to detect the smallest objects possible on the edge of the radar's sensitivity. For approximately the last 30 years, NASA ODPO has partnered with the Massachusetts Institute of Technology Lincoln Laboratory (MIT/LL) to utilize the Haystack Ultra-wideband Satellite Imaging Radar (HUSIR - formerly the Long-Range Imaging Radar or simply Haystack) and the Haystack Auxiliary (HAX) radar to collect orbital debris radar data. Additionally, the ODPO collaborates with the NASA Jet Propulsion Laboratory (JPL) to use the Goldstone Solar System Radar. The orbital debris detections from these radars serve as inputs for statistical risk models used by the human spaceflight and satellite communities to assess risk to spacecraft posed by orbital debris. In this paper, we will describe the history of orbital debris radar measurements conducted by NASA, provide an overview of current radar measurements techniques and facilities, discuss the signal processing software used for orbital debris measurements and the inference of debris size and orbital parameters from these measurements, and discuss how orbital debris radar measurements are validated for use in models that are used throughout the aerospace industry.

Blackwell, Chris↗
NASA NTRS1990

Real-time optical multiple object recognition and tracking system and method

System for optically recognizing and tracking a plurality of objects within a field of vision. Laser (46) produces a coherent beam (48). Beam splitter (24) splits the beam into object (26) and reference (28) beams. Beam expanders (50) and collimators (52) transform the beams (26, 28) into coherent collimated light beams (26', 28'). A two-dimensional SLM (54), disposed in the object beam (26'), modulates the object beam with optical information as a function of signals from a first camera (16) which develops X and Y signals reflecting the contents of its field of vision. A hololens (38), positioned in the object beam (26') subsequent to the modulator (54), focuses the object beam at a plurality of focal points (42). A planar transparency-forming film (32), disposed with the focal points on an exposable surface, forms a multiple position interference filter (62) upon exposure of the surface and development processing of the film (32). A reflector (53) directing the reference beam (28') onto the film (32), exposes the surface, with images focused by the hololens (38), to form interference patterns on the surface. There is apparatus (16', 64) for sensing and indicating light passage through respective ones of the positions of the filter (62), whereby recognition of objects corresponding to respective ones of the positions of the filter (62) is affected. For tracking, apparatus (64) focuses light passing through the filter (62) onto a matrix of CCD's in a second camera (16') to form a two-dimensional display of the recognized objects.

Chao, Tien-Hsin↗
NASA NTRS2005

Identifying Objects via Encased X-Ray-Fluorescent Materials - the Bar Code Inside

Systems for identifying objects by means of x-ray fluorescence (XRF) of encased labeling elements have been developed. The XRF spectra of objects so labeled would be analogous to the external bar code labels now used to track objects in everyday commerce. In conjunction with computer-based tracking systems, databases, and labeling conventions, the XRF labels could be used in essentially the same manner as that of bar codes to track inventories and to record and process commercial transactions. In addition, as summarized briefly below, embedded XRF labels could be used to verify the authenticity of products, thereby helping to deter counterfeiting and fraud. A system, as described above, is called an encased core product identification and authentication system (ECPIAS). The ECPIAS concept is a modified version of that of a related recently initiated commercial development of handheld XRF spectral scanners that would identify alloys or detect labeling elements deposited on the surfaces of objects. In contrast, an ECPIAS would utilize labeling elements encased within the objects of interest. The basic ECPIAS concept is best illustrated by means of an example of one of several potential applications: labeling of cultured pearls by labeling the seed particles implanted in oysters to grow the pearls. Each pearl farmer would be assigned a unique mixture of labeling elements that could be distinguished from the corresponding mixtures of other farmers. The mixture would be either incorporated into or applied to the surfaces of the seed prior to implantation in the oyster. If necessary, the labeled seed would be further coated to make it nontoxic to the oyster. After implantation, the growth of layers of mother of pearl on the seed would encase the XRF labels, making these labels integral, permanent parts of the pearls that could not be removed without destroying the pearls themselves. The XRF labels would be read by use of XRF scanners, the spectral data outputs of which would be converted to alphanumeric data in a digital equivalent data system (DEDS), which is the subject of the previous article. These alphanumeric data would be used to track the pearls through all stages of commerce, from the farmer to the retail customer.

Schramm, Harry F.↗
NASA NTRS2004

Real-time detection of moving objects from moving vehicles using dense stereo and optical flow

Dynamic scene perception is very important for autonomous vehicles operating around other moving vehicles and humans. Most work on real-time object tracking from moving platforms has used sparse features or assumed flat scene structures. We have recently extended a real-time, dense stereo system to include realtime, dense optical flow, enabling more comprehensive dynamic scene analysis. We describe algorithms to robustly estimate 6-DOF robot egomotion in the presence of moving objects using dense flow and dense stereo. We then use dense stereo and egomotion estimates to identify & other moving objects while the robot itself is moving. We present results showing accurate egomotion estimation and detection of moving people and vehicles under general 6-DOF motion of the robot and independently moving objects. The system runs at 18.3 Hz on a 1.4 GHz Pentium M laptop, computing 160x120 disparity maps and optical flow fields, egomotion, and moving object segmentation. We believe this is a significant step toward general unconstrained dynamic scene analysis for mobile robots, as well as for improved position estimation where GPS is unavailable.

egomotion↗
NASA NTRS1994

Doppler radar detection of vortex hazard indicators

Wake vortex experiments were conducted at White Sands Missile Range, NM using the AN/MPS-39 Multiple Object Tracking Radar (MOTR). The purpose of these experiments was twofold. The first objective was to verify that radar returns from wake vortex are observed for some time after the passage of an aircraft. The second objective was to verify that other vortex hazard indicators such as ambient wind speed and direction could also be detected. The present study addresses the Doppler characteristics of wake vortex and clear air returns based upon measurements employing MOTR, a very sensitive C-Band phased array radar. In this regard, the experiment was conducted so that the spectral characteristics could be determined on a dwell to-dwell basis. Results are presented from measurements of the backscattered power (equivalent structure constant), radial velocity and spectral width when the aircraft flies transverse and axial to the radar beam. The statistics of the backscattered power and spectral width for each case are given. In addition, the scan strategy, experimental test procedure and radar parameters are presented.

Nespor, Jerald D.↗
NASA NTRS2017

Observations of Interplanetary Dust by the Juno Magnetometer Investigation

One of the Juno magnetometer investigation's star cameras was configured to search for unidentified objects during Juno's transit en route to Jupiter. This camera detects and registers luminous objects to magnitude 8. Objects persisting in more than five consecutive images and moving with an apparent angular rate of between 2 and 18,000 arcsec/s were recorded. Among the objects detected were a small group of objects tracked briefly in close proximity to the spacecraft. The trajectory of these objects demonstrates that they originated on the Juno spacecraft, evidently excavated by micrometeoroid impacts on the solar arrays. The majority of detections occurred just prior to and shortly after Juno's transit of the asteroid belt. This rather novel detection technique utilizes the Juno spacecraft's prodigious 60 sq. m of solar array as a dust detector and provides valuable information on the distribution and motion of interplanetary (greater than a micron) dust. Plain Language Summary: The Juno magnetometer investigation uses star cameras co-located with the magnetic sensors at the outer end of one of Juno's solar arrays. These cameras compare images with an onboard star catalog to determine the orientation of the sensors in inertial space. They also serendipitously recorded multiple images of small particles excavated from the spacecraft by high-velocity dust impacts. We trace their trajectories back in time to demonstrate that they evolved from the spacecraft. This allows us to use the vast collecting area of Juno's solar arrays (60 sq. m)as a novel dust detector, sensitive to particles with a mass range never before measured in situ.

Jupiter↗
NASA NTRS1984

Imaging Bubble Formation In a Drop Tube

Entire process under control of computer. Computer-controlled image-acquisition system tracks object, such as water bubble, as it moves in drop tube. Ultimately, such tracking system used to observe fusion-pellet formation in drop furnace.

Helizon, R.↗
NASA NTRSDate not supplied

Using Open Standards and NASA Open Source Simulation Tools to Model Artemis Base Camp Mission Timelines

The United States’ National Aeronautics and Space Administration (NASA) has announced that the Artemis Program will return humans to the Moon, establishing a persistent presence with the Artemis Base Camp (ABC), and extend human exploration to Mars. The NASA Exploration Systems Simulations (NExSyS) team at NASA’s Johnson Space Center is using internationally developed simulation interoperability standards and NASA open source simulation tools to support Artemis concept, analysis, designs, development, training, and ultimately operations. The NExSyS team has been tasked to support early ABC architecture and mission analysis using mission time lines developed by the crew operations mission planning team. The NExSyS team is developing a distributed simulation framework with initial Artemis element implementations to model the ABC mission timelines using the international simulation interoperability standard High Level Architecture (HLA), the Simulation Interoperability Standards Organization’s Space Reference Federation Object Model (SpaceFOM), the NASA open source Trick Simulation Environment, and another NASA open source interface package called TrickHLA. The ABC architecture is composed of a number of key surface elements and resources. Some examples of modeled elements (also known as entities) are landers, habitats, rovers, logistics carriers, and astronauts. Some examples of modeled transferable and consumable resources are power, water, oxygen, nitrogen, scientific samples, and food. These entities and resources are modeled in a collection of individual simulations called Federates. A coordinated collection of interoperable federates is called a Federation and when these federates are tied together in a coordinated simulation run, it is referred to as a Federation Execution. The federates communicate through HLA using data exchange formats defined by a collection of machine readable files called Federation Object Models (FOMs). These FOM files are based on extensions to the SpaceFOM. This enables the instantiation and sharing of objects and interactions between federates in the federation. These provide for entity and resource tracking, object transfer, and data collection. Federate interactions are used to trigger events and notify federates of entity or resource transfers. For the initial implementation, the constituent federates are Trick-based simulations that use TrickHLA to provide the required HLA-base interoperability. These Trick-based simulations provide the required modeling for the individual Artemis elements along with the associated element resources. These federates provide a means to explore traverses between surface elements and exploration sites as scheduled in a mission timeline and explore the affects traverse times have on the overall mission timeline. The mission time lines are modeled using a Trick input file event handling capabilities. Each timeline operation is handled as individual simulation events, and triggered based on previous event status, time of operation, and simulated task completions. In addition, the ABC Federation can be used to perform Monte Carlo analysis. The Monte Carlo tool can vary the inputs, timings, and malfunctions to show how various contingencies in the mission can affect the mission timeline.

Keaton Craig Dodd↗
NASA NTRS2019

An Improved Far-Field Small Unmanned Aerial System Optical Detection Algorithm

Onboard far-field aircraft detection is needed for safe non-cooperative traffic mitigation for autonomous small Unmanned Aerial System (sUAS) operations. This work presents an aircraft detect and track pipeline that fuses image differencing and morphological filtering detections for inputs to a Kalman-based object tracking pipeline. The pipeline is evaluated using two types of flight encounters: 1) motorcopter sUAS vs. fixed-wing sUAS 2) motorcopter sUAS vs general aviation plane.

Chester Dolph↗
NASA NTRS1996

Smooth Pursuit of a Partially Occluded Object

There has long been qualitative evidence that humans can pursue an object defined only by the motion of its parts. We explored this quantitatively using an occluded diamond stimulus. Four subjects (one naive) tracked a line-figure diamond moving along an elliptical path (0.9 Hz) either clockwise (CW) or counterclockwise (CCW) behind either an X-shaped aperture (CROSS) or two vertical rectangular apertures (BARS), which obscured the corners. Although the stimulus consisted of only four line segments (108 cd/square m) moving within a visible aperture (0.2 cd/square m) behind a foreground (38 cd/square m), it is largely perceived as a coherently moving diamond. The inter-saccadic portions of eye-position traces were fit with sinusoids. All subjects tracked object motion with considerable temporal accuracy. The mean phase lag was 5 deg/6 deg (CROSS/BARS) and the mean relative phase between the horizontal and vertical components was +95 deg/+92 deg (CW) and -85 deg/-75 deg (CCW), which is close to perfect. Furthermore, a chi-square analysis showed that 56% of BARS trials were consistent with tracking the correct elliptical shape (p is less than 0.05), although segment motion was purely vertical. These data disprove the main tenet of most models of pursuit: that it is a system that seeks to minimize retinal image motion through negative feedback. Rather, the main drive must be a visual signal which has already integrated spatiotemporal retinal information into an object-motion signal.

Stone, L. S.↗