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All sourcesNASA NTRSDOE OSTI
NASA NTRS2009

GPS/MEMS IMU/Microprocessor Board for Navigation

A miniaturized instrumentation package comprising a (1) Global Positioning System (GPS) receiver, (2) an inertial measurement unit (IMU) consisting largely of surface-micromachined sensors of the microelectromechanical systems (MEMS) type, and (3) a microprocessor, all residing on a single circuit board, is part of the navigation system of a compact robotic spacecraft intended to be released from a larger spacecraft [e.g., the International Space Station (ISS)] for exterior visual inspection of the larger spacecraft. Variants of the package may also be useful in terrestrial collision-detection and -avoidance applications. The navigation solution obtained by integrating the IMU outputs is fed back to a correlator in the GPS receiver to aid in tracking GPS signals. The raw GPS and IMU data are blended in a Kalman filter to obtain an optimal navigation solution, which can be supplemented by range and velocity data obtained by use of (l) a stereoscopic pair of electronic cameras aboard the robotic spacecraft and/or (2) a laser dynamic range imager aboard the ISS. The novelty of the package lies mostly in those aspects of the design of the MEMS IMU that pertain to controlling mechanical resonances and stabilizing scale factors and biases.

Gender, Thomas K.↗
NASA NTRS2009

A Kalman Approach to Lunar Surface Navigation using Radiometric and Inertial Measurements

Future lunar missions supporting the NASA Vision for Space Exploration will rely on a surface navigation system to determine astronaut position, guide exploration, and return safely to the lunar habitat. In this report, we investigate one potential architecture for surface navigation, using an extended Kalman filter to integrate radiometric and inertial measurements. We present a possible infrastructure to support this technique, and we examine an approach to simulating navigational accuracy based on several different system configurations. The results show that position error can be reduced to 1 m after 5 min of processing, given two satellites, one surface communication terminal, and knowledge of the starting position to within 100 m.

Chelmins, David T.↗
NASA NTRS2007

Mars-Approach Navigation Using In Situ Orbiters

A document discusses the continuing development of a navigation system that would enable a spacecraft to approach Mars on a trajectory precise enough to enable the spacecraft to land within 1 km of a specified location on the Martian surface. This degree of accuracy would represent an order-of-magnitude improvement over that now obtained in radiometric tracking by use of the Deep Space Network. The navigation system would be implemented largely in software running in digital processors in the Electra transceiver, the Mars Network s standard radio transceiver, that would be in both the approaching spacecraft and Mars Network orbiter. The Mars Network is an ad hoc constellation of existing and future Mars science orbiters and dedicated telecommunication orbiters that has been established as a communication and navigation infrastructure to support the exploration of Mars. The software would exploit the sensory and data-processing capabilities of the Electra transceivers to gather Doppler-shift and other radiometric tracking data and process those data into trajectories data that would be accurate to within 0.3 km at the point of entry into the Martian atmosphere (as needed to land within 1 km of a target surface location).

Duncan, Courtney↗
NASA NTRS2010

Performance Analysis of Apollo Navigational Starter Routine

The focus of this project is to recreate and analyze the effectiveness of the original Apollo Starter Routine (ASR) which was used to generate the state vector of the Apollo spacecraft based on a series of radiometric observations. The original Apollo navigation software is unavailable in a modern programming language and the original coding has not been preserved. This necessitates its recreation using the original software documentation. Space Shuttle navigation software does not typically use the ASR or an algorithm like it since the Shuttle s state vector is easily deduced from GPS information or other sources. However, this tactic will be ineffective when trying to determine the state vector of a craft approaching, departing or in orbit around the Moon since the GPS network faces the surface of the Earth, not outer space. The recreation of the ASR from the original documentation is therefore vital as a simulation baseline for the navigation software under development for the Constellation program. The algorithms that make up the ASR will be extracted from the original documentation and adapted for and then implemented in a modern programming language; the majority of it will be coded in Matlab. The ASR s effectiveness will then be tested using simulated tracking data. The ability of the ASR to handle realistically noisy data and the accuracy with which it generates state vectors were analyzed. The ASR proved to be robust enough to process data with range and angle noise as large as 10,000 meters and 10(exp -6) radians together and 300,000 meters and 5x10(exp -4) radians separately at Lunar distances. The ASR was able to handle marginally more noise at distances closer to the Earth where the angle noise was less significant. The ASR is capable of effectively processing 40-80 data points gathered at a rate of one per 20 seconds at close Earth orbit and up to 28-40 data points gathered at a rate of one per minute at distant Earth orbit and Lunar orbit.

Ivanov, Stoyan I.↗
NASA NTRS2011

Ultra-Wideband Tracking System Design for Relative Navigation

This presentation briefly discusses a design effort for a prototype ultra-wideband (UWB) time-difference-of-arrival (TDOA) tracking system that is currently under development at NASA Johnson Space Center (JSC). The system is being designed for use in localization and navigation of a rover in a GPS deprived environment for surface missions. In one application enabled by the UWB tracking, a robotic vehicle carrying equipments can autonomously follow a crewed rover from work site to work site such that resources can be carried from one landing mission to the next thereby saving up-mass. The UWB Systems Group at JSC has developed a UWB TDOA High Resolution Proximity Tracking System which can achieve sub-inch tracking accuracy of a target within the radius of the tracking baseline [1]. By extending the tracking capability beyond the radius of the tracking baseline, a tracking system is being designed to enable relative navigation between two vehicles for surface missions. A prototype UWB TDOA tracking system has been designed, implemented, tested, and proven feasible for relative navigation of robotic vehicles. Future work includes testing the system with the application code to increase the tracking update rate and evaluating the linear tracking baseline to improve the flexibility of antenna mounting on the following vehicle.

Ni, Jianjun David↗
NASA NTRS2011

Lidar Systems for Precision Navigation and Safe Landing on Planetary Bodies

The ability of lidar technology to provide three-dimensional elevation maps of the terrain, high precision distance to the ground, and approach velocity can enable safe landing of robotic and manned vehicles with a high degree of precision. Currently, NASA is developing novel lidar sensors aimed at needs of future planetary landing missions. These lidar sensors are a 3-Dimensional Imaging Flash Lidar, a Doppler Lidar, and a Laser Altimeter. The Flash Lidar is capable of generating elevation maps of the terrain that indicate hazardous features such as rocks, craters, and steep slopes. The elevation maps collected during the approach phase of a landing vehicle, at about 1 km above the ground, can be used to determine the most suitable safe landing site. The Doppler Lidar provides highly accurate ground relative velocity and distance data allowing for precision navigation to the landing site. Our Doppler lidar utilizes three laser beams pointed to different directions to measure line of sight velocities and ranges to the ground from altitudes of over 2 km. Throughout the landing trajectory starting at altitudes of about 20 km, the Laser Altimeter can provide very accurate ground relative altitude measurements that are used to improve the vehicle position knowledge obtained from the vehicle navigation system. At altitudes from approximately 15 km to 10 km, either the Laser Altimeter or the Flash Lidar can be used to generate contour maps of the terrain, identifying known surface features such as craters, to perform Terrain relative Navigation thus further reducing the vehicle s relative position error. This paper describes the operational capabilities of each lidar sensor and provides a status of their development. Keywords: Laser Remote Sensing, Laser Radar, Doppler Lidar, Flash Lidar, 3-D Imaging, Laser Altimeter, Precession Landing, Hazard Detection

Amzajerdian, Farzin↗
NASA NTRS2011

Guidance, Navigation, and Control Program

The Rendezvous and Proximity Operations Program (RPOP) is real-time guidance, navigation, and control (GN&C) domain piloting-aid software that provides 3D Orbiter graphics and runs on the Space Shuttle's Criticality-3 Payload and General Support Computer (PGSC) in the crew cockpit. This software provides the crew with Situational Awareness during the rendezvous and proximity operations phases of flight. RPOP can be configured from flight to flight, accounting for mission-specific flight scenarios and target vehicles, via initialization load (I-load) data files. The software provides real-time, automated, closed-loop guidance recommendations and the capability to integrate the crew s manual backup techniques. The software can bring all relative navigation sensor data, including the Orbiter's GPC (general purpose computer) data, into one central application to provide comprehensive situational awareness of the rendezvous and proximity operations trajectory. RPOP also can separately maintain trajectory estimates (past, current, and predicted) based on certain data types and co-plot them, in order to show how the various navigation solutions compare. RPOP s best estimate of the relative trajectory is determined by a relative Kalman filter processing data provided by the sensor suite s most accurate sensor, the trajectory control sensor (TCS). Integrated with the Kalman filter is an algorithm that identifies the reflector that the TCS is tracking. Because RPOP runs on PC laptop computers, the development and certification lifecycles are more agile, flexible, and cheaper than those that govern the Orbiter FSW (flight software) that runs in the GPC. New releases of RPOP can be turned around on a 3- to 6-month template, from new Change Request (CR) to certification, depending on the complexity of the changes.

Hinkel, Heather↗
NASA NTRS2004

Stray Light Lessons Learned from the Mars Reconnaissance Orbiter's Optical Navigation Camera

The Optical Navigation Camera (ONC) is a technical demonstration slated to fly on NASA"s Mars Reconnaissance Orbiter in 2005. Conventional navigation methods have reduced accuracy in the days immediately preceding Mars orbit insertion. The resulting uncertainty in spacecraft location limits rover landing sites to relatively safe areas, away from interesting features that may harbor clues to past life on the planet. The ONC will provide accurate navigation on approach for future missions by measuring the locations of the satellites of Mars relative to background stars. Because Mars will be a bright extended object just outside the camera"s field of view, stray light control at small angles is essential. The ONC optomechanical design was analyzed by stray light experts and appropriate baffles were implemented. However, stray light testing revealed significantly higher levels of light than expected at the most critical angles. The primary error source proved to be the interface between ground glass surfaces (and the paint that had been applied to them) and the polished surfaces of the lenses. This paper will describe troubleshooting and correction of the problem, as well as other lessons learned that affected stray light performance.

stray lights↗
NASA NTRS2011

Orion Absolute Navigation System Progress and Challenges

The Orion spacecraft is being designed as NASA's next-generation exploration vehicle for crewed missions beyond Low-Earth Orbit. The navigation system for the Orion spacecraft is being designed in a Multi-Organizational Design Environment (MODE) team including contractor and NASA personnel. The system uses an Extended Kalman Filter to process measurements and determine the state. The design of the navigation system has undergone several iterations and modifications since its inception, and continues as a work-in-progress. This paper seeks to benchmark the current state of the design and some of the rationale and analysis behind it. There are specific challenges to address when preparing a timely and effective design for the Exploration Flight Test (EFT-1), while still looking ahead and providing software extensibility for future exploration missions. The primary measurements in a Near-Earth or Mid-Earth environment consist of GPS pseudorange and deltarange, but for future explorations missions the use of star-tracker and optical navigation sources need to be considered. Discussions are presented for state size and composition, processing techniques, and consider states. A presentation is given for the processing technique using the computationally stable and robust UDU formulation with an Agee-Turner Rank-One update. This allows for computational savings when dealing with many parameters which are modeled as slowly varying Gauss-Markov processes. Preliminary analysis shows up to a 50% reduction in computation versus a more traditional formulation. Several state elements are discussed and evaluated, including position, velocity, attitude, clock bias/drift, and GPS measurement biases in addition to bias, scale factor, misalignment, and non-orthogonalities of the accelerometers and gyroscopes. Another consideration is the initialization of the EKF in various scenarios. Scenarios such as single-event upset, ground command, pad alignment, cold start are discussed as are strategies for whole and partial state updates as well as covariance considerations. Strategies are given for dealing with latent measurements and high-rate propagation using multi-rate architecture. The details of the rate groups and the data ow between the elements is discussed and evaluated.

Holt, Greg N.↗
NASA NTRS2003

Software Searches for Better Spacecraft-Navigation Models

ADAPT is a computer program that searches for better mathematical models for spacecraft navigation. The task of tuning trajectory-determination models for interplanetary navigation is complex, requiring an intensive search of multiple dynamical and nondynamical models that yield trajectory solutions with minimal errors. By automating the search, ADAPT eases the task of human analysts and enables them to consider wider ranges of potential solutions. ADAPT uses genetic algorithms to search a range of relevant parameters in a user-selected design space to arrive at values for those parameters that best fit the measured spacecraft-tracking data. The user s guide for ADAPT reviews the theoretical basis of the program and presents two example applications. One example is that of selecting a solar-radiation model for the Mars Pathfinder (MPF) mission using MPF tracking data and an extended Kalman filter from prior spacecraft-navigation software. The second example is of the use of tracking data from the Stardust spacecraft mission combined with a pseudo-epoch-state batch filter and an empirical small-forces model to find improved impulse models for use during Stardust attitude adjustments.

Ely, Todd↗
NASA NTRS2011

Lidar-Based Navigation Algorithm for Safe Lunar Landing

The purpose of Hazard Relative Navigation (HRN) is to provide measurements to the Navigation Filter so that it can limit errors on the position estimate after hazards have been detected. The hazards are detected by processing a hazard digital elevation map (HDEM). The HRN process takes lidar images as the spacecraft descends to the surface and matches these to the HDEM to compute relative position measurements. Since the HDEM has the hazards embedded in it, the position measurements are relative to the hazards, hence the name Hazard Relative Navigation.

Myers, David M.↗
NASA NTRS2012

Lunar Navigation Determination System - LaNDS

A portable comprehensive navigational system has been developed that both robotic and human explorers can use to determine their location, attitude, and heading anywhere on the lunar surface independent of external infrastructure (needs no Lunar satellite network, line of sight to the Sun or Earth, etc.). The system combines robust processing power with an extensive topographical database to create a real-time atlas (GIS Geospatial Information System) that is able to autonomously control and monitor both single unmanned rovers and fleets of rovers, as well as science payload stations. The system includes provisions for teleoperation and tele-presence. The system accepts (but does not require) inputs from a wide range of sensors. A means was needed to establish a location when the search is taken deep in a crater (looking for water ice) and out of view of Earth or any other references. A star camera can be employed to determine the user's attitude in menial space and stellar map in body space. A local nadir reference (e.g., an accelerometer that orients the nadir vector in body space) can be used in conjunction with a digital ephemeris and gravity model of the Moon to isolate the latitude, longitude, and azimuth of the user on the surface. That information can be used in conjunction with a Lunar GIS and advanced navigation planning algorithms to aid astronauts (or other assets) to navigate on the Lunar surface.

Quinn, David↗
NASA NTRS2012

Behavioral Mapless Navigation Using Rings

This paper presents work on the development and implementation of a novel approach to robotic navigation. In this system, map-building and localization for obstacle avoidance are discarded in favor of moment-by-moment behavioral processing of the sonar sensor data. To accomplish this, we developed a network of behaviors that communicate through the passing of rings, data structures that are similar in form to the sonar data itself and express the decisions of each behavior. Through the use of these rings, behaviors can moderate each other, conflicting impulses can be mediated, and designers can easily connect modules to create complex emergent navigational techniques. We discuss the development of a number of these modules and their successful use as a navigation system in the Trinity omnidirectional robot.

Monroe, Randall P.↗
NASA NTRS2012

Comparison of Orion Vision Navigation Sensor Performance from STS-134 and the Space Operations Simulation Center

The Orion Multi-Purpose Crew Vehicle is a new spacecraft being designed by NASA and Lockheed Martin for future crewed exploration missions. The Vision Navigation Sensor is a Flash LIDAR that will be the primary relative navigation sensor for this vehicle. To obtain a better understanding of this sensor's performance, the Orion relative navigation team has performed both flight tests and ground tests. This paper summarizes and compares the performance results from the STS-134 flight test, called the Sensor Test for Orion RelNav Risk Mitigation (STORRM) Development Test Objective, and the ground tests at the Space Operations Simulation Center.

Christian, John A.↗
NASA NTRS2012

Specificity and Transfer in Learning How to Follow Navigation Instructions

We report a series of experiments that use a navigation task in which instructions for navigating in a space displayed as grids on a computer screen are given to subjects who then attempt to follow them by mouse clicking on the grids. The navigation task was broken down into component dimensions (e.g., presentation mode of the instructions, length of the instructions, characteristics of the display, size of the grids, response type). For each task dimension, one condition was used at training and the same or another condition was used at test. Each task dimension was examined in terms of two measures. One measure provided an index of transfer (i.e., better performance at test than at training when test and training involved different conditions), and the other provided an index of specificity (i.e., better performance at test when training and test conditions were the same than when training and test conditions were different). By and large, these two indices were complementary, so there was evidence of either transfer or specificity but not both. For one dimension transfer but no specificity was evident, and for another dimension specificity but no transfer was evident. For the remaining dimensions, however, there was asymmetrical transfer, with transfer evident for some conditions and specificity evident for others. The findings are interpreted within the procedural reinstatement framework. They have practical implications concerning how to optimize training and how much fidelity to the testing situation is necessary when training.

Healy, Alice F.↗
NASA NTRS2012

Mars Reconnaissance Orbiter Navigation Strategy for Mars Science Laboratory Entry, Descent and Landing Telecommunication Relay Support

The Mars Reconnaissance Orbiter (MRO) is an orbiting asset that performs remote sensing observations in order to characterize the surface, subsurface and atmosphere of Mars. To support upcoming NASA Mars Exploration Program Office objectives, MRO will be used as a relay communication link for the Mars Science Laboratory (MSL) mission during the MSL Entry, Descent and Landing sequence. To do so, MRO Navigation must synchronize the MRO Primary Science Orbit (PSO) with a set of target conditions requested by the MSL Navigation Team; this may be accomplished via propulsive maneuvers. This paper describes the MRO Navigation strategy for and operational performance of MSL EDL relay telecommunication support.

Mars Reconnaissance Orbiter (MRO)↗
NASA NTRS2013

Tuning and Robustness Analysis for the Orion Absolute Navigation System

The Orion Multi-Purpose Crew Vehicle (MPCV) is currently under development as NASA's next-generation spacecraft for exploration missions beyond Low Earth Orbit. The MPCV is set to perform an orbital test flight, termed Exploration Flight Test 1 (EFT-1), some time in late 2014. The navigation system for the Orion spacecraft is being designed in a Multi-Organizational Design Environment (MODE) team including contractor and NASA personnel. The system uses an Extended Kalman Filter to process measurements and determine the state. The design of the navigation system has undergone several iterations and modifications since its inception, and continues as a work-in-progress. This paper seeks to show the efforts made to-date in tuning the filter for the EFT-1 mission and instilling appropriate robustness into the system to meet the requirements of manned space ight. Filter performance is affected by many factors: data rates, sensor measurement errors, tuning, and others. This paper focuses mainly on the error characterization and tuning portion. Traditional efforts at tuning a navigation filter have centered around the observation/measurement noise and Gaussian process noise of the Extended Kalman Filter. While the Orion MODE team must certainly address those factors, the team is also looking at residual edit thresholds and measurement underweighting as tuning tools. Tuning analysis is presented with open loop Monte-Carlo simulation results showing statistical errors bounded by the 3-sigma filter uncertainty covariance. The Orion filter design uses 24 Exponentially Correlated Random Variable (ECRV) parameters to estimate the accel/gyro misalignment and nonorthogonality. By design, the time constant and noise terms of these ECRV parameters were set to manufacturer specifications and not used as tuning parameters. They are included in the filter as a more analytically correct method of modeling uncertainties than ad-hoc tuning of the process noise. Tuning is explored for the powered-flight ascent phase, where measurements are scarce and unmodelled vehicle accelerations dominate. On orbit, there are important trade-off cases between process and measurement noise. On entry, there are considerations about trading performance accuracy for robustness. Process Noise is divided into powered flight and coasting ight and can be adjusted for each phase and mode of the Orion EFT-1 mission. Measurement noise is used for the integrated velocity measurements during pad alignment. It is also used for Global Positioning System (GPS) pseudorange and delta- range measurements during the rest of the flight. The robustness effort has been focused on maintaining filter convergence and performance in the presence of unmodeled error sources. These include unmodeled forces on the vehicle and uncorrected errors on the sensor measurements. Orion uses a single-frequency, non-keyed GPS receiver, so the effects due to signal distortion in Earth's ionosphere and troposphere are present in the raw measurements. Results are presented showing the efforts to compensate for these errors as well as characterize the residual effect for measurement noise tuning. Another robustness tool in use is tuning the residual edit thresholds. The trade-off between noise tuning and edit thresholds is explored in the context of robustness to errors in dynamics models and sensor measurements. Measurement underweighting is also presented as a method of additional robustness when processing highly accurate measurements in the presence of large filter uncertainties.

Holt, Greg N.↗
NASA NTRS2007

Navigating the Obstacles in Science Education for School Outreach

This paper gives an overview of the education outreach initiatives that the authors have personally been involved with, their successes and shortcomings are discussed with ways to overcome the difficulties encountered. Recommendations are given on how to navigate the obstacles. Industry professionals, college professors and even church groups participate in education outreach initiatives. For a successful experience, one has to navigate through various phases of the process. The strategy is to convince stakeholders that there is value in doing the outreach activity, form a partnership with the school, circumnavigate the security and administrative procedures, and finally deliver the material to the students. Successful education outreach programs have well-defined objectives, roles and expectations. Success depends on the level of commitment of all parties involved. Taking a look at individual programs, focusing on their shortcomings and best practices, this paper serves as a compilation of useful ideas for effective science and math education outreach. Navigation techniques mentioned in this paper systematically address each obstacle encountered, making solid recommendations for the future. One of the biggest challenges is showing the direct benefits of the outreach activity to stakeholders, so they can see how they profit from sacrificing their workers as outreach mentors.

Rincon, Diana↗