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All sourcesNASA NTRSDOE OSTI
NASA NTRSDate not supplied

Autonomous Navigation, Guidance, and Control Software in a Low SWaP Box

Onboard autonomy is a necessity for responsive space operations. Autonomous navigation, guidance, and control (NGC) enables space missions to reduce their dependence on high demand ground assets and costly ground personnel. It also allows for in-situ decision making and higher return on mission data. A flight software and hardware system providing this capability, called “autoNGC,” is currently being developed at NASA Goddard Space Flight Center for infusion into multiple future missions. The autoNGC flight software is built on the plug-and-play architecture of the core Flight System (cFS) consisting of the standard cFS apps and newly developed autoNGC interface apps and libraries. The various apps cooperate through communication over the message-based software bus. With the plug-and-play architecture of autoNGC, cFS apps can easily be added and replaced to meet the needs of different missions, even after launch. The first flight software release of autoNGC is targeted for Summer 2024 to provide autonomous navigation at the Moon and beyond. It can perform sensor fusion of multiple measurement types including pseudo-range from a Global Navigation Satellite System (GNSS) receiver (including weak signal), 1-way and 2-way range and Doppler from ground stations (i.e., direct to Earth (DTE)), bearing and range from optical camera images, and accelerometer data. Accurate onboard navigation and timing is obtained through the Goddard Enhanced Onboard Navigation System (GEONS) software library which fuses different measurement types through an extended Kalman filter (EKF) framework. Optical measurements that are ingested in GEONS are first extracted from optical images by the cFS Goddard Image Analysis and Navigation Tool (cGIANT) app. If the imaged body is far enough away that it appears as a pixel or cluster of pixels, then bearing angles to the body centroid can be provided. If the body is close enough and the shape is known coarsely, then bearing angles and range to the body centroid can be derived from the limb. Bearing angles to individual surface features can also be extracted (i.e., terrain relative navigation (TRN)). Onboard guidance and control capabilities are being developed for a future release to perform autonomous station-keeping and trajectory correction maneuvers in multiple orbital regimes. Capabilities to enable distributed systems missions and constellations, such as crosslink measurements, and onboard time management are being developed as well. The first hardware implementation of autoNGC is a minimal size, weight, and power (SWaP) design allowing for inclusion into CubeSats and SmallSat-size buses. Advancements in miniaturized space processors, such as the SpaceCube 3.0 Mini and the SpaceCube Mini-Z are utilized for low SWaP while maintaining a high level of performance. The current enclosure design is 12 cm x 17 cm x 13.5 cm. The box mass is expected to be less than 2 kg, and the nominal power is 21 W. In order to accommodate a wide range of missions, the hardware interfaces are designed for flexibility with a variety of sensor inputs. Through comprehensive testing in the software-in-the-loop, processor-in-the-loop, and hardware-in-the-loop test beds that are concurrently being developed, autoNGC is expected to achieve TRL 6 by late 2024.

Sun Hur-Diaz↗
NASA NTRS1996

GPS Monitor Station Upgrade Program at the Naval Research Laboratory

One of the measurements made by the Global Positioning System (GPS) monitor stations is to measure the continuous pseudo-range of all the passing GPS satellites. The pseudo-range contains GPS and monitor station clock errors as well as GPS satellite navigation errors. Currently the time at the GPS monitor station is obtained from the GPS constellation and has an inherent inaccuracy as a result. Improved timing accuracy at the GPS monitoring stations will improve GPS performance. The US Naval Research Laboratory (NRL) is developing hardware and software for the GPS monitor station upgrade program to improve the monitor station clock accuracy. This upgrade will allow a method independent of the GPS satellite constellation of measuring and correcting monitor station time to US Naval Observatory (USNO) time. THe hardware consists of a high performance atomic cesium frequency standard (CFS) and a computer which is used to ensemble the CFS with the two CFS's currently located at the monitor station by use of a dual-mixer system. The dual-mixer system achieves phase measurements between the high-performance CFS and the existing monitor station CFS's to within 400 femtoseconds. Time transfer between USNO and a given monitor station is achieved via a two way satellite time transfer modem. The computer at the monitor station disciplines the CFS based on a comparison of one pulse per second sent from the master site at USNO. The monitor station computer is also used to perform housekeeping functions, as well as recording the health status of all three CFS's. This information is sent to the USNO through the time transfer modem. Laboratory time synchronization results in the sub nanosecond range have been observed and the ability to maintain the monitor station CFS frequency to within 3.0 x 10 (sup minus 14) of the master site at USNO.

Galysh, Ivan J.↗
NASA NTRS1978

Submicrosecond comparisons of time standards via the Navigation Technology Satellites (NTS)

An interim demonstration was performed of the time transfer capability of the NAVSTAR GPS system using a single NTS satellite. Measurements of time difference (pseudo-range) are made from the NTS tracking network and at the participating observatories. The NTS network measurements are used to compute the NTS orbit trajectory. The central NTS tracking station has a time link to the Naval Observatory UTC (USNO,MC1) master clock. Measurements are used with the NTS receiver at the remote observatory, the time transfer value UTC (USNO,MC1)-UTC (REMOTE, VIA NTS) is calculated. Intercomparisons were computed using predicted values of satellite clock offset and ephemeus.

Buisson, J. A.↗
NASA NTRS1978

Pseudo-continuous-wave acoustic instrument

Simple, inexpensive, and portable ultrasonic device accurately measures acoustic properties of liquids, gases, and solids, using pseudo-continuous wave responses from samples to measure change in resonant frequency or amplitude in acoustic signal.

Heyman, J. S.↗
NASA NTRS1997

Inversion Schemes to Retrieve Atmospheric and Oceanic Parameters from SeaWiFS Data

Firstly, we have analyzed atmospheric transmittance and sky radiance data connected at the Scripps Institution of Oceanography pier, La Jolla during the winters of 1993 and 1994. Aerosol optical thickness at 870 nm was generally low in La Jolla, with most values below 0.1 after correction for stratospheric aerosols. For such low optical thickness, variability in aerosol scattering properties cannot be determined, and a mean background model, specified regionally under stable stratospheric component, may be sufficient for ocean color remote sensing, from space. For optical thicknesses above 0. 1, two modes of variability characterized by Angstrom exponents of 1.2 and 0.5 and corresponding, to Tropospheric and Maritime models, respectively, were identified in the measurements. The aerosol models selected for ocean color remote sensing, allowed one to fit, within measurement inaccuracies, the derived values of Angstrom exponent and 'pseudo' phase function (the product of single scattering albedo and phase function), key atmospheric correction parameters. Importantly, the 'pseudo' phase function can be derived from measurements of the Angstrom exponent. Shipborne sun photometer measurements at the time of satellite overpass are usually sufficient to verify atmospheric correction for ocean color.

Frouin, Robert↗
NASA NTRS1978

GEOS-3 coherent C-band tracking data reduction and analysis

The availability of a coherent C-Band transponder on an orbiting vehicle has permitted the development of calibration techniques for C-Band radars. Prior coherent tracking was limited to test vehicles in powered flight or skin tracking of orbiting spacecraft. The pulse Doppler range rate data available concurrently and independently with normal range and angle data provides an extremely useful data set for assessing the internal consistency of the radars measurements, particularly when coupled with a trajectory well constrained by orbit dynamics. In order to further assess the precision of the range rate data, a technique was developed to numerically integrate the rate measurements into a pseudo-range data set showing extremely low noise and high sensitivity to systematic radar errors. Evaluation of integrated range data led to improvements in calibration of both the rate and conventional range data. In particular, proper evaluation of the very sensitive integrated ranges required the development of a processing correction for beacon delay variation with signal strength, a significant error in the conventional ranging data.

Krabill, W. B.↗
NASA NTRS1980

A study of autonomous satellite navigation methods using the global positioning satellite system

Special orbit determination algorithms were developed to accommodate the size and speed limitations of on-board computer systems of the NAVSTAR Global Positioning System. The algorithms use square root sequential filtering methods. A new method for the time update of the square root covariance matrix was also developed. In addition, the time update method was compared with another square root convariance propagation method to determine relative performance characteristics. Comparisions were based on the results of computer simulations of the LANDSAT-D satellite processing pseudo range and pseudo range-rate measurements from the phase one GPS. A summary of the comparison results is presented.

Tapley, B. D.↗
NASA NTRS1986

Non-dynamic decimeter tracking of earth satellites using the Global Positioning System

A technique is described for employing the Global Positioning System (GPS) to determine the position of a low earth orbiter with decimeter accuracy without the need for user dynamic models. A differential observing strategy is used requiring a GPS receiver on the user vehicle and a network of six ground receivers. The technique uses the continuous record of position change obtained from GPS carrier phase to smooth position measurements made with pseudo-range. The result is a computationally efficient technique that can deliver decimeter accuracy down to the lowest altitude orbits.

Yunck, T. P.↗
NASA NTRS1987

Guidance simulation and test support for differential GPS flight experiment

Three separate tasks which supported the test preparation, test operations, and post test analysis of the NASA Ames flight test evaluation of the differential Global Positioning System (GPS) are presented. Task 1 consisted of a navigation filter design, coding, and testing to optimally make use of GPS in a differential mode. The filter can be configured to accept inputs from external censors such as an accelerometer and a barometric or radar altimeter. The filter runs in real time onboard a NASA helicopter. It processes raw pseudo and delta range measurements from a single channel sequential GPS receiver. The Kalman filter software interfaces are described in detail, followed by a description of the filter algorithm, including the basic propagation and measurement update equations. The performance during flight tests is reviewed and discussed. Task 2 describes a refinement performed on the lateral and vertical steering algorithms developed on a previous contract. The refinements include modification of the internal logic to allow more diverse inflight initialization procedures, further data smoothing and compensation for system induced time delays. Task 3 describes the TAU Corp participation in the analysis of the real time Kalman navigation filter. The performance was compared to that of the Z-set filter in flight and to the laser tracker position data during post test analysis. This analysis allowed a more optimum selection of the parameters of the filter.

Geier, G. J.↗
NASA NTRS1987

A comparison of the Cray-2 performance before and after the installation of memory pseudo-banking

A suite of 13 large Fortran benchmark codes were run on a Cray-2 configured with memory pseudo-banking circuits, and floating point operation rates were measured for each under a variety of system load configurations. These were compared with similar flop measurements taken on the same system before installation of the pseudo-banking. A useful memory access efficiency parameter was defined and calculated for both sets of performance rates, allowing a crude quantitative measure of the improvement in efficiency due to pseudo-banking. Programs were categorized as either highly scalar (S) or highly vectorized (V) and either memory-intensive or register-intensive, giving 4 categories: S-memory, S-register, V-memory, and V-register. Using flop rates as a simple quantifier of these 4 categories, a scatter plot of efficiency gain vs Mflops roughly illustrates the improvement in floating point processing speed due to pseudo-banking. On the Cray-2 system tested this improvement ranged from 1 percent for S-memory codes to about 12 percent for V-memory codes. No significant gains were made for V-register codes, which was to be expected.

Schmickley, Ronald D.↗
NASA NTRS2012

Spatial Variability in Column CO2 Inferred from High Resolution GEOS-5 Global Model Simulations: Implications for Remote Sensing and Inversions

Column CO2 observations from current and future remote sensing missions represent a major advancement in our understanding of the carbon cycle and are expected to help constrain source and sink distributions. However, data assimilation and inversion methods are challenged by the difference in scale of models and observations. OCO-2 footprints represent an area of several square kilometers while NASA s future ASCENDS lidar mission is likely to have an even smaller footprint. In contrast, the resolution of models used in global inversions are typically hundreds of kilometers wide and often cover areas that include combinations of land, ocean and coastal areas and areas of significant topographic, land cover, and population density variations. To improve understanding of scales of atmospheric CO2 variability and representativeness of satellite observations, we will present results from a global, 10-km simulation of meteorology and atmospheric CO2 distributions performed using NASA s GEOS-5 general circulation model. This resolution, typical of mesoscale atmospheric models, represents an order of magnitude increase in resolution over typical global simulations of atmospheric composition allowing new insight into small scale CO2 variations across a wide range of surface flux and meteorological conditions. The simulation includes high resolution flux datasets provided by NASA s Carbon Monitoring System Flux Pilot Project at half degree resolution that have been down-scaled to 10-km using remote sensing datasets. Probability distribution functions are calculated over larger areas more typical of global models (100-400 km) to characterize subgrid-scale variability in these models. Particular emphasis is placed on coastal regions and regions containing megacities and fires to evaluate the ability of coarse resolution models to represent these small scale features. Additionally, model output are sampled using averaging kernels characteristic of OCO-2 and ASCENDS measurement concepts to create realistic pseudo-datasets. Pseudo-data are averaged over coarse model grid cell areas to better understand the ability of measurements to characterize CO2 distributions and spatial gradients on both short (daily to weekly) and long (monthly to seasonal) time scales

Ott, L.↗
NASA NTRS2007

Benefits Derived From Laser Ranging Measurements for Orbit Determination of the GPS Satellite Orbit

While navigation systems for the determination of the orbit of the Global Position System (GPS) have proven to be very effective, the current research is examining methods to lower the error in the GPS satellite ephemerides below their current level. Two GPS satellites that are currently in orbit carry retro-reflectors onboard. One notion to reduce the error in the satellite ephemerides is to utilize the retro-reflectors via laser ranging measurements taken from multiple Earth ground stations. Analysis has been performed to determine the level of reduction in the semi-major axis covariance of the GPS satellites, when laser ranging measurements are supplemented to the radiometric station keeping, which the satellites undergo. Six ground tracking systems are studied to estimate the performance of the satellite. The first system is the baseline current system approach which provides pseudo-range and integrated Doppler measurements from six ground stations. The remaining five ground tracking systems utilize all measurements from the current system and laser ranging measurements from the additional ground stations utilized within those systems. Station locations for the additional ground sites were taken from a listing of laser ranging ground stations from the International Laser Ranging Service. Results show reductions in state covariance estimates when utilizing laser ranging measurements to solve for the satellite s position component of the state vector. Results also show dependency on the number of ground stations providing laser ranging measurements, orientation of the satellite to the ground stations, and the initial covariance of the satellite's state vector.

Welch, Bryan W.↗
DOE OSTI2024

Performance of plane wavefront Fizeau interferometers in power spectral density measurements with tilted plane optics

Binary pseudo-random array (BPRA) test samples are useful devices for calibrating the instrument transfer function (ITF) of Fizeau interferometers, interferometric microscopes, and other optical and non-optical surface and wavefront metrology instruments. The intrinsic white noise character of the power spectral density (PSD) function of the BPRA pattern simplifies the extraction of the ITF from the measured PSD. The ITF determined in a dedicated calibration experiment can be used to reconstruct the surface height profile from the measured data, effectively enhancing the instrument’s spatial resolution. For a high confidence reconstruction procedure, a reliable analytical model of the IFT is desirable. Usually, the model accounts for the contributions to the ITF related the imperfections of the instrument’s optical and detector systems. Here, we experimentally demonstrate that in the case of surface height metrology with Fizeau interferometers, the PSD measurements and, therefore, the efficacy of the ITF calibration of the tool, are strongly affected by the instrument data acquisition and processing procedures, as well as by the shape of the optic under test and its alignment with respect to the interferometer.

Yashchuk, V V↗
DOE OSTI2021

Interpreting Ionic Conductivity for Polymer Electrolyte Fuel Cell Catalyst Layers with Electrochemical Impedance Spectroscopy and Transmission Line Modeling

A cathode catalyst layer containing optimally distributed ionomer is critical to reduce the platinum loading and increase its utilization in polymer electrolyte fuel cells. Here, electrochemical impedance spectroscopy (EIS) was used to measure effective ionic conductivity of pseudo catalyst layers (PCLs) at a relative humidity (RH) range of 50%-120%. These results are compared to previous work using the hydrogen pump (HP) method. EIS effective ionic conductivity results reported here are higher than those from the HP because in the HP set-up ionic pathways must be effectively connected through the PCL to be counted, whereas in the EIS measurement, ionomer segments that are in contact with the membrane but are not effectively connected all the way through the PCL can be detected. Double layer capacitances and effective ionic conductivities of Pt/C catalyst layers with various supports and ionomer to carbon (I/C) ratios were studied. High surface area carbon support resulted in a lower effective ionic conductivity compared to the graphitized carbon support due to worse ionomer dispersion. Effective ionic conductivities of Pt/C layers were compared to that of PCLs. On average, effective ionic conductivities of Pt/C layers were higher than PCLs because of possible carbon agglomeratio n within the PCLs.

25 ENERGY STORAGE↗
DOE OSTI2023

FY23 Progress Report on Viscosity and Thermal Conductivity Measurements of Molten Salts

As presented in this report, thermal conductivity and viscosity measurements were performed on key chloride pseudo-binary molten salt systems of relevance to molten salt reactor developers. Thermal conductivity measurements were conducted with a variable gap technique, in which a known heat flux is driven across a molten salt specimen and the temperature difference is measured, allowing calculation of the thermal conductivity. This is achieved by establishing a small gap between the bottom of a cylindrical inner containment, which houses electrical heating elements, and an outer containment, which houses cooling channels; the gap size can be varied by compression of a formed bellows. A new calibration scheme was developed herein, involving a correction factor to the heat flux based on He measurements at various temperatures. Furthermore, the data processing methodology was improved to minimize the impact of radiative heat transfer in the calculation of salt specimen thermal conductivity from the temperature difference measurements. Viscosity measurements were conducted with a rolling ball viscometer, in which a ball rolls some known distance in an angled tubular crucible, and the terminal velocity can be used to calculate the viscosity of the salt. The measurement can be performed in a quartz crucible, with which a standard camera can be used to track the ball, or in a metal crucible, with which x-ray radiography is required to track the ball. A new custom x-ray system was made and dedicated to the rolling ball viscometer to enable high throughput automated measurements with salts which require containment with metal. Both systems have been integrated with a ventilation stack which allows for off-gassing of radioactive material, enabling future measurements with U-bearing salts. The thermal conductivity measurements performed herein were with NaCl-KCl (44 mol% NaCl). This salt system was measured in the previous fiscal year, however the thermal conductivity values obtained were comparatively low, and so the system was remeasured with the aforementioned calibration scheme and improved post-processing techniques. The newly obtained thermal conductivity values for NaCl-KCl (44 mol% NaCl) indicate good agreement with kinetic theory and ab-initio models (within 5–10 %). The viscosity measurements performed herein were with three different compositions of NaCl-KCl: 75, 50, and 25 mol% NaCl; a new calibration scheme was applied to account for variable flow effects in the laminar regime. The results show reasonable agreement with literature (5–20 %, depending on the temperature, composition, and study); however, literature values are likely higher than true values based on pure end-member measurements performed in the comparative studies. The measurements conducted herein do show a trend such that viscosity increases with increasing NaCl concentration, which agrees well with one of two comparative studies. In general, the measurements conducted herein gives confidence in the capability to use these systems to accurately measure thermal conductivity and viscosity of actinide-bearing salts within the next fiscal year.

11 NUCLEAR FUEL CYCLE AND FUEL MATERIALS↗
NASA NTRS2010

Digitally Enhanced Heterodyne Interferometry

Spurious interference limits the performance of many interferometric measurements. Digitally enhanced interferometry (DEI) improves measurement sensitivity by augmenting conventional heterodyne interferometry with pseudo-random noise (PRN) code phase modulation. DEI effectively changes the measurement problem from one of hardware (optics, electronics), which may deteriorate over time, to one of software (modulation, digital signal processing), which does not. DEI isolates interferometric signals based on their delay. Interferometric signals are effectively time-tagged by phase-modulating the laser source with a PRN code. DEI improves measurement sensitivity by exploiting the autocorrelation properties of the PRN to isolate only the signal of interest and reject spurious interference. The properties of the PRN code determine the degree of isolation.

Shaddock, Daniel↗
NASA NTRS2011

Range Resolved CO2 Atmospheric Backscattering Measurements Using Fiber Lasers and RZPN Code Modulation

We report the use of a return-to- zero (RZPN) pseudo noise modulation technique for making range resolved measurements of CO2 within the planetary boundary layer (PBL) using commercial, off-the-shelf, components. Conventional, range resolved, DIAL measurements require laser pulse widths that are significantly shorter than the desired spatial resolution and necessitate using pulses whose temporal spacing is such that scattered returns from only a single pulse are observed by the receiver at any one time (for the PBL pulse separations must be greater than approximately 20 microseconds). This imposes significant operational limitations when using currently available fiber lasers because of the resulting low duty cycle (less than approximately 0.0005) and consequent low average laser output power. The RZPN modulation technique enables a fiber laser to operate at much higher duty cycles (approaching 0.04) thereby more effectively utilizing the amplifier's output. This increases the counts received by approximately two orders of magnitude. Our approach involves employing two distributed feedback lasers (DFB), each modulated by a different RPZN code, whose outputs are then amplified by a CW fiber amplifier. One laser is tuned to a CO2 absorption line; the other operates offline thereby permitting the simultaneous acquisition of both on and offline signals using independent RZPN codes. This minimizes the impact of atmospheric turbulence on the measurement. The on and offline signals are retrieved by deconvolving the return signal using the appropriate kernels.

Burris, John↗
NASA NTRS1978

Bit error rate measurement above and below bit rate tracking threshold

Bit error rate is measured by sending a pseudo-random noise (PRN) code test signal simulating digital data through digital equipment to be tested. An incoming signal representing the response of the equipment being tested, together with any added noise, is received and tracked by being compared with a locally generated PRN code. Once the locally generated PRN code matches the incoming signal a tracking lock is obtained. The incoming signal is then integrated and compared bit-by-bit against the locally generated PRN code and differences between bits being compared are counted as bit errors.

Kobayaski, H. S.↗