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DOE OSTI2025

Infrastructure-Based Cooperative Perception at a Traffic Intersection: Overview and Challenges

Traffic intersections are crucial and challenging nodes in transportation networks where multiple lanes of vehicles and pedestrians converge. About one-quarter of traffic fatalities and about one-half of all traffic injuries in the United States happen at traffic intersections . Effective management of these intersections is important to ensure safety and efficiency of all users - vehicles, pedestrians, cyclists, and vulnerable road users (VRUs). With advancements in sensor perception technologies such as radar, light detection and ranging (lidar), and cameras, traffic intersections are developing into dynamic and data-rich environments. By using these data to create a real-time digital twin, we can enable real-time data-driven decision making and a range of applications such as sharing perception information to connected vehicles (CVs) and connected autonomous vehicles (CAVs), safety affirmative signaling, and curb optimizing to improve efficiency and enhance safety.This paper presents an overview of the concept and examines the challenges involved in implementing an infrastructure-based cooperative perception engine at a traffic intersection. In addition to outlining the physical components, this study also addresses important challenges involved in a multi-sensor system. We present results from deploying the National Renewable Energy Laboratory's (NREL's) Infrastructure Perception and Control (IPC) mobile trailer at a traffic intersection in the city of Colorado Springs, Colorado, USA that employed multiple radars and lidars to capture the data. This study provides necessary practical learning for the Cooperative Driving Automation (CDA) and traffic engineering communities for next-generation infrastructure-based cooperative perception that promises improvements in signal control for optimized traffic flow, among other applications, and documents findings for ongoing research and development efforts in other areas.

ADVANCED PROPULSION SYSTEMS,MATHEMATICS AND COMPUT↗

NASA NTRS1993

Satellite observations of a polar low over the Norwegian Sea by Special Sensor Microwave Imager, Geosat, and TIROS-N Operational Vertical Sounder

Many polar lows are generated at the boundary between sea ice and the ocean, in regions of large temperature gradients, where in situ observations are rare or nonexistent. Since satellite observations are frequent in high-latitude regions, they can be used to detect polar lows and track their propagation and evolution. The Special Sensor Microwave/Imager (SSM/I) providing estimates of surface wind speed, integrated cloud liquid water content, water vapor content, and precipitation size ice-scattering signal over the ocean; the Geosat radar altimeter measuring surface wind speed and significant wave height; and the TIROS-N Operational Vertical Sounder (TOVS) allowing the determination of temperature and humidity profiles in the atmosphere have been used in synergy for a specific case which occurred in the Norwegian Sea on January, 23-24 1988. All three instruments show sharp atmospheric gradients associated with the propagation of this low across the ocean, which permit the detection of the polar low at a very early stage and tracking it during its development, propagation, and decay. The wind speed gradients are measured with good qualitative agreement between the altimeter and SSM/I. TOVS retrieved fields prior to the formation of the low confirm the presence of an upper level trough, while during the mature phase baroclinicity can be observed in the 1000-500 hPa geopotential thicknesses.

Claud, Chantal↗

DOE OSTI2024

Safe Operations at Roadway Junctions: Intelligent Roadway Infrastructure as Functional Interlocking

Automated vehicle (AV) technology is quickly maturing, and the corresponding infrastructure systems that evaluate traffic and communicate to vehicles requires sophisticated sensing and perception technologies, referred to as intelligent roadway infrastructure (IRI), to complement emerging AV capabilities. IRI provides signals to vehicles, indicating right-of-way for vehicles and communicating to approaching AVs that no other vehicle is failing to yield. This capability, denoted as safety-affirmative signaling, provides a green light or a green arrow as appropriate and affirms through communication links to connected vehicles when it is safe to proceed. About 36% of collisions occur at intersections, with most occurring upon left turns (22.2%) or crossing over (12.6%), and only a small percentage (1.2%) while turning right at an intersection. Of all intersection crashes about half (52.5%) of those vehicles were traveling through a signalized intersection 2. Safety-affirmative signaling would guarantee safety of AV fleet vehicles, by providing the interlocking principle, a term from automated train control that only allows progression through a railway intersection after affirming no opportunity for a crash exists. IRI through safety-affirmative signaling would bring performance and safety to complex roadway intersections where AV transit fleet service is most needed, as well as safety benefits to traditional, non-automated vehicles and vulnerable road users. The implementation of IRI has functional, programmatic, and technical challenges. Research work performed at the National Renewable Energy Laboratory (NREL) in an integrative approach encapsulating these themes, and termed infrastructure perception and control (IPC) is motivated by improved performance (travel time), improved safety (reduced collisions), and improved energy efficiency (less fuel burned and minimized production of greenhouse gases). IPC is intended not only for roadway and intersection applications but also in extension to inform complementary buildings and grid systems to enable better co-management, as vehicles and their charging needs become increasingly integrated into the built environment. The NREL IPC project presents an open-source framework, architecture, and supporting technology to implement IRI, addressing critical issues such as fusion of data, reliability, standardization of data interfaces, and confidence of detection. The framework is informed by previous experience in U.S. Department of Defense research technology, specifically in the use of radar to detect, identify, and track aerial threats. These principles combined with multi-sensor fusion provides for a complete digital twin with known and measurable confidence and accuracy from which safety-affirmative signaling can be developed and deployed.

ADVANCED PROPULSION SYSTEMS,MATHEMATICS AND COMPUT↗

NASA NTRS2004

Relative Sensor with 4Pi Coverage for Formation Flying Missions

The Terrestrial Planet Finder (TPF) pre-project, an element of NASA s Origins program, is currently developing two architectures for a mission to search for earth-like planets around nearby stars. One of the architectures being developed is the Formation Flying Interferometer (FFI). The FFI is envisioned to consist of up to seven spacecraft (as many as six "collectors" with IR telescopes, and a "combiner") flying in precise formation within +/-1 cm of pre-determined trajectories for synchronized observations. The spacecraft-to-spacecraft separations are variable between 20 m and 100 m or more during observations to support various configurations of the interferometer in the planet-finding mode. The challenges involved with TPF autonomous operations, ranging from formation acquisition and formation maneuvering to high precision formation control during science observations, are unprecedented. In this paper we discuss the development of the formation acquisition sensor, which uses novel modulation and duplexing schemes to enable fast signal acquisition, multiple-spacecraft operation, and mitigation of inherent jamming conditions, while providing precise formation sensing and integrated radar capability. This approach performs delay synthesis and carrier cycle ambiguity resolution to improve range measurement, and uses differential carrier cycle ambiguity resolution to make precise bearing angle measurements without calibration maneuvers.

Tien, Jeffrey Y.↗

NASA NTRS1989

A Doppler centroid estimation algorithm for SAR systems optimized for the quasi-homogeneous source

Radar signal processing applications frequently require an estimate of the Doppler centroid of a received signal. The Doppler centroid estimate is required for synthetic aperture radar (SAR) processing. It is also required for some applications involving target motion estimation and antenna pointing direction estimation. In some cases, the Doppler centroid can be accurately estimated based on available information regarding the terrain topography, the relative motion between the sensor and the terrain, and the antenna pointing direction. Often, the accuracy of the Doppler centroid estimate can be improved by analyzing the characteristics of the received SAR signal. This kind of signal processing is also referred to as clutterlock processing. A Doppler centroid estimation (DCE) algorithm is described which contains a linear estimator optimized for the type of terrain surface that can be modeled by a quasi-homogeneous source (QHS). Information on the following topics is presented: (1) an introduction to the theory of Doppler centroid estimation; (2) analysis of the performance characteristics of previously reported DCE algorithms; (3) comparison of these analysis results with experimental results; (4) a description and performance analysis of a Doppler centroid estimator which is optimized for a QHS; and (5) comparison of the performance of the optimal QHS Doppler centroid estimator with that of previously reported methods.

Jin, Michael Y.↗

NASA NTRS1999

NASA'S Earth Science Enterprise Embraces Active Laser Remote Sensing from Space

Several objectives of NASA's Earth Science Enterprise are accomplished, and in some cases, uniquely enabled by the advantages of earth-orbiting active lidar (laser radar) sensors. With lidar, the photons that provide the excitation illumination for the desired measurement are both controlled and well known. The controlled characteristics include when and where the illumination occurs, the wavelength, bandwidth, pulse length, and polarization. These advantages translate into high signal levels, excellent spatial resolution, and independence from time of day and the sun's position. As the lidar technology has rapidly matured, ESE scientific endeavors have begun to use lidar sensors over the last 10 years. Several more lidar sensors are approved for future flight. The applications include both altimetry (rangefinding) and profiling. Hybrid missions, such as the approved Geoscience Laser Altimeter System (GLAS) sensor to fly on the ICESat mission, will do both at the same time. Profiling applications encompass aerosol, cloud, wind, and molecular concentration measurements. Recent selection of the PICASSO Earth System Science Pathfinder mission and the complementary CLOUDSAT radar-based mission, both flying in formation with the EOS PM mission, will fully exploit the capabilities of multiple sensor systems to accomplish critical science needs requiring such profiling. To round out the briefing a review of past and planned ESE missions will be presented.

Luther, Michael R.↗

NASA NTRS1990

Airborne/spaceborne radar - Panel report

Mobile radar platforms can provide unique observations of geophysical phenomena for scientific research and for operational applications such as reconnaissance and flight safety. Airborne or spaceborne radar can provide: (1) observations where it is often impractical or too costly to place a ground-based radar, (2) surveillance over a large area or over a long time period when the system of interest is moving, (3) the ability to adjust viewing angles to minimize uncertainties due to viewing geometry, for example, along a dual-Doppler baseline, (4) measurements to complement coincident observations from other remote and in situ sensors, and (5) evaluation of ground surface properties and their impact on the evolution of the boundary-layer and their role in storm systems, hydrology, and earth surface radiation balance. However, advances in signal processing, antenna design, power amplifiers, and other critical system components will be required if radar measurements from airborne and spaceborne platforms are to become a reality.

Jorgensen, David P.↗

NASA NTRS2011

Deriving Soil Moisture with the Combined L-Band Radar and Radiometer Measurements

In this study, we develop a combined active/passive technique to estimate surface soil moisture with the focus on the short vegetated surfaces. We first simulated a database for both active and passive signals under SMAP s sensor configurations using the radiative transfer model with a wide range of conditions for surface soil moisture, roughness and vegetation properties that we considered as the random orientated disks and cylinders. Using this database, we developed 1) the techniques to estimate surface backscattering and emission components and 2) the technique to estimate soil moisture with the estimated surface backscattering and emission components. We will demonstrate these techniques with the model simulated data and its validation with the airborne PALS image data from the soil moisture SGP 99 and SMEX 02 experiments.

Shi, Jiancheng↗

DOE OSTI2026

Multi‐Sensor Trajectory Reconstruction of the 24 April 2025 Alaska Fireball and Implications for Planetary Defense

On 24 April 2025 at 18:30:57 UTC, a bright daytime fireball over Southcentral Alaska was detected by 37 seismic stations, 16 single infrasound sensors, and four infrasound arrays, yielding 30 ballistic and multiple fragmentation arrivals. Here, the unprecedented density of seismoacoustic coverage enabled detailed reconstruction of the event using acoustic signals, with fragmentation source locations further guiding the identification of Doppler weather radar signatures of a meteorite fall. Incorporation of a radar-derived terminal point yielded a final trajectory solution, which agreed closely with an independent optical trajectory solution from video analysis. The reconstructed entry parameters from seismoacoustic analysis indicate a velocity of 25.3 km/s, an entry angle of 19°, and an energy release of ∼38 t TNT equivalent. Assuming a chondritic composition, the pre-entry object diameter was ∼0.7 m. Using orbital parameters from the optical solution, we estimate meteoroid composition as most likely an L-type ordinary chondrite. The event occurred in the sub-Arctic, where space-based optical systems face challenges in detection, demonstrating the critical role of dense ground-based seismoacoustic networks in characterizing high-latitude atmospheric entries. This uniquely well-recorded event demonstrates the capability of dense seismoacoustic networks to constrain bolide trajectories, energetics, and fragmentation, with radar and optical data providing critical confirmation and complementary perspectives. These results bridge the methodological gap between planetary-defense monitoring of natural impactors and space-traffic analyses of artificial reentries, illustrating how multi-sensor integration can deliver calibration-grade trajectories even for unpredicted events.

Fireball↗

NASA NTRS2011

Airborne Remote Observations of L-Band Radio Frequency Interference and Implications for Satellite Missions

Passive remote sensing of the Earth s surface and atmosphere from space has significant importance in operational and research environmental studies, in particular for the scientific understanding, monitoring and prediction of climate change and its impacts. Passive remote sensing requires the measurement of naturally occurring radiations, usually of very low power levels, which contain essential information on the physical process under investigation. As such, these sensed radio frequency bands are a unique natural resource enabling space borne passive sensing of the atmosphere and the Earth s surface that deserves adequate allocation to the Earth Exploration Satellite Service and absolute protection from interference. Unfortunately, radio frequency interference (RFI) is an increasing problem for Earth remote sensing, particularly for passive observations of natural emissions. Because these natural signals tend to be very weak, even low levels of interference received by a passive sensor may degrade the fidelity of scientific data. The characteristics of RFI (low-level interference and radar-pulse noise) are not well known because there has been no systematic surveillance, spectrum inventory or mapping of RFI. While conducting a flight experiment over central Tennessee in May 2010, RFI, a concern for any instrument operating in the passive L band frequency, was observed across 16 subbands between 1402-1427 MHz. Such a survey provides rare characterization data from which to further develop mitigation technologies as well as to identify bandwidths to avoid in future sensor formulation.

Laymon, Charles↗

NASA NTRS1988

Microwave Deflection Sensor

Doppler-radar instrument measures small deflections or vibrations of reflecting surface. Acting as interferometric micrometer, instrument includes combination of analog and digital circuits measuring change in phase of radar return due to movement of reflecting surface along signal-propagation path. Includes homodyne Doppler-radar transceiver and digital signal-processing circuitry to measure change in phase shift as target deflects.

Shores, Paul↗

NASA NTRS1993

Windshear detection radar signal processing studies

This final report briefly summarizes research work at Clemson in the Radar Systems Laboratory under the NASA Langley Research Grant NAG-1-928 in support of the Antenna and Microwave Branch, Guidance and Control Division, program to develop airborne sensor technology for the detection of low altitude windshear. A bibliography of all publications generated by Clemson personnel is included. An appendix provides abstracts of all publications.

Baxa, Ernest G., Jr.↗

NASA NTRS2016

M2020/MSL: TDS (Terminal Descent Sensor) DEA (Digital Electronics Assembly)

TDS is the radar used in MSL mission to land Curiosity rover on Mars. TDS will be used again in M2020 mission. DEA is the brain of the TDS where it serves as the controller and digital signal processor. The DEA commands TDS to cycle through the antenna beams making measurements using one of the 6 antenna beams at a time. DEA uses beam sequences and parameter tables to generate measurements. The most important measurements are velocity and range that are used to guide the landing of Curiosity rover. DEA performs these measurement tasks using radar signal processing FPGA firmware and radar microprocessor ‘s hardware and software.

Ashtijou, Mohammad↗

DOE OSTI2022

Concept of Operations of Next-Generation Traffic Control Utilizing Infrastructure-Based Cooperative Perception

This paper provides a system architecture for an infrastructure-based cooperative perception fusion engine for next-generation traffic control. This engine will provide a complete state-space digital representation with measurable accuracy to support a wide-range of applications. The architecture includes inputs, functional flow, data standardization recommendations, outputs, and supported applications. The cooperative perception engine addresses critical needs with respect to accelerating the benefits of automation through intelligent roadway infrastructure, which complements and accelerates connected and automated vehicle (CAV) technology. The cooperative perception acquires and fuses information from sensors (radar, LiDAR, and cameras) and CAVs to perceive roadway traffic states of moving objects, creates a complete 3D digital representation of that state-space, and communicates it to downstream application such as intelligent signal control, safety and energy applications, and cooperate driving applications. The intelligent roadway infrastructure approach, as opposed to a vehicle-centric approach, is more scalable because it can be deployed to the roughly 300,000 signalized intersections more readily than over 300 million vehicles in the United States, and accrues early-stage benefits equitable to all roadway users addressing safety, equity, fuel efficiency, and greenhouse gas reduction.

ADVANCED PROPULSION SYSTEMS↗

NASA NTRS1991

SAR data compression: Application, requirements, and designs

The feasibility of reducing data volume and data rate is evaluated for the Earth Observing System (EOS) Synthetic Aperture Radar (SAR). All elements of data stream from the sensor downlink data stream to electronic delivery of browse data products are explored. The factors influencing design of a data compression system are analyzed, including the signal data characteristics, the image quality requirements, and the throughput requirements. The conclusion is that little or no reduction can be achieved in the raw signal data using traditional data compression techniques (e.g., vector quantization, adaptive discrete cosine transform) due to the induced phase errors in the output image. However, after image formation, a number of techniques are effective for data compression.

Curlander, John C.↗

NASA NTRS2009

NASA Tech Briefs, April 2009

Topics covered include: Direct-Solve Image-Based Wavefront Sensing; Use of UV Sources for Detection and Identification of Explosives; Using Fluorescent Viruses for Detecting Bacteria in Water; Gradiometer Using Middle Loops as Sensing Elements in a Low-Field SQUID MRI System; Volcano Monitor: Autonomous Triggering of In-Situ Sensors; Wireless Fluid-Level Sensors for Harsh Environments; Interference-Detection Module in a Digital Radar Receiver; Modal Vibration Analysis of Large Castings; Structural/Radiation-Shielding Epoxies; Integrated Multilayer Insulation; Apparatus for Screening Multiple Oxygen-Reduction Catalysts; Determining Aliasing in Isolated Signal Conditioning Modules; Composite Bipolar Plate for Unitized Fuel Cell/Electrolyzer Systems; Spectrum Analyzers Incorporating Tunable WGM Resonators; Quantum-Well Thermophotovoltaic Cells; Bounded-Angle Iterative Decoding of LDPC Codes; Conversion from Tree to Graph Representation of Requirements; Parallel Hybrid Vehicle Optimal Storage System; and Anaerobic Digestion in a Flooded Densified Leachbed.

Source record↗

NASA NTRSDate not supplied

Application of Lidar-Radar Combined Data Products during the IMPACTS 2020 Field Campaign

The Investigation of Microphysics and Precipitation for Atlantic Coast-Threatening Snowstorms (IMPACTS) is a three-year field campaign investigating the formation and lifecycle of banded, precipitation structures within intense wintertime cyclones impacting the highly-populated northeast United States. Unlike previous campaigns in the region, IMPACTS mission scientists have access to and coordinate the NASA ER-2 and P-3 aircraft to collect observations from both a remote sensing and in-situ perspective, respectively. For IMPACTS, the ER-2 aircraft was equipped with lidar (CPL), radar (CRS, HIWRAP, EXRAD), microwave radiometer (CoSMIR, AMPR) instruments, each with their own unique capabilities and limitations. Our on-going work effort aims to develop IMPACTS lidar and radar merged data products, which can be used to supplement the raw data sources, tease out additional aspects of the mechanisms underpinning wintertime cyclones, and enhance our understanding of microphysical properties in sensor overlap regions. Preliminary merged data products combine CPL lidar with any one of the NASA High Altitude Radar (HAR) radar products (CRS, HIWRAP, EXRAD) and represent these data as both normalized values and translated to reflectivity signal (dB). Continuing work will further refine our merged data product algorithm to provide additional information on hydrometeor species identification, ice crystal habit, and ice-water content, which will help IMPACTS achieve its mission goal of improving microphysical properties retrievals from both airborne and spaceborne platforms.

Stephen D. Nicholls↗

NASA NTRS2020

Linkage among Ice Crystal Microphysics, Mesoscale Dynamics and Cloud and Precipitation Structures Revealed By Collocated Microwave Radiometer and Multi-Frequency Radar Observations

Ice clouds and falling snow are ubiquitous globally and play important roles in the Earth’s radiation budget and precipitation processes. Ice particle microphysical properties (e.g., size, habit and orientation) are not only influenced by ambient environment’s dynamic and thermodynamic conditions, but also intimately connect to the cloud radiative effects and particle fall speeds, which therefore impact up to the future climate projection and down to the details of the surface precipitation (e.g., onset-time, location, type and strength). Our previous work revealed that high-frequency Polarimetric radiance Difference (PD) from passive microwave sensors is a good indicator of the bulk aspect ratio of horizontally oriented ice particles that are often occur inside anvil clouds and/or stratiform precipitations. In this current work, we further investigate the dynamic/thermodynamic mechanisms and cloud/precipitation structures associated with ice-phase microphysics corresponding to different PD signals. In order to do so, collocated CloudSat radar (W-band) and Global Precipitation Measurement Dual-frequency Precipitation Radar (GPM-DPR, Ku/Ka bands) observations as well as European Centre for Medium-Range Weather Forecasts (ECMWF) atmosphere background profiles are grouped according to the magnitude of PD for only stratiform precipitation and/or anvil cloud scenes. We found that horizontally-oriented snow aggregates or large snow particles are likely the major contributor to the high-PD signals at 166 GHz, while low-PD magnitudes can be attributed to small cloud ice, randomly oriented snow aggregates, riming snow or super-cooled water. Further, high (low) PD scenes are found to be associated with stronger (weaker) wind shear and higher (lower) ambient humidity, both of which help promote (prohibit) the growth of frozen particles and the organization of convective systems. An ensemble of squall line cases is studied at the end to demonstrate that the PD asymmetry in the leading and trailing edges of the deep convection line is closely tied to the anvil cloud and stratiform precipitation layers respectively, suggesting the potential usefulness of PD as a proxy of stratiform/convective precipitation flag, as well as a proxy of convection life stage.

Ice crystal microphysics↗