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NASA NTRS1991

Measuring earth orientation with the Global Positioning System

A globally distributed network of high-precision receivers which obtain data from the full Global Positioning System (GPS) configuration of 18 or more satellites may soon become an efficient and economical method for the rapid determination of short-term variations in earth orientation. A covariance analysis has been performed to evaluate the errors associated with GPS monitoring of earth orientation. Earth orientation parameters were modeled either as constants over observing windows of various lengths, or as stochastic process-noise variables. The sensitivity of earth orientation estimates to systematic errors in selected model parameters was also examined. GPS measurements appear to be highly competitive with those from other techniques, and have the potential to generate nearly continuous centimeter-level earth orientation information to aid both spacecraft navigation and the study of high-frequency earth orientation-related processes.

Freedman, Adam P.↗

NASA NTRS1991

In-flight demonstration of hybrid GPS/Loran RAIM

A receiver autonomous integrity monitoring (RAIM) scheme has been implemented in a real time, prototype hybrid GPS/LORAN receiver. A four-channel GPS receiver and an eight-channel LORAN-C receiver are used to obtain raw GPS and LORAN pseudorange measurements. The measurement data is sent to a microcomputer for position and integrity determination. Navigation data is presented to the pilot on a standard course deviation indicator with a data renewal rate of up to one update per second. Provisions are made to simulate signal malfunctions in real time by injecting step or ramp failures in the pseudorange measurements. A least-squares fault detection algorithm is presented for the detection of slowly growing measurement errors. The performance of the hybrid GPS/LORAN receiver has been demonstrated through actual flight tests. One of the flight tests is summarized in the paper.

Van Graas, Frank↗

NASA NTRS1993

Application of aircraft navigation sensors to enhanced vision systems

In this presentation, the applicability of various aircraft navigation sensors to enhanced vision system design is discussed. First, the accuracy requirements of the FAA for precision landing systems are presented, followed by the current navigation systems and their characteristics. These systems include Instrument Landing System (ILS), Microwave Landing System (MLS), Inertial Navigation, Altimetry, and Global Positioning System (GPS). Finally, the use of navigation system data to improve enhanced vision systems is discussed. These applications include radar image rectification, motion compensation, and image registration.

Sweet, Barbara T.↗

NASA NTRS1999

Gravity and Macro-Model Tuning for the Geosat Follow-on Spacecraft

The US Navy's GEOSAT Follow-On (GFO) spacecraft was launched on February 10, 1998 and the primary objective of the mission was to map the oceans using a radar altimeter. The spacecraft tracking complement consisted of GPS receivers, a laser retroreflector and Doppler beacons. Since the GPS receivers have not yet returned reliable data, the only means of providing high-quality precise orbits has been though satellite laser ranging (SLR). The spacecraft has been tracked by the international satellite laser ranging network since April 22, 1998, and an average of 7.4 passes per day have been obtained from US and participating foreign stations. Since the predicted radial orbit error due to the gravity field is two to three cm, the largest contributor to the high SLR residuals (7-10 cm RMS for five day arcs) is the mismodelling of the non-conservative forces, not withstanding the development of a three-dimensional eight-panel model and an analytical attitude model for the GFO spacecraft. The SLR residuals show a clear correlation with beta-prime (solar elevation) angle, peaking in mid-August 1998 when the beta-prime angle reached -80 to -90 degrees. In this paper we discuss the tuning of the non-conservative force model, for GFO and report the subsequent addition of the GFO tracking data to the Earth gravity model solutions.

Lemoine, Frank G.↗

NASA NTRS2002

Navigation Algorithms for the SeaWiFS Mission

The navigation algorithms for the Sea-viewing Wide Field-of-view Sensor (SeaWiFS) were designed to meet the requirement of 1-pixel accuracy-a standard deviation (sigma) of 2. The objective has been to extract the best possible accuracy from the spacecraft telemetry and avoid the need for costly manual renavigation or geometric rectification. The requirement is addressed by postprocessing of both the Global Positioning System (GPS) receiver and Attitude Control System (ACS) data in the spacecraft telemetry stream. The navigation algorithms described are separated into four areas: orbit processing, attitude sensor processing, attitude determination, and final navigation processing. There has been substantial modification during the mission of the attitude determination and attitude sensor processing algorithms. For the former, the basic approach was completely changed during the first year of the mission, from a single-frame deterministic method to a Kalman smoother. This was done for several reasons: a) to improve the overall accuracy of the attitude determination, particularly near the sub-solar point; b) to reduce discontinuities; c) to support the single-ACS-string spacecraft operation that was started after the first mission year, which causes gaps in attitude sensor coverage; and d) to handle data quality problems (which became evident after launch) in the direct-broadcast data. The changes to the attitude sensor processing algorithms primarily involved the development of a model for the Earth horizon height, also needed for single-string operation; the incorporation of improved sensor calibration data; and improved data quality checking and smoothing to handle the data quality issues. The attitude sensor alignments have also been revised multiple times, generally in conjunction with the other changes. The orbit and final navigation processing algorithms have remained largely unchanged during the mission, aside from refinements to data quality checking. Although further improvements are certainly possible, future evolution of the algorithms is expected to be limited to refinements of the methods presented here, and no substantial changes are anticipated.

Hooker, Stanford B.↗

NASA NTRS2011

Measuring Total Column Water Vapor by Pointing an Infrared Thermometer at the Sky

A 2-year study affirms that the temperature (Tz) indicated by an inexpensive ($20 to $60) IR thermometer pointed at the cloud-free zenith sky provides an approximate indication of the total column water vapor (precipitable water or PW). PW was measured by a MICROTOPS II sun photometer. The coefficient of correlation (r2) of the PW and Tz was 0.90, and the rms difference was 3.2 mm. A comparison of the Tz data with the PW provided by a GPS site 31 km NNE yielded an r2 of 0.79, and an rms difference of 5.8 mm. An expanded study compared Tz from eight IR thermometers with PW at various times during the day and night from 17 May to 18 October 2010, mainly at the Texas site and 10 days at Hawaii's Mauna Loa Observatory (MLO). The best results of this comparison were provided by two IR thermometers models that yielded an r2 of 0.96 and an rms difference with the PW of 2.7 mm. The results of both the ongoing 2-year study and the 5-month instrument comparison show that IR thermometers can measure PW with an accuracy (rms difference/mean PW) approaching 10%, the accuracy typically ascribed to sun photometers.

Mims, Forrest M., III↗

NASA NTRS2004

Autonomous Flight Safety System

Autonomous Flight Safety System (AFSS) is an independent flight safety system designed for small to medium sized expendable launch vehicles launching from or needing range safety protection while overlying relatively remote locations. AFSS replaces the need for a man-in-the-loop to make decisions for flight termination. AFSS could also serve as the prototype for an autonomous manned flight crew escape advisory system. AFSS utilizes onboard sensors and processors to emulate the human decision-making process using rule-based software logic and can dramatically reduce safety response time during critical launch phases. The Range Safety flight path nominal trajectory, its deviation allowances, limit zones and other flight safety rules are stored in the onboard computers. Position, velocity and attitude data obtained from onboard global positioning system (GPS) and inertial navigation system (INS) sensors are compared with these rules to determine the appropriate action to ensure that people and property are not jeopardized. The final system will be fully redundant and independent with multiple processors, sensors, and dead man switches to prevent inadvertent flight termination. AFSS is currently in Phase III which includes updated algorithms, integrated GPS/INS sensors, large scale simulation testing and initial aircraft flight testing.

Ferrell, Bob↗

NASA NTRS2013

Combined Global Navigation Satellite Systems in the Space Service Volume

Besides providing position, velocity, and timing (PVT) for terrestrial users, the Global Positioning System (GPS) is also being used to provide PVT information for earth orbiting satellites. In 2006, F. H. Bauer, et. al., defined the Space Service Volume in the paper GPS in the Space Service Volume , presented at ION s 19th international Technical Meeting of the Satellite Division, and looked at GPS coverage for orbiting satellites. With GLONASS already operational, and the first satellites of the Galileo and Beidou/COMPASS constellations already in orbit, it is time to look at the use of the new Global Navigation Satellite Systems (GNSS) coming into service to provide PVT information for earth orbiting satellites. This presentation extends GPS in the Space Service Volume by examining the coverage capability of combinations of the new constellations with GPS GPS was first explored as a system for refining the position, velocity, and timing of other spacecraft equipped with GPS receivers in the early eighties. Because of this, a new GPS utility developed beyond the original purpose of providing position, velocity, and timing services for land, maritime, and aerial applications. GPS signals are now received and processed by spacecraft both above and below the GPS constellation, including signals that spill over the limb of the earth. Support of GPS space applications is now part of the system plan for GPS, and support of the Space Service Volume by other GNSS providers has been proposed to the UN International Committee on GNSS (ICG). GPS has been demonstrated to provide decimeter level position accuracy in real-time for satellites in low Earth orbit (centimeter level in non-real-time applications). GPS has been proven useful for satellites in geosynchronous orbit, and also for satellites in highly elliptical orbits. Depending on how many satellites are in view, one can keep time locked to the GNSS standard, and through that to Universal Time as long as at least one satellite is in view (the longest duration with no satellites in view is important in determining the maximum clock drift from GNSS time). Instantaneous position requires four satellites in view, but because orbital motion is predictable, it is possible to build up knowledge of the orbital position gradually through time without a need for constant four satellite coverage. However, it is desirable to have four satellite coverage when performing satellite maneuvers, since there can be significant changes in velocity, leading to large changes in orbit parameter, causing substantial divergence in position over time. The Space Service Volume has been defined as the volume between three thousand km altitude and geosynchronous altitude, and can be divided into medium orbit services between three thousand km altitude and eight thousand km altitude, and high orbit services above eight thousand km. The Terrestrial Service Volume includes the Earth s surface, the atmosphere, and space below the altitude of three thousand km. The Terrestrial Service Volume is the volume within which the GNSS systems will have very similar performance to the Earth surface, and satellites need only use the signals specified to provide terrestrial performance. Above three thousand km the use of signals passing by the Earth s limb becomes important, so it is desirable to have additional information on signal strength, phase delay, and group delay covering wider beam angles than are needed for terrestrial service (and which can be obtained by monitoring GNSS signals from the Earth s surface). This presentation will look at each of the new GNSS constellations in combination with GPS (GLONASS with GPS, Galileo with GPS, Beidou/COMPASS with GPS), and also at the combination of all four GNSS systems. The presentation will largely follow the format of GPS in the Space Service Volume , presenting data on the availability of one, two, three, or four of the various combinations of GNSS constellation satelles at approximately two thousand grid points evenly spaced and fixed in longitude and latitude, the duration of the longest single-fold outages (intervals when no satellites are available), and the duration of the longest four-fold outages (intervals when fewer than four satellites are available) at several altitudes. Following the original paper, we will use the altitudes of three hundred km (typical LEO satellite, and within the Terrestrial Service Volume), at three thousand km (border between Terrestrial Service Volume and Space Service Volume), at eight thousand km (the border between medium and high orbit service within the Space Service Volume), at fifteen thousand km (just below the GNSS constellations), at twenty five thousand km (just above the GNSS constellations), at thirty six thousand, five hundred km (limit of Space Service Volume definition, geosynchronous altitude), and at seventy thousand km (to show the potential usefulness of GNSS beyond geosynchronous altitude).

Force, Dale A.↗

NASA NTRS2009

Mars Balloon Flight Test Results

This paper describes a set of four Earth atmosphere flight test experiments on prototype helium superpressure balloons designed for Mars. Three of the experiments explored the problem of aerial deployment and inflation, using the cold, low density environment of the Earth's stratosphere at an altitude of 30-32 km as a proxy for the Martian atmosphere. Auxiliary carrier balloons were used in three of these test flights to lift the Mars balloon prototype and its supporting system from the ground to the stratosphere where the experiment was conducted. In each case, deployment and helium inflation was initiated after starting a parachute descent of the payload at 5 Pa dynamic pressure, thereby mimicking the conditions expected at Mars after atmospheric entry and high speed parachute deceleration. Upward and downward looking video cameras provided real time images from the flights, with additional data provided by onboard temperature, pressure and GPS sensors. One test of a 660 cc pumpkin balloon was highly successful, achieving deployment, inflation and separation of the balloon from the flight train at the end of inflation; however, some damage was incurred on the balloon during this process. Two flight tests of 12 m diameter spherical Mylar balloons were not successful, although some lessons were learned based on the failure analyses. The final flight experiment consisted of a ground-launched 12 m diameter spherical Mylar balloon that ascended to the designed 30.3 km altitude and successfully floated for 9.5 hours through full noontime daylight and into darkness, after which the telemetry system ran out of electrical power and tracking was lost. The altitude excursions for this last flight were +/-75 m peak to peak, indicating that the balloon was essentially leak free and functioning correctly. This provides substantial confidence that this balloon design will fly for days or weeks at Mars if it can be deployed and inflated without damage.

deployment↗

NASA NTRS2015

On-Orbit Autonomous Assembly from Nanosatellites

The On-Orbit Autonomous Assembly from Nanosatellites (OAAN) project will demonstrate autonomous control algorithms for rendezvous and docking maneuvers; low-power reconfigurable magnetic docking technology; and compact, lightweight and inexpensive precision relative navigation using carrier-phase differential (CD) GPS with a three-degree of freedom ground demonstration. CDGPS is a specific relative position determination method that measures the phase of the GPS carrier wave to yield relative position data accurate to.4 inch (1 centimeter). CDGPS is a technology commonly found in the surveying industry. The development and demonstration of these technologies will fill a current gap in the availability of proven autonomous rendezvous and docking systems for small satellites.

Precision relative navigation↗

NASA NTRS2005

Utilization of GPS Surface Reflected Signals to Provide Aircraft Altitude Verification for SVS

The Global Positioning System (GPS) consists of a constellation of Earth orbiting satellites that transmit continuous electromagnetic signals to users on or near the Earth surface. At any moment of time, at least four GPS satellites, and sometimes nine or more, are visible from any point. The electromagnetic signal transmitted from the satellites is reflected to at least some degree from virtually every place on the Earth. When this signal is received by a specially constructed receiver, its characteristics can be used to determine information about the reflected surface. One piece of information collected is the time delay encountered by the reflected signal versus the direct signal. This time delay can be used to determine the altitude (or height) above the local terrain when the terrain in the reflection area is level. However, given the potential of simultaneously using multiple reflections, it should be possible to also determine the elevation above even terrains where the reflecting area is not level. Currently an effort is underway to develop the technology to characterize the reflected signal that is received by the GPS Surface Reflection Experiment (GSRE) instrument. Recent aircraft sorties have been flown to collect data that can be used to refine the technology. This paper provides an update on the status of the instrument development to enable determination of terrain proximity using the GPS Reflected signal. Results found in the data collected to date are also discussed.

Gance, George G.↗

NASA NTRS2016

Global Positioning System Navigation Above 76,000 km for NASA's Magnetospheric Multiscale Mission

NASA's Magnetospheric Multiscale (MMS) mission, launched in March of 2015, consists of a controlled formation of four spin-stabilized spacecraft in similar highly elliptic orbits reaching apogee at radial distances of 12 and 25 Earth radii (RE) in the first and second phases of the mission. Navigation for MMS is achieved independently on-board each spacecraft by processing Global Positioning System (GPS) observables using NASA Goddard Space Flight Center (GSFC)'s Navigator GPS receiver and the Goddard Enhanced Onboard Navigation System (GEONS) extended Kalman filter software. To our knowledge, MMS constitutes, by far, the highest-altitude operational use of GPS to date and represents a high point of over a decade of high-altitude GPS navigation research and development at GSFC. In this paper we will briefly describe past and ongoing high-altitude GPS research efforts at NASA GSFC and elsewhere, provide details on the design of the MMS GPS navigation system, and present on-orbit performance data from the first phase. We extrapolate these results to predict performance in the second phase orbit, and conclude with a discussion of the implications of the MMS results for future high-altitude GPS navigation, which we believe to be broad and far-reaching.

GPS↗

NASA NTRS2017

Global Positioning System Navigation Above 76,000 km for NASA's Magnetospheric Multiscale Mission

NASA's Magnetospheric Multiscale (MMS) mission, launched in March of 2015, consists of a controlled formation of four spin-stabilized spacecraft in similar highly elliptic orbits reaching apogee at radial distances of 12 and 25 Earth radii (RE) in the first and second phases of the mission. Navigation for MMSis achieved independently on-board each spacecraft by processing Global Positioning System (GPS) observables using NASA Goddard Space Flight Center (GSFC)'s Navigator GPS receiver and the Goddard Enhanced Onboard Navigation System (GEONS) extended Kalman filter software. To our knowledge, MMS constitutes, by far, the highest-altitude operational use of GPS to date and represents a high point of over a decade of high-altitude GPS navigation research and development at GSFC. In this paper we will briefly describe past and ongoing high-altitude GPS research efforts at NASA GSFC and elsewhere, provide details on the design of the MMS GPS navigation system, and present on-orbit performance data from the first phase. We extrapolate these results to predict performance in the second phase orbit, and conclude with a discussion of the implications of the MMS results for future high-altitude GPS navigation, which we believe to be broad and far-reaching.

navigation↗

NASA NTRS2014

Orion Exploration Flight Test-l (EFT -1) Absolute Navigation Design

Scheduled to launch in September 2014 atop a Delta IV Heavy from the Kennedy Space Center, the Orion Multi-Purpose-Crew-Vehicle (MPCV's) maiden flight dubbed "Exploration Flight Test -1" (EFT-1) intends to stress the system by placing the uncrewed vehicle on a high-energy parabolic trajectory replicating conditions similar to those that would be experienced when returning from an asteroid or a lunar mission. Unique challenges associated with designing the navigation system for EFT-1 are presented in the narrative with an emphasis on how redundancy and robustness influenced the architecture. Two Inertial Measurement Units (IMUs), one GPS receiver and three barometric altimeters (BALTs) comprise the navigation sensor suite. The sensor data is multiplexed using conventional integration techniques and the state estimate is refined by the GPS pseudorange and deltarange measurements in an Extended Kalman Filter (EKF) that employs the UDUT decomposition approach. The design is substantiated by simulation results to show the expected performance.

Sud, Jastesh↗

NASA NTRS2016

Absolute Navigation Performance of the Orion Exploration Fight Test 1

Launched in December 2014 atop a Delta IV Heavy from the Kennedy Space Center, the Orion vehicle's Exploration Flight Test-1 (EFT-1) successfully completed the objective to stress the system by placing the un-crewed vehicle on a high-energy parabolic trajectory replicating conditions similar to those that would be experienced when returning from an asteroid or a lunar mission. Unique challenges associated with designing the navigation system for EFT-1 are presented with an emphasis on how redundancy and robustness influenced the architecture. Two Inertial Measurement Units (IMUs), one GPS receiver and three barometric altimeters (BALTs) comprise the navigation sensor suite. The sensor data is multiplexed using conventional integration techniques and the state estimate is refined by the GPS pseudorange and deltarange measurements in an Extended Kalman Filter (EKF) that employs UDU factorization. The performance of the navigation system during flight is presented to substantiate the design.

Zanetti, Renato↗

NASA NTRS1994

Networked differential GPS system

An embodiment of the present invention relates to a worldwide network of differential GPS reference stations (NDGPS) that continually track the entire GPS satellite constellation and provide interpolations of reference station corrections tailored for particular user locations between the reference stations Each reference station takes real-time ionospheric measurements with codeless cross-correlating dual-frequency carrier GPS receivers and computes real-time orbit ephemerides independently. An absolute pseudorange correction (PRC) is defined for each satellite as a function of a particular user's location. A map of the function is constructed, with iso-PRC contours. The network measures the PRCs at a few points, so-called reference stations and constructs an iso-PRC map for each satellite. Corrections are interpolated for each user's site on a subscription basis. The data bandwidths are kept to a minimum by transmitting information that cannot be obtained directly by the user and by updating information by classes and according to how quickly each class of data goes stale given the realities of the GPS system. Sub-decimeter-level kinematic accuracy over a given area is accomplished by establishing a mini-fiducial network.

Mueller, K. Tysen↗

DOE OSTI2023

WiP Abstract: Edge-Based Privacy of Naturalistic Driving Data Collection

Collecting large driving datasets is important for data-driven transportation research and studied in naturalistic driving [3]. Due to the standard implementation of a Controller Area Network (CAN) bus for a vehicle’s inter-module communication, many off-the-shelf devices can easily transform a vehicle into a rich data collection utility [2]. Vehicles with Adaptive Cruise Control (ACC) are an example of a feature resulting in emergent traffic behavior when scaled [4]. While these utilities were designed with particular data use cases, data may be publicly shared to benefit other researchers through online tools like CyVerse [1]. However, such data should only be shared when any private information is removed. This private information may exist as a set of GPS coordinates, since the start and end points of a trip may designate a driver’s place of residence or work. When considering larger continuously-collected data sets with a focus on naturalistic driving, many drivers are needed to make data collection feasible. Removal of private information becomes much more of a challenge since every driver may uniquely define their geographic privacy. This project aims to build upon the foundation of libpanda [2] by adding features of edge-based data privacy enforcement. In it’s current form, libpanda uses a GPS in conjunction with a CAN interface to record data. Libpanda feature s a set of startup and shutdown scripts to perform automatic data collection and upload. With additional support hardware on a Raspberry Pi, the Pi can maintain power on vehicle shutdown to automatically upload data before shutdown.

Bunting, Matt↗

NASA NTRS1993

The GPS Topex/Poseidon precise orbit determination experiment - Implications for design of GPS global networks

Topex/Poseidon, a cooperative satellite mission between United States and France, aims to determine global ocean circulation patterns and to study their influence on world climate through precise measurements of sea surface height above the geoid with an on-board altimeter. To achieve the mission science aims, a goal of 13-cm orbit altitude accuracy was set. Topex/Poseidon includes a Global Positioning System (GPS) precise orbit determination (POD) system that has now demonstrated altitude accuracy better than 5 cm. The GPS POD system includes an on-board GPS receiver and a 6-station GPS global tracking network. This paper reviews early GPS results and discusses multi-mission capabilities available from a future enhanced global GPS network, which would provide ground-based geodetic and atmospheric calibrations needed for NASA deep space missions while also supplying tracking data for future low Earth orbiters. Benefits of the enhanced global GPS network include lower operations costs for deep space tracking and many scientific and societal benefits from the low Earth orbiter missions, including improved understanding of ocean circulation, ocean-weather interactions, the El Nino effect, the Earth thermal balance, and weather forecasting.

Lindqwister, Ulf J.↗