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NASA NTRS2001

Autonomy for SOHO Ground Operations

The SOLAR and HELIOSPHERIC OBSERVATORY (SOHO) project [SOHO Web Page] is being carried out by the European Space Agency (ESA) and the US National Aeronautics and Space Administration (NASA) as a cooperative effort between the two agencies in the framework of the Solar Terrestrial Science Program (STSP) comprising SOHO and other missions. SOHO was launched on December 2, 1995. The SOHO spacecraft was built in Europe by an industry team led by Matra, and instruments were provided by European and American scientists. There are nine European Principal Investigators (PI's) and three American ones. Large engineering teams and more than 200 co-investigators from many institutions support the PI's in the development of the instruments and in the preparation of their operations and data analysis. NASA is responsible for the launch and mission operations. Large radio dishes around the world, which form NASA's Deep Space Network (DSN), are used to track the spacecraft beyond the Earths orbit. Mission control is based at Goddard Space Flight Center in Maryland. The agent group at the NASA Goddard Space Flight Center, in collaboration with JPL, is currently involved with the design and development of an agent-based system to provide intelligent interactions with the control center personnel for SOHO. The basic approach that is being taken is to develop a sub-community of agents for each major subsystem of SOHO and to integrate these sub-communities into an overall SOHO community. Agents in all sub-communities will be capable of advanced understanding (deep reasoning) of the associated spacecraft subsystem.

Truszkowski, Walt↗
NASA NTRS2016

Mars Cube One (MarCO) Shifting the Paradigm in Relay Deep Space Operations

A very significant challenge in the planetary mission design and operations is communications with ground control teams during critical events and highly risky maneuvers. These include entry, descent, and landing (EDL) and orbit insertion, which should not be carried out in the blind. Although vast planetary distances and long round-trip light times disallow real-time intervention from controllers, acquiring the relevant event performance parameters in near real-time can be imperative for determining the corrective actions needed immediately following or, in the case of significant anomalies, aid in the diagnostic analysis. During several previous Mars missions landing events, and the Huygens probe landing on Titan, the communications strategy relied on proximity links to planetary orbiters, which then relayed the data to the Deep Space Network (DSN). In addition, attempts were successfully made in parallel to receive the signal carrier directly at Earth often using large radio telescopes when the wavelength was outside the DSN’s reception bands. This Direct-to-Earth (DTE) back-up method was only possible due to special techniques utilizing the DSN’s open-loop Radio Science Receivers. In every case, it was very challenging since the link budget of a landing vehicles were designed for proximity orbiter relays and not for distances across the solar system. A new method is introduced since not all future missions can rely on the presence of pre-existing orbiters at their planetary targets to relay their critical data ad, furthermore, most missions would not likely have the resources to implement a reliable DTE link at acceptable data rates, bypassing a need for a relay asset. With the advent CubeSat form-factor spacecraft, one or more, for added reliability, CubeSats can be launched with the primary mission, travel to the target, and be positioned to view the critical event, such as EDL, and carry out real-time relay of the data to the DSN at higher rates. CubeSats have flown in the Earth environment but never flown or been operated in deep space or planetary environment so careful design as well as flight experience are needed. The relay function requires the development of radio and antenna systems to meet challenging specifications. After initial technical demonstration of the concept and operational experience, the cost can decrease as systems become more standardized with increased reliability. This paper describes the invention of the “carry your own relay” concept and the formulation of the mission likely to be the first planetary CubeSat mission called Mars Cube One (MarCO). It also describes the operational concept of relay small spacecraft and their role reducing mission risk as well as overall mission cost.

Asmar, Sami↗
NASA NTRS1986

Catching the whispers from Uranus

Sophisticated telecommunications techniques are described that were used to acquire images of Uranus, its 14 moons and ten narrow rings darker than coal. The images, equal in quality to those transmitted from Saturn several years earlier despite the signal being weaker by 6 dB due to the increased distance, were received from Voyager 2 during its January 24, 1986 flyby of Uranus. Solutions to the problem of the weakening signal were found in modifications to Voyager's image processing system and NASA's ground tracking network. In April 1985, Voyager's prime flight data computer was reconfigured to accept only nonimaging science data, and its backup, only imaging data; the latter was reprogrammed to determine only arithmetic differences between adjacent pixel intensities rather than absolute intensities. By image compression, equivalent imaging information could be sent at lower bit rates. Instead of Golay coding, Reed-Solomon onboard encoding was used. These techniques gained the equivalent of 4-dB in imaging yield. Additional improvements were gained by using earth station antennas in pairs (the Parkes radio telescope and the Canberra ground station antenna). Moves under way to prepare for the Voyager encounter with Neptune in 1989 are described (using additional antennas and arrays, scaling up the Deep Space Network antennas from 64 m to 70 m, etc.) to assure almost Saturn-equivalent pictures despite a further 3.5-dB drop in signal strength.

Bartok, C. D.↗
NASA NTRS2008

Jet Propulsion Laboratory: Annual Report 2007

Many milestones are celebrated in the business of space exploration, but one of them that arrived this year has particular meaning for us. Half a century ago, on January 31, 1958, the Jet Propulsion Laboratory was responsible for creating America's first satellite, Explorer 1, and joined with the Army to launch it into orbit. That makes 2007 the 50th year we have been sending robotic craft from Earth to explore space. No other event before or since has had such a profound effect on JPL's basic identity, setting it on the path to become the world's leader in robotic solar system exploration. It is not lost on historians that Explorer 1, besides being America's first satellite, was also the first spacecraft from any country to deliver scientific results in its case, the discovery of the Van Allen Radiation Belts that surround Earth. Science, of course, has been the prime motivator for all the dozens of missions that we have lofted into space in the half-century since then. JPL has sent spacecraft to every planet in the solar system from Mercury to Neptune, some of them very sophisticated machines. But in one way or another, they all owe their heritage to the 31-pound bullet-shaped probe JPL shot into space in 1958. Although we have ranged far and wide across the solar system, we have a very strong contingent of satellites and instruments dedicated, like Explorer, to the environment of our home planet. JPL missions have been providing much of the data to establish the facts of global warming - most especially, the melting of ice sheets in Greenland and Antarctica. During the past year, JPL and our parent organization, the California Institute of Technology, have created a task force to focus the special capabilities of the Laboratory and campus on ways to better understand the physics of global change. While Earth is a chaotic and dynamic system capable of large natural variations, evidence is mounting that human activities are playing an increasingly important role. A central piece of this effort is a search for novel energy sources to replace fossil fuels, the combustion of which adds carbon dioxide to our atmosphere. All of this is supported by our worldwide Deep Space Network, which provides the communication link between spacecraft and the ground. In addition, missions are infused with technologies developed by researchers working on projects for non-NASA sponsors as well as on pure research.

Jet Propulsion Laboratory (JPL)↗
NASA NTRS2024

StarNAV: An Architecture for Autonomous Spacecraft Navigation by the Relativistic Perturbation of Starlight

Exploration missions to the outer Solar System (e.g., Neptune, Kuiper belt objects) or to the interstellar medium present several challenges for conventional spacecraft designs. One of the greatest challenges is a means for navigation, as Earth-based tracking with the Deep Space Network (DSN) becomes less desirable due to high cost, decreased performance at long ranges, and long light-time delays. Indeed, light time delays at Neptune are over four hours (one way), making control of spacecraft during critical events nearly impossible—and this problem only becomes worse as we move to the Kuiper belt or to interstellar space. The need for autonomous spacecraft navigation is well established and is prominently featured in the 2015 NASA Technology Roadmap (e.g., TA 5.4.2.6 & 5.4.2.8). This has led to investment in various technologies to accomplish this task, with the majority of recent work focusing on optical navigation (OPNAV; TA 5.4.4.1) [1], X-ray pulsar navigation (XNAV; TA 5.6.1) [2], or DSN one-way ranging with the Deep Space Atomic Clock (DSAC; TA 5.4.1.1) [3]. This NIAC study suggests a new (and completely different) way of autonomously navigating a spacecraft anywhere in the Solar System or beyond. We call this new technique StarNAV.

NIAC Phase I↗
NASA NTRSDate not supplied

BioSentinel Deep Space CubeSat Mission

The BioSentinel mission was recently launched aboard the SLS launch vehicle (LV) as part of the Artemis-1 campaign. This 6U CubeSat carries yeast cells to analyze the effects of radiation at large distances from Earth, becoming the first biological payload in Deep Space. Prelaunch activities included mission design updates, orbit determination rehearsals and the development of a tracking schedule in coordination with the Artemis-1 payload office and the Deep Space Network (DSN). An important influence on the trajectories of Artemis I secondaries was the uncertainty associated with deployment from the Interim Cryogenic Propulsion System (ICPS), the upper stage of the SLS LV. The ICPS was rotating at a rate of 1 rpm; there was also uncertainty in the spin axis attitude, which translated into an unknown clock angle of deployment. The variability in this angle and magnitude of deployment implied the existence of a non-negligible risk of a lunar impact, which was evaluated for various potential launch dates. On November 16 th 2022 BioSentinel successfully deployed from ICPS and the navigation team started to receive tracking data from the DSN and ESA antennas. Soon after deployment, the spacecraft was tumbling and entered safe mode. The mission team recovered the spacecraft and after four tracking passes, we solved for a first ephemeris that was sent to the DSN for better tracking of the spacecraft. After propagating this first ephemeris solution, we determined that we avoided impact with a margin of a few hundred km from the lunar surface. More tracking data over the next few days allowed for a more refined orbit solution predicting a periselene altitude of 406 km and a lunar eclipse lasting 36.5 minutes. Therefore, BioSentinel operators avoided any correction maneuvers on the trajectory and successfully tracked and guide the spacecraft. The spacecraft performed a nominal lunar flyby which provided the pertinent energy to achieve a final Earth-trailing heliocentric orbit. Over the course of two weeks, the mission operators corroborated that the subsystems were functioning as expected after the lunar eclipse and the large ΔV incurred. Science operations started once the mission achieved the nominal orbit in Deep Space. This paper discusses in detail the BioSentinel flight performance, as well as the challenges and lessons learned prior to and during this CubeSat mission.

Andres Dono Perez↗
NASA NTRS2006

Mars Reconnaissance Orbiter Ka-band (32 GHz) Demonstration: Cruise Phase Operations

The X-band (8.41 GHz) frequency currently used for deep space telecommunications is too narrow (50 MHz) to support future high rate missions. Because of this NASA has decided to transition to Ka-band (32 GHz) frequencies. As weather effects cause much larger fluctuations on Ka-band than on X-band, the traditional method of using a few dBs of margin to cover these fluctuations is wasteful of power for Ka-band; therefore, a different operations concept is needed for Ka-band links. As part of the development of the operations concept for Ka-band, NASA has implemented a fully functioning Ka-band communications suite on its Mars Reconnaissance Orbiter (MRO). This suite will be used during the primary science phase to develop and refine the Ka-band operations concept for deep space missions. In order to test the functional readiness of the spacecraft and the Deep Space Network's (DSN) readiness to support the demonstration activities a series of passes over DSN 34-m Beam Waveguide (BWG) antennas were scheduled during the cruise phase of the mission. MRO was launched on August 12, 2005 from Kennedy Space Center, Cape Canaveral, Florida, USA and went into Mars Orbit on March 10, 2006. A total of ten telemetry demonstration and one high gain antenna (HGA) calibration passes were allocated to the Ka-band demonstration. Furthermore, a number of "shadow" passes were also scheduled where, during a regular MRO track over a Ka-band capable antenna, Ka-band was identically configured as the X-band and tracked by the station. In addition, nine Ka-band delta differential one way ranging ((delta)DOR) passes were scheduled. During these passes, the spacecraft and the ground system were put through their respective paces. Among the highlights of these was setting a single day record for data return from a deep space spacecraft (133 Gbits) achieved during one 10-hour pass; achieving the highest data rate ever from a planetary mission (6 Mbps) and successfully demonstrating Ka-band DDOR. In addition, DSN performed well. However, there are concerns with the active pointing of the Ka-band antennas as well as delivery of the monitor data from the stations. The spacecraft also presented challenges not normally associated with planetary missions mostly because of its very high equivalent isotropic radiated power (EIRP). This caused problems in accurately evaluating the in-flight EIRP of the spacecraft which led to difficulties evaluating the quality of the HGA calibration data. These led to the development of additional measurement techniques that could be used for future high-power deep space missions.

Mars Reconnaissance Orbiter (MRO)↗
NASA NTRS2004

Deep Space Ka-band Link Management and the MRO Demonstration: Long-term Weather Statistics Versus Forecasting

During the last 40 years, deep space radio communication systems have experienced a move toward shorter wavelengths. In the 1960s a transition from L- to S-band occurred which was followed by a transition from S- to X-band in the 1970s. Both these transitions provided deep space links with wider bandwidths and improved radio metrics capability. Now, in the 2000s, a new change is taking place, namely a move to the Ka-band region of the radio frequency spectrum. Ka-band will soon replace X-band as the frequency of choice for deep space communications providing ample spectrum for the high data rate requirements of future missions. The low-noise receivers of deep space networks have a great need for link management techniques that can mitigate weather effects. In this paper, three approaches for managing Ka-band Earth-space links are investigated. The first approach uses aggregate annual statistics, the second one uses monthly statistics, and the third is based on the short-term forecasting of the local weather. An example of weather forecasting for Ka-band link performance prediction is presented. Furthermore, spacecraft commanding schemes suitable for Ka-band link management are investigated. Theses schemes will be demonstrated using NASA's Mars Reconnaissance Orbiter (MRO) spacecraft in the 2007 to 2008 time period, and the demonstration findings will be reported in a future publication.

Mars Reconnaissance Orbiter (MRO)↗
NASA NTRS2017

NASA Near Earth Network (NEN) Support for Lunar and L1/L2 CubeSats

The NASA Near Earth Network (NEN) consists of globally distributed tracking stations, including NASA, commercial, and partner ground stations, that are strategically located to maximize the coverage provided to a variety of orbital and suborbital missions, including those in LEO, GEO, HEO, lunar and L1/L2 orbits. The NENs future mission set includes and will continue to include CubeSat missions. The majority of the CubeSat missions destined to fly on EM-1, launching in late 2018, many in a lunar orbit, will communicate with ground based stations via X-band and will utilize the NASA Jet Propulsion Laboratory (JPL) developed IRIS radio. The NEN recognizes the important role CubeSats are beginning to play in carrying out NASAs mission and is therefore investigating the modifications needed to provide IRIS radio compatibility. With modification, the NEN could potentially expand support to the EM-1 lunar CubeSats.The NEN could begin providing significant coverage to lunar CubeSat missions utilizing three to four of the NENs mid-latitude sites. This coverage would supplement coverage provided by the JPL Deep Space Network (DSN). The NEN, with smaller apertures than DSN, provides the benefit of a larger beamwidth that could be beneficial in the event of uncertain ephemeris data. In order to realize these benefits the NEN would need to upgrade stations targeted based on coverage ability and current configuration/ease of upgrade, to ensure compatibility with the IRIS radio. In addition, the NEN is working with CubeSat radio developers to ensure NEN compatibility with alternative CubeSat radios for Lunar and L1/L2 CubeSats. The NEN has provided NEN compatibility requirements to several radio developers who are developing radios that offer lower cost and, in some cases, more capabilities with fewer constraints. The NEN is ready to begin supporting CubeSat missions. The NEN is considering network upgrades to broaden the types of CubeSat missions that can be supported and is supporting both the CubeSat community and radio developers to ensure future CubeSat missions have multiple options when choosing a network for their communications support.

Schaire, Scott↗
NASA NTRS2015

The Role of Margin in Link Design and Optimization

Link analysis is a system engineering process in the design, development, and operation of communication systems and networks. Link models that are mathematical abstractions representing the useful signal power and the undesirable noise and attenuation effects (including weather effects if the signal path transverses through the atmosphere) that are integrated into the link budget calculation that provides the estimates of signal power and noise power at the receiver. Then the link margin is applied which attempts to counteract the fluctuations of the signal and noise power to ensure reliable data delivery from transmitter to receiver. (Link margin is dictated by the link margin policy or requirements.) A simple link budgeting approach assumes link parameters to be deterministic values typically adopted a rule-of-thumb policy of 3 dB link margin. This policy works for most S- and X-band links due to their insensitivity to weather effects. But for higher frequency links like Ka-band, Ku-band, and optical communication links, it is unclear if a 3 dB link margin would guarantee link closure. Statistical link analysis that adopted the 2-sigma or 3-sigma link margin incorporates link uncertainties in the sigma calculation. (The Deep Space Network (DSN) link margin policies are 2-sigma for downlink and 3-sigma for uplink.) The link reliability can therefore be quantified statistically even for higher frequency links. However in the current statistical link analysis approach, link reliability is only expressed as the likelihood of exceeding the signal-to-noise ratio (SNR) threshold that corresponds to a given bit-error-rate (BER) or frame-error-rate (FER) requirement. The method does not provide the true BER or FER estimate of the link with margin, or the required signalto-noise ratio (SNR) that would meet the BER or FER requirement in the statistical sense. In this paper, we perform in-depth analysis on the relationship between BER/FER requirement, operating SNR, and coding performance curve, in the case when the channel coherence time of link fluctuation is comparable or larger than the time duration of a codeword. We compute the "true" SNR design point that would meet the BER/FER requirement by taking into account the fluctuation of signal power and noise power at the receiver, and the shape of the coding performance curve. This analysis yields a number of valuable insights on the design choices of coding scheme and link margin for the reliable data delivery of a communication system - space and ground. We illustrate the aforementioned analysis using a number of standard NASA error-correcting codes.

Cheung, K.↗
NASA NTRSDate not supplied

Navigation Performance of the BioSentinel Deep Space CubeSat Mission

The BioSentinel mission was recently launched aboard the SLS launch vehicle (LV) as part of the Artemis- 1 campaign. The BioSentinel navigation team successfully tracked and guided the spacecraft through a lunar gravity assist to its destination Earth-trailing heliocentric orbit. This 6U CubeSat carries live yeast cells to analyze the effects of radiation at large distances from Earth, becoming the first biological payload in Deep Space. Prelaunch activities included mission design updates, orbit determination rehearsals and the development of a tracking schedule in coordination with the Artemis-1 payload office and the Deep Space Network (DSN). An important influence on the trajectories of Artemis I secondaries was the uncertainty associated with deployment from the Interim Cryogenic Propulsion System (ICPS), the upper stage of the SLS LV. The ICPS was rotating at a rate of 1 rpm; there was also an uncertainty in the spin axis attitude, which translated into an unknown clock angle of deployment. The variability in this angle and magnitude of deployment implied the existence of a non-negligible risk of a lunar impact, which was evaluated for various potential launch dates. We present the results of Monte Carlo analyses and compute the pertinent maneuvers to avoid it. In addition, we present a comparison with the actual deployment once the mission launched by reconstructing our trajectory with tracking data. On November 16th 2022 BioSentinel successfully deployed from ICPS and the navigation team started to receive 2-way Doppler and Sequential Ranging data from the DSN. We processed early data to try to obtain a first ephemeris using Initial Orbit Determination (IOD) methods such as the least squares. Soon after deployment, the spacecraft was tumbling and entered safe mode, creating a period where the tracking data were sparse. The mission team recovered the spacecraft and after four tracking passes, we solved for a first ephemeris that was sent to the DSN for better tracking of the spacecraft. After propagating this first ephemeris solution, we determined that we avoided impact with a margin of a few hundred km from the lunar surface. More tracking data over the next few days (from DSN as well as ESA antennas) allowed for a more refined orbit solution predicting a periselene altitude of 406 km and a lunar eclipse lasting 36.5 minutes. Therefore, BioSentinel operators aborted any correction maneuvers. This periselene altitude also gave us the necessary energy to achieve a heliocentric orbit. The next challenge was due to the necessary adjustments in our orbit determination method due to the large energy boost resulting from the lunar flyby. After a series of tracking passes we were able to get a nominal solution that resulted into a stable trajectory. This paper discusses in detail the navigation performance using the X-band IRIS transponder, as well as the challenges and lessons learned prior to and during this deep space, CubeSat mission.

Andres Dono Perez↗
NASA NTRS2018

Recommendations Emerging from an Analysis of NASA's Deep Space Communications Capacity

During 2016-2017, NASA’s Space Communications and Navigation (SCaN) Office chartered a study of Deep Space Network (DSN) communications capacity relative to projected future-mission demand over the next 30 years. In this paper, we briefly describe the methodology used to analyze capacity vs. demand over such a broad timeframe, summarize key findings emerging from the analysis, and discuss the associated recommendations. Performing the analysis entailed: identifying key factors shaping the anticipated future mission set, identifying several alternative future mission set scenarios consistent with these factors, and then analyzing each mission set scenario in terms of required antenna capacity, downlink and uplink capabilities, and spectrum as a function of time. On the basis of these aggregate requirements, DSN loading simulations were then conducted that examined how well each of the postulated mission sets could load up onto the the DSN’s “in-plan” architecture. To the extent that capacity shortfalls emerged during these baseline simulations, architectural solutions to the shortfalls were then postulated and tested via additional simulations. In general, the trend analyses and baseline loading simulations indicated a significant progression in challenges over the next three decades. In the current decade, the DSN appeared to be operating very close to capacity. The first human exploration mission and its secondary payload launch opportunities for cubesats traveling beyond GEO contributed to this loading. As a consequence, the main challenge appeared to be managing peak assetcontention periods. In the next decade, the DSN continued to operate close to capacity but also began transitioning to more frequent human mission support. Upgrading for, and operating, a human-rated system while continuing to meet robotic mission customer requirements emerged as the key challenge. In the 2030’s and beyond, simulations suggested a need for fundamentally new capability and capacity. The high data rates and long link distances characteristic of human Mars exploration drove requirements far beyond what is currently “in plan.” The key challenge then became determining the most cost-effective combination of RF and optical assets for communicating with the postulated human Mars assets while still providing for the needs of all the other missions across the solar system. Various link budget, visibility, and loading analyses ultimately suggested that the human Mars exploration demands of the 2030’s could best be addressed with two cross-linked RF-optical areostationary relays (or an areostationary relay and deep space habitat) providing a dual “trunk link” to an array of 2-to-3 additional 34m beam waveguide antennas and an ~8.5m optical antenna at each DSN Complex. The dual “trunk link” would enable the same amount of total data return to Earth as a single trunk link at twice the data rate, but with only half the required array size on the ground, assuming use of Multiple Spacecraft Per Antenna (MSPA) techniques. MSPA techniques, including a Multiple Uplink Per Antenna (MUPA) technique currently under investigation, also showed promise for reducing asset contention in the decades prior to human Mars exploration.

Lee, Carlyn-Ann↗
NASA NTRS2017

NASA Near Earth Network (NEN) Support for Lunar and L1/L2 CubeSats

The NASA Near Earth Network (NEN) consists of globally distributed tracking stations, including NASA, commercial, and partner ground stations, that are strategically located to maximize the coverage provided to a variety of orbital and suborbital missions, including those in LEO, GEO, HEO, lunar and L1/L2 orbits. The NENs future mission set includes and will continue to include CubeSat missions. The first NEN supported CubeSat mission will be the Cubesat Proximity Operations Demonstration (CPOD) launching into low earth orbit (LEO) in early 2017. The majority of the CubeSat missions destined to fly on EM-1, launching in late 2018, many in a lunar orbit, will communicate with ground based stations via X-band and will utilize the NASA Jet Propulsion Laboratory (JPL) developed IRIS radio. The NEN recognizes the important role CubeSats are beginning to play in carrying out NASAs mission and is therefore investigating the modifications needed to provide IRIS radio compatibility. With modification, the NEN could potentially expand support to the EM-1 lunar CubeSats. The NEN could begin providing significant coverage to lunar CubeSat missions utilizing three to four of the NENs mid-latitude sites. This coverage would supplement coverage provided by the JPL Deep Space Network (DSN). The NEN, with smaller apertures than DSN, provides the benefit of a larger beamwidth that could be beneficial in the event of uncertain ephemeris data. In order to realize these benefits the NEN would need to upgrade stations targeted based on coverage ability and current configurationease of upgrade, to ensure compatibility with the IRIS radio.In addition, the NEN is working with CubeSat radio developers to ensure NEN compatibility with alternative CubeSat radios for Lunar and L1/L2 CubeSats. The NEN has provided NEN compatibility requirements to several radio developers who are developing radios that offer lower cost and, in some cases, more capabilities with fewer constraints. The NEN is ready to begin supporting CubeSat missions. The NEN is considering network upgrades to broaden the types of CubeSat missions that can be supported and is supporting both the CubeSat community and radio developers to ensure future CubeSat missions have multiple options when choosing a network for their communications support.

Global Tracking Network Ground Station↗
NASA NTRSDate not supplied

Lunar Node – 1: Initial Flight Results and the Role of Surface Psuedolites in Lunar Navigation

On February 22, 2024, the Intuitive Machines IM-1 NOVA-C lander, nick-named Odysseus, landed on the lunar surface, carrying with it a cadre of NASA scientific and technology demonstration payloads. These payloads and missions marked the first delivery of NASA instruments to operate from the lunar surface since the Apollo landings. One of these payloads is Lunar Node -1 (LN-1), a navigation beacon demonstration mission. The payload was designed and built by NASA’s Marshall Space Flight Center. The payload’s main goal was to demonstrate and provide insight into the use of lunar surface-based radio navigation aids. As part of the mission, LN-1 successfully conducted multiple one-way transmissions from the NOVA-C vehicle to Deep Space Network ground receivers using its onboard S-band transmitter, while being disciplined by an onboard Space Chip Scale Atomic Clock. LN-1 transmitted to DSN on an almost daily basis during transit to the moon, including two surface passes. The payload was originally plan to conduct 7-10 days of surface operation as an always-on beacon. These passes focused on evaluating two main navigation approaches: performance and stability of ranging using time-based transfer techniques on a cubesat size and grade platform, as well as one-way psuedonoise ranging approaches. To assess performance, the measurements were compared to independent navigation solutions using multiple approaches including: one-way Doppler tracking, two-way Doppler Tracking, and visual verification of the landing location provided by visual observations from orbital platforms. While the mission only conducted limited surface operations, the data provides some initial insight to performance form the lunar surface. These results are compared with initial ground-based testing as well as continued evaluation of the flight-space platform using multiple grades of oscillators for maintaining clock and frequency stability. These focus on the timing stability of platform in a deep-space environment as well variations in state determination. Given these insights, this paper provides additional description and evaluation of how this approach can be utilized as part of a broader lunar navigation architecture, such as being developed and deployed across multiple international space agencies. Analysis is provided to develop overall timing requirements and assessment of operational scenarios, such as orbit and surface location determination. In addition, the results support discussion as to how surface pseudolites could best be used within existing standard signal definitions, such as defined in the LunaNet Interoperability Specifications. This will consider concerns such as the near-/far- problem as well as operational considerations, including whether a beacon is better suited as two- or one-way ranging platform. The use cases are focused on how these psuedolites can provide additional coverage to augment and support planned operational coverage. For example, this analysis provides analysis of mid-latitude surface missions, where there may be limited geometry and availability of orbital relays. The results will show how these navigation psuedolites can fit within the developing architecture to provide additional robustness, capability, and support multiple use cases. Lastly, the paper will discuss challenges and next steps to be addressed in the implementation and testing of a follow-on payload and a continued path towards demonstration and integration of this capability into Lunar PNT architectures.

Evan Anzalone↗
NASA NTRSDate not supplied

Lunar Node – 1: Initial Flight Results and the Role of Surface Psuedolites in Lunar Navigation

On February 22, 2024, Intuitive Machines NOVA-C lander, nick-named Odysseus, landed on the lunar surface, carrying with it a cadre of NASA scientific and technology demonstration payloads. These payloads and missions marked the first delivery of NASA instruments to operate from the lunar surface since the Apollo landings. One of these payloads is Lunar Node -1 (LN-1), a navigation beacon demonstration mission. The payload was designed and built by NASA’s Marshall Space Flight Center. The payload’s main goal was to demonstrate and provide insight into the use of lunar surface-based radio navigation aids. As part of the mission, LN-1 successfully conducted multiple one-way transmissions from the NOVA-C vehicle to Deep Space Network ground receivers using its onboard S-band transmitter, while being disciplined by an onboard Space Chip Scale Atomic Clock. LN-1 transmitted to DSN on an almost daily basis during transit to the moon, including two surface passes. The payload was originally plan to conduct 7-10 days of surface operation as an always-on beacon. These passes focused on evaluating two main navigation approaches: performance and stability of ranging using time-based transfer techniques on a cubesat size and grade platform, as well as one-way psuedonoise ranging approaches. To assess performance, the measurements were compared to independent navigation solutions using multiple approaches including: one-way Doppler tracking, two-way Doppler Tracking, and visual verification of the landing location provided by visual observations from orbital platforms. While the mission only conducted limited surface operations, the data provides some initial insight to performance form the lunar surface. These results are compared with initial ground-based testing as well as continued evaluation of the flight-space platform using multiple grades of oscillators for maintaining clock and frequency stability. These focus on the timing stability of platform in a deep-space environment as well variations in state determination. Given these insights, this paper provides additional description and evaluation of how this approach can be utilized as part of a broader lunar navigation architecture, such as being developed and deployed across multiple international space agencies. Analysis is provided to develop overall timing requirements and assessment of operational scenarios, such as orbit and surface location determination. In addition, the results support discussion as to how surface pseudolites could best be used within existing standard signal definitions, such as defined in the LunaNet Interoperability Specifications. This will consider concerns such as the near-/far- problem as well as operational considerations, including whether a beacon is better suited as two- or one-way ranging platform. The use cases are focused on how these psuedolites can provide additional coverage to augment and support planned operational coverage. For example, this analysis provides analysis of mid-latitude surface missions, where there may be limited geometry and availability of orbital relays. The results will show how these navigation psuedolites can fit within the developing architecture to provide additional robustness, capability, and support multiple use cases. Lastly, the paper will discuss challenges and next steps to be addressed in the implementation and testing of a follow-on payload and a continued path towards demonstration and integration of this capability into Lunar PNT architectures.

Evan J Anzalone↗
NASA NTRS2016

Enabling Affordable Communications for the Burgeoning Deep Space Cubesat Fleet

The low costs of development and launch, coupled with new propulsive technologies, have made CubeSats increasingly popular for use in science investigations beyond geosynchronous orbit. As this deep space CubeSat fleet grows in size, the challenge of trying to provide affordable communications for it grows commensurately. The mass, power, and volume constraints inherent to CubeSats limit the antenna size and transmit power that they can use to close the deep space link. As a consequence, CubeSats need to rely more heavily on ground antennas that are characterized by large aperture, low noise temperatures, and relatively high-power transmitters. Such antennas are not in great abundance, nor are they inexpensive to build. For this reason, NASA’s Deep Space Network has been advocating a three-pronged approach to meeting anticipated CubeSat demand: development of simultaneous, shared-beam multi-spacecraft communications capabilities, development of large-antenna cross-support arrangements with other agencies and universities, and development of less uplink-intensive navigation techniques. This paper focuses on the pursuit of simultaneous, shared-beam multi-spacecraft communications capabilities. While the Multiple Spacecraft per Antenna (MSPA) technique has existed for over a decade, it has generally been limited to supporting downlink for just two in-beam spacecraft at a time. This limitation has largely been a function of the number and cost of available receivers. A relatively new technique that potentially overcomes this limitation is Opportunistic MSPA (OMSPA). Instead of relying on additional receivers, OMSPA makes use of a digital recorder at each ground station that is capable of capturing the intermediate frequency (IF) signals from every spacecraft in the antenna beam within the frequency bands of interest. When CubeSat projects see one or more opportunities for their CubeSat(s) to intercept the traditionally scheduled antenna beam of a “host” spacecraft, they can arrange for the CubeSat(s) to transmit open loop during those opportunities. Via a secure Internet site, the CubeSat mission operators can then retrieve the time- and frequency-relevant portions of the digital recording for subsequent demodulation and decoding, or subscribe to a service that does it for them. This “opportunistic” use of a host spacecraft’s ground antenna beam potentially enables CubeSat projects to make use of large ground antennas for downlink without having to compete with bigger, better-funded missions for antenna time in the formal scheduling process. In so doing, it also potentially enables CubeSat projects to avoid the aperture fees associated with formally scheduled downlink time - fees that factor into the “bottom-line” of competitively-bid NASA missions and that actually get charged to non-NASA missions. Taking advantage of these potential OMSPA benefits, however, will require CubeSat projects to pursue mission designs that ensure at least periodic in-beam operations relative to a “host” spacecraft. In the case of a constellation of CubeSats with inter-spacecraft distances that do not extend outside of the beam-width of the desired ground antenna at the given range, one CubeSat can serve as the “host” and have a formally scheduled downlink while the rest of the CubeSats can downlink essentially for “free” via OMSPA. Deep space CubeSats, of course, will need uplink in addition to downlink. Beyond commanding, this need is driven by the use of two-way ranging and Doppler for navigation. While OMSPA may not directly facilitate uplink, it does have the potential to free up antennas for those spacecraft that periodically require formally scheduled links for commanding and two-way radio metrics. NASA is also exploring the physical feasibility of an in-beam, simultaneous multi-spacecraft uplink technique. As with OMSPA, if successful, it will require little new equipment, further enabling affordable deep space CubeSat communications.

Abraham, Douglas S.↗
NASA NTRS2013

X-Ray Detection and Processing Models for Spacecraft Navigation and Timing

The current primary method of deepspace navigation is the NASA Deep Space Network (DSN). High-performance navigation is achieved using Delta Differential One-Way Range techniques that utilize simultaneous observations from multiple DSN sites, and incorporate observations of quasars near the line-of-sight to a spacecraft in order to improve the range and angle measurement accuracies. Over the past four decades, x-ray astronomers have identified a number of xray pulsars with pulsed emissions having stabilities comparable to atomic clocks. The x-ray pulsar-based navigation and time determination (XNAV) system uses phase measurements from these sources to establish autonomously the position of the detector, and thus the spacecraft, relative to a known reference frame, much as the Global Positioning System (GPS) uses phase measurements from radio signals from several satellites to establish the position of the user relative to an Earth-centered fixed frame of reference. While a GPS receiver uses an antenna to detect the radio signals, XNAV uses a detector array to capture the individual xray photons from the x-ray pulsars. The navigation solution relies on detailed xray source models, signal processing, navigation and timing algorithms, and analytical tools that form the basis of an autonomous XNAV system. Through previous XNAV development efforts, some techniques have been established to utilize a pulsar pulse time-of-arrival (TOA) measurement to correct a position estimate. One well-studied approach, based upon Kalman filter methods, optimally adjusts a dynamic orbit propagation solution based upon the offset in measured and predicted pulse TOA. In this delta position estimator scheme, previously estimated values of spacecraft position and velocity are utilized from an onboard orbit propagator. Using these estimated values, the detected arrival times at the spacecraft of pulses from a pulsar are compared to the predicted arrival times defined by the pulsar s pulse timing model. A discrepancy provides an estimate of the spacecraft position offset, since an error in position will relate to the measured time offset of a pulse along the line of sight to the pulsar. XNAV researchers have been developing additional enhanced approaches to process the photon TOAs to arrive at an estimate of spacecraft position, including those using maximum-likelihood estimation, digital phase locked loops, and "single photon processing" schemes that utilize all available time data associated with each photon. Using pulsars from separate, non-coplanar locations provides range and range-rate measurements in each pulsar s direction. Combining these different pulsar measurements solves for offsets in position and velocity in three dimensions, and provides accurate overall navigation for deep space vehicles.

Sheikh, Suneel↗
NASA NTRS2017

Near Earth Network (NEN) CubeSat Communications

The NASA Near Earth Network (NEN) consists of globally distributed tracking stations, including NASA, commercial, and partner ground stations, that are strategically located to maximize the coverage provided to a variety of orbital and suborbital missions, including those in LEO (Low Earth Orbit), GEO (Geosynchronous Earth Orbit), HEO (Highly Elliptical Orbit), lunar and L1-L2 orbits. The NEN's future mission set includes and will continue to include CubeSat missions. The first NEN-supported CubeSat mission will be the Cubesat Proximity Operations Demonstration (CPOD) launching into LEO in 2017. The majority of the CubeSat missions destined to fly on EM-1, launching in late 2018, many in a lunar orbit, will communicate with ground-based stations via X-band and will utilize the NASA Jet Propulsion Laboratory (JPL)-developed IRIS (Satellite Communication for Air Traffic Management) radio. The NEN recognizes the important role CubeSats are beginning to play in carrying out NASAs mission and is therefore investigating the modifications needed to provide IRIS radio compatibility. With modification, the NEN could potentially expand support to the EM-1 (Exploration Mission-1) lunar CubeSats. The NEN could begin providing significant coverage to lunar CubeSat missions utilizing three to four of the NEN's mid-latitude sites. This coverage would supplement coverage provided by the JPL Deep Space Network (DSN). The NEN, with smaller apertures than DSN, provides the benefit of a larger beamwidth that could be beneficial in the event of uncertain ephemeris data. In order to realize these benefits the NEN would need to upgrade stations targeted based on coverage ability and current configuration ease of upgrade, to ensure compatibility with the IRIS radio. In addition, the NEN is working with CubeSat radio developers to ensure NEN compatibility with alternative CubeSat radios for Lunar and L1-L2 CubeSats. The NEN has provided NEN compatibility requirements to several radio developers who are developing radios that offer lower cost and, in some cases, more capabilities with fewer constraints. The NEN is ready to begin supporting CubeSat missions. The NEN is considering network upgrades to broaden the types of CubeSat missions that can be supported and is supporting both the CubeSat community and radio developers to ensure future CubeSat missions have multiple options when choosing a network for their communications support.

CubeSat↗