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At least 955 records · Page 53
All sourcesNASA NTRSDOE OSTI
NASA NTRS2019

A Novel Surface Feature Navigation Algorithm Using Ray Tracing

We demonstrate a novel single-bounce ray tracing approach to landmark identification for surface feature-based relative navigation. A priori knowledge of the camera pose and known topographic maps for each landmark are used to render the potentially visible landmarks via ray tracing into the image frame. These templates are registered with a search region around the predicted location for each landmark in the image, to locate its observed center. This procedure is applied to images from the OSIRIS-REx Orbital A and Orbital B mission phases, and the results are compared with those obtained via previous landmark identification methods.

Gnam, Chris↗
NASA NTRS2021

Numerous Wildfire Smoke Plumes in Northwest Ontario, Canada

The height at which smoke is lofted into the atmosphere affects how long it will stay aloft, how far it will travel, and how much of an impact it will have on air quality downwind, and regional climate. Parallax, the change in apparent plume position relative to the surface, as observed by NASA's Multi0angle Imaging Spectroradiometer (MISR) instrument, makes it possible to map the height of smoke, dust and volcanic plumes near-source, where plume features are visible in the multi-angle views.

wildfire smoke↗
NASA NTRSDate not supplied

Investigating Photogrammetric Accuracy of a Lunar-lander-induced Crater Measurement System

Laboratory measurements have been made to validate the performance of the Stereo CAmeras for Lunar Plume-Surface Studies (SCALPSS) stereo photogrammetry systems which will be flying to the moon on two of NASA’s upcoming Commercial Lunar Payload Services (CLPS) missions. Until recently, the system’s accuracy had only been studied using idealized geometric shapes as measurement targets. A realistic crater model of representative scale and an idealized ‘staircase’ target have been used to compare measurement accuracy of ideal versus lunar-like objects, with the commercial V-STARS® system being used to provide the known reference values for comparison. In a parametric study, altitude, lens focal length, and camera separation are varied to assess each parameter’s impact on photogrammetric accuracy in relation to the scaling law prediction developed previously. The SCALPSS 1.0 and 1.1 configurations have been validated on the crater model within acceptable accuracy for the missions, performing significantly better than the scaling law prediction in some cases. A semi-automated post-processing routine was developed in MATLAB® and proved successful for the cross-correlation of features between two stereo images. For some cases of extreme convergence angles between a camera pair, manual feature detection and matching was required. By using this manual process, the crater depth map was reconstructed but with worse accuracy than the idealized staircase measurements; refinements to the processing algorithm are expected to improve future results. Also examined in this work is the impact of illumination environments, both natural (e.g., Sun angles) and artificial (diffuse or structured illumination sources), on the camera system’s ability to measure the erosion of the lunar terrain.

Plume-surface interaction↗
NASA NTRSDate not supplied

Investigating Photogrammetric Accuracy of a Lunar-lander-induced Crater Measurement System

Laboratory measurements have been made to validate the performance of the Stereo CAmeras for Lunar Plume-Surface Studies (SCALPSS) stereo photogrammetry systems which will be flying to the moon on two of NASA’s upcoming Commercial Lunar Payload Services (CLPS) missions. Until recently, the system’s accuracy had only been studied using idealized geometric shapes as measurement targets. A realistic crater model of representative scale and an idealized ‘staircase’ target have been used to compare measurement accuracy of ideal versus lunar-like objects, with the commercial V-STARS® system being used to provide the known reference values for comparison. In a parametric study, altitude, lens focal length, and camera separation are varied to assess each parameter’s impact on photogrammetric accuracy in relation to the scaling law prediction developed previously. The SCALPSS 1.0 and 1.1 configurations have been validated on the crater model within acceptable accuracy for the missions, performing significantly better than the scaling law prediction in some cases. A semi-automated post-processing routine was developed in MATLAB® and proved successful for the cross-correlation of features between two stereo images. For some cases of extreme convergence angles between a camera pair, manual feature detection and matching was required. By using this manual process, the crater depth map was reconstructed but with worse accuracy than the idealized staircase measurements; refinements to the processing algorithm are expected to improve future results. Also examined in this work is the impact of illumination environments, both natural (e.g., Sun angles) and artificial (diffuse or structured illumination sources), on the camera system’s ability to measure the erosion of the lunar terrain.

Plume-surface interaction↗
NASA NTRS1974

Geologic evaluation and applications of ERTS-1 imagery over Georgia

Satellite imagery and other remote sensing tools and techniques have provided a powerful tool to assist geologic research; significantly increased the mapping efficiency of field geologists; shown new lineaments associated with known shear and fault zones; delineated new structural features; provided a tool to reevaluate tectonic history; helped to locate potential ground-water sources and areas of aquifer recharge; defined areas of geologic hazards; shown areas of heavy siltation in major reservoirs; and, by close interval repetition, aided in monitoring surface mine reclamation activities and the environmental protection of the intricate marshland system. The Georgia Geological Survey has been engaged in regional mapping for the new state geologic map. ERTS-1 images enlarged to compatible mapping scales have increased field geologic mapping efficiency by at least 25%. There are a number of areas where data from ERTS-1 imagery has allowed a notably higher level of precision than has been available with any amount of field work on the ground.

Pickering, S. M.↗
NASA NTRS2011

CCSDS Advanced Orbiting Systems Virtual Channel Access Service for QoS MACHETE Model

To support various communications requirements imposed by different missions, interplanetary communication protocols need to be designed, validated, and evaluated carefully. Multimission Advanced Communications Hybrid Environment for Test and Evaluation (MACHETE), described in "Simulator of Space Communication Networks" (NPO-41373), NASA Tech Briefs, Vol. 29, No. 8 (August 2005), p. 44, combines various tools for simulation and performance analysis of space networks. The MACHETE environment supports orbital analysis, link budget analysis, communications network simulations, and hardware-in-the-loop testing. By building abstract behavioral models of network protocols, one can validate performance after identifying the appropriate metrics of interest. The innovators have extended the MACHETE model library to include a generic link-layer Virtual Channel (VC) model supporting quality-of-service (QoS) controls based on IP streams. The main purpose of this generic Virtual Channel model addition was to interface fine-grain flow-based QoS (quality of service) between the network and MAC layers of the QualNet simulator, a commercial component of MACHETE. This software model adds the capability of mapping IP streams, based on header fields, to virtual channel numbers, allowing extended QoS handling at link layer. This feature further refines the QoS v existing at the network layer. QoS at the network layer (e.g. diffserv) supports few QoS classes, so data from one class will be aggregated together; differentiating between flows internal to a class/priority is not supported. By adding QoS classification capability between network and MAC layers through VC, one maps multiple VCs onto the same physical link. Users then specify different VC weights, and different queuing and scheduling policies at the link layer. This VC model supports system performance analysis of various virtual channel link-layer QoS queuing schemes independent of the network-layer QoS systems.

Jennings, Esther H.↗
NASA NTRS1987

Characteristic structures of the highland boundary on Mars: Evidence against a single mega-impact event?

It has been suggested that an early mega-impact event might explain the fumdamental crustal dichotomy on Mars. Detailed morphological mapping of the structures which characterize the boundary between the cratered highlands and northern plains does not support this idea: the distribution of these features along and especially away from the boundary is more consistent with a larger number of smaller but overlapping impacts. A data base was assembled for the study of the highland boundary through quantitative mapping (including crater counts) based on the 1:2 M controlled photomosaics. Whole and partial craters larger than 10 km in diameter, knobby terrain, detached plateaus and intervening plains-forming units have been identified wherever they occur on Mars between +65 and -45 deg latitude. There is evidence for occurrences of possible old cratered terrain (or its remanents) at high latitudes well north of the current or likely former location of the proposed Borealis Basin rim which are difficult to reconcile with an impact structure of the proposed size and location.

Semeniuk, Ann Marie↗
NASA NTRS1986

Development of a numerical procedure to map a general 3-d body onto a near-circle

Conformal mapping is a classical technique utilized for solving problems in aerodynamics and hydrodynamics. Conformal mapping is utilized in the construction of grids around airfoils, engine inlets and other aircraft configurations. These shapes are transformed onto a near-circle image for which the equations of fluid motion are discretized on the mapped plane and solved numerically by utilizing the appropriate techniques. In comparison to other grid-generation techniques such as algerbraic or differential type, conformal mapping offers an analytical and accurate form even if the grid deformation is large. One of the most appealing features is that the grid can be constrained to remain orthogonal to the body after the transformation. Hence, the grid is suitable for analyzing the supersonic flow past a blunt object. The associated shock as a coordinate surface adjusts its position in the course of computation until convergence is reached. The present work applied conformal mapping to 3-D bodies with no axis of symmetry such as the Aerobraking Flight Experiment (AFE) vehicle, transforming the AFE shape onto a near-circle image. A numerical procedure and code are used to generate grids around the AFE body.

Hommel, M. J.↗
NASA NTRS2003

Evidence for Buried "Pre-Noachian" Crust Pre-Dating the Oldest Observed Surface Units on Mars

Even though the Early Noachian (EN) used in geologic mapping is undefined at the early end, it is often assumed in absolute chronologies to extend back to 4.6 BYA. We explored this assumption by searching for evidence of buried impact basins, in the largest occurrences of Early Noachian terrain. The hypothesis is that if such basins exist, they indicate crust which must predate the surface units mapped as the oldest on Mars, and those units must then be less than 4.6 BY old. Alternatively, if no such buried features are seen, then the surface units may represent crust of the same age below, which could in principle be as old as Mars. Here we show the former alternative is true. There must be crust older than the oldest mapped surface units. We also show that a number of Noachian terrains on Mars appear to have a common total (visible + buried) crater retention age. This might be either the age of the original (planet-wide?) crust of Mars, or may indicate crater saturation.

Frey, H. V.↗
NASA NTRS2011

Quantifying Errors in TRMM-Based Multi-Sensor QPE Products Over Land in Preparation for GPM

Determining uncertainties in satellite-based multi-sensor quantitative precipitation estimates over land of fundamental importance to both data producers and hydro climatological applications. ,Evaluating TRMM-era products also lays the groundwork and sets the direction for algorithm and applications development for future missions including GPM. QPE uncertainties result mostly from the interplay of systematic errors and random errors. In this work, we will synthesize our recent results quantifying the error characteristics of satellite-based precipitation estimates. Both systematic errors and total uncertainties have been analyzed for six different TRMM-era precipitation products (3B42, 3B42RT, CMORPH, PERSIANN, NRL and GSMap). For systematic errors, we devised an error decomposition scheme to separate errors in precipitation estimates into three independent components, hit biases, missed precipitation and false precipitation. This decomposition scheme reveals hydroclimatologically-relevant error features and provides a better link to the error sources than conventional analysis, because in the latter these error components tend to cancel one another when aggregated or averaged in space or time. For the random errors, we calculated the measurement spread from the ensemble of these six quasi-independent products, and thus produced a global map of measurement uncertainties. The map yields a global view of the error characteristics and their regional and seasonal variations, reveals many undocumented error features over areas with no validation data available, and provides better guidance to global assimilation of satellite-based precipitation data. Insights gained from these results and how they could help with GPM will be highlighted.

Peters-Lidard, Christa D.↗
NASA NTRS2010

Geological Map of the Fredegonade (V-57) Quadrangle, Venus: Status Report

The Fredegonde quadrangle (V-57; 50-75degS, 60-120degE, Fig. 1) corresponds to the northeastern edge of Lada Terra and covers a broad area of the topographic province of midlands (0-2 km above MPR [1,2]). This province is most abundant on Venus and displays a wide variety of units and structures [3-11]. The sequence of events that formed the characteristic features of the midlands is crucially important in understanding of the timing and modes of evolution of this topographic province. Topographically, the Fredegonde quadrangle is within a transition zone between the elevated portion of Lada Terra to the west (Quetzalpetlatl-Boala Coronae rise, approx.3.5 km) and the lowland of Aino Planitia to the north and northeast (approx.-0.5 km). This transition is one of the key features of the V-57 quadrangle. In this respect the quadrangle resembles the region of V-4 quadrangle [12] that shows transition between the midlands and the lowlands of Atalanta Planitia. One of the main goals of our mapping within the V-57 quadrangle is comparison of this region with the other transitional topographic zones such as quadrangles V-4 and V-3 [13]. The most prominent features in the V-57 quadrangle are linear deformational zones of grooves and large coronae. The zones characterize the central and NW portions of the map area and represent broad (up to 100s of km wide) ridges that are 100s of m high. Morphologically and topographically, these zones are almost identical to the groove belt/corona complexes at the western edge of Atalanta Planitia [12]. Within the Fredegonde area, however, the zones are oriented at high angles to the general trend of elongated Aino Planitia, whereas within the V-4 quadrangle they are parallel to the edge of Atalanta Planitia. Relatively small (100s of km across, 100s of m deep) equidimensional basins occur between the corona-groove-chains in the area of V-57 quadrangle. These basins are similar to those that populate the area of the V-3 quadrangle [13]. Broad regional plains cover the surface of the basins in both regions. In contrast to Fredegonde, the area of the V-3 quadrangle displays a greater diversity of units and features [13]. Here we describe units that make up the surface within the V-57 quadrangle and present a summary of our geological map that shows the areal distribution of the major groups of units.

Ivanov, M. A.↗
NASA NTRS1973

An interpretation of a geologic map of Fannin County, Texas, prepared by ADP techniques from ERTS MSS data

Multispectral scanner data, collected by ERTS-1 from an area in northeast Texas underlain by structurally simple cretaceous sedimentary rocks, were analyzed using several automatic data processing techniques. Training areas for the computer analysis were selected in three ways using: (1) an unsupervised classifier, (2) the unsupervised classifier to further refine training areas, and (3) available ground information. The first two methods utilize the capability of the unsupervised classifier to the unsupervised classifier to group resolution elements with similar spectral properties. With the imagery produced by these procedures, several geologic features can be identified. The most easily recognizable features are streams and other water bodies. The approximate location of contacts between several rock units can be mapped.

Henderson, J. A., Jr.↗
NASA NTRS1987

Comments on the tectonism of Venus

Preliminary tectonic mapping of Venus from Venera 15/16 images shows unquestionable evidence of at least limited horizontal tectonism. The majority of tectonic features on Venus have no relation to topography. In fact, many axes of disruption interconnect, and cross sharp topographic boundaries at large angles, thereby discounting gravity as the driving force. Compressional zones (CZ's), unlike Extensional zones (EZ's), tend to be discontinuous, and, whereas EZ's cross tectonic and topographic boundaries at various angles, many CZ's on Venus are subparallel to these boundaries. Strike-like faulting is curiously lacking from the mapping, possible due to the steep incidence angle of the radar, which is far from optimal for detecting faults of small throw. A chronology of horizontal crustal movements, and hence the analysis of Venus' thermal development, is large dependent on understanding the crater form features. Regardless of their uncertain origin, the craters still could hold the answer to whether, and to what extent, crustal shuffling is occurring on Venus.

Kozak, R. C.↗
NASA NTRS1998

Real-Time Lunar Prospector Data Visualization Using Web-Based Java

The Lunar Prospector was co-developed by NASA Ames Research Center and Lockheed Martin, and was launched on January 6th, 1998. Its mission is to search for water ice and various elements in the Moon's surface, map its magnetic and gravity fields, and detect volcanic activity. For the first time, the World Wide Web is being used to graphically display near-real-time data from a planetary exploration mission to the global public. Science data from the craft's instruments, as well as engineering data for the spacecraft subsystems, are continuously displayed in time-varying XY plots. The craft's current location is displayed relative to the whole Moon, and as an off-craft observer would see in the reference frame of the craft, with the lunar terrain scrolling underneath. These features are implemented as Java applets. Analyzed data (element and mass distribution) is presented as 3D lunar maps using VRML and Javascript. During the development phase, implementations of the Java Virtual Machine were just beginning to mature enough to adequately accommodate our target featureset; incomplete and varying implementations were the biggest bottleneck to our ideal of ubiquitous browser access. Bottlenecks notwithstanding, the reaction from the Internet community was overwhelmingly enthusiastic.

Deardorff, D. Glenn↗
NASA NTRS2017

A Minimal State Augmentation Algorithm for Vision-Based Navigation without Using Mapped Landmarks

This paper describes MAVeN (Minimal State Augmentation Algorithm for Vision-Based Navigation), which is a new algorithm for vision-based navigation that has only 21 states, yet is able to track features in successive camera images and use them to propagate estimates of the spacecraft position and velocity. The filter dimension drops to 12 if attitude information is already available. The low filter dimension makes MAVeN a very reliable and practical algorithm for real-time flight implementation. The main idea is to project observed features onto a rough shape model of the ground surface, which are then used by the filter as pseudo-landmarks. The shape model is assumed to be known beforehand, as would be obtained from prior surveillance of the landing site from orbit. MAVeN does not require pre-mapped landmarks, so it is able to navigate terrain that has not been previously observed up close. This property is especially important for close proximity operations in small body missions where ground surface features are being seen for the first time at close range. MAVeN is also able to hover motionless above the ground without position error growth, which is unusual for this class of vision-based navigation algorithms.

San Martin, A. Miguel↗
NASA NTRS1975

Environmental monitoring of North Merritt Island

The environmental impact of the space shuttle operation on North Merritt Island was studied mainly by means of color infrared photos and field visits. An attempt was also made to generate character maps of the Island using LANDSAT data with a view to decreasing the cost of monitoring and making the process more flexible in terms of rapid estimation of the extent of selected ground features. It seems possible that the IMAGE-100 output can be improved by using it in conjunction with software systems which are used for generating character maps. All the methods for generating maps show six main plant associations on North Merritt Island. It was shown that the six associations are related by ecological succession, merge into their neighbors in terms of component species and can be observed for changes in terms of component species.

Poonai, P.↗
NASA NTRS2010

Stereoscopic Machine-Vision System Using Projected Circles

A machine-vision system capable of detecting obstacles large enough to damage or trap a robotic vehicle is undergoing development. The system includes (1) a pattern generator that projects concentric circles of laser light forward onto the terrain, (2) a stereoscopic pair of cameras that are aimed forward to acquire images of the circles, (3) a frame grabber and digitizer for acquiring image data from the cameras, and (4) a single-board computer that processes the data. The system is being developed as a prototype of machine- vision systems to enable robotic vehicles ( rovers ) on remote planets to avoid craters, large rocks, and other terrain features that could capture or damage the vehicles. Potential terrestrial applications of systems like this one could include terrain mapping, collision avoidance, navigation of robotic vehicles, mining, and robotic rescue. This system is based partly on the same principles as those of a prior stereoscopic machine-vision system in which the cameras acquire images of a single stripe of laser light that is swept forward across the terrain. However, this system is designed to afford improvements over some of the undesirable features of the prior system, including the need for a pan-and-tilt mechanism to aim the laser to generate the swept stripe, ambiguities in interpretation of the single-stripe image, the time needed to sweep the stripe across the terrain and process the data from many images acquired during that time, and difficulty of calibration because of the narrowness of the stripe. In this system, the pattern generator does not contain any moving parts and need not be mounted on a pan-and-tilt mechanism: the pattern of concentric circles is projected steadily in the forward direction. The system calibrates itself by use of data acquired during projection of the concentric-circle pattern onto a known target representing flat ground. The calibration- target image data are stored in the computer memory for use as a template in processing terrain images. During operation on terrain, the images acquired by the left and right cameras are analyzed. The analysis includes (1) computation of the horizontal and vertical dimensions and the aspect ratios of rectangles that bound the circle images and (2) comparison of these aspect ratios with those of the template. Coordinates of distortions of the circles are used to identify and locate objects. If the analysis leads to identification of an object of significant size, then stereoscopicvision algorithms are used to estimate the distance to the object. The time taken in performing this analysis on a single pair of images acquired by the left and right cameras in this system is a fraction of the time taken in processing the many pairs of images acquired in a sweep of the laser stripe across the field of view in the prior system. The results of the analysis include data on sizes and shapes of, and distances and directions to, objects. Coordinates of objects are updated as the vehicle moves so that intelligent decisions regarding speed and direction can be made. The results of the analysis are utilized in a computational decision-making process that generates obstacle-avoidance data and feeds those data to the control system of the robotic vehicle.

Mackey, Jeffrey R.↗
NASA NTRS1973

Arctic and subarctic environmental analyses utilizing ERTS-1 imagery

The author has identified the following significant results. Physiognomic landscape features were used as geologic and vegetative indicators in preparation of a surficial geology, vegetation, and permafrost map at a scale of 1:1 million using ERTS-1 band 7 imagery. The detail from this map compared favorably with USGS maps at 1:250,000 scale. Physical boundaries mapped from ERTS-1 imagery in combination with ground truth obtained from existing small maps and other sources resulted in improved and more detailed maps of permafrost terrain and vegetation for the same area. ERTS-1 imagery provides for the first time, a means of monitoring the following regional estuarine processes: daily and periodic surface water circulation patterns; changes in the relative sediment load of rivers discharging into the inlet; and, several local patterns not recognized before, such as a clockwise back eddy offshore from Clam Gulch and a counterclockwise current north of the Forelands. Comparison of ERTS-1 and Mariner imagery has revealed that the thermokarst depressions found on the Alaskan North Slope and polygonal patterns on the Yukon River Delta are possible analogs to some Martian terrain features.

Anderson, D. M.↗