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GPS-based tracking system for TOPEX orbit determination

A tracking system concept is discussed that is based on the utilization of the constellation of Navstar satellites in the Global Positioning System (GPS). The concept involves simultaneous and continuous metric tracking of the signals from all visible Navstar satellites by approximately six globally distributed ground terminals and by the TOPEX spacecraft at 1300-km altitude. Error studies indicate that this system could be capable of obtaining decimeter position accuracies and, most importantly, around 5 cm in the radial component which is key to exploiting the full accuracy potential of the altimetric measurements for ocean topography. Topics covered include: background of the GPS, the precision mode for utilization of the system, past JPL research for using the GPS in precision applications, the present tracking system concept for high accuracy satellite positioning, and results from a proof-of-concept demonstration.

Melbourne, W. G.↗

The Marshall Automated Wind Algorithm for Geostationary Satellite Wind Applications

The Marshall Automated Wind (MAW) algorithm was developed over a decade ago in support of specialized studies of mesoscale meteorology. In recent years, the algorithm has been generalized to address global climate issues and other specific objectives related to NASA missions. The MAW algorithm uses a tracking scheme which minimizes image brightness temperature differences in a sequence of satellite images to determine feature displacement (winds). With the appropriate methodology accurate satellite derived winds can be obtained from visible, infrared, and water vapor imagery. Typical errors are less than 4 m/s but depend on the quality and control constraints used in post-processing. Key to this success is the judicious use of template size and search area used for tracking, image resolution and time sampling, and selection of appropriate statistical constraints which may vary with image type and desired application. The conference paper and subsequent poster will provide details of the technique and examples of its application.

Jedlovec, Gary J.↗

Estimation of the ocean geoid near the Blake Escarpment using GEOS-3 satellite altimetry

The accuracy with which the local ocean geoid structure could be determined using satellite altimetry data was investigated. The undulation and along-track component of the vertical deflection for selected passes of GEOS-3 near the Blake Escarpment were estimated and compared with independent analogous estimates based on U. S. Navy surface gravimetric survey data. The results of these comparisons show agreement in the geoid undulation values generally to within one or two meters. The nature of the discrepancy in the undulation values was primarily that of a bias error believed to be due essentially to radial orbit uncertainties. The agreement between the vertical deflection estimates was not significantly affected by orbit uncertainties over the track lengths considered in this study (100 - 1500 km), and the comparisons show typical rms differences of between one and two arc secs. In addition, the capability of the altimeter to resolve short wavelength features of the geoid was determined. This analysis involved spectrum and cross spectrum analysis of sets of closely spaced parallel subtracks to determine statistically significant short wavelength geoid resolution capability. The results of this analysis show that resolution can be achieved down to wavelengths as short as 30 km - 80 km depending on regional geoid variations.

Brammer, R. F.↗

Impact of scintillation of transionospheric communications

Analyses of AGC analog data from the Small Astronomy Satellite (SAS) at VHF (136 MHz) have shown amplitude fluctuations in the signals received at several equatorial tracking sites operated by NASA. Coincident digital telemetry data, transmitted from SAS at 1 kbps, has also been analyzed. Errors in data are shown to increase markedly for nighttime satellite passes around the periods of the two equinoxes as compared to the errors observed during other periods. This paper establishes the qualitative and quantitative correlations between the ionospheric scintillation phenomenon and the occurrence of errors. Strong time and geographic cause and effect relationships are established by determining the statistical correlation between scintillation indices and bit error rates.

Blank, H. A.↗

C-band station coordinate determination for the Geos-C altimeter calibration area

Dynamical orbital techniques were employed to estimate the center-of-mass station coordinates of six C-band radars located in the designated primary Geos-C radar altimeter calibration area. This work was performed in support of the planned Geos-C mission (December 1974 launch). The sites included Bermuda, Grand Turk, Antigua, Wallops Island (Virginia), and Merritt Island (Florida). Two sites were estimated independently at Wallops Island yielding better than 40 cm relative height recovery, with better than 10 cm and 1m (relative) recovery for phi and lambda, respectively. The tracking data used in this analysis were taken during 1969 when the radars tracked the Geos-II transponder. In all, over 120 passes of data were used. Range biases were estimated. Error analysis and comparisons with other investigators indicate that better than 2m (1 sigma) relative recovery has been achieved at all sites.

Klosko, S. M.↗

Measurements of hydrogen and helium isotopes in Galactic cosmic rays from 1978 through 1984

The propagation of light cosmic rays is examined using measurements of the relative abundances of the isotopes H-1, H-2 and He-3 and He-4 made with the ISEE 3 instrumentation. It is believed that cosmic ray particles experience spallation in traveling through the interstellar medium, thereby producing the isotopes examined in the present study. The isotopic ratios are therefore expected to yield data on outward migrating particles, which lose energy while moving toward extragalactic space, i.e., the 'leaky box approximation'. The energy ranges covered are 26-138 MeV/nucleon for H-1 and He-4, 24-89 MeV/nucleon for H-2 and 43-146 MeV/nucleon for He-3. Solar activity ranged from minimum to maximum over the observational period. Details of the experimental strategies, instrumentation features and calibration techniques employed with the particle detectors are provided. Histograms were geneated of the energies attributable to each particle track and mass ratios of the various isotopes were calculated over the measured energy ranges. Account was taken of errors introduced by solar modulation, and an escape path length of 5.6-7.8 g/sq cm was estimated for particle propagation through the Galaxy. The projected path length agrees with previous estimates based on data from heavier cosmic ray nuclei.

Kroeger, R.↗

Simple robust control laws for robot manipulators. Part 1: Non-adaptive case

A new class of exponentially stabilizing control laws for joint level control of robot arms is introduced. It has been recently recognized that the nonlinear dynamics associated with robotic manipulators have certain inherent passivity properties. More specifically, the derivation of the robotic dynamic equations from the Hamilton's principle gives rise to natural Lyapunov functions for control design based on total energy considerations. Through a slight modification of the energy Lyapunov function and the use of a convenient lemma to handle third order terms in the Lyapunov function derivatives, closed loop exponential stability for both the set point and tracking control problem is demonstrated. The exponential convergence property also leads to robustness with respect to frictions, bounded modeling errors and instrument noise. In one new design, the nonlinear terms are decoupled from real-time measurements which completely removes the requirement for on-line computation of nonlinear terms in the controller implementation. In general, the new class of control laws offers alternatives to the more conventional computed torque method, providing tradeoffs between robustness, computation and convergence properties. Furthermore, these control laws have the unique feature that they can be adapted in a very simple fashion to achieve asymptotically stable adaptive control.

Wen, J. T.↗

Computing Gravitational Bumps From Repeating-Orbit Data

Iterative, least-squares algorithm efficiently computes estimates of both position errors indicative of irregularities in gravitational field of Earth and trajectory of satellite in orbit repeating along same ground track. Exploits sparse-matrix techniques. Useful in surveying, navigation, and geophysical research. Particularly useful for processing data on trajectory of satellite in low orbit tracked via Global Positioning System (GPS).

Wu, Jiun-Tsong↗

Guidance concepts for time-based flight operations

Airport congestion and the associated delays are severe in today's airspace system and are expected to increase. NASA and the FAA is investigating various methods of alleviating this problem through new technology and operational procedures. One concept for improving airspace productivity is time-based control of aircraft. Research to date has focused primarily on the development of time-based flight management systems and Air Traffic Control operational procedures. Flight operations may, however, require special onboard guidance in order to satisfy the Air Traffic Control imposed time constraints. The results are presented of a simulation study aimed at evaluating several time-based guidance concepts in terms of tracking performance, pilot workload, and subjective preference. The guidance concepts tested varied in complexity from simple digital time-error feedback to an advanced time-referenced-energy guidance scheme.

Vicroy, Dan D.↗

Geopotential models of the Earth from satellite tracking, altimeter and surface gravity observations: GEM-T3 and GEM-T3S

Improved models of the Earth's gravitational field have been developed from conventional tracking data and from a combination of satellite tracking, satellite altimeter and surface gravimetric data. This combination model represents a significant improvement in the modeling of the gravity field at half-wavelengths of 300 km and longer. Both models are complete to degree and order 50. The Goddard Earth Model-T3 (GEM-T3) provides more accurate computation of satellite orbital effects as well as giving superior geoidal representation from that achieved in any previous GEM. A description of the models, their development and an assessment of their accuracy is presented. The GEM-T3 model used altimeter data from previous satellite missions in estimating the orbits, geoid, and dynamic height fields. Other satellite tracking data are largely the same as was used to develop GEM-T2, but contain certain important improvements in data treatment and expanded laser tracking coverage. Over 1300 arcs of tracking data from 31 different satellites have been used in the solution. Reliable estimates of the model uncertainties via error calibration and optimal data weighting techniques are discussed.

Lerch, F. J.↗

A gravity field to support Magellan navigation and science at Venus

The development and validation of the revised JPL Venus Gravity Model are described with attention given to the incorporation of data regarding the longitudinal coverage. The motivation for the JPL Venus Gravity Model 1B (VGM1B) is related to the determination of orbit-support requirements for the Magellan mission. Existing gravity models for Venus are reviewed, and the present model is based on orbit-prediction data taken from Doppler tracking data from the Pioneer Venus Orbiter (PVO). Revised information arrays are developed incorporating more complete data describing the longitudinal conditions of the gravity field. Improvements are noted in the Doppler residual statistics taken from field-validation fits to the PVO and Magellan tracking data by using the VGM1B harmonic field. The VGM1B gravity field is also shown to reduce the trajectory errors from PVO and Magellan navigation.

Mcnamee, J. B.↗

Comparisons of the NASA ER-2 meteorological measurement system with radar tracking and radiosonde data

Measurements of aircraft longitude, latitude, and velocity, and measurements of atmospheric pressure, temperature, and horizontal wind from the meteorological measurement system (MMS) on board the NASA ER-2 aircraft were compared with independent measurements of these quantities from radiosondes and radar tracking of both the ER-2 and radiosonde balloons. In general, the comparisons were good and within the expected measurement accuracy and natural variability of the meteorological parameters. Radar tracking of the ER-2 resolved the velocity and position drift of the inertial navigation system (INS). The rms errors in the horizontal velocity components of the ER-2, due to INS errors, were found to be 0.5 m/s. The magnitude of the drift in longitude and latitude depends on the sign and magnitude of the corresponding component velocity drift and can be a few hundredths of a degree. The radar altitudes of the ER-2 and radiosondes were used as the basis for comparing measurements of atmospheric pressure, temperature, and horizontal wind from these two platforms. The uncertainty in the MMS horizontal wind measurement is estimated to be +/- 2.5 m/s. The accuracy of the MMS pressure and temperature measurements were inferred to be +/- 0.3 hPa and +/- 0.3 K.

Gaines, Steven E.↗

The Mars Observer laser altimeter investigation

The primary objective of the Mars Observer laser altimeter (MOLA) investigation is to determine globally the topography of Mars at a level suitable for addressing problems in geology and geophysics. Secondary objectives are to characterize the 1064-nm wavelength surface reflectivity of Mars to contribute to analyses of global surface mineralogy and seasonal albedo changes, to assist in addressing problems in atmospheric circulation, and to provide geodetic control and topographic context for the assessment of possible future Mars landing sites. The principal components of MOLA are a diode-pumped, neodymium-doped yttrium aluminum garnet laser transmitter that emits 1064-nm wavelength laser pulses, a 0.5-m-diameter telescope, a silicon avalanche photodiode detector, and a time interval unit with 10-ns resolution. MOLA will provide measurements of the topography of Mars within approximately 160-m footprints and a center-to-center along-track foot print spacing of 300 m along the Mars Observer subspacecraft ground track. The elevation measurements will be quantized with 1.5 m vertical resolution before correction for orbit- and pointing induced errors. MOLA profiles will be assembled into a global 0.2 deg x 0.2 deg grid that will be referenced to Mars' center of mass with an absolute accuracy of approximately 30 m. Other data products will include a global grid of topographic gradients, corrected individual profiles, and a global 0.2 deg x 0.2 deg grid of 1064-nm surface reflectivity.

Zuber, M. T.↗

Condensate Recycling in Closed Plant Growth Chambers

Water used in the the Controlled Ecological Life Support System (CELSS) Breadboard Project at the Kennedy Space Center is being recycled. Condensation is collected in the air ducts, filtered and deionized, and resupplied to the system for nutrient solutions, supplemental humidification, solvents and diluents. While the system functions well from a process control standpoint, precise and accurate tracking of water movement through the system to answer plant physiological questions is not consistent. Possible causes include hardware errors, undetected vapor loss from chamber leakage, and unmeasured changes in water volume in the plant growth trays.

Bledsoe, J. O.↗

A Case Study of 4 & 5 Cost Effectiveness

This paper looks at the Independent Verification and Validation (IV&V) of NASA's Space Shuttle Day of Launch I-Load Update (DoLILU) project. IV&V is defined. The system's development life cycle is explained. Data collection and analysis are described. DoLILU Issue Tracking Reports (DITRs) authored by IV&V personnel are analyzed to determine the effectiveness of IV&V in finding errors before the code, testing, and integration phase of the software development life cycle. The study's findings are reported along with the limitations of the study and planned future research.

Neal, Ralph D.↗

Retrieving the Vertical Structure of the Effective Aerosol Complex Index of Refraction from a Combination of Aerosol in Situ and Remote Sensing Measurements During TARFOX

The largest uncertainty in estimates of the effects of atmospheric aerosols on climate stems from uncertainties in the determination of their microphysical properties, including the aerosol complex index of refraction, which in turn determines their optical properties. A novel technique is used to estimate the aerosol complex index of refraction in distinct vertical layers from a combination of aerosol in situ size distribution and remote sensing measurements during the Tropospheric Aerosol Radiative Forcing Observational Experiment (TARFOX). In particular, aerosol backscatter measurements using the NASA Langley LASE (Lidar Atmospheric Sensing Experiment) instrument and in situ aerosol size distribution data are utilized to derive vertical profiles of the "effective" aerosol complex index of refraction at 815 nm (i.e., the refractive index that would provide the same backscatter signal in a forward calculation on the basis of the measured in situ particle size distributions for homogeneous, spherical aerosols). A sensitivity study shows that this method yields small errors in the retrieved aerosol refractive indices, provided the errors in the lidar-derived aerosol backscatter are less than 30% and random in nature. Absolute errors in the estimated aerosol refractive indices are generally less than 0.04 for the real part and can be as much as 0.042 for the imaginary part in the case of a 30% error in the lidar-derived aerosol backscatter. The measurements of aerosol optical depth from the NASA Ames Airborne Tracking Sunphotometer (AATS-6) are successfully incorporated into the new technique and help constrain the retrieved aerosol refractive indices. An application of the technique to two TARFOX case studies yields the occurrence of vertical layers of distinct aerosol refractive indices. Values of the estimated complex aerosol refractive index range from 1.33 to 1.45 for the real part and 0.001 to 0.008 for the imaginary part. The methodology devised in this study provides, for the first time, a complete set of vertically resolved aerosol size distribution and refractive index data. yielding the vertical distribution of aerosol optical properties required for the determination of aerosol-induced radiative flux changes.

Redemann, J.↗

Incorporating Endmember Variability into Spectral Mixture Analysis Through Endmember Bundles

Variation in canopy structure and biochemistry induces a concomitant variation in the top-of-canopy spectral reflectance of a vegetation type. Hence, the use of a single endmember spectrum to track the fractional abundance of a given vegetation cover in a hyperspectral image may result in fractions with considerable error. One solution to the problem of endmember variability is to increase the number of endmembers used in a spectral mixture analysis of the image. For example, there could be several tree endmembers in the analysis because of differences in leaf area index (LAI) and multiple scatterings between leaves and stems. However, it is often difficult in terms of computer or human interaction time to select more than six or seven endmembers and any non-removable noise, as well as the number of uncorrelated bands in the image, limits the number of endmembers that can be discriminated. Moreover, as endmembers proliferate, their interpretation becomes increasingly difficult and often applications simply need the aerial fractions of a few land cover components which comprise most of the scene. In order to incorporate endmember variability into spectral mixture analysis, we propose representing a landscape component type not with one endmember spectrum but with a set or bundle of spectra, each of which is feasible as the spectrum of an instance of the component (e.g., in the case of a tree component, each spectrum could reasonably be the spectral reflectance of a tree canopy). These endmember bundles can be used with nonlinear optimization algorithms to find upper and lower bounds on endmember fractions. This approach to endmember variability naturally evolved from previous work in deriving endmembers from the data itself by fitting a triangle, tetrahedron or, more generally, a simplex to the data cloud reduced in dimension by a principal component analysis. Conceptually, endmember variability could make it difficult to find a simplex that both surrounds the data cloud and has vertices that are realistic endmember spectra with reflectances between 0 and 1. In this paper, we create endmember bundles and bounding fraction images for an AVIRIS subscene simulated with a plant canopy radiative transfer model. The simulated subscene is spatially patterned after a subscene from the AVIRIS image acquired August, 1993 over La Copita, Texas. In addition, for comparison, we performed a traditional unmixing with image endmembers.

Bateson, C. Ann↗

Retrieving the Vertical Structure of the Effective Aerosol Complex Index of Refraction from a Combination of Aerosol in Situ and Remote Sensing Measurements During TARFOX

The largest uncertainty in estimates of the effects of atmospheric aerosols on climate stems from uncertainties in the determination of their microphysical properties, including the aerosol complex index of refraction, which in turn determines their optical properties. A novel technique is used to estimate the aerosol complex index of refraction in distinct vertical layers from a combination of aerosol in situ size distribution and remote sensing measurements during the Tropospheric Aerosol Radiative Forcing Observational Experiment (TARFOX). In particular, aerosol backscatter measurements using the NASA Langley LASE (Lidar Atmospheric Sensing Experiment) instrument and in situ aerosol size distribution data are utilized to derive vertical profiles of the 'effective' aerosol complex index of refraction at 815 nm (i.e., the refractive index that would provide the same backscatter signal in a forward calculation on the basis of the measured in situ particle size distributions for homogeneous, spherical aerosols). A sensitivity study shows that this method yields small errors in the retrieved aerosol refractive indices, provided the errors in the lidar derived aerosol backscatter are less than 30% and random in nature. Absolute errors in the estimated aerosol refractive indices are generally less than 0.04 for the real part and can be as much as 0.042 for the imaginary part in the case of a 30% error in the lidar-derived aerosol backscatter. The measurements of aerosol optical depth from the NASA Ames Airborne Tracking Sunphotometer (AATS-6) are successfully incorporated into the new technique and help constrain the retrieved aerosol refractive indices. An application of the technique to two TARFOX case studies yields the occurrence of vertical layers of distinct aerosol refractive indices. Values of the estimated complex aerosol refractive index range from 1.33 to 1.45 for the real part and 0.001 to 0.008 for the imaginary part. The methodology devised in this study provides, for the first time a complete set of vertically resolved aerosol size distribution and refractive index data, yielding the vertical distribution of aerosol optical properties required for the determination of aersol-induced radiative flux changes

Redemann, J.↗