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At least 109 records · Page 6
All sourcesNASA NTRSDOE OSTI
NASA NTRS2013

4DoF Drift Free Navigation Using Inertial Cues and Optical Flow

In this paper, we describe a novel approach in fusing optical flow with inertial cues (3D acceleration and 3D angular velocities) in order to navigate a Micro Aerial Vehicle (MAV) drift free in 4DoF and metric velocity. Our approach only requires two consecutive images with a minimum of three feature matches. It does not require any (point) map nor any type of feature history. Thus it is an inherently failsafe approach that is immune to map and feature-track failures. With these minimal requirements we show in real experiments that the system is able to navigate drift free in all angles including yaw, in one metric position axis, and in 3D metric velocity. Furthermore, it is a power-on-and-go system able to online self-calibrate the inertial biases, the visual scale and the full 6DoF extrinsic transformation parameters between camera and IMU.

reconnissance↗
NASA NTRS2016

Effect of AFT Rotor on the Inter-Rotor Flow of an Open Rotor Propulsion System

The effects of the aft rotor on the inter-rotor flow field of an open rotor propulsion rig were examined. A Particle Image Velocimetry (PIV) dataset that was acquired phase locked to the front rotor position has been phase averaged based on the relative phase angle between the forward and aft rotors. The aft rotor phase was determined by feature tracking in raw PIV images through an image processing algorithm. The effect of the aft rotor potential field on the inter-rotor flow were analyzed and shown to be in good agreement with Computational Fluid Dynamics (CFD) simulations. It was shown that the aft rotor had no substantial effect on the position of the forward rotor tip vortex but did have a small effect on the circulation strength of the vortex when the rotors were highly loaded.

Counter Rotating↗
NASA NTRS2018

The NASA Eulerian Snow on Sea Ice Model (NESOSIM) v1.0: initial model development and analysis

The NASA Eulerian Snow On Sea Ice Model (NESOSIM) is a new, open-source snow budget model that is currentlyconfigured to produce daily estimates of the depth and density of snow on sea ice across the Arctic Ocean throughthe accumulation season. NESOSIM has been developed in a three-dimensional Eulerian framework and includes two(vertical) snow layers and several simple parameterizations (accumulation, wind packing, advection_divergence, blowingsnow lost to leads) to represent key sources and sinks of snow on sea ice. The model is forced with daily inputs of snowfall and near-surface winds (from reanalyses), sea ice concentration (from satellite passive microwave data) and sea ice drift (from satellite feature tracking) during the accumulation season (August through April). In this study, we present the NESOSIM formulation, calibration efforts, sensitivity studies and validation efforts across an Arctic Ocean domain (100 km horizontal resolution). The simulated snow depth and density are calibrated with in situ data collected on drifting ice stations during the 1980s. NESOSIM shows strong agreement with the in situ seasonal cycles of snow depth and density, and shows good (moderate) agreement with the regional snow depth (density) distributions. NESOSIM is run for a contemporary period (2000 to 2015), with the results showing strong sensitivity to the reanalysis derived snowfall forcing data, with the Modern-Era Retrospective analysis for Research and Applications (MERRA) and the Japanese Meteorological Agency 55-year reanalysis (JRA-55) forced snow depths generally higher than ERA-Interim,and the Arctic System Reanalysis (ASR) generally lower. We also generate and force NESOSIM with a consensus "median" daily snowfall dataset from these reanalyses.The results are compared against snow depth estimates derived from NASA's Operation IceBridge (OIB) snow radar data from 2009 to 2015, showing moderate_strong correlations and root mean squared errors of 10 cm depending on the OIB snow depth product analyzed, similar to the comparisons between OIB snow depths and the commonly used modified Warren snow depth climatology. Potential improvements to this initial NESOSIM formulation are discussed in the hopes of improving the accuracy and reliability of these simulated snow depths and densities.

Petty, Alek A.↗
NASA NTRS2019

Simulation of AMVs for OSSEs

An algorithm to simulate locations of atmospheric motion vectors (AMVs) for use in observing system simulation experiments (OSSEs) is described and demonstrated. It is intended to obviate likely deficiencies in nature run data [standard meteorological parameters and aerosol tracers] if used to produce images for feature tracking. The algorithm employs probabilistic functions that are tuned based on distributions of real observations and histograms of nature run fields. For distinct observation types, the algorithm produces geographical and vertical distributions, time - mean counts, and typical spacings of simulated locations that are, at least, qualitatively similar to those of real observations and are associated with nature run cloud and water vapor fields. It thus appears suitable for generating realistic atmospheric motion vectors for use in observing system simulation experiments.

Errico, R. M.↗
NASA NTRS2016

Effect of Aft Rotor on the Inter-Rotor Flow of an Open Rotor Propulsion System

The effects of the aft rotor on the inter-rotor flow field of an open rotor propulsion rig were examined. A Particle Image Velocimetry (PIV) dataset that was acquired phase locked to the front rotor position has been phase averaged based on the relative phase angle between the forward and aft rotors. The aft rotor phase was determined by feature tracking in raw PIV images through an image processing algorithm. The effects of the aft rotor potential field on the inter-rotor flow were analyzed and shown to be in reasonably good agreement with Computational Fluid Dynamics (CFD) simulations. The aft rotor position was shown to have a significant upstream effect, with implications for front rotor interaction noise. It was found that the aft rotor had no substantial effect on the position of the forward rotor tip vortex but did have a small effect on the circulation strength of the vortex when the rotors were highly loaded.

Counter Rotating↗
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 NTRS2020

Revisiting OSIRIS-REx Touch-And-Go (TAG) Performance Given the Realities of Asteroid Bennu

The Origins, Spectral Interpretation, Resource Identification, and Security–Regolith Explorer (OSIRIS-REx) mission is a NASA New Frontiers mission that launched in 2016 and rendezvoused with the near-Earth asteroid (101955) Bennu in late 2018. Upon arrival, the surface of Bennu was found to be much rockier than expected. The original Touch-and-Go (TAG) requirement for sample collection was to deliver the spacecraft to a site with a 25-meter radius; however, the largest hazard-free sites are no larger than 8 meters in radius. To accommodate the dearth of safe sample collection sites, the project reevaluated all aspects of flight system performance pertaining to TAG in order to account for the demonstrated performance of the spacecraft and navigation prediction accuracies. More-over, the project has base lined on board natural feature tracking instead of lidar for providing the on board navigation state update during the TAG sequence. This paper summarizes the improvements in error source estimation, enhancements in on board trajectory correction, and results of recent Monte Carlo simulation to en-able sample collection with the given constraints. TAG delivery and on board navigation performance are presented for the final four candidate TAG sites.

Berry, Kevin↗
NASA NTRS2020

NASA’s High-Resolution GEOS Forecasting and Reanalysis Products: Impact of Stratospheric Intrusions on Surface Ozone Air Quality

A new approach to the study of stratospheric intrusions (SIs)? the introduction of ozone-rich lower stratospheric air into the troposphere ? uses NASA's Goddard Earth Observing System Model (GEOS) model and assimilation products with an objective feature tracking algorithm to investigate the atmospheric dynamics in the UTLS region that generate SIs and the different mechanisms through which SIs may influence tropospheric chemistry and surface air quality. In particular, SIs have been linked with surface ozone air quality exceedances, especially at the high elevations in the western USA in springtime. However, the impact of SIs in the remaining seasons and over the rest of the USA is less clear. Improved understanding of the connections between large-scale climate variability and local-scale dynamically-driven air quality events may support improved seasonal prediction of SI events. While the spring over the western USA does exhibit the largest number of SIs affecting the lower troposphere, we demonstrate that the number of intrusions in the remaining seasons and over the eastern USA is sizable. Using a multitude of observational datasets, including lidar data, ozonesondes and air quality monitoring surface sites, in combination with GEOS forecast and reanalysis products, the transport of ozone from the stratosphere toward the surface is assessed. By focusing on recent reports of high ozone at monitoring station sites likely associated with SIs, we aim to provide the public with tools which are available in near-real time to enhance their capability to identify the impact of stratospheric air on surface ozone concentrations separate from anthropogenic sources.

Knowland, K. Emma↗
NASA NTRS2020

Optical Navigation for Autonomous Approach of Small Unknown Bodies

State of the practice in navigation around small celestial bodies heavily relies on ground sup- port and human skill, in particular, for perception-based operations such as optical navigation and mapping. This leads to longer duration and more complex mission operations and sub- sequently higher cost. Furthermore, it imposes limitations for certain missions such as fast fly-bys or multi-agent operations. In this work, we present an autonomous navigation strat- egy suitable for approaching small unexplored bodies. During the approach, we estimate the body’s physical properties as well as the spacecraft’s relative trajectory and associated un- certainties. The autonomous navigation strategy, which is solely based on optical measure- ments, begins as soon as the body becomes resolved in the navigation camera and terminates at the start of proximity operations, when the spacecraft makes its first trajectory correction to stay in the vicinity of the body. Our strategy uses multiple image-processing algorithms: light-curve analysis for estimating the target body’s rotation rate, Shape-from-Silhouette for reconstructing the 3D shape and estimating its rotation pole, and feature tracking tailored to Small-Body images for estimating relative navigation parameters. We used the Mission Analysis, Operations, and Navigation Toolkit Environment (MONTE) developed by the Jet Propulsion Laboratory to evaluate the feasibility of this multi-phase navigation strategy using simulated images of an approach trajectory. We used the Rosetta mission data to generate photorealistic images to characterise the performance of this approach. This work is based on the assumptions that the spacecraft attitude is known, the body is a principal-axis rotator, a-priori estimates of ephemerides and scale are available, and the body is observed from a zero sun phase only during initial approach. Preliminary results show orbit determination performance that is on par with the human navigation from the Rosetta mission; albeit with a 1% bias in spacecraft-target radial distance estimate. The bias error is likely due to the robustness and accuracy of the visual tracking under dynamic lighting conditions and per- spective changes, which decrease accuracy.

Villa, Jacopo↗
NASA NTRS2021

LiDAR-Inertial Based Navigation and Mapping for Precision Landing

Future lander missions will travel to ambitious, scientifically interesting locations near rough and dangerous terrain. They will need to operate with limited prior information about the terrain, and under varying lighting conditions. Landing safely and precisely in the face of these challenges is difficult for existing vision-based landing systems, which require detailed orbital reconnaissance, a priori hazard maps, and impose time-of-day restrictions on landing to ensure similar lighting conditions in orbital and descent imagery. Advanced 3D imaging LiDAR systems currently under development, and originally intended for single-scan hazard detection, have the potential to be operated continuously from altitudes of up to 5 km. Used together with existing inertial measurement units (IMUs), these sensors open a path-to-flight for a full navigation and mapping system, which could replace or augment a traditional landing sensor suite. A landing system based around these sensors can perform accurate altimetry, map-relative localization (MRL), LiDAR-inertial odometry, and map refinement in an illumination-insensitive manner, over unknown or partially known terrain. This paper outlines preliminary work on a LiDAR-inertial landing system that: estimates the spacecraft trajectory during entry, descent, and landing (EDL); and maps the topography of the terrain below, for future use in hazard detection and avoidance. An incremental, factor graph based, smoothing approach is used to solve for the maximum a posteriori trajectory of spacecraft states. Integrated IMU measurements and features tracked in adjacent range and intensity images are used to estimate motion (LiDAR-inertial odometry). LiDAR scans are binned into motion-corrected digital elevation models (DEMs), which are matched to an existing orbital topographic map to provide absolute position information (MRL). The estimated trajectory is then used to project the LiDAR scans into the map frame, creating a variable-resolution quadtree topographic map suitable for hazard detection and avoidance. Existing topographic maps from throughout the solar system (i.e., Earth, the Moon, Mars, Ceres, Vesta, Europa, Enceladus, and Eros) are upsampled for use in EDL simulations. The Mars 2020 Lander Vision System Simulator (LVSS) is extended to simulate LiDAR-inertial data for realistic EDL trajectories. Results of the algorithm operating on the simulated data are presented. Estimated spacecraft trajectory and refined map are compared to ground truth to assess estimation accuracy.

Katake, Anup↗
NASA NTRS2007

Robotic Vision-Based Localization in an Urban Environment

A system of electronic hardware and software, now undergoing development, automatically estimates the location of a robotic land vehicle in an urban environment using a somewhat imprecise map, which has been generated in advance from aerial imagery. This system does not utilize the Global Positioning System and does not include any odometry, inertial measurement units, or any other sensors except a stereoscopic pair of black-and-white digital video cameras mounted on the vehicle. Of course, the system also includes a computer running software that processes the video image data. The software consists mostly of three components corresponding to the three major image-data-processing functions: Visual Odometry This component automatically tracks point features in the imagery and computes the relative motion of the cameras between sequential image frames. This component incorporates a modified version of a visual-odometry algorithm originally published in 1989. The algorithm selects point features, performs multiresolution area-correlation computations to match the features in stereoscopic images, tracks the features through the sequence of images, and uses the tracking results to estimate the six-degree-of-freedom motion of the camera between consecutive stereoscopic pairs of images (see figure). Urban Feature Detection and Ranging Using the same data as those processed by the visual-odometry component, this component strives to determine the three-dimensional (3D) coordinates of vertical and horizontal lines that are likely to be parts of, or close to, the exterior surfaces of buildings. The basic sequence of processes performed by this component is the following: 1. An edge-detection algorithm is applied, yielding a set of linked lists of edge pixels, a horizontal-gradient image, and a vertical-gradient image. 2. Straight-line segments of edges are extracted from the linked lists generated in step 1. Any straight-line segments longer than an arbitrary threshold (e.g., 30 pixels) are assumed to belong to buildings or other artificial objects. 3. A gradient-filter algorithm is used to test straight-line segments longer than the threshold to determine whether they represent edges of natural or artificial objects. In somewhat oversimplified terms, the test is based on the assumption that the gradient of image intensity varies little along a segment that represents the edge of an artificial object.

Mchenry, Michael↗
NASA NTRS1979

Adaptive remote sensing technology for feature recognition and tracking

A technology development plan designed to reduce the data load and data-management problems associated with global study and monitoring missions is described with a heavy emphasis placed on developing mission capabilities to eliminate the collection of unnecessary data. Improved data selectivity can be achieved through sensor automation correlated with the real-time needs of data users. The first phase of the plan includes the Feature Identification and Location Experiment (FILE) which is scheduled for the 1980 Shuttle flight. The FILE experiment is described with attention given to technology needs, development plan, feature recognition and classification, and cloud-snow detection/discrimination. Pointing, tracking and navigation received particular consideration, and it is concluded that this technology plan is viewed as an alternative to approaches to real-time acquisition that are based on extensive onboard format and inventory processing and reliance upon global-satellite-system navigation data.

Wilson, R. G.↗
NASA NTRS1995

Feature extraction of arc tracking phenomenon

This document outlines arc tracking signals -- both the data acquisition and signal processing. The objective is to obtain the salient features of the arc tracking phenomenon. As part of the signal processing, the power spectral density is obtained and used in a MATLAB program.

Attia, John Okyere↗
DOE OSTI2020

Tracking transactions using extended memory features

An approach is disclosed that tracks memory transactions by a node. The approach establishes a transaction processing state corresponding to common virtual addresses accessed by a processing threads. Transactions are executed by the threads. A selected transaction is allowed to complete. In response to detecting a conflict in the transaction processing state, completion of a non-selected transaction is inhibited.

Kahle, James Allan↗
NASA NTRS1992

Vision-based recursive estimation of rotorcraft obstacle locations

The authors address vision-based passive ranging during nap-of-the-earth (NOE) rotorcraft flight. They consider the problem of estimating the relative location of identifiable features on nearby obstacles, assuming a sequence of noisy camera images and imperfect measurements of the camera's translation and rotation. An iterated extended Kalman filter is used to provide recursive range estimation. The correspondence problem is simplified by predicting and tracking each feature's image within the Kalman filter framework. Simulation results are presented which show convergent estimates and generally successful feature point tracking. Estimation performance degrades for features near the optical axis and for accelerating motions. Image tracking is also sensitive to angular rate.

Leblanc, D. J.↗
NASA NTRS1983

Image motion compensation by area correlation and centroid tracking of solar surface features

An experimental solar correlation tracker was tested and evaluated on a ground-based solar magnetograph. Using sunspots as fixed targets, tracking error signals were derived by which the telescope image was stabilized against wind induced perturbations. Two methods of stabilization were investigated; mechanical stabilization of the image by controlled two-axes motion of an active optical element in the telescope beam, and electronic stabilization by biasing of the electron scan in the recording camera. Both approaches have demonstrated telescope stability of about 0.6 arc sec under random perturbations which can cause the unstabilized image to move up to 120 arc sec at frequencies up to 30 Hz.

Nein, M. E.↗
NASA NTRS1993

Jupiter's winds and Arnol'd's second stability theorem: Slowly moving waves and neutral stability

Since the Voyager encounters in 1979, it has been known that Jupiter's cloud-top zonal winds violate the barotropic stability criterion. A vortex-tube stretching analysis of the Voyager wind data indicates that the more general Charney-Stern stability criterion is also violated. On the other hand, the zonal winds determined by tracking cloud features in Hubble Space Telescope images taken in 1991 precisely match the zonal winds determined by tracking cloud features in Voyager images, and it is hard to understand how a complicated zonal wind profile like Jupiter's could be unstable and yet not change at all in 12 years. In fact, there are at least two unknown ways to violate the Charney-Stern stability criterion and still have a stable flow. The better known of these is called Fjortoft's theorem, or Arnol'd's 1st theorem for the case of large-amplitude perturbations. Although the Fjortoft-Arnol'd theorem has been extended from the quasi-geostrophic equations to the primitive equations, the basic requirement that the potential vorticity be an increasing function of streamfunction is opposite to the case found in Jupiter, where the Voyager data indicate that the potential vorticity is a decreasing function of streamfunction. But this second case is precisely that which is covered by Arnol'd's 2nd stability theorem. In fact, the Voyager data suggest that Jupiter's zonal winds are neutrally stable with respect to Arnol'd's 2nd stability theorem. Here, we analyze the linear stability problem of a one-parameter family of sinusoidal zonal wind profiles that are close to neutral stability with respect to Arnol'd's 2nd stability theorem. We find numerically that the most unstable mode is always stationary, which may help to explain the slowly moving mode 10 waves observed on Jupiter. We find that violation of Arnol'd's 2nd stability theorem is both necessary and sufficient for instability of sinusoidal profiles. However, there appears to be no simple extension of Arnol'd's 2nd stability theorem to the primitive equations. Nevertheless, the primitive growth rates are small, and the primitive system is still governed by the quasi-geostrophic neutral-stability configuration.

Stamp, Andrew P.↗