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An integrated approach to surface relative optical landmark tracking for spacecraft is being developed. Landmarks are defined as full digital topography/albedo maps and are determined from previous imaging and navigation data. Initially, this technique will speed up ground based optical navigation. Ultimately, it will enable on-board trajectory determination during orbital and landing maneuvers.
An approach to autonomous navigation and attitude reference for earth observing spacecraft is described along with the landmark identification technique based on a sequential similarity detection algorithm (SSDA). Laboratory experiments undertaken to determine if better than one pixel accuracy in registration can be achieved consistent with onboard processor timing and capacity constraints are included. The SSDA is implemented using a multi-microprocessor system including synchronization logic and chip library. The data is processed in parallel stages, effectively reducing the time to match the small known image within a larger image as seen by the onboard image system. Shared memory is incorporated in the system to help communicate intermediate results among microprocessors. The functions include finding mean values and summation of absolute differences over the image search area. The hardware is a low power, compact unit suitable to onboard application with the flexibility to provide for different parameters depending upon the environment.
Improved navigational technology (such as the Microwave Landing System and the Global Positioning System) installed in modern aircraft will enable air traffic controllers to better utilize available airspace. Consequently, arrival traffic can fly approaches to parallel runways separated by smaller distances than are currently allowed. Previous simulation studies of advanced navigation approaches have found that controller workload is increased when there is a combination of aircraft that are capable of following advanced navigation routes and aircraft that are not. Research into Air Traffic Control automation at Ames Research Center has led to the development of the Center-TRACON Automation System (CTAS). The Final Approach Spacing Tool (FAST) is the component of the CTAS used in the TRACON area. The work in this paper examines, via simulation, the effects of FAST used for aircraft landing on closely spaced parallel runways. The simulation contained various combinations of aircraft, equipped and unequipped with advanced navigation systems. A set of simulations was run both manually and with an augmented set of FAST advisories to sequence aircraft, assign runways, and avoid conflicts. The results of the simulations are analyzed, measuring the airport throughput, aircraft delay, loss of separation, and controller workload.
Unpowered automatic approaches and landings were conducted to study navigation, guidance, and control problems associated with terminal area approach and landing for the space shuttle vehicle. The flight tests were performed in a Convair 990 aircraft equipped with a digital flight control computer connected to the aircraft control system and displays. The tests were designed to evaluate the performance of a navigation and guidance concept that utilized blended radio/inertial navigation with VOR, DME, and ILS as the ground navigation aids. Results from 36 automatic approaches and landings from 11,300 m (37,000 ft) to touchdown are presented. Preliminary results indicate that this concept may provide sufficient accuracy to accomplish automatic landing of the shuttle orbiter without air-breathing engines.
A description of work whose broad objective is to attain improved aircraft navigation performance through exploitation of the concept of combining navigation data from several sources in an optimum manner is presented. The system developed as a result of the work, called RAINPAL (Recursive Aided Inertial Navigation for Precision Approach and Landing) is designed to combine precision radio range measurements with data from on-board inertial sensors to achieve precision navigation for approach and landing. The paper describes RAINPAL and the rationale of its design, and also serves as a sort of planning document, including a progress report, a summary of objectives past and present, and an exposition of reasons for doing the work.
Techniques for obtaining time synchronized (4D) approach control in the VALT research helicopter is described. Various 4D concepts and their compatibility with the existing VALT digital computer navigation and guidance system hardware and software are examined. Modifications to various techniques were investigated in order to take advantage of the unique operating characteristics of the helicopter in the terminal area. A 4D system is proposed, combining the direct to maneuver with the existing VALT curved path generation capability.
Trajectory control and optimization for space shuttle approach and landing
The use of inertial navigation system (INS) measurements to enhance the quality and robustness of motion analysis techniques used for obstacle detection is discussed with particular reference to autonomous vehicle navigation. The approach to obstacle detection used here employs motion analysis of imagery generated by a passive sensor. Motion analysis of imagery obtained during vehicle travel is used to generate range measurements to points within the field of view of the sensor, which can then be used to provide obstacle detection. Results obtained with an INS integrated motion analysis approach are reviewed.
Voyager images of the icy satellites of Saturn, Dione and Enceladus, suggest they have been geologically active and are not only composed of ice. Recent observations by HST have shown the presence of ozone at both Dione and Rhea which also implies the presence of molecular oxygen at these bodies. The Cassini Plasma Spectrometer (CAPS) will provide the capability to determine the global composition of these bodies by measuring the pickup ions produced by the ionization of their sputter produced atmospheres. We will present a model of these atmospheres and associated pickup ions and demonstrate CAPS ability to distinguish the freshly produced picked up ions from the ambient plasma. Such ions are expected to form a ring distribution that will have a uniquely different energy-angle dependence than the ambient plasma ions. In the case of Dione we expect the potential for a moderate strength interaction for which both Voyager 1 and Pioneer 11 spacecraft measured ion cyclotron waves centered on the Dione L shell and near the equatorial plane. Since Enceladus may be the source of the E-ring, some surprises may be encountered during its close encounter with the Cassini spacecraft. In the case of Dione we will show that a wake pass at 500 km altitude is more than an order of magnitude better than an upstream pass at 500 km altitude. Pickup ion detection for minor ion species such as NH3+ is possible for 500 km altitude wake pass but not for a 500 km altitude upstream pass at closest approach. For navigation reasons a 100 km pass is not allowed and therefore it is essential to have a wake pass to maximize the science return for a targeted flyby with Dione. The CAPS observations when combined with magnetometer, plasma wave and energetic particle observations will allow us to estimate the source of ions into Saturn's magnetosphere due to these two bodies and to characterize the nature of the interaction with Saturn's magnetosphere.
After nearly seven years of interplanetary cruise and four planetary gravity assists, the Cassini spacecraft was successfully captured into orbit around Saturn on 1 July 2004.
Previous searches for moons around Vesta have found nothing to an upper limit of 22.5 magnitude, that corresponds to 44 +/- 4 m diameter assuming the same albedo as Vesta. The Dawn mission's approach phase has dedicated satellite search observations consisting of two mosaic sequences bracketing the first observations of a complete rotation of Vesta scheduled for early July, 2011. In addition, we use the approach optical navigation image sequences for initial satellite searches. We will report any findings from these observations, and upper limits of magnitude and size.
The Optical Navigation Camera (ONC) is a technical demonstration slated to fly on NASA"s Mars Reconnaissance Orbiter in 2005. Conventional navigation methods have reduced accuracy in the days immediately preceding Mars orbit insertion. The resulting uncertainty in spacecraft location limits rover landing sites to relatively safe areas, away from interesting features that may harbor clues to past life on the planet. The ONC will provide accurate navigation on approach for future missions by measuring the locations of the satellites of Mars relative to background stars. Because Mars will be a bright extended object just outside the camera"s field of view, stray light control at small angles is essential. The ONC optomechanical design was analyzed by stray light experts and appropriate baffles were implemented. However, stray light testing revealed significantly higher levels of light than expected at the most critical angles. The primary error source proved to be the interface between ground glass surfaces (and the paint that had been applied to them) and the polished surfaces of the lenses. This paper will describe troubleshooting and correction of the problem, as well as other lessons learned that affected stray light performance.
As the number of Lunar and Martian surface-exploration missions increases, precise surface navigation is becoming critical. Of most interest is navigation techniques that can generate an absolute state without reliance on Earth-based tracking. One such navigation technique is the Stellar Positioning System. Based on the practice of celestial navigation, this approach combines measurements of the body, star field orientation, and time, to calculate an absolute position on the surface of any planetary body with a known gravity field and known orientation in celestial space. A hardware prototype consisting of an inertial measurement unit, star tracker, and accurate time keeping was developed to demonstrate this concept. The stellar positioning system model was refined to fit this hardware, and was demonstrated by conducting live-sky tests in multiple locations around Marshall Space Flight Center in Huntsville, AL. This effort discusses the preliminary testing results, improvements of the stellar positioning system, feasibility for surface exploration missions, and planned further refinements that will improve the performance.
NASA’s Space Communications and Navigation (SCaN) program is developing a support structure of networks, partners, and technologies to provide communication, position, navigation, and timing services at the Moon. In this paper, we describe the progress and status of these diverse efforts and the ways in which they will be used during NASA’s crewed lunar exploration program, Artemis. We provide an update on developments at NASA which are targeted to cislunar space, including the Orion Artemis II Optical Communications System (O2O) demonstration mission, planned Lunar Exploration Ground Sites (LEGS) that will offer a dedicated Direct to Earth (DTE) capability servicing the cislunar region, and a recently released RFP for commercial Lunar Communications Relay and Navigation Services as well as Direct to Earth communications capabilities. We also describe the current status and key role of the LunaNet Interoperability Specification (LNIS), a collaborative standards framework developed by NASA, international partner agencies, and commercial stakeholders. A common thread, weaving these efforts together, is the support of commercial enterprises that can meet the Artemis challenge. Together, these projects and activities will enable safe, robust, and reliable communications and position, navigation, and timing (PNT) services for both crewed and uncrewed missions across cislunar space. SCaN and NASA, with our partners, are helping to build the foundation for a long term, sustainable human presence at the Moon –one that will set the stage for similar efforts at Mars.
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The effort involves demonstration of expert system technology application to Shuttle rendezvous operations in a high-fidelity, real-time simulation environment. The JSC Systems Engineering Simulator (SES) served as the test bed for the demonstration. Rendezvous applications were focused on crew procedures and monitoring of sensor health and trajectory status. Proximity operations applications were focused on monitoring, crew advisory, and control of the approach trajectory. Guidance, Navigation, and Control areas of emphasis included the approach, transition and stationkeeping guidance, and laser docking sensor navigation. Operator interface displays for monitor and control functions were developed. A rule-based expert system was developed to manage the relative navigation system/sensors for nominal operations and simple failure contingencies. Testing resulted in the following findings; (1) the developed guidance is applicable for operations with LVLH stabilized targets; (2) closing rates less than 0.05 feet per second are difficult to maintain due to the Shuttle translational/rotational cross-coupling; (3) automated operations result in reduced propellant consumption and plume impingement effects on the target as compared to manual operations; and (4) braking gates are beneficial for trajectory management. A versatile guidance design was demonstrated. An accurate proximity operations sensor/navigation system to provide relative attitude information within 30 feet is required and redesign of the existing Shuttle digital autopilot should be considered to reduce the cross-coupling effects. This activity has demonstrated the feasibility of automated Shuttle proximity operations with the Space Station Freedom. Indications are that berthing operations as well as docking can be supported.
This paper presents a robust and efficient approach for relative navigation and attitude estimation of spacecraft flying in formation. This approach uses measurements from a new optical sensor that provides a line of sight vector from the master spacecraft to the secondary satellite. The overall system provides a novel, reliable, and autonomous relative navigation and attitude determination system, employing relatively simple electronic circuits with modest digital signal processing requirements and is fully independent of any external systems. Experimental calibration results are presented, which are used to achieve accurate line of sight measurements. State estimation for formation flying is achieved through an optimal observer design. Also, because the rotational and translational motions are coupled through the observation vectors, three approaches are suggested to separate both signals just for stability analysis. Simulation and experimental results indicate that the combined sensor/estimator approach provides accurate relative position and attitude estimates.