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The 2001 Mars Odyssey Mission has returned an Orbiter to Mars to map the planet and search for water. This paper will present an overview of the Navigation performance, with a comparison of the pre-launch requirements and expected performance to the in-flight experience.
The 2001 Mars Odyssey Mission has returned an Orbiter to Mars to map the planet and search for water. This paper will present an overview of the Navigation performance, with a comparison of the pre-launch requirements and expected performance to the in-flight experience.
A method that determine the absolute position of a mobile system with a hybrid optoelectronic processor has been developed. Position estimates are based on an analysis of circular landmarks that are detected by a TV camera attached to the mobile system. The difference between the known shape of the landmark and its image provides the information needed to determine the absolute position of the mobile system. For robust operation, the parameters of the landmark image are extracted at high speeds using an optical processor that performs an optical Hough transform. The coordinates of the mobile system are computed from these parameters in a digital co-processor using fast algorithms. Different sources of position estimation errors have also been analyzed, and consequent algorithms to improve the navigation performance of the mobile system have been developed and evaluated by both computer simulation and experiments.
In the present paper, specific GPS (Global Positioning System) aided Shuttle navigation are presented as examples of the navigation performance prediction process. The process described is a statistical covariance error analysis. To facilitate detailing, the process is broken down into four portions with sharply limited interfaces. Considerations of mission scenarios form one distinct package of computer routines. Simulation of the onboard navigation filter is another facet of the process, as are the larger system covariance program and the GPS segment covariance simulation. The combination of these computer tools permits proper evaluation of the multitude of correlated error sources affecting GPS-aided Shuttle navigation.
The GPS (Global Positioning System) Space Service Volume (SSV) was first defined to protect the GPS main lobe signals from changes from block to block. First developed as a concept by NASA in 2000, it has been adopted for the GPS III block of satellites, and is being used well beyond the current specification to enable increased navigation performance for key missions like GOES-R. NASA has engaged the US IFOR (Interagency Forum Operational Requirements) process to adopt a revised requirement to protect this increased and emerging use. Also, NASA is working through the UN International Committee on GNSS (Global Navigation Satellite System) to develop an interoperable multi-GNSS SSV in partnership with all of the foreign GNSS providers.
NASA's Synthetic Vision Systems (SVS) Project is striving to eliminate poor visibility as a causal factor in aircraft accidents as well as enhance operational capabilities of all aircraft through the display of computer generated imagery derived from an onboard database of terrain, obstacle, and airport information. To achieve these objectives, NASA 757 flight test research was conducted at the Eagle-Vail, Colorado airport to evaluate three SVS display types (Head-up Display, Head-Down Size A, Head-Down Size X) and two terrain texture methods (photo-realistic, generic) in comparison to the simulated Baseline Boeing-757 Electronic Attitude Direction Indicator and Navigation/Terrain Awareness and Warning System displays. The results of the experiment showed significantly improved situation awareness, performance, and workload for SVS concepts compared to the Baseline displays and confirmed the retrofit capability of the Head-Up Display and Size A SVS concepts. The research also demonstrated that the tunnel guidance display concept used within the SVS concepts achieved required navigation performance (RNP) criteria.
Recently, NASA's Jet Propulsion Laboratory completed a Mars Exploration Program Architecture Definition Study with strong international participation. The recommendations of this study include establishment of a low cost in-situ communications and navigation satellite network to provide enabling and enhancing support for the international exploration of Mars. This would be the first step toward establishing a "virtual presence throughout the solar system" as called for in NASA's Strategic Plan. Response to the proposed comm/nav satellite network has been very favorably received, as reflected by the inclusion of a line item in NASA's budget submittal to Congress, which provides funding for implementation of the network with first launch in the 2003 opportunity. Funding has already been provided for a phase A study being conducted this year. This paper presents the planned implementation of the comm/nav network, which will utilize microsats based on a multi-mission spacecraft bus being designed for launch by the Ariane 5 as a secondary payload. A companion paper at this conference, entitled "The Multi-Purpose Mars Micro-Mission System Design Utilizing Ariane 5 Piggyback Launch", describes the multimission bus design. This paper addresses the application of the multi-mission bus to the comm/nav microsat mission. Following an introduction, which provides the background that has led to the proposed comm/nav network, the paper discusses the projected user needs with emphasis on the various possible robotic missions (landers, rovers, ascent vehicles, balloons, aircraft, etc.) progressing toward eventual piloted missions. Next, the paper describes the concept for an evolving network of comm/nav microsats and the expected capability to satisfy the user needs. Results of communications and navigation performance analysis are summarized for attractive satellite constellation configurations. The important comm/nav microsat functional requirements on the multi-mission spacecraft bus are described with discussion of the mission-system tradeoffs for the driving requirements. The functional design of the in-situ communications / navigation package, which constitutes the payload of the microsat, is also described. The paper also includes discussion of technologies which are of specific importance to the implementation of the comm/nav microsat network.
This study investigated the effects of synthetic vision system (SVS) concepts and advanced flight controls on the performance of pilots flying a light, single-engine general aviation airplane. We evaluated the effects and interactions of two levels of terrain portrayal, guidance symbology, and flight control response type on pilot performance during the conduct of a relatively complex instrument approach procedure. The terrain and guidance presentations were evaluated as elements of an integrated primary flight display system. The approach procedure used in the study included a steeply descending, curved segment as might be encountered in emerging, required navigation performance (RNP) based procedures. Pilot performance measures consisted of flight technical performance, perceived workload, perceived situational awareness and subjective preference. The results revealed that an elevation based generic terrain portrayal significantly improved perceived situation awareness without adversely affecting flight technical performance or workload. Other factors (pilot instrument rating, control response type, and guidance symbology) were not found to significantly affect the performance measures.
This paper provides on-orbit insight into Global Positioning System Receiver (GPSR) performance at a geostationary orbit (GEO) and contrasts that performance regarding the modernized and heritage GPS constellation currently operational. The subject matter of this paper falls under the following topics a) heritage and modern GPS transmit pattern comparison, b) GOES-R GPSR acquisition and tracking characterization regarding the first four operational GPS III vehicles, and c)relevant signal requirements as it pertains to GEO GPSR facilitation. The GPSR described herein is onboard the GOES-R series satellites. GOES-R (Geostationary Operational Environmental Satellite-R Series) is the first in a 4-part series of new weather satellites set to replace and upgrade the older GOES constellation. Two GOES-R have been launched to date, GOES-16 and GOES-17, the data presented in this paper are from both vehicles over common time spans. The GPSR on board this geostationary weather satellite is a mission critical, enabling technology which has been both tested on the ground and evaluated on-orbit to verify its effectivity[1]. This is a completely new system design consisting of a unique L1 GEO antenna, low-noise amplifier (LNA) assembly and a 12-channel GPSR capable of tracking the edge of the main beam and the sidelobes of the GPS L1 signal. Any satellite intending to maximize GPS navigation performance at GEO will need to implement a GPSR system that tracks sidelobes. GOES-R is the first civilian operational satellite to utilize GPS sidelobes for navigation at GEO, which is the key factor in the systems highly accurate, robust and continuous navigation solution. However, this also renders a distinct sensitivity to changes in the GPS transmit signal pattern in the sidelobe regime as a result of the new GPS III constellation modernization. This paper presents results showing that the GOES-RGPSR solution, given GPS constellation modernization to GPS III, although impacted slightly in received C/N0 at certain geometries, will continue to meet all performance requirements tracking up to 12 satellites and achieving excellent carrier-to-noise spectral density (C/N0).
Gravimetry is a valuable analytical tool for probing density distributions in the subsurface. Extraterrestrial data is currently limited to orbital collection, restricting spatial resolution to tens to hundreds of kilometers. Therefore, surface-based gravity surveys are necessary to study the gravity field and- lateral density variations at a finer scale. Traditional gravity sensors (gravimeters) are rare on science payloads owing to their relatively high mass, fragility, and cost. Inertial measurement units (IMU); however, are included on every rover platform to perform navigation and attitude determination. This project aims to solve this issue by demonstrating the utility in recalibrating the accelerometers contained within an IMU to measure the static acceleration of gravitational fields and, by extension, gravity anomalies induced by subsurface density variations.
This Annual Interim Report summarizes the activities led by Raytheon, in collaboration with GE Aviation and SAIC, and presents the results obtained during the first year of this research effort to expand the RNP concept to 4 dimensions relative to a dynamic frame of reference. Joint Program Development Office (JPDO)Concepts of Operations for the Next Generation Air Transportation System (NextGen) considers 4 Dimension Trajectory (4DT) procedures a key enabler to Trajectory Based Operations (TBO). The JPDO defines 4DT as a precise description of an aircraft path in space and time . While NextGen assumes that this path is defined within an Earth-reference frame, many 4DT procedure implementations will require an aircraft to precisely navigate relative to a moving reference such as another aircraft to form aggregate flows or a weather cell to allow for flows to shift. Current methods of implementing routes and flight paths rely on aircraft meeting a Required Navigation Performance (RNP) specification and being equipped with a monitoring and alerting capability to annunciate when the aircraft system is unable to meet the performance specification required for the operation. Since all aircraft today operate within the NAS relative to fixed reference points, the current RNP definition is deemed satisfactory. However, it is not well understood how the current RNP construct will support NextGen 4DT procedures where aircraft operate relative to each other or to other dynamic frames of reference. The objective of this research effort is to analyze candidate 4DT procedures from both an Air Navigation Service Provider (ANSP) and aircraft perspective, to identify their specific navigational requirements, assess the shortcomings of the current RNP construct to meet these requirements, to propose an extended 4 Dimensional Dynamic RNP (4D Dynamic RNP) construct that accounts for the dynamic spatial and temporal nature of the selected 4DT procedures, and finally, to design an experiment using the Airspace and Traffic Operations Simulation (ATOS) system to validate the 4D Dynamic RNP construct. This Annual Interim Report summarizes the activities led by Raytheon, in collaboration with GE Aviation and SAIC, and presents the results obtained during the first year of this research effort to expand the RNP concept to 4 dimensions relative to a dynamic frame of reference. A comprehensive assessment of the state-of-the-art international implementation of current RNP was completed and presented in the Contractor Report RNP State-of-the-Art Assessment, Version 4, 17 December 2008 . The team defined in detail two 4DT operations, Airborne Precision Spacing and Self-Separation, that are ideally suited to be supported by 4D Dynamic RNP and developed their respective conceptual frameworks, Required Interval Management Performance (RIMP) Version 1.1, 13 April 2009 and Required Self Separation Performance (RSSP) Version 1.1, 13 April 2009 . Finally, the team started the development of a mathematical model and simulation tool for RIMP and RSSP scheduled to be delivered during the second year of this research effort.
Dynamic modeling of the spacecraft and Saturn system, tracking data, including radio-metric and optical navigation data, and measurement modeling associated with the final trajectory analysis are described. Navigation predictions produced during the operational phase are compared with the final trajectory in order to gain insight into navigation performance and maneuver execution errors. Special attention is given to refinement of the dynamical environment of Saturn, particularly Titan, during the first two orbits.
On October 20th, 2020, the nearly two-year proximity operations campaign for the Origins, Spectral Interpretation, Resource Identification, and Security–Regolith Explorer (OSIRIS-REx)mission at the near-Earth asteroid (101955) Bennu culminated in a successful Touch-and-Go (TAG) sample collection event. Navigation performance was a significant driver for flight activities at Bennu, which consisted of multiple phases geared towards characterizing the asteroid, selecting a sample site, and safely guiding the spacecraft to and from the surface in order to collect at least 60 g of pristine regolith. The entire operations team gained a tremendous amount of experience operating in the challenging small body environment and overcame many challenges. In this paper, we summarize navigation-focused experiences and lessons learned from OSIRIS-REx proximity operations at Bennu that are applicable to future missions to small asteroids, comets, and planetary moons. Areas of focus include staffing and organization, ground system infrastructure, mission phase planning, navigation operations, and spacecraft and payload considerations.
NASA's Ocean Topography Experiment (Topex) satellite will perform topographic ocean mapping. Topex will carry an experimental tracking system based on the use of GPS (Global Positioning System). An onboard GPS Demonstration Receiver (GPSDR) will be used with a network of up to ten receivers at precisely known ground sites. Following a brief overview of the Topex mission and its derived accuracy requirements, the authors describe the design of the GPSDR. The major hardware and software components are reviewed and discussed. Projected receiver tracking and navigation performance measures are presented and discussed.
The twin Mars Exploration Rovers, Spirit and Opportunity, were launched on June 10, 2003(dagger), and July 8, 2003, from Cape Canaveral, Florida. Spirit and Opportunity were targeted for landings at Gusev Crater (arrival on January 4, 2004) and Meridiani Planum (arrival on January 25, 2004). The primary navigation challenge was to deliver each spacecraft to the desired atmospheric entry interface point with sufficient accuracy such that each lander would touch down within a specified landing ellipse (about 70 km x 5 km) determined to be safe for landing and also judged to be scientifically interesting. In order to achieve landing within the target ellipse, precise control of the inertial entry flight path angle (FPA) at atmospheric entry was required. The maximum allowable errors in FPA following TCM-5 (trajectory correction maneuver #5) at Entry (E) - 2 days were +/-0.12(deg) (3(sigma)) for Spirit and +/-0.14(deg) (3(sigma)) for Opportunity. Achieving these entry delivery accuracies necessitated significant improvements to the interplanetary avigation system used for MER. These improvements included new processes and software for orbit determination, propulsive maneuver design, and entry, descent, and landing (EDL) trajectory simulation. The actual achieved atmospheric entry accuracies for Spirit and Opportunity significantly exceeded the requirements. At the navigation data cutoff for the TCM-5 final design, the orbit determination FPA knowledge error was +/-0.028(deg) (3(sigma) ) for Spirit and +/-0.035(deg) (3(sigma)) for Opportunity. Because of exceptionally accurate navigation performance, TCM-5 (E - 2 days) and TCM-6 (E - 4 hours) were canceled for both Spirit and Opportunity. The actual landing locations (determined from in-situ Doppler tracking between the MER rovers and the Mars Odyssey orbiter) differed from the target landing points by 10.1 km (downtrack) for Spirit and 24.6 km (downtrack) for Opportunity. The majority of the landing position offsets for both landers was primarily caused by variations in atmosphere and spacecraft aerodynamic modeling from what was predicted. The amount of the landing position offset caused by navigation-only errors was only 3.3 km (uptrack) for Spirit and 9.7 km (downtrack) for Opportunity.
The twin Mars Exploration Rovers, Spirit and Opportunity, were launched on June 10, 2003, and July 8, 2003, from Cape Canaveral, Florida. Spirit and Opportunity were targeted for landings at Gusev Crater (arrival on January 4, 2004) and Meridiani Planum (arrival on January 25, 2004). The primary navigation challenge was to deliver each spacecraft to the desired atmospheric entry interface point with sufficient accuracy such that each lander would touch down within a specified landing ellipse (about 70 km x 5 km) determined to be safe for landing and also judged to be scientifically interesting. In order to achieve landing within the target ellipse, precise control of the inertial entry flight path angle (FPA) at atmospheric entry was required. The maximum allowable errors in FPA following TCM-5 (trajectory correction maneuver #5) at Entry (E) -2 days were +/-0.12 deg(3 sigma) for Spirit and +/-0.14 deg(3 sigma) for Opportunity. Achieving these entry delivery accuracies necessitated significant improvements to the interplanetary navigation system used for MER. These improvements included new processes and software for orbit determination, propulsive maneuver design, and entry, descent, and landing (EDL) trajectory simulation. The actual achieved atmospheric entry accuracies for Spirit and Opportunity significantly exceeded the requirements. At the navigation data cutoff for the TCM-5 final design, the orbit determination FPA knowledge error was 0.028 deg(3 sigma) for Spirit and 0.035 deg(3 sigma) for Opportunity. Because of exceptionally accurate navigation performance, TCM-5 (E - 2 days) and TCM-6 (E - 4 hours) were canceled for both Spirit and Opportunity. The actual landing locations (determined from in-situ Doppler tracking between the MER rovers and the Mars Odyssey orbiter) differed from the target landing points by 10.1 km (downtrack) for Spirit and 24.6 km (downtrack) for Opportunity. The majority of the landing position offsets for both landers was primarily caused by variations in atmosphere and spacecraft aerodynamic modeling from what was predicted. The amount of the landing position offset caused by navigation-only errors was only 3.3 km (uptrack) for Spirit and 9.7 km (downtrack) for Opportunity.
In-flight evaluations of a pursuit guidance display system for manually flown precision instrument approaches were performed. The guidance system was integrated into the RASCAL JUH-60A Black Hawk helicopter. The applicability of the pursuit guidance disp1aFs to the operation of Runway Independent Aircraft (RIA) is made evident because the displays allow the pilot to fly a complex, multi-segment, descending, decelerating approach trajectory. The complex trajectory chosen for this in-flight assessment began from a downwind abeam position at 110 knots and was hand-flown to a 50 ft decision altitude at 40 knots using a rate-command/attitude-hold plus turn-coordination control system. The elements of the pursuit guidance format displayed on a 10-inch liquid crystal display (LCD) flat panel consisted of a flightpath vector and a "leader" aircraft as the pursuit guidance element. Approach guidance was based primarily on carrier-phase differential Global Positioning System (GPS) navigation, and secondarily on both medium accuracy inertial navigation unit states and air data computer states. Required Navigation Performance (RNP) concepts were applied to the construction of display elements such as lateral/vertical deviation indicators and a tunnel that indicated to the pilot, in real-time, the performance with respect to RNP error bounds. The results of the flight evaluations of the guidance display show that precise path control for operating within tight RNP boundaries (RNP 0.007NM/24ft for initial approach, RNP 0.008NM/19ft for intermediate approach, and RNP 0.002NM/9ft for final approach) is attainable with minimal to moderate pilot workload.
Earth-based radio tracking data types are considered, which involve simultaneous or nearly simultaneous spacecraft tracking from widely separated tracking stations. These data types are conventional tracking instrumentation analogs of the very long baseline interferometry (VLBI) of radio astronomy-hence the name quasi-VLBI. A preliminary analysis of quasi-VLBI is presented using simplified tracking data models. The results of accuracy analyses are presented for a representative mission, Viking 1975. The results indicate that, contingent on projected tracking system accuracy, quasi-VLBI can be expected to significantly improve navigation performance over that expected from conventional tracking data types.