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At least 19 records

Digital Elevation Map Parametric Error Analysis Pipeline using Corresponding NAC Images

Future lunar landing systems, particularly those used to land humans on the lunar surface as part of the ARTEMIS program, will require precision navigation relative to the lunar surface. The most common way to meet these stringent navigation requirements is through terrain relative navigation (TRN), which localizes a spacecraft by comparing descent imagery with a predefined map of the surface. The accuracy achievable using TRN is limited by the accuracy of the reference Digital Elevation Map (DEM). It is therefore critical for future lunar missions that potential errors in DEMs be quantified. This paper describes one of NASA’s current efforts to develop a process for evaluating lunar DEM quality.

Chris Gnam

Digital Elevation Map Parametric Error Analysis Using Corresponding NAC Images

Future lunar landing systems, particularly those used to land humans on the lunar surface aspart of the ARTEMIS program, will require precision navigation relative to the lunar surface. The most common way to meet these stringent navigation require-ments is through terrain relative navigation (TRN), which localizes a spacecraft by comparing descent im-agery with a predefined map of the surface. The accu-racy achievable using TRN is limited by the accuracy of the reference Digital Elevation Map (DEM). It is therefore critical for future lunar missions that potential errors in DEMs be quantified. This paper describes one of NASA’s current efforts to develop a process for evaluating lunar DEM quality.

Chris R Gnam

Projection of Stabilized Aerial Imagery Onto Digital Elevation Maps for Geo-Rectified and Jitter-Free Viewing

As imagery is collected from an airborne platform, an individual viewing the images wants to know from where on the Earth the images were collected. To do this, some information about the camera needs to be known, such as its position and orientation relative to the Earth. This can be provided by common inertial navigation systems (INS). Once the location of the camera is known, it is useful to project an image onto some representation of the Earth. Due to the non-smooth terrain of the Earth (mountains, valleys, etc.), this projection is highly non-linear. Thus, to ensure accurate projection, one needs to project onto a digital elevation map (DEM). This allows one to view the images overlaid onto a representation of the Earth. A code has been developed that takes an image, a model of the camera used to acquire that image, the pose of the camera during acquisition (as provided by an INS), and a DEM, and outputs an image that has been geo-rectified. The world coordinate of the bounds of the image are provided for viewing purposes. The code finds a mapping from points on the ground (DEM) to pixels in the image. By performing this process for all points on the ground, one can "paint" the ground with the image, effectively performing a projection of the image onto the ground. In order to make this process efficient, a method was developed for finding a region of interest (ROI) on the ground to where the image will project. This code is useful in any scenario involving an aerial imaging platform that moves and rotates over time. Many other applications are possible in processing aerial and satellite imagery.

Ansar, Adnan I.

Software For Tie-Point Registration Of SAR Data

SAR-REG software package registers synthetic-aperture-radar (SAR) image data to common reference frame based on manual tie-pointing. Image data can be in binary, integer, floating-point, or AIRSAR compressed format. For example, with map of soil characteristics, vegetation map, digital elevation map, or SPOT multispectral image, as long as user can generate binary image to be used by tie-pointing routine and data are available in one of the previously mentioned formats. Written in FORTRAN 77.

Rignot, Eric

Methods of Real Time Image Enhancement of Flash LIDAR Data and Navigating a Vehicle Using Flash LIDAR Data

A method for creating a digital elevation map ("DEM") from frames of flash LIDAR data includes generating a first distance R(sub i) from a first detector i to a first point on a surface S(sub i). After defining a map with a mesh THETA having cells k, a first array S(k), a second array M(k), and a third array D(k) are initialized. The first array corresponds to the surface, the second array corresponds to the elevation map, and the third array D(k) receives an output for the DEM. The surface is projected onto the mesh THETA, so that a second distance R(sub k) from a second point on the mesh THETA to the detector can be found. From this, a height may be calculated, which permits the generation of a digital elevation map. Also, using sequential frames of flash LIDAR data, vehicle control is possible using an offset between successive frames.

Vanek, Michael D.

Calibration Software for Use with Jurassicprok

The Jurassicprok Interferometric Calibration Software (also called "Calibration Processor" or simply "CP") estimates the calibration parameters of an airborne synthetic-aperture-radar (SAR) system, the raw measurement data of which are processed by the Jurassicprok software described in the preceding article. Calibration parameters estimated by CP include time delays, baseline offsets, phase screens, and radiometric offsets. CP examines raw radar-pulse data, single-look complex image data, and digital elevation map data. For each type of data, CP compares the actual values with values expected on the basis of ground-truth data. CP then converts the differences between the actual and expected values into updates for the calibration parameters in an interferometric calibration file (ICF) and a radiometric calibration file (RCF) for the particular SAR system. The updated ICF and RCF are used as inputs to both Jurassicprok and to the companion Motion Measurement Processor software (described in the following article) for use in generating calibrated digital elevation maps.

Chapin, Elaine

Thorium Enrichment within the Procellarum KREEP Terrane: The Record in Surface Deposits and Significance for Thermal Evolution

The nearside-farside structural and compositional asymmetry of the Moon was recognized during the early days of Apollo and the suggestion was made that the migration of mantle melts to the nearside would have been favored by early Earth-Moon orbital dynamics and nonuniform planetesimal bombardment. Recent global geochemical mapping by Lunar Prospector has provided additional data, particularly in the Th distribution, that strongly supports the notion of global, preferential melt migration, which led in part to the development of the Procellarum KREEP Terrane (PKT) [2-5]. The surface distribution of Th was then reshaped by basin-forming impacts into the PKT, especially the Imbrium impact, which was the last and largest to strike in that region. The Imbrium event probably excavated material from a partially molten zone deep in the crust and delivered Th-rich ejecta Moon-wide. A fundamentally important but poorly understood aspect of the global Th distribution is the concentration of Th in the subsurface rocks of the PKT crustal section. For example, depending on what assumptions are made, the PKT crustal section, which is about 12% of the crust and only about 1.2% of the whole Moon, may contain as much as 40% of the Moon's entire Th budget. Such a distribution of Th and related heat-producing elements would have had a profound effect on melting, mixing, and the thermal evolution of the PKT and the underlying mantle. In this abstract, we examine the compositions of terra formations within the PKT and relate them to some of the Th-bearing rock types known from the Apollo samples. It appears that the existence of the PKT may be a unifying concept for a number of petrologic and geochemical observations. From the initial Lunar Prospector gamma-ray spectrometer data(-about 5 deg. resolution) and from the preliminary low-orbit data, there appears to be a number of relatively hotter "spots" within the PKT in terms of Th concentration. Some of the hotter spots correspond to intermediate-sized craters that penetrated volcanic flows and excavated Th-rich, submare material, such as Aristarchus, Aristillus, and Kepler. Other spots, however, correspond to surficial formations that constitute mainly rough topography associated with Imbrium ejecta or circum-Imbrium ring mountains and do not necessarily imply the presence of exposed KREEP basalts. The Fra Mauro Formation south of Copernicus toward the Apollo 14 site and regions of the Alpes Formation southwest of Copernicus in the vicinity of Reinhold lie within the most prominent hotspot; here them concentration is consistent with that found in the Apollo 14 soils (about 12-13 ppm) when the proportions of Fra Mauro Formation and mare basalt are considered. The area between Copernicus and Kepler and northwest of Copernicus in terra extending to the Carpathians is similarly enriched in Th. The Apennines from Eratosthenes toward the Apollo 15 site contain elevated Th concentrations, as does the northwestern quadrant of circum-Imbrium terra, especially between (but not including) La Condamine and Plato, and in the region northwest of the Jura mountains extending southward past Mairan to the Gruithuisen-Domes region. Within the main topographic rim of Imbrium, the Apennine Bench formation south of Archimedes appears to have relatively elevated Th concentration. Comparing the map of Th distribution to a digital-elevation map derived from Clementine altimetry, it appears that most of the areas richest in Th occur where the surface is elevated relative to the majority of PKT volcanic plains. Not all rough topography within the PKT has such elevated Th, however. Based on an analysis of the 5 deg. data, and using the calibration of, the mean Th concentrations for mainly volcanic-resurfaced terrain and rugged terrain are similar (about 5.5 ppm). This occurs in part because craters that penetrated mare basalt excavated Th-rich material. Even so, there appear to be extensive areas of volcanic resurfacing that have no obvious extrinsic source of Th-rich material, suggesting that the basalts, themselves, may contain as much as 5-6 ppm Th. High-FeO concentrations (18 to >20 wt%) indicate that these are not KREEP basalts but mare basalts. If so, this is surprising because most of the Apollo-sampled mare basalts have very low-Th (typically <2 ppm). A variety of Th-rich materials occur in the sample collection, particularly in the samples from the Apollo 12,14, and 15 sites. The most abundant Th-rich rock types are the mafic impact-melt breccias, which although found at all sites, are most abundant at Apollo 14, where they dominate the rock samples and make up some 40% of the rock particles in the soil. These have Th concentrations ranging up to about 30 ppm and averaging about 18 ppm. The Apollo 14 soils contain about 13 ppm Th, reflecting the high abundance of this melt-breccia component. At the nearby Apollo 12 site, the rocks consist mainly of mare basalts, and these have low-Th concentrations, mostly <1 ppm. Among the nonmare rocks, however, a few such as complex breccia 12013 contain a variety of evolved lithologies and represent potential sources of Th-rich components ranging from 17 to 50 ppm. A single fragment of KREEP basalt from the Apollo 12 soil contains about 50 ppm Th. Despite the identification of highly Th-enriched lithologic components at the Apollo 12 site, the soils there vary linearly in composition so as to extrapolate to a moderate Th KREEP-basalt component or a composition like that of the Fra Mauro formation as reflected by Apollo 14 soil (14 ppm Th at 10 wt% FeO). The nearby Lansberg Crater (39-km diameter) is a likely candidate to have delivered submare material such as buried Fra Mauro or Alpes material to the Apollo 12 site. Additional information contained in the original.

Jolliff, B. L.

Map accuracy requirements: The cartographic potential of satellite image data

Cartographic products fall into a variety of classes: topographic maps that are concerned with planimetric information and elevations or heights; thematic maps, which might be used for geology, vegetation, water, or to display these subjects; digital elevation maps that would be produced from digital terrain data; and finally image maps. In terms of satellite applications, thematic maps and image maps are emphasized. The objectives are to consider, first, if resolution will be adequate for the identification of control and for the compilation of map products. Then, second, to define map accuracy standards and to determine the potential for meeting these standards with image data from the film camera, scanner and linear array systems of the 1980s.

Welch, R.

Baseline Calibration of the GeoSAR Interferometric Mapping Instrument

GeoSAR is a dual frequency, X-Band and P-Band, interferometric mapping radar flown on a Gulfstream II with a nominal flying altitude of 10000 and a swath width of 10 km on both left and right sides of the aircraft. The radar is designed to generate high resolution and high accuracy digital elevation maps both above and below the vegetation canopy. In order to generate the high accuracy digital elevations models it is necessary to have extremely precise knowledge of the interferometric baseline, approximately .1 mm for the X-band system and 3 mm for the P-band system. Baseline knowledge to this level of accuracy is achieved through a combination of active baseline measurement using a Laser Baseline Metrology System (LBMS) and baseline calibration using an accurately surveyed array of corner reflectors. In this paper, we describe the LBMS system used to measure the dynamic component of the interferometric baseline and the least squares procedure used to estimate all three components of the interferometric baseline based on differences between calculated and surveyed corner reflector locations.

Hensley, Scott

Low Altitude AVIRIS Data for Mapping Landform Types on West Ship Island, Mississippi

A chain of barrier islands provides protection against hurricanes and severe storms along the south and southeastern shores of the United States. Barrier island landform types can be spectrally similar and as small as a few meters across, making highly detailed maps difficult to produce. To determine whether high-resolution airborne hyperspectral imagery could provide detailed maps of barrier island landform types, we used low-altitude hyperspectral and multispectral imagery to map surface environments of West Ship Island, Mississippi. We employed 3.4-meter AVIRIS hyperspectral imagery acquired in July 1999 and 0.5-meter ADAR multispectral data acquired in November 1997. The data were co-registered to digital ortho aerial imagery, and the AVIRIS data was scaled to ground reflectance using ATREM software. Unsupervised classification of AVIRIS and ADAR data proceeded using ISODATA clustering techniques. The resulting landform maps were field-checked and compared to aerial photography and digital elevation maps. Preliminary analyses indicated that the AVIRIS classification mapped more landform types, while the ADAR-based map enabled smaller patches to be identified. Used together, these maps provided a means to assess landform distributions of West Ship Island before and after Hurricane Gorges. Classification accuracy is being addressed through photo-interpretation and field surveys of sample areas selected with stratified random sampling.

Spruce, Joseph

Low Altitude AVIRIS Data for Mapping Landform Types on West Ship Island, Mississippi

A chain of barrier islands provides protection against hurricanes and severe storms along the southern and southeastern shores of the Unites States. Barrier island landform types can be spectrally similar and as small as a few meters across, making highly detailed maps difficult to produce. To determine whether high-resolution airborne hyperspectral imagery could provide detailed maps of barrier island landform types, we used low-altitude hyperspectral and multispectral imagery to map surface environments of West Ship Island, Mississippi. We employed 3.4 meter AVIRIS hyperspectral imagery acquired in July 1999 and 0.5 meter ADAR multispectral data acquired in November 1997. The data were co-registered to digital ortho aerial imagery, and the AVIRIS data was scaled to ground reflectance using ATREM software. Unsupervised classification of AVIRIS and ADAR data proceeded using ISODATA clustering techniques. The resulting landform maps were field-checked and compared to aerial photography and digital elevation maps. Preliminary analyses indicated that the AVIRIS classification mapped more landform types, while the ADAR-based map enabled smaller patches to be identified. Used together, these maps provided a means to assess landform distributions of West Ship Island before and after Hurricane Georges. Classification accuracy is being assessed through photo-interpretation and field surveys of sample areas selected with stratified random sampling.

Spruce, Joseph

Overview of Terrain Relative Navigation Approaches for Precise Lunar Landing

The driving precision landing requirement for the Autonomous Landing and Hazard Avoidance Technology project is to autonomously land within 100m of a predetermined location on the lunar surface. Traditional lunar landing approaches based on inertial sensing do not have the navigational precision to meet this requirement. The purpose of Terrain Relative Navigation (TRN) is to augment inertial navigation by providing position or bearing measurements relative to known surface landmarks. From these measurements, the navigational precision can be reduced to a level that meets the 100m requirement. There are three different TRN functions: global position estimation, local position estimation and velocity estimation. These functions can be achieved with active range sensing or passive imaging. This paper gives a survey of many TRN approaches and then presents some high fidelity simulation results for contour matching and area correlation approaches to TRN using active sensors. Since TRN requires an a-priori reference map, the paper concludes by describing past and future lunar imaging and digital elevation map data sets available for this purpose.

Terrain Relative Navigation (TRN)

Connecting Projects to Complete the In Situ Resource Utilization Paradigm

Terrain Identify specifics such as slope, rockiness, traction parameters Identify what part of ISRU needs each Physical Geotechnical Hardness, density, cohesion, etc. Identify what part of ISRU needs each (e.g., excavation needs to know hardness, density; soil processing needs to know density, cohesion; etc.)Mineral Identify specifics Identify what part of ISRU needs each Volatile Identify specifics Identify what part of ISRU needs each Atmosphere Identify specifics Identify what part of ISRU needs each Environment Identify specifics Identify what part of ISRU needs each Resource Characterization What: Develop an instrument suite to locate and evaluate the physical, mineral, and volatile resources at the lunar poles Neutron Spectrometer Near Infrared (IR) to locate subsurface hydrogen surface water Near IR for mineral identification Auger drill for sample removal down to 1 m Oven with Gas Chromatograph Mass Spectrometer to quantify volatiles present ISRU relevance: Water volatile resource characterization and subsurface material access removal Site Evaluation Resource Mapping What: Develop and utilize new data products and tools for evaluating potential exploration sites for selection and overlay mission data to map terrain, environment, and resource information e.g., New techniques applied to generate Digital Elevation Map (DEMs) at native scale of images (1mpxl)ISRU relevance: Resource mapping and estimation with terrain and environment information is needed for extraction planning Mission Planning and Operations What: Develop and utilize tools and procedures for planning mission operations and real time changes Planning tools include detailed engineering models (e.g., power and data) of surface segment systems allows evaluation of designs ISRU relevance: Allows for iterative engineering as a function of environment and hardware performance.

Paradigm

Overview of terrain relative navigation approaches for Precise Lunar Landing

The driving precision landing requirement for the Autonomous Landing and Hazard Avoidance Technology project is to autonomously land within 100m of a predetermined location on the lunar surface. Traditional lunar landing approaches based on inertial sensing do not have the navigational precision to meet this requirement. The purpose of Terrain Relative Navigation (TRN) is to augment inertial navigation by providing position or bearing measurements relative to known surface landmarks. From these measurements, the navigational precision can be reduced to a level that meets the 100m requirement. There are three different TRN functions: global position estimation, local position estimation and velocity estimation. These functions can be achieved with active range sensing or passive imaging. This paper gives a survey of many TRN approaches and then presents some high fidelity simulation results for contour matching and area correlation approaches to TRN using active sensors. Since TRN requires an a-priori reference map, the paper concludes by describing past and future lunar imaging and digital elevation map data sets available for this purpose.

Montgomery, James F.

Software for Generating Troposphere Corrections for InSAR Using GPS and Weather Model Data

Atmospheric errors due to the troposphere are a limiting error source for spaceborne interferometric synthetic aperture radar (InSAR) imaging. This software generates tropospheric delay maps that can be used to correct atmospheric artifacts in InSAR data. The software automatically acquires all needed GPS (Global Positioning System), weather, and Digital Elevation Map data, and generates a tropospheric correction map using a novel algorithm for combining GPS and weather information while accounting for terrain. Existing JPL software was prototypical in nature, required a MATLAB license, required additional steps to acquire and ingest needed GPS and weather data, and did not account for topography in interpolation. Previous software did not achieve a level of automation suitable for integration in a Web portal. This software overcomes these issues. GPS estimates of tropospheric delay are a source of corrections that can be used to form correction maps to be applied to InSAR data, but the spacing of GPS stations is insufficient to remove short-wavelength tropospheric artifacts. This software combines interpolated GPS delay with weather model precipitable water vapor (PWV) and a digital elevation model to account for terrain, increasing the spatial resolution of the tropospheric correction maps and thus removing short wavelength tropospheric artifacts to a greater extent. It will be integrated into a Web portal request system, allowing use in a future L-band SAR Earth radar mission data system. This will be a significant contribution to its technology readiness, building on existing investments in in situ space geodetic networks, and improving timeliness, quality, and science value of the collected data

Moore, Angelyn W.

On-board Absolute Localization Based on Orbital Imagery for a Future Mars Science Helicopter

Future Mars Rotorcraft require advanced navigationcapabilities to enable all terrain access over long distance flightsthat are executed fully autonomously. A critical component toenable precision navigation during long traverses is the abilityto perform on-board absolute localization to eliminate drift inposition estimates of the on-board odometry algorithm. Inthis paper, we present an approach for on-board map-basedlocalization to provide global reference position based on orbitalor aerial image maps. Our approach builds on a vision-basedlocalization method to localize against a map derived fromHiRISE image products – an ortho-projected image (orthoimage) and a corresponding digital elevation map. The mapis pre-computed using a feature-based approach. Features arestored with their 3D world coordinates, and a descriptor to codethe local image intensity information in the vicinity of the featurelocation. An on-board matching algorithm uses this informationto match visual features in a query image acquired during flight,guided by a pose prior from the on-board range-visual-inertialstate estimator (Range-VIO). Valid matches are then used bya perspective-n-point (PnP) algorithm to estimate the absolutepose of the vehicle in a global frame. We demonstrate andevaluate our approach on simulated data, and data from UASflights.

Balaram, J. Bob

New Applications for the Testing and Visualization of Wireless Networks

Traditional techniques for examining wireless networks use physical link characteristics such as Signal-to-Noise (SNR) ratios to assess the performance of wireless networks. Such measurements may not be reliable indicators of available bandwidth. This work describes two new software applications developed at NASA Glenn Research Center for the investigation of wireless networks. GPSIPerf combines measurements of Transmission Control Protocol (TCP) throughput with Global Positioning System (GPS) coordinates to give users a map of wireless bandwidth for outdoor environments where a wireless infrastructure has been deployed. GPSIPerfView combines the data provided by GPSIPerf with high-resolution digital elevation maps (DEM) to help users visualize and assess the impact of elevation features on wireless networks in a given sample area. These applications were used to examine TCP throughput in several wireless network configurations at desert field sites near Hanksville, Utah during May of 2004. Use of GPSIPerf and GPSIPerfView provides a geographically referenced picture of the extent and deterioration of TCP throughput in tested wireless network configurations. GPSIPerf results from field-testing in Utah suggest that it can be useful in assessing other wireless network architectures, and may be useful to future human-robotic exploration missions.

Griffin, Robert I.