Pub Date : 2023-03-04DOI: 10.1109/AERO55745.2023.10115961
J. Connolly, W. D. Carrier
The renewed interest in returning human and robotic explorers to the lunar surface has identified a need for a renewed understanding of lunar geotechnical properties related to landing, exploration, excavation, and construction activities on the lunar surface. This paper summarizes measurements conducted during US and Russian/Soviet landed missions as well as experiments performed on returned samples to establish fundamental geotechnical properties such as particle size distribution, particle shape, bulk density, shear strength, cohesion and bearing strength. While many of these properties are well known, how they vary with increased lunar soil depth is less understood, and those properties that vary significantly as a function of depth are explored in additional detail. Selected examples discuss mechanical excavation forces, rocket exhaust erosion forces, and the preparation of launch/landing pad surfaces, with the goal of a better understanding of lunar soil geotechnical properties that apply to large-scale exploration of the lunar surface and dictate the design of future exploration systems.
{"title":"An Engineering Guide to Lunar Geotechnical Properties","authors":"J. Connolly, W. D. Carrier","doi":"10.1109/AERO55745.2023.10115961","DOIUrl":"https://doi.org/10.1109/AERO55745.2023.10115961","url":null,"abstract":"The renewed interest in returning human and robotic explorers to the lunar surface has identified a need for a renewed understanding of lunar geotechnical properties related to landing, exploration, excavation, and construction activities on the lunar surface. This paper summarizes measurements conducted during US and Russian/Soviet landed missions as well as experiments performed on returned samples to establish fundamental geotechnical properties such as particle size distribution, particle shape, bulk density, shear strength, cohesion and bearing strength. While many of these properties are well known, how they vary with increased lunar soil depth is less understood, and those properties that vary significantly as a function of depth are explored in additional detail. Selected examples discuss mechanical excavation forces, rocket exhaust erosion forces, and the preparation of launch/landing pad surfaces, with the goal of a better understanding of lunar soil geotechnical properties that apply to large-scale exploration of the lunar surface and dictate the design of future exploration systems.","PeriodicalId":344285,"journal":{"name":"2023 IEEE Aerospace Conference","volume":"55 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2023-03-04","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"114473087","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2023-03-04DOI: 10.1109/AERO55745.2023.10115558
Siwei Zhang, Pedro Fernandez Ruz, Fabio Broghammer, E. Staudinger, C. Gentner, R. Pöhlmann, A. Dammann, Manuel Schütt, R. Lichtenheldt
At the Institute of Communications and Navigation of the German Aerospace Center (DLR), we have studied and developed radio-based swarm navigation technologies for a decade. In this paper, we provide a complete solution of ultra-wide band (UWB) localization network for a robotic swarm. This network is organized in a fully decentralized fashion and resilient to clock imperfections, topology changes, packet loss and the hidden node problem. In this network, a multitude of active devices and an arbitrary number of passive devices can exploit the UWB signals for self-localization, i.e. estimating their relative positions and orientations, without sophisticated clock and antenna calibration, which dramatically simplifies the de-sign and manufacturing of such a swarm. Our proposed solution is verified with experiments and was successfully demonstrated in a space-analogue multi-robot surface exploration mission on the volcano Mt. Etna, Sicily, Italy, in July 2022.
{"title":"Self-Organized UWB Localization for Robotic Swarm – First Results from an Analogue Mission on Volcano Etna","authors":"Siwei Zhang, Pedro Fernandez Ruz, Fabio Broghammer, E. Staudinger, C. Gentner, R. Pöhlmann, A. Dammann, Manuel Schütt, R. Lichtenheldt","doi":"10.1109/AERO55745.2023.10115558","DOIUrl":"https://doi.org/10.1109/AERO55745.2023.10115558","url":null,"abstract":"At the Institute of Communications and Navigation of the German Aerospace Center (DLR), we have studied and developed radio-based swarm navigation technologies for a decade. In this paper, we provide a complete solution of ultra-wide band (UWB) localization network for a robotic swarm. This network is organized in a fully decentralized fashion and resilient to clock imperfections, topology changes, packet loss and the hidden node problem. In this network, a multitude of active devices and an arbitrary number of passive devices can exploit the UWB signals for self-localization, i.e. estimating their relative positions and orientations, without sophisticated clock and antenna calibration, which dramatically simplifies the de-sign and manufacturing of such a swarm. Our proposed solution is verified with experiments and was successfully demonstrated in a space-analogue multi-robot surface exploration mission on the volcano Mt. Etna, Sicily, Italy, in July 2022.","PeriodicalId":344285,"journal":{"name":"2023 IEEE Aerospace Conference","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2023-03-04","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"114609021","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2023-03-04DOI: 10.1109/AERO55745.2023.10115968
R. Allen, Y. Rachlin, J. Ruprecht, Sean Loughran, J. Varey, H. Viggh
This paper introduces a collection of non-cooperative game environments that are intended to spur development and act as proving grounds for autonomous and AI decision-makers in the orbital domain. SpaceGym comprises two distinct suites of game environments: OrbitDefender2D (OD2D) and the Ker-bal Space Program Differential Games suite (KSPDG). OrbitDe-fender2D consists of discrete, chess-like, two-player gridworld games. OD2D game mechanics are loosely based on orbital motion and players compete to maintain control of orbital slots. The KSPDG suite consists of multi-agent pursuit-evasion differential games constructed within the Kerbal Space Program (KSP) game engine. In comparison to the very limited set of comparable environments in the existing literature, KSPDG represents a much more configurable, extensible, and higher-fidelity aerospace environment suite that leverages a mature game engine to incorporate physics models for phenomenon such as collision mechanics, kinematic chains for deformable bodies, atmospheric drag, variable-mass propulsion, solar irradiance, and thermal models. Both the discrete and differential game suites are built with standardized input/output interfaces based on OpenAI Gym and PettingZoo specifications. This standardization enables-but does not enforce-the use of rein-forcement learning agents within the SpaceGym environments. As a comparison point for future research, we provide baseline agents that employ techniques of model predictive control, numerical differential game solvers, and reinforcement learning-along with their respective performance metrics-for a subset of the SpaceGym environments. The SpaceGym software libraries can be found at https://github.com/mit-II/spacegym-od2d and https://github.com/mit-II/spacegym-kspdg.
本文介绍了一系列非合作游戏环境，旨在刺激开发，并作为轨道领域自主和人工智能决策者的试验场。SpaceGym包含两个不同的游戏环境套件:OrbitDefender2D (OD2D)和Ker-bal Space Program Differential Games套件(KSPDG)。《OrbitDe-fender2D》是一款类似国际象棋的双人网格世界游戏。OD2D游戏机制基于轨道运动，玩家通过竞争来保持对轨道槽的控制。KSPDG套件由在Kerbal空间计划(KSP)游戏引擎中构建的多智能体追击-逃避微分博弈组成。与现有文献中非常有限的可比环境相比，KSPDG代表了一个更具可配置性、可扩展性和更高保真度的航空航天环境套件，它利用成熟的游戏引擎将碰撞力学、可变形物体的运动链、大气阻力、变质量推进、太阳辐照度和热模型等现象的物理模型结合起来。离散和差分游戏套件都是基于OpenAI Gym和PettingZoo规范的标准化输入/输出接口构建的。这种标准化支持(但不强制)在SpaceGym环境中使用强化学习代理。作为未来研究的比较点，我们为SpaceGym环境的一个子集提供了采用模型预测控制、数值微分博弈求解器和强化学习技术的基线代理，以及它们各自的性能指标。SpaceGym软件库可以在https://github.com/mit-II/spacegym-od2d和https://github.com/mit-II/spacegym-kspdg上找到。
{"title":"SpaceGym: Discrete and Differential Games in Non-Cooperative Space Operations","authors":"R. Allen, Y. Rachlin, J. Ruprecht, Sean Loughran, J. Varey, H. Viggh","doi":"10.1109/AERO55745.2023.10115968","DOIUrl":"https://doi.org/10.1109/AERO55745.2023.10115968","url":null,"abstract":"This paper introduces a collection of non-cooperative game environments that are intended to spur development and act as proving grounds for autonomous and AI decision-makers in the orbital domain. SpaceGym comprises two distinct suites of game environments: OrbitDefender2D (OD2D) and the Ker-bal Space Program Differential Games suite (KSPDG). OrbitDe-fender2D consists of discrete, chess-like, two-player gridworld games. OD2D game mechanics are loosely based on orbital motion and players compete to maintain control of orbital slots. The KSPDG suite consists of multi-agent pursuit-evasion differential games constructed within the Kerbal Space Program (KSP) game engine. In comparison to the very limited set of comparable environments in the existing literature, KSPDG represents a much more configurable, extensible, and higher-fidelity aerospace environment suite that leverages a mature game engine to incorporate physics models for phenomenon such as collision mechanics, kinematic chains for deformable bodies, atmospheric drag, variable-mass propulsion, solar irradiance, and thermal models. Both the discrete and differential game suites are built with standardized input/output interfaces based on OpenAI Gym and PettingZoo specifications. This standardization enables-but does not enforce-the use of rein-forcement learning agents within the SpaceGym environments. As a comparison point for future research, we provide baseline agents that employ techniques of model predictive control, numerical differential game solvers, and reinforcement learning-along with their respective performance metrics-for a subset of the SpaceGym environments. The SpaceGym software libraries can be found at https://github.com/mit-II/spacegym-od2d and https://github.com/mit-II/spacegym-kspdg.","PeriodicalId":344285,"journal":{"name":"2023 IEEE Aerospace Conference","volume":"366 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2023-03-04","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"114855000","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2023-03-04DOI: 10.1109/AERO55745.2023.10115887
K. J. Foo, M. Tissera, R. D. Tan, K. S. Low
With the advanced development and maturing of small satellite technologies, there is a high commercial demand for low-cost small satellites with fast delivery for a multitude of applications. This paper presents a hardware-in-the-loop system for testing the satellite's attitude determination and control system and the Agile framework from software engineering practices to guide resource-effective end-to-end development processes, while maintaining a comprehensive system validation. Experimental results for design verification of satellite's Attitude Determination and Control Systems (ADCS) using our ongoing concurrent multiple satellite programs are presented.
{"title":"Agile Development of Small Satellite's Attitude Determination and Control System","authors":"K. J. Foo, M. Tissera, R. D. Tan, K. S. Low","doi":"10.1109/AERO55745.2023.10115887","DOIUrl":"https://doi.org/10.1109/AERO55745.2023.10115887","url":null,"abstract":"With the advanced development and maturing of small satellite technologies, there is a high commercial demand for low-cost small satellites with fast delivery for a multitude of applications. This paper presents a hardware-in-the-loop system for testing the satellite's attitude determination and control system and the Agile framework from software engineering practices to guide resource-effective end-to-end development processes, while maintaining a comprehensive system validation. Experimental results for design verification of satellite's Attitude Determination and Control Systems (ADCS) using our ongoing concurrent multiple satellite programs are presented.","PeriodicalId":344285,"journal":{"name":"2023 IEEE Aerospace Conference","volume":"58 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2023-03-04","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"116677025","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2023-03-04DOI: 10.1109/AERO55745.2023.10116016
R. Killough, M. Beasley, Alan Henry, C. Deforest, J. Redfern, William Wells, Keith G. W. Smith, G. Laurent, Sarah Gibson, R. Colaninno
The Polarimeter to UNify the Corona and Heliosphere (PUNCH) mission comprises a constellation of four micro-satellites that will produce 3D images of the solar wind by imaging the faint traces of sunlight reflected from free electrons in the solar corona and solar wind. Three of the PUNCH observatories host a Wide Field Imager (WFI) instrument each, and one hosts a Narrow Field Imager (NFI). The mission is funded by the NASA Explorers Program. This paper highlights some of the design decisions that went into enabling what has been described as an elegant design, enabling a common spacecraft as well as significant commonality in instrument components for the four PUNCH observatories hosting three very different instruments. The design approach minimized risk while enabling big science in the context of a Small Explorer mission budget. Although well into flight development and fabrication, PUNCH was recently transitioned from a prime mission to a rideshare mission for deployment from a secondary payload adaptor. We briefly discuss some of the challenges encountered to-date in this transition, assumptions that had to be made, and impact to the mission schedule.
{"title":"The PUNCH Mission: System Trades and Surviving The Evolving LV Market","authors":"R. Killough, M. Beasley, Alan Henry, C. Deforest, J. Redfern, William Wells, Keith G. W. Smith, G. Laurent, Sarah Gibson, R. Colaninno","doi":"10.1109/AERO55745.2023.10116016","DOIUrl":"https://doi.org/10.1109/AERO55745.2023.10116016","url":null,"abstract":"The Polarimeter to UNify the Corona and Heliosphere (PUNCH) mission comprises a constellation of four micro-satellites that will produce 3D images of the solar wind by imaging the faint traces of sunlight reflected from free electrons in the solar corona and solar wind. Three of the PUNCH observatories host a Wide Field Imager (WFI) instrument each, and one hosts a Narrow Field Imager (NFI). The mission is funded by the NASA Explorers Program. This paper highlights some of the design decisions that went into enabling what has been described as an elegant design, enabling a common spacecraft as well as significant commonality in instrument components for the four PUNCH observatories hosting three very different instruments. The design approach minimized risk while enabling big science in the context of a Small Explorer mission budget. Although well into flight development and fabrication, PUNCH was recently transitioned from a prime mission to a rideshare mission for deployment from a secondary payload adaptor. We briefly discuss some of the challenges encountered to-date in this transition, assumptions that had to be made, and impact to the mission schedule.","PeriodicalId":344285,"journal":{"name":"2023 IEEE Aerospace Conference","volume":"2 4 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2023-03-04","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"116873207","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2023-03-04DOI: 10.1109/AERO55745.2023.10115547
E. Some, A. Gasiewski
This paper explores the potential benefits of combining the use of injection-locking techniques with GPS signals as a common clock source when applied to a low-cost Software Defined Radio (SDR) to improve the accuracy of coherent multiple receivers. Coherent systems impose severe requirements on the frequency stability of the signal source at the receiver. In this work, injection-locked oscillators are used as local clock receivers, which inherently synchronizes the SDR analog digital converter (ADCs) sampling times and keeps the local oscillator locked on to the GPS stimulus periodic signal. This paper illustrates the hardware modifications needed for to the injection locking oscillators of eight RTL-SDR radios and the theory behind it, and experimentally measures the degree of coherency in the frequency, phase and time synchronization to verify the proposed method. The coherency demonstrated in the results prove the feasibility of using beamforming, multiple input multiple output (MIMO) and RF transmitter geo-localization.
{"title":"Software Defined Radio Injection-Locking using a GPS signal for multichannel coherent receivers","authors":"E. Some, A. Gasiewski","doi":"10.1109/AERO55745.2023.10115547","DOIUrl":"https://doi.org/10.1109/AERO55745.2023.10115547","url":null,"abstract":"This paper explores the potential benefits of combining the use of injection-locking techniques with GPS signals as a common clock source when applied to a low-cost Software Defined Radio (SDR) to improve the accuracy of coherent multiple receivers. Coherent systems impose severe requirements on the frequency stability of the signal source at the receiver. In this work, injection-locked oscillators are used as local clock receivers, which inherently synchronizes the SDR analog digital converter (ADCs) sampling times and keeps the local oscillator locked on to the GPS stimulus periodic signal. This paper illustrates the hardware modifications needed for to the injection locking oscillators of eight RTL-SDR radios and the theory behind it, and experimentally measures the degree of coherency in the frequency, phase and time synchronization to verify the proposed method. The coherency demonstrated in the results prove the feasibility of using beamforming, multiple input multiple output (MIMO) and RF transmitter geo-localization.","PeriodicalId":344285,"journal":{"name":"2023 IEEE Aerospace Conference","volume":"63 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2023-03-04","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"115452222","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2023-03-04DOI: 10.1109/AERO55745.2023.10115597
Peter Lehner, Ryosuke Sakagami, W. Boerdijk, Andreas Dömel, M. Durner, Giacomo Franchini, A. Prince, Kristin Lakatos, David Lennart Risch, Lukas Meyer, B. Vodermayer, E. Dietz, S. Frohmann, F. Seel, Susanne Schröder, H. Hübers, A. Albu-Schäffer, A. Wedler
Laser-induced Breakdown Spectroscopy(LIBS) is an established analytical technique to measure the elemental composition of rocks and other matter on the Martian surface. We propose an autonomous in-contact sampling method based on an attachable LIBS instrument, designed to measure the composition of samples on the surface of planets andmoons. Thespectrometer module is picked up by our LightweightRover Unit(LRU) at the landing site and transported to the sampling location, where the manipulator establishes a solid contact be-tween the instrument and the sample. The rover commands the instrument to trigger the measurement, which in turn releases a laser-pulse and captures the spectrum of the resulting plasma. The in-contact deployment ensures a suitable focus distance for the spectrometer, without a focusing system that would add to the instrument's volume and weight, and allows for flexible deployment of the instrument. The autonomous software com-putes all necessary manipulation operations on-board the rover and requires almost no supervision from mission control. We tested the LRU and the LIBS instrument at the moon analogue test site on Mt. Etna, Sicily and successfully demonstrated multiple LIBS measurements, in which the rover automatically deployed the instrument on a rock sample, recorded a measure-ment and sent the data to mission control, with sufficient quality to distinguish the major elements of the recorded sample.
{"title":"Mobile Manipulation of a Laser-induced Breakdown Spectrometer for Planetary Exploration","authors":"Peter Lehner, Ryosuke Sakagami, W. Boerdijk, Andreas Dömel, M. Durner, Giacomo Franchini, A. Prince, Kristin Lakatos, David Lennart Risch, Lukas Meyer, B. Vodermayer, E. Dietz, S. Frohmann, F. Seel, Susanne Schröder, H. Hübers, A. Albu-Schäffer, A. Wedler","doi":"10.1109/AERO55745.2023.10115597","DOIUrl":"https://doi.org/10.1109/AERO55745.2023.10115597","url":null,"abstract":"Laser-induced Breakdown Spectroscopy(LIBS) is an established analytical technique to measure the elemental composition of rocks and other matter on the Martian surface. We propose an autonomous in-contact sampling method based on an attachable LIBS instrument, designed to measure the composition of samples on the surface of planets andmoons. Thespectrometer module is picked up by our LightweightRover Unit(LRU) at the landing site and transported to the sampling location, where the manipulator establishes a solid contact be-tween the instrument and the sample. The rover commands the instrument to trigger the measurement, which in turn releases a laser-pulse and captures the spectrum of the resulting plasma. The in-contact deployment ensures a suitable focus distance for the spectrometer, without a focusing system that would add to the instrument's volume and weight, and allows for flexible deployment of the instrument. The autonomous software com-putes all necessary manipulation operations on-board the rover and requires almost no supervision from mission control. We tested the LRU and the LIBS instrument at the moon analogue test site on Mt. Etna, Sicily and successfully demonstrated multiple LIBS measurements, in which the rover automatically deployed the instrument on a rock sample, recorded a measure-ment and sent the data to mission control, with sufficient quality to distinguish the major elements of the recorded sample.","PeriodicalId":344285,"journal":{"name":"2023 IEEE Aerospace Conference","volume":"33 7-8 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2023-03-04","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"123339359","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2023-03-04DOI: 10.1109/AERO55745.2023.10115677
Yan Wang, W. Blair, T. Ogle, P. Miceli
When conducting performance assessment of multi-target tracking algorithms with a realistic computer simulation or real-world sensor data, good track-to-truth assignment (TTA) is a critical component of any meaningful assessment. The presence of kinematic data for small objects that may not be observed by the sensor in the truth data poses serious challenges to the TTA. The assignment process is further complicated by the presence of sensor biases. In this paper, TTA in the presence of small objects and sensor biases is considered. When the target density is high and some objects are small, correctly assigning tracks to truth objects is challenging, and with the addition of sensor biases, the problem of correctly assigning tracks to truth objects is impossible without mitigation. The high rate of false switches of tracks between true objects greatly hinders the performance assessment of the target tracking system. In this paper, these challenges are addressed by adding probability of tracking to a probabilistic data association (PDA) technique for TTA. The computational algorithms for the implementation of the PDA technique are presented along with simulation results that confirm the effectiveness of the PDA approach in accurately estimating the sensor biases, and reducing the artificial track switches and ambiguity in the TTA.
{"title":"PDA Technique for Track-to-Truth Assignment in the Presence of Sensor Biases and Small Objects","authors":"Yan Wang, W. Blair, T. Ogle, P. Miceli","doi":"10.1109/AERO55745.2023.10115677","DOIUrl":"https://doi.org/10.1109/AERO55745.2023.10115677","url":null,"abstract":"When conducting performance assessment of multi-target tracking algorithms with a realistic computer simulation or real-world sensor data, good track-to-truth assignment (TTA) is a critical component of any meaningful assessment. The presence of kinematic data for small objects that may not be observed by the sensor in the truth data poses serious challenges to the TTA. The assignment process is further complicated by the presence of sensor biases. In this paper, TTA in the presence of small objects and sensor biases is considered. When the target density is high and some objects are small, correctly assigning tracks to truth objects is challenging, and with the addition of sensor biases, the problem of correctly assigning tracks to truth objects is impossible without mitigation. The high rate of false switches of tracks between true objects greatly hinders the performance assessment of the target tracking system. In this paper, these challenges are addressed by adding probability of tracking to a probabilistic data association (PDA) technique for TTA. The computational algorithms for the implementation of the PDA technique are presented along with simulation results that confirm the effectiveness of the PDA approach in accurately estimating the sensor biases, and reducing the artificial track switches and ambiguity in the TTA.","PeriodicalId":344285,"journal":{"name":"2023 IEEE Aerospace Conference","volume":"56 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2023-03-04","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"123647494","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2023-03-04DOI: 10.1109/AERO55745.2023.10115609
A. Holloway, Jonathan Denison, Neel Patel, M. Maimone, A. Rankin
The Mars Science Laboratory (MSL) Curiosity rover is about to receive its sixth and likely final complete flight software update after having operated on Mars for more than a decade. Software transitions on MSL provide an opportunity to add or replace functionality, fix bugs, and prepare for future capabilities. The penultimate full software release, R12, was installed on Curiosity in 2015, three years after its August 2012 landing, and was followed over the subsequent seven years by many patches as engineers worked to address new mission constraints quickly. Because each additional patch increases the complexity of maintaining and operating the rover, a new flight software update called R13 was proposed, which aimed to make operations more straightforward by incorporating existing patches, improved software capabilities, and new software capabilities into a single monolithic rover flight software image. The R13 development effort kicked off in early 2017. Over the next six years, the scope of R13 expanded to include many desired capabilities and bug fixes - some of which were proposed even earlier than 2015 but were unable to be implemented in R12. Overall, the MSL Change Control Board approved 56 bug fixes and 53 new features for R13 development. Twenty-seven developers implemented these changes over a 3.5-year period. Following a 2.25-year testing campaign, R13 was approved for use in flight onboard Curiosity. In this paper, we detail the path of the R13 flight software release from its proposal in April 2016 to its approval for use in flight in September 2022.
{"title":"Six Years and 184 Tickets: The Vast Scope of the Mars Science Laboratory's Ultimate Flight Software Release","authors":"A. Holloway, Jonathan Denison, Neel Patel, M. Maimone, A. Rankin","doi":"10.1109/AERO55745.2023.10115609","DOIUrl":"https://doi.org/10.1109/AERO55745.2023.10115609","url":null,"abstract":"The Mars Science Laboratory (MSL) Curiosity rover is about to receive its sixth and likely final complete flight software update after having operated on Mars for more than a decade. Software transitions on MSL provide an opportunity to add or replace functionality, fix bugs, and prepare for future capabilities. The penultimate full software release, R12, was installed on Curiosity in 2015, three years after its August 2012 landing, and was followed over the subsequent seven years by many patches as engineers worked to address new mission constraints quickly. Because each additional patch increases the complexity of maintaining and operating the rover, a new flight software update called R13 was proposed, which aimed to make operations more straightforward by incorporating existing patches, improved software capabilities, and new software capabilities into a single monolithic rover flight software image. The R13 development effort kicked off in early 2017. Over the next six years, the scope of R13 expanded to include many desired capabilities and bug fixes - some of which were proposed even earlier than 2015 but were unable to be implemented in R12. Overall, the MSL Change Control Board approved 56 bug fixes and 53 new features for R13 development. Twenty-seven developers implemented these changes over a 3.5-year period. Following a 2.25-year testing campaign, R13 was approved for use in flight onboard Curiosity. In this paper, we detail the path of the R13 flight software release from its proposal in April 2016 to its approval for use in flight in September 2022.","PeriodicalId":344285,"journal":{"name":"2023 IEEE Aerospace Conference","volume":"37 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2023-03-04","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"123667498","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2023-03-04DOI: 10.1109/AERO55745.2023.10115957
M. Garrison, G. Arney, A. Bartels, V. Elliott, J. Garvin, S. Getty, Colby S. Goodloe, Chetan Sayal, R. Saylor, K. Schwer, M. Sekerak, S. Dutta
DAVINCI (Deep Atmosphere Venus Investigation of Noble gases, Chemistry, and Imaging) was selected as one of two new Discovery missions in summer of 2021 with the primary goals to study how the Venus atmosphere formed and changed over time. DAVINCI does this by making in situ measurements of the atmosphere, taking images below the cloud layer during the descent phase, and imaging the surface and clouds during two flyby science opportunities. The Descent Sphere is neither designed nor required to land on the surface so all critical science data must be taken and transmitted to a relay spacecraft prior to impact. This architecture drives the mission to a carefully-crafted concept of operations; deployments, instrument operations, and communications are choreographed to ensure the right data is gathered at the right altitude given the uncertainties in the trajectory and timeline. A complex flow of analyses and tests throughout development will validate the system's ability to execute the mission goals. In the end DAVINCI will be ready for its one hour of descent time to meet its driving science goals.
{"title":"The Big Plunge at Venus: The DAVINCI Descent Phase","authors":"M. Garrison, G. Arney, A. Bartels, V. Elliott, J. Garvin, S. Getty, Colby S. Goodloe, Chetan Sayal, R. Saylor, K. Schwer, M. Sekerak, S. Dutta","doi":"10.1109/AERO55745.2023.10115957","DOIUrl":"https://doi.org/10.1109/AERO55745.2023.10115957","url":null,"abstract":"DAVINCI (Deep Atmosphere Venus Investigation of Noble gases, Chemistry, and Imaging) was selected as one of two new Discovery missions in summer of 2021 with the primary goals to study how the Venus atmosphere formed and changed over time. DAVINCI does this by making in situ measurements of the atmosphere, taking images below the cloud layer during the descent phase, and imaging the surface and clouds during two flyby science opportunities. The Descent Sphere is neither designed nor required to land on the surface so all critical science data must be taken and transmitted to a relay spacecraft prior to impact. This architecture drives the mission to a carefully-crafted concept of operations; deployments, instrument operations, and communications are choreographed to ensure the right data is gathered at the right altitude given the uncertainties in the trajectory and timeline. A complex flow of analyses and tests throughout development will validate the system's ability to execute the mission goals. In the end DAVINCI will be ready for its one hour of descent time to meet its driving science goals.","PeriodicalId":344285,"journal":{"name":"2023 IEEE Aerospace Conference","volume":"37 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2023-03-04","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"122877638","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
京公网安备 11010802042870号
京ICP备2023020795号-1
扫码关注我们
求助内容：
应助结果提醒方式：