Automated Celestial Systems for Attitude & Position Determination
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1 Automated Celestial Systems for Attitude & Position Determination Sixth DoD Astrometry Forum U.S. Naval Observatory, 5-6 Dec 2000 George Kaplan Astronomical Applications Department Astrometry Department U.S. Naval Observatory
2 Isn t GPS Enough? Much work now ongoing in DoD to mitigate effects of GPS denial (primarily by jamming) GPS enhancements (AJ, etc.) Complimentary technology Independent technology (alternatives) Navy policy requires each vehicle to have two independent means of navigation recently reiterated in policy letter
3 What About INS as a GPS Alternative? Inertial navigation systems (INS) are now common on aircraft and ships, both military and commercial A form of precise, automated dead reckoning Accuracy (position drift) varies widely Must be periodically aligned with an external reference system: GPS LORAN Celestial
4 Advantages of Celestial Nav Absolute self-calibrating World-wide Passive, self-contained Nav aids (stars) need no maintenance Widespread use and experience
5 Automating the Celestial Observations Compared to manual methods, automated systems can provide Better accuracy Higher data rate Determination of platform attitude Direct input into INS
6 Celestial Attitude and Position Determination Principles 2 or more stars 3-axis attitude in inertial space + vertical attitude wrt horizon + time latitude and longitude...assuming star catalog data + formulas for Earth orientation as a function of time
7 Automated Star Trackers Used in Missile guidance Snark, Polaris, Poseidon, Trident, MX Satellite attitude determination XTE, SWAS, STEX, DS-1, WIRE, etc. Aircraft navigation SR-71, RC-135, B-2 Space Shuttle guidance Planetary exploration spacecraft
8 Star Tracker Technology Old Technology Gimbaled Single-star observations Photomultiplier tube or similar detectors Programmed observations based on EP & attitude New Technology Strapdown Multiple-star observations CCD detectors Automatic star pattern recognition
9 Star Tracker Technology (cont.) New vs. old technologies ~1/3 weight, size, and power 3 MTBF Higher data rates but, newest technologies mostly confined to space applications so far
10 Star Tracker Technology (cont.) Observing in the far red / near IR Can observe in daytime sky dark atmosphere more transparent ~3 times more bright stars CCD quantum efficiency max in red Height (1000 ft) Star Sight Probability % Probability
11 Star Tracker Examples Example 1: B2 Legacy system from Snark, SR lb unit in left wing, 10-inch window View up to 45º off vertical: out of 52 star catalog, 4-6 stars visible at any given time Cassegrain telescope on gimbaled platform 2-inch aperture, 40 arcsec FOV, PMT detector Programmed sequence of observations, several per minute Azimuth and elevation data back to INS
12 Star Tracker Examples (cont.) Example 2: Northrop OWLS Strapdown system (non-gimbaled) CCD detector, R band (λ µm) Three simultaneous 3 fields of view holographic lens Stars to magnitude 5 in daylight at sea level 1 arcsecond (5 µrad) precision 2-axis attitude data back to INS
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14 Star Tracker Examples (cont.) Example 3: Lockheed Martin AST-201 Space qualified CCD detector, visual band 8.8 field of view, multiple stars Stars to magnitude 7, depending on rotation 0.7 to 2 arcsecond (3-10 µrad) precision Star photons in orientation angles out self-contained star catalog, recognition software
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17 Determination of the Vertical An easy problem from stationary locations can use precision tiltmeters A hard problem from moving vehicles! Motion-related accelerations not separable from gravitational acceleration Generally, must use INS vertical (from NAVSSI?) Other possibilities: horizon sensor atmospheric refraction observe artificial satellites against star background
18 Conclusions Existing DoD astro-inertial systems demonstrate feasibility of accurate autonomous navigation without GPS New technology star trackers show promise of wider application possibilities for surface/air navigation at lower cost Still TBD: detailed price and performance expectations for new systems
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