Phase II Final Report - NASA's Institute for Advanced Concepts

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Planetary Exploration Using Biomimetics An Entomopter for Flight on Mars change flight path in azimuth because it takes less energy than climbing over things or having to regain altitude after going under something. Thus, finer azimuthal resolution will be incorporated as opposed to those of elevation. It is assumed that the Entomopter will be able to look to the front, to the sides, and down with an appropriate antenna. Antenna beams will be scanned in needed directions to conserve power. The frequency of front/side/downward observation will be mission-driven. The desired azimuthal and elevational resolutions can be achieved by designing the antenna to have appropriate beamwidths. 4.3.1.2 Altimetry Assumptions • Maximum altitude = 10 m • Minimum range ~ 10 cm • Range resolution near maximum altitude ~ 1 m • Range resolution at altitudes < 3 m ~ 6 cm The Entomopter will have onboard altimetry radar to locate its altitude AGL. This information will be used for the Entomopter to land on the Mars terrain for exploration if the mission so requires. In addition, this information can be used for elevation positioning relative to the rover. Less resolution is needed while the Entomopter is in flight at its nominal altitude, but finer resolution is critical when the Entomopter is flying at low altitudes, as well as for landing. This may drive the design to a multi-sensor solution (radar for long range, FMCW acoustic ranging for low altitude). 4.3.1.3 Communications Assumptions • Azimuthal coverage = 360 o • Elevation coverage = 360 o • Maximum height = 10 m • Maximum range = 200 m • Minimum range = 10 cm • Acceptable bit error rate (BER) = 10 -5 • Required data rates will be based on mission requirements, to be determined. To conserve power, the multifunctional subsystem can be used simultaneously for communications, positioning, obstacle detection, or altimetry. Again, the Entomopter will be completely autonomous, and its operation need not rely on Earth-bound mission planners nor on the refueling rover. Therefore, continuous, high-data-rate communications are not necessary. Common science payloads may include sensors onboard the flight vehicles, which make climatic, environmental, and/or magnetospheric readings. In addition, there will be flight monitoring hardware. The lessons learned from the Pathfinder mission, the importance of having an adequate number of telemetry channels to monitor the condition of the radio hardware, and temperature sensors were stressed in order to diagnose problems. Phase II Final Report 238
Chapter 4.0 Entomopter Flight Operations 4.3 Entomopter-borne Active Emitters for Navigation and Communication Although the majority of the scientific data will be uploaded directly to the rover, it is assumed that quick-look samples will be communicated back to the rover on a regular basis. These samples will contain only small amounts of data such as health monitoring updates, fuel level and altimetry readings. 4.3.1.4 Positioning Assumptions • Spherical coverage • Maximum altitude = 10 m • Maximum range = 200 m • Minimum range ~ 10 cm • Resolution near max range ~ 1 or 2 m • Resolution at ranges < 2 or 3 m ~ 3 to 6 cm It is necessary to obtain two-dimensional (2D) positioning information (azimuth and range), because the elevation will be determined by the onboard altimetry information. Positioning is commonly accomplished by using global positioning satellite (GPS) solutions. In the absence of GPS it is assumed that for this application, the positioning system will be incorporated into the RF functionality of the Entomopter/rover to locate the Entomopters relative to the rover. 4.3.1.4.1 Monopulse Positioning In an effort to conserve power, the main positioning method will use the “quick look” samples and health monitoring communication signals as described above. To do this, a quick burst encoded with the Entomopter identification, time, and altitude is needed. This can be coded into the header of these quick health monitoring signals sent from the Entomopter to the rover. When the refueling rover or other Entomopters receive the signal, the range can be calculated from the time of flight, and the azimuth can be determined using monopulse techniques where the received signal strength is compared in the azimuthal sectors of the rover’s receiving antenna. Again, an MTI type of radar placed on the refueling rover could easily discriminate between signals returned from ground clutter and the Entomopter. The azimuthal resolution is determined by the antenna beam width of each of the azimuthal sectors. Thus, the resolution could be varied during the mission by using a switching network on the antenna. The altitude can be sent in the reflected signal from the Entomopter by modulating the RCS (as described earlier), or one of the Entomopter emitters can downlink this information to the refueling rover. 4.3.1.4.2 UWB Geolocation System The Phase I Final Report suggested a positioning scheme based on the ultra wideband (UWB) precision geolocation system presented by Fontana in [96], where N fixed position beacons would be used to determine the 3D position of a mobile ranger--the Entomopter in this case. For this application, the N beacons would be realized by placing N transceivers on the refueling rover. 239
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Planetary Exploration Using Biomime
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Table of Contents Table of Contents
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List of Tables List of Tables Table
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List of Figures List of Figures Fig
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List of Figures Figure 3-54: Pressu
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List of Figures Figure 3-138: Stere
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List of Figures Figure 4-24: Averag
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List of Contributors List of Contri
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Executive Summary Executive Summary
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Chapter 1.0 Introduction Chapter 1.
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Chapter 1.0 Introduction Figure 1-2
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Chapter 1.0 Introduction 1.1 Histor
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Chapter 1.0 Introduction 1.2 Origin
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Chapter 1.0 Introduction 1.3 Missio
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1.3.3.1 Surface Imaging The Entomop
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Chapter 2.0 Entomopter Configuratio
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Chapter 3.0 Vehicle Design 3.1 Wing
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3. Density: 1.40E-2 kg/m 3 4. Press
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Chapter 3.0 Vehicle Design 3.4 Reci
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Chapter 3.0 Vehicle Design 3.5 Fuel
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Appendix B: Sizing Results Appendix
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Appendix B: Sizing Results 30 Wing
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Appendix B: Sizing Results 16 Wing
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Appendix B: Sizing Results Length 0
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Appendix B: Sizing Results Lenght 0
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Appendix C: List of References Appe
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Appendix C: List of References 41.
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Phase II Final Report - NASA's Institute for Advanced Concepts

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