Cover photo: NASA Jet Propulsion Laboratory (JPL) 

Deep Space1 (DS1) spacecraft for asteroid and 

comet flyby missions.
—I—

NASA’s mission to pave the future of space exploration through innovations 

in science and technology is reflected in a balanced technology development 

and maturation program supported by all NASA Mission Directorates. 

Stimulating technology innovation through Small Business Innovation 

Research (SBIR)/Small Business Technology Transfer (STTR) programs, NASA 

has empowered U.S. small businesses to make significant contributions to 

the future of space exploration.

This technology investment portfolio highlights SBIR Phases I and II 

investments in radiofrequency (RF) communication technology development 

for the Space Operations Mission Directorate (SOMD)/Human Exploration 

and Operations Mission Directorate (HEOMD) from 2006 to 2014. This report 

summarizes technology challenges addressed and advances made by the 

SBIR community in RF technology. The goal of this document is to encourage 

program and project managers, stakeholders, and prime contractors to take 

advantage of these technology advancements to leverage their own efforts 

and to help facilitate infusion of technology advancements into future NASA 

projects. A description of NASA’s SBIR Program can be found at www.sbir.

nasa.gov.

FOREWORD
—II—

SMALL BUSINESS 

INNOVATION RESEARCH
—III—

The Small Business Innovation Research (SBIR) Program provides opportunities for small, hightechnology companies to participate in Government-sponsored research and development efforts in 

key technology areas of interest to NASA. The SBIR Program provides significant sources of seed 

funding to foster technology innovation. The SBIR Phase I contracts are awarded for 6 months with 

funding up to $125,000; Phase II contracts are awarded for 24 months with funding up to $750,000. 
—IV—

HUMAN EXPLORATION 
—V—

The Human Exploration and Operations Mission Directorate (HEOMD) is chartered with the development 

of core transportation elements, key systems, and enabling technologies required for beyond-low-Earthorbit (LEO) human exploration that will provide the foundation for the next half-century of American 

leadership in space exploration.

This new space exploration era starts with increasingly challenging test missions in cislunar space, 

including flights to the Lagrange points, followed by human missions to near-Earth asteroids (NEAs), 

the Moon, the moons of Mars, and Mars as part of a sustained journey of exploration in the inner 

solar system. HEOMD was formed in 2011 by combining the Space Operations Mission Directorate 

(SOMD) and the Exploration Systems Mission Directorate (ESMD) to optimize the elements, systems, 

and technologies of the precursor directorates to the maximum extent possible. 

HEOMD mission goals include key technology developments in Space Communications and Navigation, 

Space Transportation, Human Research and Health Maintenance, Radiation Protection, Life Support 

and Habitation, High-Efficiency Space Power Systems, and Ground Processing/International Space 

Station (ISS) Utilization. 

HEOMD looks forward to incorporating SBIR-developed technologies into current and future systems 

to contribute to the expansion of humanity across the solar system while providing continued costeffective space access and operations for its customers, with a high standard of safety, reliability, and 

affordability. 

AND

OPERATIONS MISSION 

DIRECTORATE
—VI—

SCaN: KEEPING THE

SCaN NOTIONAL INTEGRATED NETWORK ARCHITECTURE 
—VII—

UNIVERSE CONNECTED

PROGRAM AND TECHNOLOGY DEVELOPMENT OVERVIEW

The Space Communications and Navigation (SCaN) Program resides within HEOMD and is responsible for the development of 

technologies and capabilities to support all current and future NASA missions. The SCaN Program provides the communication, 

navigation, and mission science data transfer services that are vital to the successful operation of NASA spaceflight missions. To 

accomplish this, SCaN operates three networks: the Deep Space Network (DSN), the Near Earth Network (NEN), and the Space 

Network (SN). Combined together, the services and network assets provide capabilities that enable space exploration for over 

100 NASA and non-NASA missions. SCaN also provides scheduling services to new missions through the Network Integration 

Management Office (NIMO) and Deep Space Network Commitment Office (DSNO). 

To accomplish the above, the SCaN Program’s vision is to build and maintain a scalable, integrated, and mission support 

infrastructure that can evolve to accommodate new and changing technologies, while providing comprehensive, robust, 

cost effective, and exponentially higher data rate services to enable NASA’s science and exploration missions. Today NASA 

communication and navigation capabilities using radiofrequency (RF) technology can support spacecraft to the fringes of the 

solar system and beyond. The anticipated new missions for science and exploration of the universe are expected to challenge the 

current data rates of 300 Mbps in low Earth orbit (LEO) and of 6 Mbps at Mars to rise significantly. The SCaN Program aims to

• Develop a SCaN infrastructure capable of meeting both robotic and human exploration mission needs. 

• Evolve infrastructure to provide the highest data rates feasible. 

• Develop internationally interoperable data communications protocols for space missions. 

• Offer communications and navigation infrastructure for lunar and Mars surfaces. 

• Offer communications and navigation services to enable lunar and Mars human missions.

SCaN technology development interests include optical communications, advanced antenna technology and Earth stations, 

cognitive networks, access links, reprogrammable communications systems, spacecraft positioning, navigation, and timing (PNT), 

and communications in support of launch services. Innovative solutions to operational issues are needed in all of the areas. 

Emphasis is placed on size, weight, and power improvements. All SBIR technologies developed under the SCaN topic area are 

aligned with the SCaN Program technical directions.

This document catalogs SCaN SBIR investments in (RF) Communication Technology development from 2005 to 2014.
—VIII—

SBIR PHASE I AWARDS
—IX—

CONTENTS

Space Navigation Technology . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1

Navigation Technology SBIR Phase I Awards (2005 to 2014) .

X-ray Pulsar-Based Navigation and Time Determination . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5

Microcosm, Inc.

Optical Navigation System .

Princeton Satellite Systems

Synchronized Position and Hold Reorient Experimental Satellites—International Space Station (SPHERES–ISS) . . . . . . . . . . . . . . . . . . 7

Payload Systems Inc.

Stable Tactical-Grade Microelectromechanical Systems (MEMS) Inertial Measurement Unit (IMU) for Spin-Stabilized Rockets .

Milli Sensor Systems & Actuators, Inc.

Novel GPS-Based Attitude (GPS/A) System for Launch Vehicles .

Toyon Research Corporation

Plenoptic Imager for Automated Surface Navigation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 10

Nanohmics, Inc.

Lunar Surface Navigation .

Progeny Systems

Tracking Launch Vehicles in Interference and Jamming . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 12

MARK Resources, Inc.

A Novel Navigation Robustness and Accuracy Improvement System .

Broadata Communications, Inc.

Lunar Autonomous Automatic Surface Navigation System . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 14

Physical Optics Corporation

Advanced Filtering Techniques Applied to Spaceflight . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 15

IST-Rolla

Metric Tracking of Launch Vehicles .

Toyon Research Corporation

Continuation Methods and Non-linear/Non-Gaussian Estimation for Flight Dynamics .

Numerica Corp.

Multipurpose Radio Signal Generation System for Space Applications, Simulation, and Testing .

Emergent Space Technologies, Inc.

Low-Energy Mission Planning Toolbox .

Princeton Satellite Systems

Deep Space Navigation and Timing Architecture and Simulation .

Microcosm, Inc.

X-ray Detection and Processing Models for Spacecraft Navigation and Timing .

Microcosm, Inc.

Automatic Solar and Celestial Navigation on the Moon and Mars .

Micro-Space

Advanced Bayesian Methods for Lunar Surface Navigation .

Autonomous Exploration Inc.

A Lightweight, Miniature Inertial Measurement System for Position and Attitude Estimation on Dynamic Platforms .

Impact Technologies, LLC

Desensitized Optimal Filtering and Sensor Fusion Tool Kit . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 25

Analytical Mechanics Associates, Inc.
—X—

SBIR PHASE I AWARDS

CONTINUED
—XI—

CONTENTS (CONTINUED)

Lunar Localization System (LLS) .

Utopia Compression

Celestial X-ray Source Modeling and Catalogs for Spacecraft Navigation and Timing .

Microcosm, Inc. 

Second-Order Kalman Filter Using Multicomplex Step Derivatives . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 28

Emergent Space Technologies, Inc.

Fault Detection and Isolation of Satellite Formations Using a Ground Station .

SySense Inc.

Flexible Particle Filter Navigation System for Analysis and Operations . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 30

Odyssey Space Research, LLC

MEMS Gyroscope with Interferometric Detection .

Fine Structure Technology LLC

Miniaturized Radiation Hardened Beam-Steerable GPS Receiver Front End .

Tahoe RF Semiconductor, Inc.

Innovative X-ray Star Scanner for Spin Stabilized Microsatellites .

CrossTrac Engineering, Inc.

Space Mission Design in the Vicinity of Small Bodies and Libration Points . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 34

Physical Optics Corporation

Parallelization of Sigma Point and Particle Filters .

Analytical Mechanics Associates, Inc.

Compact Optical Inertial Tracking for Launch Vehicles .

MagiQ Technologies, Inc.

Tracking and Data Relay Satellite System (TDRSS) Augmentation Service for Satellites (TASS)-Enhanced Near-Earth Navigation System .

Emergent Space Technologies, Inc.

Advanced Exoplanet Star Tracker for Orbit Self Determination .

Keystone Aerospace

Enhanced Path Planning, Guidance, and Estimation Algorithms for NASA’s General Mission Analysis Tool (GMAT) .

Decisive Analytics Corporation

Advanced Spacecraft Navigation and Timing Using Celestial Gamma-Ray Sources .

ASTER Labs, Inc.

Accurate Timekeeping With an Ensemble of Clocks . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 41

Perichoro LLC

Advanced Techniques for Non-Collocated Fault Detection of Satellite Formation .

SySense, Inc.

An Interactive Visual Analytics Tool for NASA’s General Mission Analysis Tool (GMAT) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 43

Decisive Analytics Corporation

Integrated Spacecraft Navigation and Communication Using Radio, Optical, and X-rays . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 44

ASTER Labs, Inc.

Interferometric Star Tracker for High-Precision Pointing . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 45

Optical Physics Company

Parallel Nonlinear Optimization for Astrodynamic Navigation .

CU Aerospace, LLC

Parallel Enhancements of the General Mission Analysis Tool (GMAT) .

Thinking Systems, Inc.
—XII—

SBIR PHASE II AWARDS
—XIII—

CONTENTS

Navigation Technology SBIR Phase II Awards (2005 to 2012) .

X-ray Pulsar-Based Navigation and Time Determination . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 50

Microcosm, Inc.

Optical Navigation System .

Princeton Satellite Systems

Novel GPS-Based Attitude (GPS/A) System for Launch Vehicles .

Toyon Research Corporation

Lunar Surface Navigation .

Progeny Systems

Tracking Launch Vehicles in Interference and Jamming . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 54

MARK Resources, Inc.

Advanced Filtering Techniques Applied to Spaceflight . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 55

IST-Rolla

Continuation Methods and Non-linear/Non-Gaussian Estimation for Flight Dynamics .

Numerica Corp.

Multipurpose Radio Signal Generation System for Space Applications, Simulation, and Testing .

Emergent Space Technologies, Inc.

Deep Space Navigation and Timing Architecture and Simulation .

Microcosm, Inc.

X-ray Detection and Processing Models For Spacecraft Navigation and Timing .

Microcosm, Inc.

Advanced Bayesian Methods for Lunar Surface Navigation .

Autonomous Exploration Inc.

A Lightweight, Miniature Inertial Measurement System for Position and Attitude Estimation on Dynamic Platforms .

Impact Technologies, LLC

Desensitized Optimal Filtering and Sensor Fusion Tool Kit . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 62

Analytical Mechanics Associates, Inc.

Microelectromechanical Systems (MEMS) Gyroscope With Interferometric Detection .

Fine Structure Technology LLC

Miniaturized Radiation Hardened Beam-Steerable GPS Receiver Front End .

Tahoe RF Semiconductor, Inc.

Tracking and Data Relay Satellite System (TDRSS) Augmentation Service for Satellites (TASS)-Enhanced Near-Earth Navigation System .

Emergent Space Technologies, Inc.

Enhanced Path Planning, Guidance, and Estimation Algorithms for NASA’s General Mission Analysis Tool (GMAT) .

Decisive Analytics Corporation

Framework for the Design and Implementation of Fault Detection and Isolation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 67

SySense, Inc.

Company Names . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 69

Points of Contact .
—XIV—

SPACE

NAVIGATION

TECHNOLOGY

Spacecraft navigation and orbit transfer .
—1—

NASA is investing in the development of software tools, system concepts, and devices to enhance capabilities for providing 

position, attitude, and velocity of its spacecraft as well as improve their navigation, guidance, and control functions. Interest 

includes software tools, ground facilities, system concepts, and onboard devices in support of its deep space missions. Proposals 

can address any mission phase from design, development to operation for either near-Earth or interplanetary missions. Specific 

application needs are:

Software that analyzes spacecraft sensor or tracking data. Algorithms for flight dynamics GNC and technologies leading to the 

replacement of Goddard Trajectory Determination System (GTDS), or leverage NASA General Mission Analysis Tool, GPS-Inferred 

Positioning System and Orbit Analysis Simulation Software, Optimal Trajectories by Implicit Simulation are encouraged. NASA’s 

primary needs are in the following areas:

• Optimal control theory application to spaceflight guidance and control systems

• Numerical methods for robust targeting and nonlinear constrained optimization

• Addition of novel guidance, navigation, and control improvements to existing NASA software via NASA Open Source Agreements or

by the licensed proposer

• Interface and workflow improvements, tool modularization and , APIs and cross-platform interfaces for available software via NASA

Open Source Agreements

• Applications of cutting-edge estimation techniques to spaceflight navigation

• Applications of estimation techniques that have an expanded state vector (beyond position, velocity, and/or attitude components) or

that combine multiple sensor measurements to improve overall system accuracy

• Applications of advanced dynamical theories to space mission design and analysis, in the context of unstable orbital trajectories in the

vicinity of small bodies and libration points

• Advanced celestial navigation techniques including devices and systems in support of deep space, planetary missions.

System concepts should support significant advances in independence from Earth supervision and the ability to operate effectively 

in the absence of Earth-based or planetary relay spacecraft transmission. Systems that operate in the complete absence of human 

intervention or Earth-based transmissions are preferred. Solutions should meet these objectives while minimizing spacecraft 

power, mass and volume burden. User spacecraft impact should include assessments of mass, power, and thermal impact on 

mission spacecraft. Of particular interest are concepts supporting high-rate optical communications terminals pointing to Earth 

terminals without relying on optical uplinks or beacons for achieving proper pointing of the communication beam. However, 

concepts that are capable of supporting planetary missions of any type are of interest. Proposals that include repurposing of 

advanced sensors contemplated for future deep space missions such as x-ray telescopes are preferred. In addition to positioning, 

attitude estimation, orbit determination, and guidance, navigation and control, of particular interest is the following focus topics 

in deep space celestial navigation:

• Time and frequency keeping and dissemination

• Advanced methods and sensors for optical/infrared detection of star fields

• Advanced methods and sensors detecting RF and x-ray pulsars

• Methods to process celestial observations to perform Orbit Determination (OD) and precision attitude estimation

Phase I should demonstrate technical feasibility, with preliminary software to be delivered for NASA testing, as well as a plan 

towards Phase II integration. Proposals that develop hardware, a prototype delivery under the Phase I is preferred, but not 

necessary.

With the exception for heritage software modifications, Phase II new technology efforts shall deliver components at the technology 

readiness level (TRL) 5 to 6 level with mature algorithms and software components complete and preliminary integration and 

testing in an operational environment. For efforts that improve existing NASA software tools, the deliverable TRL shall be consistent 

with the heritage software TRL. Final software, test plans, test results, and documentation shall be delivered to NASA.
——2—2—

New Horizons Pluto Flyby Mission.
—3—

NAVIGATION TECHNOLOGY

SBIR PHASE I AWARDS

2005 TO 2014

NASA Dawn spacecraft to dwarf planets Ceres and Vesta.
NASA Deep Space 1 Flyby mission to Comet Borrelly.
—5—

X-RAY PULSAR-BASED NAVIGATION AND TIME DETERMINATION

Microcosm, Inc

2005 Phase I

O1.02-901

Identification and Significance of Innovation 

x-ray pulsar-based navigation and timing 

(XNAV) holds great promise for NASA because it 

is an enabling technology for fully autonomous 

interplanetary navigation and would provide 

significant mission enhancements as an 

adjunct to the Deep Space Network (DSN) 

and ground-based navigation analysis. XNAV 

uses observations of the x-ray emissions of 

highly stable, rotation-powered, millisecond 

pulsars as a kind of “natural GPS” signal. 

Accurate pulse time-of-arrival estimates from 

four or more noncoplanar sources allows 

simultaneous determination of both position 

and time autonomously anywhere in the solar 

system.

This SBIR project will position NASA to take full 

advantage of the emergent XNAV technology, 

which is currently being investigated by 

the Defense Advanced Research Projects 

Agency (DARPA). It has the potential to greatly 

enhance system autonomy while driving down 

DSN operations and infrastructure costs. 

This project is focused on assessment of the 

potential utility of XNAV for NASA missions 

and development of the algorithms, hardware 

requirements, and performance simulations 

for NASA navigation and time determination 

applications. 

Technical Objectives

• Develop a source catalog and assess detector technologies

• Review potential NASA applications and develop use cases

• Develop detailed requirements from most promising use cases

• Review systems engineering and key systems trades for each use case

• Develop navigation/timing error budgets for each use case

• Develop a cost/benefit assessment framework and carry out a preliminary 

assessment

• Develop block diagrams for the navigation/timing algorithms for the selected use 

case(s)

Technical Objectives

• Task 1—Source Characterization and Detectors

• Task 2—Applications and Use Cases

• Task 3—Systems Engineering

• Task 4—Algorithm Definition

• Task 5—Navigation/Timing Error Budgets

• Task 6—Benefits Assessment

NASA Applications

XNAV is principally applicable to NASA interplanetary missions—regions beyond 

the range of GPS which rely on DSN for navigation. It provides autonomous navigation 

throughout the solar system. It can augment the DSN by providing accurate time 

synchronization, and position and velocity components normal to the line-of-sight 

to Earth, both of which will enable faster and more accurate navigation solutions. 

It could enable accurate, autonomous GPS-like navigation for surface vehicles 

and orbiters at Mars or other planets. XNAV can enable spatially and temporally 

coordinated measurements over solar system scale distances, enabling or enhancing 

interferometer missions.

Non-NASA Applications

Non-NASA applications are likely to be for Department of Defense (DoD) missions. 

Specific applications include navigation outside of GPS range, backup navigation in 

the event of GPS denial, and development of a super-synchronous navigation and 

time distribution service. XNAV could also prove viable for autonomous navigation and 

station-keeping for geostationary Earth orbit (GEO) satellites.

Pulsars can be thought of as a natural GPS-like signal source. With source 

timing models, adequate collection time and collection area, signals can be 

filtered to produce very accurate time and position estimates for spacecraft 

in Earth orbit or interplanetary space.
—6—

OPTICAL NAVIGATION SYSTEM

Princeton Satellite Systems

2006 Phase I

O1.02-8582

Identification and Significance of Innovation

This proposal is for a flexible navigation system 

for deep space operations that does not require 

GPS measurements. The navigation solution is 

computed using an Unscented Kalman Filter 

that can accept any combination of range, 

planet chordwidth, and angle measurements 

using any celestial object. The UKF employs 

a full nonlinear dynamical model of the orbit 

including gravity models and disturbance 

models. The filter will estimate both states and 

parameters. The integrated system employs a 

new multibandwidth optical sensor that can 

select the optimal wavelength for planetary 

chords. The extra solar system body sensor will 

employ band-limiting imaging with the band 

selected to maximize reliable autonomous 

object identification.

Technical Objectives

• Demonstrate the autonomous navigation system in simulation

• Produce a conceptual design of the solar system body camera

• Produce a conceptual design of the extra solar system body sensor

Work Plan

Produce preliminary designs of the extra solar system and solar system sensors 

employing novel image processing techniques.

NASA Applications

The navigation system will be applicable to any manned or unmanned spacecraft 

including commercial, military, and scientific missions. The Unscented Kalman 

Filter algorithm can be applied to any estimation problem and could be used for 

many navigation products

Optical navigation system.
—7—

SYNCHRONIZED POSITION AND HOLD REORIENT EXPERIMENTAL 

SATELLITES—INTERNATIONAL SPACE STATION (SPHERES–ISS)

Payload Systems Inc

2006 Phase I

O1.02-9562

Identification and Significance of Innovation

Payload Systems, Inc., and the MIT Space 

Systems Laboratory propose an innovative 

research program entitled “SPHERES–ISS” that 

uses their satellite formation flight laboratory 

(SPHERES), currently operating aboard the 

International Space Station, to refine and 

validate NASA Goddard Space Flight Center’s 

Pluribus algorithms.

Technical Objectives

• Implement and test the Pluribus algorithm on the SPHERES ground testbed at 

MIT, and then in orbit on the SPHERES testbed on ISS.

• Demonstrate the reduction in control complexity provided by Pluribus

• Quantify the reduction in control complexity as the number of vehicles is 

increased

• Examine how the implementation of Pluribus is impacted by the type of 

maneuver being performed

Work Plan

• Task 1—Requirements development and compatibility assessment

• Task 2—1-g (ground) implementation on SPHERES

• Task 3—0-g (flight) implementation on SPHERES

• Task 4—Phase 2 planning

• Task 5—Reporting

NASA Applications

• Formation flight spacecraft systems

• Other missions involving cooperative multivehicle operations

Non-NASA Applications

• Department of Defense formation flight and proximity operations missions

• International space programs involving cooperative multivehicle operations
—8—

STABLE TACTICAL GRADE MICROELECTROMECHANICAL (MEMS) INERTIAL 

MEASUREMENT UNIT (IMU) FOR SPIN-STABILIZED ROCKETS

Milli Sensor Systems & Actuators, Inc

2007 Phase I

O1.03-9070

Identification and Significance of Innovation

• Unique gyro designs with low crossaxis sensitivity, precision alignment of 

instruments on chip, bias stabilization 

techniques, and rugged substrate permit 

tactical grade performance under high 

spin.

• MEMS IMU Sensor Chip, field-programmable 

gate array (FPGA) to operate IMU 

instruments, high-density package in 

development in Missile Defense Army (MDA) 

SBIR programs.

• Systems engineers can access raw 

signals from sensors, implement their own 

proprietary algorithms to process signals, 

and integrate with output of other sensors.

• Path to Navigation-Grade Performance in 

MEMS instruments. 

Expected technology readiness level (TRL) 

range at the end of contract

• 4 to 5

Technical Objectives

• Demonstrate MSSA IMU operation under spin rates >7 rps

• Demonstrate techniques for bias stabilization

• Use signals from instruments to determine pitch and yaw axes

Work Plan

• Develop the algorithm to operate IMU under rocket spin

• Utilize existing IMU chips, modify test station for high spin rates

• Evaluate gyroscope and accelerometer under high spin rates

• Demonstrate algorithms to determine pitch and yaw

• Feasibility assessment 

NASA and Non-NASA Applications

• Tactical-grade MEMS IMUs for spin-stabilized sounding rockets, coupled 

with GPS receivers, for GPS/INS Metric Tracking, Autonomous Flight Safety 

Systems, Attitude Determination

• “Plug and play” high-performance, low-weight MEMS IMUs for “Robust 

On-Board GN&C Avionics” and Range Safety solutions for NanoSat Launch 

Vehicles/Low-Cost Small Spacecraft (topic S4.01)

• Highly integrated modules with GPS, IMUs, communications, processors, 

and other sensors/seekers for “Integrated Avionics Systems for Small Scale 

Remotely Operated Vehicles” (topic A1.09)

• MEMS IMUs for spinning munitions and small missiles; to stabilize small UAVs 

and UAV-borne sensors and cameras; low-cost MEMS IMUs for air, land, and 

water vehicle navigation, with or without GPS-aiding; “Personal Navigation” 

for warfighters and “first responders”; Precision motion tracking for portable/

wearable systems (helmets and headsets), and for bore-hole measurement

Single-Chip Vacuum-Packaged MEMS IMU Sensor 

• Enables integration of IMU sensor chip, FPGA, GPS chip set, Mission

Computer into a “system in a package” for smart GN&C.

• Lowest cost, smallest size, embeddable MEMS IMU.
—9—

NOVEL GPS-BASED ATTITUDE (GPS/A) SYSTEM FOR LAUNCH VEHICLES

Toyon Research Corporation

2007 Phase I

01.03-9524

Identification and Significance of Innovation

• MIDAAS is Miniature Integrated Directionfinding Attitude-determining Anti-jam 

System

• Innovative antenna/receiver design 

reduces size and complexity of threedimensional 3–D GPS-based attitude 

system

• Dual-mode antenna allows 3–D attitude 

with only two radiofrequency (RF) channels

• Open-source GPS software-defined 

receiver (SDR) minimizes development 

cost and time and long-term system 

upgrade costs

• Fully active anti-jam capability in each 

MIDAAS unit

• Tactical-grade accuracy with commercialgrade components and cost

Technical Objectives and Work Plan

• Design single- and multi-MIDAAS antenna-capable RF front end

• Design single- and multi-MIDAAS antenna-capable GPS/A processor

• Modify GPS/A algorithms for use with single- and multi-MIDAAS antenna 

systems

• Determine (gyro-less) MIDAAS sensor accuracy for single- and multi-antenna 

configurations

• Determine MIDAAS accuracy with IMU-aiding for single- and multi-antenna 

configurations

NASA and Non-NASA Applications

• GPS-based attitude determination for launch vehicles

• Zero-drift attitude system for unmanned/micro air vehicles (UAVs and MAVs)

• Navigation aid for hand-held GPS receivers and land robots

• Orienting device for recreational and virtual reality systems
—10—

PLENOPTIC IMAGER FOR AUTOMATED SURFACE NAVIGATION

Nanohmics, Inc

2008 Phase I

04.03-845

Technical Objectives

The specific aims of the project include the development of the following 

technologies:

• Design of a plenoptic optical system that attaches to an autonomous vehicle 

to assist with navigation and optical avoidance

• Algorithms to determine range to objects within a field in real-time using a 

single-aperture, passive system

• Customized structure from motion algorithms to optimize range to objects at 

longer distances from the vehicle

• Rapid commercialization of NASA-sponsored technology

NASA and Non-NASA Applications

• Machine vision and robotics

• 3–D remote viewing, measurement, and retrieval for sewer/pipe inspection, 

ventilation, and boreholes

• 3–D precision part inspection and reverse engineering for rapid introduction 

into modeling tools

• Geological and construction survey of terrain

• Gun-sight passive optical ranging

Identification and Significance of Innovation 

Nanohmics proposes to design an 

electro-optical imaging device capable of 

autonomously determining the range to 

objects in a scene without the use of active 

emitters or multiple apertures. The novel, 

automated, low-power imaging system is 

based on a plenoptic camera design, and 

will be simple to implement, providing the 

range to selected objects in the field of view. 

Nanohmics will work towards presenting a 

three-dimensional 3–D map of the field-ofview plus range—to be used at a later time 

to interface with the autonomous vehicle 

for navigation and obstacle avoidance. 

The system will be designed so that it is 

inexpensive, easy to integrate with existing/

planned planetary rovers, rugged, and low in 

maintenance.
—11—

LUNAR SURFACE NAVIGATION

Progeny Systems

2008 Phase I

O4.03-9024

Identification and Significance of Innovation

• Establishes a high-precision navigation 

system that can scale seamlessly to 

any size, allows any number of mobile 

or portable/temporary nodes within the 

network, and applies state-of-the-art ultralow power electronics to optimize battery 

use and support size, weight, and power 

(SWaP) goals

• Applies established technologies to provide 

an innovative solution to lunar navigation 

while naturally supporting data and voice 

communications on the same network.

• Provides a precise and reliable navigation 

backbone to support traverse-path 

planning systems and other mapping 

applications and establishes a core 

infrastructure for long-term occupation.

• The proposed tower network provides the 

least technological risk, employing proven 

physics and navigational measurement 

techniques coupled with recent advances 

in precision network time synchronization.

Expected technology readiness level (TRL) 

range at the end of contract (1–9)

• 4

Technical Objectives

• Fully develop our notional concept of a high-precision, scalable lunar 

navigation system.

Work Plan

• Architecture Definition

– Topology

– Communications Protocols

– Field Stations (Mobile and Portable Stationary)

• Navigation System Operational Description

– Timing

– Position Estimation Algorithm

– Sensitivity Analysis Relating Timing Errors to two-dimensional and threedimensional

– Positional Estimation Errors

• Node Design

– Power/Cooling Requirements including power source

– Power Management

– Duty Cycle Study

– Environmental Constraints

– Electronics

– Antenna Design

– Mast Mechanical Design

NASA and Non-NASA Applications

• Primarily in planetary habitation, exploration, and mining but also have 

applications in down range tracking systems for lunar, terrestrial, or Mars 

launch and reentry tracking

• Modernization of aging international LORAN infrastructure with a lower-power 

more-accurate digital solution

• Modernization of domestic and foreign air traffic control systems with a highly 

precise and reliable air traffic and runway monitoring system
—12—

TRACKING LAUNCH VEHICLES IN INTERFERENCE AND JAMMING

MARK Resources, Inc

2008 Phase I

O4.01-9264

Identification and Significance of Innovation

MARK Resources proposes to develop a 

method for combining a set of distributed 

FRPAs into a network that provides high GPS 

anti-jam/interference capability. The individual 

antennas need not be precisely located 

relative to one another. The proposed system 

is compatible with any GPS antennas and 

receiver hardware, operates on the C/A code, 

and has a small processing load. It will make 

GPS metric tracking robust against jamming 

and interference, hence, effective for range 

safety.

Expected technology readiness level (TRL) 

range at the end of contract (1–9)

• 2 to 3

Technical Objectives

Demonstrate the feasibility of using several distributed FRPAs to suppress 

interference and jamming and to provide sufficiently accurate and timely position 

measurements from the C/A code for range safety, antenna pointing, docking 

maneuvers, and attitude determination.

Work Plan

• Simulate signals and interference

• Develop algorithms

– Jammer suppression, antenna selection, and GPS processing

• Automate algorithms

• Demonstrate performance

• Estimate implementation requirements

NASA Applications

GPS metric tracking of Ares and other launch vehicles; autonomous flight safety 

system; and space-based range certification and demonstration project

Non-NASA Applications

Common Range Integrated Instrumentation System; Small Diameter Bomb; A–160 

Humming Bird helicopter; High Altitude Long Endurance (HALE) aircraft; and Scan 

Eagle UAV
—13—

A NOVEL NAVIGATION ROBUSTNESS AND ACCURACY IMPROVEMENT 

SYSTEM

Broadata Communications, Inc

2008 Phase I

O4.01-9665

Identification and Significance of Innovation

• L1 C/A codes used by GPSs do not require 

classified decryption and can be directly 

accessed by civilians. However, their 

accuracy, within 30 m and 1 m/s, does 

not meet the range of safety needs for 

certain applications, such as antenna 

pointing, docking maneuvers, and attitude 

determination. Unlike P code, CA code also 

offers little protection against deliberately 

transmitted false signals, or spoofing.

• NASA seeks innovations to improve 

navigation robustness against the 

interfering signals received by GPS 

receivers and to increase the accuracy of 

L1 C/A navigation, but with an open design 

that can work on any GPS receiver.

• The proposed NRAI system, an innovative 

noise nulling and observable combiner 

technology, nullifies the interference noise 

from the GPS receiver data and eliminates 

errors and initial cycle ambiguity in 

pseudorange measurement and carrier 

phase ambiguity. It offers a 4 to 6 dB SNR 

improvement factor over other techniques 

and increases the accuracy of the L1 C/A 

navigation to less than 1 m and 1 cm/s, 

using commercial-off-the-shelf (COTS) 

chips and NRAI algorithms.

• The NRAI system is based on an innovative 

multiple-antenna detection technique. 

It uses a successive decision feedbackbased noise cancellation to iteratively 

estimate the signal and noise for each 

antenna, which allows for fast and reliable 

detection of signal and interference 

noise. The NRAI system also uses a

high-performance triple-differencing-based 

observable combiner and fast quad 

diversity combiner technology to maximize 

measurement accuracy in navigation.

Technical Objectives

• Exploration and evaluation of various NRAI prototype system designs

• Design of algorithms, development, and comparison of the NRAI system using 

simulations

• Demonstration of the feasibility of the NRAI system

• Formalization of a full-scale Phase II work plan with Phase III 

commercialization applicability 

Work Plan

• Identify system requirements and environment

• Design NRAI system architecture and software

• Demonstrate a first prototype release

• Formalize Phase II Plan and explore commercialization

• Prepare and submit final report

NASA Applications

NASA applications include high-accuracy antenna pointing, docking maneuvers, 

and attitude determination. Most NASA navigation systems will greatly benefit from 

the development of BCI’s high-accuracy NRAI system by enhancing the antispoofing 

capability and positioning accuracy of L1 C/A code-based navigation.

Non-NASA Applications

There are various non-NASA applications, including robust and high-accuracy 

navigation in aircraft industry and commercial automotive industry systems. 

Examples include enabling safe semiautonomous driving and providing autonomous 

robotic navigation.

The NRAI system takes the signals of different antennas, or GPS receivers, as input and passes them to the NRAI signal detection and noise 

nulling component. The Broadata Communications, Inc. (BCI) intelligent multiple input multiple output (MIMO) nulling algorithm performs a signal 

detection and nulling scheme based on modified successive ordered signal cancellation. The NRAI system then use a recursive LS approach 

based on the triple-differencing technique to combine the pseudoranges and phases of noise mitigated L1 C/A signals to eliminate errors and 

ambiguities in the observables, including phase combiners and pseudoranges. The smoothed pseudorange data from every antenna is then 

combined in a quad diversity combiner to further reduce noise interference and to improve navigation accuracy.
—14—

LUNAR AUTONOMOUS AUTOMATIC SURFACE NAVIGATION SYSTEM

Physical Optics Corporation 

2008 Phase I

O4.03-9713

Identification and Significance of Innovation

To address the NASA need for navigation 

systems for planetary extravehicular activity 

(EVA), manned rovers, and lunar surface 

mobility units, Physical Optics Corporation 

(POC) proposes to develop a new Lunar 

completely Autonomous Automatic Surface 

Navigation (LAAN) system. The system 

incorporates POC’s selfmixing laser 

interferometric speedometer sensor, POC’s 

tunable liquid crystal lens autofocusing system, 

and a robust prediction tracking algorithm. 

The LAAN system offers position accuracy 

better than 2.5 m with 95 percent probability 

per 0.5 hr of motion without interaction with 

any other positioning system; and is compact 

(<10 in.3), lightweight (<8 oz), and low power. 

In Phase I, POC will demonstrate the feasibility 

of the LAAN prototype (TRL 4 at the end of 

Phase I). In Phase II, POC plans to develop a 

fully functional prototype and demonstrate its 

complete feasibility as TRL 6.

Technical Objectives

• Enhancement of self-mixing laser interferometric speedometer sensor 

parameters in data acquisition, signal processing speed, and parameters of its 

autofocusing system

• Development of the LAAN tracking prediction algorithm, including a 

kinematical model of a moving object

• Integration and testing of the LAAN hardware and embedded software

• Definition of commercial market for LAAN system

Work Plan

• Develop fast data acquisition and signal processing

• Design LAAN liquid crystal autofocusing optics

• Develop predictive algorithm for LAAN and LAAN simulation

• Integrate sensor module and predictive algorithm

• Demonstrate LAAN feasibility

• Explore the commercial potential and product viability

• Prepare and submit reports

NASA Applications

The new LAAN system will provide NASA capabilities for location awareness, 

precision position fixing, best heading, and traverse path planning for planetary 

EVA, manned rovers, and lunar surface mobility units.

Non-NASA Applications

Military applications of the LAAN will include navigation/position determination for 

ground platforms in urban area battlefields where the GPS does not work properly/

destroyed; for dismounted soldiers, robots, and autonomous platforms (within 

buildings, tunnels, caves, etc.).
—15—

Identification and Significance of Innovation

O-D, CBF, Neural Network Estimator 

Algorithms

• Nonlinear filtering methods

• More accurate than linearized methods

• Computational Efficiency

• Methods focus on accuracy and efficiency

• Nonlinear filtering MATLAB toolbox

Technology readiness level (TRL) during 

Phase I

• 1 to 3 

Technical Objectives

•	 O-D, CBF, and Neural Network Estimator

• Error and Covariance Analysis

• Multiple sensor suites

• TRL 1 to 3 during Phase I

NASA Applications

• The algorithms and MATLAB-based filtering toolbox will be a valuable asset 

tool for NASA’s orbit determination technologies.

Non-NASA Applications

• The algorithms and Kalman filter tool box can be sold to educational 

organizations for teaching estimation and orbit determination.

ADVANCED FILTERING TECHNIQUES APPLIED TO SPACEFLIGHT

IST-Rolla

2009 Phase I

04.04-824
—16—

METRIC TRACKING OF LAUNCH VEHICLES

Toyon Research Corporation

2009 Phase I

O4.01-8393

Identification and Significance of Innovation

• Active protection against GPS jammers

• Compatible with existing GPS receivers

• Higher performance using MIDAAS: 

Miniature Integrated Direction-finding 

Attitude-determining Anti-jam System

• Capable of recognizing multipath and GPS 

spoofing

• Tactical-grade accuracy with commercialgrade components and cost

• Plug-and-play navigation architecture

Technical Objectives

• Develop anti-jam front-end processor compatible with existing GPS equipment

• Design anti-jam baseband hardware

• Implement the hardware blocks in an FPGA

• Compare single-output configuration (compatible existing GPS receivers) GPS 

to tightly integrated design using all available information 

NASA and Non-NASA Applications

• GPS-based positioning and attitude determination

• Zero-drift attitude system for unmanned/micro air vehicles (UAVs and MAVs)

• Navigation aid for hand-held GPS receivers and landrobots

• Orienting device for recreational and virtual reality systems 
—17—

CONTINUATION METHODS AND NON-LINEAR/NON-GAUSSIAN ESTIMATION 

FOR FLIGHT DYNAMICS

Numerica Corp

2009 Phase I

O4.04-8416

Identification and Significance of Innovation

• We propose herein to augment current 

NASA state-of-the-art flight dynamics software with algorithms and software from 

two domains. 

• First, we propose to use numerical

parameter continuation methods to assist 

in computation of trajectories in complicated 

dynamical situations.

• Second, we propose to use advanced 

filtering techniques and representations of 

probability density functions to appropriately 

compute and manage the uncertainty in the 

trajectories.

Estimated technology readiness level (TRL) 

range at beginning and end of contract (1–9)

• 4

• 5

Technical Objectives

• Identify challenges in trajectory design and analysis that are not addressed 

by current techniques, especially in the presence of unstable trajectories and 

sensor measurements with substantial uncertainty

• Develop applications of numerical parameter continuation methods to these 

trajectories that provide novel insights into the dynamics

• Develop methods by which the uncertainty in both the dynamics and the 

measurements can be appropriately managed using advanced estimation 

techniques such as Gaussian sum filters

• Conceptualize a plan by which efficient implementations of such advanced 

techniques can be integrated into existing NASA software packages and work 

flows

NASA and Non-NASA Applications

There are several current state-of-the-art software packages that are clear and 

direct transition paths for the proposed work. In particular, there are the GPSEnhanced Onboard Navigation Software (GEONS), the GPS-Inferred Positioning 

System and Orbit Analysis Software (GIPSY), and the General Mission Analysis Tool 

(GMAT). Of the various packages, GMAT is the most directly applicable and will be 

the focus of the Phase I effort. Accordingly, these algorithms will find applicability 

in any preflight mission design, planning, and analysis activities that utilize these 

software. 

In addition, the algorithms and software proposed herein will find applicability to 

many challenging problems, for both the Department of Defense and commercial 

entities, where complicated dynamics and uncertainty play a role.
—18—

Identification and Significance of Innovation

Many upcoming space missions have very 

complex high Earth orbits that will present 

a challenge for the use of GPS as a primary 

source of navigation, though NASA has 

developed weak signal receivers that can 

accomplish this. Preflight testing and hardware 

acceptance become the problem since the 

GPS simulators used for these purposes are 

repurposed from terrestrial applications, and 

present difficulties for space-based testing. 

This work develops a simulator based on 

commercial-of-the-shelf (COTS) softwaredefined radio technology that is designed 

from the start for space applications. A Phase 

I effort demonstrated generation of a single 

GPS signal with the SDR hardware. Complex 

models are added via an open software 

interface, returning the expertise required for 

simulation studies to NASA. The system can 

also simulate communication waveforms. 

Technical Objectives

• Design and develop a simulator system, based on Phase I prototype that can 

generate all in view satellite signals

• Retire risks inherent in design by building a functioning prototype

• Deliver working hardware to the Magnetospheric Multiscale (MMS), 

Geostationary Operational Environmental Satellite R-Series (GOES-R), or other 

ongoing missions 

Work Plan

• System specification and design

• Multisatellite simulation in SDR

• Simulation fidelity enhancement (antenna gain, ionosphere, GPS yaw effects, 

and other error models)

• User interface development including closed loop trajectory testing with 

General Mission Analysis Tool (GMAT)

• Integration and test

NASA Applications

• Real-time closed-loop simulations of GPS and crosslink hardware for complex 

Human Exploration and Operations (HEO) missions such as MMS and GOES-R

• Customizable waveforms to meet mission specifications

Non-NASA Applications

• Any commercial satellite in high Earth orbit using GPS

• Department of Defense space applications

• University lab environments

MULTIPURPOSE RADIO SIGNAL GENERATION SYSTEM FOR SPACE 

APPLICATIONS, SIMULATION, AND TESTING

Emergent Space Technologies, Inc

2009 Phase II

04.02-845
—19—

LOW-ENERGY MISSION PLANNING TOOLBOX

Princeton Satellite Systems

2009 Phase I

O4.04-858

Identification and Significance of Innovation

The Low-Energy Mission Planning Toolbox is 

designed to significantly reduce the resources

and time spent on designing missions 

in multibody gravitational environments.

It provides a means for quickly planning 

low-energy trajectories in real-world 

environments and comparing their cost and 

transfer times to high-energy direct methods. 

The toolbox leverages recent research on lowenergy mission design methods to produce 

algorithms that are stable, hold potential for 

automation in certain situations, and can be 

easily interfaced with the NASA open-source 

mission planning tool General Mission Analysis 

Tool (GMAT).

Technical Objectives

• Develop a tool for the automated design of periodic orbits in the Sun-Planet 

circular-restricted three-body problem (CRTBP) that serve as the reference 

orbits for low-energy mission planning

• Develop an automated tool for calculating low-energy orbit-to-orbit transfers 

in the CRTBP

• Develop a tool for translating orbits from the CRTBP to the restricted four-body 

problem through the iterative addition of complexity to the problem

• Develop a nonlinear targeting algorithm for converging on low-energy 

transfers in the dynamics of the full ephemeris problem

• Generalize the problem to any planetary system (e.g. Jupiter moon tours)

• Calculate lunar flyby low-energy transfers in an automated way

• Develop an interface with GMAT for post processing and visualization

NASA and Non-NASA Applications

These tools can be applied to any lunar mission to evaluate the savings possible via 

low-energy transfers. The automated nature of the toolbox would enable complex 

mission design by those who are not necessarily specialists in multibody dynamics. 

The tool would greatly aid the development of a sustained presence on the Moon 

through efficient low-energy trajectory design. Other potential customers include 

private lunar development (Google Lunar X-Prize) and NASA missions involving the 

tours of moons of other planets.
—20—

DEEP SPACE NAVIGATION AND TIMING ARCHITECTURE AND SIMULATION

Microcosm, Inc

2009 Phase I

O4.04-917

Identification and Significance of Innovation

Microcosm will develop a deep space 

navigation and timing architecture and 

simulation, incorporating state-of-the-art

radiometric, x-ray pulsar, and laser 

communications measurements. The solution 

will center on the maintenance and propagation 

of navigation states, time and associated 

uncertainties onboard each platform with 

filtering capabilities enabling updates based 

on all available data. Such data would include 

direct state and uncertainty updates via ground 

communication, radiometric- and lasercombased range and range rate data from 

communication with ground stations and other 

spacecraft, time transfer from ground stations 

and other spacecraft, and x-ray pulsar-based 

navigation and time measurements (XNAV). 

This would enable significant improvements in 

spacecraft navigation and time determination 

for the majority of systems without access to 

GPS and would improve solutions for systems 

with GPS. With intervehicle communication, 

the line-of-sight (LOS) navigation precision 

achievable with current radiometric techniques 

can be achieved in the direction normal to 

the LOS from the Earth. Phase I will develop 

the architecture, performance estimates, and 

simulator requirements and preliminary design. 

Phase II will focus on detailed simulation 

development and on the transition of the 

capabilities into key NASA tools. 

Expected technology readiness level (TRL) 

range at the end of contract 

• 2 to 3 

Technical Objectives

• Requirements Definition/Systems Engineering—Review of future NASA 

navigation and time determination needs and current technologies and plans 

for navigation, communication, and time transfer capability development. 

Considering issues such as how to infuse new measurement types into 

existing/planned infrastructure.

• Architecture Development—This is the design phase of the Phase I project, 

and the objective is to develop the system solution architecture as well as 

to develop a detailed MATLAB/Simulink simulation design and associated 

software development plans.

• Demonstration and Prototyping—Prototype and demonstrate, in the MATLAB/

Simulink environment, key features and functions and to support system 

performance evaluation.

Work Plan

• Requirements Definition/Systems Engineering

• Architecture Development

• Demonstration and Prototyping

• Program Management

NASA Applications

The proposed navigation and timing architecture and simulation will directly support 

NASA advanced mission planning for both human exploration and robotic missions 

planned for the next 30 years. Incorporating these new capabilities, including 

x-ray pulsar-based navigation and lasercom-based navigation, into existing NASA 

tools such as GPS-Enhanced Onboard Navigation Software (GEONS) or General 

Mission Analysis Tool (GMAT) will provide augmented and enhanced navigation 

and timing solutions for next-generation space missions from low Earth orbit to 

the outer solar system and beyond. Microcosm envisions creating modular add-on 

software capabilities to these established NASA tools, which can be licensed to the 

government for use in ground-based simulation and development environments or 

for application onboard flight software.

Non-NASA Applications

Key non-NASA application will be primary or secondary navigation/timing services 

for Department of Defense (DoD) missions. The software modules developed for 

NASA can be easily transitioned to DoD space systems. Commercial systems 

with nontraditional spacecraft navigation techniques such as XNAV and LNAV, as 

primary or backup capabilities, may become the future software customers.

Image shows notional navigation and timing system architecture for full

range of NASA missions, including Earth-orbiting, Lunar, Mars, and all

other interplanetary missions, incorporating multiple data types.
—21—

Identification and Significance of Innovation

In Phase II, x-ray source-based navigation 

and timing (XNAV) performance will be 

enhanced through the development of

single-photon processing algorithms, which 

utilize all available photon time data to 

improve the accuracy of XNAV. A detailed 

model of the XNAV system, including

single-photon techniques will be implemented 

in Orbit Determination Toolbox (ODTBX), 

increasing its functionality and providing a 

valuable mission design tool. ODTBX will be 

further refined by enhancements to detector 

and source models, including the addition of 

new pulsars. Time transfer and barycenter 

correction effects will be added. XNAV 

measurement types will include additional 

absolute range measurement types and range 

rate measurements. Functions developed for 

ODTBX will provide support for XNAV and XTIM 

studies including enhanced dynamic functions 

and linearized process models for inclusion of 

clock and other bias states; and performance 

prediction for the single-photon processing 

approaches. The team will work with the Naval 

Research Laboratory (NRL), Johns Hopkins 

University/Applied Physics Laboratory (JHU/

APL), and NASA Goddard Space Flight Center 

(GSFC), focusing on sources and detectors 

to develop improved models and assessing 

timing accuracy. This work will further validate 

the utility of XNAV for NASA, and develop and 

test relevant new technology to provide a rapid

path to full flight software development.

Expected technology readiness level (TRL) 

range at beginning and end of contract 

• 3

• 6 

Technical Objectives

• ODTBX Simulation Development—Develop the XNAV simulation in ODTBX, 

continuing work started in Phase I, incorporating new photon processing 

algorithms.

• Photon Processing Algorithm Development—Develop refined XNAV algorithms 

for the estimation of spacecraft position, velocity, and time. Create initial 

detector model, improved source models for most relevant sources, to support 

end-to-end processing from x-ray photon detection to computing range 

measurements to navigation/time estimation.

• Demonstration/Validation—Use actual on-orbit data from previously flown 

x-ray detector missions to validate the photon processing algorithms through 

the simulation.

• Flight Software—Develop a flight experiment software package using the 

photon processing algorithms, validated with the ODTBX simulation.

NASA Applications

XNAV is a game-changing technology for NASA, enabling new missions, providing

navigation autonomy and redundancy, and offering a path to reduce the scheduling 

demands on DSN, a valuable NASA asset. There are several promising NASA 

applications for XNAV where the improvements in navigational accuracy will either 

enable new missions or reduce their costs, including missions to the outer planets, 

and nonplanetary missions to deep space. Missions to Mars and the Moon can 

take advantage of the autonomous navigation capabilities of XNAV, providing 

redundancy and reducing the need for regular DSN contacts, lessening the burden 

on this over-taxed system.

Non-NASA Applications

The primary non-NASA XNAV applications would be to provide primary or secondary 

navigation services for Department of Defense missions. For medium Earth orbit 

(MEO), geostationary Earth orbit (GEO), Human Exploration and Operations (HEO), 

and even cis-lunar missions, where GPS has limited availability, XNAV can provide 

primary autonomous navigation capability. In addition, XNAV could provide an 

essential backup navigation capability for missions that normally rely on GPS, but 

require continuity of operations in the event of loss or denial of GPS.

X-RAY DETECTION AND PROCESSING MODELS FOR SPACECRAFT 

NAVIGATION AND TIMING

Microcosm, Inc

2009 Phase II

04.02-918

Highly stable pulsars can be viewed as “celestial lighthouses,” providing 

an oscillating signal with long-term stability comparable to current atomic 

clocks. These signals can be exploited to maintain accurate time and 

position in a way similar to existing deep space navigation systems. New 

algorithms will be developed in the ODTBX environment.
—22—

AUTOMATIC SOLAR AND CELESTIAL NAVIGATION ON THE MOON AND 

MARS

Micro-Space

2009 Phase I

O4.03-9288

Identification and Significance of Innovation

Extravehicular activity (EVA), or other travel on 

the Moon, has no GPS-like navigation or even 

a compass. A compact “Sun Sensing” camera, 

combined with accurate “Tilt Meter” data, and 

“Sub Pixel Processing” will give good compass 

directions, and one component of navigation.

This camera and algorithms, applied also to 

Earth’s image to aid navigation, will give a very 

accurate lunar surface position.

Night and far side EVA can use very similar

car- top or helmet-top systems to track bright 

star positions.

There are no radio links or satellites necessary 

for navigation.

Expected technology readiness level (TRL) 

range at the end of contract 

• 5 to 6

Technical Objectives

• Assemble breadboard with video camera and image capture to study “Sub 

Pixel Processing” resolution while imaging the Sun and also verify stellar 

imaging capability.

• Test resolution limits of Micro-Space “Tilt Sensor” systems is used as the 

“Bubble” of the “Bubble Sextant” used for celestial navigation over land or 

above clouds.

• Identify field of view necessary to achieve desired navigational resolution (with 

measured image analysis performance) and assemble a “compact” prototype 

which approximates this resolution and sky coverage.

NASA Applications

Limited to environments which lack GPS data, this technology will sustain standard 

quality celestial navigation autonomously.

This will enable extended EVA plus human and robotic vehicle travel for long 

distances on the Moon and Mars. (Earth direct, or satellite communication, can be 

sustained with simple systems incapable of supporting navigation.)

Micro-Space “Sub Pixel Processing” provides Extreme Resolution or “Sextant” 

resolution with mini camera.
—23—

ADVANCED BAYESIAN METHODS FOR LUNAR SURFACE NAVIGATION

Autonomous Exploration Inc

2009 Phase I

O4.03-933

Identification and Significance of Innovation

Advanced Bayesian methods will leverage 

current computing technology to produce a 

highly accurate surface navigation system. 

The system will combine dense stereo vision 

and high-speed optical flow to implement 

advanced Visual Odometry (VO) that will 

accurately track faster rover movements. 

This will increase exploration productivity. 

Advanced Bayesian methods improve VO by 

using all image information, not just corner 

features. This improves VO performance in 

shadowed areas that yield only low-contrast 

images. High-speed, accurate VO may 

enable the use of lightweight, low-power 

microelectromechanical systems (MEMS) 

Inertial measurement units (IMUs). 

Expected technology readiness level (TRL) 

range at end of contract

• Phase I: 3 to 4

• Phase II: 5 to 6 

Technical Objectives

• Demonstrate the feasibility of implementing a fully Bayesian VO system on 

commercial off-the-shelf (COTS) hardware

• Identify design tradeoffs that can be used to speed up the algorithm with 

minimal impact on accuracy

• Characterize the error characteristics of the fully Bayesian VO

• Determine the impact of IMU errors on overall VO system errors. Evaluate the 

feasibility of using MEMS IMUs to develop a lightweight, low-power system 

Work Plan

• Task 1—Software Implementation

• Task 2—Test Data Collection and Organization

• Task 3—Algorithm Optimization

• Task 4—Accuracy Determination

NASA Applications

• Speed and accuracy can make future rover missions more productive by 

enabling faster traverses.

• Lightweight and low power can help make it feasible to launch rover teams.

Non-NASA Applications

• Robustness can extend operation to areas where GPS is degraded or 

unavailable.
—24—

Identification and Significance of Innovation

A current problem of Space-Based Range 

technology applications is the extensive cost 

and delays in mission launch operations. Due 

to the immense cost and size of traditional INS 

and inertial measurement units (IMUs), the 

development of a miniature low cost, weight, 

and power, highly accurate INS system that 

provides stable and highly accurate positioning 

and attitude measurements in the presence 

of highly dynamical motions is desired. 

Our new method focuses on identifying the 

gravitational vector to bound sensor drift 

errors to achieve a high degree of accuracy. 

By employing a revolutionary highly accurate, 

miniature estimation device that can be fused 

with traditional measurement systems and 

GPS to provide inertial measurements, the 

extensive cost, size, and redundancy issues 

that arise with conventional methods may be 

avoided.

Technical Objectives

The objective of the proposed Phase II program is to develop and test a miniature 

attitude estimation prototype device coupled with acceleration measurements and 

a GPS receiver to provide highly accurate and stable inertial measurements and 

attitude/position estimates on highly dynamic platforms. 

Work Plan

Specifically, this proposed project will perform the following tasks: 

• (Quarters 1–4): Attitude Estimation Algorithm Update and Improvements

• (Quarters 2–5): Analysis of Miniaturization of Current Attitude Estimation 

Device

• (Quarters 3–6): Simulation Testing and Update Including a Rocket Simulation 

and Detailed Sensor Models

• (Quarters 3–6): Hardware and Prototype Fabrication

• (Quarters 5–8): Laboratory Testing and Optional Prototype Testing in a 

Relevant Vehicle; Final Report; Tech Transition Activities

NASA and Non-NASA Applications

The successful completion of the proposed work will lead to improvements in the 

safe operations of general aviation aircraft, suborbital carriers and aerial/ground 

robots operated in GPS-denied locations. The proposed technologies with an 

emphasis on real-time attitude and position estimation will be directly applicable 

to low-cost attitude determination on suborbital carriers, inertial measurement 

estimation, reusable launch vehicles, and space-based range applications. It will 

lead to benefits in the form of improved reliability, accuracy, and sustainability of 

safety-critical aerospace systems.

A LIGHTWEIGHT, MINIATURE INERTIAL MEASUREMENT SYSTEM FOR 

POSITION AND ATTITUDE ESTIMATION ON DYNAMIC PLATFORMS

Impact Technologies, LLC

2009 Phase II

04.05-940
—25—

DESENSITIZED OPTIMAL FILTERING AND SENSOR FUSION TOOL KIT

Analytical Mechanics Associates, Inc

2009 Phase I

O4.04-946

Identification and Significance of Innovation

• Develop new and innovative desensitized 

optimal filters for navigation and sensor 

fusion applications that are robust with 

respect to model uncertainties.

• Create foundations for a navigation and 

sensor fusion tool kit that implements 

the research results as well as recent 

advances in robust and/or adaptive filters 

for non-Gaussian problems with uncertain 

error statistics.

Technical Objectives

• Investigate the best approaches to reducing the sensitivity of the Kalman filter 

with respect to model parameter uncertainties

• Investigate the basic software design for the desensitized filtering and sensor 

fusion tool kit

• Investigate the best approach to integrate the tool kit modules with existing 

applications such as the STK Orbit Determination Tool Kit or the GPSEnhanced Onboard Navigation Software

NASA Applications

• Spacecraft and aircraft ground or onboard facilities to process navigational 

data from multiple sensor sources

• Analysis and testing of flight software and onboard data processing algorithms

Non-NASA Applications

• Marine vessel navigation, commercial airliner navigation, seismic data 

acquisition and analysis, and atmospheric observation data collection and 

processing
—26—

LUNAR LOCALIZATION SYSTEM (LLS)

Utopia Compression 

2009 Phase I

O4.03-962

Identification and Significance of Innovation

• Localization is a basic requirement for 

applications such as navigation and safehaven tracking.

• Localization would benefit from integrating 

pose estimates from multiple sensors like 

radiometry, inertial measurement unit 

(IMU), and vision to improve robustness.

• Radiometry information can be used from 

both satellite networks and terrestrial 

networks.

• Terrain matching based global localization 

using stereo cameras allows for 

localization in the absence of supporting 

infrastructure like satellites and beacons

• The system for the above requirements 

will need to be transparent and fault 

tolerant with as close to a plug-and-play 

architecture as possible.

Estimated technology readiness level (TRL) 

range at beginning and end of contract

• 1

• 4

Technical Objectives

• Study of Dilution of Precision on a Radiometry based localization using both 

satellites and terrestrial signals

• Prototype of a simulation system to show feasibility of recommended 

radiometry system

• Design and prototype of a vision based terrain matching for global pose 

estimation

• Sensor fusion design and prototyping along with fault detection

NASA and Non-NASA Applications

• Robust localization on the lunar surface

• Augmenting Global Navigation Satellite System (GNSS) with radiometry will 

allow GNSS providers to improve their service by improving positioning in 

tunnels, indoors, and in remote areas.

• Terrain matching based localization from vision has commercial value in 

robotics applications such as assistive robots in hospitals.
—27—

CELESTIAL X-RAY SOURCE MODELING AND CATALOGS FOR SPACECRAFT 

NAVIGATION AND TIMING 

Microcosm, Inc

2010 Phase I

O4.02-841

Identification and Significance of Innovation

The Microcosm x-ray pulsar-based navigation 

and timing (XNAV) team will provide the software 

and modeling infrastructure for NASA to support 

XNAV operations, focusing on detailed x-ray 

source modeling. These models can be used to 

evaluate the potential of using measurements of 

photon energy and/or catalog sources to improve 

XNAV performance. Key goals are: characterize 

x-ray sources for navigation purposes; 

automate pulse shape catalog tools; automate 

XNAV/pulsar noise prediction tools; aperiodic 

source evaluation; photon energy performance 

enhancement; create integrated catalogs of 

XNAV guide stars and XNAV-applicable aperiodic 

sources; identify and document the key periodic 

x-ray source characteristics impacting the 

performance of the XNAV instruments and 

system. This comprehensive characterization 

categorizes and provides the necessary 

parameters regarding these celestial sources 

that make them beneficial for spacecraft 

navigation. Based upon past research work, 

specific information about each unique x-ray 

source must be attained in order for the source 

to yield its optimum capabilities. We will identify 

the appropriate parameters for characterizing 

aperiodic or transient sources for their use 

in navigation. Additionally, the existing x-ray 

source catalog will be updated and enhanced. 

Phase II will focus on implementing these 

source models in detailed XNAV simulations and 

potentially creating flight software versions of 

these models.

Expected technology readiness level (TRL) 

range at the end of contract

• 2 to 3

Technical Objectives

• Characterize x-ray sources for navigation purposes. Identify all pertinent and 

necessary parameters required to be determined from each star to be suitable 

for use in spacecraft navigation.

• Automate pulse shape catalog tools. Software tools that can be used to convert 

x-ray pulsar light curves into pulse shape models will be created, allowing XNAV 

system operators to update the XNAV catalog regularly.

• Automate XNAV/pulsar noise prediction tools. Software tools that are used 

to predict the performance of an XNAV system will be created and will be 

sufficiently automated to allow mission planners to use them in their design 

work.

• Aperiodic source evaluation: Aperiodic and/or transient sources will be evaluated 

for their potential to expand the XNAV system capabilities, for relative navigation 

and as complements to other measurements.

• Photon energy performance enhancement.

• Integrated catalogs of XNAV guide stars and XNAV-applicable aperiodic sources.

Work Plan

• Task 1—Periodic X-ray Source Characterization

• Task 2—Bright Aperiodic X-ray Source Characterization 

• Task 3—Energy Dependent Pulse Analysis

• Task 4—Source Catalog

NASA Applications

XNAV is a game changing technology, which enables NASA missions, navigation 

autonomy, redundancy, and offers a path to reduce scheduling demands on NASA’s 

Deep Space network (DSN) asset. There are several NASA applications for XNAV 

improved navigational accuracy to enable new missions or to reduce costs of 

planetary and nonplanetary deep space missions. Missions to Mars and the Moon 

can take advantage of the XNAV autonomous navigation to provide redundancy 

and reduce the need for regular DSN contacts to lessen the burden on over-taxed 

systems. The proposed x-ray source modeling and associated catalog will support all 

of these applications.

Non-NASA Applications

The primary non-NASA applications would be to provide primary or secondary 

navigation services to DoD missions, to MEO, GEO, HEO, and even cis-lunar missions, 

where GPS has limited availability. In addition, XNAV could provide an essential backup 

navigation for missions that normally rely on GPS, but require continuity of operations 

in the event of loss or denial of GPS.

Galactic longitude and latitude plot of x-ray sources with

properties beneficial to navigation measurements.
—28—

SECOND-ORDER KALMAN FILTER USING MULTICOMPLEX STEP 

DERIVATIVES

Emergent Space Technologies, Inc

2010 Phase I

O4.03-8473

Identification and Significance of Innovation

The primary innovation is to employ multicomplex step derivatives (MCXD to compute 

Jacobian and Hessian information necessary 

to implement a second-order Kalman filter 

(SOKF) making the higher-order nonlinear filter 

more tractable and practical for estimation of 

nonlinear systems. The secondary innovation is 

application of a service-oriented architecture 

(SOA) to integrate disparate NASA navigation 

and mission design software suites to provide 

the flexibility to use these capabilities in many 

different ways.

Expected technology readiness level (TRL) 

range at the end of contract (1–9)

• 4

Technical Objectives

• Evaluate navigation performance and computational burden of the SOKF/

MCXD relative to a standard Orbit Determination Toolbox (ODTBX) EKF

• Identify possible General Mission Analysis Tool (GMAT) integration approaches 

and evaluate their advantages and disadvantages

• Determine how university students and faculty can be engaged to become 

members of the GMAT and ODTBX user and developer communities

Work Plan

• Define user requirements and use cases

• Integration trade study

• University outreach/curriculum analysis

• SOKF design and prototype development 

NASA and Non-NASA Applications

• NASA applications of the proposed technology include

– Robotic precursor and human missions to asteroids or Lagrange points

– Robotic servicing or orbital debris removal missions

– Conjunction assessment and collision avoidance maneuver planning

 for International Space Station (ISS)

• Navigation and mission design software as a service (SaaS) at NASA centers 

or for Department of Defense (DoD) and commercial customers

• Aerospace and software engineering services to deploy, train, use, and 

improve a service-oriented package of navigation and mission design software 

at a variety of NASA installations or for DoD and commercial customers
—29—

FAULT DETECTION AND ISOLATION OF SATELLITE FORMATIONS

USING A GROUND STATION

SySense Inc

2010 Phase I

O4.03-865

Identification and Significance of Innovation

Develop a fault detection and isolation 

algorithm for precision formation flight and 

safety where the processing for detection and

isolation is done at a ground station with 

intermittent communication with the satellites. 

Expected technology readiness level (TRL) 

range at start and end of contract 

• 1

• 3

Technical Objectives

• Design a fault detection and isolation for faults in accelerometers and 

thrusters among 4 spacecraft in an elliptical orbit which goes beyond 

communication range and GPS coverage

• Determine analytical redundancies for rotational mode fault detection and 

isolation

• Characterize performance of fault detection and isolation algorithm by Monte 

Carlo simulations

Work Plan

• Simulate satellite formation, sensors, and loss of communication and/or GPS 

in MATLAB.

• Develop fault detection and isolation algorithm for accelerometers and 

thrusters.

• Characterize performance and capabilities of fault detection and isolation.

• Develop fault detection and isolation algorithm for star trackers and Sun slit 

sensor.

NASA and Non-NASA Applications

• Provide fault and redundancy management of spacecraft formations from a 

ground station.

• Practical alternative for fault detection and isolation for clusters of small 

unmanned vehicles, which do not have sufficient processing capability to 

perform detection and isolation autonomously.
—30—

FLEXIBLE PARTICLE FILTER NAVIGATION SYSTEM FOR ANALYSIS AND 

OPERATIONS

Odyssey Space Research, LLC

2010 Phase I

O4.03-880

Identification and Significance of Innovation

A modular particle filtering navigator that can 

be easily integrated with existing products 

to provide position, navigation, and timing 

services.

• Unique particle filter design methodology 

that mitigates accuracy loss due to 

particle death

• Non-Gaussian process estimation via 

Leuven-1 and Cauchy noise estimation

• Extensible methods for combining diverse 

measurement types coming from multiple 

sensor systems operating at different 

rates

• Platform-independent software design 

that will be easily integrated into existing 

software packages

• Embedded real-time and analysis 

applications

Expected technology readiness level (TRL) 

range

• Current: 2

• Phase I: 3 to 4

• Phase II: 5 to 6 

Technical Objectives

• Implement particle filtering algorithms based on Sequential Monte Carlo 

methods

• Design and implement non-Gaussian estimation methods and analyze 

performance capabilities

• Integrate navigator into existing analysis package and demonstrate filtering 

application

• Prove out package using difficult Earth-orbit navigation problem

• Deliver a working package integrated with additional software/hardware 

systems based on potential customers inputs

• Upgrade navigator functionality to meet expected needs of users

• Create several additional use cases that document how to implement 

instances of the navigator

– Broad spectrum of integrated spacecraft application 

NASA and Non-NASA Applications

• Ground/onboard positioning, sensor data analysis, navigation system design, 

and dynamic parameter estimation

• Navigation solutions, vehicle prototyping, inexpensive high-Earth-orbit 

determination

• GPS atmosphere delay estimation, GPS signal multipath mitigation, small body 

gravitation estimation, relative drag dynamics, and diverse sensor integration
—31—

MICROELECTROMECHANICAL SYSTEMS (MEMS) GYROSCOPE WITH 

INTERFEROMETRIC DETECTION

Fine Structure Technology LLC

2010 Phase I

O4.01-903

Identification and Significance of Innovation

The innovation is a MEMS gyroscope that 

uses an interferometric sensing technique to 

create a rate sensor with high sensitivity and 

performance stability comparable to that of 

fiber optic gyroscopes.

The significance of the innovation is that it will

• Produce a small, low-power, and 

inexpensive MEMS-based rate sensor 

that improves the performance of metric 

tracking hardware when operating in an 

environment with unreliable GPS signals

• Enable tactical-grade navigation in small 

unmanned vehicles

• Enable personal navigation systems in 

consumer electronics

• Enhance petroleum drilling and mining 

operations by improving wellbore 

navigation during directional drilling

Estimated technology readiness level (TRL) 

range at the end of contract 

• 3

Technical Objectives

The Phase I objective is to demonstrate the feasibility of a MEMS gyroscope that 

uses micro-interferometric detection to measure proof mass motion.

• Develop a system-level model and design that captures the behaviors of 

interest and enables design decisions.

• Demonstrate sufficient optical performance for high-resolution sensing in a 

prototype scale package.

• Show sensing technique improves device stability by enabling a design with a 

large separation between the sense resonance frequency and drive resonance 

frequency.

Work Plan

• Complete MEMS model and design

• Fabricate MEMS design

• Complete electronics design and fabrication

• Complete submount design and fabrication

• Assemble prototype scale devices

• Test and debug prototype scale devices

• Evaluate test results and final reporting

NASA Applications

• Metric tracking of launch vehicles, on-orbit navigation for spacecraft, and 

stabilization for space telescopes

Non-NASA Applications

• Personal navigation systems, automobile navigation systems, precision drilling 

navigation for petroleum and mining, tactical navigation for small UAVs, and 

advanced interfaces for consumer products (cell phones and video games)
—32—

MINIATURIZED RADIATION HARDENED

BEAM-STEERABLE GPS RECEIVER FRONT END

Tahoe RF Semiconductor, Inc

2010 Phase I

04.02-904

Identification and Significance of Innovation

The GPS receiver is a miniaturized integrated 

circuit (IC) that provides significant enhanced 

performance over existing discrete solution. 

The IC includes multiple coherent receive 

channels that in conjunction with an antenna 

array provides beam steerability for improved 

sensitivity, interference suppression, and 

mitigates multipath errors. 

Expected technology readiness level (TRL) 

range at the end of contract 

• 4

Technical Objectives

• Update the design

• Provide correction report

• Procure the fabricated design from MOSIS multiproject wafer (MPW) run

• Run functional tests and provide engineering samples

NASA Applications

• International Space Station X-ray Telescope

• Magnetospheric Multiscale Mission

• COSMIC II Missions

• Jason III Mission

• NICER Mission

Non-NASA Applications

• Precision GPSs for surveying and agricultural systems

• PNDs (Personal Navigation Devices)

• In-Vehicle Navigation Systems

• Telematics (Asset Tracking and Inventory Management)

• Recreational/Marine Navigation/Avionics
—33—

INNOVATIVE X-RAY STAR SCANNER FOR SPIN STABILIZED 

MICROSATELLITES

CrossTrac Engineering, Inc

2010 Phase I

O1.03-951

Identification and Significance of Innovation

• Simple attitude sensor using x-ray sources 

as guide stars

– Consists of photon detector, collimator, 

and processing electronics

– Spinning spacecraft scans collimator 

over stars

– Pattern of pulses created that is unique 

to orientation and spin rate

– Pulse pattern compared to star catalog 

to determine spacecraft orientation and 

spin rate

• Game-changing technology creating an 

arcminute class attitude sensor for spin 

stabilized microspacecraft

• Expands capabilities of microspacecraft 

platforms

• Simple, robust technology

• Low mass and power make it compatible 

with CubSat-class spacecraft

•

Expected technology readiness level (TRL) 

range at the end of contract (1–9)

• 6

Technical Objectives

Demonstrate the feasibility of the X-ray Star Scanner (XSS) by

• Detailing XSS requirements and performance goals

• Identifying NASA mission opportunities

• Architecting necessary navigation algorithms

• Developing a simulation to support performance predictions

• Creating an XSS conceptual design including the selection of detector 

technology

NASA and Non-NASA Applications

Precision attitude sensor on spin stabilized microspacecraft performing a

number of critical NASA missions:

• Earth-observing nonimaging missions

• Earth-observing imaging missions in a Thompson Spinner configuration

• Inertially pointed solar and astronomy missions

• Distributed space weather and space physics missions

• Lunar, planetary, and asteroid rendezvous missions

Precision attitude sensor on spin stabilized microspacecraft performing additional 

critical Department of Defense missions:

• Observing/reconnaissance missions

• Responsive space communications missions
—34—

SPACE MISSION DESIGN IN THE VICINITY OF SMALL BODIES AND 

LIBRATION POINTS

Physical Optics Corporation

2010 Phase I

O4.03-981

Identification and Significance of Innovation

To address the NASA need for advanced 

dynamical theories to space mission 

design and analysis in the vicinity of small 

bodies and libration points, Physical Optics 

Corporation (POC) proposes to develop a 

novel advanced Orbit Dynamic Computation 

Approach for Space Mission Analysis in the 

Vicinity of Small Bodies and Libration Points 

(ODYBOLP), with corresponding computational 

algorithms and software, based on advanced 

models of complicated celestial dynamical 

systems with libration points (LPs) and a 

pseudo-arc-length continuation method for 

computation of trajectories used for zerofuel cost space guidance, navigation, control, 

and cargo transportation and long-distance 

passageways through the solar system. The 

ODYBOLP software will be integrated into 

standard NASA software packages General 

Mission Analysis Tool (GMAT) JAT, etc.)). In 

Phase I, POC will demonstrate the feasibility of 

ODYBOLP by using its TRL–3 Phase I prototype 

software. 

Technical Objectives

• Development of the dynamical theory describing the motion of an infinitesimal 

body in vicinity of small celestial bodies.

• Calculation of the periodic orbit families emanating from the libration points of 

the small celestial body, secondary, and some tertiary orbit families.

• Design and development of the basic software for visualization of small 

celestial body periodic orbits.

• Definition of the commercial market for the ODYBOLP system. 

Work Plan

• Develop and analyze the dynamical system.

• Design and develop the software for calculations of the small body orbit 

families.

• Calculate the periodic orbit families of the dynamical system.

• Analyze stability of the calculated orbit families.

• Develop, design, and test the software for visualization of calculated orbit 

families.

• Explore the commercial potential and product viability.

• Prepare and submit reports.

NASA Applications

The proposed ODYBOLP will extend NASA leadership in design and analysis of 

space missions using unstable orbital trajectories in the vicinity of small bodies and 

libration points. It will improve libration point dynamical system models associated 

with the multibody problem and celestial small bodies and provide methods to use 

these models in space mission analysis and design. The ODYBOLP makes easier 

and faster the choice of suitable nominal orbits and near-zero fuel cost transfer 

trajectories for the mission designer.

Non-NASA Applications

The ODYBOLP approach has significant commercial applications for numerous 

Government agencies and commercial players of the national space and satellite 

market in effective and robust computations of trajectories of spacecraft used for 

space guidance, navigation, control, and cargo transportation and long-distance 

zero-fuel cost passageways through the solar system.
—35—

PARALLELIZATION OF SIGMA POINT AND PARTICLE FILTERS

Analytical Mechanics Associates, Inc

2011 Phase I

O4.03-853

Identification and Significance of Innovation

Inexpensive and readily available parallel 

computing architectures like the NVIDIA GPUs 

and multicore CPUs are used to exploit the 

massive parallelism inherent to sigma point 

and particle filtering techniques.

Filter modules for sequential and the two 

parallel computing architectures will be made, 

and can be used to replace existing filter 

modules depending on the hardware. These 

modules can also be made to integrate with 

existing tools such as NASA’s GPS-Enhanced 

Onboard Navigation Software (GEONS), 

General Mission Analysis Tool (GMAT), and 

Orbit Determination Toolbox (ODTBX), etc.

Estimated technology readiness level (TRL) 

range at beginning and end of contract 

• 3

• 4

Technical Objectives

• Investigate parallelization of sigma point and particle filters on multicore 

personal computers as well as GPUs. Investigate the performance of the 

parallel filter modules on INS/GPS integration and orbital determination 

problems.

• Evaluate feasibility of real-time implementation of these filters.

• Investigate how the modules can be integrated with existing tools such as 

GEONS, GMAT, ODTBX, etc.

NASA Applications

• Spacecraft and aircraft ground or onboard facilities to process navigational 

data from multiple sensor sources

• Analysis and testing of flight software and onboard data processing algorithms

Non-NASA Applications

• Marine vessel navigation, commercial airliner navigation, seismic data 

acquisition and analysis, and atmospheric observation data collection and 

processing
—36—

COMPACT OPTICAL INERTIAL TRACKING FOR LAUNCH VEHICLES

MagiQ Technologies, Inc

2011 Phase I

O4.01-870

Identification and Significance of Innovation

We propose a method for developing a 

miniature all-optical Inertial Navigation 

System (INS). In an optical INS, the rotation 

sensitivity depends on the area enclosed by 

a circular optical path, so it is impossible to 

significantly reduce the size of a standard 

fiber optic gyroscope or ring laser gyroscope 

without sacrificing sensitivity.

However, using the phenomenon of fast last, 

which we will produce through Stimulated 

Brillouin Scattering (SBS) in a fiber, the 

sensitivity of a ring laser gyro of a given 

size can be enhanced by up to 106. We will 

use a fiber-based, fast-light-enhanced ring 

laser gyroscope to maintain the sensitivity 

of existing optical gyroscopes while greatly 

reducing the physical size of the sensing 

element. Combined with photonic integrated 

circuit technologies and standard optical 

accelerometers, the entire INS package can 

be greatly reduced in size, weight, and power, 

resulting in a rugged, compact, high-sensitivity 

INS ideal for launch vehicles and spacecraft.

Estimated technology readiness level (TRL) 

range at beginning and end of contract 

• 2

• 5 

Technical Objectives

• High Brillouin gain in a pumped fiber (sufficient to produce fast light in a short 

fiber with reasonable laser power)

• Near-zero group index (approaching infinite group velocity) in the fiber

• Narrow linewidth in a ring laser in order to obtain the desired rotation sensitivity

Work Plan

• Characterization of candidate fibers’ SBS thresholds and selection of the best 

fiber.

• Characterization of the SBS gain and fast-light spectrum of selected fiber/

laser combination.

• Construction and characterization of unidirectional ring laser.

• System design and modeling.

• Final Report and Phase II Proposal.

With these tasks completed, we will have a detailed design and specifications for a 

prototype to be developed in Phase II

NASA Applications

• Tracking and control of launch vehicles for placing payloads into orbital or 

suborbital trajectories.

• Precision inertial feedback during orbital maneuvers or stationkeeping 

operations on manned or unmanned spacecraft.

• Actively stabilize instrument platforms during sensitive astronomical 

observations or scientific measurements.

Non-NASA Applications

• Self-guided ordinance and unmanned aerial vehicles, where traditional highsensitivity optical INS systems are too large to use.

• Stabilizing weapons platforms or communications devices mounted on ground 

and naval vehicles of all sizes.

• Commercial aircraft and marine vessels commonly use optical inertial 

measurement devices for navigation, stabilization, and tracking.
—37—

TRACKING AND DATA RELAY SATELLITE SYSTEMS (TDRSS) 

AUGMENTATION SERVICE FOR SATELLITES (TASS)-ENHANCED NEAREARTH NAVIGATION SYSTEM

Emergent Space Technologies, Inc

2011 Phase I

O4.02-876

Identification and Significance of Innovation

Precise positioning, navigation, and timing 

(PNT) sensors that have low size, weight, 

and power (SWaP) are highly desired. This 

project aims to produce a state-of-the-art 

precise codeless GPS receiver capable of 

real-time decimeter level positioning. To meet 

this goal, the design will combine a unique 

codeless signal processing technique and 

GPS-Enhanced Onboard Navigation Software 

(GEONS) with the capability to ingest TASS 

messages. A suitable software-defined radio 

(SDR) platform will also be found to host these 

integrated technologies.

Estimated technology readiness level (TRL) 

range at beginning and end of contract (1–9)

• 3

• 5

Technical Objectives

• Demonstrate that the SCP measurements can be processed by GEONS

• Design an SDR capable of receiving TASS messages

• Develop the plan to integrate SCP, GEONS, and the TASS receiver to an 

existing qualified SDR hardware platform

Work Plan

• System Specification and Design Concept of Operations

• Design TASS SDR

• Process Codeless Data with GEONS

• Analysis of SDR Host Platforms for Waveform Mapping

• Project Management

NASA Applications

• TENNIS could be used on geodetic science missions like GRACE with its 

precise point and positioning capabilities

• Since TENNIS has a small footprint and is low SWaP, it could potentially be 

deployed on cubesats for atmospheric research

• The waveform can also be retasked to utilize signals other than GPS for 

navigation, such as Tracking and Data Relay Satellite System (TDRSS), Galileo, 

and GLONASS

Non-NASA Applications

• The proposed innovation would further enable proximity operations such as 

rendezvous and docking, formation flying, etc.
—38—

ADVANCED EXOPLANET STAR TRACKER FOR ORBIT SELF 

DETERMINATION

Keystone Aerospace

2011 Phase I

O4.02-938

Identification and Significance of Innovation

Innovative hardware is proposed allowing 

for autonomous onboard calculation of a 

spacecraft’s orbit by employing Doppler 

Spectroscopy and Astrometric techniques. 

The proposed advanced star tracker provides 

spacecraft orbit self-determination capabilities 

through the use of specialized reference stars 

that have exoplanet companions. The motion 

of exoplanets around a reference star’s 

barycenter provides a stable, highly predictable 

natural signal pattern. An advanced exoplanet 

star tracker enhances mission navigation 

capabilities for future manned and unmanned

space vehicles as well as reducing Deep 

Space Network (DSN) tracking requirements 

and resources. 

Estimated technology readiness level (TRL) 

range at beginning and end of contract 

• 2

• 3 

Technical Objectives

Phase I research is a feasibility assessment leading to Phase II experiment 

development that can be integrated into a future hardware technology 

demonstration. The primary Phase I technical objectives are verification of concept 

feasibility, requirements analysis and definition, validation of system components, 

and development of stellar references. Work will occur over 6 months on the 

following planned tasks

• Verify desired technical features with NASA GPS-Enhanced Onboard 

Navigation Software (GEONS) capabilities

• Develop a preliminary stellar reference source catalog

• Perform requirements analysis and define necessary specifications

• Investigate and validate system technologies

• Evaluate various materials for suitability in the space environment

• Investigate software simulation benchmarks

• Develop technical goals and plans for Phase II research

NASA Applications

The proposed Exoplanet Star Tracker hardware would improve future navigation 

systems for NASA manned or unmanned space platforms. Primary autonomous 

navigation could be incorporated into spacecraft designed for geostationary, 

elliptical, or deep space orbits including missions to the Moon, comets, asteroids, 

libration points, and Mars. Resource demands on DSN would be decreased. 

Backup navigation for low- and medium-Earth-orbit satellites would be available 

when primary GPS navigation is lost.

Non-NASA Applications

The proposed Exoplanet Star Tracker hardware would improve future navigation 

systems for non-NASA entities such as the military, nonprofit research institutions, 

universities, and commercial satellite builders. Independent navigation in low and 

medium Earth orbits would be available when primary GPS navigation is unavailable. 

In 2010, satellite manufacturing revenues were $10.8 billion.
—39—

ENHANCED PATH PLANNING, GUIDANCE, AND ESTIMATION ALGORITHMS 

FOR NASA’S GENERAL MISSION ANALYSIS TOOL (GMAT)

Decisive Analytics Corporation

2011 Phase I

O4.03-950

Identification and Significance of Innovation

Integration of Advanced Path Planning (APP) 

and Advanced Estimation (AE) capabilities into 

NASA’s GMAT.

• The APP GMAT plug-in will enable 

enhanced mission design capabilities 

that incorporate a dynamical systems 

approach to mission design, along with 

multiphase path planning tools and 

enhanced visualization techniques that 

leverage GMAT’s existing graphics engine. 

This will offer end users a diverse toolbox 

of capabilities to study complex problems 

in multibody dynamics, from libration 

point mission design to formation flight 

applications.

• The AE GMAT plug-in will incorporate 

modern estimation capabilities into 

GMAT’s repertoire of tools, including but 

not limited to Gaussian Mixture Models 

and Unscented Kalman Filters, along 

with other advanced algorithms currently 

available within Guide and Adapt, the 

underlying suite of tools—developed at 

Decisive Analtyics Corporation—around 

which the AE plug-in is designed.

Estimated technology readiness level (TRL) 

range at beginning and end of contract 

• 3

• 5

Technical Objectives

Advanced path planning and estimation capabilities in complex nonlinear dynamical 

regimes represent two of the greatest technical challenges of modern spaceflight. 

The proposed Phase 1 work and follow-on Phase 2 work will focus on incorporating 

the latest advancements in both of these areas into the GMAT. Phase 1 will focus 

on the software development, integration, testing, and validation of two prototype 

GMAT binary plug-ins:

• The APP plug-in will integrate a multiphase targeting framework during

Phase 1. This capability is necessary to facilitate the follow-on Phase 2 work, 

which will further focus on integrating a Dynamical Systems Analysis Toolbox 

(DSAT) into APP, and a related visualization module that leverages DSAT’s 

output. The combined functionalities of these modules will allow end users 

to effectively employ a dynamical systems approach for trajectory design in 

complex multibody regimes, such as the region near the libration points.

• The AE plug-in—built around Guide and Adapt (a suite of tools developed 

by Decisive Analytics)—will facilitate estimation processes that exhibit 

multimodal probability densities by incorporating estimation algorithms that 

adequately capture the impact of nonlinearities in the estimation process.

NASA Applications

The APP plug-in will offer GMAT end users enhanced mission design capabilities in 

complex multibody regimes, such as the region near libration points or near small 

celestial bodies. The AE plug-in will offer GMAT end users estimation techniques 

that adequately characterize the effects of nonlinearities in the estimation process 

so they may effectively analyze, for instance, problems involving multimodal 

probability densities.

Non-NASA Applications

The APP plug-in includes a generalized multiphase targeting framework that is 

relevant to autonomous vehicle guidance in general. Furthermore, the AE plug-in 

is built around Guide and Adapt, tools built at Decisive Analytics under contract 

with the Missile Defense Agency and the U.S. Air Force. Any new developments 

integrated into the AE plug-in will ultimately also benefit our existing customers.
—40—

ADVANCED SPACECRAFT NAVIGATION AND TIMING USING CELESTIAL 

GAMMA-RAY SOURCES

ASTER Labs, Inc

2011 Phase I

O4.02-973

Identification and Significance of Innovation

• Novel enabling technology for 

interplanetary navigation

• Utilize known and new gamma-ray 

sources with enhanced high-energy 

detector components

• Independent three-dimensional spacecraft 

position determination anywhere in solar 

system

Current: ~300 km

Eventual: <3 km (one sigma)

• Utilize real data from Swift, Fermi 

GBM, and Inter-Planetary Network (IPN) 

spacecraft to demonstrate capabilities and 

performance

• Build upon and extend XNAV+XTIM 

innovations (NASA and Defense Advanced 

Research Projects Agency (DARPA)), 

pushing to higher photon energy regime 

(>20 keV) 

Estimated technology readiness level (TRL) 

range at beginning and end of contract 

• 3

• 5 

Technical Objectives

Design a new gamma-ray source-based navigation for deep space vehicles by 

identifying burst characteristics and catalogue pulsar sources, design enhancements 

for GRB detectors, prototype navigation algorithms, and design system architecture. 

Work Plan

• Task 1—Gamma-Ray Source Data

– 1.1 Gamma-Ray Burst Source Characteristics

– 1.2 Gamma-Ray Pulsar Source Catalogue

• Task 2—System Architectural Design

– 2.1 System Engineering and Requirements

– 2.2 Sensor Hardware Components

– 2.3 Benefits Assessment

– 2.4 Applications and Use Cases

• Task 3—Performance and Error Budgets

– 3.1 Gamma-Ray Source Error Contribution

– 3.2 Detector and IPN Error Contribution

– 3.3 Navigation Components Error Contribution

– 3.4 System-Level Errors

• Task 4—Navigation Algorithms

– 4.1 Relative Navigation Time of Arrival (TOA) Measurement

– 4.2 Navigation Kalman Filter Implementation

– 4.3 Simulation Architecture Design

NASA Applications

• Independent deep space and exploration mission self navigation

• Augment DSN with off-axis ranging and reduce workload

• Solar storm warning and astronaut radiation hazard detection system

• Enhanced components for future Explorer missions

Non-NASA Applications

• Department of Defense and commercial deep space ventures

• Enhanced detectors for medical and diagnostic imaging, as well as homeland 

security
—41—

ACCURATE TIMEKEEPING WITH AN ENSEMBLE OF CLOCKS

Perichoro LLC

2012 Phase I

H9.04-943

Identification and Significance of Innovation

The proposed innovation is to accuracy in 

timekeeping independent of any external 

reference time, such as UTC. Individual clocks 

lose accuracy as time passes due to the 

physical effect called bias drift. The proposed

innovation is a process, implemented as a 

real-time computer program, for combining 

the time-dependent output of an ensemble 

of clocks to counteract this loss of accuracy 

by the individual clocks of the ensemble of 

clocks. The processing method of the proposed 

innovation is based on the fundamental 

statistical concept of confidence interval for 

statistically characterizing the time-dependent 

output of clocks, and so are time-dependent or 

dynamical. The benefits of this method are

• It is a purely statistical method of 

estimation of numerical quantities, 

and therefore does not require any 

mathematical modeling of clocks

• No statistical models, namely no 

mathematical modeling of probability 

distributions

• No Kalman filter

• Will work with any kind of clock

Estimated technology readiness level (TRL) 

range at beginning and end of contract

• 0

• 3

Technical Objectives

• Analysis for the proposed dynamical confidence intervals for processing the 

output of the clocks in an ensemble of clocks

• Design and development of a simulator for the proposed dynamical confidence 

intervals for processing the output of the clocks in an ensemble of clocks, 

based on the analysis

• Simulations with the simulator to demonstrate the performance of the 

proposed dynamical confidence intervals for processing the output of the 

clocks in an ensemble of clocks

• Plan for a follow-on Phase II contract

• Preparation of a final report on the technical feasibility with a Phase II 

Integration Path

Work Plan

• Perform the analysis for the proposed dynamical confidence intervals for 

processing the output of the clocks in an ensemble of clocks

• Perform the design and development of a simulator for the proposed 

dynamical confidence intervals for processing the output of the clocks in an 

ensemble of clocks, based on the analysis of the preceding Task 1

• Perform simulations with the simulator to demonstrate the performance of 

the proposed dynamical confidence intervals for processing the output of the 

clocks in an ensemble of clocks

• Perform the planning for a follow-on Phase II contract

• Perform the preparation of a final report on the technical feasibility with a 

Phase II Integration Path

NASA Applications

• The application of the proposed innovation in independent, accurate 

timekeeping, independent of any external reference time such as UTC is 

especially important for NASA’s space missions, particularly, NASA’s Space 

Communications and Navigation (SCaN) Program.

Non-NASA Applications

• Another Government agency that could be a market for such independent, 

accurate timekeeping is the Department of Defense. For example, submarines 

could use it to avoid the need to receive radio signals for keeping onboard clocks 

running on time.
—42—

ADVANCED TECHNIQUES FOR NONCOLLOCATED FAULT DETECTION OF 

SATELLITE FORMATIONS

SySense, Inc

2012 Phase I

H9.04-944

Identification and Significance of Innovation

To increase the safety of spacecraft formation 

flight missions, mission designers may utilize 

algorithms for the detection, isolation, and 

identification of system faults via data analysis 

on a ground station. An important component 

of such an algorithm is the fault detection filter, 

which compares measurements to estimates 

based on known system dynamics. A previous

study revealed that linearized detection filters 

do not operate reliably in highly nonlinear 

dynamical environments. Three types of 

filters are proposed to be designed and 

characterized. The first is the linearization 

point reset method, which estimates the 

linearized dynamic environment based 

on the most recent measurement and the 

nominal orbit. The second is the extended 

filter method, which uses the full nonlinear 

dynamics to propagate the state estimate. The 

third is a hybrid of the first two. Each method 

may offer a significant improvement over the 

established linear fault detection theory. 

Estimated technology readiness level (TRL) 

range at beginning and end of contract 

• 1

• 3

Technical Objectives

• Derive the extended fault detection filter

• Design the extended, linearization point reset, and hybrid noncollocated fault 

detection filters to detect faults in relative position measurements and thrusters 

among four spacecraft in a cluster near a highly elliptical orbit

• Characterize performance of the noncollocated fault detection filters via Monte 

Carlo simulations 

Work Plan

The extended detection filter will be derived based on the well-known extended 

Kalman filter, and its feasibility for the current problem will be analyzed and 

verified. Once a sufficient analysis of the proposed detection filter methods has 

been completed, they will be designed for a representative suite of instruments and 

faults on a remote spacecraft formation in the MATLAB simulation environment. 

The spacecraft formation will be simulated in a highly elliptical orbit in which there 

are measurement interruptions both planned (e.g., GPS constellation signal loss 

due to distance) and unplanned (e.g., data transmission loss due to solar activity, 

etc.). Finally, the performance of each detection filter, that is, probability of false and 

missed alarms and speed of fault detection, will be characterized via Monte Carlo 

simulations for various fault history and data loss scenarios.

NASA Applications

• NASA flight test experiments for clusters of resource-limited satellites that 

cannot run code not already associated with flight control and payload

• Ground station software suite for existing NASA formation flight missions 

such as the Magnetospheric Multiscale (MMS) mission and formation flight 

experiments with the internationally constructed “A Train” spacecraft, including 

CALIPSO, Aqua, Aura, CloudSat, and most recently SHIZUKU.

Non-NASA Applications

• Department of Defense, commercial, and university-level satellite, unmanned 

aircraft, and robotic formation flight and coordinated control missions. Two 

examples include the SpaceX resupply missions to the International Space 

Station (ISS) or unmanned military aircraft formation flight for fuel savings.
—43—

AN INTERACTIVE VISUAL ANALYTICS TOOL FOR NASA GENERAL MISSION 

ANALYSIS TOOL (GMAT)

Decisive Analytics Corporation

2014 Phase I

H9.04-927

Identification and Significance of Innovation

The goal of any trajectory design process is 

to identify paths that transfer a vehicle from 

its point of origin to some specific destination, 

subject to constraints. This process is divided 

into two primary aspects: (1) the identification 

of candidate startup arcs and (2) the 

subsequent refinement of those solutions, via 

targeting or optimization processes. In support 

of this process, the proposed innovation 

focuses on the development of an Interactive 

Visual Analytics Tool (IVAT). IVAT facilitates the 

exploration and data mining of the space of 

candidate solutions leading to the refinement

phase. The IVAT leverages the latest advances 

in advanced dynamical theories and visual 

analytics, and GMAT’s Advanced Path Planning 

(APP) and Dynamical Systems Analysis Toolbox 

(DSAT), developed by Decisive Analytics 

Corporation (DAC). GMAT is selected as the 

technology demonstration platform, but our 

target design supports stand-alone operation, 

which benefits any gradient based refinement 

tool.

Estimated technology readiness level (TRL) 

range at beginning and end of contract 

• 2

• 3

Technical Objectives

The mission design process can be broadly divided into two phases: the selection 

of candidate arcs and follow-on refinement processes. NASA’s existing set of 

refinement tools are largely gradient based, meaning they rely on the availability of 

suitable startup arcs. The process of exploring the vast space of candidate options, 

and the subsequent selection and blending of selected arcs, is facilitated by the 

proposed IVAT interface. The primary Phase 1 Technical Objective’s (TO’s) focus is 

on the development of the underlying IVAT mapping engine and a prototype of the 

IVAT.

Work Plan 

• TO #1: Under this technical objective, DAC will develop the underlying 

algorithms and software infrastructure that comprise the computational 

engine of IVAT. This component will enable the systematic computation and 

parameterization of user-defined Poincare maps for a given dynamical system.

• TO #2: Under this technical objective, DAC will develop an initial prototype 

of the IVAT visualization engine and interface by leveraging jzy3d and jogl, 

open-source libraries that facilitate both the integration of three-dimensional 

visualization and the more advanced interactive capabilities sought for IVAT 

over the course of Phases I and II.

NASA Applications

At the top level, our commercialization strategy will pursue a mix of software 

sales and of services for subject matter experts. Within sales, we have existing 

relationships with commercial-off-the-shelf software vendors that could allow 

integration with existing products with customer bases, and we will also support 

enhancements to the capability as provided through GMAT. We have an existing 

contract based for providing services in related areas to NASA in collaboration with 

university partners.

Non-NASA Applications

The U.S. Air Force is an existing customer and has directly related technology 

needs. Through both internal efforts and partnerships, we will also seek foreign 

sales through commercial tools, and will exploit the ubiquitous nature of the 

Poincare map approach to seek sales for applications beyond mission planning. 

Examples may include sales as a third-party software provider for MATLAB.
—44—

INTEGRATED SPACECRAFT NAVIGATION AND COMMUNICATION USING 

RADIO, OPTICAL, AND X-RAYS

ASTER Labs, Inc

2014 Phase I

H9.05-972

Identification and Significance of Innovation

• Novel enabling technology for Earth orbit 

and interplanetary navigation

• Utilize x-ray photons from celestial 

sources (pulsars) to provide absolute 

position and attitude determination

• Utilize radio dish to observe radio pulsars 

for navigation

• Integrated radio, optical, and x-ray 

technology for communications (iROX)

• Provides beaconless pointing of iROX 

communication system at distances 

greater than Mars (>2 AU)

• Independent navigation capability reduces 

Deep Space network (DSN) workload

• X-ray transceiver concept for additional 

relative navigation capability 

Estimated technology readiness level (TRL) 

range at beginning and end of contract

• 3

• 6 

Technical Objectives

• Design an integrated navigation technology using X-radiation photons

• Perform systems engineering analysis of the iROX design concept

• Identify specific missions and cases that can take advantage of this 

technology

• Develop key systems requirements for each selected use case

• Evaluate radio pulsar observations using the iROX radio dish antenna

• Integrate the iROX simulation using XPRESS and XNAV+DSN EKF simulations

• Evaluate existing modulated x-ray detector designs over specified energy 

ranges for relative ranging

• Determine system-level performance through error-budget and simulated 

measurement analysis

• Review potential NASA applications, prioritize use cases, and identify direct 

benefit-cost assessments to these NASA missions 

Work Plan

• Task 1—iROX Architectural Design

• Task 2—X-ray Source Navigation Augmentation Methods

• Task 3—iROX System Evaluation

NASA Applications

• Accurate deep space navigation and attitude

• High-rate data deep space communication

• High-definition video transmissions

• Accurate relative navigation for formation flying

Non-NASA Applications

• High-data-rate communication for Department of Defense and commercial 

satellites

• Improved detectors for manufacturing, production, and inspection, as well as for 

Department of Homeland Security (DHS)

• Enhanced x-ray pulse generators and detectors for medical and diagnostic 

imaging

• Technology for reentry and hypersonic communications during radiofrequency 

blackout
—45—

INTERFEROMETRIC STAR TRACKER FOR HIGH-PRECISION POINTING

Optical Physics Company

2014 Phase I

H9.05-975

Identification and Significance of Innovation

Laser communications (Lasercom) technology 

offers the promise of much higher rate data 

returns while reducing the size and weight 

of the telecommunications package for deep 

space missions. The problem of pointing a 

laser signal can in general be decomposed into 

the problems of (1) stabilizing the optical line 

of sight (LOS) and (2) providing the appropriate 

pointing reference to the receiver location. For 

near-Earth lasercom systems, this problem 

has been solved using a cooperative beacon 

source. However, in deep space instead of 

using a beacon signal to provide the LOS 

reference and for pointing stabilization, one 

can accomplish the LOS stabilization using 

a vibration isolation platform. The proposed 

project will investigate using a high-precision 

star tracker for this purpose. 

Estimated technology readiness level (TRL) 

range at beginning and end of contract 

• 2

• 3 

Technical Objectives

Optical Physics Company (OPC) proposes to adapt the precision star tracker it 

is currently developing under several Department of Defense (DoD) contracts for 

deep space lasercom beam pointing applications. The advantages of using an 

interferometric star tracker for beam pointing are many and include

• Celestial-reference-based beam pointing eliminates need for having a groundbased beacon for return beam pointing.

• Precision star tracker can be part of the spacecraft attitude control subsystem, 

thus allowing a single high-performance instrument to support both attitude 

control and lasercom beam pointing functions.

• By allowing the lasercom system to point with a faint beacon and/or weak 

stars, the same lasercom system architecture can be employed for both deep 

spaceflight terminal and the near-Earth terminals operational from near orbit 

to very deep space mission.

Work Plan

The Phase I will develop the concept, the design of the Precision Pointing Platform, 

and validate its functionality and performance using detailed simulations that include 

models of the active isolators and the jitter environment with high fidelity. The 

simulation will use a realistic star background. Furthermore, Phase I work will produce 

a pointing error budget that takes into consideration effects of signal-to-noise ratio 

(SNR), unrejected platform jitter, alignment errors, and optical fabrication errors.

NASA Applications

The most immediate NASA application of this technology is in the deep space optical 

communication area. The precision star tracker offers the ability to communicate 

from a near-Earth or deep space (up to 40 AU) spacecraft platform using a narrow 

beam aimed precisely at a beaconless receiver. OPC has been funded recently by 

Jet Propulsion Laboratory (JPL) to investigate if this star tracker can be used for a 

spinning spacecraft.

Non-NASA Applications

OPC is currently building a cubesat star tracker that will be delivered to DoD. 

Another application is GPS-denied navigation; an acute need that has increased in 

the past few years. OPC is building three product lines around the interferometric 

tracker technology for transition.
—46—

PARALLEL NONLINEAR OPTIMIZATION FOR ASTRODYNAMIC NAVIGATION

CU Aerospace, LLC

2014 Phase I

H9.04-976

Identification and Significance of Innovation

Existing trajectory optimization tools (such 

as OTIS, EMTG, and MALTO) rely on black 

box nonlinear programming (NLP) problem 

solvers such as SNOPT, IPOPT, and WORHP. 

These solvers execute their code in serial and 

are acting as runtime bottlenecks in many 

applications. CU Aerospace proposes a new 

ground-up parallel NLP solver to replace the 

current solvers for use with all existing NASA 

trajectory optimization solvers. Inherent 

parallelism will be added at four levels: the 

major-iteration, the convex subproblem, the 

linear algebra, and the derivative calculation. 

These changes should lead to orders of 

magnitude speedup, while also offering 

a massive maximum possible parameter 

space. The software will be as architecture 

agnostic as possible, so that it scales from 

Supercomputers, GPU processors, and hybrid 

machines, down to single multicore ships 

on desktop machines. Finally, the interface 

options for this tool will be compatible with 

the existing NASA software that would utilize 

it.

Estimated technology readiness level (TRL) 

range at beginning and end of contract 

• 3

• 5

Technical Objectives

Early Phase I will comprise researching existing parallelization techniques in 

more detail and identifying the most promising approaches for parallelization at 

each level. In the second half, prototypes of both MPI- and GPU-based parallel 

derivative calculation will be implemented, and the speeds compared. Additionally, 

a prototype NLP solver that parallelizes at the Major-Iteration level, while running 

the convex subproblem in serial, will be used to identify the baseline outer-loop 

speedup techniques. Similarly, a convex subproblem parallel approach, using a 

serial outer loop, will be used to baseline the internal speedups. Finally, a test case 

using standard trajectory optimization formulation will allow tuning the prototypes 

towards the target problem type. Phase I will end with the software specification for 

the full solver and make strong recommendations for the parallelization approaches 

to be used in Phase II.

NASA Applications

This tool will have immediate applications to NASA as a plug-in to existing, in-use

trajectory optimization software such as OTIS, EMTG, and MALTO. This solver will 

be designed from the ground up to be especially efficient at trajectory optimization 

problems; however, it will be equally applicable to optimization in other fields, 

including aerodynamics and engineering design.

Non-NASA Applications

A rapid, nonlinear optimization solver has appeal across both academic and 

commercial markets. Many existing companies and research groups already use 

NLP solvers and would welcome one that can take advantage of low-cost GPUs 

while also scaling to supercomputers, reducing their time-to-solution. This has 

applications to: economics, engineering, finance, agriculture, among other fields.
—47—

PARALLEL ENHANCEMENTS OF THE GENERAL MISSION ANALYSIS TOOL 

(GMAT)

Thinking Systems, Inc

2014 Phase I

H9.04-985

Identification and Significance of Innovation 

GMAT is a state-of-the-art spacecraft design 

tool. GMAT’s architecture was designed to 

support multiple parallel runs of simulations, 

but the parallel processing design features 

have not been implemented (GMAT runs on a

single processing thread even when multiple 

cores are available).

Thinking Systems will

• Produce an efficient parallelization of 

GMAT’s capabilities by implementing the 

parallel processing design features.

• Code parallel processing components that 

plug into GMAT to exercise the parallel 

processing capabilities of the tool.

The resulting system will enhance GMAT’s 

capabilities for parametric studies, Monte 

Carlo analysis, large-scale targeting, and 

dispersion analysis. 

Estimated technology readiness level (TRL) 

range at beginning and end of contract 

• 1

• 3 

Technical Objectives

Objective: Implement a version of GMAT that uses parallel processing to

efficiently run on modern, multicore computers. In phase I, Thinking Systems will

• Design the parallelization framework for GMAT

• Implement GMAT engine components for parallel simulation runs

• Implement GMAT commands and resources for parallel processing

• Build a basic user interface (UI) around these components

• Port the TSPlot plotting package into the UI

• Demonstrate two capabilities:

– Simultaneous simulation runs running concurrently

– Computation of parallel Finite Differencing in GMAT Targeting

Phase II work will extend these capabilities to other features of GMAT. 

NASA Applications

• Capitalizes on evolving computer hardware on Linux, Mac, and Windows 

systems

• Scales for launch window analyses, dispersion analyses, large-scale targeting 

problems, and precision propagation of many objects simultaneously

Non-NASA Applications

• Cross platform capability addresses an identified industry need

• Inclusion of proven GMAT features addresses the need for an extensible 

proven space mission design tool

—49—

NAVIGATION TECHNOLOGY

SBIR PHASE II AWARDS

2005 TO 2012

Early celestial navigation tool: Sextant
—50—

Identification and Significance of Innovation

Celestial x-ray source-based navigation and 

timing (XNAV) holds great promise for NASA 

because it is an enabling technology for 

fully autonomous interplanetary navigation 

and would provide significant mission 

enhancements as an adjunct to the Deep Space 

Network (DSN) and ground-based navigation 

methods. XNAV has the potential to greatly 

enhance system autonomy, while driving 

down DSN operations and infrastructure costs. 

Traditional XNAV uses observations of the x-ray 

emissions of highly stable, rotation-powered, 

millisecond pulsars as a kind of “natural GPS” 

signal. Accurate pulse time-of arrival estimates 

from four or more noncoplanar sources allows 

simultaneous determination of both position 

and time autonomously anywhere in the solar 

system. In addition, brighter, less stable x-ray 

sources may have utility as well, particularly in 

relative navigation applications.

Phase I demonstrated achievable XNAV 

accuracy, developed a preliminary source 

catalog, constructed an XNAV error budget, 

and laid out potential implementation options 

for XNAV. Phase II will develop a detailed XNAV

simulation to evaluate XNAV performance 

for missions of interest, and specifically to 

develop an XNAV flight experiment software 

package that can be flown on a near-term 

demonstration mission.

Technical Objectives

• Assess navigation requirements and perform systems engineering for a 

specific demonstration mission

• Develop the XNAV algorithms for interplanetary missions

• Create a detailed XNAV simulation in the GSFSC GPS-Enhanced Onboard 

Navigation Software (GEONS) environment

Run simulation for mission of interest/perform trade studies

• Transition simulation code into a flight experiment package ready for flight on 

a near-term demonstration mission

• Create an interagency XNAV working group to take advantage of parallel XNAV 

development efforts between NASA and Department of Defense (DoD)

Work Plan

• Task 1—Requirements Definition and Systems Engineering

• Task 2—XNAV Algorithm Development

• Task 3—XNAV Simulation Development/Trade Studies

• Task 4—Flight Experiment Software Development

NASA Applications

XNAV is principally applicable to NASA interplanetary missions—regions beyond 

the range of GPS that currently rely on the DSN for navigation. It can provide 

autonomous navigation throughout the solar system, greatly reducing demands 

on the DSN. It can augment the DSN by providing accurate time synchronization 

and position and velocity components normal to the line-of-sight to Earth to enable 

faster and more accurate navigation solutions. It can enable fully autonomous 

navigation for missions beyond Jupiter, potentially improving on DSN performance 

for very far interplanetary missions. XNAV can enable spatially and temporally 

coordinated measurements over solar system scale distances, enabling or 

enhancing multispacecraft interferometer missions.

Non-NASA Applications

Primary non-NASA applications are Department of Defense (DoD) missions. Specific 

applications include navigation beyond GPS range, backup navigation in the event 

of GPS denial, GPS reconstitution, and development of a super synchronous 

navigation and time distribution service. XNAV could be viable for autonomous 

navigation and station keeping for geostationary Earth orbit (GEO) satellites.

X-RAY PULSAR-BASED NAVIGATION AND TIME DETERMINATION

Microcosm, Inc

2005 Phase II

01.02-901
—51—

Identification and Significance of Innovation

A new deep space navigation sensor called the 

Twin Quad Sensor (TQS) that uses Sun chord 

widths, angles between planets, and angles 

to stars has been developed. This sensor is 

combined with a new navigation filter using 

an Unscented Kalman Filter which employs a 

fully nonlinear state propagator and nonlinear 

measurement equations. The nonlinear state 

propagator includes a full solar system gravity 

model, a solar pressure model, and a thruster 

model. The filter can utilize measurements 

from the optical sensor or from the Deep 

Space Network. 

Technical Objectives

Phase I resulted in the design of the deep space sensor hardware with supporting 

analysis and a complete deep space navigation simulation delivered to NASA using 

Princeton Satellite Systems (PSS) VisualCommander product. 

Work Plan

In Phase II the TQS will be prototyped and tested at Princeton University. The 

navigation simulation will be updated with high-fidelity sensor and disturbance 

models and will be expanded to include lunar ephemerides for all planets. The 

navigation software will be expanded to include sensor tracking control, target 

identification, and telemetry and command functions ported to the sensor onboard 

processor.

NASA and Non-NASA Applications

This sensor and navigation system are applicable to NASA and European Space 

Agency (ESA) deep space missions. It is particularly well-suited to solar sail and 

other low-thrust missions, which require continuous navigation or that cannot use 

external signals. Other applications include lunar surface navigation. Potential 

NASA, Air Force, and ESA missions have been identified.

OPTICAL NAVIGATION SYSTEM

Princeton Satellite Systems

2006 Phase II

01.02-858
—52—

Identification and Significance of Innovation

• MIDAAS is Miniature Integrated Directionfinding Attitude determining Anti-jam 

System

• Innovative antenna/receiver design 

reduces size and complexity of threedimensional (3–D) GPS-based attitude 

systems

• 3–D attitude for spinning platforms with 

a small single-aperture antenna and two 

radiofrequency (RF) channels

• Open-source GPS software-defined 

receiver (SDR) minimizes development 

cost and time and long-term system 

upgrade costs

• Anti-jam capability in each MIDAAS unit 

• Ultra-tightly coupled GPS-based attitude 

receiver

• System performance was demonstrated 

with hardware during Phase I effort. 

Current TRL: 3 to 4

Expected technology readiness level (TRL) 

range at the end of contract 

• 7

Technical Objectives

Design, develop, build, test, and demonstrate a stand-alone real-time prototype 

GPS-based attitude sensor on an actual spin-stabilized launch platform.

Work Plan

• Incrementally modify Phase I non-real-time breadboard to a real-time 

configuration

• Migrate algorithms to real-time breadboard system

• Design stand-alone prototype using same architecture as real-time 

breadboard

• Migrate breadboard algorithms to prototype system

• Test and demonstrate real-time prototype

NASA and Non-NASA Applications

• GPS-based attitude determination for launch vehicles

• Zero-drift attitude system for unmanned/micro air vehicles unmanned air 

vehicles (UAVs) and micro air vehicles (MAVs)

• Spin-stabilized munitions and civil aviation industry

• Navigation aid for hand-held GPS receivers and landrobots

• Orienting device for recreational and virtual reality systems

NOVEL GPS-BASED ATTITUDE (GPS/A) SYSTEM FOR LAUNCH VEHICLES

Toyon Research Corporation

2007 Phase II

01.03-952
—53—

Identification and Significance of Innovation

• Establishes a high-precision navigation 

system that can scale seamlessly to any 

size, allowing any number of mobile or 

fixed nodes in the network

• Integrates proven technologies to provide 

an innovative solution to lunar navigation 

while naturally supporting data and voice 

communications on the same network

• Provides a precise and reliable navigation 

backbone to support traverse-path 

planning systems and other mapping 

applications and establishes a core 

infrastructure for long-term occupation

• Proposed tower network with trilateration 

provides the least technological 

risk, employing proven physics and 

navigational measurement techniques 

coupled with recent advances in precision 

network time synchronization

Expected technology readiness level (TRL) 

range at the end of contract (1–9) 

• 5 to 6 

Technical Objectives

• The objectives of Phase II will be to fully develop and demonstrate our concept 

of a precision, scalable lunar surface navigation system.

• The following tasks define the summary objectives for Phase II:

– Establish key performance requirements

– Prototype multinode wireless network employing Point-to-Point (PTP) for 

demonstration

– Complete electronics design and identification of components

– Complete design of radiofrequency (RF) transmit, receive, and antenna 

components and develop link models for the lunar environment

– Complete tower design with FEA and fabricate a scale model

– Demonstrate trilateration processing in prototype wireless network

– Deliver prototype hardware and firmware

NASA and Non-NASA Applications

• System will be used primarily in planetary habitation, exploration, and mining 

but also has applications in landing systems for lunar, terrestrial, or Mars 

reentry.

• The same technology may be used to perform these functions with only minor 

modifications during future planetary exploration.

• Modernization of the aging international LORAN infrastructure with a lower 

power, more-accurate digital solution. LORAN remains a critical navigational 

aid for merchant ships, especially in port ingress during heavy storms where 

GPS is not available.

• Modernization of air traffic control systems with a highly precise and reliable 

air traffic and runway monitoring system. The integration of the Precision Time 

Protocol with the Sensis MDS product will improve accuracy and useful range 

as well as reducing cost and complexity.

LUNAR SURFACE NAVIGATION

Progeny Systems

2008 Phase II

04.03-902
—54—

Identification and Significance of Innovation

In Phase I, MARK Resources developed a 

method to combine a set of distributed FRPAs 

into a network that provides high GPS antijam/

interference capability, and demonstrated it via 

software simulation. The individual antennas 

need not be precisely located relative to one 

another. The system is compatible with existing 

GPS antennas and receiver hardware, operates 

on the C/A code, and has a small processing 

load. It will make GPS metric tracking robust 

against jamming and interference, hence 

effective for range safety.

Expected technology readiness level (TRL) 

range at the end of contract (1–9)

• 4 to 5

Technical Objectives

The technical objective of Phase II is to develop a demonstration unit consisting of 

launch-compatible antenna and receiver hardware plus processing software; and 

to measure its performance using a high-fidelity radiofrequency (RF) simulation.

Work Plan

• Refine Phase I Algorithms

– Jammer suppression and orientation determination

• Measure performance on intermediate-frequency (IF) software simulation

• Assemble demonstration unit

• Measure performance on RF simulation

• Determine implementation requirements

• Develop transition plan

NASA Applications

GPS metric tracking of Ares and other launch vehicles; autonomous flight safety 

system; and space-based range certification and demonstration project.

Non-NASA Applications

Common Range Integrated Instrumentation System; Small Diameter Bomb; A–160 

Humming Bird helicopter; High Altitude Long Endurance (HALE) aircraft; and Scan 

Eagle UAV.

TRACKING LAUNCH VEHICLES IN INTERFERENCE AND JAMMING

MARK Resources, Inc

2008 Phase II

04.01-926
—55—

Identification and Significance of Innovation

O-D, CBF, Neural Network Estimator Algorithms

• Nonlinear filtering methods

• More accurate than linearized methods

• Computational Efficiency

• Methods focus on accuracy and efficiency

• Nonlinear Filtering MATLAB Toolbox

Technology readiness level (TRL) during 

Phase II

• 2 to 3 

Technical Objectives

• Robust accurate estimation and observability

• Direct model uncertainty estimation

• Multiple sensor suites

• TRL 2 to 3 during Phase II

NASA Applications

• The algorithms and MATLAB based filtering toolbox will be a valuable asset 

tool for NASA’s orbit determination technologies.

Non-NASA Applications

• Educational institutions for teaching estimation and orbit determination, 

aerospace companies, and automotive industries during design phase.

ADVANCED FILTERING TECHNIQUES APPLIED TO SPACEFLIGHT

IST-Rolla

2009 Phase II

04.04-824
—56—

Identification and Significance of Innovation

The proposed research will make powerful 

ideas from dynamical systems available to the 

space mission designer.

Specifically, we propose to augment current 

NASA mission design software with tools in 

the following suite of software:

• Continuation methods for generation 

of libraries of orbits, stable/unstable 

manifolds, and heteroclinic connections.

• Computation of continuously controlled 

trajectories that are optimal with respect 

to design cost function.

• Uncertainty propagation using advanced 

filtering and estimation.

Expected technology readiness level (TRL) 

range at the end of contract

• 4 to 6

Technical Objectives

• Implement all trajectory design tools developed during the Phase I effort 

into the General Mission Analysis Tool (GMAT) software. These include orbit 

generation, optimal control algorithms, and uncertainty management.

• Extend parameter continuation methods for computation of unstable manifolds 

and heteroclinic connections to act as scaffolding for mission design.

• Extend continuous optimal control for attitude control and formation flight 

scenarios.

• Develop state-of-the-art methods for estimation of orbit uncertainty and 

filtering of uncertain measurements.

NASA and Non-NASA Applications

The resulting software for trajectory design and uncertainty management will have 

immediate application in the following areas:

• Designing of NASA deep space missions for optimal fuel consumption and 

uncertainty mitigation.

• Space surveillance for tracking of space debris.

• Commercial satellite industry for control and tracking of satellites.

CONTINUATION METHODS AND NON-LINEAR/NON-GAUSSIAN ESTIMATION 

FOR FLIGHT DYNAMICS

Numerica Corp

2009 Phase II

04.04-841
—57—

Identification and Significance of Innovation

Many upcoming space missions have very 

complex high Earth orbits that will present a 

challenge for the use of GPS as a primary source 

of navigation, though NASA has developed 

weak signal receivers that can accomplish 

this. Preflight testing and hardware acceptance 

become the problem since the GPS simulators 

used for these purposes are repurposed from 

terrestrial applications, and present difficulties 

for space-based testing. This work develops a 

simulator based on commercial-of-the-shelf 

(COTS) software-defined radio (SDR) technology 

that is designed from the start for space 

applications. A Phase I effort demonstrated 

generation of a single GPS signal with the SDR 

hardware. Complex models are added via an 

open software interface, returning the expertise 

required for simulation studies to NASA. The 

system can also simulate communication 

waveforms. 

Technical Objectives

• Design and develop a simulator system, based on Phase I prototype that can 

generate all in-view satellite signals

• Retire risks inherent in design by building a functioning prototype

• Deliver working hardware to the Magnetospheric Multiscale (MMS), 

Geostationary Operational Environmental Satellite R-Series (GOES-R), or other 

ongoing missions 

Work Plan

• System specification and design

• Multisatellite simulation in SDR

• Simulation fidelity enhancement (antenna gain, ionosphere, GPS yaw effects, 

and other error models)

• User interface development including closed-loop trajectory testing with 

General Mission Analysis Tool (GMAT)

• Integration and test

NASA Applications

• Real-time closed-loop simulations of GPS and crosslink hardware for complex 

Human Exploration and Operations (HEO) missions such as MMS and GOES-R

• Customizable waveforms to meet mission specifications

Non-NASA Applications

• Any commercial satellite in high Earth orbit using GPS

• Department of Defense space applications

• University lab environments

MULTIPURPOSE RADIO SIGNAL GENERATION SYSTEM FOR SPACE 

APPLICATIONS, SIMULATION, AND TESTING

Emergent Space Technologies, Inc

2009 Phase II

04.02-845
—58—

Identification and Significance of Innovation

The Microcosm team will complete the 

simulation tool architecture early in

Phase II, and in parallel begin to develop 

the simulation. The tool is architected for 

carrying out performance analysis and rapid 

trade study assessments of competing 

navigation/timing architecture options for 

future NASA missions, incorporating stateof-the art radiometric, x-ray pulsar, and laser 

communications measurements, among 

others, in the Orbit Determination Toolbox 

(ODTBX) environment. The solution centers 

on inclusion of a navigation layer as part of 

the communications architecture and on the 

maintenance and propagation of navigation 

states, time, and associated uncertainties 

onboard each platform with filtering 

capabilities enabling updates based on any 

available measurements. Such measurements 

include direct state and uncertainty updates 

via ground communication, radiometric- and 

lasercom-based range and range rate data 

from communication with ground stations and 

other spacecraft, time transfer from ground 

stations and other spacecraft, x-ray pulsarbased navigation and time measurements 

(XNAV), and others as they become available. 

This would be game changing for spacecraft 

autonomy—enabling platforms to operate 

using onboard state information rather than 

relying almost entirely on ground-based 

tracking and activity scheduling.

Expected technology readiness level (TRL) 

range at beginning and end of contract 

• 2

• 6

Technical Objectives

• Architecture Development—Development of candidate navigation and timing 

system architectures incorporating new technologies, in light of current NASA 

plans as reflected in documents such as the Space Communications and 

Navigation (SCaN) roadmap.

• Simulation/Analysis Tool—Developing the detailed navigation/timing 

simulation capability in the ODTBX environment. Including new measurement 

types such as XNAV and LNAV, yielding overall system performance and ability 

to run rapid architecture trade studies.

• Testing and Validation—Develop use cases of interest to NASA and run 

the simulation, and compare results against other similar analyses run with 

existing mission performance and architecture assessment software tools.

• Performance Trades—After testing is complete, the new simulation tool will 

be employed to analyze navigation and timing network performance and 

capabilities for various key mission types.

Work Plan

• Task 1—Architecture Development

• Task 2—Simulation/Analysis Tool

• Task 3—Testing and Validation

• Task 4—Performance Trades

NASA Applications

The proposed navigation and timing architecture simulation tool will support evaluation 

of SCaN architecture concept and will enable mission planning for human exploration, 

and robotic and infrastructure missions for integrated SCaN architecture. XNAV, LNAV 

capabilities, ODTBX, and other existing analysis and assessment tools will enable 

enhanced navigation and timing solutions for next-generation Earth orbit to the outer 

solar system missions for NASA.

Non-NASA Applications

A key non-NASA application would be primary or secondary navigation and timing 

services for Department of Defense (DoD) missions. Commercial systems benefiting 

from XNAV and LNAV could potentially become future customers of the software 

being developed.

DEEP SPACE NAVIGATION AND TIMING ARCHITECTURE AND SIMULATION

Microcosm, Inc

2009 Phase II

04.04-917
—59—

Identification and Significance of Innovation

In Phase II, x-ray source-based navigation 

and timing (XNAV) performance will be 

enhanced through the development of singlephoton processing algorithms, which utilize 

all available photon time data to improve 

the accuracy of XNAV. A detailed model of 

the XNAV system, including single-photon 

techniques will be implemented in Orbit 

Determination Toolbox (ODTBX), increasing 

its functionality and providing a valuable 

mission design tool. ODTBX will be further 

refined by enhancements to detector and 

source models, including the addition of 

new pulsars. Time transfer and barycenter 

correction effects will be added. XNAV 

measurement types will include additional 

absolute range measurement types and range 

rate measurements. Functions developed for 

ODTBX will provide support for XNAV and XTIM 

studies including enhanced dynamic functions 

and linearized process models for inclusion of 

clock and other bias states; and performance 

prediction for the single-photon processing 

approaches. The team will work with Naval 

Research Laboratory (NRL), Johns Hopkins 

University/Applied Physics Laboratory (JHU/

APL), and NASA Goddard Space Flight Center 

(GSFC), focusing on sources and detectors 

to develop improved models, and assessing 

timing accuracy. This work will further validate 

the utility of XNAV for NASA, and develop and 

test relevant new technology to provide a rapid

path to full flight software development.

Expected technology readiness level (TRL) 

range at beginning and end of contract 

• 3

• 6

Technical Objectives

• ODTBX Simulation Development—Develop the XNAV simulation in ODTBX, 

continuing work started in Phase I, incorporating new photon processing 

algorithms.

• Photon Processing Algorithm Development—Develop refined XNAV algorithms 

for the estimation of spacecraft position, velocity, and time. Create initial 

detector model, improved source models for most relevant sources, to support 

end-to-end processing from x-ray photon detection to computing range 

measurements to navigation/time estimation.

• Demonstration/Validation—Use actual on-orbit data from previously flown 

x-ray detector missions to validate the photon processing algorithms through 

the simulation.

• Flight Software—Develop a flight experiment software package using the 

photon processing algorithms, validated with the ODTBX simulation.

NASA Applications

XNAV is a game-changing technology for NASA, enabling new missions, providing

navigation autonomy and redundancy, and offering a path to reduce the scheduling

demands on DSN, a valuable NASA asset. There are several promising NASA 

applications for XNAV where the improvements in navigational accuracy will either 

enable new missions or reduce their costs, including missions to the outer planets, 

and nonplanetary missions to deep space. Missions to Mars and the moon can 

take advantage of the autonomous navigation capabilities of XNAV, providing 

redundancy and reducing the need for regular DSN contacts, lessening the burden 

on this over-taxed system.

Non-NASA Applications

The primary non-NASA XNAV applications would be to provide primary or secondary 

navigation services for Department of Defense missions. For medium Earth orbit 

(MEO), geostationary Earth orbit (GEO), Human Exploration and Operations (HEO), 

and even cis-lunar missions, where GPS has limited availability, XNAV can provide 

primary autonomous navigation capability. In addition, XNAV could provide an 

essential backup navigation capability for missions that normally rely on GPS, but 

require continuity of operations in the event of loss or denial of GPS.

X-RAY DETECTION AND PROCESSING MODELS FOR SPACECRAFT 

NAVIGATION AND TIMING

Microcosm, Inc

2009 Phase II

04.02-918

Highly stable pulsars can be viewed as “celestial lighthouses,” providing 

an oscillating signal with long-term stability comparable to current atomic 

clocks. These signals can be exploited to maintain accurate time and position 

in a way similar to existing deep space navigation systems. New algorithms 

will be developed in the ODTBX environment.
—60—

Identification and Significance of Innovation

Advanced Bayesian methods leverage 

current computing technology to produce a 

highly accurate surface navigation system. 

The system combines dense stereo vision 

and high-speed optical flow to implement 

advanced Bayesian Visual Odometry (BVO) that 

can accurately track faster rover movements. 

This will increase exploration productivity. 

BVO improves performance by using all image 

information, not just corner features. This 

improves performance in shadowed areas that 

yield only low-contrast images. High-speed, 

accurate BVO may enable the use of lightweight, 

low-power microelectromechanical system 

(MEMS) inertial measurement units (IMUs).

Expected technology readiness level (TRL) 

range at the end of contract

• Phase 1: 3 to 4

• Phase II: 5 to 6

Technical Objectives

• Develop a brassboard prototype of a self-contained BVO system

• Demonstrate and test the prototype

Work Plan

• Task 1—Develop Better Ground-Truth Data

• Task 2—Improve and Enhance the BVO Algorithm

• Task 3—Transfer the Algorithm to a Real-Time Computer

• Task 4—Develop the Prototype Design

• Task 5—Construct the Prototype Module

• Task 6—Demonstrate and Test the Prototype

NASA Applications

• Speed and accuracy can make future rover missions more productive by 

enabling faster traverses.

• Lightweight and low power can help make it feasible to launch rover teams.

Non-NASA Applications

• Robustness can extend operation to areas where GPS is degraded or 

unavailable.

ADVANCED BAYESIAN METHODS FOR LUNAR SURFACE NAVIGATION

Autonomous Exploration Inc

2009 Phase II

04.03-933
—61—

Identification and Significance of Innovation

A current problem of Space-Based Range 

technology applications is the extensive cost 

and delays in mission launch operations. Due 

to the immense cost, and size of traditional 

INS and inertial measurement units (IMU), the 

development of a miniature low cost, weight, 

and power, highly accurate INS system that 

provides stable and highly accurate positioning 

and attitude measurements in the presence 

of highly dynamical motions is desired. 

Our new method focuses on identifying the 

gravitational vector to bound sensor drift 

errors to achieve a high degree of accuracy. 

By employing a revolutionary highly accurate, 

miniature estimation device that can be fused 

with traditional measurement systems and 

GPS to provide inertial measurements, the 

extensive cost, size, and redundancy issues 

that arise with conventional methods may be 

avoided.

Technical Objectives

The objective of the proposed Phase II program is to develop and test a miniature 

attitude estimation prototype device coupled with acceleration measurements and 

a GPS receiver to provide highly accurate and stable inertial measurements and 

attitude/position estimates on highly dynamic platforms. 

Work Plan

Specifically, this proposed project will perform the following tasks: 

• (Quarters 1–4)—Attitude Estimation Algorithm Update and Improvements

• (Quarters 2–5)—Analysis of Miniaturization of Current Attitude Estimation 

Device

• (Quarters 3–6)—Simulation Testing and Update Including a Rocket Simulation 

and Detailed Sensor Models

• (Quarters 3–6)—Hardware and Prototype Fabrication

• (Quarters 5–8)—Laboratory Testing and Optional Prototype Testing in a 

Relevant Vehicle; Final Report; Tech Transition Activities

NASA and Non-NASA Applications

The successful completion of the proposed work will lead to improvements in the 

safe operations of general aviation aircraft, suborbital carriers and aerial/ground 

robots operated in GPS-denied locations. The proposed technologies with an 

emphasis on real-time attitude and position estimation will be directly applicable 

to low-cost attitude determination on suborbital carriers, inertial measurement 

estimation, reusable launch vehicles, and space-based range applications. It will 

lead to benefits in the form of improved reliability, accuracy, and sustainability of 

safety-critical aerospace systems.

A LIGHTWEIGHT, MINIATURE INERTIAL MEASUREMENT SYSTEM FOR 

POSITION AND ATTITUDE ESTIMATION ON DYNAMIC PLATFORMS

Impact Technologies, LLC

2009 Phase II

04.05-940
—62—

Identification and Significance of Innovation

• Develop new and innovative desensitized 

optimal filters for navigation and sensor 

fusion applications that are robust with 

respect to model uncertainties.

• Create a filtering and sensor fusion tool 

kit that implements the research results 

as well as recent advances in robust 

and/or adaptive filters for non-Gaussian 

problems with uncertain error statistics.

Technical Objectives

• Investigate approaches to reducing the sensitivity of the Kalman filter with 

respect to model parameter uncertainties

• Develop the detailed software design for the desensitized filtering and sensor 

fusion tool kit

• Integrate the tool kit modules with existing applications such the GPSEnhanced Onboard Navigation Software (GEONS)

NASA Applications

• Spacecraft and aircraft ground or onboard facilities to process navigational 

data from multiple sensor sources

• Analysis and testing of flight software and onboard data processing algorithms

Non-NASA Applications

• Marine vessel navigation, commercial airliner navigation, seismic data 

acquisition and analysis, and atmospheric observation data collection and 

processing

DESENSITIZED OPTIMAL FILTERING AND SENSOR FUSION TOOL KIT

Analytical Mechanics Associates, Inc

2009 Phase II

04.04-946
—63—

Identification and Significance of Innovation

The innovation is a MEMS gyroscope that 

uses an interferometric sensing technique to 

create a rate sensor with high sensitivity and 

performance stability comparable to that of 

fiber optic gyroscopes. The significance of the 

innovation is that it will

• Produce a small, low-power, and 

inexpensive MEMS-based rate sensor 

that improves the performance of metric 

tracking hardware when operating in an 

environment with unreliable GPS signals

• Enable tactical-grade navigation in small 

unmanned vehicles

• Enable personal navigation systems in 

consumer electronics

• Enhance petroleum drilling and mining 

operations by improving wellbore 

navigation during directional drilling

Estimated technology readiness level (TRL) 

range at beginning and end of contract 

• 4

• 6 

Technical Objectives

Technical Objectives: The phase I objective was to demonstrate a MEMS gyroscope 

using interferometric sensing to detect proof mass motions. The interferometric 

detector exceeded expectations and multiple gyroscope were successfully tested. 

For phase II, there are three objectives:

• Produce a low-cost, low-power MEMS gyroscope using interferometric 

sensing that meets the needs for NASA applications

• Deliver prototypes to NASA and other potential customers for evaluation

• Demonstrate that the gyroscope prototypes have acceptable performance 

Work Plan

• Redesign MEMS for optimal performance

• Fabricate MEMS

• Electronics design

• System assembly

• Testing of prototypes 1a, 1b, and 1c

• Results evaluation and selection of optimal design

• Redesign MEMS based on test results

• Fabricate MEMS

• Electronics design and packaging

• System assembly

• Testing of prototype 2

NASA Applications

Metric tracking of launch vehicles, on-orbit navigation for spacecraft, and 

stabilization for space telescopes

Non-NASA Applications

Personal navigation systems, automobile navigation systems, precision drilling 

navigation for petroleum and mining, tactical navigation for small unmanned air 

vehicles (UAVs), and advanced interfaces for consumer products (cell phones and 

video games)

MICROELECTROMECHANICAL SYSTEMS (MEMS) GYROSCOPE WITH 

INTERFEROMETRIC DETECTION

Fine Structure Technology, LLC

2010 Phase II

O4.01-903
—64—

Identification and Significance of Innovation

It is expected that over the next two 

decades approximately 95 percent of all 

space missions will use GPS service for 

PNT (positioning, navigation and timing) 

capability. GPS receivers will be “embedded” 

in most instruments and will require improved 

size, weight, and power (SWaP), increased 

sensitivity and improved tolerance from large 

interferers and/or ruggedness to multipath 

errors. Current implementations are discrete, 

bulky, and power hungry.

The radiofrequency integrated circuit (RFIC) 

proposed here will have four coherent GPS 

receivers integrated onto a single silicon 

die providing the function of a multichannel 

GPS RFIC. The IC will be radiation tolerant 

using radiation hardened by design 

(RHBD) techniques developed at Tahoe RF 

Semiconductor (TRFS). The IC will provide 

the following enhanced performances:

(1) improved sensitivity, (2) beam steering,

(3) interference tolerance, and (4) signal 

recovery in multipath environment.

Estimated technology readiness level (TRL) 

range at beginning and end of contract

• 3

• 4

Technical Objectives

• Update RF system design for SiGe IBM 8HP process

• Design and fabricate four channel GPS receiver IC

• Achieve radiation tolerance using RHBD techniques

• Improve SWaP metric of the GPS receiver by >30 times

• Design and fabricate bench-level evaluation board

• Demonstrate the GPS RFIC performance in lab

Work Plan

• Update GPS RFIC system design

• Complete system design and analysis with improved performance

• Complete the design of GPS RFIC—Design and implement GPS RFIC including 

circuit design, simulations, and layout. Hold PDR, CDR, and FDR with NASA

• IC Fabrication and Board Design and Fabrication—Submit IC for fabrication at 

IBM. Design and fabricate evaluation board

• Bench Evaluation—Test and verify GPS RFIC on the lab bench; submit 

reporting

NASA Applications

Tahoe RF Semiconductor GPS RFIC solution will provide NASA with a compact, 

beam steerable low-power solution that can be deployed in all spacecrafts including 

small satellites. A partial list of potential NASA applications to benefit from GPS IC:

• International Space Station

• Magnetospheric Multiscale Mission

• COSMIC II Missions

• Jason III Mission

• Tracking and Data Relay Satellite System (TDRSS) Augmentation Service for 

Satellites (TASS)

Non-NASA Applications

TRFS GPS IC will show improved dynamic range, beam steering, interference 

tolerance to multiple paths and reduced power consumption. Target markets are

• PNDs (Personal Navigation Devices)

• Precision GPSs for surveying and agriculture

• In-vehicle navigation systems

• Telematics (asset tracking, and inventory management)

MINIATURIZED RADIATION HARDENED BEAM-STEERABLE GPS RECEIVER 

FRONT END

Tahoe RF Semiconductor, Inc

2010 Phase II

O4.02-904
—65—

Identification and Significance of Innovation

This proposed effort heavily leverages multiple 

technologies that have been developed 

throughout NASA over the past 25 years to 

result in a low size, weight, and power (SWaP) 

autonomous precision navigation sensor for 

near-Earth operations. This same technology 

can also potentially be used for missions in 

various other orbital regimes. What is proposed 

here, and has been studied under Phase I, is 

a project known as the TASS-Enhanced Near 

Earth Navigation System (TENENS). It consists 

of a unique software GPS sensor which can 

exist in a very small footprint, and which 

makes use of NASA’s GPS-Enhanced Onboard 

Navigation Software (GEONS) navigation 

software to process GPS measurements with 

TASS messages for greatly improved accuracy. 

TASS messages are already accepted by 

GEONS, but this effort will decode these for 

use with the navigation processor

Estimated technology readiness level (TRL) 

range at beginning and end of contract 

• 5

• 7 

Technical Objectives

• Develop TASS/GPS waveform

• Port to commercial-off-the-shelf software-defined radio with direct path to 

space qualification

• Develop radiofrquency (RF) front end capable of handling both GPS and 

TDRSS signals

• Create and test a benchtop prototype to demonstrate the entire system

NASA Applications

Tracking and control of launch vehicles for placing payloads into orbital or suborbital 

trajectories. Precision inertial feedback during orbital maneuvers or stationkeeping 

operations on manned or unmanned spacecraft. Actively stabilize instrument 

platforms during sensitive astronomical observations or scientific measurements.

Non-NASA Applications

TENENS meets Department of Defense needs for positioning in orbits where 

conventional GPS is difficult or where GPS is denied. The system is low-SWaP, has 

a small footprint, and can be implemented in a software-defined radio platform. 

This makes it useful for applications in operationally responsive space. Commercial 

applications include missions in which highly accurate positioning is needed.

TRACKING AND DATA RELAY SATELLITE SYSTEM (TDRSS) AUGMENTATION 

SERVICE FOR SATELLITES (TASS)-ENHANCED NEAR-EARTH NAVIGATION 

SYSTEM

Emergent Space Technologies, Inc

2011 Phase II

O4.02-876
—66—

Identification and Significance of Innovation

Integration of Advanced Path Planning (APP) 

and Advanced Estimation (AE) capabilities into 

NASA’s GMAT.

The APP plug-in will facilitate enhanced 

mission design capabilities that leverage 

concepts from dynamical systems theory, 

multiphase targeting algorithms, and data 

visualization and manipulation tools. This 

will offer a diverse toolbox of capabilities to 

study problems in multibody dynamics. The 

capabilities will support libration point mission 

design, but the modularity of the plug-in will 

allow for support of other classes of missions.

The AE plug-in will incorporate a powerful 

probabilistic inference engine and a 

multisensor data fusion framework. These 

include, but are not limited to, analysis of 

multimodal joint probability densities via 

Gaussian Mixture Models, sigma-point 

techniques such as Unscented Kalman Filters, 

and fusion of multiple measurements from 

noncollocated sensors.

Estimated technology readiness level (TRL) 

range at beginning and end of contract 

• 4

• 8

Technical Objectives

Advanced path planning and estimation capabilities in complex nonlinear dynamical 

regimes represent two of the greatest technical challenges of modern spaceflight. 

The proposed Phase 2 work will focus on the refinement and augmentation of 

capabilities within the Phase 1 prototypes

APP plug-in development will generalize the targeting framework to accommodate 

a broader class of problems. It will also focus on the development and integration 

of a Dynamical Systems Analysis Toolbox and a visualization component to enable 

visual data manipulation. The combined capabilities will enable a dynamical 

systems approach for trajectory design in multibody regimes.

The AE plug-in development will be refined and augmented to exploit all the relevant 

functionality of Guide, a probabilistic inference engine, and adapt, a multisensor 

data fusion framework. Both products were developed at Decisive Analytics under 

contract with various agencies within the Department of Defense.

NASA Applications

The APP plug-in will offer GMAT end users enhanced mission design capabilities in 

complex multibody regimes, such as the region near libration points or near small 

celestial bodies. The AE plug-in will offer GMAT end users estimation techniques 

that adequately characterize the effects of nonlinearities in the estimation process 

so they may effectively analyze, for instance, problems involving multimodal 

probability densities.

Non-NASA Applications

The APP plug-in includes a generalized multiphase targeting framework that is 

relevant to autonomous vehicle guidance in general. Furthermore, the AE plug-in 

is built around Guide and Adapt, tools built at Decisive Analytics under contract 

with the Missile Defense Agency and the U.S. Air Force. Any new developments 

integrated into the AE plug-in will ultimately also benefit our existing customers.

ENHANCED PATH PLANNING, GUIDANCE, AND ESTIMATION ALGORITHMS 

FOR NASA’S GENERAL MISSION ANALYSIS TOOL (GMAT)

Decisive Analytics Corporation

2011 Phase II

O4.03-950
—67—

Identification and Significance of Innovation

Develop a framework for the design and 

implementation of fault detection and 

isolation (FDI) systems. The framework will 

define protocols for how FDI design should 

communicate with mission design and clearly 

define the types of information required to add 

capabilities to the mission.

The significance of this innovation is to 

expedite the integration of FDI technology into 

existing and planned missions with minimal 

additional burden to the mission designers.

Estimated technology readiness level (TRL) 

range at beginning and end of contract 

• 4

• 6 

Technical Objectives

• Identify and quantify requirements of collocated and noncollocated FDI system.

• Develop concept of operation and design for collocated and noncollocated FDI 

algorithms

• Identify and quantify benefits of collocated and noncollocated FDI system

• Develop tutorial and tutorial material for mission designers 

Work Plan

• Design collocated/noncollocated FDI system for sample mission.

• Test and validate sample mission FDI systems.

• Implement collocated FDI system in sample hardware environment.

• Implement noncollocated FDI system and GUI.

• Codify FDI tutorial materials and communication protocols.

NASA Applications

SySense, Inc.’s FDI methodology complements traditional system failure detection 

schemes and can provide additional safety and performance margins to any 

satellite or spacecraft mission. A clearly defined design framework will ease the 

burden of integration into existing and planned missions or systems.

Non-NASA Applications

SySense, Inc.’s FDI methodology complements traditional system failure detection 

schemes to provide additional safety and performance margins to any system that 

can be modeled, for example, power grids, and chemical refineries. A clearly defined 

design framework will serve as a marketing tool for the benefits and capabilities 

and to also ease the burden of integration into exiting or planned systems.

FRAMEWORK FOR THE DESIGN AND IMPLEMENTATION OF FAULT 

DETECTION AND ISOLATION

SySense, Inc

2012 Phase II

H9.04-944
—68—
—69—

Analytical Mechanics Associates, Inc.; Hampton, VA  .  .  .  

ASTER Labs, Inc.; Shoreview, MN .  .  

Autonomous Exploration Inc.; Andover, MA .  .  

Broadata Communications, Inc.; Torrance, CA . 

CrossTrac Engineering, Inc.; Mountain View, CA  .

CU Aerospace, LLC; Champaign, IL  .

Decisive Analytics Corporation; Arlington, VA .  .  .  .

Emergent Space Technologies, Inc.; Greenbelt, MD .  .  .  .  .  . 

Fine Structure Technology LLC; Austin, TX .  .  

Impact Technologies, LLC; Rochester, NY .  .  

IST-Rolla, Rolla, MO .  .  

Keystone Aerospace; Austin, TX . 

MagiQ Technologies, Inc.; Somerville, MA. . 

MARK Resources, Inc.; Torrance, CA .  .  

Micro-Space, Denver, CO   

Microcosm, Inc.; El Segundo, CA . . . . . . . . . . . . . . . . . . . . . . . . . . . 5, 50

Microcosm, Inc.; Hawthorne, CA .  .  .  .  .  . 

Milli Sensor Systems & Actuators, Inc. ; West Newton, MA  

Nanohmics, Inc.; Austin, TX . 

Numerica Corp.; Loveland, CO .  .  

Odyssey Space Research, LLC; Houston, TX . 

Optical Physics Company; Calabasas, CA  .

Payload Systems Inc.; Cambridge, MA .

Perichoro LLC; Venice, FL . 

Physical Optics Corporation; Torrance, CA .  .  

Princeton Satellite Systems; Princeton, NJ .  .  .  

Progeny Systems; Manassas, VA .  .  

SySense Inc.; El Segundo, CA .  .  .  .

Tahoe RF Semiconductor, Inc.; Auburn, CA  .  . 

Thinking Systems, Inc.; Tucson, AZ . 

Toyon Research Corporation; Goleta, CA .  .  .  

Utopia Compression; Los Angeles, CA . 

COMPANY NAMES
James D. Stegema

Technology Manager

Space Communications and Navigation Program

NASA Glenn Research Center

M/S 142–2

Cleveland, Ohio 44135

Telephone: 216–433–3389

E-mail: James.D.Stegeman@nasa.

Afroz J. Zama

NASA Glenn Research Center

M/S 54–1

Cleveland, Ohio 44135

Telephone: 216–433–3415

E-mail: Afroz.J.Zaman@nasa.g

SBIR

POINTS OF CONTACT

—70—

PS–01509–0315
Cover photo: Space Communications and Navigation 

(SCaN) Program testbed under Glenn Research 

Center thermal vacuum testing.