Test F3G - Navigation Error

Goal: Identify a limit to how large the navigation error can be and still get a good solution. Also, see if small errors converge to the same state (i.e. that within certain boundaries, error is fully removed)

Test Set Up

Data: Approach, Preliminary Survey, and Detailed Survey PolyCam and MapCam Images:

• All NOMINALS and SUMFILES are perturbed as per F1A - Baseline.
• Perturbation of Approach and Preliminary Survey images are as per F1A - Baseline.

• Perturbation of Detailed Survey MapCam images are as per F1A - Baseline.

• Perturbation of Detailed Survey PolyCam images are unique to each sub-test.

  • Sub-test F3G1: 3-sigma perturbation of SCOBJ and CZ.

  • Sub-test F3G2: 2-sigma perturbation of SCOBJ and CZ.

  • Sub-test F3G3: 1-sigma perturbation of SCOBJ and CZ.

  • Sub-test F3G4: 1.5-sigma perturbation of SCOBJ and CZ.

  • Sub-test F3G5: 0.75-sigma perturbation of SCOBJ and CZ.

  • Sub-test F3G6: 0.5-sigma perturbation of SCOBJ and CZ.

  • Sub-test F3G7: 0.25-sigma perturbation of SCOBJ and CZ.

• Detailed Survey Images:

  • Equatorial Stations MapCam images at approx. 30cm and 20cm pixel resolution.

  • Baseball Diamond Nadir (10am and 2pm stations) PolyCam images at approx. 5cm pixel resolution.

  • Baseball Diamond Off-Nadir (10am station looking at approx. 11am, and 2pm station looking at approx. 1pm) PolyCam images at approx. 5cm pixel resolution.

Start: 35cm Preliminary Shape Model and 150cm, 75cm, and 35cm global maplets

Build:

• Extended TAG Site 1 (50x50m) at 20cm, centered at -8.027, 262.768 (lat, wlong).
• Extended TAG Site 1 (50x50m) at 10cm, centered at -8.027, 262.768 (lat, wlong).
• Extended TAG Site 1 (50x50m) at 5cm, centered at -8.027, 262.768 (lat, wlong).
• Evaluate 20mx20m region centered on TAG Site 1, images TBD which are fully contained in the TAG site and fully cover a single 5cm maplet near the center of the TAG site.

Sub-Test F3G-1 to F3G- 7

• Run with 3x, 2x, 1.5x, 1x, 0.75x, 0.5x, 0.25x the baseline perturbation.

• Only Detailed Survey PolyCam perturbations altered.

Test Procedures

Full test procedure details contained here: Test F3G-Navigation Error - Test Procedure.
Full processing states details contained here: Processing States.

Summary:

Start Model
Ingest Images:

• Ingest and register Detailed Survey MapCam images which cover a 100m x 100m region centered on TAG site 1.

• Autoregister MapCam images to the 150cm, 75cm, and 35cm maplets in a 100m x 100m region centered on TAG site 1.

• Iterate maplets contained in a 100m x 100m region centered on TAG site 1.
• Clean until tiled and correlated states achieved.

20cm Tiling:

• Create a large BIGMAP at a resolution of 20cm with a width of 50m.
• Iterate maplets contained in a 100m x 100m region centered on TAG site 1.
• Clean until tiled and correlated states achieved.

10cm Tiling:

• Create a large BIGMAP at a resolution of 10cm with a width of 50m.
• Iterate maplets contained in a 100m x 100m region centered on TAG site 1.
• Clean until tiled and correlated states achieved.
• Run GEOMETRY, option 2 to update the position of the spacecraft.
• Iterate maplets contained in a 100m x 100m region centered on TAG site 1.
• Clean until tiled and correlated states achieved.

Sub-Test
Ingest Images:

• Ingest and register the Detailed Survey PolyCam images which cover a 100m x 100m region centered on TAG site 1.

5cm Tiling:

• Create a large BIGMAP at a resolution of 5cm with a width of 50m.
• Iterate maplets contained in a 100m x 100m region centered on TAG site 1.
• Clean until tiled and correlated states achieved.
• Achieve imaged state.
• Achieve fitted state.
• Run GEOMETRY, option 2 to update the position of the spacecraft.

Clean:

• Achieve residualed state.
• Achieve re-tiled state.
• Achieve sigma'ed state.

Evaluate:

• Change in Spacecraft Position/Pointing - evaluate the observed-actual spacecraft position and pointing;
• Evaluate the accuracy of a 20mx20m region centered on TAG Site 1.

TestF3G - Results