APOLLO: the Apache Point Observatory Lunar Laser-ranging Operation: Instrument Description and First Detections

A next-generation lunar laser ranging apparatus using the 3.5 m telescope at the Apache Point Observatory in southern New Mexico has begun science operation. APOLLO (the Apache Point Observatory Lunar Laser-ranging Operation) has achieved one-millimeter range precision to the moon which should lead to approximately one-order-of-magnitude improvements in the precision of several tests of fundamental properties of gravity. We briefly motivate the scientific goals, and then give a detailed discussion of the APOLLO instrumentation.Comment: 37 pages; 10 figures; 1 table: accepted for publication in PAS

Advancing Tests of Relativistic Gravity via Laser Ranging to Phobos

Phobos Laser Ranging (PLR) is a concept for a space mission designed to advance tests of relativistic gravity in the solar system. PLR's primary objective is to measure the curvature of space around the Sun, represented by the Eddington parameter $\gamma$, with an accuracy of two parts in $10^7$, thereby improving today's best result by two orders of magnitude. Other mission goals include measurements of the time-rate-of-change of the gravitational constant, $G$ and of the gravitational inverse square law at 1.5 AU distances--with up to two orders-of-magnitude improvement for each. The science parameters will be estimated using laser ranging measurements of the distance between an Earth station and an active laser transponder on Phobos capable of reaching mm-level range resolution. A transponder on Phobos sending 0.25 mJ, 10 ps pulses at 1 kHz, and receiving asynchronous 1 kHz pulses from earth via a 12 cm aperture will permit links that even at maximum range will exceed a photon per second. A total measurement precision of 50 ps demands a few hundred photons to average to 1 mm (3.3 ps) range precision. Existing satellite laser ranging (SLR) facilities--with appropriate augmentation--may be able to participate in PLR. Since Phobos' orbital period is about 8 hours, each observatory is guaranteed visibility of the Phobos instrument every Earth day. Given the current technology readiness level, PLR could be started in 2011 for launch in 2016 for 3 years of science operations. We discuss the PLR's science objectives, instrument, and mission design. We also present the details of science simulations performed to support the mission's primary objectives.Comment: 25 pages, 10 figures, 9 table

Acoustical Ranging Techniques in Embedded Wireless Sensor Networked Devices

Location sensing provides endless opportunities for a wide range of applications in GPS-obstructed environments; where, typically, there is a need for higher degree of accuracy. In this article, we focus on robust range estimation, an important prerequisite for fine-grained localization. Motivated by the promise of acoustic in delivering high ranging accuracy, we present the design, implementation and evaluation of acoustic (both ultrasound and audible) ranging systems.We distill the limitations of acoustic ranging; and present efficient signal designs and detection algorithms to overcome the challenges of coverage, range, accuracy/resolution, tolerance to Doppler’s effect, and audible intensity. We evaluate our proposed techniques experimentally on TWEET, a low-power platform purpose-built for acoustic ranging applications. Our experiments demonstrate an operational range of 20 m (outdoor) and an average accuracy 2 cm in the ultrasound domain. Finally, we present the design of an audible-range acoustic tracking service that encompasses the benefits of a near-inaudible acoustic broadband chirp and approximately two times increase in Doppler tolerance to achieve better performance

Acoustic positioning and tracking in Portsmouth Harbour, New Hampshire

Portsmouth Harbor, New Hampshire, is frequently used as a testing area for multibeam and sidescan sonars, and is the location of numerous ground-truthing studies. Having the ability to accurately position underwater sensors is an important aspect of this type of work. However, underwater positioning in Portsmouth Harbor is challenging. It is relatively shallow, approximately one kilometer wide with depths of less than 25 meters. There is mixing between fresh river water and seawater, which is intensified by high currents and strong tides. This causes a very complicated spatial and temporal sound speed structure. Solutions that use the time-of-arrival of an acoustic pulse to estimate range will require very precise knowledge of the travel paths of the signal in order to separate out issues of multipath arrivals. An alternative solution is to use the phase measurements between closely spaced hydrophones to measure the bearing of an acoustic pinger. By using two bearing measurement devices that are widely separated, the intersection of the two bearings can be used to position the pinger. The advantage of this approach is that the sound speed only needs to be known at the location of the phase measurements. Both time-of-arrival and phase difference systems may encounter difficulties arising from horizontal refraction due to spatially varying sound speed. To ascertain which solution would be optimal in Portsmouth Harbor, the time-of-arrival and phase measurement approaches are being examined individually. Initial field tests have been conducted using a 40 kHz signal to look at bearing accuracy. Using hydrophones that are spaced 2/3 wavelengths apart, the bearing accuracy was found to be 1.25deg for angles up to 20deg from broadside with signal to noise ratios (SNR) greater than 15 dB. The results from the closely spaced hydrophones were used to resolve phase ambiguities, allowing finer bearing measurements to be made between hydrophones spaced 5 wavelengths apart. The fi- ne bearing measurements resulted in a bearing accuracy of 0.3deg for angles up to 20deg from broadside with SNR greater than 15 dB. Field tests planned for summer 2007 will include a more detailed investigation of how the environmental influences affect each of the measurement types including range, signal to noise ratio, currents, and sound speed structure

High precision hybrid RF and ultrasonic chirp-based ranging for low-power IoT nodes

Hybrid acoustic-RF systems offer excellent ranging accuracy, yet they typically come at a power consumption that is too high to meet the energy constraints of mobile IoT nodes. We combine pulse compression and synchronized wake-ups to achieve a ranging solution that limits the active time of the nodes to 1 ms. Hence, an ultra low-power consumption of 9.015 µW for a single measurement is achieved. The operation time is estimated on 8.5 years on a CR2032 coin cell battery at a 1 Hz update rate, which is over 250 times larger than state-of-the-art RF-based positioning systems. Measurements based on a proof-of-concept hardware platform show median distance error values below 10 cm. Both simulations and measurements demonstrate that the accuracy is reduced at low signal-to-noise ratios and when reflections occur. We introduce three methods that enhance the distance measurements at a low extra processing power cost. Hence, we validate in realistic environments that the centimeter accuracy can be obtained within the energy budget of mobile devices and IoT nodes. The proposed hybrid signal ranging system can be extended to perform accurate, low-power indoor positioning

A Low Cost Remote Sensing System Using PC and Stereo Equipment

A system using a personal computer, speaker, and a microphone is used to detect objects, and make crude measurements using a carrier modulated by a pseudorandom noise (PN) code. This system can be constructed using a personal computer and audio equipment commonly found in the laboratory or at home, or more sophisticated equipment that can be purchased at reasonable cost. We demonstrate its value as an instructional tool for teaching concepts of remote sensing and digital signal processing.Comment: Accepted for publication in American Journal of Physic