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  • Spacecraft Design, Testing and Performance  (7)
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  • 1
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    Advances in POST2 End-to-End Descent and Landing Simulation for the ALHAT Project (2008)
    In:  CASI
    Details
    Publication Date: 2019-07-13
    Description: Program to Optimize Simulated Trajectories II (POST2) is used as a basis for an end-to-end descent and landing trajectory simulation that is essential in determining design and integration capability and system performance of the lunar descent and landing system and environment models for the Autonomous Landing and Hazard Avoidance Technology (ALHAT) project. The POST2 simulation provides a six degree-of-freedom capability necessary to test, design and operate a descent and landing system for successful lunar landing. This paper presents advances in the development and model-implementation of the POST2 simulation, as well as preliminary system performance analysis, used for the testing and evaluation of ALHAT project system models.
    Keywords: Spacecraft Design, Testing and Performance
    Type: AIAA/AAS Astrodynamics Specialist Conference; Aug 18, 2008 - Aug 21, 2008; Honolulu, HI; United States
    Format: application/pdf
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    NASA TECHNICAL REPORTS
  • 2
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    Rocket sled testing of a prototype terrain-relative navigation system (2001)
    In:  Other Sources
    Details
    Publication Date: 2019-07-13
    Description: The next generation of Martian landers (2007 and beyond) will employ a precision soft-landing capability that will make it possible to explore previously inaccessible regions on the surface of Mars. This capability will be enabled by onboard systems that automatically identify and avoid terrain containing steep slopes or rocks exceeding a particular terrain height. JPL is currently developing such a hazard detection and avoidance system; this system will map the landing zone with a scanning laser radar, identify hazards, select a safe landing zone, and then guide the vehicle to the selected landing area. This paper describes how one component of this system-hazard detection-is being tested using a rocket sled and simulated Martian terrain.
    Keywords: Spacecraft Design, Testing and Performance
    Type: 24th Annual AAS Guidance and Control Conference; Jan 31, 2001 - Feb 04, 2001; Breckenridge, CO; United States
    Format: text
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    NASA TECHNICAL REPORTS
  • 3
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    Flight Testing a Real-Time Hazard Detection System for Safe Lunar Landing on the Rocket-Powered Morpheus Vehicle (2015)
    In:  Other Sources
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    Publication Date: 2019-07-13
    Description: The Hazard Detection System (HDS) is a component of the ALHAT (Autonomous Landing and Hazard Avoidance Technology) sensor suite, which together provide a lander Guidance, Navigation and Control (GN&C) system with the relevant measurements necessary to enable safe precision landing under any lighting conditions. The HDS consists of a stand-alone compute element (CE), an Inertial Measurement Unit (IMU), and a gimbaled flash LIDAR sensor that are used, in real-time, to generate a Digital Elevation Map (DEM) of the landing terrain, detect candidate safe landing sites for the vehicle through Hazard Detection (HD), and generate hazard-relative navigation (HRN) measurements used for safe precision landing. Following an extensive ground and helicopter test campaign, ALHAT was integrated onto the Morpheus rocket-powered terrestrial test vehicle in March 2014. Morpheus and ALHAT then performed five successful free flights at the simulated lunar hazard field constructed at the Shuttle Landing Facility (SLF) at Kennedy Space Center, for the first time testing the full system on a lunar-like approach geometry in a relevant dynamic environment. During these flights, the HDS successfully generated DEMs, correctly identified safe landing sites and provided HRN measurements to the vehicle, marking the first autonomous landing of a NASA rocket-powered vehicle in hazardous terrain. This paper provides a brief overview of the HDS architecture and describes its in-flight performance.
    Keywords: Spacecraft Design, Testing and Performance
    Type: AIAA Scitech 2015; Jan 05, 2015 - Jan 09, 2015; Kissimee, FL; United States
    Format: text
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    NASA TECHNICAL REPORTS
  • 4
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    Terrain Hazard Detection and Avoidance During the Descent and Landing Phase of the Altair Mission (2010)
    In:  CASI
    Details
    Publication Date: 2019-07-13
    Description: This paper describes some of the environmental challenges associated with landing a crewed or robotic vehicle at any certified location on the lunar surface (i.e. not a mountain peak, permanently dark crater floor or overly steep terrain), with a specific focus on how hazard detection technology may be incorporated to mitigate these challenges. For this discussion, the vehicle of interest is the Altair Lunar Lander, being the vehicle element of the NASA Constellation Program aimed at returning humans to the moon. Lunar environmental challenges for such global lunar access primarily involve terrain and lighting. These would include sizable rocks and slopes, which are more concentrated in highland areas; small craters, which are essentially everywhere independent of terrain type; and for polar regions, low-angle sunlight, which leaves significant terrain in shadow. To address these issues, as well as to provide for precision landing, the Autonomous Landing and Hazard Avoidance Technology (ALHAT) Project was charted by NASA Headquarters, and has since been making significant progress. The ALHAT team considered several sensors for real-time hazard detection, settling on the use of a Flash Lidar mounted to a high-speed gimbal, with computationally intense image processing and elevation interpretation software. The Altair Project has been working with the ALHAT team to understand the capabilities and limitations of their concept, and has incorporated much of the ALHAT hazard detection system into the Altair baseline design. This integration, along with open issues relating to computational performance, the need for system redundancy, and potential pilot interaction, will be explored further in this paper.
    Keywords: Spacecraft Design, Testing and Performance
    Type: JSC-CN-21121 , AIAA Guidance Navigation & Control Conference; Aug 02, 2010 - Aug 05, 2010; Toronto, Ontario; Canada
    Format: application/pdf
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    NASA TECHNICAL REPORTS
  • 5
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    The Intelligent Landing System for Safe and Precise Landing on Europa (2017)
    In:  Other Sources
    Details
    Publication Date: 2019-12-20
    Description: Europa, the smallest of Jupiters Galilean moons, is thought to harbor a vast liquid water ocean beneath its icy crust, making it one of the most scientifically intriguing targets for a robotic surface sampling mission in our Solar System. However, autonomously landing a spacecraft safely and precisely on Europa poses unique challenges, such as very little existing high-resolution reconnaissance imagery, a surface expected to be very rough and hazardous over a wide range of scales, an extremely intense ionizing radiation environment, and very limited lander resources for mass and volume. To address these challenges, we propose a novel Intelligent Landing System (ILS) combining four Guidance, Navigation & Control (GN&C) sensing functions velocimetry, altimetry, map-relative localization, and hazard detection that would together enable safe and precise landing on Europas surface. The ILS is a smart sensor system, combining an inertial measurement unit (IMU), a monocular, passive-optical camera, and a light detection and ranging (Li-DAR) sensor with dedicated computing resources as well as an onboard 3D terrain map. The ILS leverages more than a decade of technology development from programs such as the Lander Vision System, currently baselined on the Mars 2020 mission. This paper provides a detailed description of the proposed ILS architecture and concept of operations, as well as select preliminary simulation results to assess performance and robustness.
    Keywords: Spacecraft Design, Testing and Performance
    Type: JPL-CL-CL#17-0517 , Annual Guidance and Control Conference; Feb 02, 2017 - Feb 08, 2017; Breckenridge, CO; United States
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    NASA TECHNICAL REPORTS
  • 6
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    GN and C Subsystem Concept for Safe Precision Landing of the Proposed Lunar MARE Robotic Science Mission (2016)
    In:  CASI
    Details
    Publication Date: 2019-12-06
    Description: The Lunar MARE (Moon Age and Regolith Explorer) Discovery Mission concept targets delivery of a science payload to the lunar surface for sample collection and dating. The mission science is within a 100-meter radius region of smooth lunar maria terrain near Aristarchus crater. The location has several small, sharp craters and rocks that present landing hazards to the spacecraft. For successful delivery of the science payload to the surface, the vehicle Guidance, Navigation and Control (GN&C) subsystem requires safe and precise landing capability, so design infuses the NASA Autonomous precision Landing and Hazard Avoidance Technology (ALHAT) and a gimbaled, throttleable LOX/LCH4 main engine. The ALHAT system implemented for Lunar MARE is a specialization of prototype technologies in work within NASA for the past two decades, including a passive optical Terrain Relative Navigation (TRN) sensor, a Navigation Doppler Lidar (NDL) velocity and range sensor, and a Lidar-based Hazard Detection (HD) sensor. The landing descent profile is from a retrograde orbit over lighted terrain with landing near lunar dawn. The GN&C subsystem with ALHAT capabilities will deliver the science payload to the lunar surface within a 20-meter landing ellipse of the target location and at a site having greater than 99% safety probability, which minimizes risk to safe landing and delivery of the MARE science payload to the intended terrain region.
    Keywords: Spacecraft Design, Testing and Performance
    Type: JSC-CN-34826 , AIAA 2016-0100 , AIAA Guidance, Navigation, and Control Conference; Jan 04, 2016 - Jan 08, 2016; San Diego, CA; United States
    Format: application/pdf
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    NASA TECHNICAL REPORTS
  • 7
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    Autonomous Navigation Results from the Mars Exploration Rover (MER) Mission (2004)
    In:  Other Sources
    Details
    Publication Date: 2019-07-13
    Description: In January, 2004, the Mars Exploration Rover (MER) mission landed two rovers, Spirit and Opportunity, on the surface of Mars. Several autonomous navigation capabilities were employed in space for the first time in this mission. ]n the Entry, Descent, and Landing (EDL) phase, both landers used a vision system called the, Descent Image Motion Estimation System (DIMES) to estimate horizontal velocity during the last 2000 meters (m) of descent, by tracking features on the ground with a downlooking camera, in order to control retro-rocket firing to reduce horizontal velocity before impact. During surface operations, the rovers navigate autonomously using stereo vision for local terrain mapping and a local, reactive planning algorithm called Grid-based Estimation of Surface Traversability Applied to Local Terrain (GESTALT) for obstacle avoidance. ]n areas of high slip, stereo vision-based visual odometry has been used to estimate rover motion, As of mid-June, Spirit had traversed 3405 m, of which 1253 m were done autonomously; Opportunity had traversed 1264 m, of which 224 m were autonomous. These results have contributed substantially to the success of the mission and paved the way for increased levels of autonomy in future missions.
    Keywords: Spacecraft Design, Testing and Performance
    Type: 9th International Symposium on Experimental Robotics; Jun 18, 2004; Singapore
    Format: text
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    NASA TECHNICAL REPORTS
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