Surface Modeling to Support Small-Body Spacecraft Exploration and Proximity Operations

In order to simulate physically plausible surfaces that represent geologically evolved surfaces, demonstrating demanding surface-relative guidance navigation and control (GN&C) actions, such surfaces must be made to mimic the geological processes themselves. A report describes how, using software and algorithms to model body surfaces as a series of digital terrain maps, a series of processes was put in place that evolve the surface from some assumed nominal starting condition. The physical processes modeled in this algorithmic technique include fractal regolith substrate texturing, fractally textured rocks (of empirically derived size and distribution power laws), cratering, and regolith migration under potential energy gradient. Starting with a global model that may be determined observationally or created ad hoc, the surface evolution is begun. First, material of some assumed strength is layered on the global model in a fractally random pattern. Then, rocks are distributed according to power laws measured on the Moon. Cratering then takes place in a temporal fashion, including modeling of ejecta blankets and taking into account the gravity of the object (which determines how much of the ejecta blanket falls back to the surface), and causing the observed phenomena of older craters being progressively buried by the ejecta of earlier impacts. Finally, regolith migration occurs which stratifies finer materials from coarser, as the fine material progressively migrates to regions of lower potential energy

Autonomous GN and C for Spacecraft Exploration of Comets and Asteroids

A spacecraft guidance, navigation, and control (GN&C) system is needed to enable a spacecraft to descend to a surface, take a sample using a touch-and-go (TAG) sampling approach, and then safely ascend. At the time of this reporting, a flyable GN&C system that can accomplish these goals is beyond state of the art. This article describes AutoGNC, which is a GN&C system capable of addressing these goals, which has recently been developed and demonstrated to a maturity TRL-5-plus. The AutoGNC solution matures and integrates two previously existing JPL capabilities into a single unified GN&C system. The two capabilities are AutoNAV and GREX. AutoNAV is JPL s current flight navigation system, and is fairly mature with respect to flybys and rendezvous with small bodies, but is lacking capability for close surface proximity operations, sampling, and contact. G-REX is a suite of low-TRL algorithms and capabilities that enables spacecraft operations in close surface proximity and for performing sampling/contact. The development and integration of AutoNAV and G-REX components into AutoGNC provides a single, unified GN&C capability for addressing the autonomy, close-proximity, and sampling/contact aspects of small-body sample return missions. AutoGNC is an integrated capability comprising elements that were developed separately. The main algorithms and component capabilities that have been matured and integrated are autonomy for near-surface operations, terrain-relative navigation (TRN), real-time image-based feedback guidance and control, and six degrees of freedom (6DOF) control of the TAG sampling event. Autonomy is achieved based on an AutoGNC Executive written in Virtual Machine Language (VML) incorporating high-level control, data management, and fault protection. In descending to the surface, the AutoGNC system uses camera images to determine its position and velocity relative to the terrain. This capability for TRN leverages native capabilities of the original AutoNAV system, but required advancements that integrate the separate capabilities for shape modeling, state estimation, image rendering, defining a database of onboard maps, and performing real-time landmark recognition against the stored maps. The ability to use images to guide the spacecraft requires the capability for image-based feedback control. In Auto- GNC, navigation estimates are fed into an onboard guidance and control system that keeps the spacecraft guided along a desired path, as it descends towards its targeted landing or sampling site. Once near the site, AutoGNC achieves a prescribed guidance condition for TAG sampling (position/orientation, velocity), and a prescribed force profile on the sampling end-effector. A dedicated 6DOF TAG control then implements the ascent burn while recovering from sampling disturbances and induced attitude rates. The control also minimizes structural interactions with flexible solar panels and disallows any part of the spacecraft from making contact with the ground (other than the intended end-effector)

Ephemeris and hazard assessment for near-Earth asteroid (101955) Bennu based on OSIRIS-REx data

Small bodies such as the near-Earth asteroid Bennu drift in their orbit due to thermal radiation forces (the Yarkovsky effect). Ground-based observations have indicated a nonzero probability of Bennu impacting Earth, depending on how its orbit evolves. Thus, among the goals of the OSIRIS-REx (Origins, Spectral Interpretation, Resource Identification, and Security-Regolith Explorer) mission to Bennu were to precisely measure the Yarkovsky effect and refine the impact hazard assessment for this body. Here we address these objectives. Using OSIRIS-REx spacecraft tracking data, we derive meter-level constraints on the distance between Earth and Bennu from January 2019 to October 2020. While these data greatly improve the knowledge of the trajectory of Bennu, they also require an unprecedented fidelity for the modeling of an asteroid’s trajectory. In particular, special care is needed to take into account the contribution of 343 small-body perturbers and the uncertainty in their masses. Radiation effects such as the Poynting–Robertson drag, so far only considered for interplanetary dust dynamics, now become a consideration for modeling the trajectory of a 500-m asteroid such as Bennu. By employing a thermophysical model based on OSIRIS-REx’s characterization of Bennu, we estimate a semimajor axis drift of−284.6 ± 0.2m/yr (signal-to-noise ratio∼1400) at epoch 2011 January 1 caused by the Yarkovsky effect. The largest source of modeling error is solar wind drag, which may lower the magnitude of the semimajor axis drift from the Yarkovsky effect by up to 0.16 m/yr. The Yarkovsky-related semimajor axis drift varies by roughly±1m/yr as the orbit of Bennu evolves due to planetary perturbations from 1900 to 2135. The Yarkovsky thermophysical model proves to be extremely accurate by predicting a bulk density estimate within 0.1% of that estimated through gravity science analysis. Compared to the information available before the OSIRIS-REx mission, the knowledge of the circumstances of the scattering Earth encounter that will occur in 2135 improves by a factor of 20, thus allowing us to rule out many previously possible impact trajectories. However, there remain some impact trajectories compatible with the data. Prior to the spacecraft encounter, the overall impact probability through 2200 was 3.7 × 10−4 (1 in 2700). As a result of our analysis, the cumulative impact probability through 2300 becomes 5.7 × 10−4 (1 in 1750) and the most significant individual impact solution is for September 2182, with an impact probability of 3.7 × 10−4 (1 in 2700). Both Bennu and (29075) 1950 DA have a Palermo scale value of −1.42 and share the distinction as the currently most hazardous object in the asteroid catalog

Optical Navigation for Dawn at Vesta

The Dawn S/C, launched in September 2007, towards Vesta and Ceres, will enter into orbit about asteroid Vesta in July 2011 and will conduct science remote sensing operations for approximately one year at various orbital altitudes. Vesta navigation operations begin with early approach in May 2011 until departure to Ceres in July 2012. A key navigation aspect is optical navigation, which will be conducted at all mission phases. Here we review the optical navigation plan, imaging, methodology, data types, as well as expected performance in the context of the overall mission navigation. A key aspect of optical navigation at Dawn that will receive particular attention is the extensive use of landmark navigation during most of mission phases. In addition to supporting real-time navigation operations, optical navigation will be used to determine some key physical characteristics of Vesta, such as the asteroid's pole & shape, to assist mission design & science operations

Optical Navigation for the Dawn Mission at Vesta

The Dawn S/C was launched in September 2007 in order to perform remote sensing observations of the asteroids Vesta and Ceres. Dawn entered into orbit about Vesta in July 2011, completed successfully the mission goals, that were carried out in four different science orbits, by August 2012 and has since departed towards asteroid Ceres. An important component of the Dawn navigation was optical navigation, which was performed at almost all mission phases.Optical data types were used in the overall orbit determination process. In addition they were used to determine some key aspects of the asteroid's physical characteristics, such as the rotational axis, shape and surface morphology and gravity terms. In this paper we present an overview of the optical navigation operations at Vesta, the optical navigation planning, image acquisition strategy, data reduction methodology, and the up-to-date post operations assessment. Of particular importance is the extensive use of landmark navigation, which was performed for the first time for real-time support of operations and which comprised the bulk of the optical data processing

AutoNav Mark3: Engineering the Next Generation of Autonomous Onboard Navigation and Guidance

The success of JPL's AutoNav system at comet Tempel-1 on July 4, 2005, demonstrated the power of autonomous navigation technology for the Deep Impact Mission. This software is being planned for use as the onboard navigation, tracking and rendezvous system for a Mars Sample Return Mission technology demonstration, and several mission proposals are evaluating its use for rendezvous with, and landing on asteroids. Before this however, extensive re-engineering of AutoNav will take place. This paper describes the AutoNav systems-engineering effort in several areas: extending the capabilities, improving operability, utilizing new hardware elements, and demonstrating the new possibilities of AutoNav in simulations

Optical Navigation Plan and Strategy for the Lunar Lander Altair

This paper reviews the currently planned Altair Optical Navigation (OpNav) system. The discussion includes description of the OpNav camera manifest. The Altair OpNav plan envisions one, OpNav camera assembly, with perhaps a functional backup that includes a wide angle-imager (of 40 deg to 60 deg field of view - FOV), and a narrow angle imager (of 1 to 3 deg FOV) co-mounted on a 2-degree-of-freedom gimbal. Both imagers are assumed to be relatively wide aperture and large dynamic range to provide excellent short-exposure images at mid-latitudes, and adequate images of longer-exposure near the poles. Landmark modeling and tracking methodology is discussed, including the stereophotoclinometry method assumed to be used to obtain high-accuracy terrain maps at lunar landing sites of 1 - 2 m, and 50 - 100 m elsewhere, using the images expected to be obtained from the Lunar Reconnaissance Orbiter (LRO). Characteristics of the OpNav navigation system are discussed and architecture and results from landing simulations presented, showing expected landing accuracies of better than 10m