Lunar Landing Trajectory Design for Onboard Hazard Detection and Avoidance

The Autonomous Landing and Hazard Avoidance Technology (ALHAT) Project is developing the software and hardware technology needed to support a safe and precise landing for the next generation of lunar missions. ALHAT provides this capability through terrain-relative navigation measurements to enhance global-scale precision, an onboard hazard detection system to select safe landing locations, and an Autonomous Guidance, Navigation, and Control (AGNC) capability to process these measurements and safely direct the vehicle to a landing location. This paper focuses on the key trajectory design issues relevant to providing an onboard Hazard Detection and Avoidance (HDA) capability for the lander. Hazard detection can be accomplished by the crew visually scanning the terrain through a window, a sensor system imaging the terrain, or some combination of both. For ALHAT, this hazard detection activity is provided by a sensor system, which either augments the crew s perception or entirely replaces the crew in the case of a robotic landing. Detecting hazards influences the trajectory design by requiring the proper perspective, range to the landing site, and sufficient time to view the terrain. Following this, the trajectory design must provide additional time to process this information and make a decision about where to safely land. During the final part of the HDA process, the trajectory design must provide sufficient margin to enable a hazard avoidance maneuver. In order to demonstrate the effects of these constraints on the landing trajectory, a tradespace of trajectory designs was created for the initial ALHAT Design Analysis Cycle (ALDAC-1) and each case evaluated with these HDA constraints active. The ALHAT analysis process, described in this paper, narrows down this tradespace and subsequently better defines the trajectory design needed to support onboard HDA. Future ALDACs will enhance this trajectory design by balancing these issues and others in an overall system design process

ALHAT System Validation

NASA has embarked on a multiyear technology development effort to develop a safe and precise lunar landing capability. The Autonomous Landing and Hazard Avoidance Technology (ALHAT) Project is investigating a range of landing hazard detection methods while developing a hazard avoidance capability to best field test the proper set of relevant autonomous GNC technologies. Ultimately, the advancement of these technologies through the ALHAT Project will provide an ALHAT System capable of enabling next generation lunar lander vehicles to globally land precisely and safely regardless of lighting condition. This paper provides an overview of the ALHAT System and describes recent validation experiments that have advanced the highly capable GNC architecture

Integrated rate isolation sensor

In one embodiment, a system for providing fault-tolerant inertial measurement data includes a sensor for measuring an inertial parameter and a processor. The sensor has less accuracy than a typical inertial measurement unit (IMU). The processor detects whether a difference exists between a first data stream received from a first inertial measurement unit and a second data stream received from a second inertial measurement unit. Upon detecting a difference, the processor determines whether at least one of the first or second inertial measurement units has failed by comparing each of the first and second data streams to the inertial parameter

Integrated inertial stellar attitude sensor

An integrated inertial stellar attitude sensor for an aerospace vehicle includes a star camera system, a gyroscope system, a controller system for synchronously integrating an output of said star camera system and an output of said gyroscope system into a stream of data, and a flight computer responsive to said stream of data for determining from the star camera system output and the gyroscope system output the attitude of the aerospace vehicle

Morpheus GNC Development and Testing

No abstract availabl

Shifting the Intertial Navigation Paradigm with the MEMS Technology

"Why don't you use MEMS?" is of the most common questions posed to navigation systems engineers designing inertial navigation solutions in the modern era. The question stems from a general understanding that great strides have been made in terrestrial MEMS accelerometers and attitude rate sensors in terms of accuracy, mass, and power. Yet, when compared on a unit-to-unit basis, MEMS devices do not provide comparable performance (accuracy) to navigation grade sensors in several key metrics. This paper will propose a paradigm shift where the comparison in performance is between multiple MEMS devices and a single navigation grade sensor. The concept is that systematically, a sufficient number of MEMS sensors may mathematically provide comparable performance to a single navigation grade device and be competitive in terms power and mass allocations when viewed on a systems level. The implication is that both inertial navigation system design and fault detection, identification, and recovery could benefit from a system of MEMS devices in the same way that swarm sensing has benefited Earth observation and astronomy. A survey of the state of the art in inertial sensor accuracy scaled by mass and power will be provided to show the scaled error in MEMS and navigation graded devices, a mathematical comparison of multi-unit to single-unit sensor errors will be developed, and preliminary application to an Orion lunar skip atmospheric entry trajectory will be explored

Understanding International GNC Hardware Trends

An industry-wide survey of guidance, navigation and control (GNC) sensors, namely star trackers, gyros, and sun sensors was undertaken in 2014, in which size, mass, power, and various performance metrics were recorded for each category. A multidimensional analysis was performed, looking at the spectrum of available sensors, with the intent of identifying gaps in the available capability range. Mission types that are not currently well served by the available components were discussed, as well as some missions that would be enabled by filling gaps in the component space. This paper continues that study, with a focus on reaction wheels and magnetometers, as well as with updates to the listings of star trackers, gyros, and sun sensors. Also discussed are a framework for making the database available to the community at large, and the continued maintenance of this database and the analysis of its contents

GENIE Flight Test Results and System Overview

NASA has envisioned a suite of lander test vehicles that will be flown in Earth s atmosphere to incrementally demonstrate applicable lunar lander performance in the terrestrial environment. As each terrestrial rocket progresses in maturity, relevant space flight technology matures to a higher technology readiness level, preparing it for inclusion on a future lunar lander design.. NASA s "Project M" lunar mission concept flew its first terrestrial rocket, RR1, in June 2010 in Caddo Mills, Texas. The Draper Laboratory built GENIE (Guidance Embedded Navigator Integration Environment) successfully demonstrated accurate, real time, embedded performance of Project M navigation and guidance algorithms in a highly dynamic environment. The RR1 vehicle, built by Armadillo Aerospace, performed a successful 60 second free flight and gave the team great confidence in Project M s highly reliable and robust GNC system design and implementation. This paper provides an overview of the GENIE system and describes recent flight performance test results onboard the RR1 terrestrial rocket