The OSIRIS-REx mission timeline with OpNav milestones is presented in Figure 1. The first three proximity operations (ProxOps) mission phases focus on Navigation. During these phases, OSIRIS-REx approaches Bennu, conducts equatorial and polar flybys in Preliminary Survey, and inserts into the first mission orbit: Orbit A. During these phases, the OpNav techniques evolve from point-source to resolved-body centroiding to landmark tracking

Antreasian, Peter G.

Getzandanner, Kenneth M.

Jackman, Coralie D.

Leonard, Jason M.

Liounis, Andrew J.

Mccarthy, Leilah K.

Moreau, Michael C.

Nelson, Derek S.

NASA Technical Reports Server

10TH INTERNATIONAL ESA CONFERENCE ON GUIDANCE, NAVIGATION & CONTROL SYSTEMS | 29 MAY - 2 JUNE 2017, SALZBURG, AUSTRIA
NAVIGATION TRAINING EXERCISE 1 (NTE1) OVERVIEW
OPTICAL NAVIGATION SIMULATION AND PERFORMANCE 
ANALYSIS FOR OSIRIS-REX PROXIMITY OPERATIONS 
OPTICAL NAVIGATION CONCEPT OF OPERATIONS
Coralie D. Jackman*, Derek S. Nelson*, Leilah K. McCarthy*, Andrew J. Liounis†, Jason M. Leonard*, 
Peter G. Antreasian*, Kenneth M. Getzandanner†, Michael C. Moreau†
*KinetX, Inc., Space Navigation and Flight Dynamics Practice, Simi Valley, CA, USA 
†NASA/GSFC Navigation and Mission Design Branch, Greenbelt, MD, USA
Figure 1. The OSIRIS-REx mission timeline with OpNav milestones   
Figure 2. KXIMP Star-Based OpNav Software Processing Flow 
A primary goal of NTE1 was to exercise the team’s ability to process star based OpNav data as Bennu
grows from an unresolved to a resolved object and incorporate this data with radiometric Range,
Doppler, and DDOR. Figure 3 shows NTE1 spanning AAM-2 - 1 day through AAM-2a + 2 days, allowing
for an AAM-2 and AAM-2a reconstruction as well as AAM-2a and AAM-3 maneuver design and
verification activities.
The OSIRIS-REx mission timeline with OpNav milestones is presented in Figure 1. The first three
proximity operations (ProxOps) mission phases focus on Navigation. During these phases, OSIRIS-REx
approaches Bennu, conducts equatorial and polar flybys in Preliminary Survey, and inserts into the
first mission orbit: Orbit A. During these phases, the OpNav techniques evolve from point-source to
resolved-body centroiding to landmark tracking.
OpNav utilizes five OSIRIS-REx imagers during different mission phases: PolyCam (0.8° FOV), MapCam
(4° FOV), and SamCam (20.8° FOV) are part of the OCAMS suite and NavCam1 and NavCam2 (33°x44°
FOV) make up part of the TAGCAMS suite. Table 1 shows the OpNav imaging plan by mission phase.
Navigation Training Exercises 1 & 2 cover part of Approach, and the Orbit A insertion, which both use
the star-based OpNav image processing software suite, KXIMP. A high level KXIMP image processing
flow is described in Figure 2. A variety of algorithms and modeling parameters are selectable for the
body centroid calculation.
Before	
AAM1
Before	
AAM3
After	
AAM3
Imaging	
Frequency
-
1	set/3	
days
1	set/day 1	set/day 8	sets/day 8	sets/day 12/day 12/day 12/day 12/day 12/day
#	images/set - 8 16* 16* 4* 4* 2 2 2 2 2
PolyCam Cal PRIME PRIME - - - - - - - -
MapCam Cal BU1 BU1 PRIME - - - - - - -
SamCam Cal - - - BU2 BU2 BU2 BU2 BU2 BU2 BU2
NavCam1 Cal - - BU1 PRIME PRIME PRIME PRIME PRIME PRIME PRIME
NavCam2 Cal - - BU2 BU1 BU1 BU1 BU1 BU1 BU1 BU1
Orbit-B Recon	
TAG	
rehearsal
Sample	
Collection
Pre	
Approach
Approach
Prelim	
Survey
Orbit-A
Detailed	
Survey
Table 1. OpNav Imaging Plan by Mission Phase. *Denotes sequences w/ alternating long and short exposures. 
NTE1 NTE2
Campaigns NAVIGATION NAVIGATION
Science	Phase Approach Approach Preliminary	Survey
OCTOBER	2018 NOVEMBER	2018
30 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 26 27 28 29 30 31 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 26 27 28 29 30 1 2 3 4
Su M T W R F Sa Su M T W R F Sa Su M T W R F Sa Su M T W R F Sa Su M T W R F Sa Su M T W R F Sa Su M T W R F Sa Su M T W R F Sa Su M T W R F Sa Su M T
Phase	Angle 58 58 59 60 60 61 62 62 63 63 63 63 63 61 56 32 33 33 34 35 36 36 37 37 38 37 37 35 29 0 0.5 1.1 1.8 2.6 3.5 4.5 5.7 7 8.5 10 12 14 17 20 18 17 15 13 12 10 8.5 6.8 5.1 3.6 2.5 2.8 4.6 7 10 14 19 26 37 56 90
Maneuvers
AAM1 AAM2 AAM2a AAM3 AAM3a AAM4 M0P M1P M2P
AAM2	Cleanup AAM3	Cleanup Nat	sat	breaking	burn	same	epoch	as	M0P NP	Fwd
OD	Deliveries OD OD OD OD OD OD OD OD OD OD OD OD OD OD OD OD OD OD OD OD OD OD
<---- ----- ----- --------------------->
Science	 <---- ------------------ ---------> <---- 10cm	Natural
Observations MapCam	Integrated	Light 1m	Nat	Sat	Search Sat	Search PolyCam	Shape	Model	Imaging PolyCam	Mosaics
	Curve	Photometry <---- ----- ---> MapCam,
OVIRS/OTES OLA	Data
<---- ---------> Spectral	Coverage OVIRS	Cal
MapCam	Integrated	Light <---- ---------> Note:	Last	shape	model	mosiacs	at	range	of	~30km
	Curve	Photometry Low	Phase	Angle	LC +
Bennu	C/A
18	km
AAM2a	Design	Timeline AAM3	Design	Timeline AAM3a	Design	Timeline AAM3a	Design	Timeline M0P,	M1P	prelim	design	(shifted	early	due	to	T-Day)
Maneuver	Design OD Dsn Vfy CC OD Dsn Vfy CC OD Dsn Vfy CC OD Dsn Vfy CC OD Dsn Vfy CC ----- ----- ----- --->
&	Implementation Test	cmd	products obs M0P	late	update	(over	two	days)
Test/Verify Test/Verify Test/Verify Test/Verify Implementation	and	verif. obs LU M1P	late	update
MIF	delivery,	verify MIF	delivery,	verify MIF	delivery,	verify MIF	delivery,	verify MPF	delivery	(up	to	4	burns)
AAM2	Design	Timeline OD	and	MPF	delivery OD	and	MPF	delivery OD	and	MPF	delivery OD	and	MPF	delivery OD M2P,	M3P,	M4P	prelim	design
Prelim	OD Dsn OD Dsn Vfy CC OD Dsn Vfy Test CC ----- ----- --->
LU
NTE 1Figure 3. NTE1 Test Simulation Timeline 
Campaigns NAVIGATION NAVIGATION
Science	Phase Approach Approach Preliminary	Survey
OCTOBER	2018 NOVEMBER	2018
30 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 26 27 28 29 30 31 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 26 27 28 29 30 1 2 3 4
Su M T W R F Sa Su M T W R F Sa Su M T W R F Sa Su M T W R F Sa Su M T W R F Sa Su M T W R F Sa Su M T W R F Sa Su M T W R F Sa Su M T W R F Sa Su M T
Phase	Angle 58 58 59 60 60 61 62 62 63 63 63 63 63 61 56 32 33 33 34 35 36 36 37 37 38 37 37 35 29 0 0.5 1.1 1.8 2.6 3.5 4.5 5.7 7 8.5 10 12 14 17 20 18 17 15 13 12 10 8.5 6.8 5.1 3.6 2.5 2.8 4.6 7 10 14 19 26 37 56 90
Maneuvers
AAM1 AAM2 AAM2a AAM3 AAM3a AAM4 M0P M1P M2P
AAM2	Cleanup AAM3	Cleanup Nat	sat	breaking	burn	same	epoch	as	M0P NP	Fwd
OD	Deliveries OD OD OD OD OD OD OD OD OD OD OD OD OD OD OD OD OD OD OD OD OD OD
<---- ----- ----- --------------------->
Science	 <---- ------------------ ---------> <---- 10cm	Natural
Observations MapCam	Integrated	Light 1m	Nat	Sat	Search Sat	Search PolyCam	Shape	Model	Imaging PolyCam	Mosaics
	Curve	Photometry <---- ----- ---> MapCam,
OVIRS/OTES OLA	Data
<---- ---------> Spectral	Coverage OVIRS	Cal
MapCam	Integrated	Light <---- ---------> Note:	Last	shape	model	mosiacs	at	range	of	~30km
	Curve	Photometry Low	Phase	Angle	LC +
Bennu	C/A
18	km
AAM2a	Design	Timeline AAM3	Design	Timeline AAM3a	Design	Timeline AAM3a	Design	Timeline M0P,	M1P	prelim	design	(shifted	early	due	to	T-Day)
Maneuver	Design OD Dsn Vfy CC OD Dsn Vfy CC OD Dsn Vfy CC OD Dsn Vfy CC OD Dsn Vfy CC ----- ----- ----- --->
&	Implementation Test	cmd	products obs M0P late	update	(over	two	days)
Test/Verify Test/Verify Test/Verify Test/Verify Implementation	and	verif. obs LU 1P	late	update
MIF	delivery,	verify MIF	delivery,	verify MIF	delivery,	verify MIF	delivery,	verify MPF	delivery	(up	to	4	burns)
AAM2	Design	Timeline OD	and	MPF	delivery OD	and	MPF	delivery OD	and	MPF	delivery OD	and	MPF	delivery OD M2P,	M3P,	M4P	prelim	design
Prelim	OD Dsn OD Dsn Vfy CC OD Dsn Vfy Test CC ----- ----- --->
LU
NTE 1
NTE1
NAVIGATION TRAINING EXERCISE 2 (NTE2) OVERVIEW
NTE2 was designed to test the FDS team’s ability to insert into the first orbit around Bennu. The test
spanned maneuver M7P through M5A, which covers the 7-km south pole flyby, the drift away from
and re-approach to the asteroid, and the Orbit-A insertion. Similar to NTE1, the navigation team used
radiometric Range, Doppler, and DDOR as well as star-based optical navigation of a resolved object as
the measurement types.
The NTE1 and NTE2 images were simulated as long + short exposure pairs, mimicking flight ConOps.
The long exposures are used to image background stars and solve for the inertial camera attitude,
while the short exposures are used to calculate the centroid of Bennu. Figure 5 shows KXIMP post-
processing centroid results, with shape model overlay.
OPNAV IMAGE PROCESSING TECHNIQUES
Figure 5. Post-processed long/short exposure pair, showing observed star and body centroids 
OPNAV IMAGE PROCESSING RESULTS
Figure 7. NTE1 and NTE2 centroid residuals w.r.t. truth centers, plotted in pixel and kilometer space 
Figure 6. NTE2 centroid residuals w.r.t. OD012 trajectory, plotted in pixel and kilometer space 
Plots of the NTE2 Bennu centroid residuals computed with respect to orbit determination solution
OD012 are shown in Figure 6. A perturbation to the pole position and spin rate cause small errors in
the solution. Figure 7 shows both NTE1 and NTE2 centroid residuals plotted with respect to truth. In
addition to pole perturbation errors, there is a -0.7 px bias in the Bennu limb direction in NTE2 images
that has not yet been explained. Still, the results are well within expected and required performance.
NTE1
NTE2
NTE1
NTE2
Not simulated in NTEsNot simulated in NTEs
Campaigns NAVIGATION
Science	Phase Preliminary	Survey Orbital	A
DECEMBER	2018 JANUARY	2019
11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 26 27 28 29 30 31 1 2 3 4 5 6 7 8 9 10 11
T W R F Sa Su M T W R F Sa Su M T W R F Sa Su M T W R F Sa Su M T W R F
Desats x x x x x x x x x x x
Test	Phases Leg1:	M7P-M1A Leg2:	M1A-M2A Leg3 Leg4:	M3A-M4A Leg5
Maneuvers
M5P M6P M7P M1A M2A M3A M4A M5A
+ + + + + + +
Activities Equator South	Pole	Flyby Reverse	Drift Target	Transition	Orbit Capture	in	1.5x2	km	frozen	orbit Circ	1.5	km Trim
Science	Observations
PolyCam, PolyCam, OVIRS	Cal
OLA	Data MapCam,
OLA	Data <---- ----- ----- ----- ----- ----- ----- Nominal	OpNav	Transition	Period	(3	weeks)
OD	Deliveries OD OD OD OD OD OD OD OD OD OD OD OD OD OD
M1A,	M2A	prelim	design M4A,	M5A	prelim	design
Preliminary	Design M5P	late	update ----- ---> OD Dsn Vfy CC ---> OD Dsn Vfy CC ----- --->
Late	Updates obs LU M6P	late	update obs LU obs LU M2A	late	update obs LU M4A	late	update
Late	Updates obs LU M7P	late	update obs LU M5A	late	update
M3A	prelim	design
Preliminary	Design OD Dsn Vfy CC --->
Late	Updates obs LU M3A	late	update
NTE 2
Figure 4. NTE2 Test Simulation Timeline 
Campaigns NAVIGATION
Science	Phase Preliminary	Survey Orbital	A
DECEMBER	2018 JANUARY	2019
11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 26 27 28 29 30 31 1 2 3 4 5 6 7 8 9 10 11
T W R F Sa Su M T W R F Sa Su M T W R F Sa Su M T W R F Sa Su M T W R F
Desats x x x x x x x x x x x
Test	Phases Leg1:	M7P-M1A Leg2:	M1A-M2A Leg3 Leg4:	M3A-M4A Leg5
Maneuvers
M5P M6P M7P M1A M2A M3A M4A M5A
+ + + + + + +
Activities Equator South	Pole	Flyby Reverse	Drift Target	Transition	Orbit Capture	in	1.5x2	km	frozen	orbit Circ	1.5	km Trim
Science	Observation
PolyCam, PolyCam, OVIRS	Cal
OLA	Data MapCam,
OLA	Data <---- ----- ----- ----- ----- ----- ----- Nominal OpNav	Transition	Period	(3	weeks)
OD	Deliveries OD OD OD OD OD OD OD OD OD OD OD OD OD OD
M1A,	M2A	prelim	design M4A,	M5A	prelim	design
Preliminary	Design M5P	late	update ----- ---> OD Dsn Vfy CC ---> OD Dsn Vfy CC ----- --->
Late	Updates obs LU M6P	late	update obs LU obs LU M2A	late	update obs LU M4A	late	update
Late	Updates obs LU M7P	late	update obs LU M5A	late	update
M3A	prelim	design
Preliminary	Design OD Dsn Vfy CC --->
Late	Updates obs LU M3A	late	update
NTE 2
https://ntrs.nasa.gov/search.jsp?R=20170011464 2019-08-31T01:15:28+00:00Z


Optical Navigation Simulation and Performance Analysis for Osiris-Rex Proximity Operations

Optical Navigation Simulation and Performance Analysis for Osiris-Rex Proximity Operations

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