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Design and analysis of map relative localization for access to hazardous landing sites on mars

Design and analysis of map relative localization for access ...

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AIAA Guidance, Navigation, and Control Conference, 2016

作者： Johnson, Andrew E. Aaron, Seth Cheng, Yang Montgomery, James Trawny, Nikolas Tweddle, Brent Vaughan, Geoffrey Zheng, Jason Guidance and Control Section Jet Propulsion Laboratory California Institute of Technology MS 198-235 4800 Oak Grove Dr. PasadenaCA91109 United States Mobility and Robotic System Section Jet Propulsion Laboratory California Institute of Technology MS 198-235 4800 Oak Grove Dr. PasadenaCA91109 United States Flight Electronics and Software Systems Section Jet Propulsion Laboratory California Institute of Technology MS 198-326 4800 Oak Grove Dr. PasadenaCA91109 United States

ISBN: (数字)9781624103896

ISBN: (纸本)9781624103896

Human and robotic planetary lander missions require accurate surface relative position knowledge to land near science targets or next to pre-deployed assets. In the absence of GPS, accurate position estimates can be obtained by automatically matching sensor data collected during descent to an on-board map. The Lander Vision system (LVS) that is being developed for Mars landing applications generates landmark matches in descent imagery and combines these with inertial data to estimate vehicle position, velocity and attitude. This paper describes recent LVS design work focused on making the map relative localization algorithms robust to challenging environmental conditions like bland terrain, appearance differences between the map and image and initial input state errors. Improved results are shown using data from a recent LVS field test campaign. This paper also fills a gap in analysis to date by assessing the performance of the LVS with data sets containing significant vertical motion including a complete data set from the Mars Science Laboratory mission, a Mars landing simulation, and field test data taken over multiple altitudes above the same scene. Accurate and robust performance is achieved for all data sets indicating that vertical motion does not play a significant role in position estimation performance. © 2016, American Institute of Aeronautics and Astronautics Inc, AIAA. All rights reserved.

关键词： Statistical tests

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Real-time terrain relative navigation test results from a relevant environment for mars landing

Real-time terrain relative navigation test results from a re...

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AIAA Guidance, Navigation, and Control Conference 2015, MGNC 2015 - Held at the AIAA SciTech Forum 2015

作者： Johnson, Andrew E. Cheng, Yang Montgomery, James Trawny, Nikolas Tweddle, Brent Zheng, Jason Guidance and Control Section Jet Propulsion Laboratory California Institute of Technology MS 198-235 4800 Oak Grove Dr. PasadenaCA91109 United States Mobility and Robotic System Section Jet Propulsion Laboratory California Institute of Technology MS 198-235 4800 Oak Grove Dr. PasadenaCA91109 United States Guidance and Control Section Jet Propulsion Laboratory California Institute of Technology MS 198-235 4800 Oak Grove Dr. PasadenaCA91109 United States Flight Electronics and Software Systems Section Jet Propulsion Laboratory California Institute of Technology MS 198-326 4800 Oak Grove Dr. PasadenaCA91109 United States

ISBN: (纸本)9781510801097

Terrain Relative Navigation (TRN) is an on-board GN&C function that generates a position estimate of a spacecraft relative to a map of a planetary surface. When coupled with a divert, the position estimate enables access to more challenging landing sites through pinpoint landing or large hazard avoidance. The Lander Vision system (LVS) is a smart sensor system that performs terrain relative navigation by matching descent camera imagery to a map of the landing site and then fusing this with inertial measurements to obtain high rate map relative position, velocity and attitude estimates. A prototype of the LVS was recently tested in a helicopter field test over Mars analog terrain at altitudes representative of Mars Entry Descent and Landing conditions. TRN ran in real-time on the LVS during the flights without human intervention or tuning. The system was able to compute estimates accurate to 40m (3 sigma) in 10 seconds on a flight like processing system. This paper describes the Mars operational test space definition, how the field test was designed to cover that operational envelope, the resulting TRN performance across the envelope and an assessment of test space coverage. © 2015, E-flow American Institute of Aeronautics and Astronautics (AIAA). All rights reserved.

关键词： Navigation

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Guidance, Navigation, and Control technology assessment for future planetary science missions

Guidance, Navigation, and Control technology assessment for ...

引用

AIAA SPACE 2013 Conference and Exposition

作者： Beauchamp, Patricia M. Cutts, James A. Quadrelli, Marco B. Wood, Lincoln J. Riedel, Joseph E. McHenry, Michael C. Aung, MiMi Cangahuala, Laureano A. Volpe, Richard A. Jet Propulsion Laboratory California Institute of Technology Strategic Missions and Advanced Concepts Office Mail Stop 321-550 Pasadena CA 91109-8099 United States Jet Propulsion Laboratory California Institute of Technology Mobility and Robotic Systems Section Mail Stop 198-219 4800 Oak Grove Drive Pasadena CA 91109-8099 United States Jet Propulsion Laboratory California Institute of Technology Mission Design and Navigation Section Mail Stop 301-121 Pasadena CA 91109-8099 United States Jet Propulsion Laboratory California Institute of Technology Mobility and Robotic Systems Section Mail Stop 198-219 Pasadena CA 91109-8099 United States Jet Propulsion Laboratory California Institute of Technology Autonomous System Division Mail Stop 198-106 Pasadena CA 91109-8099 United States

ISBN: (数字)9781624102394

ISBN: (纸本)9781624102394

Future planetary explorations envisioned by the National Research Council's report titled Vision and Voyages for Planetary Science in the Decade 2013-2022, developed for NASA Science Mission Directorate (SMD) Planetary Science Division (PSD), seek to reach targets of broad scientific interest across the solar system. This goal requires new capabilities such as innovative interplanetary trajectories, precision landing, operation in close proximity to targets, precision pointing, multiple collaborating spacecraft, multiple target tours, and advanced robotic surface exploration. Advancements in Guidance, Navigation, and Control (GN&C) and mission design in the areas of software, algorithm development and sensors will be necessary to accomplish these future missions. This paper summarizes the key GN&C and mission design capabilities and technologies needed for future missions pursuing SMD PSD's scientific goals.

关键词： NASA

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Suborbital flight test of a prototype terrain-relative navigation system

Suborbital flight test of a prototype terrain-relative navig...

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2007 AIAA InfoTech at Aerospace Conference

作者： Seybold, Calina Chen, George Bellutta, Paolo Johnson, Andrew Matthies, Larry Thurman, Sam Jet Propulsion Laboratory California Institute of Technology Pasadena CA 91109 United States System Engineering Section M/S 233-201 4800 Oak Grove Drive United States AIAA United States EDL Systems and Advanced Technologies Group System Engineering Section M/S 301-490 Mobility and Robotic Systems Section M/S 198-235 United States Computer Vision Group Mobility and Robotics Systems Section M/S 198-235 United States Autonomous Systems Division M/S 198-105

ISBN: (纸本)1563478935

In April 2006, a terrain-relative navigation experiment successfully flew on a sounding rocket mission at White Sands Missile Range. The mission was designated by NASA/Wallops Flight Facility as 41.068 NT/Seybold ("41.068") and was flown as part of the New Millennium Program ST9 Terrain-Relative Guidance system (TRGS) Project's competitive Phase A effort. The TRN experiment had two objectives: 1) To demonstrate the viability of a navigation filter for precision landing that uses on-board IMU and descent image data to achieve position knowledge errors of less than 100m, validated with GPS data recorded during flight;and 2) To establish that commercial off-the-shelf cameras can be packaged sufficiently well to survive the sounding rocket launch environment. Both objectives were met. The 13 min flight provided a data set that was processed post-flight through the prototype algorithms to bring the ST9 TRGS Project to a technology readiness level of 4 in TRN. This paper describes the flight system development and operations of the TRN experiment on 41.068.

关键词： Flight control systems

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Dual balloon concept for lifting payloads from the surface of Venus

Dual balloon concept for lifting payloads from the surface o...

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AIAA 5th Aviation Technology, Integration, and Operations Conference, ATIO and the AIAA 16th Lighter-than-Air systems Technology Conference and Balloon systems Conference

作者： Kerzhanovich, Viktor V. Hall, Jeffery L. Yavrouian, Andre H. Cutts, James A. Jet Propulsion Laboratory California Institute of Technology 4800 Oak Grove Dr. Pasadena CA 91109 Technical Staff Mobility and Robotic Systems Section M/S 198-219 Analytical Chemistry Group M/S 125-109 Solar System Space Exploration Directorate M/S 301-345

ISBN: (纸本)1563477408

Two highly rated Venus mission concepts proposed in the National Science Foundation Decadal Survey require a balloon to lift payloads from Venusian surface to high altitudes: Venus Surface Sample Return (VESSR) and Venus In-Situ Explorer (VISE). In case of VESSR the payload is a canister with the surface sample plus a Venus ascent vehicle (VAV), which is a rocket that takes the sample into orbit for rendezvous with an Earth return vehicle. VISE is enyisioned as a more limited precursor mission where the surface sample is only taken to high altitudes so that non time-critical scientific analyses can be performed. From the balloon point of view, the only difference between these two missions is that the VESSR payload to be lifted is very much larger than VISE because of the inclusion of the VAV. A key problem is that at the time the Decadal Survey was published no high temperature balloon technology existed to implement either mission. Prior technology development efforts had concentrated on a single balloon that could operate across the entire 0-60 km altitude range, tolerating both the sulfuric acid aerosols and the extreme temperatures of -10 to +460°C. However, this problem was unsolved because no combination of sufficiently lightweight balloon material and manufacturing (seaming) technology was ever found to tolerate the high temperatures at the surface. In this paper, the authors describe a solution to the problem based on the idea of using a two-balloon approach. One balloon is optimized for high temperature service in the lower atmosphere, while the second is optimized for high altitude performance. Both balloons can be made from available materials with known fabrication technology. The near-surface balloon will be a metal bellows made of stainless steel or other suitable alloy. The relatively high mass of metal material is allowable in this architecture because only small balloons are needed to lift significant payloads in the dense lower atmosphere of Venus

关键词： Meteorological balloons

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