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An Inertial Dual-State State Estimator for Precision Planetary Landing with Hazard Detection and AvoidanceThe navigation filter architecture successfully deployed on the Morpheus flight vehicle is presented. The filter was developed as a key element of the NASA Autonomous Landing and Hazard Avoidance Technology (ALHAT) project and over the course of 15 free fights was integrated into the Morpheus vehicle, operations, and flight control loop. Flight testing completed by demonstrating autonomous hazard detection and avoidance, integration of an altimeter, surface relative velocity (velocimeter) and hazard relative navigation (HRN) measurements into the onboard dual-state inertial estimator Kalman flter software, and landing within 2 meters of the vertical testbed GPS-based navigation solution at the safe landing site target. Morpheus followed a trajectory that included an ascent phase followed by a partial descent-to-landing, although the proposed filter architecture is applicable to more general planetary precision entry, descent, and landings. The main new contribution is the incorporation of a sophisticated hazard relative navigation sensor-originally intended to locate safe landing sites-into the navigation system and employed as a navigation sensor. The formulation of a dual-state inertial extended Kalman filter was designed to address the precision planetary landing problem when viewed as a rendezvous problem with an intended landing site. For the required precision navigation system that is capable of navigating along a descent-to-landing trajectory to a precise landing, the impact of attitude errors on the translational state estimation are included in a fully integrated navigation structure in which translation state estimation is combined with attitude state estimation. The map tie errors are estimated as part of the process, thereby creating a dual-state filter implementation. Also, the filter is implemented using inertial states rather than states relative to the target. External measurements include altimeter, velocimeter, star camera, terrain relative navigation sensor, and a hazard relative navigation sensor providing information regarding hazards on a map generated on-the-fly.
Document ID
20170009197
Acquisition Source
Johnson Space Center
Document Type
Conference Paper
Authors
Bishop, Robert H. (University of South Florida Tampa, FL, United States)
DeMars, Kyle (Missouri Univ. of Science and Technology Rolla, MO, United States)
Trawny, Nikolas (Jet Propulsion Lab., California Inst. of Tech. Pasadena, CA, United States)
Crain, Tim (Intuitive Machines Houston, TX, United States)
Hanak, Chad (Intuitive Machines Houston, TX, United States)
Carson, John M. (Jet Propulsion Lab., California Inst. of Tech. Pasadena, CA, United States)
Christian, John (West Virginia Univ. Morgantown, WV, United States)
Date Acquired
September 29, 2017
Publication Date
January 4, 2016
Subject Category
Space Transportation And Safety
Spacecraft Design, Testing And Performance
Spacecraft Instrumentation And Astrionics
Report/Patent Number
JSC-CN-35000
Meeting Information
Meeting: AIAA SciTech 2016
Location: San Diego, CA
Country: United States
Start Date: January 4, 2016
End Date: January 6, 2016
Sponsors: American Inst. of Aeronautics and Astronautics, American Inst. of Aeronautics and Astronautics
Distribution Limits
Public
Copyright
Public Use Permitted.

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