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NASA NTRS2017

Spacecraft Alignment Determination and Control for Dual Spacecraft Precision Formation Flying

Many proposed formation flying missions seek to advance the state of the art in spacecraft science imaging by utilizing precision dual spacecraft formation flying to enable a virtual space telescope. Using precision dual spacecraft alignment, very long focal lengths can be achieved by locating the optics on one spacecraft and the detector on the other. Proposed science missions include astrophysics concepts with spacecraft separations from 1000 km to 25,000 km, such as the Milli-Arc-Second Structure Imager (MASSIM) and the New Worlds Observer, and Heliophysics concepts for solar coronagraphs and X-ray imaging with smaller separations (50m 500m). All of these proposed missions require advances in guidance, navigation, and control (GNC) for precision formation flying. In particular, very precise astrometric alignment control and estimation is required for precise inertial pointing of the virtual space telescope to enable science imaging orders of magnitude better than can be achieved with conventional single spacecraft instruments. This work develops design architectures, algorithms, and performance analysis of proposed GNC systems for precision dual spacecraft astrometric alignment. These systems employ a variety of GNC sensors and actuators, including laser-based alignment and ranging systems, optical imaging sensors (e.g. guide star telescope), inertial measurement units (IMU), as well as micro-thruster and precision stabilized platforms. A comprehensive GNC performance analysis is given for Heliophysics dual spacecraft PFF imaging mission concept.

Formation flying↗

NASA NTRS2015

Parachute Decelerator System Performance During the Low Density Supersonic Decelerator Program's First Supersonic Flight Dynamics Test

During the first Supersonic Flight Dynamics Test (SFDT-1) for NASA's Low Density Supersonic Decelerator (LDSD) Program, the Parachute Decelerator System (PDS) was successfully tested. The main parachute in the PDS was a 30.5-meter supersonic Disksail parachute. The term Disksail is derived from the canopy's constructional geometry, as it combined the aspects of a ringsail and a flat circular round (disk) canopy. The crown area of the canopy contained the disk feature, as a large flat circular disk that extended from the canopy's vent down to the upper gap. From this upper gap to the skirt-band the canopy was constructed with characteristics of sails seen in a ringsail. There was a second lower gap present in this sail region. The canopy maintained a nearly 10x forebody diameter trailing distance with 1.7 Do suspension line lengths. During the test, the parachute was deployed at the targeted Mach and dynamic pressure. Although the supersonic Disksail parachute experienced an anomaly during the inflation process, the system was tested successfully in the environment it was designed to operate within. The nature of the failure seen originated in the disk portion of the canopy. High-speed and high-resolution imagery of the anomaly was captured and has been used to aid in the forensics of the failure cause. In addition to the imagery, an inertial measurement unit (IMU) recorded test vehicle dynamics and loadcells captured the bridle termination forces. In reviewing the imagery and load data a number of hypothesizes have been generated in an attempt to explain the cause of the anomaly.

Gallon, John C.↗

NASA NTRS2017

Pointing System Simulation Toolbox with Application to a Balloon Mission Simulator

The development of attitude estimation and pointing-control algorithms is necessary in order to achieve high-fidelity modeling for a Balloon Mission Simulator (BMS). A pointing system simulation toolbox was developed to enable this. The toolbox consists of a star-tracker (ST) and Inertial Measurement Unit (IMU) signal generator, a UDP (User Datagram Protocol) communication le (bridge), and an indirect-multiplicative extended Kalman filter (imEKF). This document describes the Python toolbox developed and the results of its implementation in the imEKF.

Maringolo Baldraco, Rosana M.↗

NASA NTRS2018

Spacecraft Alignment Determination and Control for Dual Spacecraft Precision Formation Flying

Many proposed formation flying missions seek to advance the state of the art in spacecraft science imaging by utilizing dual-spacecraft precision formation flying (PFF) to enable a 'virtual' telescope (VT). Using precision dual-spacecraft alignment, very long focal lengths can be achieved by locating the optics on one spacecraft and the detector on the other. Proposed science missions include astrophysics concepts for X-ray imaging and exo-planet observation with large spacecraft separations (1000 km to 80,000 km), and heliophysics concepts for X-ray or extreme ultra-violet (EUV) imaging or solar coronagraphs with smaller separations (50m - 500m). These proposed missions require advances in guidance, navigation, and control (GN&C) for PFF to enable high resolution science imaging. For many applications, the dual-spacecraft dynamics are coupled through the GN&C system when the relative ranging and position alignment sensor components are not co-located with their respective spacecraft mass centers. We develop a model-based PFF system design approach for the VT application, considering the coupling inherent in precision dual-spacecraft inertial alignment. These systems employ a variety of GN&C sensors and actuators, including laser-based alignment and ranging systems, camera-based imaging sensors, inertial measurement units (IMU), as well as microthruster systems and image motion compensation platforms. Results of a GN&C performance assessment reveal how data from relative position sensors can be employed in a Kalman filter framework to significantly improve alignment estimation performance. The assessment provides a comparison of two different GN&C formation flying architectures, illustrating the performance trades inherent in the choice of PFF system architecture in the VT application.

Formation Flying↗

NASA NTRS2018

The HIAD Orbital Flight Demonstration Instrumentation Suite

NASA's Hypersonic Inflatable Aerodynamic Decelerator (HIAD) technology has been selected for a Technology Demonstration Mission under the Science and Technology Mission Directorate. HIADs are an enabling technology that can facilitate atmospheric entry of heavy payloads to planets such as Earth and Mars using a deployable aeroshell. The deployable nature of the HIAD technology allows it to overcome the size constraints imposed on current rigid aeroshell entry systems. This permits use of larger aeroshells resulting in increased entry system performance (e.g. higher payload mass and/or volume, higher landing altitude at Mars). The Low Earth Orbit Flight Test of an Inflatable Decelerator (LOFTID) is currently scheduled for mid-2021. LOFTID will be launched out of Vandenberg Air Force Base as a secondary payload on an expendable launch vehicle. The flight test will employ a 6m diameter, 70 degree sphere-cone aeroshell and will provide invaluable high-energy orbital re-entry flight data. This data will be essential in supporting the HIAD team to mature the technology to diameters of 10m and greater. Aeroshells of this scale will address near-term commercial applications and potential future NASA missions. LOFTID will incorporate an extensive instrumentation suite totaling over 150 science measurements. This will include thermocouples, heat flux sensors, IR cameras, and a radiometer to characterize the aeroheating environment and aeroshell thermal response. An inertial measurement unit (IMU), GPS, and flush air data system will be included in order to reconstruct the flown trajectory and aerodynamic characteristics. Loadcells will be used to measure the HIAD structural loading, and HD cameras will be mounted on the aft segment looking at the aeroshell to monitor structural response. In addition to the primary instrumentation suite, a new fiber optic sensing system will be used to measure nose temperatures as a technology demonstration. The LOFTID instrumentation suites leverages Agency-wide expertise, with hardware development occurring at Ames Research Center, Langley Research Center, Marshall Space Flight Center and Armstrong Flight Research Center. This presentation will discuss the measurement objectives for the LOFTID mission, and the extensive instrumentation suite that has been selected to capture the HIAD's performance during the high-energy orbital re-entry flight test.

Swanson, G. T.↗

NASA NTRS2018

The HIAD Orbital Flight Demonstration Instrumentation Suite

NASA's Hypersonic Inflatable Aerodynamic Decelerator (HIAD) technology has been selected for a Technology Demonstration Mission under the Science and Technology Mission Directorate. HIADs are an enabling technology that can facilitate atmospheric entry of heavy payloads to planets such as Earth and Mars using a deployable aeroshell. The deployable nature of the HIAD technology allows it to overcome the size constraints imposed on current rigid aeroshell entry systems. This permits use of larger aeroshells resulting in increased entry system performance (e.g. higher payload mass and/or volume, higher landing altitude at Mars). The Low Earth Orbit Flight Test of an Inflatable Decelerator (LOFTID) is currently scheduled for mid-2021. LOFTID will be launched out of Vandenberg Air Force Base as a secondary payload on an expendable launch vehicle. The flight test will employ a 6m diameter, 70-deg sphere-cone aeroshell and will provide invaluable high-energy orbital re-entry flight data. This data will be essential in supporting the HIAD team to mature the technology to diameters of 10m and greater. Aeroshells of this scale will address near-term commercial applications and potential future NASA missions.LOFTID will incorporate an extensive instrumentation suite totaling over 150 science measurements. This will include thermocouples, heat flux sensors, IR cameras, and a radiometer to characterize the aeroheating environment and aeroshell thermal response. An inertial measurement unit (IMU), GPS, and flush air data system will be included in order to reconstruct the flown trajectory and aerodynamic characteristics. Loadcells will be used to measure the HIAD structural loading, and HD cameras will be mounted on the aft segment looking at the aeroshell to monitor structural response. In addition to the primary instrumentation suite, a new fiber optic sensing system will be used to measure nose temperatures as a technology demonstration. The LOFTID instrumentation suites leverages Agency-wide expertise, with hardware development occurring at Ames Research Center, Langley Research Center, Marshall Space Flight Center and Armstrong Flight Research Center.This presentation will discuss the measurement objectives for the LOFTID mission, and the extensive instrumentation suite that has been selected to capture the HIAD's performance during the high-energy orbital re-entry flight test.

Swanson, Greg↗

NASA NTRS2018

Adaptive Control Allocation for Powered Descent Vehicles

The following work details a study into real-time failure adaptive control allocation method for powered descent vehicle systems. The motivation for this work is to enable future human and robotic missions utilizing a powered descent system to tolerate engine failures in flight without the loss of crew or assets. This study is conducted using a six degree-of-freedom trajectory simulation of a PDV (Powered Descent Vehicle) experiencing either a loss of thrust or an engine stuck full on failure scenario. Sequential least squares in the frequency domain is used on-board to process inertial measurement unit (IMU) data and generate an estimate of the PDV plant model, which is then fed to the guidance and control system. Data used by the sequential least squares method is generated from an in-flight maneuver. The work herein focuses on determining a maneuver that is least impactful to the PDV trajectory and enables a suitable plant model estimate. A 1.5-second-long maneuver with an amplitude of 5 percent throttle is determined to provide suitable data for the sequential least squares method to estimate a plant model. A PDV implementing this method can adapt to a single engine failure and continue to reach its touchdown conditions.

Green, Justin S.↗

NASA NTRS2012

Variable Vector Countermeasure Suit (V2Suit) for Space Habitation and Exploration

The "Variable Vector Countermeasure Suit (V2Suit) for Space Habitation and Exploration" is a visionary system concept that will revolutionize space missions by providing a platform for integrating sensors and actuators with daily astronaut intravehicular activities to improve human health and performance. The V2Suit uses control moment gyroscopes (CMGs) within a miniaturized module placed on body segments to provide a "viscous resistance" during movements and a countermeasure to the sensorimotor and musculoskeletal adaptation performance decrements that manifest themselves while living and working in microgravity and during gravitational transitions during long-duration spaceflight, including post-flight recovery and rehabilitation. Through an integrated design, system initialization, and control systems approach the V2Suit is capable of generating this "viscous resistance" along an arbitrarily specified direction of "down." When movements are made, for example, parallel to that "down" direction a resistance is applied, and when the movement is perpendicular to that direction no resistance is applied. The V2Suit proposes to be a countermeasure to this spaceflight-related adaptation and de-conditioning and the unique sensorimotor characteristics associated with living and working in 0-G, which are critical for future long-duration space missions.This NIAC Phase I project focused on detailing several aspects of the V2Suit concept, including human-system integration, system architecture, computer aided design (CAD) modeling, and closed-loop simulation and analysis. In addition, early-stage breadboard prototyping of several aspects of the V2Suit system modules enabled characterization of expected performance and identified areas for further research and development to enable operational implementation of the V2Suit. In particular, potential challenges with integration of commercial-off-the-shelf components were identified. The key enabler for operational use and adoption of the V2Suit is a low-profile body worn form factor that does not interfere with normal, everyday movements and interfaces adequately with the body as to provide the generated gyroscopic torque for the perceptions of movement with a "viscous resistance." These aspects were investigated through mockups using a life-size mannequin, and through body attachment mechanisms on the breadboard prototype. Through the evaluation and investigation of commercially-available components, as well as an identification of desirable form factors, CAD models of the V2Suit modules were developed. These models included all of the required elements and spin motors, flywheel masses, gimbal motors, slip rings, inertial measurement units, motor controllers, and the required mounting brackets/hardware and cabling. The configuration and orientation of the control moment gyroscopes (CMGs) was specified according to results from the modeling, simulation and analysis. Two revisions of the CAD model were investigated through closed-loop simulation of the CMGs, and their ability to generate a resultant reaction force during movement and null undesirable torques due to changes in the direction of the angular momentum vector as a result of the normal body movements.

space missions↗

NASA NTRS2019

Performance Improvements for the Lunar Reconnaissance Orbiter Gyroless Extended Kalman Filter

In late 2017, the laser intensity monitor (LIM) current began to decline on the Lunar Reconnaissance Orbiter (LRO) miniature inertial measurement unit (MIMU). The MIMU was powered off in March 2018 and has only been used during extended eclipses, a pre-eclipse orbit phasing maneuver, and critical momentum unloads. Science slews were suspended, and the onboard extended Kalman filter (EKF) was disabled. A coarse rate was estimated through star tracker quaternion differentiation, and attitude was provided directly from a single star tracker. A complementary filter, combining the differentiated quaternions with the integrated acceleration derived from the attitude control torque, was developed, tested, and uploaded to the spacecraft in December 2018. The EKF has been enabled, using the complementary filter rate in place of the MIMU and science slews are now being performed. This paper presents an overview of the complementary filter rate estimation and EKF changes, fault detection updates without the MIMU, and inflight performance improvements.

Halverson, Julie↗

NASA NTRS2019

The Ice, Cloud, and Land Elevation Satellite-2 Mission: A Global Geolocated Photon Product Derived from the Advanced Topographic Laser Altimeter System

The Ice, Cloud, and land Elevation Satellite – 2 (ICESat-2) observatory was launched on 15 September 2018 to measure ice sheet and glacier elevation change, sea ice freeboard, and enable the determination of the heights of Earth’s forests. ICESat-2’s laser altimeter, the Advanced Topographic Laser Altimeter System (ATLAS) uses green (532 nm) laser light and single-photon sensitive detection to measure time of flight and subsequently surface height along each of its six beams. In this paper, we describe the major components of ATLAS, including the transmitter, the receiver and the components of the timing system. We present the major components of the ICESat-2 observatory, including the Global Positioning System, star trackers and inertial measurement unit. The ICESat-2 Level 1B data product (ATL02) provides the precise photon round-trip time of flight, among other data. The ICESat-2 Level 2A data product (ATL03) combines the photon times of flight with the observatory position and attitude to determine the geodetic location (i.e. the latitude, longitude and height) of the ground bounce point of photons detected by ATLAS. The ATL03 data product is used by higher-level (Level 3A) surface-specific data products to determine glacier and ice sheet height, sea ice freeboard, vegetation canopy height, ocean surface topography, and inland water body height.

ICESat-2↗

NASA NTRS2017

The Intelligent Landing System for Safe and Precise Landing on Europa

Europa, the smallest of Jupiter’s Galilean moons, is thought to harbor a vast liquid water ocean beneath its icy crust, making it one of the most scientifically intriguing targets for a robotic surface sampling mission in our Solar System. However, autonomously landing a spacecraft safely and precisely on Europa poses unique challenges, such as very little existing high-resolution reconnaissance imagery, a surface expected to be very rough and hazardous over a wide range of scales, an extremely intense ionizing radiation environment, and very limited lander resources for mass and volume. To address these challenges, we propose a novel Intelligent Landing System (ILS) combining four Guidance, Navigation & Control (GN&C) sensing functions – velocimetry, altimetry, map-relative localization, and hazard detection – that would together enable safe and precise landing on Europa’s surface. The ILS is a smart sensor system, combining an inertial measurement unit (IMU), a monocular, passive-optical camera, and a light detection and ranging (Li-DAR) sensor with dedicated computing resources as well as an onboard 3D terrain map. The ILS leverages more than a decade of technology development from programs such as the Lander Vision System, currently baselined on the Mars 2020 mission. This paper provides a detailed description of the proposed ILS architecture and concept of operations, as well as select preliminary simulation results to assess performance and robustness.

Trawny, Nikolas↗

NASA NTRS2019

Safe2Ditch Steer-To-Clear Development and Flight Testing

This paper describes a series of small unmanned aerial system (sUAS) flights performed at NASA Langley Research Center in April and May of 2019 to test a newly added Steer-to-Clear feature for the Safe2Ditch (S2D) prototype system. S2D is an autonomous crash management system for sUAS. Its function is to detect the onset of an emergency for an autonomous vehicle, and to enable that vehicle in distress to execute safe landings to avoid injuring people on the ground or damaging property. Flight tests were conducted at the City Environment Range for Testing Autonomous Integrated Navigation (CERTAIN) range at NASA Langley. Prior testing of S2D focused on rerouting to an alternate ditch site when an occupant was detected in the primary ditch site. For Steer-to-Clear testing, S2D was limited to a single ditch site option to force engagement of the Steer-to-Clear mode. The implementation of Steer-to-Clear for the flight prototype used a simple method to divide the target ditch site into four quadrants. An RC car was driven in circles in one quadrant to simulate an occupant in that ditch site. A simple implementation of Steer-to- Clear was programmed to land in the opposite quadrant to maximize distance to the occupant’s quadrant. A successful mission was tallied when this occurred. Out of nineteen flights, thirteen resulted in successful missions. Data logs from the flight vehicle and the RC car indicated that unsuccessful missions were due to geolocation error between the actual location of the RC car and the derived location of it by the Vision Assisted Landing component of S2D on the flight vehicle. Video data indicated that while the Vision Assisted Landing component reliably identified the location of the ditch site occupant in the image frame, the conversion of the occupant’s location to earth coordinates was sometimes adversely impacted by errors in sensor data needed to perform the transformation. Logged sensor data was analyzed to attempt to identify the primary error sources and their impact on the geolocation accuracy. Three trends were observed in the data evaluation phase. In one trend, errors in geolocation were relatively large at the flight vehicle’s cruise altitude, but reduced as the vehicle descended. This was the expected behavior and was attributed to sensor errors of the inertial measurement unit (IMU). The second trend showed distinct sinusoidal error for the entire descent that did not always reduce with altitude. The third trend showed high scatter in the data, which did not correlate well with altitude. Possible sources of observed error and compensation techniques are discussed.

Petty, Bryan J.↗

NASA NTRS2020

Vibration-based health characterization of multiple IMUs in UAV applications

Inertial measurement units (IMUs) are vital in UAV navigation for vehicle attitude and position estimation, especially in the frequently-occurring case of temporary loss of GPS capabilities. Degradation in these units could yield inaccurate position estimates, resulting in incorrect input for vehicle control systems. A wide variety of these units exist to meet the needs of UAV operators, general aviation, and military vehicles. In recent decades, lightweight and inexpensive MEMS sensors have grown in popularity with respect to UAVs. Studies into the failure modes of MEMS devices suggest that vibration is one of the leading causes of MEMS degradation. MEMS sensors are generally encased in their own hermetic packaging, as their small size and sensitivity cause them to be particularly vulnerable to air damping and particulate contamination when exposed. Exposure to excessive vibration can cause cracking in this packaging as well as damage to connecting electronics, with recorded results that cause sensors to act outside of their specifications, potentially providing unreliable input to controllers. A prior study from the Politecnico di Torino looked into the degradation of MEMS IMUs, specifically the AXIS-AIS402, for aerospace and vibrating environments. In the study, the authors found that after exposing MEMS IMUs to simulated vibrations from working conditions of aerospace applications, the sensors showed increased noise and increased bias instability. At NASA Ames, several widely-used MEMS IMUs were selected for a new IMU degradation study, comparing accelerometer performance before and after exposure to similar levels of vibration simulating aerospace conditions. The IMUs were selected from the Pixhawk autopilot systems, hobby sUAS, or prior experimental studies at NASA. Additionally, the industrial grade VectorNav-100 IMU was selected as a ground truth reference point to which the performance of the test sensors can be compared. In the study, each sensor is exposed to functional levels of UAV vibration as replicated on a single-frequency vibratory table in the NASA Ames SHARP Laboratory, and each accelerometer is characterized for bias, drift, and noise characteristics both before and after vibratory exposure. The focus of this study is to monitor the health of the IMU sensors and determine if sensor degradation can be detected from output error and frequency spectrum analysis, rather than from microscopic examination of the sensors. In this case, sensor degradation and faulty data can be more easily detectable by non-experts hoping to use these sensors as an important piece of an integrated package. In addition, specific sensor degradation modes potentially leading to in-flight hazards could be identified, such as accelerated levels of drift and altered temperature response. The overall goal of this work is to increase levels of safety for future users of these sensors and to provide a clear analysis of sensor limitations currently lacking in most sensor specification documentation.

IMUs↗

NASA NTRSDate not supplied

Examining the Role of IMU Health Characterization and Monitoring in UAS Safety

Inertial measurement units (IMUs) can be vital for vehicle attitude and position estimation in unmanned aerial vehicles (UAVs). Degradation in these units could result in incorrect position estimates that are utilized in vehicle control, trajectory prediction, and other critical systems; however, the modes and effects of degradation in these IMUs are not well understood. In order to quantify the risk posed by degradation in these sensors, a study was conducted on the types of IMUs prevalent in the commercial market, their known failure modes, and the applicability to health monitoring methods for risk reduction and increased safety in an increasingly autonomous airspace. First, use cases and failure modes of the various types and reliability of commercially available IMUs were reviewed, and knowledge gaps and issues in the field were identified. Noting that inexpensive and lightweight MEMS (Microelectromechanical Systems) IMUs are some of the most commonly used but least reliable sensors in sUAS (small Unmanned Aerial Systems), five inexpensive MEMS IMUs were chosen for a performance evaluation study, selected from the Pixhawk autopilot systems, hobby sUAS, and prior NASA experimental studies. For each of these IMUs, a 10-minute bias test and a 12-hour drift test were performed for the accelerometers in a benchtop setting, using a BeagleBone Black for data collection. Using these results, the sensors’ performance is compared to their reported specifications, and the utility of implementing diagnostic methods for MEMS IMUs for research and commercial applications is evaluated. The paper concludes with a planned study for the evaluation of vibration-induced degradation for the selected sensors.

IMUs↗

NASA NTRS2004

Path following using visual odometry for Mars Rover in high-slip environments.

An architecture for autonomous operation of Mars rovers in high slip environments has been designed, implemented, and tested. This architecture is composed of several key technologies that enable the rover to accurately follow a designated path, compensate for slippage, and reach intended goals independent of the terrain over which it is traversing (within the mechanical constraints of the mobility system). These technologies include: visual odometry, full vehicle kinematics, a Kalman filter, and a slop compensation/path follower. Visual odometry tracks distinctive scene features in stereo imagery to estimate rover motion between successively acquired stereo image pairs using a maximum likelihood motion estimation algorithm. The full vehicle kinematics for a rocker-bogie suspension system estimates motion, with a no-slip assumption, by measuring wheel, rates, and rocker, bogie, and steering angles. The Kalman filter merges data from an Inertial Measurement Unit (IMU) and visual odometry. This merged estimate is then compared to the kinematic estimate to determining (tracking into account estimate uncertainties) if and how much slippage has occurred then a slip vector is calculated by differencing the current Kalman filter estimate from the kinematic estimate. This slip vector is then used, in conjunction with the inverse kinematics, to determine the necessary wheel velocities and steering angles to compensate for slip and follow the desired path.

Roumeliotis, Stergios I.↗

NASA NTRS1995

The Clementine Mission

The Clementine Mission is summarized from purposes of the mission through details of the instruments. The mission was a joint Department of Defense and NASA mission to use lighter instruments and other equipment developed by the military for space exploration. New lightweight items on Clementine include batteries, optical sensors, reaction wheels, star trackers, release systems, and inertial measurement units. Other items include a compression chip set, a solid state data recorder, autonomous navigation, and a 32-bit RISC computer.

space↗

NASA NTRS2002

Descent-speed testing of a hazard detection system for safe landing on Mars

In a previous paper we described an approach for testing a prototype system designed to detect hazards during the terminal descent phase of a mission to Mars. The system under development at the Jet Propulsion Laboratory (JPL) utilizes a scanning laser radar and an inertial measurement unit to map the landing zone, identify hazards, and thenguide the vehicle to a safe landing site. The test approach consisted of a placing this system on a rocket sled, accelerating the sled to typical descent speeds, and mapping a simulated Martian terrain. The data would then be processed to identify hazards and locate a safe landing site. Since ref. 1 was written several such tests have been performed. In this paper we provide an update on the testing methodology and we present preliminary results from one of the tests.

hazard↗

NASA NTRS2013

A hybrid FPGA/Tilera compute element for autonomous hazard detection and navigation

To increase safety for future missions landing on other planetary or lunar bodies, the Autonomous Landing and Hazard Avoidance Technology (ALHAT) program is developing an integrated sensor for autonomous surface analysis and hazard determination. The ALHAT Hazard Detection System (HDS) consists of a Flash LIDAR for measuring the topography of the landing site, a gimbal to scan across the terrain, and an Inertial Measurement Unit (IMU), along with terrain analysis algorithms to identify the landing site and the local hazards. An FPGA and Manycore processor system was developed to interface all the devices in the HDS, to provide high-resolution timing to accurately measure system state, and to run the surface analysis algorithms quickly and efficiently. In this paper, we will describe how we integrated COTS components such as an FPGA evaluation board, a TILExpress64, and multi-threaded/multi-core aware software to build the HDS Compute Element (HDSCE). The ALHAT program is also working with the NASA Morpheus Project and has integrated the HDS as a sensor on the Morpheus Lander. This paper will also describe how the HDS is integrated with the Morpheus lander and the results of the initial test flights with the HDS installed. We will also describe future improvements to the HDSCE.

Trawny, Nikolas↗