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NASA NTRS2015

The OSIRIS-REx Asteroid Sample Return Mission Operations Design

OSIRIS-REx is an acronym that captures the scientific objectives: Origins, Spectral Interpretation, Resource Identification, and Security-Regolith Explorer. OSIRIS-REx will thoroughly characterize near-Earth asteroid Bennu (Previously known as 1019551999 RQ36). The OSIRIS-REx Asteroid Sample Return Mission delivers its science using five instruments and radio science along with the Touch-And-Go Sample Acquisition Mechanism (TAGSAM). All of the instruments and data analysis techniques have direct heritage from flown planetary missions. The OSIRIS-REx mission employs a methodical, phased approach to ensure success in meeting the mission's science requirements. OSIRIS-REx launches in September 2016, with a backup launch period occurring one year later. Sampling occurs in 2019. The departure burn from Bennu occurs in March 2021. On September 24, 2023, the Sample Return Capsule (SRC) lands at the Utah Test and Training Range (UTTR). Stardust heritage procedures are followed to transport the SRC to Johnson Space Center, where the samples are removed and delivered to the OSIRIS-REx curation facility. After a six-month preliminary examination period the mission will produce a catalog of the returned sample, allowing the worldwide community to request samples for detailed analysis. Traveling and returning a sample from an Asteroid that has not been explored before requires unique operations consideration. The Design Reference Mission (DRM) ties together spacecraft, instrument and operations scenarios. Asteroid Touch and Go (TAG) has various options varying from ground only to fully automated (natural feature tracking). Spacecraft constraints such as thermo and high gain antenna pointing impact the timeline. The mission is sensitive to navigation errors, so a late command update has been implemented. The project implemented lessons learned from other "small body" missions. The key lesson learned was 'expect the unexpected' and implement planning tools early in the lifecycle. This paper summarizes the ground and spacecraft design as presented at OSIRIS-REx Critical Design Review(CDR) held April 2014.

mission operations↗

NASA NTRS2010

Reactive Sequencing for Autonomous Navigation Evolving from Phoenix Entry, Descent, and Landing

Virtual Machine Language (VML) is an award-winning advanced procedural sequencing language in use on NASA deep-space missions since 1997, and was used for the successful entry, descent, and landing (EDL) of the Phoenix spacecraft onto the surface of Mars. Phoenix EDL utilized a state-oriented operations architecture which executed within the constraints of the existing VML 2.0 flight capability, compatible with the linear "land or die" nature of the mission. The intricacies of Phoenix EDL included the planned discarding of portions of the vehicle, the complex communications management for relay through on-orbit assets, the presence of temporally indeterminate physical events, and the need to rapidly catch up four days of sequencing should a reboot of the spacecraft flight computer occur shortly before atmospheric entry. These formidable operational challenges led to new techniques for packaging and coordinating reusable sequences called blocks using one-way synchronization via VML sequencing global variable events. The coordinated blocks acted as an ensemble to land the spacecraft, while individually managing various elements in as simple a fashion as possible. This paper outlines prototype VML 2.1 flight capabilities that have evolved from the one-way synchronization techniques in order to implement even more ambitious autonomous mission capabilities. Target missions for these new capabilities include autonomous touch-and-go sampling of cometary and asteroidal bodies, lunar landing of robotic missions, and ultimately landing of crewed lunar vehicles. Close proximity guidance, navigation, and control operations, on-orbit rendezvous, and descent and landing events featured in these missions require elaborate abort capability, manifesting highly non-linear scenarios that are so complex as to overtax traditional sequencing, or even the sort of one-way coordinated sequencing used during EDL. Foreseeing advanced command and control needs for small body and lunar landing guidance, navigation and control scenarios, work began three years ago on substantial upgrades to VML that are now being exercised in scenarios for lunar landing and comet/asteroid rendezvous. The advanced state-based approach includes coordinated state transition machines with distributed decision-making logic. These state machines are not merely sequences - they are reactive logic constructs capable of autonomous decision making within a well-defined domain. Combined with the JPL's AutoNav software used on Deep Space 1 and Deep Impact, the system allows spacecraft to autonomously navigate to an unmapped surface, soft-contact, and either land or ascend. The state machine architecture enabled by VML 2.1 has successfully performed sampling missions and lunar descent missions in a simulated environment, and is progressing toward flight capability. The authors are also investigating using the VML 2.1 flight director architecture to perform autonomous activities like rendezvous with a passive hypothetical Mars sample return capsule. The approach being pursued is similar to the touch-and-go sampling state machines, with the added complications associated with the search for, physical capture of, and securing of a separate spacecraft. Complications include optically finding and tracking the Orbiting Sample Capsule (OSC), keeping the OSC illuminated, making orbital adjustments, and physically capturing the OSC. Other applications could include autonomous science collection and fault compensation.

asteroid↗

NASA NTRS2017

Sample Curation in Support of the OSIRIS-REx Asteroid Sample Return Mission

The OSIRIS-REx asteroid sample return mission launched to asteroid Bennu Sept. 8, 2016. The spacecraft will arrive at Bennu in late 2019, orbit and map the asteroid, and perform a touch and go (TAG) sampling maneuver in July 2020. After sample is stowed and confirmed the spacecraft will return to Earth, and the sample return capsule (SRC) will land in Utah in September 2023. Samples will be recovered from Utah [2] and then transported and stored in a new sample cleanroom at NASA Johnson Space Center in Houston [3]. The materials curated for the mission are described here. a) Materials Archive and Witness Plate Collection: The SRC and TAGSAM were built between March 2014 and Summer of 2015, and instruments (OTES,OVIRS, OLA, OCAMS, REXIS) were integrated from Summer 2015 until May 2016. A total of 395 items were received for the materials archive at NASA-JSC, with archiving finishing ~30 days after launch (with the final archived items being related to launch operations)[4]. The materials fall into several general categories including metals (stainless steel, aluminum, titanium alloys, brass and BeCu alloy), epoxies, paints, polymers, lubricants, non-volatile-residue samples (NVR), sapphire, and various miscellaneous materials. All through the ATLO process (from March 2015 until late August 2016) contamination knowledge witness plates (Si wafer and Al foil) were deployed in the various cleanrooms in Denver and KSC to provide an additional record of particle counts and volatiles that is archived for current and future scientific studies. These plates were deployed in roughly monthly increments with each unit containing 4 Si wafers and 4 Al foils. We archived 128 individual witness plates (64 Si wafers and 64 Al foils); one of each witness plate (Si and Al) was analyzed immediately by the science team after archiving, while the remaining 3 of each are archived indefinitely. Information about each material archived is stored in an extensive database at NASA-JSC, and key summary information for each will be presented in an online catalog. b) Bulk Asteroid sample: The Touch and Go Sampling Mechanism (TAGSAM) head will contain up to 1.5 kg of asteroid material. Upon return to Earth, the TAGSAM head with the sample canister will be subjected to a nitrogen purge and then opened in a nitrogen cabinet in Houston. Once the TAGSAM head is removed from the canister, it will be dis-assembled slowly and carefully under nitrogen until the sample can be removed for processing in a dedicated nitrogen glovebox. Bennu surface samples are expected to be sub-cm sized, based on thermal infrared and radar polarization ratio measurements [1]. The upper limit on material collected by the TAGSAM head is ~2 cm. Therefore, we will be prepared to handle, subdivide, and characterize materials of a wide grain size (from ~10 m to 2 cm), and for both organic (UV fluorescence) and inorganic (SEM, FTIR, optical) properties. Representative portions of the bulk sample will be prepared for JAXA (0.5 %; see also [5]) and Canadian Space Agency (4%), with the remaining divided between the science team (<25%) and archived for future studies (NASA) (>75%). c) Contact Pad samples: The base of the TAGSAM head contains 24 contact pads that are designed to trap the upper surface layer of material and thus offer an opportunity to study asteroid samples that have resided at the very top surface of the regolith. Asteroid material is trapped on the pads in spring steel Velcro hooks, and material will have to be removed from these pads by curation specialists in the lab. d) Hardware: Some canister and SRC hardware items will contain information that will be important to understanding the collected samples, including the canister gas filter, temperature strips, flight witness plates, and the TAGSAM and canister parts that might have adhering dust grains. Some challenges remaining for both bulk sample and contact pad samples include: i) working with intermediate size range (200 to 500 micron) samples - a size range NASA has not previously worked in such detail; ii) techniques for removal of contact pad material from the spring steel hooks, iii) static electrical effects of dust sized particles during sample handling and curation is likely to be significant, and iv) the TAGSAM head and associated canister hardware will undoubtedly be coated with fine adhering dust grains from Bennu. In the case of collection of a large bulk sample mass, the adhering dust grains may be of lower priority. If a small sample mass is returned, the adhering dust may attain a higher priority, so recovery of adhering dust grains is an additional challenge to consider. In the year leading up to sample return we plan a variety of sample handling rehearsals that will enables the curation team to be prepared for many new aspects posed by this sample suite.

Righter, Kevin↗

NASA NTRS1983

Flight test experience with pilot-induced-oscillation suppressor filters

Digital flight control systems are popular for their flexibility, reliability, and power; however, their use sometimes results in deficient handling qualities, including pilot-induced oscillation (PIO), which can require extensive redesign of the control system. When redesign is not immediately possible, temporary solutions, such as the PIO suppression (PIOS) filter developed for the Space Shuttle, have been proposed. To determine the effectiveness of such PIOS filters on more conventional, high-performance aircraft, three experiments were performed using the NASA F-8 digital fly-by-wire and USAF/Calspan NT-33 variable-stability aircraft. Two types of PIOS filters were evaluated, using high-gain, precision tasks (close formation, probe-and-drogue refueling, and precision touch-and-go landing) with a time delay or a first-order lag added to make the aircraft prone to PIO. Various configurations of the PIOS filter were evaluated in the flight programs, and most of the PIOS filter configurations reduced the occurrence of PIOs and improved the handling qualities of the PIO-prone aircraft. These experiments also confirmed the influence of high-gain tasks and excessive control system time delay in evoking pilot-induced oscillations.

Shafer, M. F.↗

NASA NTRS1984

Flight test experience with pilot-induced-oscillation suppression filters

Shafer, M. F.↗

NASA NTRS1994

F-15 Resource Tape

An F-15 fighter aircraft is portrayed in resource video. A flight test is shown with take-off, touch and go landings, some flight maneuvers, and pilot to control tower communication with references to drag vectors.

Source record↗

NASA NTRS1991

Acoustic Climb to Cruise Test

Flight test film footage of three different aircraft testing the acoustical noise levels during take-off, climb, maneuvers, and touch and go landings are described. These sound tests were conducted on two fighter aircraft and one cargo aircraft. Results from mobile test vehicle are shown.

Source record↗

NASA NTRS1995

Flight test evaluation of the Stanford University/United Airlines differential GPS Category 3 automatic landing system

Test flights were conducted to evaluate the capability of Differential Global Positioning System (DGPS) to provide the accuracy and integrity required for International Civil Aviation Organization (ICAO) Category (CAT) 3 precision approach and landings. These test flights were part of a Federal Aviation Administration (FAA) program to evaluate the technical feasibility of using DGPS based technology for CAT 3 precision approach and landing applications. A United Airlines Boeing 737-300 (N304UA) was equipped with DGPS receiving equipment and additional computing capability provided by Stanford University. The test flights were conducted at NASA Ames Research Center's Crows Landing Flight Facility, Crows Landing, California. The flight test evaluation was based on completing 100 approaches and autolandings; 90 touch and go, and 10 terminating with a full stop. Two types of accuracy requirements were evaluated: 1) Total system error, based on the Required Navigation Performance (RNP), and 2) Navigation sensor error, based on ICAO requirements for the Microwave Landing System (MLS). All of the approaches and autolandings were evaluated against ground truth reference data provided by a laser tracker. Analysis of these approaches and autolandings shows that the Stanford University/United Airlines system met the requirements for a successful approach and autolanding 98 out of 100 approaches and autolandings, based on the total system error requirements as specified in the FAA CAT 3 Level 2 Flight Test Plan.

Kaufmann, David N.↗

NASA NTRS2000

NEA Multi-Chamber Sample Return Container with Hermetic Sealing

A sample return container is being developed by Honeybee Robotics to receive samples from a derivative of the Champollion/ST4 Sample Acquisition and Transfer Mechanism or other samplers such as the 'Touch and Go' Surface Sampler (TGSS), and then hermetically seal the samples for a sample return mission. The container is enclosed in a phase change material (PCM) chamber to prevent phase change during return and re-entry to earth. This container is designed to operate passively with no motors and actuators. Using the rotation axis of the TGSS sampler for interfacing, transferring and sealing samples, the container consumes no electrical power and therefore minimizes sample temperature change. The circular container houses multiple isolated canisters, which will be sealed individually for samples acquired from different sites or depths. The TGSS based sampler indexes each canister to the sample transfer position, below the index interface for sample transfer. After sample transfer is completed, the sampler indexes a seal carrier, which lines up seals with the openings of the canisters. The sampler moves to the sealing interface and seals the sample canisters one by one. The sealing interface can be designed to work with C-seals, knife edge seals and cup seals. This sample return container is being developed by Honeybee Robotics in collaboration with the JPL Exploration Technology program. A breadboard system of the sample return container has been recently completed and tested. Additional information is contained in the original extended abstract.

Rafeek, Shaheed↗

NASA NTRS2004

Penetrator Coring Apparatus for Cometary Surfaces

Touch and go impact coring is an attractive technique for sampling cometary nuclei and asteroidal surface on account of the uncertain strength properties and low surface gravities of these objects. Initial coring experiments in low temperature (approx. 153K polycrystalline ice) and porous rock demonstrate that simultaneous with impact coring, measurements of both the penetration strength and constraints on the frictional properties of surface materials can be obtained upon core penetration and core sample extraction. The method of sampling an asteroid, to be deployed, on the now launched MUSES-C mission, employs a small gun device that fires into the asteroid and the resulted impact ejecta is collected for return to Earth. This technique is well suited for initial sampling in a very low gravity environment and deployment depends little on asteroid surface mechanical properties. Since both asteroids and comets are believed to have altered surface properties a simple sampling apparatus that preserves stratigraphic information, such as impact coring is an attractive alternate to impact ejecta collection.

Braun, David F.↗

NASA NTRS2006

Titan Orbiter with Aerorover Mission (TOAM)

We propose to develop a new mission to Titan called Titan Orbiter with Aerorover Mission (TOAM). This mission is motivated by the recent discoveries of Titan, its atmosphere and its surface by the Huygens Probe, and a combination of in situ, remote sensing and radar mapping measurements of Titan by the Cassini orbiter. Titan is a body for which Astrobiology (i.e., prebiotic chemistry) will be the primary science goal of any future missions to it. TOAM is planned to use an orbiter and balloon technology (i.e., aerorover). Aerobraking will be used to put payload into orbit around Titan. The Aerorover will probably use a hot air balloon concept using the waste heat from the MMRTG approx. 500 watts. Orbiter support for the Aerorover is unique to our approach for Titan. Our strategy to use an orbiter is contrary to some studies using just a single probe with balloon. Autonomous operation and navigation of the Aerorover around Titan will be required, which will include descent near to the surface to collect surface samples for analysis (i.e., touch and go technique). The orbiter can provide both relay station and GPS roles for the Aerorover. The Aerorover will have all the instruments needed to sample Titan's atmosphere, surface, possible methane lakes-rivers, use multi-spectral imagers for surface reconnaissance; to take close up surface images; take core samples and deploy seismometers during landing phase. Both active and passive broadband remote sensing techniques will be used for surface topography, winds and composition measurements.

Sittler, Edward C.↗

NASA NTRS2007

Extraterrestrial Moessbauer Spectroscopy: More than Three Years of Mars Exploration and Developments for Future Missions

The NASA Mars Exploration Rovers (MER), Spirit and Opportunity, landed on the Red Planet in January 2004. Both rovers are equipped with a miniaturized Moessbauer spectrometer MIMOS II. Designed for a three months mission, both rovers and both Moessbauer instruments are still working after more than three years of exploring the Martian surface. At the beginning of the mission, with a landed intensity of the Moessbauer source of 150 mCi, a 30 minute touch and go measurement produced scientifically valuable data while a good quality Moessbauer spectrum was obtained after approximately eight hours. Now, after about five halflives of the sources have passed, Moessbauer integrations are routinely planned to last approx.48 hours. Because of this and other age-related hardware degradations of the two rover systems, measurements now occur less frequently, but are still of outstanding quality and scientific importance. Summarizing important Moessbauer results, Spirit has traversed the plains from her landing site in Gusev crater and is now, for the greater part of the mission, investigating the stratigraphically older Columbia Hills. Olivine in rocks and soils in the plains suggests that physical rather than chemical processes are currently active.

Schroeder, Christian↗

NASA NTRS2007

Titan Orbiter with Aerorover Mission (TOAM)

We propose to develop a new mission to Titan called Titan Orbiter with Aerorover Mission (TOAM). This mission is motivated by the recent discoveries of Titan, its atmosphere and its surface by the Huygens Probe, and a combination of in situ, remote sensing and radar mapping measurements of Titan by the Cassini orbiter. Titan is a body for which Astrobiology (i.e., prebiotic chemistry) will be the primary science goal of any future missions to it. TOAM is planned to use an orbiter and balloon technology (i.e., aerorover). Aerobraking will be used to put payload into orbit around Titan. One could also use aerobraking to put spacecraft into orbit around Saturn first for an Enceladus phase of the mission and then later use aerocapture to put spacecraft into orbit around Titan. The Aerorover will probably use a hot air balloon concept using the waste heat from the MMRTG approx. 1000 watts. Orbiter support for the Aerorover is unique to our approach for Titan. Our strategy to use an orbiter is contrary to some studies using just a single probe with balloon. Autonomous operation and navigation of the Aerorover around Titan will be required, which will include descent near to the surface to collect surface samples for analysis (i.e., touch and go technique). The orbiter can provide both relay station and GPS roles for the Aerorover. The Aerorover will have all the instruments needed to sample Titan's atmosphere, surface, possible methane lakes-rivers, use multi-spectral imagers for surface reconnaissance; to take close up surface images; take core samples and deploy seismometers during landing phase. Both active and passive broadband remote sensing techniques will be used for surface topography, winds and composition measurements.

Sittler, E. C., Jr.↗

NASA NTRS2008

Triple F - A Comet Nucleus Sample Return Mission

The Triple F (Fresh From the Fridge) mission, a Comet Nucleus Sample Return, has been proposed to ESA s Cosmic Vision program. A sample return from a comet enables us to reach the ultimate goal of cometary research. Since comets are the least processed bodies in the solar system, the proposal goes far beyond cometary science topics (like the explanation of cometary activity) and delivers invaluable information about the formation of the solar system and the interstellar molecular cloud from which it formed. The proposed mission would extract three samples of the upper 50 cm from three locations on a cometary nucleus and return them cooled to Earth for analysis in the laboratory. The simple mission concept with a touch-and-go sampling by a single spacecraft was proposed as an M-class mission in collaboration with the Russian space agency ROSCOSMOS.

Kueppers, Michael↗

NASA NTRS2008

Deployable Wireless Camera Penetrators

A lightweight, low-power camera dart has been designed and tested for context imaging of sampling sites and ground surveys from an aerobot or an orbiting spacecraft in a microgravity environment. The camera penetrators also can be used to image any line-of-sight surface, such as cliff walls, that is difficult to access. Tethered cameras to inspect the surfaces of planetary bodies use both power and signal transmission lines to operate. A tether adds the possibility of inadvertently anchoring the aerobot, and requires some form of station-keeping capability of the aerobot if extended examination time is required. The new camera penetrators are deployed without a tether, weigh less than 30 grams, and are disposable. They are designed to drop from any altitude with the boost in transmitting power currently demonstrated at approximately 100-m line-of-sight. The penetrators also can be deployed to monitor lander or rover operations from a distance, and can be used for surface surveys or for context information gathering from a touch-and-go sampling site. Thanks to wireless operation, the complexity of the sampling or survey mechanisms may be reduced. The penetrators may be battery powered for short-duration missions, or have solar panels for longer or intermittent duration missions. The imaging device is embedded in the penetrator, which is dropped or projected at the surface of a study site at 90 to the surface. Mirrors can be used in the design to image the ground or the horizon. Some of the camera features were tested using commercial "nanny" or "spy" camera components with the charge-coupled device (CCD) looking at a direction parallel to the ground. Figure 1 shows components of one camera that weighs less than 8 g and occupies a volume of 11 cm3. This camera could transmit a standard television signal, including sound, up to 100 m. Figure 2 shows the CAD models of a version of the penetrator. A low-volume array of such penetrator cameras could be deployed from an aerobot or a spacecraft onto a comet or asteroid. A system of 20 of these penetrators could be designed and built in a 1- to 2-kg mass envelope. Possible future modifications of the camera penetrators, such as the addition of a chemical spray device, would allow the study of simple chemical reactions of reagents sprayed at the landing site and looking at the color changes. Zoom lenses also could be added for future use.

Badescu, Mircea↗

NASA NTRS2009

Aerobot Autonomy Architecture

An architecture for autonomous operation of an aerobot (i.e., a robotic blimp) to be used in scientific exploration of planets and moons in the Solar system with an atmosphere (such as Titan and Venus) is undergoing development. This architecture is also applicable to autonomous airships that could be flown in the terrestrial atmosphere for scientific exploration, military reconnaissance and surveillance, and as radio-communication relay stations in disaster areas. The architecture was conceived to satisfy requirements to perform the following functions: a) Vehicle safing, that is, ensuring the integrity of the aerobot during its entire mission, including during extended communication blackouts. b) Accurate and robust autonomous flight control during operation in diverse modes, including launch, deployment of scientific instruments, long traverses, hovering or station-keeping, and maneuvers for touch-and-go surface sampling. c) Mapping and self-localization in the absence of a global positioning system. d) Advanced recognition of hazards and targets in conjunction with tracking of, and visual servoing toward, targets, all to enable the aerobot to detect and avoid atmospheric and topographic hazards and to identify, home in on, and hover over predefined terrain features or other targets of scientific interest. The architecture is an integrated combination of systems for accurate and robust vehicle and flight trajectory control; estimation of the state of the aerobot; perception-based detection and avoidance of hazards; monitoring of the integrity and functionality ("health") of the aerobot; reflexive safing actions; multi-modal localization and mapping; autonomous planning and execution of scientific observations; and long-range planning and monitoring of the mission of the aerobot. The prototype JPL aerobot (see figure) has been tested extensively in various areas in the California Mojave desert.

Elfes, Alberto↗

NASA NTRS2009

NASA Tech Briefs, September 2009

opics covered include: Filtering Water by Use of Ultrasonically Vibrated Nanotubes; Computer Code for Nanostructure Simulation; Functionalizing CNTs for Making Epoxy/CNT Composites; Improvements in Production of Single-Walled Carbon Nanotubes; Progress Toward Sequestering Carbon Nanotubes in PmPV; Two-Stage Variable Sample-Rate Conversion System; Estimating Transmitted-Signal Phase Variations for Uplink Array Antennas; Board Saver for Use with Developmental FPGAs; Circuit for Driving Piezoelectric Transducers; Digital Synchronizer without Metastability; Compact, Low-Overhead, MIL-STD-1553B Controller; Parallel-Processing CMOS Circuitry for M-QAM and 8PSK TCM; Differential InP HEMT MMIC Amplifiers Embedded in Waveguides; Improved Aerogel Vacuum Thermal Insulation; Fluoroester Co-Solvents for Low-Temperature Li+ Cells; Using Volcanic Ash to Remove Dissolved Uranium and Lead; High-Efficiency Artificial Photosynthesis Using a Novel Alkaline Membrane Cell; Silicon Wafer-Scale Substrate for Microshutters and Detector Arrays; Micro-Horn Arrays for Ultrasonic Impedance Matching; Improved Controller for a Three-Axis Piezoelectric Stage; Nano-Pervaporation Membrane with Heat Exchanger Generates Medical-Grade Water; Micro-Organ Devices; Nonlinear Thermal Compensators for WGM Resonators; Dynamic Self-Locking of an OEO Containing a VCSEL; Internal Water Vapor Photoacoustic Calibration; Mid-Infrared Reflectance Imaging of Thermal-Barrier Coatings; Improving the Visible and Infrared Contrast Ratio of Microshutter Arrays; Improved Scanners for Microscopic Hyperspectral Imaging; Rate-Compatible LDPC Codes with Linear Minimum Distance; PrimeSupplier Cross-Program Impact Analysis and Supplier Stability Indicator Simulation Model; Integrated Planning for Telepresence With Time Delays; Minimizing Input-to-Output Latency in Virtual Environment; Battery Cell Voltage Sensing and Balancing Using Addressable Transformers; Gaussian and Lognormal Models of Hurricane Gust Factors; Simulation of Attitude and Trajectory Dynamics and Control of Multiple Spacecraft; Integrated Modeling of Spacecraft Touch-and-Go Sampling; Spacecraft Station-Keeping Trajectory and Mission Design Tools; Efficient Model-Based Diagnosis Engine; and DSN Simulator.

Source record↗

NASA NTRS2010

Autonomous GN and C for Spacecraft Exploration of Comets and Asteroids

A spacecraft guidance, navigation, and control (GN&C) system is needed to enable a spacecraft to descend to a surface, take a sample using a touch-and-go (TAG) sampling approach, and then safely ascend. At the time of this reporting, a flyable GN&C system that can accomplish these goals is beyond state of the art. This article describes AutoGNC, which is a GN&C system capable of addressing these goals, which has recently been developed and demonstrated to a maturity TRL-5-plus. The AutoGNC solution matures and integrates two previously existing JPL capabilities into a single unified GN&C system. The two capabilities are AutoNAV and GREX. AutoNAV is JPL s current flight navigation system, and is fairly mature with respect to flybys and rendezvous with small bodies, but is lacking capability for close surface proximity operations, sampling, and contact. G-REX is a suite of low-TRL algorithms and capabilities that enables spacecraft operations in close surface proximity and for performing sampling/contact. The development and integration of AutoNAV and G-REX components into AutoGNC provides a single, unified GN&C capability for addressing the autonomy, close-proximity, and sampling/contact aspects of small-body sample return missions. AutoGNC is an integrated capability comprising elements that were developed separately. The main algorithms and component capabilities that have been matured and integrated are autonomy for near-surface operations, terrain-relative navigation (TRN), real-time image-based feedback guidance and control, and six degrees of freedom (6DOF) control of the TAG sampling event. Autonomy is achieved based on an AutoGNC Executive written in Virtual Machine Language (VML) incorporating high-level control, data management, and fault protection. In descending to the surface, the AutoGNC system uses camera images to determine its position and velocity relative to the terrain. This capability for TRN leverages native capabilities of the original AutoNAV system, but required advancements that integrate the separate capabilities for shape modeling, state estimation, image rendering, defining a database of onboard maps, and performing real-time landmark recognition against the stored maps. The ability to use images to guide the spacecraft requires the capability for image-based feedback control. In Auto- GNC, navigation estimates are fed into an onboard guidance and control system that keeps the spacecraft guided along a desired path, as it descends towards its targeted landing or sampling site. Once near the site, AutoGNC achieves a prescribed guidance condition for TAG sampling (position/orientation, velocity), and a prescribed force profile on the sampling end-effector. A dedicated 6DOF TAG control then implements the ascent burn while recovering from sampling disturbances and induced attitude rates. The control also minimizes structural interactions with flexible solar panels and disallows any part of the spacecraft from making contact with the ground (other than the intended end-effector).

Carson, John M.↗