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NASA NTRS2019

OSIRIS-REx Orbit Determination Performance During the Navigation Campaign

The OSIRIS-REx mission Navigation Campaign consists of three sub-phases: Approach,Preliminary Survey, and Orbital A. Approach was designed for initial characterization ofBennu while matching Bennu's heliocentric velocity. Preliminary Survey provided the firstspacecraft-based estimate of Bennu's mass. This phase consisted of five target flybys witha close approach distance of about 7 km. Orbital A was a two-month phase devoted to theNavigation Team learning the close proximity operations dynamics and environment aroundBennu and transitioning from center-finding optical navigation to landmark feature-basednavigation. This paper provides a detailed summary of the orbit determination performancethroughout the Navigation Campaign.

Leonard, Jason M.↗

NASA NTRS2020

Orion Optical Navigation Performance and Testing

The Orion Optical Navigation System, which is designed to perform the navigation which will allow the crew to return safely to Earth in the event of a permanent loss of communications with the ground, has been matured through analysis and testing. This paper will detail the extensive tests and analysis that have gone into fleshing out the performance of the system in the face of numerous constraints placed on the optical navigation system.

D'Souza, Christopher↗

NASA NTRS2020

LunaNet: a Flexible and Extensible Lunar Exploration Communications and Navigation Infrastructure

NASA has set the ambitious goal of establishing a sustainable human presence on the Moon. Diverse commercial and international partners are engaged in this effort to catalyze scientific discovery, lunar resource utilization and economic development on both the Earth and at the Moon. Lunar development will serve as a critical proving ground for deeper exploration into the solar system. Space communications and navigation infrastructure will play an integral part in realizing this goal. This paper provides a high-level description of an extensible and scalable lunar communications and navigation architecture, known as LunaNet. LunaNet is a services network to enable lunar operations. Three LunaNet service types are defined: networking services, position, navigation and timing services, and science utilization services. The LunaNet architecture encompasses a wide variety of topology implementations, including surface and orbiting provider nodes. In this paper several systems engineering considerations within the service architecture are highlighted. Additionally, several alternative LunaNet instantiations are presented. Extensibility of the LunaNet architecture to the solar system internet is discussed.

Israel, David J.↗

NASA NTRS2020

LunaNet: A Flexible and Extensible Lunar Exploration Communication and Navigation Infrastructure

Israel, David J.↗

NASA NTRS2019

Defining Navigation Requirements for Future Precision Lander Missions

Human mission concepts for both the Moon and Mars require landing precision capabilities beyond the current state of art. The Safe and Precise Landing Integrated Capabilities Evolution (SPLICE) project leverages previous work at NASA to develop multimission precision landing and hazard avoidance (PL&HA) technologies to meet the advanced landing requirements. SPLICE aims to develop guidance, navigation and control (GN&C) capabilities for both Moon and Mars lander missions. The approach the project is using to identify a standard suite begins with developing a PL&HA requirements matrix to inform technology investments. The approach to develop a multi-mission navigation requirements matrix includes identifying representative concepts of operations for both robotic and human missions. It also identifies navigation sensor options with estimated performance parameters. This paper summarizes the concepts of operations and sensors considered to develop the SPLICE PL&HA requirements matrix. A description of the analysis used to determine candidate optimal sensor suites and initial results are provided.

Dwyer Cianciolo, Alicia↗

NASA NTRSDate not supplied

Autonomous Nanosatellite Swarming (ANS) Using Radio Frequency and Optical Navigation

The Autonomous Nanosatellite Swarming (ANS) subsystem is a dynamics, guidance, navigation, and control software unit based on commercial-off-the-shelf avionics, which is distributed and deployed on a cluster of cooperative nanosatellites to enable future exploration missions to near-Earth objects (NEOs). ANS allows multiple nanosatellites to act together as a single large spacecraft through radio-frequency (RF) cross-links, optical navigation, and low-thrust control. In particular, ANS-equipped nanosatellites can utilize images of a NEO taken from multiple viewpoints to achieve stereo-vision capabilities and characterize the target body’s shape, gravity field, and dynamical properties. All this is enabled by the fusion of major advances to the state of the art in the astrodynamics of relative motion, RF and vision-based navigation, as well as low-thrust control.

Simone D'Amico↗

NASA NTRSDate not supplied

LunaNet: A Flexible and Extensible Lunar Exploration Communications and Navigation Infrastructure and the Inclusion of SmallSat Platforms

As NASA establishes a sustained presence on the Moon and ventures further into the solar system, the need for a robust interplanetary communications and navigation architecture increases. LunaNet, an extensible and scalable lunar communications and navigation architecture, is being developed to answer this growing need. The LunaNet architecture will provide users with three services: networking services, positioning, navigation and timing services, and science utilization services. With LunaNet in place, users will experience an operational environment similar to that experienced by users on Earth. The agency’s plan for solar system exploration necessitates both government and commercial participation, and the LunaNet architecture supports this goal as well, encouraging global participation from commercial and international partners, other government agencies, academia, and federally funded research development centers. This paper provides a high-level description of the LunaNet architecture, discusses how SmallSat platforms and technologies may provide critical capabilities, and defines the role that SmallSats can play within the architecture.

Communications↗

NASA NTRS2019

Navigating MarCO, the first interplanetary CubeSats

The NASA’s Mars Cube One (MarCO) probes are twin 6U CubeSats that were launched into space on May 5, 2018. The MarCOs shared a launch vehicle with NASA’s InSight mission, separating from the Atlas V Centaur upper stage after InSight. The MarCOs were injected into an Earth-Mars transfer trajectory and were independently navigated to the proximity of Mars. On 26 November, 2018 the MarCO probes flew by Mars as the InSight lander descended to the surface, providing real-time relay of InSight UHF data back to the Earth. This paper describes the approaches used to design the MarCOs’ trajectories and to navigate them to Mars, presenting the challenges of navigating and operating CubeSats in deep space, and the technological firsts achieved by the MarCO mission.

Young, Brian↗

NASA NTRS2017

The Evolution of Deep Space Navigation: 2004-2006

The exploration of the planets of the solar system using robotic vehicles has been underway since the early 1960s. During this time the navigational capabilities employed have increased greatly in accuracy, as required by the scientific objectives of the missions and as enabled by improvements in technology. This paper is the fourth in a chronological sequence dealing with the evolution of deep space navigation. The time interval covered extends from roughly 2004 to 2006. The paper focuses on the observational techniques that have been used to obtain navigational information, propellant-efficient means for modifying spacecraft trajectories, and the computational methods that have been employed, tracing their evolution through eleven planetary missions.

Wood, Lincoln J.↗

NASA NTRS2017

50,000 Laps Around Mars: Navigating the Mars Reconnaissance Orbiter Through the Extended Missions (January 2009 - March 2017)

Orbiting Mars since March 2006, the Mars Reconnaissance Orbiter (MRO) spacecraft continues to perform valuable science observations, provide telecommunication relay for surface assets, and characterize landing sites for future missions. Previous papers reported on the navigation of MRO from interplanetary cruise through the end of the Primary Science Phase (PSP) in December 2008 and on maneuvers performed through November 2016. This paper highlights the navigation of MRO from January 2009 through its 50,000th orbit around Mars on March 27, 2017, an eight-year period covering the Extended Science Phase, the first three extended missions, and a portion of the fourth extended mission which began on October 1, 2016. Since the beginning of the PSP in November 2006, MRO’s navigation performance has continued to exceed expectations. Over that period of time, the mission has returned over 300 terabytes of data.

Schulze, William↗

NASA NTRS2017

Navigation automation for the Soil Moisture Active Passive observatory

Soil Moisture Active Passive (SMAP) is a NASA Earth science mission designed to measure soil moisture content and freeze/thaw cycles over a three-year period. This paper presents a 2-year summary of navigation performance, shows navigation compliance (and non-compliance) with Science Orbit Requirements, and describes how automated processes appreciably reduced the size of the navigation team.

Lee, Julim↗

NASA NTRS2017

Optical-Based Kinematic Positioning for Deep-Space Navigation

NASA’s Deep Space 1 mission demonstrated that a spacecraft can be navigated autonomously during deep-space cruise operations using only images of distant asteroids as measurements. This paper derives an approximation of the position estimate accuracy that can be achieved with this technique based on the assumption of multiple, simultaneous line-of-sight measurements. This achievable accuracy is computed for locations across the solar system, which can be used to estimate cruise navigation performance as a function of spacecraft trajectory. It is shown that a on-board optical navigation system can achieve kinematic position estimate accuracies of better than 100 km throughout the inner solar system with a highperformance camera and from many hundred to several thousand kilometers with a low-end camera. Beyond the main-asteroid belt, the feasibilty of this approach suffers due to lack of targets. A case-study implementation of this approach for the upcoming InSight mission to Mars is also presented.

Bhaskaran, Shyam↗

NASA NTRS2018

Cassini In-Flight Navigation Adaptations

In the nearly two decades of Cassini flight, adaptations to navigation processes were applied as characteristics unique to Cassini were identified and spacecraft configuration changes were implemented. Additionally, operational experience was leveraged into more efficient processes, better modeling, and more robust contingency strategies. Trajectory adjustments were implemented to allow further investigation of surprising science discoveries meriting more attention. Unique analyses were performed to determine how to best accomplish atypical science observations while maintaining acceptable risk levels. Descriptions of the most significant adaptations are organized according to the affected navigation subsystems: trajectory design, orbit determination, optical navigation, and maneuver design.

Wagner, Sean↗

NASA NTRS2018

The Evolution of Deep Space Navigation: 2006-2009

The exploration of the planets of the solar system using robotic vehicles has been underway since the early 1960s. During this time the navigational capabilities employed have increased greatly in accuracy, as required by the scientific objectives of the missions and as enabled by improvements in technology. This paper is the fifth in a chronological sequence dealing with the evolution of deep space navigation. The time interval covered extends from 2006 to 2009. The paper focuses on the observational techniques that have been used to obtain navigational information, propellant-efficient means for modifying spacecraft trajectories, and the computational methods that have been employed, tracing their evolution through 14 planetary missions.

Wood, Lincoln J.↗

NASA NTRS2018

Double Asteroid Redirection Test (DART) Mission Design and Navigation for Low Energy Escape

This paper describes the evolution of the NASA Double Asteroid Redirection Test (DART) mission design and navigation. Speciﬁcally, the mission has been conceived as (1) a hydrazine bus on a ballistic trajectory, (2) a low-thrust bus launching from a geostationary transfer orbit and spiraling to escape, and (3) a lowthrust bus that launches with a small positive escape energy. This paper discusses the rationale in favor of the third concept, low energy escape, and describes the key mission design and navigation studies. In an eﬀort to be compatible with an unknown co-manifest partner, the trajectory design must account for a large range of launch energies, orientations, and dates. The navigation approach must account for sensitive regions in the trajectory and plan for both low-thrust and chemical phases of ﬂight. These ﬁndings are relevant to other missions pursuing low-cost interplanetary rideshare concepts.

Grebow, Daniel↗

NASA NTRS2021

Cislunar Autonomous Positioning System Technology Operations and Navigation Experiment (CAPSTONE) Mission

NASA has partnered with Advanced Space to develop and build the Cislunar Autonomous Positioning System Technology Operations and Navigation Experiment (CAPSTONE) mission which will serve as a pathfinder for Near Rectilinear Halo Orbit (NHRO) operations around the Moon. The NHRO, (Perilune = 3,200 km; Apolune = 70,000 km) will be the intended orbit for the NASA’s Artemis Gateway lunar orbital platform. The CAPSTONE mission will validate simulations and confirm operational planning for Gateway while also validating performance of navigation and station-keeping requirements for the Power and Propulsion Element. Thus, this mission will provide operational experience to NASA, commercial, and international missions for operations in a demanding orbital regime. The baseline for CAPSTONE is to fly a 12U cubesat developed, integrated, and tested by Tyvak Nanosatellite Systems carrying a payload communications system capable of cross-link ranging with the Lunar Reconnaissance Orbiter (LRO), a dedicated payload flight computer for software demonstration, and a camera. The launch, coordinated by NASA Launch Services Program, will be provided by a Rocket Lab launch vehicle utilizing their new Proton upper stage to deploy the CAPSTONE spacecraft into the lunar orbit. The CAPSTONE mission is targeting a launch no earlier than September 23, 2021. Upon launch, the spacecraft will traverse a highly efficient transfer taking approximately three months to enter a primary demonstration phase in an NRHO for six months followed by a twelve month technology enhancement operations phase. The CAPSTONE Project is lead by Advanced Space, LLC of Boulder Colorado. Spacecraft development and mission operations will be conducted by Tyvak Nanosatellite Systems of Irvine, California. Noted objectives for the CAPSTONE mission will be to demonstrate the accessibility of NHROs, validate key operational concepts in the NHRO environment, lay a foundation for commercial support of future lunar operations and accelerate the availability of peer-to-peer navigation capabilities provided by the Cislunar Autonomous Positioning System (CAPS). The CAPSTONE mission is funded through NASA's Small Spacecraft Technology Program (SSTP), which is one of several programs in NASA’s Space Technology Mission Directorate. SSTP is chartered to develop and demonstrate technologies to enhance and expand the capabilities of small spacecraft with a particular focus on enabling new mission architectures through the use of small spacecraft, expanding the reach of small spacecraft to new destinations, and augmenting future missions with supporting small spacecraft. The launch for the CAPSTONE Mission is provided by Human Exploration & Operations Missions Directorate Advanced Exploration Systems Division. Coordination and Acquisition of the Launch is managed by NASA’s Launch Services Program. The CAPSTONE Mission and project status will be presented.

CAPSTONE↗

NASA NTRSDate not supplied

Building Maps for Terrain Relative Navigation Using Blender: An Open-Source Approach

A persistent challenge for vision-based navigation systems that compare imagery to a reference map is generating high quality maps with similar lighting conditions. Image rendering software can be used to apply variable lighting to reference maps or to generate synthetic imagery for test trajectories. While many image rendering software packages are available, with several developed specifically for spaceflight applications, there are often limitations due to cost, image fidelity, or flexibility. In this paper, we demonstrate the use of an open-source image rendering software, Blender, for use in Terrain Relative Navigation (TRN) applications. A scene in Blender was generated based on elevation data and satellite imagery of the region of West Texas used by Blue Origin for the operation of their New Shepard suborbital rocket. The Blender scene was validated by reproducing imagery collected during a flight of New Shepard in October 2020 and was further used to generate reference maps for use by a TRN algorithm on a subsequent New Shepard flight in August 2021. The work was performed under the NASA Safe and Precise Landing Integrated Capabilities Evolution (SPLICE) project, which is focused on technology advancement for precision landing and hazard avoidance. This work aims to lower the cost of entry and generally promote the adoption and advancement of vision-based navigation technologies.

Kyle W Smith↗

NASA NTRSDate not supplied

Navigation and Mission Design for Low-Thrust Insertion into Near Rectilinear Halo Orbits

Near Rectilinear Halo Orbits, the target of NASA’s Gateway, are slightly unstable and therefore require minimal insertion delta-V. This makes insertion using highly efficient low-thrust systems a viable and attractive option; however, it also may require the spacecraft to approach the insertion on a dynamically sensitive trajectory with multiple perilune passes. This study focuses on a low-thrust NRHO insertion from a spiral-out, Earth-to-Moon transfer that involves this type of dynamically sensitive approach. Correction maneuver and navigation strategies are found that are robust to initial state, navigation, and maneuver execution errors prior to and through insertion. Further, it is demonstrated that these maneuver and navigation strategies allow the spacecraft to transition to nominal NRHO stationkeeping after insertion, without the need for specially designed clean-up maneuvers or a significant amount of additional delta-V.

Ethan W Kayser↗