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Large Vehicle Lunar Landing Surface Interaction and In-Situ Resource Based Risk Mitigation: Landing & Launch Pads

A key capability required for the exploration of planetary bodies is the ability to land on the surface. Previous work performed by NASA and other institutions has primarily focused on landing small spacecraft on planetary surfaces and the associated small-to-medium thrusters required for the soft landing. In the case of human exploration—particularly the establishment of long duration exploration and habitation outposts—the ability to land large landers, such as the SpaceX Starship, is necessary. These larger landing systems require the use of more powerful engines, with higher engine exhaust temperatures and higher landing loads. Understanding the excavation of material by the engines, as well as the potential for the landing legs to sink into the subsurface, is key in ensuring reliable and safe landings. A further improvement in landing reliability can be achieved by constructing landing / launch pads, especially with in-situ resources. Some material excavation by the plume is inevitable, leaving at least a portion of the surface scoured and uneven under the lander and ejecting regolith particles and rocks at very high velocities. One possible solution would be to robotically build landing / launch pads (ideally autonomously) at the destination using in-situ materials. In this case, the first one or few landers will need to land on unimproved surfaces at higher risk; however, they would bring the required equipment to build the landing pads with mostly local resources, thus increasing the reliability of safe landing for subsequent larger landers. A number of methods to build in-situ landing and launch pads have already been developed. These methods include no or some addition of required binder additives to the local regolith material, different processing approaches and result in varying landing pad strengths. A sub-scale rocket engine plume, was used to simulate some of the conditions of a landing on the Moon to assess the effectiveness of various materials for an in-situ built landing pad, The GO2/GCH4 rocket engine fired on 1m2 area coupons of representative pad materials. The results will allow continued development towards materials that satisfy the landing pad properties required for the effective risk reduction and increased reliability for landing people and equipment on the lunar surface. This work contained two parts: (1) computer modeling of a large rocket engine plume interacting with regolith on the Moon, using the Granular Gas Flow Solver (GGFS) provided by CFD Research Corporation as well as other computational fluid dynamics codes (CFD) such as Loci/CHEM. (2) Developing landing/launch pad materials that could be used for in-situ construction on the lunar surface in the future, to mitigate the calculated effects of a large vehicle rocket engine landing and launching on the Moon. The resulting computed values of plume impingement surface temperature, stagnation pressure, gas velocity, shear stress and heat flux were then matched as closely as possible in the Earth’s atmosphere in a sub-scale rocket engine GO2/CH4 test which was provided by Masten Space Systems in Mojave, California. The rocket engine was mounted on a test stand with vertical translation capabilities so that the landing operations of a lander could be simulated (Figure 1).The pad materials test coupons were placed at the surface of a large bin containing simulated lunar basalt regolith and subjected to a test firing as shown in Figure 2. The results of this testing will be presented with related findings, analysis and discussion.

Plume Surface Interaction↗

Large Vehicle Lunar Landing Surface Interaction and In-Situ Resource Based Risk Mitigation: Landing & Launch Pads

A key capability required for the exploration of planetary bodies is the ability to land on the surface. Previous work performed by NASA and other institutions has primarily focused on landing small spacecraft on planetary surfaces and the associated small-to-medium thrusters required for the soft landing. In the case of human exploration—particularly the establishment of long duration exploration and habitation outposts—the ability to land large landers, such as the SpaceX Starship, is necessary. These larger landing systems require the use of more powerful engines, with higher engine exhaust temperatures and higher landing loads. Understanding the excavation of material by the engines, as well as the potential for the landing legs to sink into the subsurface, is key in ensuring reliable and safe landings. A further improvement in landing reliability can be achieved by constructing landing / launch pads, especially with in-situ resources. Some material excavation by the plume is inevitable, leaving at least a portion of the surface scoured and uneven under the lander and ejecting regolith particles and rocks at very high velocities. One possible solution would be to robotically build landing / launch pads (ideally autonomously) at the destination using in-situ materials. In this case, the first one or few landers will need to land on unimproved surfaces at higher risk; however, they would bring the required equipment to build the landing pads with mostly local resources, thus increasing the reliability of safe landing for subsequent larger landers. A number of methods to build in-situ landing and launch pads have already been developed. These methods include no, or some, addition of required binder additives to the local regolith material, different processing approaches and result in varying landing pad strengths. A sub-scale rocket engine plume, was used to simulate some of the conditions of a landing on the Moon to assess the effectiveness of various materials for an in-situ built landing pad, The GO2/GCH4rocket engine fired on a 1m2area coupons of representative pad materials. The results will allow continued development towards materials that satisfy the landing pad properties required for the effective risk reduction and increased reliability for landing people and equipment on the lunar surface. This work contained two parts: (1) computer modeling of a large rocket engine plume interacting with regolith on the Moon, using the Granular Gas Flow Solver (GGFS) provided by CFD Research Corporation as well as other computational fluid dynamics codes (CFD) such as Loci/CHEM. (2) Developing landing/launch pad materials that could be used for in-situ construction on the lunar surface in the future, to mitigate the calculated effects of a large vehicle rocket engine landing and launching on the Moon.

Lunar↗

Rapid Generation of Optimal Asteroid Powered Descent Trajectories Via Convex Optimization

Mission proposals that land on asteroids are becoming popular. However, in order to have a successful mission the spacecraft must reliably and softly land at the intended landing site. The problem under investigation is how to design a fuel-optimal powered descent trajectory that can be quickly computed on-board the spacecraft, without interaction from ground control. An optimal trajectory designed immediately prior to the descent burn has many advantages. These advantages include the ability to use the actual vehicle starting state as the initial condition in the trajectory design and the ease of updating the landing target site if the original landing site is no longer viable. For long trajectories, the trajectory can be updated periodically by a redesign of the optimal trajectory based on current vehicle conditions to improve the guidance performance. One of the key drivers for being completely autonomous is the infrequent and delayed communication between ground control and the vehicle. Challenges that arise from designing an asteroid powered descent trajectory include complicated nonlinear gravity fields, small rotating bodies and low thrust vehicles.

Pinson, Robin↗

Preliminary Planning for NEAR's Low-Altitude Operations at 433 Eros

On February 14, 2000, an orbit insertion burn will place NASA's Near Earth Asteroid Rendezvous (NEAR) spacecraft (S/C) into orbit around asteroid 433 Eros. NEAR will initially orbit Eros with distances ranging from 500 to 100 km in order to characterize the shape, gravity and spin of Eros. Once the physical parameters of Eros are determined reasonably well, the plan is to establish an orbit of the NEAR S/C with increasingly lower altitudes as the one year orbital mission progresses while further characterizing the gravity and shape of Eros. Towards the end of the NEAR mission, after the shape, gravity and spin of Eros have been well characterized, the scientific interest of obtaining very close observations (< 5 km) can be realized. The navigation during this phase relies on a combination of NASA's Deep Space Network (DSN) radio metric tracking, laser ranging (LIDAR) data from the S/C to the surface of Eros, and onboard optical imaging of landmarks on Eros. This paper will provide preliminary plans for mission design and navigation during the last two months of the orbit phase, where several close passes to the surface will be incorporated to enhance the science return. The culmination of these close passes will result in the eventual landing of the S/C on the surface of Eros. Several considerations for these plans are given by Antreasian, et at. [1998]. The objective for the end of the mission will be to land the S/C autonomously using the surface relative information obtained from the onboard LIDAR instrument. The goal will be to soft land the S/C in such a way as to keep it operational. With the use of an onboard LIDAR landing algorithm as discussed by Antreasian et at. [1998], it is believed that the S/C impact velocity can be kept well under 7 m/s which is a requirement for allowing the S/C to remain operational.

Antreasian, P. G.↗

Trajectory Design Employing Convex Optimization for Landing on Irregularly Shaped Asteroids

Mission proposals that land spacecraft on asteroids are becoming increasingly popular. However, in order to have a successful mission the spacecraft must reliably and softly land at the intended landing site with pinpoint precision. The problem under investigation is how to design a propellant optimal powered descent trajectory that can be quickly computed onboard the spacecraft, without interaction from the ground control. The propellant optimal control problem in this work is to determine the optimal finite thrust vector to land the spacecraft at a specified location, in the presence of a highly nonlinear gravity field, subject to various mission and operational constraints. The proposed solution uses convex optimization, a gravity model with higher fidelity than Newtonian, and an iterative solution process for a fixed final time problem. In addition, a second optimization method is wrapped around the convex optimization problem to determine the optimal flight time that yields the lowest propellant usage over all flight times. Gravity models designed for irregularly shaped asteroids are investigated. Success of the algorithm is demonstrated by designing powered descent trajectories for the elongated binary asteroid Castalia.

Pinson, Robin M.↗

Enabling Pinpoint Landing on Mars

This slide presentation reviews the entry, descent and landing (EDL) of a pinpoint landing (PPL) on Mars. These PPL missions will be required to deliver about 1000 kg of useful payload to the surface of Mars, therefore soft landings are of primary interest. The landing sites will be in a mid to to high latitude with possible sites about 2.5 km above the martian mean surface altitude. The applicable EDL is described and reviewed in phases. The evaluation approach is reviewed and the requirements for an accurate landing are reviewed. The descent of the unguided aeroshell entry phase dispersion due to trajectory and ballistic coefficient variations are shown in charts. These charts view the dispersions from three entries, Entry from orbit, and two types of direct entry. There is discussion of the differences in steerable subsonic parachute control vs dispersions, and the propulsive phase delta velocity vs dispersions. Data is presented for the three trajectory phases (i.e., Aeroshell, supersonic and subsonic chute) for Direct entry and low orbit entry. The results of the analysis is presented, including possibilities for mitigation of dispersions. The analysis of the navigation error is summarized, and the trajectory biasing for martian winds is assessed.

aerodynamic↗

Development of a Coherent Doppler Lidar for Precision Maneuvering and Landing of Space Vehicles

A coherent Doppler lidar has been developed to address NASA’s need for a high-performance, compact, and cost-effective velocity and altitude sensor onboard its landing vehicles. Future robotic and manned missions to planetary bodies require precise ground-relative velocity vector and altitude data to execute complex descent maneuvers and safe, soft landing at a pre-designated site. This lidar sensor, referred to as a Navigation Doppler Lidar, meets the required performance of landing missions while complying with vehicle size, mass, and power constraints. Operating from over five kilometers altitude, the lidar obtains velocity and range precision measurements with 2 cm/sec and 2 meters, respectively, dominated by the vehicle motion. After a series of flight tests onboard helicopters and rocket-powered free-flyer vehicles, the Navigation Doppler Lidar is now being ruggedized for future missions to various destinations in the solar system.

Amzaherdian, Farzin↗

A Mars Airplane . . . Oh really

This paper describes the mission design, scientific utilization, and prototypical design of a Mars Airplane. As a scientific platform, the airplane provides an excellent means of obtaining data in a resolution range intermediate to surface vehicles and orbiters. It has great versatility to perform a variety of missions: conduct aerial surveys, land instrument packages, collect samples, and perform atmospheric sounding. The Mars Airplane has many characteristics of a competition glider on earth. Two versions of the plane, a cruiser, and one with soft landing and takeoff capability, have been designed. Maximum range and endurance are 10,000 km and 31.1 hours with a 40-kg payload.

Clarke, V. C., Jr.↗

Surveyor spacecraft automatic landing system

The Surveyor Project achieved five successful lunar landings between 1966 and 1968, following an intensive five-year development effort. One of the many significant accomplishments made by Surveyor was the development and validation of the first-ever automated soft-landing system. This paper provides a historical and control aspects of the spacecraft's terminal descent system. Driving requirements and other important design considerations are described, along with the configuration and operational sequence of the actual flight system.

Thurman, Sam W.↗

Manned Spacecraft Landing and Recovery

As recent history has tragically demonstrated, a successful space mission is not complete until the crew has safely returned to earth and has been successfully recovered. It is noted that a safe return to earth does not guarantee a successful recovery. The focus of this presentation will be a discussion of the ground operation assets involved in a successful recovery. The author's experience in land and water-based recovery of crewed vehicles and flight hardware at Kennedy Space Center (KSC), Edwards Air Force Base, international landing sites, and the Atlantic Ocean provides for some unique insight into this topic. He has participated in many aspects of Space Shuttle landing and recovery operations including activation of Transatlantic Abort Landing (TAL) sites and Emergency Landing Sites (ELS) as an Operations Test Director, execution of post landing convoy operations as an Orbiter Move Director, Operations Test Director, and Landing and Recovery Director, and recovery of solid rocket boosters, frustum and their parachutes 140 miles offshore in a wide range of sea states as a Retrieval Diver/Engineer. The recovery operations for the Mercury, Gemini, and Apollo were similar from a landing and recovery perspective in th t they all were capsules with limited "flying" capability and had a planned End of Mission (EOM) in an ocean with a descent slowed by parachutes. The general process was to deploy swim teams via helicopters to prepare the capsule for recovery and assist with crew extraction when required. The capsule was then hoisted onto the deck of a naval vessel. This approach required the extensive use and deployment of military assets to support the primary landing zone as well as alternate and contingency locations. The Russian Soyuz capsule also has limited "flying" capability; however, the planned EOM is terrestrial. In addition to use of parachutes to slow the reentry descent, soft-landing rockets on the bottom of the vehicle are employed to cushion the landing. The recovery forces are deployed via helicopters and the capsule is transported by a specialized all-terrain vehicle. The Space Shuttle Orbiter landing and recovery process is considerably different. The added lift capability and maneuverability allow the Orbiter to land at an exact location/runway for a nominal EOM. This allows for a timely response of recovery/contingency rescue forces, centralized staging of personnel and equipment, and assured access by ground vehicles. The well defined landing zone also provides for far more options when selecting landing sites for EOM and emergency returns and the relatively large cross-range capability increases the number of landing opportunities at the preferred sites.

Hammel, Don↗

A Light-Weight Inflatable Hypersonic Drag Device for Planetary Entry

The author has analyzed the use of a light-weight inflatable hypersonic drag device, called a ballute, (balloon + parachute) for flight in planetary atmospheres, for entry, aerocapture, and aerobraking. Studies to date include missions to Mars, Venus, Earth, Saturn, Titan, Neptune and Pluto. Data on a Pluto lander and a Mars orbiter will be presented to illustrate the concept. The main advantage of using a ballute is that aero deceleration and heating in atmospheric entry occurs at much smaller atmospheric density with a ballute than without it. For example, if a ballute has a diameter 10 times as large as the spacecraft, for unchanged total mass, entry speed and entry angle,the atmospheric density at peak convective heating is reduced by a factor of 100, reducing the peak heating by a factor of 10 for the spacecraft, and a factor of about 30 for the ballute. Consequently the entry payload (lander, orbiter, etc) is subject to much less heating, requires a much reduced thermal protection system (possibly only an MLI blanket), and the spacecraft design is therefore relatively unchanged from its vacuum counterpart. The heat flux on the ballute is small enough to be radiated at temperatures below 800 K or so. Also, the heating may be reduced further because the ballute enters at a more shallow angle, even allowing for the increased delivery angle error. Added advantages are a smaller mass ratio of entry system to total entry mass, and freedom from the low-density and transonic instability problems that conventional rigid entry bodies suffer, since the vehicle attitude is determined by the ballute, usually released at continuum conditions (hypersonic for an orbiter, and subsonic for a lander). Also, for a lander the range from entry to touchdown is less, offering a smaller footprint. The ballute derives an entry corridor for aerocapture by entering on a path that would lead to landing, and releasing the ballute adaptively, responding to measured deceleration, at a speed computed to achieve the desired orbiter exit conditions. For a lander an accurate landing point could be achieved by providing the lander with a small gliding capacity, using the large potential energy available from being subsonic at high altitude. Alternatively the ballute can be retained to act as a parachute or soft-landing device, or to float the payload as a buoyant aerobot. As expected, the ballute has smaller size for relatively small entry speeds, such as for Mars, or for the extensive atmosphere of a low-gravity planet such as Pluto. The author will discuss presently available ballute materials and a development program of aerodynamic tests and materials that would be required for ballutes to achieve their full potential.

McRonald, Angus D.↗

A Light-Weight Inflatable Hypersonic Drag Device for Planetary Entry

The author has analyzed the use of a light-weight inflatable hypersonic drag device, called a ballute, for flight in planetary atmospheres, for entry, aerocapture, and aerobraking. Studies to date include Mars, Venus, Earth, Saturn, Titan, Neptune and Pluto, and data on a Pluto lander and a Mars orbiter will be presented to illustrate the concept. The main advantage of using a ballute is that aero, deceleration and heating in atmospheric entry occurs at much smaller atmospheric density with a ballute than without it. For example, if a ballute has a diameter 10 times as large as the spacecraft, for unchanged total mass, entry speed and entry angle,the atmospheric density at peak convective heating is reduced by a factor of 100, reducing the heating by a factor of 10 for the spacecraft and a factor of 30 for the ballute. Consequently the entry payload (lander, orbiter, etc) is subject to much less heating, requires a much reduced thermal. protection system (possibly only an MLI blanket), and the spacecraft design is therefore relatively unchanged from its vacuum counterpart. The heat flux on the ballute is small enough to be radiated at temperatures below 800 K or so. Also, the heating may be reduced further because the ballute enters at a more shallow angle, even allowing for the increased delivery angle error. Added advantages are less mass ratio of entry system to total entry mass, and freedom from the low-density and transonic instability problems that conventional rigid entry bodies suffer, since the vehicle attitude is determined by the ballute, usually released at continuum conditions (hypersonic for an orbiter, and subsonic for a lander). Also, for a lander the range from entry to touchdown is less, offering a smaller footprint. The ballute derives an entry corridor for aerocapture by entering on a path that would lead to landing, and releasing the ballute adaptively, responding to measured deceleration, at a speed computed to achieve the desired orbiter exit conditions. For a lander an accurate landing point could be achieved by providing the lander with a small gliding capacity, using the large potential energy available from being subsonic at high altitude. Alternatively the ballute can be retained to act as a parachute or soft-landing device, or to float the payload as a buoyant aerobot. As expected, the ballute has smaller size for relatively small entry speeds, such as for Mars and Titan, or for the extensive atmosphere of a low-gravity planet such as Pluto. Details of a ballute to place a small Mars orbiter and a small Pluto lander will be given to illustrate the concept. The author will discuss presently available ballute materials and a development program of aerodynamic tests and materials that would be required for ballutes to achieve their full potential.

McRonald, Angus D.↗

Doppler Lidar Sensor for Precision Landing on the Moon and Mars

Landing mission concepts that are being developed for exploration of planetary bodies are increasingly ambitious in their implementations and objectives. Most of these missions require accurate position and velocity data during their descent phase in order to ensure safe soft landing at the pre-designated sites. To address this need, a Doppler lidar is being developed by NASA under the Autonomous Landing and Hazard Avoidance (ALHAT) project. This lidar sensor is a versatile instrument capable of providing precision velocity vectors, vehicle ground relative altitude, and attitude. The capabilities of this advanced technology have been demonstrated through two helicopter flight test campaigns conducted over a vegetation-free terrain in 2008 and 2010. Presently, a prototype version of this sensor is being assembled for integration into a rocket-powered terrestrial free-flyer vehicle. Operating in a closed loop with vehicle's guidance and navigation system, the viability of this advanced sensor for future landing missions will be demonstrated through a series of flight tests in 2012.

Amzajerdian, Farzin↗

Doppler Lidar Sensor for Precision Navigation in GPS-Deprived Environment

Landing mission concepts that are being developed for exploration of solar system bodies are increasingly ambitious in their implementations and objectives. Most of these missions require accurate position and velocity data during their descent phase in order to ensure safe, soft landing at the pre-designated sites. Data from the vehicle's Inertial Measurement Unit will not be sufficient due to significant drift error after extended travel time in space. Therefore, an onboard sensor is required to provide the necessary data for landing in the GPS-deprived environment of space. For this reason, NASA Langley Research Center has been developing an advanced Doppler lidar sensor capable of providing accurate and reliable data suitable for operation in the highly constrained environment of space. The Doppler lidar transmits three laser beams in different directions toward the ground. The signal from each beam provides the platform velocity and range to the ground along the laser line-of-sight (LOS). The six LOS measurements are then combined in order to determine the three components of the vehicle velocity vector, and to accurately measure altitude and attitude angles relative to the local ground. These measurements are used by an autonomous Guidance, Navigation, and Control system to accurately navigate the vehicle from a few kilometers above the ground to the designated location and to execute a gentle touchdown. A prototype version of our lidar sensor has been completed for a closed-loop demonstration onboard a rocket-powered terrestrial free-flyer vehicle.

Amzajerdian, F.↗

Site certification and landing

The process by which the landing site for the Viking lander spacecraft was certified is described. Soviet attempts to investigate Mars using the Mars class spacecraft are reviewed. Radar as a tool to study planetary surfaces is discussed. The launch and flight of Viking 1 are recounted. The challenges and success of soft landing of the Viking lander on the Martian surface are described.

Source record↗

Coordinates of Anthropogenic Features on the Moon

High-resolution images from the Lunar Reconnaissance Orbiter Camera (LROC) Narrow Angle Camera (NAC) reveal the landing locations of recent and historic spacecraft and associated impact sites across the lunar surface. Using multiple images of each site acquired between 2009 and 2015, an improved Lunar Reconnaissance Orbiter (LRO) ephemeris, and a temperature-dependent camera orientation model, we derived accurate coordinates ( less than 12 meters) for each soft-landed spacecraft, rover, deployed scientific payload, and spacecraft impact crater that we have identified. Accurate coordinates enhance the scientific interpretations of data returned by the surface instruments and of returned samples of the Apollo and Luna sites. In addition, knowledge of the sizes and positions of craters formed as the result of impacting spacecraft provides key benchmarks into the relationship between energy and crater size, as well as calibration points for reanalyzing seismic measurements acquired during the Apollo program. We identified the impact craters for the three spacecraft that impacted the surface during the LRO mission by comparing before and after NAC images.

Moon↗

Payload Performance Analysis for a Reusable Two-Stage-to-Orbit Vehicle

This paper investigates a unique approach in the development of a reusable launch vehicle where, instead of designing the vehicle to be reusable from its inception, as was done for the Space Shuttle, an expendable two stage launch vehicle is evolved over time into a reusable launch vehicle. To accomplish this objective, each stage is made reusable by adding the systems necessary to perform functions such as thermal protection and landing, without significantly altering the primary subsystems and outer mold line of the original expendable vehicle. In addition, some of the propellant normally used for ascent is used instead for additional propulsive maneuvers after staging in order to return both stages to the launch site, keep loads within acceptable limits and perform a soft landing. This paper presents a performance analysis that was performed to investigate the feasibility of this approach by quantifying the reduction in payload capability of the original expendable launch vehicle after accounting for the mass additions, trajectory changes and increased propellant requirements necessary for reusability. Results show that it is feasible to return both stages to the launch site with a positive payload capability equal to approximately 50 percent of an equivalent expendable launch vehicle. Further discussion examines the ability to return a crew/cargo capsule to the launch site and presents technical challenges that would have to be overcome.

Tartabini, Paul V.↗

Vertical landing on an asteroid

This work is concerned with the final approach phase and vertical landing on an asteroid with a power-limited, electrically propelled spacecraft. With gravitational effects taken into account, a new solution to the fuel optimal vertical landing on an asteroid was obtained. In this solution, the spacecraft commanded acceleration is explicitly expressed as a function of vehicle velocity and time to go. Based on qualitative methods of analysis, the guidance strategy and the resulting trajectories were studied. It is shown that these fuel-optimal trajectories effectively assure a vertical soft landing on the asteroid. Results of numerical simulations for the vertical landing, starting from an elliptical orbit are presented.

Harel, D.↗