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All sourcesNASA NTRSDOE OSTI
NASA NTRS2016

Precision Landing and Hazard Avoidance Doman

The Precision Landing and Hazard Avoidance (PL&HA) domain addresses the development, integration, testing, and spaceflight infusion of sensing, processing, and GN&C functions critical to the success and safety of future human and robotic exploration missions. PL&HA sensors also have applications to other mission events, such as rendezvous and docking. Autonomous PL&HA builds upon the core GN&C capabilities developed to enable soft, controlled landings on the Moon, Mars, and other solar system bodies. Through the addition of a Terrain Relative Navigation (TRN) function, precision landing within tens of meters of a map-based target is possible. The addition of a 3-D terrain mapping lidar sensor improves the probability of a safe landing via autonomous, real-time Hazard Detection and Avoidance (HDA). PL&HA significantly improves the probability of mission success and enhances access to sites of scientific interest located in challenging terrain. PL&HA can also utilize external navigation aids, such as navigation satellites and surface beacons. Advanced Lidar Sensors High precision ranging, velocimetry, and 3-D terrain mapping Terrain Relative Navigation (TRN) TRN compares onboard reconnaissance data with real-time terrain imaging data to update the S/C position estimate Hazard Detection and Avoidance (HDA) Generates a high-resolution, 3-D terrain map in real-time during the approach trajectory to identify safe landing targets Inertial Navigation During Terminal Descent High precision surface relative sensors enable accurate inertial navigation during terminal descent and a tightly controlled touchdown within meters of the selected safe landing target.

Robertson, Edward A.↗
NASA NTRS2016

Precision Landing and Hazard Avoidance (PL&HA) Domain

The Precision Landing and Hazard Avoidance (PL&HA) domain addresses the development, integration, testing, and spaceflight infusion of sensing, processing, and GN&C (Guidance, Navigation and Control) functions critical to the success and safety of future human and robotic exploration missions. PL&HA sensors also have applications to other mission events, such as rendezvous and docking.

Robertson, Edward A.↗
NASA NTRS2010

Autonomous Precision Landing and Hazard Avoidance Technology (ALHAT) Project Status as of May 2010

This paper includes the current status of NASA s Autonomous precision Landing and Hazard Avoidance Technology (ALHAT) Project. The ALHAT team has completed several flight tests and two major design analysis cycles. These tests and analyses examine terrain relative navigation sensors, hazard detection and avoidance sensors and algorithms, and hazard relative navigation algorithms, and the guidance and navigation system using these ALHAT functions. The next flight test is scheduled for July 2010. The paper contains results from completed flight tests and analysis cycles. ALHAT system status, upcoming tests and analyses is also addressed. The current ALHAT plans as of May 2010 are discussed. Application of the ALHAT system to landing on bodies other than the Moon is included

Striepe, Scott A.↗
NASA NTRS2020

A Simulation Framework for Precision Landing and Hazard Avoidance Technology Assessments

To meet NASA’s challenge to return humans to the Moon in 2024 and establish a sustainable presence in 2028 requires advances in autonomous spacecraft navigation. The Safe and Precise Landing Integrated Capabilities Evolution (SPLICE) project, which leverages previous work at NASA to develop multi-mission precision landing and hazard avoidance technologies, is using a multi-faceted approach to achieve the advanced landing requirements. In addition to increasing the technology readiness level of key sensors and developing high performance space computing, SPLICE uses simulations to determine navigation requirements and evaluate sensor performance. The effort evaluates various precision landing concepts of operations, not only for the lunar human and robotic missions, but also for potential missions to other solar system destinations. This paper summarizes the six degree-of-freedom high fidelity simulation framework, trajectory design methodology, and sensor models being considered for a variety of precision lander missions. Initial results of the navigation sensor performance for a human Mars mission are presented. Finally, trade and sensitivity studies are outlined for future work to fully characterize sensor performance assumptions and modifications required to achieve precision landing and hazard avoidance.

Alicia Dwyer Cianciolo↗
NASA NTRS2017

Synopsis of Precision Landing and Hazard Avoidance (PL&HA) Capabilities for Space Exploration

Until recently, robotic exploration missions to the Moon, Mars, and other solar system bodies relied upon controlled blind landings. Because terrestrial techniques for terrain relative navigation (TRN) had not yet been evolved to support space exploration, landing dispersions were driven by the capabilities of inertial navigation systems combined with surface relative altimetry and velocimetry. Lacking tight control over the actual landing location, mission success depended on the statistical vetting of candidate landing areas within the predicted landing dispersion ellipse based on orbital reconnaissance data, combined with the ability of the spacecraft to execute a controlled landing in terms of touchdown attitude, attitude rates, and velocity. In addition, the sensors, algorithms, and processing technologies required to perform autonomous hazard detection and avoidance in real time during the landing sequence were not yet available. Over the past decade, NASA has invested substantial resources on the development, integration, and testing of autonomous precision landing and hazard avoidance (PL&HA) capabilities. In addition to substantially improving landing accuracy and safety, these autonomous PL&HA functions also offer access to targets of interest located within more rugged and hazardous terrain. Optical TRN systems are baselined on upcoming robotic landing missions to the Moon and Mars, and NASA JPL is investigating the development of a comprehensive PL&HA system for a Europa lander. These robotic missions will demonstrate and mature PL&HA technologies that are considered essential for future human exploration missions. PL&HA technologies also have applications to rendezvous and docking/berthing with other spacecraft, as well as proximity navigation, contact, and retrieval missions to smaller bodies with microgravity environments, such as asteroids.

Robertson, Edward A.↗
NASA NTRS2007

The Autonomous Precision Landing and Hazard Detection and Avoidance Technology (ALHAT)

As NASA plans to send humans back to the Moon and develop a lunar outpost, technologies must be developed to place humans and cargo safely, precisely, repeatedly, on the lunar surface with the capability to avoid surface hazards. Exploration Space Architecture Study requirements include the need for global lunar surface access with safe, precise landing without lighting constraints on terrain that may have landing hazards for human scale landing vehicles. Landing accuracies of perhaps 1,000 meters for sortie crew missions to 10 s of meters for Outpost class missions are required. The Autonomous precision Landing Hazard Avoidance Technology (ALHAT) project will develop the new and unique descent and landing Guidance, Navigation and Control (GNC) hardware and software technologies necessary for these capabilities. The ALHAT project will qualify a lunar descent and landing GNC system to a Technology Readiness Level (TRL) of 6 capable of supporting lunar crewed, cargo, and robotic missions. The (ALHAT) development project was chartered by NASA Headquarters in October 2006. The initial effort to write a project plan and define an ALHAT Team was followed by a fairly aggressive research and analysis effort to determine what technologies existed that could be developed and applied to the lunar landing problems indicated above. This paper describes the project development, research, analysis and concept evolution that has occurred since the assignment of the project. This includes the areas of systems engineering, GNC, sensors, sensor algorithms, simulations, fielding testing, laboratory testing, Hardware-In-The-Loop testing, system avionics and system certification concepts.

Epp, Chirold D.↗
NASA NTRSDate not supplied

NASA and Blue Origin Collaborative Assessment of Precision Landing Algorithms and Computing

NASA’s Safe and Precise Landing Integrated Capabilities Evolution (SPLICE) project is developing sensor, algorithm, and compute technologies for precision landing and hazard avoidance. These technologies are being tested as an integrated Precision Landing and Hazard Avoidance (PL&HA) system on Blue Origin’s New Shephard suborbital vehicle. A key goal for the computing element of this technology development is to characterize the performance of the SPLICE software workloads on the project’s Descent and Landing Computer (DLC). The DLC is a multi-core processor designed as a surrogate for NASA’s High-Performance Space Computer (HPSC). Measurements of the SPLICE workload performance on the DLC provides NASA insight on how PL&HA capabilities will perform on the HPSC, and guidance on how the SPLICE algorithms can be implemented to best utilize the DLC platform. This insight can also be used to derive requirements to guide trade studies on candidate computing architectures, for use on platforms like Blue Moon. NASA and Blue Origin are collaborating under an agreement to pursue this mutual benefit. Performance metrics collected are based on measurement of common compute resources such as percentage used of memory bandwidth, I/O utilization, interrupt latency, and kernel vs. user space code residency. Where possible existing performance counters and metrics that are part of the operating system kernel are used. As the design has a significant FPGA component, performance counters are identified and instantiated in the fabric to measure DMA performance and interface metrics. Collection of metrics is performed on the DLC with a representative workload that simulates a full landing cycle of the Blue Origin New Shepard vehicle. Consideration is given to the other compute implementations and whether they can run SPLICE algorithms at the same rate and with the same latency as the DLC. One option being considered is the use of a RISC-V soft core instantiated in a radiation resilient FPGA fabric such as the Xilinx KU60. Select algorithms from the SPLICE code will be run for comparison with the DLC. This paper describes how the DLC is instrumented to collect performance measurements of the SPLICE workloads, preliminary results from these measurements, and their implications on SPLICE algorithm implementation. The results of experimentation to derive candidate requirements for architecture trades on a PL&HA computing system are also presented.

computer performance↗
NASA NTRS2012

Morpheus: Advancing Technologies for Human Exploration

NASA's Morpheus Project has developed and tested a prototype planetary lander capable of vertical takeoff and landing. Designed to serve as a vertical testbed (VTB) for advanced spacecraft technologies, the vehicle provides a platform for bringing technologies from the laboratory into an integrated flight system at relatively low cost. This allows individual technologies to mature into capabilities that can be incorporated into human exploration missions. The Morpheus vehicle is propelled by a LOX/Methane engine and sized to carry a payload of 1100 lb to the lunar surface. In addition to VTB vehicles, the Project s major elements include ground support systems and an operations facility. Initial testing will demonstrate technologies used to perform autonomous hazard avoidance and precision landing on a lunar or other planetary surface. The Morpheus vehicle successfully performed a set of integrated vehicle test flights including hot-fire and tethered hover tests, leading up to un-tethered free-flights. The initial phase of this development and testing campaign is being conducted on-site at the Johnson Space Center (JSC), with the first fully integrated vehicle firing its engine less than one year after project initiation. Designed, developed, manufactured and operated in-house by engineers at JSC, the Morpheus Project represents an unprecedented departure from recent NASA programs that traditionally require longer, more expensive development lifecycles and testing at remote, dedicated testing facilities. Morpheus testing includes three major types of integrated tests. A hot-fire (HF) is a static vehicle test of the LOX/Methane propulsion system. Tether tests (TT) have the vehicle suspended above the ground using a crane, which allows testing of the propulsion and integrated Guidance, Navigation, and Control (GN&C) in hovering flight without the risk of a vehicle departure or crash. Morpheus free-flights (FF) test the complete Morpheus system without the additional safeguards provided during tether. A variety of free-flight trajectories are planned to incrementally build up to a fully functional Morpheus lander capable of flying planetary landing trajectories. In FY12, these tests will culminate with autonomous flights simulating a 1 km lunar approach trajectory, hazard avoidance maneuvers and precision landing in a prepared hazard field at the Kennedy Space Center (KSC). This paper describes Morpheus integrated testing campaign, infrastructure, and facilities, and the payloads being incorporated on the vehicle. The Project s fast pace, rapid prototyping, frequent testing, and lessons learned depart from traditional engineering development at JSC. The Morpheus team employs lean, agile development with a guiding belief that technologies offer promise, but capabilities offer solutions, achievable without astronomical costs and timelines.

Olansen, Jon B.↗
NASA NTRS2005

Communications Blackout Predictions for Atmospheric Entry of Mars Science Laboratory

The Mars Science Laboratory (MSL) is expected to be a long-range, long-duration science laboratory rover on the Martian surface. MSL will provide a significant milestone that paves the way for future landed missions to Mars. NASA is studying options to launch MSL as early as 2009. MSL will be the first mission to demonstrate the new technology of 'smart landers', which include precision landing and hazard avoidance in order to -land at scientifically interesting sites that would otherwise be unreachable. There are three elements to the spacecraft; carrier (cruise stage), entry vehicle, and rover. The rover will have an X-band direct-to-Earth (DTE) link as well as a UHF proximity link. There is also a possibility of an X-band proximity link. Given the importance of collecting critical event telemetry data during atmospheric entry, it is important to understand the ability of a signal link to be maintained, especially during the period near peak convective heating. The received telemetry during entry (or played back later) will allow for the performance of the Entry-Descent-Landing technologies to be assessed. These technologies include guided entry for precision landing, hazard avoidance, a new sky-crane landing system and powered descent. MSL will undergo an entry profile that may result in a potential communications blackout caused by ionized plasma for short periods near peak heating. The vehicle will use UHF and possibly X-band during the entry phase. The purpose of this report is to quantify or bound the likelihood of any such blackout at UHF frequencies (401 MHz) and X-band frequencies (8.4 GHz). Two entry trajectory scenarios were evaluated: a stressful entry trajectory to quantify an upper-bound for any possible blackout period, and a nominal likely trajectory to quantify likelihood of blackout for such cases.

UHF↗
NASA NTRSDate not supplied

Space Technology Mission Directorate Game Changing Development Program

SPLICE project annual program review presentation. SPLICE Precision Landing and Hazard Avoidance (PL&HA) technologies will improve landing precision by an order of magnitude and enable high-resolution real-time 3-D mapping for hazard detection and avoidance during descent.

Guidance Navigation and Control↗
NASA NTRSDate not supplied

Demonstration of Lidar Sensors for Precision Safe Landing on Planetary Bodies

Missions to solar system bodies must meet increasingly ambitious objectives requiring highly reliable “precision landing”, and “hazard avoidance” capabilities. To meet these needs, we have developed two lidar sensor systems that can be used individually or in concert depending on the mission requirements. One is Navigation Doppler Lidar (NDL) capable of providing vehicle precision vector velocity and ground-relative altitude and the other is an Imaging Flash Lidar for Terrain Relative Navigation and Hazard Detection and Avoidance. Using both lidar sensors together will enable landing anywhere and under any lighting condition. The NDL performance has been extensively characterized through numerous ground and aircraft flight tests and will be soon demonstrated on two lunar landing missions (mid-2023). The Flash Lidar performance is currently being assessed onboard a drone and will soon be tested on helicopter and fixed-wing aircraft platforms. This paper describes both lidar sensors and their expected operation on landing vehicles.

Precision Landing↗
NASA NTRS2013

Project Morpheus: Lessons Learned in Lander Technology Development

NASA's Morpheus Project has developed and tested a prototype planetary lander capable of vertical takeoff and landing, that is designed to serve as a testbed for advanced spacecraft technologies. The lander vehicle, propelled by a LOX/Methane engine and sized to carry a 500kg payload to the lunar surface, provides a platform for bringing technologies from the laboratory into an integrated flight system at relatively low cost. Designed, developed, manufactured and operated in-house by engineers at Johnson Space Center, the initial flight test campaign began on-site at JSC less than one year after project start. After two years of testing, including two major upgrade periods, and recovery from a test crash that caused the loss of a vehicle, flight testing will evolve to executing autonomous flights simulating a 500m lunar approach trajectory, hazard avoidance maneuvers, and precision landing, incorporating the Autonomous Landing and Hazard Avoidance (ALHAT) sensor suite. These free-flights are conducted at a simulated planetary landscape built at Kennedy Space Center's Shuttle Landing Facility. The Morpheus Project represents a departure from recent NASA programs and projects that traditionally require longer development lifecycles and testing at remote, dedicated testing facilities. This paper expands on the project perspective that technologies offer promise, but capabilities offer solutions. It documents the integrated testing campaign, the infrastructure and testing facilities, and the technologies being evaluated in this testbed. The paper also describes the fast pace of the project, rapid prototyping, frequent testing, and lessons learned during this departure from the traditional engineering development process at NASA's Johnson Space Center.

Olansen, Jon B.↗
NASA NTRS2015

Advancing Lidar Sensors Technologies for Next Generation Landing Missions

Missions to solar systems bodies must meet increasingly ambitious objectives requiring highly reliable "precision landing", and "hazard avoidance" capabilities. Robotic missions to the Moon and Mars demand landing at pre-designated sites of high scientific value near hazardous terrain features, such as escarpments, craters, slopes, and rocks. Missions aimed at paving the path for colonization of the Moon and human landing on Mars need to execute onboard hazard detection and precision maneuvering to ensure safe landing near previously deployed assets. Asteroid missions require precision rendezvous, identification of the landing or sampling site location, and navigation to the highly dynamic object that may be tumbling at a fast rate. To meet these needs, NASA Langley Research Center (LaRC) has developed a set of advanced lidar sensors under the Autonomous Landing and Hazard Avoidance Technology (ALHAT) project. These lidar sensors can provide precision measurement of vehicle relative proximity, velocity, and orientation, and high resolution elevation maps of the surface during the descent to the targeted body. Recent flights onboard Morpheus free-flyer vehicle have demonstrated the viability of ALHAT lidar sensors for future landing missions to solar system bodies.

Amzajerdian, Farzin↗
NASA NTRS2019

PL&HA and SPLICE Overview

Guidance, Navigation and Control (GN&C) technologies for precise and safe landing are essential for future robotic science and human exploration missions to solar system destinations with targeted surface locations that pose a significant risk to successful landing and subsequent mission operations. These Entry, Descent and Landing (EDL) technologies are a part of the NASA domain called PL&HA (Precision Landing and Hazard Avoidance) and are considered high priority capabilities within the space technology roadmaps from NASA and the National Research Council (NRC). The PL&HA technologies promote and enable new missions concepts to solar system destinations.

Precision Landing and Hazard Avoidance (PL&HA)↗
NASA NTRS2014

Preparation and Integration of ALHAT Precision Landing Technology for Morpheus Flight Testing

The Autonomous precision Landing and Hazard Avoidance Technology (ALHAT) project has developed a suite of prototype sensors for enabling autonomous and safe precision land- ing of robotic or crewed vehicles on solid solar bodies under varying terrain lighting condi- tions. The sensors include a Lidar-based Hazard Detection System (HDS), a multipurpose Navigation Doppler Lidar (NDL), and a long-range Laser Altimeter (LAlt). Preparation for terrestrial ight testing of ALHAT onboard the Morpheus free- ying, rocket-propelled ight test vehicle has been in progress since 2012, with ight tests over a lunar-like ter- rain eld occurring in Spring 2014. Signi cant work e orts within both the ALHAT and Morpheus projects has been required in the preparation of the sensors, vehicle, and test facilities for interfacing, integrating and verifying overall system performance to ensure readiness for ight testing. The ALHAT sensors have undergone numerous stand-alone sensor tests, simulations, and calibrations, along with integrated-system tests in special- ized gantries, trucks, helicopters and xed-wing aircraft. A lunar-like terrain environment was constructed for ALHAT system testing during Morpheus ights, and vibration and thermal testing of the ALHAT sensors was performed based on Morpheus ights prior to ALHAT integration. High- delity simulations were implemented to gain insight into integrated ALHAT sensors and Morpheus GN&C system performance, and command and telemetry interfacing and functional testing was conducted once the ALHAT sensors and electronics were integrated onto Morpheus. This paper captures some of the details and lessons learned in the planning, preparation and integration of the individual ALHAT sen- sors, the vehicle, and the test environment that led up to the joint ight tests.

Carson, John M., III↗
NASA NTRS2015

Interfacing and Verifying ALHAT Safe Precision Landing Systems with the Morpheus Vehicle

The NASA Autonomous precision Landing and Hazard Avoidance Technology (ALHAT) project developed a suite of prototype sensors to enable autonomous and safe precision landing of robotic or crewed vehicles under any terrain lighting conditions. Development of the ALHAT sensor suite was a cross-NASA effort, culminating in integration and testing on-board a variety of terrestrial vehicles toward infusion into future spaceflight applications. Terrestrial tests were conducted on specialized test gantries, moving trucks, helicopter flights, and a flight test onboard the NASA Morpheus free-flying, rocket-propulsive flight-test vehicle. To accomplish these tests, a tedious integration process was developed and followed, which included both command and telemetry interfacing, as well as sensor alignment and calibration verification to ensure valid test data to analyze ALHAT and Guidance, Navigation and Control (GNC) performance. This was especially true for the flight test campaign of ALHAT onboard Morpheus. For interfacing of ALHAT sensors to the Morpheus flight system, an adaptable command and telemetry architecture was developed to allow for the evolution of per-sensor Interface Control Design/Documents (ICDs). Additionally, individual-sensor and on-vehicle verification testing was developed to ensure functional operation of the ALHAT sensors onboard the vehicle, as well as precision-measurement validity for each ALHAT sensor when integrated within the Morpheus GNC system. This paper provides some insight into the interface development and the integrated-systems verification that were a part of the build-up toward success of the ALHAT and Morpheus flight test campaigns in 2014. These campaigns provided valuable performance data that is refining the path toward spaceflight infusion of the ALHAT sensor suite.

Carson, John M., III↗