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Precision<br />
Landing<br />
& Hazard<br />
Avoidance<br />
<strong>Technology</strong> <strong>Program</strong> Background and Overview<br />
<strong>Program</strong><br />
Exploration Clipper<br />
Boeing, MDR, Optech, USL, Irvin Aerospace, JPL, NASA-LaRC, Alabama A&M Univ., Cal Poly Pomona, Ohio Univ., Vanderbilt Univ., EAFB, Army Ft. Rucker, DoE<br />
11/30/200<br />
5<br />
Precision Landing and Hazard Avoidance<br />
<strong>Technology</strong> Demonstration <strong>Program</strong><br />
International Lunar Conference<br />
Robert V Frampton, James M Ball, Karl Oittinen, Boeing.<br />
Mata Bishun, MDA<br />
Bob Richards, Arkady Ulitsky, Eric Martin, Optech<br />
20 September 2005<br />
Toronto<br />
1.
Precision<br />
Landing<br />
& Hazard<br />
Avoidance<br />
<strong>Technology</strong><br />
Purpose<br />
<strong>Program</strong><br />
Exploration Clipper<br />
Boeing, MDR, Optech, USL, Irvin Aerospace, JPL, NASA-LaRC, Alabama A&M Univ., Cal Poly Pomona, Ohio Univ., Vanderbilt Univ., EAFB, Army Ft. Rucker, DoE<br />
11/30/200<br />
5<br />
• Demonstrate advanced technology for precision landing<br />
and hazard avoidance<br />
• <strong>Technology</strong> includes a LIDAR sensor, site selection<br />
algorithms, guidance navigation and control in an<br />
integrated, fault tolerant implementation<br />
• Achieve a <strong>Technology</strong> Readiness Level of 6 by flight<br />
testing this system in relevant environments<br />
• Demonstrate Adaptive Software Architecture that is<br />
applicable to different Lunar and Mars lander concepts.<br />
.<br />
2<br />
.
Precision<br />
Landing<br />
& Hazard<br />
Avoidance<br />
<strong>Technology</strong><br />
<strong>Program</strong><br />
Exploration Clipper<br />
Boeing, MDR, Optech, USL, Irvin Aerospace, JPL, NASA-LaRC, Alabama A&M Univ., Cal Poly Pomona, Ohio Univ., Vanderbilt Univ., EAFB, Army Ft. Rucker, DoE<br />
11/30/200<br />
5<br />
Example Need: Hazardous Lunar Terrain<br />
• Explored lunar surface has a high % of level, smooth surfaces<br />
• Some difficult lunar landing conditions do exist (see below)<br />
• Apollo used smart (piloted) landers - LEM<br />
• Apollo 11 almost depleted fuel avoiding a boulder field<br />
• Landers smaller than LEM may require even more<br />
maneuvering to avoid boulder fields or steep slopes<br />
• Support landing in dark conditions, 14 of every 28 days<br />
Apollo 15<br />
boulder field<br />
Apollo 16<br />
large boulder<br />
Apollo 17<br />
boulder field<br />
.<br />
Apollo 17<br />
large boulder<br />
Apollo 17<br />
steep crater slope<br />
3<br />
Apollo 12<br />
Surveyor lander<br />
slope > 10 degrees<br />
Apollo 17<br />
boulder field<br />
Images courtesy of NASA<br />
.
Precision<br />
Landing<br />
& Hazard<br />
Avoidance<br />
<strong>Technology</strong><br />
<strong>Program</strong><br />
Exploration Clipper<br />
Boeing, MDR, Optech, USL, Irvin Aerospace, JPL, NASA-LaRC, Alabama A&M Univ., Cal Poly Pomona, Ohio Univ., Vanderbilt Univ., EAFB, Army Ft. Rucker, DoE<br />
11/30/200<br />
5<br />
Example Need: Hazardous Mars Terrain<br />
• Many scientifically interesting<br />
sites are located in very<br />
challenging terrain<br />
• Autonomous landing site<br />
selection enhances mission<br />
planning<br />
Steep slopes<br />
Cliffs<br />
.<br />
Outflow gullies on cliff faces<br />
Curious surface features<br />
4<br />
Images courtesy of NASA<br />
.
Precision<br />
Landing<br />
& Hazard<br />
Avoidance<br />
<strong>Technology</strong><br />
<strong>Program</strong><br />
Exploration Clipper<br />
Boeing, MDR, Optech, USL, Irvin Aerospace, JPL, NASA-LaRC, Alabama A&M Univ., Cal Poly Pomona, Ohio Univ., Vanderbilt Univ., EAFB, Army Ft. Rucker, DoE<br />
11/30/200<br />
5<br />
Leveraged Delta Clipper (DC-X) <strong>Program</strong><br />
• Precision vertical<br />
propulsive landing GN&C<br />
system was developed and<br />
flown<br />
• Reuse of DC-X GN&C<br />
algorithms is planned for<br />
this prototype planetary<br />
lander<br />
• G&N approach will be<br />
extended to accommodate<br />
advanced landing sensors<br />
Powered vertical landing<br />
.<br />
5<br />
.
Precision<br />
Landing<br />
& Hazard<br />
Avoidance RaPIDS Development of Flight SW<br />
<strong>Technology</strong><br />
<strong>Program</strong><br />
Exploration Clipper<br />
Boeing, MDR, Optech, USL, Irvin Aerospace, JPL, NASA-LaRC, Alabama A&M Univ., Cal Poly Pomona, Ohio Univ., Vanderbilt Univ., EAFB, Army Ft. Rucker, DoE<br />
11/30/200<br />
5<br />
This method was applied to DC-X and other programs.<br />
.<br />
6<br />
.
Precision<br />
Landing<br />
& Hazard<br />
Avoidance<br />
<strong>Technology</strong> H&RT Team Structure and Roles<br />
<strong>Program</strong><br />
Exploration Clipper<br />
Boeing, MDR, Optech, USL, Irvin Aerospace, JPL, NASA-LaRC, Alabama A&M Univ., Cal Poly Pomona, Ohio Univ., Vanderbilt Univ., EAFB, Army Ft. Rucker, DoE<br />
Industry<br />
NASA<br />
DoD, DoE Universities<br />
11/30/200<br />
5<br />
1. Boeing Huntington Beach: Team Lead<br />
2. MacDonald Dettwiler and Optech: LIDAR; cost map software<br />
3. Universal Spacelines LLC: Software and Simulations<br />
4. Irvin Aerospace: Parachutes<br />
5. Jet Propulsion Lab: Lander concepts. Test planning<br />
6. Langley Research Center: CFD, Test support<br />
7. Alabama A&M University: Aerodynamics/CFD<br />
8. California State Polytechnic University, Pomona: Landing gear<br />
9. Ohio University: Fault Adaptive Control<br />
10. Vanderbilt University: Supply software and consulting for IVHM software<br />
11. US Air Force Research Lab (AFRL), Edwards AFB: Hover, plume tests<br />
12. US Army, Ft Rucker: Supply Chinook helicopter for drop test<br />
13. US Dept. of Energy: Test site operations<br />
.<br />
7<br />
.
Precision<br />
Landing<br />
& Hazard<br />
Avoidance<br />
<strong>Technology</strong> PL&HA <strong>Technology</strong> <strong>Program</strong> Goals<br />
<strong>Program</strong><br />
Exploration Clipper<br />
Boeing, MDR, Optech, USL, Irvin Aerospace, JPL, NASA-LaRC, Alabama A&M Univ., Cal Poly Pomona, Ohio Univ., Vanderbilt Univ., EAFB, Army Ft. Rucker, DoE<br />
• Demonstrate precision landing<br />
guidance and control, and<br />
autonomous navigation for a<br />
variety of lunar and Mars<br />
landers, showing adaptability.<br />
• Demonstrate terrain cost maps,<br />
landing site selection, and<br />
hazard avoidance for the moon<br />
and Mars<br />
• Demonstrate IVHM and fault<br />
adaptive control for the lander<br />
• Conduct drop test of a prototype<br />
lander from ~3 km altitude, by a<br />
Chinook helicopter, over drop<br />
test site (to achieve TRL 6)<br />
11/30/200<br />
5<br />
Thruster/ACS<br />
Spring-<br />
Loaded<br />
Lander Legs<br />
.<br />
LIDAR<br />
8<br />
Integrated/Impact-<br />
Absorbing<br />
Honeycomb<br />
Structure<br />
Fuel Tanks<br />
Notional Mars Lander<br />
PS_ID1702-011<br />
.
Precision<br />
Landing<br />
& Hazard<br />
Avoidance<br />
<strong>Technology</strong> H&RT PL&HA <strong>Program</strong> Schedule<br />
<strong>Program</strong><br />
Exploration Clipper<br />
Boeing, MDR, Optech, USL, Irvin Aerospace, JPL, NASA-LaRC, Alabama A&M Univ., Cal Poly Pomona, Ohio Univ., Vanderbilt Univ., EAFB, Army Ft. Rucker, DoE<br />
11/30/200<br />
5<br />
2005 2006 2007 2008<br />
Phase 1<br />
• Develop detailed plans<br />
• Develop CAD files<br />
• Preliminary design<br />
• Detailed simulation<br />
• Concept validation<br />
• Develop test plan<br />
Phase 2, Option 1<br />
• Complete CAD files<br />
• Propulsion design<br />
• LIDAR plume test<br />
• LIDAR flight tests<br />
• 6-DOF integration<br />
• RT simulation<br />
.<br />
Phase 2, Option 2<br />
• Lander CDR<br />
• Build lander<br />
• Conduct ground tests<br />
- systems tests<br />
- crane tests<br />
• Develop drogue chute<br />
• Test ops reviews<br />
• Conduct flight tests<br />
9<br />
.
Precision<br />
Landing<br />
& Hazard<br />
Avoidance<br />
<strong>Technology</strong> Lander Preliminary Design Process<br />
<strong>Program</strong><br />
Exploration Clipper<br />
Boeing, MDR, Optech, USL, Irvin Aerospace, JPL, NASA-LaRC, Alabama A&M Univ., Cal Poly Pomona, Ohio Univ., Vanderbilt Univ., EAFB, Army Ft. Rucker, DoE<br />
11/30/200<br />
5<br />
Derive<br />
vehicle<br />
requirements<br />
Candidate<br />
HW and SW<br />
Size vehicle<br />
and generate<br />
layouts<br />
.<br />
Develop mission<br />
requirements<br />
Generate<br />
HQ&ULs<br />
Vehicle preliminary design process<br />
Modify<br />
vehicle<br />
design<br />
.<br />
no<br />
Systems engineering process<br />
Develop<br />
baseline<br />
GN&C<br />
Determine initial<br />
mass properties,<br />
propulsion, aero<br />
meet<br />
req’ts<br />
?<br />
yes<br />
Baseline<br />
lander design<br />
Build 6-DOF<br />
simulation<br />
Simulate<br />
performance<br />
10<br />
Derive test<br />
requirements<br />
.
Precision<br />
Landing<br />
& Hazard<br />
Avoidance<br />
<strong>Technology</strong> “Exploration Clipper” Lander Concept<br />
<strong>Program</strong><br />
Exploration Clipper<br />
Boeing, MDR, Optech, USL, Irvin Aerospace, JPL, NASA-LaRC, Alabama A&M Univ., Cal Poly Pomona, Ohio Univ., Vanderbilt Univ., EAFB, Army Ft. Rucker, DoE<br />
Notional Testbed Lander<br />
Parachute (primary, backup)<br />
Propellant tanks (2)<br />
11/30/200<br />
5<br />
Pressurant tank<br />
Shock absorbers (4)<br />
Landing gear pads (4)<br />
LIDAR & avionics<br />
.<br />
Purpose: to provide an<br />
environment to test a<br />
lander with integrated<br />
LIDAR to a TRL of 6<br />
Parachute attach/release point<br />
Landing engines (4)<br />
11<br />
3 ACS thrusters<br />
(4 pods)<br />
.
Precision<br />
Landing<br />
& Hazard<br />
Avoidance<br />
<strong>Technology</strong> LIDAR Measurements and Cost Maps<br />
<strong>Program</strong><br />
Exploration Clipper<br />
Boeing, MDR, Optech, USL, Irvin Aerospace, JPL, NASA-LaRC, Alabama A&M Univ., Cal Poly Pomona, Ohio Univ., Vanderbilt Univ., EAFB, Army Ft. Rucker, DoE<br />
LIDAR measured topography<br />
11/30/200<br />
5<br />
.<br />
Horizontal<br />
velocity<br />
Examples of Cost Maps<br />
Selected landing site<br />
Inputs to lander guidance system<br />
12<br />
.
Precision<br />
Landing<br />
& Hazard<br />
Avoidance<br />
<strong>Technology</strong> Use NASA-LaRC Gantry for Drop Tests<br />
<strong>Program</strong><br />
Exploration Clipper<br />
Boeing, MDR, Optech, USL, Irvin Aerospace, JPL, NASA-LaRC, Alabama A&M Univ., Cal Poly Pomona, Ohio Univ., Vanderbilt Univ., EAFB, Army Ft. Rucker, DoE<br />
11/30/200<br />
5<br />
Langley Impact Dynamics Test Facility<br />
.<br />
LEMS Descent at LaRC Gantry<br />
The Impact Dynamics Research Facility (IDRF) is a 80-meter high gantry structure located<br />
at NASA Langley Research Center in Hampton, Virginia. The facility was originally built in<br />
1963 as a lunar landing simulator, allowing the Apollo astronauts to practice lunar landings<br />
under realistic conditions. The Lunar Excursion Module Simulator (LEMS) was suspended<br />
from gantry with a control system designed to produce an upward force equal to 5/6 th of the<br />
total weight of the LEMS.<br />
13<br />
.
Precision<br />
Landing<br />
& Hazard<br />
Avoidance<br />
<strong>Technology</strong><br />
<strong>Program</strong><br />
Exploration Clipper<br />
Boeing, MDR, Optech, USL, Irvin Aerospace, JPL, NASA-LaRC, Alabama A&M Univ., Cal Poly Pomona, Ohio Univ., Vanderbilt Univ., EAFB, Army Ft. Rucker, DoE<br />
11/30/200<br />
5<br />
Flight Test Will Use Helicopter to Drop Lander<br />
Lander<br />
CH-47 Helicopter<br />
Tow Strap<br />
.<br />
Drogue<br />
chute<br />
Chinook helicopter was used in previous Boeing drop tests<br />
14<br />
.
Precision<br />
Landing<br />
& Hazard<br />
Avoidance<br />
<strong>Technology</strong> Preliminary Drop Test Sequence<br />
<strong>Program</strong><br />
Exploration Clipper<br />
Boeing, MDR, Optech, USL, Irvin Aerospace, JPL, NASA-LaRC, Alabama A&M Univ., Cal Poly Pomona, Ohio Univ., Vanderbilt Univ., EAFB, Army Ft. Rucker, DoE<br />
Drop point<br />
FOCC<br />
11/30/200<br />
5<br />
Earliest<br />
parachute<br />
release<br />
Latest<br />
parachute<br />
release<br />
Helicopter flight path<br />
Free fall under parachute (stabilize)<br />
Free fall under parachute<br />
or propulsive steering.<br />
Propellant margin driven.<br />
(LIDAR selecting coarse<br />
landing site options)<br />
Propulsive steering<br />
(select final site)<br />
Propulsive steering<br />
(to selected site)<br />
.<br />
15<br />
.
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