Engineering topics
Hannan, Mike
Publications and source records attributed to Hannan, Mike.
Guidance, Navigation, and Control for NASA Lunar Pallet Lander
The NASA Lander Technology project is leading the development and integration of the Lunar Pallet Lander (LPL) concept. The objective is to demonstrate precision landing by delivering a payload to the lunar surface within 100 meters of a landing target. Potential landing sites are selected near the lunar pole where water may be present in permanently shadowed regions that could enable future in-situ resource utilization. The LPL is part of a sequence of missions aimed at maturing the necessary technologies, such as lunar precision landing sensors, that will enable the next generation of multi-ton lunar payloads and human landers. This paper provides an overview of the Mission Design, Guidance Navigation and Control (GNC) algorithms, and sensor suite. The results show the LPL simulated trajectory and landing precision performance under nominal and dispersed conditions. The landing precision simulation confirms the need to rely on high-accuracy navigation techniques and sensors such as Terrain Relative Navigation (TRN) and the Navigation Doppler Lidar (NDL), currently being developed for space applications. The results also demonstrate the ability of the guidance and control system to perform a soft lunar touchdown by combining thrust vector control during the solid rocket motor deceleration phase, and pulse engine control, for the liquid powered descent phase.
Mission Design for the Lunar Pallet Lander
Due to lighting conditions, the program decided to only fly to the north pole in June 2022 and south pole in December 2022. Starting with the June 2022 landing sites at the north pole, a trajectory scan was run for one landing per day for the latitudes from 85 up to 88 degrees at 0.5 degree increments. Each landing site was at lunar dawn, which determined the landing site’s longitude as described in the previous section. The results of the June 2022 scan showed that LPL had the capability to reach a landing site at least once per day for the region examined as see in in Figure 12. There appears to be a correlation between the landing site’s altitude and the propellant remaining above the lander’s FPR, Figure 13. This is most likely due to the >10 km altitude constraint at SRM burnout. This constraint was applied to keep the lander high above the lunar terrain to avoid mountains, but can be relaxed when the full terrain data is added. Figure 12. June 2022 Nominal Usable Propellant Remaining vs Landing Date/time Similarly, the December 2022 landing sites were run showing that LPL was also capable of reaching a landing site at the Moon at least once per day. Figure 14 shows the results of the December scan, however, there were 3 landing sites that LPL could not reach. Two were very low in altitude (-5 and -4 km in altitude), which looking at the altitude trends in Figure 15, indicates that these sites may not be feasible with the current mission design. It may be possible to achieve the low altitude landing sites by lowering the SRM burnout altitude constraint, but that requires detailed terrain modeling, planned for a future phase of the analysis. The third non-reachable landing site is most likely due to an optimization error, as its altitude was high enough, at -2 km, that it should not have been a problem for the lander to arrive there. More analysis is required to verify this observation.
Flight Testing of Guidance, Navigation and Control Systems on the Mighty Eagle Robotic Lander Testbed
During 2011 a series of progressively more challenging flight tests of the Mighty Eagle autonomous terrestrial lander testbed were conducted primarily to validate the GNC system for a proposed lunar lander. With the successful completion of this GNC validation objective the opportunity existed to utilize the Mighty Eagle as a flying testbed for a variety of technologies. In 2012 an Autonomous Rendezvous and Capture (AR&C) algorithm was implemented in flight software and demonstrated in a series of flight tests. In 2012 a hazard avoidance system was developed and flight tested on the Mighty Eagle. Additionally, GNC algorithms from Moon Express and a MEMs IMU were tested in 2012. All of the testing described herein was above and beyond the original charter for the Mighty Eagle. In addition to being an excellent testbed for a wide variety of systems the Mighty Eagle also provided a great learning opportunity for many engineers and technicians to work a flight program.
Active Collision Avoidance for Planetary Landers
The use of automotive radar systems are being evaluated for collision avoidance in planetary landers. Our focus is to develop a low-cost, light-weight collision avoidance system that overcomes the drawbacks identified with optical-based systems. We also seek to complement the Autonomous Landing and Hazard Avoidance Technology system by providing mission planners an alternative system that can be used on low-cost, small robotic missions and in close approach. Our approach takes advantage of how electromagnetic radiation interacts with solids. As the wavelength increases, the sensitivity of the radiation to isolated solids of a specific particle size decreases. Thus, rocket exhaust-blown dust particles, which have major significance in visible wavelengths, have much less significance at radar wavelengths.
Active Collision Avoidance for Planetary Landers
Present day robotic missions to other planets require precise, a priori knowledge of the terrain to pre-determine a landing spot that is safe. Landing sites can be miles from the mission objective, or, mission objectives may be tailored to suit landing sites. Future robotic exploration missions should be capable of autonomously identifying a safe landing target within a specified target area selected by mission requirements. Such autonomous landing sites must (1) 'see' the surface, (2) identify a target, and (3) land the vehicle. Recent advances in radar technology have resulted in small, lightweight, low power radars that are used for collision avoidance and cruise control systems in automobiles. Such radar systems can be adapted for use as active hazard avoidance systems for planetary landers. The focus of this CIF proposal is to leverage earlier work on collision avoidance systems for MSFC's Mighty Eagle lander and evaluate the use of automotive radar systems for collision avoidance in planetary landers.
Ares I-X Flight Test Validation of Control Design Tools in the Frequency-Domain
A major motivation of the Ares I-X flight test program was to Design for Data, in order to maximize the usefulness of the data recorded in support of Ares I modeling and validation of design and analysis tools. The Design for Data effort was intended to enable good post-flight characterizations of the flight control system, the vehicle structural dynamics, and also the aerodynamic characteristics of the vehicle. To extract the necessary data from the system during flight, a set of small predetermined Programmed Test Inputs (PTIs) was injected directly into the TVC signal. These PTIs were designed to excite the necessary vehicle dynamics while exhibiting a minimal impact on loads. The method is similar to common approaches in aircraft flight test programs, but with unique launch vehicle challenges due to rapidly changing states, short duration of flight, a tight flight envelope, and an inability to repeat any test. This paper documents the validation effort of the stability analysis tools to the flight data which was performed by comparing the post-flight calculated frequency response of the vehicle to the frequency response calculated by the stability analysis tools used to design and analyze the preflight models during the control design effort. The comparison between flight day frequency response and stability tool analysis for flight of the simulated vehicle shows good agreement and provides a high level of confidence in the stability analysis tools for use in any future program. This is true for both a nominal model as well as for dispersed analysis, which shows that the flight day frequency response is enveloped by the vehicle s preflight uncertainty models.
Time Domain Tool Validation Using ARES I-X Flight Data
The ARES I-X vehicle was launched from NASA's Kennedy Space Center (KSC) on October 28, 2009 at approximately 11:30 EDT. ARES I-X was the first test flight for NASA s ARES I launch vehicle, and it was the first non-Shuttle launch vehicle designed and flown by NASA since Saturn. The ARES I-X had a 4-segment solid rocket booster (SRB) first stage and a dummy upper stage (US) to emulate the properties of the ARES I US. During ARES I-X pre-flight modeling and analysis, six (6) independent time domain simulation tools were developed and cross validated. Each tool represents an independent implementation of a common set of models and parameters in a different simulation framework and architecture. Post flight data and reconstructed models provide the means to validate a subset of the simulations against actual flight data and to assess the accuracy of pre-flight dispersion analysis. Post flight data consists of telemetered Operational Flight Instrumentation (OFI) data primarily focused on flight computer outputs and sensor measurements as well as Best Estimated Trajectory (BET) data that estimates vehicle state information from all available measurement sources. While pre-flight models were found to provide a reasonable prediction of the vehicle flight, reconstructed models were generated to better represent and simulate the ARES I-X flight. Post flight reconstructed models include: SRB propulsion model, thrust vector bias models, mass properties, base aerodynamics, and Meteorological Estimated Trajectory (wind and atmospheric data). The result of the effort is a set of independently developed, high fidelity, time-domain simulation tools that have been cross validated and validated against flight data. This paper presents the process and results of high fidelity aerospace modeling, simulation, analysis and tool validation in the time domain.