James S Mccabe | Search NASA

NASA NTRSDate not supplied

OASSIS: Onboard Adaptive Safe-site Identification System Y3

The OASSIS Year 3 project continues to innovate with three goals: 1) transition to a generic configuration compatible with GNC flight software, 2) implement a new, computationally-efficient TRN algorithm for lunar landing, and 3) integrate with the a HWIL testbed to validate lunar landing GNC systems. This project enables lunar lander GNC flight software to be tested dynamically without the need of a costly flight campaign and without the risk of catastrophic hardware loss. Additionally, the TRN algorithm development and testing enhances the state-of-the-art in pinpoint landing navigation, ultimately improving the overall landing accuracy, safety, and reliability of a crewed lunar landing mission.

James S Mccabe↗

NASA NTRSDate not supplied

On A Higher Order Method for Anonymous Feature Processing

Some feature-driven navigation sources, such as cameras or lidars, often require measurement-to-feature associations between the collected data and an onboard feature catalog to be performed upstream of the filter. Standard navigation practice suggests the use of Kalman updates with measurements that have first passed residual editing tests, but this is often insufficient to prevent updates based upon incorrectly associated data, leading to filter degradation and divergence. Recent work has developed the anonymous feature processing (AFP) technique that eliminates reliance upon explicit feature associations outside of the filter entirely while maintaining desirable estimation performance. This paper continues by exploring the approximation employed by AFP, and a higher order approximation is presented to further improve the estimation performance of the AFP update.

James S Mccabe↗