Preliminary Design, Testing, and Performance of the LOFTID Navigation System
The Low Earth Orbit Flight Test of an Inflatable Decelerator (LOFTID) involves the first orbital test of an inflatable decelerator. This test involves the LOFTID re-entry vehicle using an inflatable decelerator to re-enter the atmosphere after flying to orbit as a secondary payload. Due to system constraints, including spin stabilization, unknown time of day, a limited space available for antennas, and a heat shield which blocks magnetic fields, the navigation system includes only an inertial measurement unit and a single GPS receiver. As the vehicle is turned off for the first part of the mission and will not receive commands or data from the ground, the navigation system will not have accurate initialization, and will in-stead rely on pre-flight estimates or first measurement estimation. This could result in significant unknown error in the initial state, resulting in needing to initialize the state on-orbit and requires using the single GPS antenna for attitude updates. These design considerations led to using an Extended Kalman filter, modified to perform with these design constraints. A streamlined testing approach, including tests with flight-like rotations, is being used to limit the time and resources needed to test the navigation system while still fully testing the performance and robustness of the navigation system. This testing approach follows the NASA test-as-you-fly principle and allows for early detection of errors and changes that are needed in the software. This results in a navigation system that, even within the design constraints of the mission architecture, will provide the performance and robustness needed of the mission.