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NASA NTRS2003

Applying a Crew Accommodations Resource Model to Future Space Vehicle Research

The success of research and development for human space flight depends heavily on modeling. In addition, the use of such models is especially critical at the earliest phase of research and development of any manned vehicle or habitat. NASA is currently studying various innovative and futuristic propulsion technologies to enable further exploration of space by untended as well as tended vehicles. Details such as vehicle mass, volume, shape and configuration are required variables to evaluate the success of the propulsion concepts. For tended vehicles, the impact of the crew's requirements on those parameters must be included. This is especially important on long duration missions where the crew requirements become more complex. To address these issues, a crew accommodations resource model, developed as a mission planning tool for human spaceflight (Stillwell, Boutros, & Connolly), was applied to a reference mission in order to estimate the volume and mass required to sustain a crew for a variety of long duration missions. The model, which compiled information from numerous different sources and contains various attributes which can be modified to enable comparisons across different dimensions, was instrumental in deriving volume and mass required for a tended long duration space flight. With the inclusion of some additional variables, a set of volume and mass requirements were provided to the project. If due consideration to crew requirements for volume and mass had not been entertained, the assumptions behind validation of the propulsion technology could have been found to be incorrect, possibly far into development of the technology or even into the design and build of test vehicles. The availability and use of such a model contributes significantly by increasing the accuracy of human space flight research and development activities and acts as a cost saving measure by preventing inaccurate assumptions from driving design decisions.

Blume, Jennifer Linda↗

NASA NTRS1986

Virtual space and 2-dimensional effects in perspective displays

When interpreting three dimensional spatial relationships presented on a two dimensional display surface, the viewer is required to mentally reconstruct the original information. This reconstruction is influenced by both the perspective geometry of the displayed image and the viewer's eye position relative to the display. In a study which manipulated these variables, subjects judged the azimuth direction of a target object relative to a reference object fixed in the center of a perspective display. The results support a previously developed model which predicted that the azimuth judgement error would be a sinusoidal function of stimulus azimuth. The amplitude of this function was correctly predicted to be systematically modulated by both the perspective geometry of the image and the viewer's eye position relative to the screen. Interaction of the two components of the model, the virtual space effect and the 3D-to-2D projection effect, predicted the relative amplitudes of the sinusoidal azimuth error functions for the various conditions of the experiment. Mean azimuth judgements in some directions differed by as much as 25 degrees as a result of different combinations of eye position and image geometry. The results illustrate the need to consider the effects of perspective geometry when designing spatial information instruments, and show the model to be a reliable predictor of average performance.

Mcgreevy, M. W.↗

NASA NTRS2002

SRM-Assisted Trajectory for the GTX Reference Vehicle

A goal of the GTX effort has been to demonstrate the feasibility of a single stage-to-orbit (SSTO) vehicle that delivers a small payload to low earth orbit. The small payload class was chosen in order to minimize the risk and cost of development of this revolutionary system. A preliminary design study by the GTX team has resulted in the current configuration that offers considerable promise for meeting the stated goal. The size and gross lift-off weight resulting from scaling the current design to closure however may be considered impractical for the small payload. In lieu of evolving the project' reference vehicle to a large-payload class, this paper offers the alternative of using solid-rocket motors in order to close the vehicle at a practical scale. This approach offers a near-term, quasi-reusable system that easily evolves to reusable SSTO following subsequent development and optimization. This paper presents an overview of the impact of the addition of SRM's to the GTX reference vehicle#s performance and trajectory. The overall methods of vehicle modeling and trajectory optimization will also be presented. A key element in the trajectory optimization is the use of the program OTIS 3.10 that provides rapid convergence and a great deal of flexibility to the user. This paper will also present the methods used to implement GTX requirements into OTIS modeling.

Riehl, John↗

NASA NTRS1992

Developing a control system for ARES 2

A great deal of analysis and testing is conducted at the NASA Langley Research Center to support the development of safe and reliable helicopter rotor systems. This work is performed by the Rotorcraft Aeroelasticity Group located in the Transonic Dynamics Tunnel (TDT) facility. Over the past two decades a wide variety of tests have been successfully conducted in the TDT and their results have contributed significantly to the understanding of aeromechanical phenomena in rotor systems. This has led to improved tools for analysis and design, and ultimately to the development, of improved rotor systems. The TDT facility is ideally suited for these tests due to its unique ability to use a heavy gas as a working medium. This allows the model to be scaled such that the results obtained may be readily extrapolated to full scale. Until recently, the rotor system to be tested has been mounted on a fixed balance which is attached to the longeron which is attached to the stand through a single pitching degree of freedom. The testbed used is known as the Aeroelastic Rotor Experimental System (ARES 1). In order to extend the experimental capabilities to investigate the full rotor/body dynamic coupling present in a rotorcraft, a very ambitious project has been undertaken to design and construct a six degree of freedom system that can be controlled so as to emulate the inertial characteristics of a prescribed model fuselage. The electronic and mechanical hardware for this system has already been designed and constructed. This system is known ar ARES II. The rotor and its drive system are mounted on the balance which is attached to the longeron via six hydraulic actuators. This six degree of freedom parallel linkage is referred to in the literature as a Stuart Platform. By properly adjusting the length of the hydraulic actuators it is possible to position and orient the balance relative to the longeron. The longeron is attached to the stand via a pitch degree of freedom to allow testing over various forward flight regimes. One major task remaining to complete this testbed is the design and synthesis of a control system. To do this properly requires an understanding of the kinematics and dynamics of the system and robust control design. A brief description of the development of a control design is given.

Fitzsimons, Philip M.↗

NASA NTRS2002

SRM-Assisted Trajectory for the GTX Reference Vehicle

A goal of the GTX effort has been to demonstrate the feasibility of a single stage- to- orbit (SSTO) vehicle that delivers a small payload to low earth orbit. The small payload class was chosen in order to minimize the risk and cost of development of this revolutionary system. A preliminary design study by the GTX team has resulted in the current configuration that offers considerable promise for meeting the stated goal. The size and gross lift-off weight resulting from scaling the current design to closure however may be considered impractical for the small payload. In lieu of evolving the project's reference vehicle to a large-payload class, this paper offers the alternative of using solid-rocket motors in order to close the vehicle at a practical scale. This approach offers a near-term, quasi-reusable system that easily evolves to reusable SSTO following subsequent development and optimization. This paper presents an overview of the impact of the addition of SRM's to the GTX reference vehicle's performance and trajectory. The overall methods of vehicle modeling and trajectory optimization will also be presented. A key element in the trajectory optimization is the use of the program OTIS 3.10 that provides rapid convergence and a great deal of flexibility to the user. This paper will also present the methods used to implement GTX requirements into OTIS modeling.

Riehl, John↗

NASA NTRS2008

New Developments for Physically-based Falling Snow Retrievals over Land in Preparation for GPM

The NASA Global Precipitation Measurement mission (GPM) concept centers on deploying a Core spacecraft carrying a dual-frequency precipitation radar and a microwave radiometric imager with channels from 10 to 183 GHz to serve as a precipitation physics observatory and a calibration reference to unify a constellation of dedicated and operational passive microwave sensors. Because of the extended orbit of the Core (plus or minus 65 deg) and the enhanced dual frequency radar and high frequency radiometer, GPM will be able to sense falling snow precipitation and light rain over land. Accordingly, GPM has partnered with the Canadian CloudSat/CALIPSO Validation Project (C3VP) to obtain observations to provide one of several important ground-based validation data sets around which the falling snow models and retrieval algorithms can be further developed and tested. In this work we compare and correlate the long time series (Nov.'06 - March '07) measurements of precipitation rate from parsivels to the passive (89, 150, 183 plus or minus 1, plus or minus 3, plus or minus 7 GHz) observations of NOAA's AMSU-B radiometer. We separate the comparisons into categories of no precipitation, liquid rain and falling snow precipitation. We found that there are similar TBs (especially at 89 and 150 GHz) for cases with falling snow and for non-precipitating cases. The comparisons indicate that surface emissivity contributions to the satellite observed TB over land can add uncertainty in detecting and estimating falling snow. The newest results show that by computing brightness temperatures based on CARE radiosonde data and a rough estimate of surface emissivity show that the cloud ice scattering signal in the AMSU-B data is detected. That is the differences in computed TB and AMSU-B TB for precipitating and non-precipitating cases are unique such that the precipitating and non-precipitating cases can be identified. These results require that the radiosonde releases are within an hour of the AMSU-B data. Forest fraction, snow cover, and measured emissivities were combined to calculate the surface emissivities.

Jackson, Gail S.↗

NASA NTRS2018

Prediction Skill of U.S. Flash Droughts in Subseasonal Experiment (SubX) Model Hindcasts

Droughts that establish themselves over a short period of time (weeks to a few months), referred to as flash droughts, can have devastating impacts on agriculture, water resources, and ecosystems. The ability to predict such droughts in advance would greatly enhance our preparation for them and potentially reduce their impacts. The sub-seasonal time scale at which flash droughts occur emphasizes the importance of producing forecasts at weekly or finer intervals that extend beyond the numerical weather prediction time frame. Here we assess the ability of eight global forecast systems, each participating in the Sub-seasonal Experiment project (SubX), to predict key features associated with rapidly developing droughts over the United States during the last two decades. MERRA2 reanalysis is used as observations. Prediction skill for temperature and precipitation anomalies during these events is limited to the first 1-2 weeks after initialization for most hindcasts. However, there are some hindcasts in which large anomalies are well predicted 3-4 weeks or more in advance. The physical mechanisms that are key to the development of surface anomalies, including quasi-stationary atmospheric waves, were also evaluated. Most hindcasts were unable to capture the development or progression of such drought-inducing circulation features more than 1-2 weeks in advance.

Deangelis, Anthony M.↗

NASA NTRSDate not supplied

The Impact of Pixel Size on the Characterization of Deep Convective Clouds for Calibration

The NASA CERES project provides the scientific community the observed TOA SW and LW fluxes for climate monitoring and climate model validation. CERES utilizes hourly geostationary imager derived broadband fluxes, which rely on the channel radiances and associated cloud retrievals, to estimate the broadband fluxes between CERES observations. This requires stable imager visible channel calibration, which the CERES project verifies by utilizing deep convective clouds (DCC) as an invariant Earth target. GSICS, which is an international collaboration, is also evaluating the DCC invariant target calibration methodology to provide consistent calibration coefficients across geostationary imagers anchored to the Aqua-MODIS calibration reference. Tropical DCC are the brightest, coldest, most Lambertian, top of the atmosphere Earth targets. The DCC invariant target calibration methodology relies on a large ensemble of tropical DCC-identified pixel-level reflectances, which are histogrammed to find the mode reflectance of the probability density function (PDF). The imager stability is monitored by tracking the monthly DCC PDF mode reflectance over time. Radiometric scaling is accomplished by ratioing the GEO and VIIRS DCC mode reflectance values. The PDF shape and mode dependency on sensor pixel resolution, which varies among sensors, is unknown. This study will characterize the impact of pixel resolution on the DCC PDFs by aggregating Landsat 30-m pixel reflectances into various coarser pixel resolutions ranging from 100-m to 4-km, and comparing the corresponding PDF statistics. This analysis will assist in improving the uncertainty in a DCC-based intercalibration between instruments with different pixel resolutions.

Conor Haney↗

NASA NTRSDate not supplied

Venus Global Reference Atmospheric Model (Venus-GRAM) Upgrades

Introduction: The Venus Global Reference Atmospheric Model (Venus-GRAM) is one of the most widely used engineering models of Venus’ atmosphere. The Venus-GRAM upgrades are being developed by NASA Marshall Space Flight Center (MSFC) and NASA Langley Research Center (LaRC). This presentation will provide details regarding the upgrades that have been made to Venus-GRAM and the ongoing objectives, tasks, and milestones related to the GRAM upgrades funded by the NASA Science Mission Directorate (SMD). Venus-GRAM: Venus-GRAM is an engineering-oriented atmospheric model that estimates mean values and statistical variations of the atmospheric properties of Venus. Venus-GRAM provides mean values and variability for any point in the atmosphere as well as seasonal, geographic, and altitude variations. Venus-GRAM outputs include atmospheric density, temperature, pressure, winds, and chemical composition along a user-defined path. It is extensively used by the engineering community because of its ability to create realistic dispersions. GRAMs have been integrated into high fidelity flight dynamic simulations of launch, entry, descent and landing (EDL), aerobraking and aerocapture. GRAMs are currently available for Earth, Mars, Venus, Neptune, Titan, and Uranus. The lower atmosphere model in Venus-GRAM (up to 250 km) is based on the Venus International Reference Atmosphere (VIRA) [1]. The Venus-GRAM thermosphere (250 to 1000 km) is based on a MSFC-developed model [2] which assumes an isothermal temperature profile initialized using VIRA conditions at 250 km [3]. The VIRA version included in Venus-GRAM includes Pioneer Venus Orbiter and Probe data as well as Venera probe data, but it does not include a solid planet model or a high-resolution gravity model [4]. Venus-GRAM Upgrade Status: Code Modernization. Venus-GRAM has been rearchitected from Fortran to a common object-oriented C++ framework called the GRAM Suite. This new architecture creates a common GRAM library of data models and utilities. The first C++ release of the rearchitected Venus-GRAM is a straight conversion from the latest Fortran version. Model Upgrades. The focus of the model upgrade task is to improve the atmosphere models in the existing GRAMs and to establish a foundation for developing GRAMs for additional destinations. The GRAM ephemeris has been upgraded to the NASA Navigation and Ancillary Information Facility (NAIF) SPICE toolkit (version N0066). The calculation of the speed of sound has also been improved in the GRAMs. In FY20, the GRAM project established contracts to improve the model data within Venus-GRAM. Hampton University is developing an empirical global model for Venus. The University of Wisconsin is reanalyzing the Venus Express radio occultation observations and analyzing the Akatsuki thermal imaging data. Upgraded Venus-GRAM Release. GRAM Suite Version 1.3 will be released in September 2021 and will contain the rearchitected Venus-GRAM, including the common GRAM framework and planet–specific code. A User Guide and Programmer’s Manual are released with all GRAMs. Conclusions: GRAMs are frequently used toolsets and vital in assessing effects of atmospheres on interplanetary spacecraft during the program life cycle process. Releases of the GRAM Suite, upgrades of the existing planetary GRAMs, and development of new planetary GRAMs are ongoing. Venus-GRAM atmosphere model upgrades will be included in the next phase of GRAM tasks. References: [1] Kliore, A. J. et al. (1985) ASR, 5, 11, 1-304. [2] Justh, H. L. et al. (2006) AIAA/AAS Astrodynamics Specialist Conference & Exhibit, Abstract AIAA-2006-6394. [3] Guide to Reference and Standard Atmosphere Models, BSR/AIAA G-003-2010. [4] Limaye, S. S. (2012), LPSC VEXAG Townhall Meeting. Acknowledgments: The authors gratefully acknowledge support from the NASA SMD.

atmospheric models↗

NASA NTRS1985

Least squares collocation applied to local gravimetric solutions from satellite gravity gradiometry data

An autonomous spaceborne gravity gradiometer mission is being considered as a post Geopotential Research Mission project. The introduction of satellite diometry data to geodesy is expected to improve solid earth gravity models. The possibility of utilizing gradiometer data for the determination of pertinent gravimetric quantities on a local basis is explored. The analytical technique of least squares collocation is investigated for its usefulness in local solutions of this type. It is assumed, in the error analysis, that the vertical gravity gradient component of the gradient tensor is used as the raw data signal from which the corresponding reference gradients are removed to create the centered observations required in the collocation solution. The reference gradients are computed from a high degree and order geopotential model. The solution can be made in terms of mean or point gravity anomalies, height anomalies, or other useful gravimetric quantities depending on the choice of covariance types. Selected for this study were 30 x 30 foot mean gravity and height anomalies. Existing software and new software are utilized to implement the collocation technique. It was determined that satellite gradiometry data at an altitude of 200 km can be used successfully for the determination of 30 x 30 foot mean gravity anomalies to an accuracy of 9.2 mgal from this algorithm. It is shown that the resulting accuracy estimates are sensitive to gravity model coefficient uncertainties, data reduction assumptions and satellite mission parameters.

Robbins, J. W.↗

NASA NTRS1994

Earth Observing System (EOS) Communication (Ecom) Modeling, Analysis, and Testbed (EMAT) activiy

This paper describes the Earth Observing System (EOS) Communication (Ecom) Modeling, Analysis, and Testbed (EMAT) activity performed by Code 540 in support of the Ecom project. Ecom is the ground-to-ground data transport system for operational EOS traffic. The National Aeronautic and Space Administration (NASA) Communications (Nascom) Division, Code 540, is responsible for implementing Ecom. Ecom interfaces with various systems to transport EOS forward link commands, return link telemetry, and science payload data. To understand the complexities surrounding the design and implementation of Ecom, it is necessary that sufficient testbedding, modeling, and analysis be conducted prior to the design phase. These activities, when grouped, are referred to as the EMAT activity. This paper describes work accomplished to date in each of the three major EMAT activities: modeling, analysis, and testbedding.

Desai, Vishal↗

NASA NTRS2011

Proposed Framework for Determining Added Mass of Orion Drogue Parachutes

The Crew Exploration Vehicle (CEV) Parachute Assembly System (CPAS) project is executing a program to qualify a parachute system for a next generation human spacecraft. Part of the qualification process involves predicting parachute riser tension during system descent with flight simulations. Human rating the CPAS hardware requires a high degree of confidence in the simulation models used to predict parachute loads. However, uncertainty exists in the heritage added mass models used for loads predictions due to a lack of supporting documentation and data. Even though CPAS anchors flight simulation loads predictions to flight tests, extrapolation of these models outside the test regime carries the risk of producing non-bounding loads. A set of equations based on empirically derived functions of skirt radius is recommended as the simplest and most viable method to test and derive an enhanced added mass model for an inflating parachute. This will increase confidence in the capability to predict parachute loads. The selected equations are based on those published in A Simplified Dynamic Model of Parachute Inflation by Dean Wolf. An Ames 80x120 wind tunnel test campaign is recommended to acquire the reefing line tension and canopy photogrammetric data needed to quantify the terms in the Wolf equations and reduce uncertainties in parachute loads predictions. Once the campaign is completed, the Wolf equations can be used to predict loads in a typical CPAS Drogue Flight test. Comprehensive descriptions of added mass test techniques from the Apollo Era to the current CPAS project are included for reference.

Fraire, Usbaldo, Jr.↗

NASA NTRS2013

Dawn Orbit Determination Team : Trajectory Modeling and Reconstruction Processes at Vesta

The NASA Dawn spacecraft was launched on September 27, 2007 on a mission to study the asteroid belt's two largest objects, Vesta and Ceres. It is the first deep space orbiting mission to demonstrate solar-electric ion propulsion, providing the necessary delta-V to enable capture and escape from two extraterrestrial bodies. At this time, Dawn has completed its science campaign at Vesta and is currently on its journey to Ceres, where it will arrive in mid-2015. The spacecraft spent over a year in orbit around Vesta from July 2011 through August 2012, capturing science data during four dedicated orbit phases. In order to maintain the reference orbits necessary for science and enable the transfers between those orbits, precise and timely orbit determination was required. The constraints associated with low-thrust ion propulsion coupled with the relatively unknown a priori gravity and rotation models for Vesta presented unique challenges for the Dawn orbit determination team. While [1] discusses the prediction performance of the orbit determination products, this paper discusses the dynamics models, filter configuration, and data processing implemented to deliver a rapid orbit determination capability to the Dawn project.

Vesta↗

NASA NTRS1988

The Flight Telerobotic Servicer Project and systems overview

As part of the Flight Telerobotic Servicer (FTS) project an advanced telerobotic system is being developed to assist in and reduce crew extravehicular activity (EVA) for the U.S. Space Station. The FTS will be used for assembly, maintenance, servicing, and inspection throughout the lifetime of the Space Station. A brief overview of the FTS program is given, and some of the technical and system engineering issues associated with the development of the FTS are explored. A key to the evolutionary capability of the FTS design is the NASREM (NASA Standard Reference Model for telerobot control system) architecture. This architecture provides the framework for future growth and permits a logical blend of teleoperation and autonomous operations as required.

Mccain, Harry G.↗

NASA NTRS1999

Advanced Multigrid Solvers for Fluid Dynamics

The main objective of this project has been to support the development of multigrid techniques in computational fluid dynamics that can achieve "textbook multigrid efficiency" (TME), which is several orders of magnitude faster than current industrial CFD solvers. Toward that goal we have assembled a detailed table which lists every foreseen kind of computational difficulty for achieving it, together with the possible ways for resolving the difficulty, their current state of development, and references. We have developed several codes to test and demonstrate, in the framework of simple model problems, several approaches for overcoming the most important of the listed difficulties that had not been resolved before. In particular, TME has been demonstrated for incompressible flows on one hand, and for near-sonic flows on the other hand. General approaches were advanced for the relaxation of stagnation points and boundary conditions under various situations. Also, new algebraic multigrid techniques were formed for treating unstructured grid formulations. More details on all these are given below.

Brandt, Achi↗

NASA NTRS2001

Modelling Greenland Outlet Glaciers

The objective of this project was to develop simple yet realistic models of Greenland outlet glaciers to better understand ongoing changes and to identify possible causes for these changes. Several approaches can be taken to evaluate the interaction between climate forcing and ice dynamics, and the consequent ice-sheet response, which may involve changes in flow style. To evaluate the icesheet response to mass-balance forcing, Van der Veen (Journal of Geophysical Research, in press) makes the assumption that this response can be considered a perturbation on the reference state and may be evaluated separately from how this reference state evolves over time. Mass-balance forcing has an immediate effect on the ice sheet. Initially, the rate of thickness change as compared to the reference state equals the perturbation in snowfall or ablation. If the forcing persists, the ice sheet responds dynamically, adjusting the rate at which ice is evacuated from the interior to the margins, to achieve a new equilibrium. For large ice sheets, this dynamic adjustment may last for thousands of years, with the magnitude of change decreasing steadily over time as a new equilibrium is approached. This response can be described using kinematic wave theory. This theory, modified to pertain to Greenland drainage basins, was used to evaluate possible ice-sheet responses to perturbations in surface mass balance. The reference state is defined based on measurements along the central flowline of Petermann Glacier in north-west Greenland, and perturbations on this state considered. The advantage of this approach is that the particulars of the dynamical flow regime need not be explicitly known but are incorporated through the parameterization of the reference ice flux or longitudinal velocity profile. The results of the kinematic wave model indicate that significant rates of thickness change can occur immediately after the prescribed change in surface mass balance but adjustments in flow rapidly diminish these rates to a few cm/yr at most. The time scale for adjustment is of the order of a thousand years or so.

vanderVeen, Cornelis↗

NASA NTRS2010

Lessons Learned on Implementing Fault Detection, Isolation, and Recovery (FDIR) in a Ground Launch Environment

This paper's main purpose is to detail issues and lessons learned regarding designing, integrating, and implementing Fault Detection Isolation and Recovery (FDIR) for Constellation Exploration Program (CxP) Ground Operations at Kennedy Space Center (KSC). Part of the0 overall implementation of National Aeronautics and Space Administration's (NASA's) CxP, FDIR is being implemented in three main components of the program (Ares, Orion, and Ground Operations/Processing). While not initially part of the design baseline for the CxP Ground Operations, NASA felt that FDIR is important enough to develop, that NASA's Exploration Systems Mission Directorate's (ESMD's) Exploration Technology Development Program (ETDP) initiated a task for it under their Integrated System Health Management (ISHM) research area. This task, referred to as the FDIIR project, is a multi-year multi-center effort. The primary purpose of the FDIR project is to develop a prototype and pathway upon which Fault Detection and Isolation (FDI) may be transitioned into the Ground Operations baseline. Currently, Qualtech Systems Inc (QSI) Commercial Off The Shelf (COTS) software products Testability Engineering and Maintenance System (TEAMS) Designer and TEAMS RDS/RT are being utilized in the implementation of FDI within the FDIR project. The TEAMS Designer COTS software product is being utilized to model the system with Functional Fault Models (FFMs). A limited set of systems in Ground Operations are being modeled by the FDIR project, and the entire Ares Launch Vehicle is being modeled under the Functional Fault Analysis (FFA) project at Marshall Space Flight Center (MSFC). Integration of the Ares FFMs and the Ground Processing FFMs is being done under the FDIR project also utilizing the TEAMS Designer COTS software product. One of the most significant challenges related to integration is to ensure that FFMs developed by different organizations can be integrated easily and without errors. Software Interface Control Documents (ICDs) for the FFMs and their usage will be addressed as the solution to this issue. In particular, the advantages and disadvantages of these ICDs across physically separate development groups will be delineated.

Ferrell, Bob A.↗

NASA NTRS2017

Lessons Learned from OSIRIS-Rex Autonomous Navigation Using Natural Feature Tracking

The Origins, Spectral Interpretation, Resource Identification, Security-Regolith Explorer (Osiris-REx) spacecraft is scheduled to launch in September, 2016 to embark on an asteroid sample return mission. It is expected to rendezvous with the asteroid, Bennu, navigate to the surface, collect a sample (July 20), and return the sample to Earth (September 23). The original mission design called for using one of two Flash Lidar units to provide autonomous navigation to the surface. Following Preliminary design and initial development of the Lidars, reliability issues with the hardware and test program prompted the project to begin development of an alternative navigation technique to be used as a backup to the Lidar. At the critical design review, Natural Feature Tracking (NFT) was added to the mission. NFT is an onboard optical navigation system that compares observed images to a set of asteroid terrain models which are rendered in real-time from a catalog stored in memory on the flight computer. Onboard knowledge of the spacecraft state is then updated by a Kalman filter using the measured residuals between the rendered reference images and the actual observed images. The asteroid terrain models used by NFT are built from a shape model generated from observations collected during earlier phases of the mission and include both terrain shape and albedo information about the asteroid surface. As a result, the success of NFT is highly dependent on selecting a set of topographic features that can be both identified during descent as well as reliably rendered using the shape model data available. During development, the OSIRIS-REx team faced significant challenges in developing a process conducive to robust operation. This was especially true for terrain models to be used as the spacecraft gets close to the asteroid and higher fidelity models are required for reliable image correlation. This paper will present some of the challenges and lessons learned from the development of the NFT system which includes not just the flight hardware and software but the development of the terrain models used to generate the onboard rendered images.

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