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NASA NTRSDate not supplied

Hazard Boresight Relative Navigation for Safe Lunar Landing

In the area of planetary landing, hazard detection and avoidance is the act of driving a vehicle to a safe landing area using onboard resources. A hazard detection sensor is used to scan the terrain and these measurements are evaluated to determine where the safe landing sites are located. The selected site is generally not the same as the nominal target, so the vehicle must divert to the new site. This activity involves the interaction between several components, including a suite of onboard GNC algorithms that work together to efficiently choose and divert to a new site. This paper presents the Hazard Boresight Relative Navigation concept, which is a method that provides a common interface between the hazard scan, safe-site selection algorithm, size of the target-relative landing ellipse, divert offset distance and guidance targeting algorithm. After the safe-site is selected from the hazard scan, the original inertial target is replaced with a vehicle-relative target, which is initialized by a measurement from the hazard scan. The new target-relative position state is estimated over time in the navigation filter, and is fed to the guidance algorithm to perform the divert maneuver. In addition to detailing the Hazard Boresight Relative Navigation concept, this paper also presents some general landing terms that can be used in the greater discussion, as well as analysis on how to estimate and predict the vehicle footprint dispersion ellipse during flight, which is used in the safe-site selection algorithm.

Stephen R. Steffes↗

NASA NTRSDate not supplied

Hazard Boresight Relative Navigation for Safe Lunar Landing

Stephen Steffes↗

NASA NTRS2017

Analysis of Alerting System Failures in Commercial Aviation Accidents

The role of an alerting system is to make the system operator (e.g., pilot) aware of an impending hazard or unsafe state so the hazard can be avoided or managed successfully. A review of 46 commercial aviation accidents (between 1998 and 2014) revealed that, in the vast majority of events, either the hazard was not alerted or relevant hazard alerting occurred but failed to aid the flight crew sufficiently. For this set of events, alerting system failures were placed in one of five phases: Detection, Understanding, Action Selection, Prioritization, and Execution. This study also reviewed the evolution of alerting system schemes in commercial aviation, which revealed naive assumptions about pilot reliability in monitoring flight path parameters; specifically, pilot monitoring was assumed to be more effective than it actually is. Examples are provided of the types of alerting system failures that have occurred, and recommendations are provided for alerting system improvements.

aviation accidents↗

NASA NTRSDate not supplied

Lunar Excavator Mission Operations using Dynamic Movement Primitives

To support sustainable infrastructure on the Moon, NASA must leverage robots to extract lunar resources for in-situ processing and construction. As part of this effort, NASA is launching the in-situ resource utilization (ISRU) Pilot Excavator later this decade to validate a robotic regolith excavator based on the Regolith Advanced Surface Systems Operations Robot (RASSOR). RASSOR is designed to extract and transport regolith to meet the needs of ISRU architectures. During its mission, Pilot Excavator will be tasked with driving in test patterns to demonstrate the operational concept. One of these tests is a circular trajectory around the lander while avoiding miscellaneous surface hazards such as lunar rocks. To this end, we utilize dynamic movement primitives to represent navigation sequences as primitive trajectories. Here, we introduce a novel obstacle avoidance parameter, which is configured to avoid rocks throughout testing exercises. We demonstrate the effectiveness our method in a newly developed simulation tool called the Simulated Excavation Environment for Lunar Operations (SEELO) using models based on the NASA RASSOR 2.0 excavator. After making key changes to the obstacle avoidance formulation, our results show that the robot is able to safety and robustly navigate the lunar surface with densely populated rock obstacles while retaining the desired circle pattern behavior.

Space Robotics and Automation↗

NASA NTRS1995

Flight test of a low-altitude helicopter guidance system with obstacle avoidance capability

Military aircraft regularly conduct missions that include low-atltitude, near-terrain flight in order to increase covertness and payload effectiveness. Civilian applications include airborne fire fighting, police surveillance, search and rescue, and helicopter emergency medical service. Several fixed-wing aircraft now employ terrain elevation maps and forward-pointed radars to achieve automated terrain following or terrain avoidance flight. Similar systems specialized to helicopters and their flight regime have not received as much attention. A helicopter guidance system relying on digitized terrain elevation maps has been developed that employs airborne navigation, mission requirements, aircraft performance limits, and radar altimeter returns to generate a valley-seeking, low-altitude trajectory between waypoints. The guidance trajectory is symbolically presented to the pilot on a helmet mounted display. This system has been flight tested to 150 ft (45.7 m) above ground level altitude at 80 kts, and is primarily limited by the ability of the pilot to perform manual detection and avoidance of unmapped hazards. In this study, a wide field of view laser radar sensor has been incorporated into this guidance system to assist the pilot in obstacle detection and avoidance, while expanding the system's operational flight envelope. The results from early flight tests of this system are presented. Low-altitude missions to 100 ft (30.5 m) altitude at 80n kts in the presence of unmapped natural and man-made obstacles were demonstrated while the pilot maintained situational awareness and tracking of the guidance trajectory. Further reductions in altitude are expected with continued flight testing.

Zelenka, Richard E.↗

NASA NTRS2016

3-D Flash Lidar Performance in Flight Testing on the Morpheus Autonomous, Rocket-Propelled Lander to a Lunar-Like Hazard Field

For the first time, a 3-D imaging Flash Lidar instrument has been used in flight to scan a lunar-like hazard field, build a 3-D Digital Elevation Map (DEM), identify a safe landing site, and, in concert with an experimental Guidance, Navigation, and Control (GN&C) system, help to guide the Morpheus autonomous, rocket-propelled, free-flying lander to that safe site on the hazard field. The flight tests served as the TRL 6 demo of the Autonomous Precision Landing and Hazard Detection and Avoidance Technology (ALHAT) system and included launch from NASA-Kennedy, a lunar-like descent trajectory from an altitude of 250m, and landing on a lunar-like hazard field of rocks, craters, hazardous slopes, and safe sites 400m down-range. The ALHAT project developed a system capable of enabling safe, precise crewed or robotic landings in challenging terrain on planetary bodies under any ambient lighting conditions. The Flash Lidar is a second generation, compact, real-time, air-cooled instrument. Based upon extensive on-ground characterization at flight ranges, the Flash Lidar was shown to be capable of imaging hazards from a slant range of 1 km with an 8 cm range precision and a range accuracy better than 35 cm, both at 1-delta. The Flash Lidar identified landing hazards as small as 30 cm from the maximum slant range which Morpheus could achieve (450 m); however, under certain wind conditions it was susceptible to scintillation arising from air heated by the rocket engine and to pre-triggering on a dust cloud created during launch and transported down-range by wind.

Roback, Vincent E.↗

NASA NTRS2008

Automatic Hazard Detection for Landers

Unmanned planetary landers to date have landed 'blind'; that is, without the benefit of onboard landing hazard detection and avoidance systems. This constrains landing site selection to very benign terrain,which in turn constrains the scientific agenda of missions. The state of the art Entry, Descent, and Landing (EDL) technology can land a spacecraft on Mars somewhere within a 20-100km landing ellipse.Landing ellipses are very likely to contain hazards such as craters, discontinuities, steep slopes, and large rocks, than can cause mission-fatal damage. We briefly review sensor options for landing hazard detection and identify a perception approach based on stereo vision and shadow analysis that addresses the broadest set of missions. Our approach fuses stereo vision and monocular shadow-based rock detection to maximize spacecraft safety. We summarize performance models for slope estimation and rock detection within this approach and validate those models experimentally. Instantiating our model of rock detection reliability for Mars predicts that this approach can reduce the probability of failed landing by at least a factor of 4 in any given terrain. We also describe a rock detector/mapper applied to large-high-resolution images from the Mars Reconnaissance Orbiter (MRO) for landing site characterization and selection for Mars missions.

hazard detection↗

NASA NTRS2015

Lidar Sensor Performance in Closed-Loop Flight Testing of the Morpheus Rocket-Propelled Lander to a Lunar-Like Hazard Field

For the first time, a suite of three lidar sensors have been used in flight to scan a lunar-like hazard field, identify a safe landing site, and, in concert with an experimental Guidance, Navigation, and Control (GN&C) system, help to guide the Morpheus autonomous, rocket-propelled, free-flying lander to that safe site on the hazard field. The lidar sensors and GN&C system are part of the Autonomous Precision Landing and Hazard Detection and Avoidance Technology (ALHAT) project which has been seeking to develop a system capable of enabling safe, precise crewed or robotic landings in challenging terrain on planetary bodies under any ambient lighting conditions. The 3-D imaging Flash Lidar is a second generation, compact, real-time, aircooled instrument developed from a number of components from industry and NASA and is used as part of the ALHAT Hazard Detection System (HDS) to scan the hazard field and build a 3-D Digital Elevation Map (DEM) in near-real time for identifying safe sites. The Flash Lidar is capable of identifying a 30 cm hazard from a slant range of 1 km with its 8 cm range precision (1-s). The Flash Lidar is also used in Hazard Relative Navigation (HRN) to provide position updates down to a 250m slant range to the ALHAT navigation filter as it guides Morpheus to the safe site. The Navigation Doppler Lidar (NDL) system has been developed within NASA to provide velocity measurements with an accuracy of 0.2 cm/sec and range measurements with an accuracy of 17 cm both from a maximum range of 2,200 m to a minimum range of several meters above the ground. The NDLâ€"TM"s measurements are fed into the ALHAT navigation filter to provide lander guidance to the safe site. The Laser Altimeter (LA), also developed within NASA, provides range measurements with an accuracy of 5 cm from a maximum operational range of 30 km down to 1 m and, being a separate sensor from the Flash Lidar, can provide range along a separate vector. The LA measurements are also fed into the ALHAT navigation filter to provide lander guidance to the safe site. The flight tests served as the culmination of the TRL 6 journey for the ALHAT system and included launch from a pad situated at the NASA-Kennedy Space Center Shuttle Landing Facility (SLF) runway, a lunar-like descent trajectory from an altitude of 250m, and landing on a lunar-like hazard field of rocks, craters, hazardous slopes, and safe sites 400m down-range just off the North end of the runway. The tests both confirmed the expected performance and also revealed several challenges present in the flight-like environment which will feed into future TRL advancement of the sensors. Guidance provided by the ALHAT system was impeded in portions of the trajectory and intermittent near the end of the trajectory due to optical effects arising from air heated by the rocket engine. The Flash Lidar identified hazards as small as 30 cm from the maximum slant range of 450 m which Morpheus could provide; however, it was occasionally susceptible to an increase in range noise due to scintillation arising from air heated by the Morpheus rocket engine which entered its Field-of-View (FOV). The Flash Lidar was also susceptible to pre-triggering, during the HRN phase, on a dust cloud created during launch and transported down-range by the wind. The NDL provided velocity and range measurements to the expected accuracy levels yet it was also susceptible to signal degradation due to air heated by the rocket engine. The LA, operating with a degraded transmitter laser, also showed signal attenuation over a few seconds at a specific phase of the flight due to the heat plume generated by the rocket engine.

Roback, V. Eric↗

NASA NTRS2015

Lidar Sensor Performance in Closed-Loop Flight Testing of the Morpheus Rocket-Propelled Lander to a Lunar-Like Hazard Field

For the first time, a suite of three lidar sensors have been used in flight to scan a lunar-like hazard field, identify a safe landing site, and, in concert with an experimental Guidance, Navigation, and Control (GN&C) system, guide the Morpheus autonomous, rocket-propelled, free-flying test bed to a safe landing on the hazard field. The lidar sensors and GN&C system are part of the Autonomous Precision Landing and Hazard Detection and Avoidance Technology (ALHAT) project which has been seeking to develop a system capable of enabling safe, precise crewed or robotic landings in challenging terrain on planetary bodies under any ambient lighting conditions. The 3-D imaging flash lidar is a second generation, compact, real-time, air-cooled instrument developed from a number of cutting-edge components from industry and NASA and is used as part of the ALHAT Hazard Detection System (HDS) to scan the hazard field and build a 3-D Digital Elevation Map (DEM) in near-real time for identifying safe sites. The flash lidar is capable of identifying a 30 cm hazard from a slant range of 1 km with its 8 cm range precision at 1 sigma. The flash lidar is also used in Hazard Relative Navigation (HRN) to provide position updates down to a 250m slant range to the ALHAT navigation filter as it guides Morpheus to the safe site. The Doppler Lidar system has been developed within NASA to provide velocity measurements with an accuracy of 0.2 cm/sec and range measurements with an accuracy of 17 cm both from a maximum range of 2,200 m to a minimum range of several meters above the ground. The Doppler Lidar's measurements are fed into the ALHAT navigation filter to provide lander guidance to the safe site. The Laser Altimeter, also developed within NASA, provides range measurements with an accuracy of 5 cm from a maximum operational range of 30 km down to 1 m and, being a separate sensor from the flash lidar, can provide range along a separate vector. The Laser Altimeter measurements are also fed into the ALHAT navigation filter to provide lander guidance to the safe site. The flight tests served as the culmination of the TRL 6 journey for the lidar suite and included launch from a pad situated at the NASA-Kennedy Space Center Shuttle Landing Facility (SLF) runway, a lunar-like descent trajectory from an altitude of 250m, and landing on a lunar-like hazard field of rocks, craters, hazardous slopes, and safe sites 400m down-range just off the North end of the runway. The tests both confirmed the expected performance and also revealed several challenges present in the flight-like environment which will feed into future TRL advancement of the sensors. The flash lidar identified hazards as small as 30 cm from the maximum slant range of 450 m which Morpheus could provide, however, it was occasionally susceptible to an increase in range noise due to heated air from the Morpheus rocket plume which entered its Field-of-View (FOV). The flash lidar was also susceptible to pre-triggering on dust during the HRN phase which was created during launch and transported by the wind. The Doppler Lidar provided velocity and range measurements to the expected accuracy levels yet it was also susceptible to signal degradation due to air heated by the rocket engine. The Laser Altimeter, operating with a degraded transmitter laser, also showed signal attenuation over a few seconds at a specific phase of the flight due to the heat plume generated by the rocket engine.

Roback, Vincent E.↗

NASA NTRS2009

Hazard Detection Methods for Lunar Landing

The methods and experiences from the Apollo Program are fundamental building blocks for the development of lunar landing strategies for the Constellation Program. Each of the six lunar landing Apollo missions landed under near ideal lighting conditions. The astronauts visually performed terrain relative navigation while looking out of windows, and were greatly aided by external communication and well lit scenes. As the LM approached the landing site, the astronauts performed visual hazard detection and avoidance, also under near-ideal lighting conditions. The astronauts were looking out of the windows trying to the best of their ability to avoid rocks, slopes, and craters and find a safe landing location. NASA has expressed a desire for global lunar access for both crewed and robotic sortie lunar exploration missions (Cook, 2007) (Dale, 2006). Early NASA architecture studies have identified the lunar poles as desirable locations for early lunar missions. These polar missions have less than ideal lighting conditions and will significantly affect the way a crewed vehicle plans to land at such locales. Consequently, a variety of hazard identification methods should be considered for use by the crew to ensure a high degree of safety. This paper discusses such identification methods applicable to the poorly lit polar lunar environment, better ensuring global access for the soon to be designed Lunar Lander Vehicle (LLV).

Brady, Tye↗

NASA NTRS2013

Helicopter Flight Test of a Compact, Real-Time 3-D Flash Lidar for Imaging Hazardous Terrain During Planetary Landing

A second generation, compact, real-time, air-cooled 3-D imaging Flash Lidar sensor system, developed from a number of cutting-edge components from industry and NASA, is lab characterized and helicopter flight tested under the Autonomous Precision Landing and Hazard Detection and Avoidance Technology (ALHAT) project. The ALHAT project is seeking to develop a guidance, navigation, and control (GN&C) and sensing system based on lidar technology capable of enabling safe, precise crewed or robotic landings in challenging terrain on planetary bodies under any ambient lighting conditions. The Flash Lidar incorporates a 3-D imaging video camera based on Indium-Gallium-Arsenide Avalanche Photo Diode and novel micro-electronic technology for a 128 x 128 pixel array operating at a video rate of 20 Hz, a high pulse-energy 1.06 μm Neodymium-doped: Yttrium Aluminum Garnet (Nd:YAG) laser, a remote laser safety termination system, high performance transmitter and receiver optics with one and five degrees field-of-view (FOV), enhanced onboard thermal control, as well as a compact and self-contained suite of support electronics housed in a single box and built around a PC-104 architecture to enable autonomous operations. The Flash Lidar was developed and then characterized at two NASA-Langley Research Center (LaRC) outdoor laser test range facilities both statically and dynamically, integrated with other ALHAT GN&C subsystems from partner organizations, and installed onto a Bell UH-1H Iroquois "Huey" helicopter at LaRC. The integrated system was flight tested at the NASA-Kennedy Space Center (KSC) on simulated lunar approach to a custom hazard field consisting of rocks, craters, hazardous slopes, and safe-sites near the Shuttle Landing Facility runway starting at slant ranges of 750 m. In order to evaluate different methods of achieving hazard detection, the lidar, in conjunction with the ALHAT hazard detection and GN&C system, operates in both a narrow 1deg FOV raster-scanning mode in which successive, gimbaled images of the hazard field are mosaicked together as well as in a wider, 4.85deg FOV staring mode in which digital magnification, via a novel 3-D superresolution technique, is used to effectively achieve the same spatial precision attained with the more narrow FOV optics. The lidar generates calibrated and corrected 3-D range images of the hazard field in real-time and passes them to the ALHAT Hazard Detection System (HDS) which stitches the images together to generate on-the-fly Digital Elevation Maps (DEM's) and identifies hazards and safe-landing sites which the ALHAT GN&C system can then use to guide the host vehicle to a safe landing on the selected site. Results indicate that, for the KSC hazard field, the lidar operational range extends from 100m to 1.35 km for a 30 degree line-of-sight angle and a range precision as low as 8 cm which permits hazards as small as 25 cm to be identified. Based on the Flash Lidar images, the HDS correctly found and reported safe sites in near-real-time during several of the flights. A follow-on field test, planned for 2013, seeks to complete the closing of the GN&C loop for fully-autonomous operations on-board the Morpheus robotic, rocket-powered, free-flyer test bed in which the ALHAT system would scan the KSC hazard field (which was vetted during the present testing) and command the vehicle to landing on one of the selected safe sites.

Roback, VIncent E.↗

DOE OSTI2021

Remote methane sensor for emissions from pipelines and compressor stations using chirped-laser dispersion spectroscopy

Leak rates of methane (CH 4 ) from the natural gas supply chain result in lost profit from unsold product, public safety and property concerns due to potential explosion hazards, and a potentially large source of economic damages from legal liabilities. Yet large measurement challenges exist in identifying and quantifying CH 4 leak rates along the vast number and type of components in the natural gas supply chain. This is particularly true of the “midstream” components involved in the gathering, processing, compression, transmission, and storage of natural gas. This project developed and deployed new advances in chirped laser dispersion spectroscopy (CLaDS) to detect methane leaks from pipelines, compressor stations, and other midstream infrastructure from a remote position (standoff detection). The system was deployed from a van to measure fugitive methane leaks from a local compressor station as a proof-of-concept. The technique was validated through mobile laboratory measurements with in-situ sensors as well as controlled releases of methane. The system also mapped a plume from a controlled release of methane by tracking a small unmanned aerial system (sUAS) that carried a corner cube retroreflector which reflected the beam back to the instrument. The drone-based system quantified a leak rate to within 30% of the actual rate and localized the emission location within 5 m of the actual release location at standoff distances of 25-45 m. This sUAS-reflector tracking approach has benefits for mapping leak locations remotely using small drones flying around a facility. Benefits of a commercial sensor with these capabilities include reductions of leaks for pipeline operators (more profit), earlier detection of leaks to avoid catastrophic explosion hazards for public health and to mitigate property damage, and reduced methane emissions to the atmosphere (improving air quality).

03 NATURAL GAS↗

NASA NTRS1971

Aircraft wake turbulence progress and plans

Aircraft wake turbulence and trailing vortices, investigating physical characteristics, hazard potential and avoidance techniques

Charak, M. T.↗

NASA NTRS1989

Mars Rover and Sample Return Mission design

The current reference Mars Rover and Sample Return mission is described. Technical issues are outlined, including high-resolution image acquisition and reconstruction, approach navigation, ground and flight systems operational complexity, rover autonomy, autonomous rendezvous and docking in Mars orbit, aerocapture and aeromaneuver, estimating the probability of mission success, and end-to-end information system design. Focus is placed on lander hazard identification and avoidance, pinpoint landing guidance and control, Mars ascent vehicle guidance and control, planetary protection and quarantine, sample acquisition and preservation, project management and control, systems requirements and interface control, and costing. In addition, program issues such as international participation, fiscal constraints, and launch-vehicle availability are considered.

Kwok, Johnny H.↗

NASA NTRS1990

The 11 July 1988 Denver windshear encounters

On July 11, 1988, between 2207 and 2213 UTC (16:07 to 16:13 MDT), four successive United flights had inadvertent encounters with microburst windshear conditions while on final approach to Denver Stapleton Airport (DEN), each resulting in a missed approach, subsequent delay, and uneventful arrival. A fifth flight executed a missed approach without encountering the phenomena. There was no damage to aircraft and no passenger injuries were incurred. The term inadvertent is used within United Airlines' windshear training materials and the Federal Aviation Administration (FAA) Windshear Training Aid to connote an encounter with windshear after vigilance and cautionary practices fail to identify and afford complete avoidance of the hazardous area. No crew culpability is implied. A comprehensive investigation for scientific purposes in the study of windshear phenomenon is being conducted separately under the guidance of the FAA with involvement and cooperation from United, the National Transportation Safety Board (NTSB), National Center for Atmospheric Research (NCAR), Boeing, Douglas, NASA, and others.

Ireland, Robert L.↗

NASA NTRS1991

Application of laser radar to autonomous spacecraft landing

This paper discusses the scenario of an autonomous landing like that required for the Mars Rover Sample Return Mission. An application of laser radar for conducting autonomous hazard detection and avoidance is discussed. A trade-study is performed to identify operational and implementation constraints as well as the state of the art in component technology.

Gleichman, Kurt↗

NASA NTRS1991

3-D laser radar simulation for autonomous spacecraft landing

A sophisticated 3D laser radar sensor simulation, developed and applied to the task of autonomous hazard detection and avoidance, is presented. This simulation includes a backward ray trace to sensor subpixels, incoherent subpixel integration, range dependent noise, sensor point spread function effects, digitization noise, and AM-CW modulation. Specific sensor parameters, spacecraft lander trajectory, and terrain type have been selected to generate simulated sensor data.

Reiley, Michael F.↗

NASA NTRS2000

The Deep Space 4/Champollion Comet Rendezvous and Lander Technology Demonstration Mission

The Deep Space 4/Champollion mission is designed to test and validate technologies for landing on and anchoring to small bodies, and sample collection and transfer, in preparation for future sample return missions from comets, asteroids, and satellites. in addition, DS-4 will test technologies for advanced, multi-engine solar electric propulsion (SEP) systems, inflatable-rigidizable solar arrays, autonomous navigation and precision guidance for landing, autonomous hazard detection and avoidance, and advanced integrated avionics and packaging concepts. Deep Space-4/Champollion consists of two spacecraft: an orbiter/carrier vehicle which includes the multi-engine SEP stage, and a lander, called Champollion, which will descend to the surface of the 46P/Tempel 1 cometary nucleus. The spacecraft will launch in April, 2003 and land on the comet in September, 2006 Deep Space 4/Champollion is a joint project between NASA and CNES, the French space agency.

Smythe, William D.↗