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Search indexed NASA NTRS and DOE OSTI research on propulsion, heat transfer, battery materials and energy systems. Follow report and document links to the original sources.

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At least 73 records · Page 4
All sourcesNASA NTRSDOE OSTI
NASA NTRS1993

Application of high precision two-way S-band ranging to the navigation of the Galileo Earth encounters

The application of high-accuracy S/S-band (2.1 GHz uplink/2.3 GHz downlink) ranging to orbit determination with relatively short data arcs is investigated for the approach phase of each of the Galileo spacecraft's two Earth encounters (8 December 1990 and 8 December 1992). Analysis of S-band ranging data from Galileo indicated that under favorable signal levels, meter-level precision was attainable. It is shown that ranginging data of sufficient accuracy, when acquired from multiple stations, can sense the geocentric angular position of a distant spacecraft. Explicit modeling of ranging bias parameters for each station pass is used to largely remove systematic ground system calibration errors and transmission media effects from the Galileo range measurements, which would otherwise corrupt the angle finding capabilities of the data. The accuracy achieved using the precision range filtering strategy proved markedly better when compared to post-flyby reconstructions than did solutions utilizing a traditional Doppler/range filter strategy. In addition, the navigation accuracy achieved with precision ranging was comparable to that obtained using delta-Differenced One-Way Range, an interferometric measurement of spacecraft angular position relative to a natural radio source, which was also used operationally.

Pollmeier, Vincent M.↗
NASA NTRS2000

Enabling Spacecraft Formation Flying through Position Determination, Control and Enhanced Automation Technologies

Formation Flying is revolutionizing the way the space community conducts science missions around the Earth and in deep space. This technological revolution will provide new, innovative ways for the community to gather scientific information, share that information between space vehicles and the ground, and expedite the human exploration of space. Once fully matured, formation flying will result in numerous sciencecraft acting as virtual platforms and sensor webs, gathering significantly more and better science data than call be collected today. To achieve this goal, key technologies must be developed including those that address the following basic questions posed by the spacecraft: Where am I? Where is the rest of the fleet? Where do I need to be? What do I have to do (and what am I able to do) to get there? The answers to these questions and the means to implement those answers will depend oil the specific mission needs and formation configuration. However, certain critical technologies are common to most formations. These technologies include high-precision position and relative-position knowledge including Global Positioning System (GPS) mid celestial navigation; high degrees of spacecraft autonomy inter-spacecraft communication capabilities; targeting and control including distributed control algorithms, and high precision control thrusters and actuators. This paper provides an overview of a selection of the current activities NASA/DoD/Industry/Academia are working to develop Formation Flying technologies as quickly as possible, the hurdles that need to be overcome to achieve our formation flying vision, and the team's approach to transfer this technology to space. It will also describe several of the formation flying testbeds, such as Orion and University Nanosatellites, that are being developed to demonstrate and validate many of these innovative sensing and formation control technologies.

Bristow, John↗
NASA NTRS1992

Application of high-precision two-way ranging to Galileo Earth-1 encounter navigation

The application of precision two-way ranging to orbit determination with relatively short data arcs is investigated for the Galileo spacecraft's approach to its first Earth encounter (December 8, 1990). Analysis of previous S-band (2.3-GHz) ranging data acquired from Galileo indicated that under good signal conditions submeter precision and 10-m ranging accuracy were achieved. It is shown that ranging data of sufficient accuracy, when acquired from multiple stations, can sense the geocentric angular position of a distant spacecraft. A range data filtering technique, in which explicit modeling of range measurement bias parameters for each station pass is utilized, is shown to largely remove the systematic ground system calibration errors and transmission media effects from the Galileo range measurements, which would otherwise corrupt the angle-finding capabilities of the data. The accuracy of the Galileo orbit solutions obtained with S-band Doppler and precision ranging were found to be consistent with simple theoretical calculations, which predicted that angular accuracies of 0.26-0.34 microrad were achievable. In addition, the navigation accuracy achieved with precision ranging was marginally better than that obtained using delta-differenced one-way range (delta DOR), the principal data type that was previously used to obtain spacecraft angular position measurements operationally.

Pollmeier, V. M.↗
NASA NTRS1987

Short baseline phase delay interferometry

The high precision of the phase delay data type allows angular navigation accuracy on relatively short baselines to compete with the angular accuracy achieved with long baseline group delay measurements. Differential phase delay observations of close quasar pairs on both a 5.9-km baseline (DSS 12-DSS 13) and a 253-km baseline (DSS 13-Owens Valley Radio Observatory) have been performed to study the potential navigational precision and accuracy of the short baseline interferometry. As a first step toward demonstration of a connected element system at Goldstone, the DSS 12-DSS 13 baseline was operated coherently, distributing a common frequency reference via a recently installed fiber optic cable. The observed phase delay residuals of about 10 psec or less on both baselines appear to be dominated by short term troposphere fluctuations, and correspond to navigational accuracies of well below 50 nrad for the 253-km baseline. Additional experiments will be required to probe the full range of systematic errors.

Edwards, C. D.↗
NASA NTRS2017

In-Situ Navigation and Timing Services for the Human Mars Landing Site Part 1: System Concept

In [1] and [2], we introduce a new geometric trilateration method that simultaneously performs absolute positioning and relative positioning. The relative position is derived from a “differencing” function of two raw-range measurements between a known reference point and of the target from a navigation satellite, thereby eliminating most of the common errors like atmospheric delays, ephemeris errors, and instrument delays in real-time. In the Mars environment this “error-cancellation” function greatly reduces the need to perform extensive orbit determination (OD) of the navigation satellites like the Earth’s GPS, and only requires occasional tracks from the Earth’s large-aperture deep space antennas to perform OD’s. Leveraging on this scheme, we propose a low-cost, low-maintenance regional navigation satellite system architecture that provides in-situ navigation and timing services for robotic and human missions in the vicinity of a Mars landing site. This architecture is built upon the proposed Mars relay network infrastructure, and a number of notional Mars orbiting and surface missions in the human exploration era of Mars. We assume two areostationary Mars relay orbiters that have continuous line-of-sight visibility with the Mars landing site, a Deep Space Habitat (DSH) in an inclined 48-hour circular orbit, and a surface communication lander that could serve as the reference point. These orbiting and surface infrastructure elements broadcast GPS-like ranging signals and other ephemeris information to the mission users. With one or more additional orbiters in areosynchronous orbits that trace around a figure-8 path, a regional navigation satellite system can be realized that provides in-situ course absolute localization and precision relative localization and timing services to the users in the vicinity of a Mars landing site. This paper describes the system concept of the proposed Mars regional navigation satellite system.

Lee, Charles↗
NASA NTRS2011

Optical Navigation for the EPOXI Mission

The Deep Impact spacecraft flew by comet Hartley 2 on November 4, 2010 as part of its extended mission called EPOXI. Successful navigation depended critically on the quality and timing of optical navigation data processing, since pictures of the comet provided the most precise comet-relative position of the spacecraft. This paper describes the planning, including the picture timing and pointing; the methods used to determine the center of the comet image in each picture; and the optical navigation results, which provided the necessary information to allow the cameras to accurately target the comet for science imaging at encounter.

small-body mission↗
NASA NTRS2022

Performance Analysis of Terrain Relative Navigation Using Blue Origin New Shepard Suborbital Flight Telemetry

As part of a NASA Tipping Point Partnership with Blue Origin to mature precision lunar landing technologies, two test flights of the Blue Origin New Shepard vehicle carrying a NASA-developed sensor suite were conducted on 10/13/2020 and 08/26/2021 at the West Texas Launch Site (LS-1). Part of the acquired datasets, comprising data from an inertial measurement unit and a downward facing camera, was postprocessed through a JPL-developed prototype Visual Odometry and Map Relative Localization software (TRNVOSIM), and compared against ground truth acquired by the host vehicle navigation system. In this paper, we provide a description of the algorithms, the test setup, and the processed results.

Pedrotty, Samuel M.↗
NASA NTRSDate not supplied

Evaluating Lunar Descent and Landing Performance From a Near Rectilinear Halo Orbit Using Linear Covariance Resetting Techniques

Upcoming lunar programs are striving the achieve precision landing in a safe and robust manner. Various elements impact this mission objective ranging from on-orbit operations with ground station tracking to incorporating relative sensors with hazard detection and avoidance (HDA) to support the final approach and landing phase. Modeling the impacts of ground tracking, trajectory replanning, relative navigation sensors, and particularly a potential HDA system on the integrated closed-loop GN\&C system performance poses a unique challenge due to the complexity and interaction with multiple facets of the vehicle including the trajectory design, sensing hardware, navigation system, guidance and targeting, and the overall mission concept of operations. This paper outlines techniques to systematically analyze and compare the performance impacts of ground tracking and replanning and an HDA system where the onboard navigation errors are reset or uploaded from an external source and the vehicle's reference trajectory is regenerated requiring the system dispersions to also be reset to reflect this in-flight profile adjustment. To illustrate the application of these general techniques for analyzing the performance impacts due to incorporating these resetting events, they are demonstrated with a human lunar descent and landing scenario starting from a near rectilinear halo orbit (NRHO) until the vehicle precisely reaches its predetermined landing site on the lunar surface. Performance metrics such as inertial and relative navigation errors, trajectory dispersions, footprint dispersions, and propellant usage are provided.

GN&C↗
NASA NTRS1992

Integration of radar altimeter, precision navigation, and digital terrain data for low-altitude flight

Avionic systems that depend on digitized terrain elevation data for guidance generation or navigational reference require accurate absolute and relative distance measurements to the terrain, especially as they approach lower altitudes. This is particularly exacting in low-altitude helicopter missions, where aggressive terrain hugging maneuvers create minimal horizontal and vertical clearances and demand precise terrain positioning. Sole reliance on airborne precision navigation and stored terrain elevation data for above-ground-level (AGL) positioning severely limits the operational altitude of such systems. A Kalman filter is presented which blends radar altimeter returns, precision navigation, and stored terrain elevation data for AGL positioning. The filter is evaluated using low-altitude helicopter flight test data acquired over moderately rugged terrain. The proposed Kalman filter is found to remove large disparities in predicted AGL altitude (i.e., from airborne navigation and terrain elevation data) in the presence of measurement anomalies and dropouts. Previous work suggested a minimum clearance altitude of 220 ft AGL for a near-terrain guidance system; integration of a radar altimeter allows for operation of that system below 50 ft, subject to obstacle-avoidance limitations.

Zelenka, Richard E.↗
NASA NTRS2017

Open-Loop Flight Testing of COBALT GN&C Technologies for Precise Soft Landing

A terrestrial, open-loop (OL) flight test campaign of the NASA COBALT (CoOperative Blending of Autonomous Landing Technologies) platform was conducted onboard the Masten Xodiac suborbital rocket testbed, with support through the NASA Advanced Exploration Systems (AES), Game Changing Development (GCD), and Flight Opportunities (FO) Programs. The COBALT platform integrates NASA Guidance, Navigation and Control (GN&C) sensing technologies for autonomous, precise soft landing, including the Navigation Doppler Lidar (NDL) velocity and range sensor and the Lander Vision System (LVS) Terrain Relative Navigation (TRN) system. A specialized navigation filter running onboard COBALT fuzes the NDL and LVS data in real time to produce a precise navigation solution that is independent of the Global Positioning System (GPS) and suitable for future, autonomous planetary landing systems. The OL campaign tested COBALT as a passive payload, with COBALT data collection and filter execution, but with the Xodiac vehicle Guidance and Control (G&C) loops closed on a Masten GPS-based navigation solution. The OL test was performed as a risk reduction activity in preparation for an upcoming 2017 closed-loop (CL) flight campaign in which Xodiac G&C will act on the COBALT navigation solution and the GPS-based navigation will serve only as a backup monitor.

Carson, John M., III↗
NASA NTRS1982

Scanner imaging systems, aircraft

The causes and effects of distortion in aircraft scanner data are reviewed and an approach to reduce distortions by modelling the effect of aircraft motion on the scanner scene is discussed. With the advent of advanced satellite borne scanner systems, the geometric and radiometric correction of aircraft scanner data has become increasingly important. Corrections are needed to reliably simulate observations obtained by such systems for purposes of evaluation. It is found that if sufficient navigational information is available, aircraft scanner coordinates may be related very precisely to planimetric ground coordinates. However, the potential for a multivalue remapping transformation (i.e., scan lines crossing each other), adds an inherent uncertainty, to any radiometric resampling scheme, which is dependent on the precise geometry of the scan and ground pattern.

Ungar, S. G.↗
NASA NTRS1999

An Airborne Scanning Laser Altimetry Survey of Long Valley, California

Between 28 September and 7 October 1995, we conducted an airborne laser altimetry experiment over the Long Valley caldera, California, in which each of two scanning laser altimeters (dubbed SLICER and RASCAL) were flown in a NASA T-39 jet aircraft. Operating concurrently were a Global Positioning System (GPS) guidance system and dual frequency receivers for precise navigation and post-flight calculation or the airplane trajectory relative to a ground station, and an inertial navigation system (INS) for attitude determination. Reduction of raw laser ranges requires merging the differential kinematic GPS aircraft trajectory and the INS data with the laser data, and determination of the atmospheric delay. Data geolocation consists of obtaining the centre location and the mean elevation within each footprint in a geodetic coordinate system. The elevation of Crowley Lake is recovered to an accuracy of approximately 3 cm or better from 3 km above ground level and crossover analysis indicates that the elevation estimates are consistent from pass to pass. We test our geolocation procedures by comparing laser-derived elevations with those determined in situ for recognizable ground features. A comparison of laser and GPS-derived positions shows that the horizontal accuracy is better than the diameter of the footprint and vertical accuracy is within the error inherent in the range measurement. A comparison of SLICER elevation data with digital elevation models (DEMs) of the region shows that the DEM data provides surface topography to within stated accuracy limits. Although research continues to utilize the full potential of laser altimetry data, our results constitute a successful demonstration that the technique may be used to perform geodetic monitoring of surface topographic changes.

Hofton, M. A.↗
NASA NTRS2016

Development of Navigation Doppler Lidar for Future Landing Mission

A coherent Navigation Doppler Lidar (NDL) sensor has been developed under the Autonomous precision Landing and Hazard Avoidance Technology (ALHAT) project to support future NASA missions to planetary bodies. This lidar sensor provides accurate surface-relative altitude and vector velocity data during the descent phase that can be used by an autonomous Guidance, Navigation, and Control (GN&C) system to precisely navigate the vehicle from a few kilometers above the ground to a designated location and execute a controlled soft touchdown. The operation and performance of the NDL was demonstrated through closed-loop flights onboard the rocket-propelled Morpheus vehicle in 2014. In Morpheus flights, conducted at the NASA Kennedy Space Center, the NDL data was used by an autonomous GN&C system to navigate and land the vehicle precisely at the selected location surrounded by hazardous rocks and craters. Since then, development efforts for the NDL have shifted toward enhancing performance, optimizing design, and addressing spaceflight size and mass constraints and environmental and reliability requirements. The next generation NDL, with expanded operational envelope and significantly reduced size, will be demonstrated in 2017 through a new flight test campaign onboard a commercial rocketpropelled test vehicle.

Amzajerdian, Farzin↗
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 NTRS2018

In-Situ Navigation and Timing Services for a Human Mars Landing Site Part 2: System Design and Simulations

In a previous paper, we described the system concept of a proposed Mars Regional Navigation Satellite System (MRNSS) that is built upon a number of notional Mars orbiting and surface missions in the human exploration era of Mars. We assume two areostationary Mars relay orbiters that have continuous line-of-sight visibility with the Mars landing site, a Deep Space Habitat (DSH) in an inclined 48-hour circular orbit, and a surface communication lander that could serve as the reference point. These orbiting and surface infrastructure elements broadcast GPS-like ranging signals and other ephemeris information to the mission users. With one or more additional orbiters in areosynchronous orbits that trace around a figure-8 path, a regional navigation satellite system can be realized that provides in-situ course absolute localization and precision relative localization and timing services to the users in the vicinity of a Mars landing site. We also introduced a new geometric trilateration method that simultaneously performs absolute positioning and relative positioning. The relative position is derived from a “differencing” function of two raw-range measurements between a known reference point and of the target from a navigation satellite, thereby eliminating most of the common errors like atmospheric delays, ephemeris errors, and instrument delays in real-time. In the Mars environment, this “error-cancellation” function greatly reduces the need to perform extensive orbit determination (OD) of the navigation satellites like the Earth’s GPS, and only requires occasional tracks from the Earth’s large-aperture deep space antennas to perform OD’s. In this paper, we provide detailed simulations on both the absolute positioning scheme and the relative positioning scheme, and show that the relative positioning scheme provides 200 – 400 times improvement in localization accuracy. On the ground side, we discuss new approaches that simultaneously perform 2-way Doppler/ranging, and re-introduce the method of Same Beam Interferometry (SBI) for the Mars navigation orbiters. This helps to further reduce the tracking burden of the ground antennas required to support the OD of the Mars orbiters, making the concept of MRNSS more realizable.

Lightsey, Glenn↗
NASA NTRS1971

Study of precise positioning at L-band using communications satellites

The L-band positioning experiment is reported which encompassed experiment design, experimentation, and data reduction and analysis. In the experiment the ATS-5 synchronous satellite L-band transponder was used in conjunction with the modified ALPHA 2 navigation receivers to demonstrate the technical capability of precision position fixing for oceanographic purposes. The feasibility of using relative ranging techniques implemented by two identical receiving systems, properly calibrated, to determine a line of position accurately on the surface of the earth was shown. The program demonstrated the level of resolution, repeatibility, precision, and accuracy of existing modest-cost effective navigation equipment. The experiment configuration and data reduction techniques were developed in parallel with the hardware modification tasks. Test results verify the ability of a satellite-based system to satisfy the requirements of precision position fixing.

Source record↗
NASA NTRS2017

COBALT: Development of a Platform to Flight Test Lander GN&C Technologies on Suborbital Rockets

The NASA COBALT Project (CoOperative Blending of Autonomous Landing Technologies) is developing and integrating new precision-landing Guidance, Navigation and Control (GN&C) technologies, along with developing a terrestrial fight-test platform for Technology Readiness Level (TRL) maturation. The current technologies include a third- generation Navigation Doppler Lidar (NDL) sensor for ultra-precise velocity and line- of-site (LOS) range measurements, and the Lander Vision System (LVS) that provides passive-optical Terrain Relative Navigation (TRN) estimates of map-relative position. The COBALT platform is self contained and includes the NDL and LVS sensors, blending filter, a custom compute element, power unit, and communication system. The platform incorporates a structural frame that has been designed to integrate with the payload frame onboard the new Masten Xodiac vertical take-o, vertical landing (VTVL) terrestrial rocket vehicle. Ground integration and testing is underway, and terrestrial fight testing onboard Xodiac is planned for 2017 with two flight campaigns: one open-loop and one closed-loop.

Carson, John M., III↗