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NASA’s Human Landing System: A Sustaining Presence on the Moon

For more than a decade, efforts have been ongoing at NASA’s Marshall Space Flight Center (MSFC) in Huntsville, Alabama, to land humans and cargo on planetary bodies like the Moon and Mars and today this work continues under the Center’s Lander Programs (LP) office. In August of 2019, NASA stood up the Human Landing System (HLS) program to be responsible for spacecrafts that will land astronauts on the Moon under Artemis. Work is well underway with the historic Artemis III mission to land the first Americans on the lunar surface in more than 50 years through the Appendix H Option A [1] contract with SpaceX. In November, NASA awarded SpaceX an Option B modification to its existing HLS Appendix H contract, which will further develop its Starship HLS to meet NASA’s sustaining lander requirements for lunar missions beyond Artemis III. In September of 2022, NASA issued an HLS Sustaining Lunar Development solicitation under the NextSTEP-2 Appendix P Broad Agency Announcement [2] asking a second provider, in addition to SpaceX, to develop and demonstrate a lander that meets the program’s extended set of requirements for missions beyond Artemis III. Under the umbrella of Sustaining Lunar Development [3], these requirements will meet NASA’s needs for recurring, long-term access to the lunar surface. Proposals were received from industry late last year and NASA is planning to award an Appendix P contract in the summer of 2023. This paper will provide an update of the Lander Program office’s progress and will discuss how the program is bridging from the initial demonstration phase of development for the Human Landing System program to the Sustaining Lunar Development phase. The paper will include publicly available information on SpaceX’s Starship HLS design as well as near-term and future milestones for HLS and the Artemis program.

Lisa Watson-Morgan

Implementation and flight tests for the Digital Integrated Automatic Landing System (DIALS). Part 1: Flight software equations, flight test description and selected flight test data

Five flight tests of the Digital Automated Landing System (DIALS) were conducted on the Advanced Transport Operating Systems (ATOPS) Transportation Research Vehicle (TSRV) -- a modified Boeing 737 aircraft for advanced controls and displays research. These flight tests were conducted at NASA's Wallops Flight Center using the microwave landing system (MLS) installation on runway 22. This report describes the flight software equations of the DIALS which was designed using modern control theory direct-digital design methods and employed a constant gain Kalman filter. Selected flight test performance data is presented for localizer (runway centerline) capture and track at various intercept angles, for glideslope capture and track of 3, 4.5, and 5 degree glideslopes, for the decrab maneuver, and for the flare maneuver. Data is also presented to illustrate the system performance in the presence of cross, gust, and shear winds. The mean and standard deviation of the peak position errors for localizer capture were, respectively, 24 feet and 26 feet. For mild wind conditions, glideslope and localizer tracking position errors did not exceed, respectively, 5 and 20 feet. For gusty wind conditions (8 to 10 knots), these errors were, respectively, 10 and 30 feet. Ten hands off automatic lands were performed. The standard deviation of the touchdown position and velocity errors from the mean values were, respectively, 244 feet and 0.7 feet/sec.

Hueschen, R. M.

Automatic flight performance of a transport airplane on complex microwave landing system paths

Essential characteristics of the U.S. microwave landing system (MLS) and the TCV B-737 aircraft used in flight demonstrations are described, with special emphasis on the analysis of the approach paths. MLS is used to provide the aircraft with guidance for automatic control on complex, curved descending paths with precision turns into short final approaches terminating in landing and rollout, even when subjected to strong and gusty tail- and cross-wind components and severe wind shear. The tracking performance achieved on these paths under MLS guidance is examined in detail, and the wind environment where the flights are conducted are quantified. The flights demonstrate the utility of the wide-area coverage of MLS for curved, descending paths commencing with a standard RNAV approach into a terminal area and continuation of this approach throughout the MLS coverage and onto the runway.

Walsh, T. M.

Air cushion landing system

Static and dynamic performance of air cushion landing system is simulated in computer program that treats four primary ACLS subsystems: fan, feeding system, trunk, and cushion. Configuration of systems is sufficiently general to represent variety of practical designs.

Boghami, K. M.

Experimental and analytical studies of advanced air cushion landing systems

Several concepts are developed for air cushion landing systems (ACLS) which have the potential for improving performance characteristics (roll stiffness, heave damping, and trunk flutter), and reducing fabrication cost and complexity. After an initial screening, the following five concepts were evaluated in detail: damped trunk, filled trunk, compartmented trunk, segmented trunk, and roll feedback control. The evaluation was based on tests performed on scale models. An ACLS dynamic simulation developed earlier is updated so that it can be used to predict the performance of full-scale ACLS incorporating these refinements. The simulation was validated through scale-model tests. A full-scale ACLS based on the segmented trunk concept was fabricated and installed on the NASA ACLS test vehicle, where it is used to support advanced system development. A geometrically-scaled model (one third full scale) of the NASA test vehicle was fabricated and tested. This model, evaluated by means of a series of static and dynamic tests, is used to investigate scaling relationships between reduced and full-scale models. The analytical model developed earlier is applied to simulate both the one third scale and the full scale response.

Lee, E. G. S.

Surveyor spacecraft automatic landing system

The Surveyor Project achieved five successful lunar landings between 1966 and 1968, following an intensive five-year development effort. One of the many significant accomplishments made by Surveyor was the development and validation of the first-ever automated soft-landing system. This paper provides a historical and control aspects of the spacecraft's terminal descent system. Driving requirements and other important design considerations are described, along with the configuration and operational sequence of the actual flight system.

Thurman, Sam W.

Entry, Descent and Landing Systems Analysis Study: Phase 2 Report on Exploration Feed-Forward Systems

NASA senior management commissioned the Entry, Descent and Landing Systems Analysis (EDL-SA) Study in 2008 to identify and roadmap the Entry, Descent and Landing (EDL) technology investments that the agency needed to successfully land large payloads at Mars for both robotic and human-scale missions. Year 1 of the study focused on technologies required for Exploration-class missions to land payloads of 10 to 50 t. Inflatable decelerators, rigid aeroshell and supersonic retro-propulsion emerged as the top candidate technologies. In Year 2 of the study, low TRL technologies identified in Year 1, inflatables aeroshells and supersonic retropropulsion, were combined to create a demonstration precursor robotic mission. This part of the EDL-SA Year 2 effort, called Exploration Feed Forward (EFF), took much of the systems analysis simulation and component model development from Year 1 to the next level of detail.

Dwyer Ciancolo, Alicia M.

Modeling and Simulation of the Second-Generation Orion Crew Module Air Bag Landing System

Air bags were evaluated as the landing attenuation system for earth landing of the Orion Crew Module (CM). An important element of the air bag system design process is proper modeling of the proposed configuration to determine if the resulting performance meets requirements. Analysis conducted to date shows that airbags are capable of providing a graceful landing of the CM in nominal and off-nominal conditions such as parachute failure, high horizontal winds, and unfavorable vehicle/ground angle combinations. The efforts presented here surround a second generation of the airbag design developed by ILC Dover, and is based on previous design, analysis, and testing efforts. In order to fully evaluate the second generation air bag design and correlate the dynamic simulations, a series of drop tests were carried out at NASA Langley's Landing and Impact Research (LandIR) facility. The tests consisted of a full-scale set of air bags attached to a full-scale test article representing the Orion Crew Module. The techniques used to collect experimental data, construct the simulations, and make comparisons to experimental data are discussed.

Timmers, Richard B.

Architecture Options for Navigation in Cislunar Space for Human Landing System Vehicles

As part of architecture studies and insight analysis focused on requirements development into Human Landing System lunar architecture designs, multiple studies are underway to understand the sensitivities and options for achieving high precision landing on the lunar surface. The baseline approach utilizes a combination of multiple sensors to capture autonomous state observations of the lander with respect to the lunar surface. These systems are typically constrained in terms of operational altitudes by parameters such as onboard map size, camera focus, or sensor transmitted power (for altimeter observations). While these sensor suites do enable high precision landing, they are typically very complex and expensive. For a human-rated vehicle, fault detection algorithms are needed in addition to redundant sensors drive additional design complexity. Conversely, for these early missions, mass performance is key, so extended analysis is required to identify numbers of sensors, their ideal placement, and integration algorithms. A key part of this analysis is to help identify key sensor suites and options to help alleviate this design tension. An alternate approach is to take advantage and build out in-situ assets to allow for GPS-like navigation within the lunar regime through the use of navigation references or beacons. This can be achieved through the integration of navigation services into potential relays and pre-placed lunar surface assets. This research focuses on the capability of this infrastructure to support navigation in all areas of cislunar space such as: approach to the moon, in orbit around the moon, and ascent/descent operations to the surface. An augmented state linear covariance analysis (LinCov) and navigation state covariance analysis (NavCov) tools were used to assess a variety of navigation reference locations and how they can support vehicle operations through both understanding of state uncertainties and trajectory dispersions. This research helps to supplement existing studies focused on communication link analysis by providing additional insight into specific vehicle operational scenarios that are tied closely to potential Human Landing System scenarios. Key aspect of this analysis focus on the sensitivity to state knowledge of the references, the accuracy of inter-asset measurements, and placement in support of the various scenarios.

Evan J Anzalone

Helical automatic approaches of helicopters with microwave landing systems

A program is under way to develop a data base for establishing navigation and guidance concepts for all-weather operation of rotorcraft. One of the objectives is to examine the feasibility of conducting simultaneous rotorcraft and conventional fixed-wing, noninterfering, landing operations in instrument meteorological conditions at airports equipped with microwave landing systems (MLSs) for fixed-wing traffic. An initial test program to investigate the feasibility of conducting automatic helical approaches was completed, using the MLS at Crows Landing near Ames. These tests were flown on board a UH-1H helicopter equipped with a digital automatic landing system. A total of 48 automatic approaches and landings were flown along a two-turn helical descent, tangent to the centerline of the MLS-equipped runway to determine helical light performance and to provide a data base for comparison with future flights for which the helical approach path will be located near the edge of the MLS coverage. In addition, 13 straight-in approaches were conducted. The performance with varying levels of state-estimation system sophistication was evaluated as part of the flight tests. The results indicate that helical approaches to MLS-equipped runways are feasible for rotorcraft and that the best position accuracy was obtained using the Kalman-filter state-estimation with inertial navigation systems sensors.

Foster, J. D.

Ground-Based Calibration Of A Microwave Landing System

System of microwave instrumentation and data-processing equipment developed to enable ground-based calibration of microwave scanning-beam landing system (MSBLS) at distances of about 500 to 1,000 ft from MSBLS transmitting antenna. Ensures accuracy of MSBLS near touchdown point, without having to resort to expense and complex logistics of aircraft-based testing. Modified versions prove useful in calibrating aircraft instrument landing systems.

Kiriazes, John J.

Propeller modulation effects on a scanning beam microwave landing system

An investigation to assess the modulation effects on microwave signals transmitted through rotating propeller blades. Interruption of the antenna line-of-sight signal by the rotating propeller causes a variation of path loss, which produces essentially an amplitude modulation of the received signal. This interruption or blockage effect is generally only partial because of edge diffraction around the particular interfering propeller blade. Signals reflected from the rotating propeller will also cause Doppler frequency shifts to be present in the received signals. A scanning beam microwave landing system (MLS) known as MODILS (modular instrument landing system) was used to process the received signals for display. The effects of propeller modulation were studied by varying the following parameters: (1) spacing between propeller and receiving antenna, (2) propeller dimensions, (3) propeller speed (rpm), (4) number of propeller blades, (5) system data rate, (6) receiver response time, and (7) receiver antenna aperture.

Pope, J. M.

Modeling and Simulation of the Second-Generation Orion Crew Module Air Bag Landing System

Air bags were evaluated as the landing attenuation system for earth landing of the Orion Crew Module (CM). Analysis conducted to date shows that airbags are capable of providing a graceful landing of the CM in nominal and off-nominal conditions such as parachute failure, high horizontal winds, and unfavorable vehicle/ground angle combinations, while meeting crew and vehicle safety requirements. The analyses and associated testing presented here surround a second generation of the airbag design developed by ILC Dover, building off of relevant first-generation design, analysis, and testing efforts. In order to fully evaluate the second generation air bag design and correlate the dynamic simulations, a series of drop tests were carried out at NASA Langley s Landing and Impact Research (LandIR) facility in Hampton, Virginia. The tests consisted of a full-scale set of air bags attached to a full-scale test article representing the Orion Crew Module. The techniques used to collect experimental data, develop the simulations, and make comparisons to experimental data are discussed.

Timmers, Richard B.