Precision Landing and Hazard Avoidance Technology Demonstration Program. International Lunar Conference
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1 Technology Background and Overview Boeing, MDR, Optech, USL, Irvin Aerospace, JPL, NASA-LaRC, Alabama A&M Univ, Cal Poly Pomona, Ohio Univ, Vanderbilt Univ, EAFB, Army Ft Rucker, DoE Precision and Hazard Technology Demonstration International Lunar Conference Robert V Frampton, James M Ball, Karl Oittinen, Boeing Mata Bishun, MDA Bob Richards, Arkady Ulitsky, Eric Martin, Optech 20 September 200 Toronto 1
2 Technology Purpose Boeing, MDR, Optech, USL, Irvin Aerospace, JPL, NASA-LaRC, Alabama A&M Univ, Cal Poly Pomona, Ohio Univ, Vanderbilt Univ, EAFB, Army Ft Rucker, DoE Demonstrate advanced technology for precision landing and hazard avoidance Technology includes a LIDAR sensor, site selection algorithms, guidance navigation and control in an integrated, fault tolerant implementation Achieve a Technology Readiness Level of 6 by flight testing this system in relevant environments Demonstrate Adaptive Software Architecture that is applicable to different Lunar and Mars lander concepts 2
3 Technology Boeing, MDR, Optech, USL, Irvin Aerospace, JPL, NASA-LaRC, Alabama A&M Univ, Cal Poly Pomona, Ohio Univ, Vanderbilt Univ, EAFB, Army Ft Rucker, DoE Example Need: Hazardous Lunar Terrain Explored lunar surface has a high % of level, smooth surfaces Some difficult lunar landing conditions do exist (see below) Apollo used smart (piloted) landers - LEM Apollo 11 almost depleted fuel avoiding a boulder field Landers smaller than LEM may require even more maneuvering to avoid boulder fields or steep slopes Support landing in dark conditions, 14 of every 28 days Apollo 12 Surveyor lander slope > 10 degrees Apollo 1 boulder field Apollo 16 large boulder Apollo 17 boulder field Apollo 17 large boulder Apollo 17 steep crater slope Apollo 17 boulder field 3 Images courtesy of NASA
4 Technology Boeing, MDR, Optech, USL, Irvin Aerospace, JPL, NASA-LaRC, Alabama A&M Univ, Cal Poly Pomona, Ohio Univ, Vanderbilt Univ, EAFB, Army Ft Rucker, DoE Example Need: Hazardous Mars Terrain Many scientifically interesting sites are located in very challenging terrain Outflow gullies on cliff faces Autonomous landing site selection enhances mission planning Cliffs Curious surface features Steep slopes 4 Images courtesy of NASA
5 Technology Boeing, MDR, Optech, USL, Irvin Aerospace, JPL, NASA-LaRC, Alabama A&M Univ, Cal Poly Pomona, Ohio Univ, Vanderbilt Univ, EAFB, Army Ft Rucker, DoE Leveraged Delta Clipper (DC-X) Precision vertical propulsive landing GN&C system was developed and flown Reuse of DC-X GN&C algorithms is planned for this prototype planetary lander G&N approach will be extended to accommodate advanced landing sensors Powered vertical landing
6 RaPIDS Development of Flight SW Technology Boeing, MDR, Optech, USL, Irvin Aerospace, JPL, NASA-LaRC, Alabama A&M Univ, Cal Poly Pomona, Ohio Univ, Vanderbilt Univ, EAFB, Army Ft Rucker, DoE This method was applied to DC-X and other programs 6
7 Technology H&RT Team Structure and Roles Boeing, MDR, Optech, USL, Irvin Aerospace, JPL, NASA-LaRC, Alabama A&M Univ, Cal Poly Pomona, Ohio Univ, Vanderbilt Univ, EAFB, Army Ft Rucker, DoE Industry 1 Boeing Huntington Beach: Team Lead 2 MacDonald Dettwiler and Optech: LIDAR; cost map software 3 Universal Spacelines LLC: Software and Simulations 4 Irvin Aerospace: Parachutes NASA Jet Propulsion Lab: Lander concepts Test planning 6 Langley Research Center: CFD, Test support DoD, DoE Universities 7 Alabama A&M University: Aerodynamics/CFD 8 California State Polytechnic University, Pomona: gear 9 Ohio University: Fault Adaptive Control 10 Vanderbilt University: Supply software and consulting for IVHM software 11 US Air Force Research Lab (AFRL), Edwards AFB: Hover, plume tests 12 US Army, Ft Rucker: Supply Chinook helicopter for drop test 13 US Dept of Energy: Test site operations 7
8 Technology PL&HA Technology Goals Boeing, MDR, Optech, USL, Irvin Aerospace, JPL, NASA-LaRC, Alabama A&M Univ, Cal Poly Pomona, Ohio Univ, Vanderbilt Univ, EAFB, Army Ft Rucker, DoE Demonstrate precision landing guidance and control, and autonomous navigation for a variety of lunar and Mars landers, showing adaptability Thruster/ACS LIDAR Integrated/Impact- Absorbing Honeycomb Structure Demonstrate terrain cost maps, landing site selection, and hazard avoidance for the moon and Mars Demonstrate IVHM and fault adaptive control for the lander Conduct drop test of a prototype lander from ~3 km altitude, by a Chinook helicopter, over drop test site (to achieve TRL 6) Spring- Loaded Lander Legs Fuel Tanks Notional Mars Lander PS_ID
9 Technology H&RT PL&HA Schedule Boeing, MDR, Optech, USL, Irvin Aerospace, JPL, NASA-LaRC, Alabama A&M Univ, Cal Poly Pomona, Ohio Univ, Vanderbilt Univ, EAFB, Army Ft Rucker, DoE Phase 1 Develop detailed plans Phase 2, Option 1 Develop CAD files Preliminary design Detailed simulation Concept validation Develop test plan Complete CAD files Propulsion design LIDAR plume test LIDAR flight tests 6-DOF integration RT simulation Phase 2, Option 2 Lander CDR Build lander Conduct ground tests - systems tests - crane tests Develop drogue chute Test ops reviews Conduct flight tests 9
10 Technology Lander Preliminary Design Process Boeing, MDR, Optech, USL, Irvin Aerospace, JPL, NASA-LaRC, Alabama A&M Univ, Cal Poly Pomona, Ohio Univ, Vanderbilt Univ, EAFB, Army Ft Rucker, DoE Derive vehicle requirements Develop mission requirements Systems engineering process Derive test requirements Candidate HW and SW Develop baseline GN&C Build 6-DOF simulation Size vehicle and generate layouts Generate HQ&ULs Vehicle preliminary design process Determine initial mass properties, propulsion, aero Simulate performance Modify vehicle design no meet req ts? yes Baseline lander design 10
11 Technology Lander Concept Boeing, MDR, Optech, USL, Irvin Aerospace, JPL, NASA-LaRC, Alabama A&M Univ, Cal Poly Pomona, Ohio Univ, Vanderbilt Univ, EAFB, Army Ft Rucker, DoE Notional Testbed Lander Parachute (primary, backup) Pressurant tank Purpose: to provide an environment to test a lander with integrated LIDAR to a TRL of 6 Parachute attach/release point Propellant tanks (2) Shock absorbers (4) 3 ACS thrusters (4 pods) gear pads (4) LIDAR & avionics engines (4) 11
12 Technology LIDAR Measurements and Cost Maps Boeing, MDR, Optech, USL, Irvin Aerospace, JPL, NASA-LaRC, Alabama A&M Univ, Cal Poly Pomona, Ohio Univ, Vanderbilt Univ, EAFB, Army Ft Rucker, DoE LIDAR measured topography Selected landing site Horizontal velocity Examples of Cost Maps Inputs to lander guidance system 12
13 Technology Use NASA-LaRC Gantry for Drop Tests Boeing, MDR, Optech, USL, Irvin Aerospace, JPL, NASA-LaRC, Alabama A&M Univ, Cal Poly Pomona, Ohio Univ, Vanderbilt Univ, EAFB, Army Ft Rucker, DoE Langley Impact Dynamics Test Facility LEMS Descent at LaRC Gantry The Impact Dynamics Research Facility (IDRF) is a 80-meter high gantry structure located at NASA Langley Research Center in Hampton, Virginia The facility was originally built in 1963 as a lunar landing simulator, allowing the Apollo astronauts to practice lunar landings under realistic conditions The Lunar Excursion Module Simulator (LEMS) was suspended from gantry with a control system designed to produce an upward force equal to /6 th of the total weight of the LEMS 13
14 Technology Boeing, MDR, Optech, USL, Irvin Aerospace, JPL, NASA-LaRC, Alabama A&M Univ, Cal Poly Pomona, Ohio Univ, Vanderbilt Univ, EAFB, Army Ft Rucker, DoE Flight Test Will Use Helicopter to Drop Lander CH-47 Helicopter Tow Strap Lander Drogue chute Chinook helicopter was used in previous Boeing drop tests 14
15 Technology Preliminary Drop Test Sequence Boeing, MDR, Optech, USL, Irvin Aerospace, JPL, NASA-LaRC, Alabama A&M Univ, Cal Poly Pomona, Ohio Univ, Vanderbilt Univ, EAFB, Army Ft Rucker, DoE Drop point Helicopter flight path Earliest parachute release Free fall under parachute (stabilize) Free fall under parachute or propulsive steering Propellant margin driven (LIDAR selecting coarse landing site options) Latest parachute release Propulsive steering (select final site) FOCC Propulsive steering (to selected site) 1
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