The navigation filter architecture successfully deployed on the Morpheus flight vehicle is discussed. The filter was developed as a key element of the NASA Autonomous Landing and Hazard Avoidance Technology project and over the course of 15 successful free fights was integrated into the Morpheus vehicle, operations, and flight control loop. Flight testing demonstrated autonomous hazard detection and avoidance employing an onboard dual- state inertial estimator Kalman filter software by landing within 2 meters of the desired safe landing site target. The main new contribution is the incorporation of a sophisticated hazard relative navigation sensor--originally intended to locate safe landing sites--into the navigation system and employed as a navigation sensor. Issues that remain to be resolved and will be discussed are centered on merging smart sensors that aim to minimize change in relative state estimation errors to a target landing site rather than the more typical navigation sensors and algorithms that aim to reduce inertial state estimation errors.


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    Title :

    Precision Planetary Landing with Hazard Detection and Avoidance


    Contributors:


    Publication date :

    2021-03-22


    Size :

    287897 byte




    Type of media :

    Conference paper


    Type of material :

    Electronic Resource


    Language :

    English