The Autonomous precision Landing and Hazard Avoidance Technology (ALHAT) project has developed a suite of prototype sensors for enabling autonomous and safe precision landing of robotic or crewed vehicles on solid solar bodies under varying terrain lighting conditions. The sensors include a Lidar-based Hazard Detection System (HDS), a multipurpose Navigation Doppler Lidar (NDL), and a long-range Laser Altimeter (LAlt). Preparation for terrestrial flight testing of ALHAT onboard the Morpheus freeing, rocket-propelled flight test vehicle has been in progress since 2012, with flight tests over a lunar-like terrain held occurring in Spring 2014. Significant work reports within both the ALHAT and Morpheus projects has been required in the preparation of the sensors, vehicle, and test facilities for interfacing, integrating and verifying overall system performance to ensure readiness for flight testing. The ALHAT sensors have undergone numerous stand-alone sensor tests, simulations, and calibrations, along with integrated-system tests in specialized gantries, trucks, helicopters and xed-wing aircraft. A lunar-like terrain environment was constructed for ALHAT system testing during Morpheus flights, and vibration and thermal testing of the ALHAT sensors was performed based on Morpheus flights prior to ALHAT integration. High-fidelity simulations were implemented to gain insight into integrated ALHAT sensors and Morpheus GN&C system performance, and command and telemetry interfacing and functional testing was conducted once the ALHAT sensors and electronics were integrated onto Morpheus. This paper captures some of the details and lessons learned in the planning, preparation and integration of the individual ALHAT sensors, the vehicle, and the test environment that led up to the joint flight tests.


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    Title :

    Preparation and Integration of ALHAT Precision Landing Technology for Morpheus Flight Testing


    Contributors:
    J. M. Carson (author) / E. A. Robertson (author) / D. F. Pierrottet (author) / V. E. Roback (author) / N. Trawny (author) / J. L. Devolites (author) / J. J. Hart (author) / J. N. Estes (author) / G. S. Gaddis (author)

    Publication date :

    2014


    Size :

    16 pages


    Type of media :

    Report


    Type of material :

    No indication


    Language :

    English




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