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.
Precision Planetary Landing with Hazard Detection and Avoidance
2021-03-22
287897 byte
Conference paper
Electronic Resource
English
Precision Landing and Hazard Avoidance Doman
NTRS | 2016
|Innovative hazard detection and avoidance strategy for autonomous safe planetary landing
Online Contents | 2016
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