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Real-time Terrain Relative Navigation Test Results from a Relevant Environment for Mars LandingTerrain Relative Navigation (TRN) is an on-board GN&C function that generates a position estimate of a spacecraft relative to a map of a planetary surface. When coupled with a divert, the position estimate enables access to more challenging landing sites through pin-point landing or large hazard avoidance. The Lander Vision System (LVS) is a smart sensor system that performs terrain relative navigation by matching descent camera imagery to a map of the landing site and then fusing this with inertial measurements to obtain high rate map relative position, velocity and attitude estimates. A prototype of the LVS was recently tested in a helicopter field test over Mars analog terrain at altitudes representative of Mars Entry Descent and Landing conditions. TRN ran in real-time on the LVS during the flights without human intervention or tuning. The system was able to compute estimates accurate to 40m (3 sigma) in 10 seconds on a flight like processing system. This paper describes the Mars operational test space definition, how the field test was designed to cover that operational envelope, the resulting TRN performance across the envelope and an assessment of test space coverage.





Document ID
20160009627
Acquisition Source
Jet Propulsion Laboratory
Document Type
Conference Paper
External Source(s)
Authors
Johnson, Andrew E.
(Jet Propulsion Lab., California Inst. of Tech. Pasadena, CA, United States)
Cheng, Yang
(Jet Propulsion Lab., California Inst. of Tech. Pasadena, CA, United States)
Montgomery, James
(Jet Propulsion Lab., California Inst. of Tech. Pasadena, CA, United States)
Trawny, Nikolas
(Jet Propulsion Lab., California Inst. of Tech. Pasadena, CA, United States)
Tweddle, Brent
(Jet Propulsion Lab., California Inst. of Tech. Pasadena, CA, United States)
Zheng, Jason
(Jet Propulsion Lab., California Inst. of Tech. Pasadena, CA, United States)
Date Acquired
August 1, 2016
Publication Date
January 5, 2015
Subject Category
Spacecraft Instrumentation And Astrionics
Meeting Information
Meeting: AIAA Scitech 2015
Location: Kissimee, FL
Country: United States
Start Date: January 5, 2015
End Date: January 9, 2015
Sponsors: American Inst. of Aeronautics and Astronautics
Distribution Limits
Public
Copyright
Other
Keywords
Pin-point Landing
GNC
EDL
Mars 2020
Lander Vision System

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