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Interfacing and verifying alhat safe precision landing systems with the morpheus vehicle
| Content Provider | NASA Technical Reports Server (NTRS) |
|---|---|
| Author | Carson II, John M. Trawny Sr., Nikolas Hines, Glenn D. Hirsh, Robert L. Martin, Keith E. Roback, Vincent E. Villalpando Sr., Carlos Busa, Joseph L. Pierrottet, Diego F. |
| Copyright Year | 2015 |
| Description | The NASA Autonomous precision Landing and Hazard Avoidance Technology (ALHAT) project developed a suite of prototype sensors to enable autonomous and safe precision landing of robotic or crewed vehicles under any terrain lighting conditions. Development of the ALHAT sensor suite was a cross-NASA effort, culminating in integration and testing on-board a variety of terrestrial vehicles toward infusion into future spaceflight applications. Terrestrial tests were conducted on specialized test gantries, moving trucks, helicopter flights, and a flight test onboard the NASA Morpheus free-flying, rocket-propulsive flight-test vehicle. To accomplish these tests, a tedious integration process was developed and followed, which included both command and telemetry interfacing, as well as sensor alignment and calibration verification to ensure valid test data to analyze ALHAT and Guidance, Navigation and Control (GNC) performance. This was especially true for the flight test campaign of ALHAT onboard Morpheus. For interfacing of ALHAT sensors to the Morpheus flight system, an adaptable command and telemetry architecture was developed to allow for the evolution of per-sensor Interface Control Design/Documents (ICDs). Additionally, individual-sensor and on-vehicle verification testing was developed to ensure functional operation of the ALHAT sensors onboard the vehicle, as well as precision-measurement validity for each ALHAT sensor when integrated within the Morpheus GNC system. This paper provides some insight into the interface development and the integrated-systems verification that were a part of the build-up toward success of the ALHAT and Morpheus flight test campaigns in 2014. These campaigns provided valuable performance data that is refining the path toward spaceflight infusion of the ALHAT sensor suite. |
| File Size | 2635953 |
| Page Count | 14 |
| File Format | |
| Alternate Webpage(s) | http://archive.org/details/NASA_NTRS_Archive_20140017031 |
| Archival Resource Key | ark:/13960/t9d55n88x |
| Language | English |
| Publisher Date | 2015-01-05 |
| Access Restriction | Open |
| Subject Keyword | Spacecraft Instrumentation And Astrionics Space Transportation And Safety Spacecraft Instruments Research Facilities Landing Instruments Flight Test Vehicles Feedback Control Landing Modules Checkout Test Stands Prototypes Profiles Autonomy Aerospace Safety Optical Radar Flight Tests Lunar Spacecraft Flight Safety Navigation Imaging Techniques Nasa Space Programs Hazards Telemetry Systems Integration Avionics Ground Based Control Interfaces Ground Tests Landing Simulation Precision Command and Control Proving Technology Assessment Avoidance Lunar Landing Ntrs Nasa Technical Reports Server (ntrs) Nasa Technical Reports Server Aerodynamics Aircraft Aerospace Engineering Aerospace Aeronautic Space Science |
| Content Type | Text |
| Resource Type | Article |
