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Flight testing a real-time Hazard Detection System for safe lunar landing on the rocket-powered Morpheus vehicle

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dc.contributor.author Trawny, Nikolas
dc.contributor.author Huertas, Andres
dc.contributor.author Luna, Michael E.
dc.contributor.author Villalpando, Carlos Y.
dc.contributor.author Martin, Keith E.
dc.contributor.author Carson, John M.
dc.contributor.author Johnson, Andrew E.
dc.contributor.author Restrepo, Carolina
dc.contributor.author Roback, Vincent E.
dc.date.accessioned 2016-07-20T16:33:48Z
dc.date.available 2016-07-20T16:33:48Z
dc.date.issued 2015-01-05
dc.identifier.citation AIAA Scitech 2015, Kissimee, Florida, January 5-9, 2015 en_US
dc.identifier.clearanceno 14-5206
dc.identifier.uri http://hdl.handle.net/2014/45641
dc.description.abstract The Hazard Detection System (HDS) is a component of the ALHAT (Autonomous Landing and Hazard Avoidance Technology) sensor suite, which together provide a lander Guidance, Navigation and Control (GN&C) system with the relevant measurements necessary to enable safe precision landing under any lighting conditions. The HDS consists of a stand-alone compute element (CE), an Inertial Measurement Unit (IMU), and a gimbaled flash LIDAR sensor that are used, in real-time, to generate a Digital Elevation Map (DEM) of the landing terrain, detect candidate safe landing sites for the vehicle through Hazard Detection (HD), and generate hazard-relative navigation (HRN) measurements used for safe precision landing. Following an extensive ground and helicopter test campaign, ALHAT was integrated onto the Morpheus rocket-powered terrestrial test vehicle in March 2014. Morpheus and ALHAT then performed five successful free flights at the simulated lunar hazard field constructed at the Shuttle Landing Facility (SLF) at Kennedy Space Center, for the first time testing the full system on a lunar-like approach geometry in a relevant dynamic environment. During these flights, the HDS successfully generated DEMs, correctly identified safe landing sites and provided HRN measurements to the vehicle, marking the first autonomous landing of a NASA rocket-powered vehicle in hazardous terrain. This paper provides a brief overview of the HDS architecture and describes its in-flight performance. en_US
dc.description.sponsorship NASA/JPL en_US
dc.language.iso en_US en_US
dc.publisher Pasadena, CA : Jet Propulsion Laboratory, National Aeronautics and Space Administration, 2015 en_US
dc.subject Avoidance en_US
dc.subject Precise Landing en_US
dc.title Flight testing a real-time Hazard Detection System for safe lunar landing on the rocket-powered Morpheus vehicle en_US
dc.type Preprint en_US


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