Hazard Avoidance in a Mercury Landing Scenario

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1 VISION BASED RELATIVE NAVIGATION FRAMEWORK VISION BASED RELATIVE NAVIGATION FRAMEWORK Hazard Avoidance in a Mercury Landing Scenario RendezVous on Mars Circular Orbit University -1- of Beira Interior, Covilhã Portugal October 9-11, 2006

2 Design and Performance Assessment of Hazard Avoidance Techniques for Vision Based Landing Paola Rogata, Emanuele Di Sotto, Augusto Caramagno Deimos Engenharia, Lisbon, Portugal J.M. Rebordão, B. Correia P. Duarte. P.Motrena INETI-LAER, Lisbon, Portugal Salvatore Mancuso European Space Agency (ESA-ESTEC) University -2- of Beira Interior, Covilhã Portugal October 9-11, 2006

3 Vision Based Hazard Avoidance Concept(1/2) Hazard Avoidance It is a key technology for a safe landing of future planetary landing missions. It allows future landers (smaller, lighter and not so robust to surface hazards) to safely land on planetary surfaces that are not known apriori or in areas that are not flat and hazard free. It requires a suitable sensor for hazard detection. It comprises autonomous algorithms for: Detection of any hazards that put in risk the landing mission (e.g. craters, rocks, boulders, high slopes, shadows, etc.); Selection of the most suitable region for landing; Path-Planning to avoid the detected hazards; Autonomous pinpoint soft-landing systems requires Hazard Avoidance(HA) capability to guarantee safe landing. University -3- of Beira Interior, Covilhã Portugal October 9-11, 2006

4 Hazard Avoidance is a key tecnology for future planetary missions. Its main requirements are: Sensors and computers onboard the lander are used to detect hazards in the landing zone. Autonomously select the most suitable region for landing. Generate the trajectory that retargets the lander to the safer landing site. Hazard Avoidance comprises autonomous algorithms for: Hazard Mapping: responsible for analyzing the scene topography to detect hazards Piloting: responsible for collecting and merging information in order to decide the best target (LS) Guidance: responsible for steering the S/C from the current state to a designated target (LS), which can change during flight. University -4- of Beira Interior, Covilhã Portugal October 9-11, 2006

5 Piloting algorithms main functions: Data collecting: refers to gather all available information useful to assist the decision of a safer LS. Each candidate LS is scored according to the following tests: Visibility constraints test Fuel constraints test Trajectoryconstraints test Propulsion constraints test Data fusing: the previous scores are merged into a Global Map also considering the Hazard Map scores. Decision making: when the current LS is considered unsafe, a retargeting is commanded if The candidate site is significantly better than the current target; The same candidate site is chosen for several iterations. Hazard Mapping assesses the landing risk associted to the morphological properties of the planetary surface that can be detected from panchromatic monocularoptical images. Shadow, Texture and Slope Map are merged into a final Hazard Map, which attributes a landing risk score to each pixel in a region of interest surrounding the landing area. University -5- of Beira Interior, Covilhã Portugal October 9-11, 2006

6 Hazard Mapping detects a hazard in the LS0 19s after HG. Piloting selects a new safer/reachable LS, but no retargeting is commanded. The retargeting is commanded (by Piloting) only when the same LS is choosen n (user defined parameter) consecutive times; in this case 27s after HG. Guidance module is in charge to guide the S/C to the selected LS University -6- of Beira Interior, Covilhã Portugal October 9-11, 2006

7 Vision Based Hazard Avoidance Concept(2/2) VISION BASED RELATIVE NAVIGATION FRAMEWORK Vision Based Hazard Avoidance Concept University -7- of Beira Interior, Covilhã Portugal October 9-11, 2006

8 DESIGN AND PERFORMANCE ASSESSMENT OF GNC ALGORITHMS FOR VISION BASED RENDEZVOUS EMANUELE DI SOTTO, DR. L.F. PEÑÍN, A. CARAMAGNO Deimos Engenharia (Portugal) J.L CANO Deimos Space (Spain) PROF. J.M. REBORDÃO Ineti-Laer (Portugal) IVO VIEIRA, BALTAZAR PARREIRA LusoSpace (Portugal) SALVATORE MANCUSO European Space Agency (ESA-ESTEC) IN MARS ORBIT University -8- of Beira Interior, Covilhã Portugal October 9-11, 2006

9 Vision Based RendezVous Concept (1/2) VISION BASED RELATIVE NAVIGATION FRAMEWORK Vision Based RendezVous Concept University -9- of Beira Interior, Covilhã Portugal October 9-11, 2006

10 Vision Based RendezVous Concept (2/2) VISION BASED RELATIVE NAVIGATION FRAMEWORK Vision Based RendezVous Concept University -10- of Beira Interior, Covilhã Portugal October 9-11, 2006

11 Reference Rendezvous Profile Defined rendezvous profile V-bar R-bar Target KOZ = 30 m Approach to docking S4 = 15 Forced approach Approach corridor S3 = 390 m Closing phase 0.11 deg d S2 = 1 km Far Closing phase Manoeuvre Time ΔV 2-impulse 4-impulse Closing from 5 km to S2 (1 hop) 3693 s 5539 s 1.70 m/s Station keeping at S2 (1 orbit) 7386 s 0.01 m/s Closing from S2 to S s (3 hops) s (2 hops) 0.27 m/s Station keeping at S3 (1 orbit) 7386 s 0.01 m/s Forced approach from S3 to S s 0.47 m/s Station keeping at S4 600 s 0.01 m/s Final approach from S4 to docking 250 s 0.02 m/s Total s s 2.49 m/s S1 = 5 km University -11- of Beira Interior, Covilhã Portugal October 9-11, 2006

12 GNC: Top Level Architecture University -12- of Beira Interior, Covilhã Portugal October 9-11, 2006

13 Vsion Based Navigation Concept Approach to Docking Spot Error in Pixels University -13- of Beira Interior, Covilhã Portugal October 9-11, 2006

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