Download Landing Safely Where the Science Demands

SAILSaR
Safe Autonomous Intelligent Landed
Sample Return
Joseph P. Martin
303-794-0348
[email protected]
Equinox Interscience
Landing Safely Where the Science Demands
• Safe Autonomous Intelligent Landed Sample Return (SAILSaR)
– Stepwise approach to safe and intelligent landing of autonomous
robot craft
– Real time analysis and fusion of sensor data with feedback for
terminal guidance & landing.
• Selectable site using aerial or space reconnaissance
– Observables-based targeting and steering criteria
• Landing site selection & navigation
– To avoid steep slopes, edges, large rocks, abutments, holes
– With specific hazard indicators reducible to steering criteria
– Generic control system-for remote sample return applications to,
• Earth Operations: Prospecting, Field Research, Safety
• Space Operations: including Moon, Mars, Asteroids, Comets
SAILSaR Approach
• Investigate and verify aspects of Landing on hostile,
rough or uncertain topography.
• Frequent testing of approaches on local test ranges.
• Key Concept: Autonomous Control System
– LEIF (Landing Enabled by Intelligent Functions)
– A generic computer with ample input/output (I/O)
– Inputs from all sensor sources — star tracker/nav camera, earth
relative doppler, stereo imager, stored picture files, radar
– Outputs to all the necessary actuators — thrusters, chute,
control surfaces
– Software: e.g.: remote agent, stereo image processing provide
real-time steering cues for hazard avoidance and intelligent
target approach.
SAILSaR Goals
• Demonstrate lander mission strategies with low cost
terrestrial tests.
– Drop tests in a parking lot
– Drop tests in Utah from airplane or balloon
– Drop tests at Devon Island in the Arctic
• Generate level-of-confidence that multiple landings
and sample collection are viable and cost effective.
• Provide near-term risk assessment for proposed
missions.
• Develop empirical methods for autonomously dealing
with chaotic environments and “unexpected” surface
conditions.
Landing Enabled by Intelligent Functions (LEIF)
Cameras and Ultra-Wideband Transceivers
Devices
Returns
Higher Level
System Interface
Computer,
Memory, I/O
LEIF Electronics Unit
(LEU)
Power
Device Control
Module
LEIF:
Camera
UWB Tx/Rx
Camera
UWB Tx/Rx
Camera
UWB Tx/Rx
Impulse
From
External
Sensors
• Senses hazards, objects,
science cues, terrain.
• Controls the robotic system
with resident software such
as remote agent.
• Performs navigation,
rendezvous, target approach,
or avoidance operations
autonomously.
To Control External
Devices
• Motors
• Actuators
• Thrusters
• Switched Power
Preliminary Autonomous Entry and Landing Ops
A.
B.
C.
A. After entry, LEIF flies the Aeroshell
toward landing oval by controlling
Aeroshell steering vanes.
B. Using landmarks, LEIF flies the parachute
toward landing target area by controlling
parachute steering vents.
C. Using 3D Vision and Radar, LEIF flies the
lander toward safe landing and close to
science target by controlling thrusters
and engines.
Preliminary Autonomous Navigation Ops
Autonomous Navigation to Mars
LEIF Finds the Way!
Mars Located vs
Star Field
Earth Relative
Doppler Signal
Ø3
Ø1
Ø2
Limb View
Landmark View
Lune View
Autonomous Pre-Entry
LEIF Pilots the Way!
SAILSaR Team
• Equinox Interscience
– Project Lead, System Concepts, Optical Systems, Mechanisms
• Performance Software Associates
– Guidance & Control software, Artificial intelligence
• Environmental Aerosciences Corp.
– Thrusters and Thrust Control
• ITN Energy Systems
– Composite Structures
• Global Solar
– Photovoltaics, Power systems
• Big Ideas/Aerostar
– Gravity Offload Balloons
• Individual Participants
– Tom Meyer (BCSP, CU Bioserve) - Strategy, Sensor Interpretations, Student Help
– Jeff Hayden (PresciPoint Solutions) - System Concepts, LEIF