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Hazard relative navigation for precise planetary landings

Woicke, Svenja and Krüger, Hans and Mooij, Erwin (2018) Hazard relative navigation for precise planetary landings. In: Proceedings of the International Astronautical Congress, IAC, 2018-O. International Astronautical Congress, Bremen, Deutschland.

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Official URL: https://www.scopus.com/inward/record.uri?eid=2-s2.0-85065310394&partnerID=40&md5=12539d2831c14b5310e519ace3e79917


Landing autonomously in hazardous environments is a very likely scenario for future exploration missions. Landing in hazardous but scientifically interesting sites on Mars or the Moon, returning to the surface of Venus or a landing on Europa are just a few examples for missions where hazards might be encountered during landing. These missions will need the ability to sense surface hazards, to select a safe landing site, and to avoid the detected hazards during touchdown. This will require autonomous landing site evaluation, but also more accurate navigation capabilities than the current state-of-the-art. Building upon our previous developments in the field of hazard detection and landing site evaluation, we developed a navigation filter capable of limiting the relative error with respect to detected features such as hazards and relative to selected points such as a safe landing site in the surface plane, as well as reducing any absolute navigation error accumulated in the altitude measurements. Using an error-state Kalman filter and measurements based on images and surface DEMs obtained from a hazard-detection method, we were able to greatly improve both landing accuracy and landing precision with respect to the current state of the art. With our filter we are able to reduce the hazard relative landing ellipse size by a factor of 3, while also reducing the ranging error to the surface by almost 99% thus enabling accurate altitude estimation during the descent. The developed method proofed to be robust with less than 1% of outliers created. Performing a hardware-in-the-loop test at the TRON facility at DLR Bremen concluded the work. The results of the test verified the results from the software-in-the-loop testing. This shows that hazard relative navigation techniques are a good candidate to enable a new class of exploration missions, capable of autonomous landing in unsafe and potentially even unknown landing regions.

Item URL in elib:https://elib.dlr.de/127661/
Document Type:Conference or Workshop Item (Speech)
Additional Information:cited By 0
Title:Hazard relative navigation for precise planetary landings
AuthorsInstitution or Email of AuthorsAuthor's ORCID iDORCID Put Code
Woicke, SvenjaUNSPECIFIEDhttps://orcid.org/0000-0002-0864-9977UNSPECIFIED
Journal or Publication Title:Proceedings of the International Astronautical Congress, IAC
Refereed publication:No
Open Access:No
Gold Open Access:No
In ISI Web of Science:No
Keywords:Hazard relativ navigation, precision landing, hazard detection
Event Title:International Astronautical Congress
Event Location:Bremen, Deutschland
Event Type:international Conference
HGF - Research field:Aeronautics, Space and Transport
HGF - Program:Space
HGF - Program Themes:Space System Technology
DLR - Research area:Raumfahrt
DLR - Program:R SY - Space System Technology
DLR - Research theme (Project):R - Optical navigation on hybrid avionics architecture
Location: Bremen
Institutes and Institutions:Institute of Space Systems > Navigation and Control Systems
Deposited By: Woicke, Dr Svenja
Deposited On:18 Oct 2019 10:58
Last Modified:09 Jul 2020 08:36

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