Integrated Sensing Systems for Asteroid Missions

Asteroid Initiative Idea Synthesis WorkshopSept 30, 2013

Rich Dissly and Kevin MillerBall Aerospace & Technologies Corp.

Integrated Sensing Systems for Asteroid Missions

Asteroid Initiative Idea Synthesis WorkshopSept 30, 2013

Rich Dissly and Kevin MillerBall Aerospace & Technologies Corp.

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Scope of Presentation

Use a notional mission scenario for asteroid capture to assess:

What on-board sensors are needed?─ Conclusion: Minimum suite includes narrow and wide FOV visible imagers, imaging

LIDAR

What sensors are available?

Are there gaps?─ Conclusion: Mature sensors exist. Gap in fully autonomous software for prox ops

Applicable to other recon missions to small bodies, AR&D, orbital debris remediation, satellite servicing

Dissly – Integrated Sensing Systems for Asteroid Missions

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What are Sensor Requirements for ARM?

Dist: 10^5 kmNav Need: Bearing

Sensor: Narrow FOV Vis Imager

Dist: 10-1000kmNav Need: BearingRefine: Shape, spinSensor: NFOV Vis

Imager

Dist: <10kmNav Needs: Range, bearing Refine: Shape, spin, surface

Sensors: NFOV Vis Imager, LIDAR

Dist: <2kmNav Needs: Range, bearing

Refine: Surface featuresSensors: NFOV Vis Imager,

Imaging LIDAR

Dist: 10-100mNav Needs: Range,

bearing, pose Refine: Surface featuresSensors: Wide FOV Vis Imager, Imaging LIDAR

Dist: 0mNav Needs: Range, bearing, pose Sensors: Wide FOV Vis

Imagers, Imaging LIDAR, Contact sensors

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23 4

5

6

Missing: Recon of Target Mechanical Properties

Dissly – Integrated Sensing Systems for Asteroid Missions

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Candidate Sensor: Flash Lidar

Successful demo of Vision Navigation Sensor on STS-134 (STORRM)

Radiometric performance can be made compatible with low albedo targets (asteroids)

Can enhance with adaptive beam steering (responsive to target parameters, geometry)

VNS Intensity Image VNS Range ImageVisible Image

Dissly – Integrated Sensing Systems for Asteroid Missions

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Technology Gap: Robust Real-Time, Fully Autonomous Proximity Operations

Example data: Fusion of visible image with LIDAR provides natural feature pose determination and hazard identification under all lighting conditions

─ This needs to be provided in REAL-TIME to spacecraft GNC system

─ Natural targets pose unique problems; e.g., how do you detect edges of an asteroid?

Has been partially demonstrated on the ground for semi-cooperative or non-cooperative targets (e.g., SOSC testing)

Autonomous closed-loop TRN/Haz Avoidance – will be demonstrated on Morpheus soon

VisibleVisible

LIDARLIDAR

Fused Overlay Fused Overlay

SOSC Asteroid Wall

Morpheus Landing Test

Dissly – Integrated Sensing Systems for Asteroid Missions

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Architectural Enhancements to Reduce Mission Risk

Need to assess target strength prior to capture attempt

─ Rubble pile? Monolith?─ This affects capture operations ─ Likely requires touching surface

Asteroid Surface ProbeOptions:Surface probe

─ Viable for 100m+ objects─ Small explosive charge to

assess target strengthSmall free flyer

─ Includes contact probe for touch-and-go surface measurement

─ Provides unique vantage point for imaging capture sequence

Dissly – Integrated Sensing Systems for Asteroid Missions

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Conclusions

ARM sensing requirements include (i) Range, (ii) Pose estimation for a resolved target, and (iii) High-resolution visible imaging correlated to pose estimation

These measurements need to be made autonomously and in real-time

Mature sensors exist for making these measurements

Software and testing for fully autonomous proximity operations needs additional development

Separate flight elements to contact/perturb the target surface can reduce mission risk

Dissly – Integrated Sensing Systems for Asteroid Missions