SINPLEX - Small Integrated Navigator for PLanetary EXploration Stephen Steffes October 24, 2012 ADCSS 2012
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1 Chart 1 > SINPLEX > Stephen Steffes October 24, 2012 SINPLEX - Small Integrated Navigator for PLanetary EXploration Stephen Steffes October 24, 2012 ADCSS 2012
2 Chart 2 > SINPLEX > Stephen Steffes October 24, 2012 SINPLEX Project Description - EC funded research and development project (FP7) 2 years - Future space exploration missions target asteroids, comets, planets and planetary moons. - Mass is one of the most critical factors for launch cost, scientific return and mission capabilities - Main goal is to develop an innovative, low mass navigation system for planetary exploration missions - Mass is reduced through functional integration and electronics miniturization while still allowing good navigation performance - Also use sensor hybridization approaches to improve the performance of the complete navigation subsystem. - The project objectives are: - develop a navigation subsystem architecture - produce a breadboard system - demonstrate the system s performance
3 Chart 3 > SINPLEX > Stephen Steffes October 24, 2012 Scenario 1: Moon Landing - Based on ATON, ALHAT, VBRNAV, NEXT Lunar Lander - 100m landing accuracy
4 Chart 4 > SINPLEX > Stephen Steffes October 24, 2012 Scenario 2: Asteroid Landing - Based on Marco Polo and Hayabusa - 1km diameter asteroid - 1m landing accuracy
5 Chart 5 > SINPLEX > Stephen Steffes October 24, 2012 Scenario 3: Sample Container Rendezvous - Based on Mars Sample Return, FOSTERNAV, HARVD - 20cm diameter container - 10cm relative position accuracy
6 Chart 6 > SINPLEX > Stephen Steffes October 24, 2012 CDR Design - Highly integrated system - Fully redundant system includes: - 2x 4-axis IMUs - 2x Laser range finders - 2x Star tracker cameras and processing boards - 2x Navigation cameras and processing boards - 2x On board computers - 2x Power distribution - < 5kg - 170mm x 210mm x 200mm - 42W (nominal)
7 Chart 7 > SINPLEX > Stephen Steffes October 24, 2012 Miniaturization Through Integration
8 Chart 8 > SINPLEX > Stephen Steffes October 24, 2012 IMU - COTS components: - 4x MEMS accelerometers - 4x MEMS gyros - ÅAC Microtec s µrtu - Custom components: - Sensor interface - Mechanical structure - Software
9 Chart 9 > SINPLEX > Stephen Steffes October 24, 2012 Laser Transmitter
10 Chart 10 > SINPLEX > Stephen Steffes October 24, 2012 Navigation Camera/ Laser Receiver
11 Chart 11 > SINPLEX > Stephen Steffes October 24, 2012 Star Tracker
12 Chart 12 > SINPLEX > Stephen Steffes October 24, 2012 Camera Electronics - Star tracker and nav. camera electronics - Image processing w/ FPGAs - Custom designed
13 Chart 13 > SINPLEX > Stephen Steffes October 24, 2012 On Board Computer
14 Chart 14 > SINPLEX > Stephen Steffes October 24, 2012 Image Processing - Star tracker - Crater navigation - Feature tracking - Container finding (2 methods)
15 Chart 15 > SINPLEX > Stephen Steffes October 24, 2012 Navigation Algorithms - Sensor data fused on board in real-time. - Compensates for loss of sensor performance due to miniaturization - Navigation software distributed over several subsystems: - IMU : accel. & gyro compensation, high-rate integration - Camera electronics : image processing - OBC : pos, vel, attitude integration, Kalman filter - Navigation method depends on scenario phase: - Inertial - Terrain relative - Container relative
16 Chart 16 > SINPLEX > Stephen Steffes October 24, 2012 Comparison to Modular COTS System State-of-the-art Mass (g) 1x NPAL camera x LN-200S IMU 800 1x NEAR laser ranger x Automous Star Tracker A-STR x OBC Total 9750 SINPLEX (preliminary) Mass (g) Housing + optics x IMUs 150 2x Laser transmitter + receiver 4x Camera electronics x OBC 150 2x PDCU 100 Total 4200
17 Chart 17 > SINPLEX > Stephen Steffes October 24, 2012 Benefits/Drawbacks of Integration - Main technology development is integration of components - Pros/Cons are the same as the integrated vs modular debate - Benefits of integrated system: - Small, low mass, low power - Tuned to specific types of missions - Drawbacks: - Hard to make changes - Less flexible - Higher development costs - However, interplanetary S/C are already one-of-a-kind integrated systems. SINPLEX fits into this methodology.
18 Chart 18 > SINPLEX > Stephen Steffes October 24, 2012 SINPLEX Roadmap - Just had CDR for breadboard system - System components to be fabricated by March Integrated & calibrated breadboard system ready by June Hardware-in-the-loop testing, system performance verification until end of Bring breadboard system to TRL 4 - Plan to develop the technology further via another EC project
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