Mars Exploration Rovers Orbit Determination Filter Strategy

McElrath, Timothy P.; Watkins, M. M.; Portock, Brian; Graat, E. J.; Baird, Darren; Wawrzyniak, Geoffrey; Guinn, J.; Antreasian, P. G.; Attiyah, Amy A.; Baalke, R. C.; Taber, William

doi:10.2514/6.2004-4982

Cited by 13 publications

(5 citation statements)

References 3 publications

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“…Specifically, current high-fidelity ground-based two-way radiometric data requires atmospheric media (troposphere and ionosphere) delay data, high precision Earth orientation data, and range bias data to support precision orbit determination. One of the most significant error sources for radiometric data is from charged particle effects (i.e., ionosphere and/or solar plasma) [3]. In this study we use a derived one-way radiometric data type, called charged particle-free-phase or CPF-phase, that minimizes these effects.…”

Section: Onboard One-way Radiometric Measurement Models and Consideramentioning

confidence: 99%

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Radiometric Autonomous Navigation Fused with Optical for Deep Space Exploration

et al. 2021

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With the advent of the Deep Space Atomic Clock, operationally accurate and reliable one-way radiometric data sent from a radio beacon (i.e., a DSN antenna or other spacecraft) and collected using a spacecraft's radio receiver enables the development and use of autonomous radio navigation. This work examines the fusion of radiometric data with optical data (i.e. OpNav) to yield robust and accurate trajectory solutions that include selected model reductions and computationally efficient navigation algorithms that can be readily adopted for onboard, autonomous navigation. The methodology is characterized using a representative high-fidelity simulation of deep space cruise, approach, and delivery to Mars. The results show that the combination of the two data types yields solutions that are almost an order of magnitude more accurate than those obtained using each data type by itself. Furthermore, the combined data solutions readily meet representative entry navigation requirements (in this case at Mars).

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Section: Onboard One-way Radiometric Measurement Models and Consideramentioning

confidence: 99%

“…The pre-launch high-fidelity InSight shape model consists of many components that require their own reflectivity parameters and nominal orientations. 3 The shape model has five Fig. 1 InSight trajectory for launch on May 5, 2018 from Abilleira [16].…”

Section: Simplifying the Spacecraft Shape And Associated Solar Pressumentioning

confidence: 99%

Radiometric Autonomous Navigation Fused with Optical for Deep Space Exploration

et al. 2021

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“…In addition to the data span, it also indicates which data were used during the OD process. Typically, Doppler data are weighted based on the rms of the pass and scaled around 3× to account for noise due to turbulent processes on various timescales (McElrath et al 2004;Antreasian et al 2005).…”

Section: Estimation Setupmentioning

confidence: 99%

Post-flight Evaluation of Lidar-based Digital Terrain Models for OSIRIS-REx Navigation at Bennu

Leonard¹,

Geeraert²,

McCarthy³

et al. 2023

Planet. Sci. J.

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The Origins, Spectral Interpretation, Resource Identification, and Security–Regolith Explorer (OSIRIS-REx) spacecraft spent more than 2 yr characterizing near-Earth asteroid (101955) Bennu. The OSIRIS-REx Laser Altimeter (OLA) was responsible for producing the most accurate reconstruction of the asteroid’s surface—down to a global resolution of around 5 cm with a data precision of ±1.25 cm. However, the best-quality global OLA digital terrain model (DTM), version 21 (v21), was not available for navigation during proximity operations, nor was the utility of this model evaluated for processing images and altimeter data for navigation. The focus of this paper is the post-flight assessment of the final OLA v21 DTM, its performance for navigation-related analysis, and estimates of corrections needed for the DTM and measurement models. We created 15 cm resolution maplets for processing optical navigation (OpNav) data, and 5 cm resolution DTMs for processing altimeter data, to estimate a combined spacecraft trajectory over five phases of the mission. Our estimated corrections to the OLA instrument model produce altimeter data residuals with a precision of 7.12 cm (1σ; one standard deviation from the mean). The OpNav maplets produce image residuals at 0.2 px (1σ) and estimated landmark locations accurate to ±6 cm, outperforming DTM navigation-related performance requirements. Finally, our estimate of the global DTM scale is more precise and within 1.1σ of previously reported values. We find that a slight discrepancy persists between the image and altimeter data, with image data suggesting that the DTM is too small by 0.049%, but nevertheless is exceptional for navigation.

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“…The radiometric data types are normally combined for successful deep space navigation. Figure 1 illustrates how ΔDOR was needed to shrink the error ellipse for the Mars Exploration Rover (MER) targeting plane [3]. ΔDOR has also been critical in enabling the successful navigation and Mars landings of the Mars Science Laboratory (MSL) [4] and Mars InSight [5].…”

Section: Introductionmentioning

confidence: 99%