1. Integrated Sensing Systems for Asteroid Missions Asteroid Initiative Idea Synthesis Workshop Sept 30, 2013 Rich Dissly and Kevin Miller Ball Aerospace & Technologies Corp.

2. Page_2 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

3. Page_3 What are Sensor Requirements for ARM? Dist: 10^5 km Nav Need: Bearing Sensor: Narrow FOV Vis Imager Dist: 10-1000km Nav Need: Bearing Refine: Shape, spin Sensor: NFOV Vis Imager Dist: <10km Nav Needs: Range, bearing Refine: Shape, spin, surface Sensors: NFOV Vis Imager, LIDAR Dist: <2km Nav Needs: Range, bearing Refine: Surface features Sensors: NFOV Vis Imager, Imaging LIDAR Dist: 10-100m Nav Needs: Range, bearing, pose Refine: Surface features Sensors: Wide FOV Vis Imager, Imaging LIDAR Dist: 0m Nav Needs: Range, bearing, pose Sensors: Wide FOV Vis Imagers, Imaging LIDAR, Contact sensors 1 2 3 4 5 6 Missing: Recon of Target Mechanical Properties Dissly – Integrated Sensing Systems for Asteroid Missions

4. Page_4 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 Image Visible Image Dissly – Integrated Sensing Systems for Asteroid Missions

5. Page_5 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 Visible LIDAR Fused Overlay SOSC Asteroid Wall Morpheus Landing Test Dissly – Integrated Sensing Systems for Asteroid Missions

6. Page_6 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 Probe Options:  Surface probe ─ Viable for 100m+ objects ─ Small explosive charge to assess target strength  Small 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

7. Page_7 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