Sensors and IMUs
Sensors on a planetary robot give it attitude, motion, contact force and range, and the converters, references and oscillators behind them decide whether those readings survive the environment.
The problem
Section titled “The problem”A rover or lander needs a rate and acceleration source to propagate attitude and position between external fixes, tilt sensing to stay inside its stability limits [9], force or torque sensing at contact points, and ranging for approach and landing. The 1992 case for micromachined inertial sensors in spacecraft guidance was that mass and power fall by an order of magnitude against gimbaled and fiber optic units [8]. The cost is that commercial MEMS parts arrive with no radiation record, and the analog and mixed signal chain behind them is where several parts have failed in beam tests.
Three environmental effects bound the choice. Single-event latchup can draw ten times nominal current and, in some parts, destroy the device [1][17]. Total ionizing dose shifts converter linearity and reference accuracy, and the result depends on bias and dose rate rather than on the part alone [15][16]. Temperature moves latchup thresholds, so a screen at room temperature does not bound the flight result [17].
What has flown
Section titled “What has flown”FIDO and MER-era dead reckoning (field-tested 2001). The FIDO rover carried an IMU of vibrating ceramic plate Coriolis rate sensors and surface-micromachined accelerometers sampled at 200 Hz, with plus or minus 50 degrees per second and plus or minus 2 g ranges [10]. A stationary Kalman filter converged on rate bias within 0.5 s, to about 0.01 degrees per second in one data set and about -0.02 in another, and over five repeats of a 1 m box in a JPL pit, average final error was 2.7 cm in X and 2.0 cm in Y per 4 m traverse, 0.84 percent of distance; a 135 m Mojave traverse had no ground truth because the differential GPS failed [10]. This is a ground test, not a flight.
Perseverance onboard global localization. The first absolute localization on a Mars rover ran on sol 859, using the Ingenuity base station processor as a co-processor to the RAD750, matching stereo orthomosaics to an orbital map in 32 s at 45 C, with 99 percent of benchmark cases within 0.93 m [18]. The serial link to the rover computer runs at 10 KB/s, so image transfer takes 30 minutes and about 75 percent of the activity time, and the flight software assumes 5 percent position uncertainty growth per distance driven under visual odometry; without a global fix, a 3-sol, 655.8 m drive accumulated 32.92 m of uncertainty, and the co-processor’s simulated upset rate of 4313 per device per day against 13 per day on the RAD750 limits how much compute can be added [18].
Curiosity visual odometry. Visual odometry supports more than 87 percent of Curiosity driving over nine years, and it cuts traverse rate from over 100 m/hr to 40 to 50 m/hr [19]. Overlapping image processing with driving raised average rate from 51.5 to 77.5 m/hr on the engineering testbed. That speedup is a ground result; no flight result is reported.
Int-Ball2 (ISS). The free flyer uses an Epson M-G370 IMU, 10 g in a one-inch square package drawing 16 mA at 3.3 V, with angle random walk quoted at 0.03 to 0.06 degrees per root hour across the series [7]. The vendor’s bias instability is printed in degrees per root hour, the wrong unit, so it cannot be used as written [7].
MEV-2 rendezvous lidar (on orbit). The Jena-Optronik RVS3000-3D tracked an uncooperative client in three degrees of freedom beyond 2 km, and in six degrees of freedom from 60 m to 2 m, with no retroreflectors [13].
What is being tried now
Section titled “What is being tried now”Inertial navigation without external aids. A Venus balloon may have no radio and no GPS. Rotating a low-cost STIM300 MEMS IMU about the vertical axis averages out accelerometer bias: propagated horizontal error after 10 minutes fell from 1.28 km and 2.21 km stationary to 0.126 km and 0.03 km [6]. Vertical error stayed near 8 km in both cases, because rotation about the vertical axis does not average the vertical bias [6]. This is a laboratory result only.
Terrain-relative navigation with a tactical-grade IMU. The prototype Lander Vision System paired a commercial camera with an LN-200 IMU and flew on a helicopter over Mojave and Death Valley in 2014 [4]. The commercial LN-200 has angle random walk of 0.15 degrees per root hour, with the flight unit expected to be at least as good [4]. An earlier rocket sled test of lidar hazard detection at about 60 m per second showed the attitude input mattering: the LN-200 attitude output was the difference between 0.063 m and 0.1 m of reconstruction error and cost one detected hazard [3]. Both are relevant-environment tests, not space flight.
Commercial and heritage-claimed parts on lunar micro-rovers. MoonRanger selected an STM300 IMU on a heritage claim of 5 krad and a nano-SSOC-D60 sun sensor on a claim of 30 krad and 300 krad of 6 MeV protons, with no project test of either [5]. The survival argument rests on part selection, aluminum shells, a short mission and load current monitoring for latchup [5].
Force, torque and wheel-load sensing. A six-axis wrist sensor held within its plus or minus 1 percent specification (1.45 N, 0.05 N m) against a load cell on a MER-class arm, with RMS error of 0.41 to 1.19 N across runs [11]. VIPER planned the first planetary measurement of wheel normal force, from torque transducers in each suspension joint, plus or minus 297 N m at 0.07 N m resolution, telemetered at 10 Hz [14]. The rover did not fly. A Hokuyo UTM-30LX-EW lidar on the LEMUR 3 climbing robot gave 0.1 to 30 m range and 30 mm point resolution in a lava cave and in direct sunlight, in field tests [12].
Safety logic driven by tilt. A 2001 proposal modulates commanded speed from measured pitch and roll as they approach stability limits, using a Crossbow CXTA02 inclinometer rated plus or minus 75 degrees at 0.05 degree resolution on a test rover [9]. The resolution is a vendor figure that the source does not verify [9].
Radiation screening of the electronics behind the sensors. JPL runs heavy-ion, cobalt-60 and laser campaigns on candidate parts [1][2][16][17]. These are ground tests; the parts flew or are planned for Mars Science Laboratory, Europa Clipper and Class D payloads.
The numbers
Section titled “The numbers”MEMS and converter parts screened for single-event latchup
Section titled “MEMS and converter parts screened for single-event latchup”| Part | Result | Source |
|---|---|---|
| MS1002A accelerometer (Colibrys) | Cross-section 1.5e-6 cm2 at room temperature and 6.1e-6 cm2 at 75 C, LET 37.5 MeV-cm2/mg; threshold 11.44 to 19.71 above 70 C; 232 mA in latchup against 23 mA nominal | [1] |
| SF1600S accelerometer (Colibrys) | Threshold 7.88 to 11.44 MeV-cm2/mg above 70 C; 340 mA in latchup against 20 mA nominal | [1] |
| ASDMB 16 MHz MEMS oscillator (Abracon) | Threshold 11.44 to 19.71 MeV-cm2/mg | [1] |
| LTC2440IGN 24-bit ADC (Linear Technology) | Destructive latchup, no threshold published | [1] |
| ECS-3961-040 4 MHz oscillator (ECS) | Destructive latchup, no threshold published | [1] |
| AD2S80A resolver converter (Analog Devices) | No latchup to LET 85 MeV-cm2/mg | [2] |
| AD7760 24-bit ADC (Analog Devices) | Latchup at 25 C and 85 C, threshold below 8.3 MeV-cm2/mg, cross-section 5e-4 cm2 | [2] |
| LTC1419AIG 14-bit ADC (Linear Technology) | No latchup above 86.2 at 20 C and 78.0 at 40 C; MSL flight lot latched at 50 to 55 at 60 C, destructive, 450 mA with protection defeated | [17] |
Total dose
Section titled “Total dose”| Part | Result | Source |
|---|---|---|
| DAC121S101 12-bit DAC (Texas Instruments) | Parametric failure at 100 krad(Si); no measurable recovery after 168 hour biased anneal | [15] |
| RHF1201 12-bit 50 Msps ADC (ST Micro) | Nonlinearity degrades from 100 krad(Si); worse at higher sample frequency, polarization resistance and supply voltage | [15] |
| ISL71590SEH temperature transducer (Renesas) | Out of specification at 100 krad(Si); worst error -5.7 microamps at 300 krad; no functional failure | [16] |
Inertial and attitude units
Section titled “Inertial and attitude units”| Unit | Figure | Source |
|---|---|---|
| LN-200 IMU (Northrop Grumman) | Angle random walk 0.15 degrees per root hour, commercial unit; 400 samples per second | [3][4] |
| STIM300 (Sensonor) | 10 minute horizontal error 1.28 and 2.21 km stationary, 0.126 and 0.03 km rotated | [6] |
| M-G370 (Epson) | 10 g, 16 mA at 3.3 V, angle random walk 0.03 to 0.06 degrees per root hour | [7] |
| FIDO IMU | Plus or minus 50 degrees per second, plus or minus 2 g, 200 Hz | [10] |
What is not established
Section titled “What is not established”No inertial part used on a planetary robot has a published qualification campaign behind it; the STM300 and the sun sensor carry heritage claims the project did not test [5]. The Epson bias instability figure is unusable as printed [7].
The latchup screens are latchup only. Single-event upset, functional interrupt and dose data were not taken for the MEMS parts, two or three parts of each type were tested, and several clean results are bounded by the beam rather than the part [1]. The compendia are indexes into internal reports, with sample counts of two or three and varied method between experimenters [17]. Laser results at equivalent LET near 120 are not comparable to heavy-ion results [17].
The FIDO accuracy comes from five short runs on flat sand without the sun sensor in the loop, and the 135 m field traverse has no accuracy measurement [10]. The Perseverance localization accuracy is scored against ground truth from the same class of orbital map, and its flight demonstration phases were open loop [18]. The Curiosity speedup comes from three baseline and six test runs on a testbed under Earth gravity [19]. The balloon IMU result is one laboratory demonstration [6].
References
- Daniel, A. C. and Allen, G. R. (2018). Heavy-Ion Test Results of Several Commercial Components for Use in a JPL Class D Interplanetary Mission Payload
. JPL Open Repository. Source
BibTeX
@inproceedings{daniel2018heavy, title = {Heavy-Ion Test Results of Several Commercial Components for Use in a JPL Class D Interplanetary Mission Payload}, author = {Daniel, Andrew C. and Allen, Gregory R.}, publisher = {JPL Open Repository}, year = {2018}, url = {https://dataverse.jpl.nasa.gov/dataset.xhtml?persistentId=hdl:2014/48478} } - McClure, S. S., Allen, G. R., Irom, F., Scheick, L. Z., Adell, P. C. and Miyahira, T. F. (2010). Compendium of test results of recent single event effect tests conducted by the Jet Propulsion Laboratory
. IEEE Radiation Effects Data Workshop. Source
BibTeX
@inproceedings{mcclure2010compendium, title = {Compendium of test results of recent single event effect tests conducted by the Jet Propulsion Laboratory}, author = {McClure, Steven S. and Allen, Gregory R. and Irom, Farokh and Scheick, Leif Z. and Adell, Philippe C. and Miyahira, Tetsuo F.}, booktitle = {IEEE Radiation Effects Data Workshop}, pages = {6-6}, publisher = {IEEE}, year = {2010}, doi = {10.1109/redw.2010.5619495}, abstract = {This paper reports heavy ion and proton-induced single event effect (SEE) results from recent tests for a variety of microelectronic devices. The compendium covers devices tested over the last two years by the Jet Propulsion Laboratory.} } - Johnson, A. E. and Skulsky, E. D. (2002). Descent-speed testing of a hazard detection system for safe landing on Mars
. Nuclear and Emerging Technologies for Space. Source
BibTeX
@inproceedings{johnson2002descent, title = {Descent-speed testing of a hazard detection system for safe landing on Mars}, author = {Johnson, A. E. and Skulsky, E. D.}, booktitle = {Nuclear and Emerging Technologies for Space}, publisher = {JPL Open Repository}, address = {Breckenridge, Colorado}, year = {2002}, url = {https://dataverse.jpl.nasa.gov/dataset.xhtml?persistentId=hdl:2014/37089} } - Johnson, A. E., Cheng, Y., Montgomery, J., Trawny, N., Tweddle, B. and Zheng, J. (2015). Real-time terrain relative navigation test results from a relevant environment for Mars landing
. AIAA Guidance, Navigation, and Control Conference. Source
BibTeX
@inproceedings{johnson2015real, title = {Real-time terrain relative navigation test results from a relevant environment for Mars landing}, author = {Johnson, Andrew E. and Cheng, Yang and Montgomery, James and Trawny, Nikolas and Tweddle, Brent and Zheng, Jason}, booktitle = {AIAA Guidance, Navigation, and Control Conference}, publisher = {American Institute of Aeronautics and Astronautics}, year = {2015}, doi = {10.2514/6.2015-0851}, abstract = {Terrain Relative Navigation (TRN) is an on-board GN&C function that generates a position estimate of a spacecraft relative to a map of a planetary surface. When coupled with a divert, the position estimate enables access to more challenging landing sites through pin-point landing or large hazard avoidance. The Lander Vision System (LVS) is a smart sensor system that performs terrain relative navigation by matching descent camera imagery to a map of the landing site and then fusing this with inertial measurements to obtain high rate map relative position, velocity and attitude estimates. A prototype of the LVS was recently tested in a helicopter field test over Mars analog terrain at altitudes representative of Mars Entry Descent and Landing conditions. TRN ran in real-time on the LVS during the flights without human intervention or tuning. The system was able to compute estimates accurate to 40m (3 sigma) in 10 seconds on a flight like processing system. This paper describes the Mars operational test space definition, how the field test was designed to cover that operational envelope, the resulting TRN performance across the envelope and an assessment of test space coverage.} } - Whittaker, C. (2021). MR-AVI-0068 Radiation Survival Summary, Revision A
. Carnegie Mellon University, MoonRanger Project. Source
BibTeX
@techreport{whittaker2021radiation, title = {MR-AVI-0068 Radiation Survival Summary, Revision A}, author = {Whittaker, Chuck}, institution = {Carnegie Mellon University, MoonRanger Project}, month = {May}, year = {2021}, url = {https://labs.ri.cmu.edu/moonranger/wp-content/uploads/sites/24/2021/07/MR-AVI-0068_Radiation-Survival-Summary.pdf} } - Ploen, S., Aldrich, J., Bayard, D., Dorsky, L., Katake, A., Konefat, E., Liebe, C. C. and Shields, J. (2023). Bias Compensated Inertial Navigation for Venus Balloon Missions
. International Conference on Robotics and Automation. Source
BibTeX
@inproceedings{ploen2023bias, title = {Bias Compensated Inertial Navigation for Venus Balloon Missions}, author = {Ploen, Scott and Aldrich, Jack and Bayard, David and Dorsky, Leonard and Katake, Anup and Konefat, Edward and Liebe, Carl Christian and Shields, Joel}, booktitle = {International Conference on Robotics and Automation}, publisher = {JPL Open Repository}, year = {2023}, doi = {10.48577/jpl.qofffguu}, abstract = {—In this paper we investigate various strategies forreducing navigation errors for a future Venus Balloon missionequipped with a low-mass MEMS IMU (e.g. STIM300), andfocus on two of these mitigation strategies in detail. First, weproposed to mechanically rotate the IMU while collecting datathereby averaging out the bias contributions and increasingaccuracy. To this end, we experimentally provide proof-ofconcept by rotating a STIM300 IMU about a single-axis andshow that navigation performance for this idealized scenario issubstantially improved. Second, we propose to use on-boardaccelerometer measurements to exploit the projection of thegravity field along the axes of the IMU frame to provide (2 axis)attitude information. To this end, we design a Kalman Filterfor a hovering balloon scenario where the accelerometer measurements are modeled as explicit functions of attitude and areincorporated as direct measurements in the filter and show thatthis strategy leads to improved navigation performance. Theresults given here are part of a longer-term effort to understandand improve navigation performance on a Venus Balloon andshould be considered as first steps toward this goal.} } - (2024). Epson IMU adopted by JAXA for Int-Ball2. azorobotics.com/News.aspx
BibTeX
@misc{epsonimuadoptedbyjaxaforintball2int, title = {Epson IMU adopted by JAXA for Int-Ball2}, organization = {azorobotics.com}, year = {2024}, url = {https://www.azorobotics.com/News.aspx?newsID=15123} } - Mettler, E. and Hadaegh, F. (1992). Micro-Guidance and Control Synthesis: New Components, Architectures, and Capabilities
. JPL Open Repository. Source
BibTeX
@inproceedings{mettler1992micro, title = {Micro-Guidance and Control Synthesis: New Components, Architectures, and Capabilities}, author = {Mettler, E. and Hadaegh, F.}, publisher = {JPL Open Repository}, year = {1992}, url = {https://dataverse.jpl.nasa.gov/dataset.xhtml?persistentId=hdl:2014/35463} } - Tunstel, E., Howard, A. and Seraji, H. (2001). Fuzzy rule-based reasoning for rover safety and survivability
. IEEE International Conference on Robotics and Automation. Source
BibTeX
@inproceedings{tunstel2001fuzzy, title = {Fuzzy rule-based reasoning for rover safety and survivability}, author = {Tunstel, E. and Howard, A. and Seraji, Homayoun}, booktitle = {IEEE International Conference on Robotics and Automation}, volume = {2}, pages = {1413-1420}, publisher = {IEEE}, year = {2001}, doi = {10.1109/robot.2001.932808} } - Baumgartner, E. T., Aghazarian, H. and Trebi-Ollennu, A. (2001). Rover Localization Results for the FIDO Rover
. Sensor Fusion and Decentralized Control in Robotic Systems IV, Proc. SPIE 4571. Source
BibTeX
@inproceedings{baumgartner2001rover, title = {Rover Localization Results for the {FIDO} Rover}, author = {Baumgartner, Eric T. and Aghazarian, Hrand and Trebi-Ollennu, Ashitey}, booktitle = {Sensor Fusion and Decentralized Control in Robotic Systems IV, Proc. SPIE 4571}, volume = {4571}, pages = {34--44}, year = {2001}, doi = {10.1117/12.444167}, abstract = {This paper describes the development of a two-tier state estimation approach for NASA/JPL's FIDO Rover that utilizes wheel odometry, inertial measurement sensors, and a sun sensor to generate accurate estimates of the rover's position and attitude throughout a rover traverse. The state estimation approach makes use of a linear Kalman filter to estimate the rate sensor bias terms associated with the inertial measurement sensors and then uses these estimated rate sensor bias terms to compute the attitude of the rover during a traverse. The estimated attitude terms are then combined with the wheel odometry to determine the rover's position and attitude through an extended Kalman filter approach. Finally, the absolute heading of the vehicle is determined via a sun sensor which is then utilized to initialize the rover's heading prior to the next planning cycle for the rover's operations. This paper describes the formulation, implementation, and results associated with the two-tier state estimation approach for the FIDO rover.} } - Helmick, D., Okon, A. and DiCicco, M. (2006). A Comparison of Force Sensing Techniques for Planetary Manipulation
. IEEE Aerospace Conference. Source
BibTeX
@inproceedings{helmick2006comparison, title = {A Comparison of Force Sensing Techniques for Planetary Manipulation}, author = {Helmick, Daniel and Okon, Avi and DiCicco, Matt}, booktitle = {IEEE Aerospace Conference}, pages = {1-14}, address = {Big Sky, Montana}, year = {2006}, doi = {10.1109/aero.2006.1655724}, abstract = {Five techniques for sensing forces with a manipulator are compared analytically and experimentally. The techniques compared are: a six-axis wrist force/torque sensor, joint torque sensors, link strain gauges, motor current sensors, and flexibility modeling. The accuracy and repeatability of each technique is quantified and compared. The relative complexity and the impact on flight design of each technique are also compared. The results presented can be used in a trade study for missions requiring manipulator force sensing capabilities} } - Uckert, K., Parness, A., Chanover, N., Eshelman, E. J., Abcouwer, N., Nash, J., Detry, R., Fuller, C., Voelz, D., Hull, R., Flannery, D., Bhartia, R., Manatt, K. S., Abbey, W. J. and Boston, P. (2020). Investigating habitability with an integrated rock climbing robot and astrobiology instrument suite
. Astrobiology. Source
BibTeX
@article{uckert2020investigating, title = {Investigating habitability with an integrated rock climbing robot and astrobiology instrument suite}, author = {Uckert, Kyle and Parness, Aaron and Chanover, Nancy and Eshelman, Evan J. and Abcouwer, Neil and Nash, Jeremy and Detry, Renaud and Fuller, Christine and Voelz, David and Hull, Robert and Flannery, David and Bhartia, Rohit and Manatt, Kenneth S. and Abbey, William J. and Boston, Penelope}, journal = {Astrobiology}, publisher = {JPL Open Repository}, year = {2020}, doi = {10.48577/jpl.ea0gj6}, abstract = {A prototype rover carrying an astrobiology payload was developed and deployed at analog field sites to mature generalized system architectures capable of searching for biosignatures in extreme terrain across the solar system. Specifically, the four-legged LEMUR 3 climbing robot with microspine rock grippers carried three instruments: a micro-X-Ray fluorescence instrument based on the Mars 2020 mission’s PIXL provided elemental chemistry, a deep-UV fluorescence instrument based on Mars 2020’s SHERLOC mapped organics in bacterial communities on opaque substrates, and a near-infrared acousto-optic tunable filter-based point spectrometer identified minerals and organics in the 1.6 to 3.6 μm range. The rover also carried a lidar and a color camera for both science and navigation. Combined, this payload. Combined, this payload detects astrobiologically-important classes of rock components (elements, minerals, and organics) in extreme terrain, which this work demonstrates can reveal a correlation between textural biosignatures and the organics or elements expected to preserve them in a habitable environment. Across more than ten field tests, milestones were achieved in instrument operations, autonomous mobility in extreme terrain, and system integration that can inform future planetary science mission architectures. Contributions include 1) system-level demonstration of mock-missions to the vertical exposures of Mars lava tube caves and Mars canyon walls, 2) demonstration of multi-instrument integration into a confocal arrangement with surface scanning capabilities, and 3) demonstration of automated focus stacking algorithms for improved signal to noise ratios and reduced operation time.} } - Pyrak, M. and Anderson, J. (2021). Performance of Northrop Grumman's Mission Extension Vehicle (MEV) RPO Imagers at GEO
. Autonomous Systems: Sensors, Processing and Security for Ground, Air, Sea and Space Vehicles and Infrastructure. Source
BibTeX
@inproceedings{pyrak2021performance, title = {Performance of Northrop Grumman's Mission Extension Vehicle (MEV) RPO Imagers at GEO}, author = {Pyrak, Michael and Anderson, Joe}, booktitle = {Autonomous Systems: Sensors, Processing and Security for Ground, Air, Sea and Space Vehicles and Infrastructure}, pages = {28}, year = {2021}, doi = {10.1117/12.2631524}, abstract = {This paper will describe and illustrate the real-life performance of the Rendezvous and Proximity Operations (RPO) sensors used by Space Logistics LLC’s Mission Extension Vehicles (MEV) built by Northrop Grumman. MEV-1 launched in 2019 and performed rendezvous, proximity operations, and docking (RPOD) with the Intelsat 901 satellite in the GEO graveyard orbit approximately 300km above GEO in February of 2020. MEV-2 launched in 2020 and performed a similar RPOD sequence with the Intelsat 10-02 satellite directly in geostationary orbit in February and March of 2021. These vehicles use three dissimilar sensing phenomenologies to provide all required relative navigational data to enable the above RPOD capabilities. These include visible spectrum imagers (narrow and wide field of view), long wave infrared (LWIR) imagers (narrow and wide field of view), and active scanning LIDAR. This paper will explore the performance of each of these sensors during these real-life missions at GEO and potential implications for future Space Situational Awareness capabilities.} } - Rezich, E., Bickel, V. T., Francis, P. L., Rogg, A., Tardy, A., Creager, C., Oravec, H. A., Schepelmann, A., Ennico-Smith, K., Deutsch, A. and Hirabayashi, M. (2025). Investigating the Geotechnical Properties of the Lunar South Pole with NASA VIPER's Mobility System
. The Planetary Science Journal, 7. Source
BibTeX
@article{rezich2025investigating, title = {Investigating the Geotechnical Properties of the Lunar South Pole with NASA VIPER's Mobility System}, author = {Rezich, Erin and Bickel, Valentin T. and Francis, Parker L. and Rogg, Arno and Tardy, Antoine and Creager, Colin and Oravec, Heather A. and Schepelmann, Alexander and Ennico-Smith, Kimberly and Deutsch, Ariel and Hirabayashi, Masatoshi}, journal = {The Planetary Science Journal}, volume = {6}, number = {7}, pages = {169}, year = {2025}, doi = {10.3847/psj/add13f}, abstract = {Abstract The NASA Volatiles Investigating Polar Exploration Rover (VIPER) is capable of assessing the geotechnical properties of the lunar south pole’s terrain, specifically as they pertain to terramechanics or the wheel–terrain interaction, combining the rover’s mobility system and science payloads. This paper focuses on one key aspect of VIPER’s mission: the quantitative evaluation of geotechnical parameters via tractive performance by analyzing wheel and wheel–regolith interaction dynamics. As VIPER navigates the largely uncharted terrain of the Moon’s south pole, sophisticated onboard instrumentation will monitor and record detailed interactions between the rover’s wheels, chassis, and the lunar surface. These measurements will capture critical data such as wheel slip and sinkage, offering insights into the mechanical behavior of the soil under actual lunar conditions. The findings from VIPER are expected to provide a foundational understanding of the lunar south pole’s regolith mechanics, directly informing the design and navigation strategies of future lunar missions, including the deployment of more advanced rovers and crewed vehicles. By integrating lunar surface observations with the rover’s kinematic model and understood terrestrial mobility performance, the study aims to enhance predictive accuracy regarding rover tractive performance over sloped, level, and potentially volatile-rich terrain. Ground truth geotechnical assessments and proceeding mobility characterization work will serve as a cornerstone for verifying and improving both terrestrial test approaches and simulation models that underpin mission planning and risk management for subsequent explorations.} } - Bozovich, A. N., Nguyen, D., Rax, B. G., Davila, J. and Zajac, S. A. (2020). Investigation of Application-Specific Bias Conditions and Dose Rate Dependency in Total Ionizing Dose (TID) Response
. IEEE Radiation Effects Data Workshop. Source
BibTeX
@inproceedings{bozovich2020investigation, title = {Investigation of Application-Specific Bias Conditions and Dose Rate Dependency in Total Ionizing Dose (TID) Response}, author = {Bozovich, Amanda N. and Nguyen, Duc and Rax, Bernard G. and Davila, Joe and Zajac, Stephanie A.}, booktitle = {IEEE Radiation Effects Data Workshop}, pages = {1-6}, publisher = {IEEE}, year = {2020}, doi = {10.1109/redw51883.2020.9325830}, abstract = {This paper investigates flight circuit application bias and irradiation dose rate dependencies ("test as you fly" conditions) in the total ionizing dose (TID) response of various electronic components considered for use in a space radiation environment.} } - Bozovich, A. N., Rax, B. G., Davila, J., Nguyen, D., Kenna, A. J., Zajac, S. A., McClure, S. S., Thomas, J. L., Scheick, L. Z., Stanford, K. W. and Gevargiz, P. (2018). Compendium of Total Ionizing Dose (TID) Test Results for the Europa Clipper Mission
. IEEE Nuclear and Space Radiation Effects Conference. Source
BibTeX
@inproceedings{bozovich2018compendium, title = {Compendium of Total Ionizing Dose (TID) Test Results for the Europa Clipper Mission}, author = {Bozovich, Amanda N. and Rax, Bernard G. and Davila, Joe and Nguyen, Duc and Kenna, Aaron J. and Zajac, Stephanie A. and McClure, Steven S. and Thomas, Jason L. and Scheick, Leif Z. and Stanford, Kelly W. and Gevargiz, Patrick}, booktitle = {IEEE Nuclear and Space Radiation Effects Conference}, pages = {1-11}, publisher = {IEEE}, year = {2018}, doi = {10.1109/nsrec.2018.8584267}, abstract = {This paper reports recent total ionizing dose (TID) test results post 300 kRad(Si) for a variety of common part types evaluated for use on NASA/JPL's Europa Clipper mission.} } - Allen, G. R., Guertin, S. M., Scheick, L. Z., Irom, F. and Zajac, S. (2012). Compendium of recent test results of single event effects conducted by the Jet Propulsion Laboratory
. IEEE Radiation Effects Data Workshop. Source
BibTeX
@inproceedings{allen2012compendium, title = {Compendium of recent test results of single event effects conducted by the Jet Propulsion Laboratory}, author = {Allen, Gregory R. and Guertin, Steven M. and Scheick, Leif Z. and Irom, Farokh and Zajac, Stephanie}, booktitle = {IEEE Radiation Effects Data Workshop}, pages = {1-10}, publisher = {IEEE}, year = {2012}, doi = {10.1109/redw.2012.6353747}, abstract = {This paper reports heavy ion, proton, and laser induced single event effects results for a variety of microelectronic devices targeted for possible use in NASA spacecrafts. The compendium covers devices tested within the years of 2010 through 2012.} } - Verma, V., Nash, J., Saldyt, L., Dwight, Q., Wang, H., Myint, S., Biesiadecki, J., Maimone, M., Tumbar, A., Ansar, A., Kubiak, G. and Hogg, R. (2024). Enabling Long and Precise Drives for the Perseverance Mars Rover via Onboard Global Localization
. IEEE Aerospace Conference. Source
BibTeX
@inproceedings{verma2024enabling, title = {Enabling Long and Precise Drives for the Perseverance Mars Rover via Onboard Global Localization}, author = {Verma, Vandi and Nash, Jeremy and Saldyt, Lucas and Dwight, Quintin and Wang, Haoda and Myint, Steven and Biesiadecki, Jeffrey and Maimone, Mark and Tumbar, Andrei and Ansar, Adnan and Kubiak, Gerik and Hogg, Robert}, booktitle = {IEEE Aerospace Conference}, address = {Big Sky, Montana}, year = {2024}, url = {https://www-robotics.jpl.nasa.gov/media/documents/2024_Global_Localization_IEEE_Aero.pdf} } - Rankin, A., Holloway, A., Sabel, A., Patel, N. and Maimone, M. W. (2022). Visual Odometry Thinking While Driving for the Curiosity Mars Rover's Three-Year Test Campaign: Impact of Evolving Constraints on Verification and Validation
. IEEE Aerospace Conference, 20230005759. Source
BibTeX
@inproceedings{rankin2022visual, title = {Visual Odometry Thinking While Driving for the Curiosity Mars Rover's Three-Year Test Campaign: Impact of Evolving Constraints on Verification and Validation}, author = {Rankin, Arturo and Holloway, Alexandra and Sabel, Anna and Patel, Nikunj and Maimone, Mark W.}, booktitle = {IEEE Aerospace Conference}, number = {20230005759}, pages = {1-10}, institution = {NASA}, year = {2022}, doi = {10.1109/aero53065.2022.9843487}, abstract = {Over the first 9 years of the Mars Science Laboratory (MSL) Curiosity rover's surface mission, more than 87% of its driving was performed using Visual Odometry (VO). The benefits of using VO during driving are that it minimizes rover position uncertainty and can be used to monitor wheel slip, halting a drive if excessive wheel slip is occurring. The VO implementation onboard Curiosity acquires and processes VO images in between drive steps while the rover is stationary. A VO Thinking While Driving (VTWD) flight software capability has been developed to enable the processing of VO images during rover driving, increasing the distance Curiosity can drive using VO during a given time period up to as much as 1.75x total distance. Verification and Validation (V&V) of this capability has been challenging due to impacts from the COVID-19 pandemic and unavailability of the JPL Mars Yard outdoor test site. The VTWD V&Vtest procedures were modified to use a small indoor space with Mars-like terrain. This paper describes the 3 year V&V effort under challenging conditions to approve the VTWD capability for use on the Curiosity rover.} }