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Meeting	ACGS Committee Meeting 123 - Santa Fe, NM - March 2019
Agenda Location	6 SUBCOMMITTEE B – MISSILES AND SPACE 6.2 Vision-Based Navigation Algorithms and Performance Analysis for Precision Lunar Landing
Title	Vision-Based Navigation Algorithms and Performance Analysis for Precision Lunar Landing
Presenter	Kevin Duda
Affiliation	Draper Labs
Available Downloads*	presentation
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Abstract	Precision navigation is a key technology for future autonomous and piloted lunar landing vehicles. It provides reliable and accurate updates of the navigation state without Earth-based tracking as well as identifying and avoiding surface features that are hazardous to vehicle in the targeted landing area – thus enabling safe landings. Draper is investing in precision navigation technology for future lunar landings – a capability that is extensible to small, medium, and heavy landers that are either human-rated or robotic. Capabilities and technologies include Linear Covariance (LinCov) analysis to determine navigation performance analysis with candidate inertial and vision-based navigation sensors to develop a vehicle-independent navigation system specification, the development of a robust navigation architecture to support various sensors for non-precision and precision landings, and vision-aided inertial navigation algorithms for absolute and relative position and velocity measurement updates. Additionally, a hardware- and software-in-the-loop simulation environment for verification and validation of vision-aided inertial navigation algorithms is described to complement planned Earth-based and lunar flight tests. Presenter Bio: Kevin is the Space & Mission Critical Systems group lead at Draper. He is currently the technical director for Draper’s internal investment on navigation technologies for precision lunar landing and our contracted work for a commercial lunar lander. Kevin is an instrument and seaplane rated private pilot and holds a B.S. in Aerospace Engineering from Embry-Riddle Aeronautical University and a S.M. and Ph.D. in Aeronautics and Astronautics from MIT.