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TALARIS project update: Overview of flight testing and development of a prototype planetary surface exploration hopper

机译：TALARIS项目更新：飞行测试概述和原型行星表面探测料斗的开发

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摘要

The TALARIS (Terrestrial Artificial Lunar And Reduced Gravity Simulator) project is intended to test GNC (Guidance, Navigation, and Control) algorithms on a prototype planetary surface exploration hopper in a dynamic environment with simulated reduced gravity. The vehicle is being developed by the Charles Stark Draper Laboratory and Massachusetts Institute of Technology in support of efforts in the Google Lunar X-Prize contest. This paper presents progress achieved since September 2010 in vehicle development and flight testing. Upgrades to the vehicle are described, including a redesign of the power train for the gravity-offset propulsion system and a redesign of key elements of the spacecraft emulator propulsion system. The integration of flight algorithms into modular flight software is also discussed. Results are reported for restricted degree of freedom (DOF) tests used to tune GNC algorithms on the path to a full 6-DOF hover-hop flight profile. These tests include 3- DOF tests on flat surfaces restricted to horizontal motion, and 2-DOF vertical tests restricted to vertical motion and 1-DOF attitude control. The results of tests leading up to full flight operations are described, as are lessons learned and future test plans.
机译：TALARIS（陆地人造月球和重力降低模拟器）项目旨在在具有模拟重力降低的动态环境中，在原型行星表面探测漏斗上测试GNC（导航，导航和控制）算法。该车由Charles Stark Draper实验室和麻省理工学院开发，以支持Google Lunar X-Prize竞赛的努力。本文介绍了自2010年9月以来在车辆开发和飞行测试中取得的进展。描述了对飞行器的升级，包括对重力补偿推进系统的动力总成进行重新设计，以及对航天器仿真器推进系统的关键要素进行重新设计。还讨论了将飞行算法集成到模块化飞行软件中的问题。报告了有限自由度（DOF）测试的结果，这些自由度用于调整GNC算法到完整的6自由度悬停跳变飞行轨迹的路径。这些测试包括在受限于水平运动的平面上进行3-DOF测试，以及仅限于垂直运动和1-DOF姿态控制的2-DOF垂直测试。描述了导致全面飞行运行的测试结果，以及所汲取的经验教训和未来的测试计划。

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