The Sample Return Capsule (SRC) onboard the NASA Origins, Spectral Interpretation, Resource Identification, and Security–Regolith Explorer (OSIRIS-REx) spacecraft is currently carrying samples of the B-type asteroid Bennu for safe return to Earth at the Utah Test and Training Range on September 24, 2023. These samples were collected during the Touch And Go (TAG) sampling event on October 20, 2020, when the spacecraft contacted the surface for a few seconds at a location less than 1 meter from the target. The unprecedented navigation performance achieved during that event was the culmination of experience gained during two years of cruise and two years of increasingly challenging operations at Bennu. As we had hoped, the proximity navigation performance at Bennu exceeded pre-launch analysis. This paper will compare the navigation performance through the proximity operation phases to our pre-launch analysis and will quantify how refinements of the small force models governing the spacecraft motion near Bennu considerably improved the down-track state predictions leading up to the successful TAG event. It was evident to the team and to expert peer reviewers during the design phase that exquisite model fidelity and aggressive operational concepts, which challenged and advanced the state of the art for deep space proximity operations, would be required to meet the mission’s objectives. This paper summarizes the superlative achievements of the team in rising to and overcoming these challenges.

The Origins, Spectral Interpretation, Resource Identification, and Security–Regolith Explorer (OSIRIS-REx) spacecraft mission characterized and collected a sample from asteroid (101955) Bennu. After the OSIRIS-REx Sample Return Capsule released to Earth’s surface in 2023 September, the spacecraft diverted into a new orbit that encounters asteroid (99942) Apophis in 2029, enabling a second mission with the same unique capabilities: OSIRIS–Apophis Explorer (APEX). On 2029 April 13, the 340 m diameter Apophis will draw within ∼32,000 km of Earth’s surface, less than 1/10 the lunar distance. Apophis will be the largest object to approach Earth this closely in recorded history. This rare planetary encounter will alter Apophis’s orbit, will subject it to tidal forces that change its spin state, and may seismically disturb its surface. APEX will distantly observe Apophis during the Earth encounter and capture its evolution in real time, revealing the consequences of an asteroid undergoing tidal disturbance by a major planet. Beginning in 2029 July, the spacecraft’s instrument suite will begin providing high-resolution data of this “stony” asteroid—advancing knowledge of these objects and their connection to meteorites. Near the mission’s end, APEX will use its thrusters to excavate regolith, a technique demonstrated at Bennu. Observations before, during, and after excavation will provide insight into the subsurface and material properties of stony asteroids. Furthermore, Apophis’s material and structure have critical implications for planetary defense.

We summarize a decade of effort by the Origins, Spectral Interpretation, Resource Identification, and Security–Regolith Explorer (OSIRIS-REx) mission team to build up the unique capabilities, processes, and procedures required to accomplish the unprecedented navigation performance required during proximity operations at asteroid (101955) Bennu. Stereophotoclinometry was a key technology used for digital terrain model (DTM) generation and landmark navigation, enabling estimation of spacecraft trajectories and Bennu’s geophysical parameters. We outline the concept of operations for OSIRIS-REx landmark navigation and the wide array of testing and verification efforts leading up to OSIRIS-REx’s arrival at Bennu. We relate the outcome of these efforts to the experiences during proximity operations. We discuss navigation and DTM performance during operations, including detailed lessons learned to carry forward for future missions.

New Horizons was the first mission with primary science objectives to explore the Pluto-Charon system and, in an extended mission, to observe a Kuiper Belt object (KBO). This article summarizes the challenges in planning and targeting the New Horizons spacecraft for the Pluto encounter and how the team addressed these challenges, reducing mission risk to ensure a successful encounter that fully met its science objectives. It also presents the navigation accuracies achieved and the lessons learned, which were later applied to planning and conducting the flyby of a newly discovered KBO, Arrokoth, during New Horizons' first extended mission.

The New Horizons mission performed a successful flyby of Arrokoth, a distant Kuiper-Belt Object, on January 1, 2019, representing the farthest planetary encounter to date. The navigation strategy and performance required to deliver the spacecraft to the desired flyby target were driven by a number of challenges including those related to Arrokoth’s viewing angle and relatively recent discovery in June 2014. These and other challenges required the New Horizons science and navigation teams to devise a strategy in close collaboration that would substantially reduce the flyby navigation errors. Earth-based astrometry and occultation measurements of Arrokoth were collected and used to estimate Arrokoth’s orbit and its associated uncertainties, which were in turn used to inform and reduce navigation approach and flyby uncertainties. The New Horizons navigation effort used these a priori orbits along with radio metric and optical navigation measurements to first predict the navigation performance in support of the flyby design, and then estimate New Horizons ’ trajectory, maneuvers and other filter state parameters during navigation operations. An overview of the Arrokoth orbit estimation and navigation strategy and predicted performance, as well as the operational results from the initial target search campaign in 2004 through Arrokoth’s successful flyby in 2019 are presented, along with the principal challenges and most important lessons learned along the way.

View Video Presentation: https://doi.org/10.2514/6.2022-2470.vid The NASA Origins, Spectral Interpretation, Resource Identification, and Security–Regolith Explorer (OSIRIS-REx) spacecraft began close proximity operations at the small (500-m diameter) B-type asteroid (101955) Bennu in December 2018 and concluded in May 2021. Hundreds of grams of pristine surface regolith were collected on October 20, 2020, when the OSIRIS-REx spacecraft successfully executed the Touch and Go (TAG) sample collection sequence. The spacecraft touched down within 1 meter of the targeted site on the surface of Bennu. TAG was the culmination of over 2 years of navigation performance refinement as a result of extraordinary interagency teamwork between the Flight Dynamics System (FDS), science and spacecraft teams while in close proximity to Bennu. This paper will discuss the navigation processes, planning and performance during the proximity operations at Bennu.

The round trip propagation time of a radio signal passing close to the Sun is affected by the charged particle environment of the solar plasma and the increased path length associated with the curvature of space predicted by general relativity. It has been difficult to separate estimates of the individual contributions to the signal delay. In January 1997, the Near Earth Asteroid Rendezvous (NEAR) spacecraft passed through a deep solar conjunction. For a month before and after conjunction, the spacecraft was pointed at the Sun and attitude operations were suspended. Since the NEAR spacecraft is equipped with two way X-band Doppler and range and the spacecraft attitude was favorable, a high precision spacecraft ephemeris was obtained. Data from the solar conjunction period of the NEAR mission is used to solve explicitly for the total electron content of the solar plasma along the signal path by using the signal delay in the range data to calibrate the signal advance in the Doppler data. The result is a precise estimate of the general relativity delay, and of the total electron content along the signal path, which can be used to improve models of the plasma emanating from the Sun. The general relativity parameter y is determined to less than 0.5 percent, which is competitive with the most accurate current verifications of general relativity.

The Lunar Polar Hydrogen Mapper (LunaH-Map) mission will map the distribution of hydrogen around the lunar South Pole using a miniature neutron spectrometer. The mission builds upon a decade of lunar science, which has revealed both regional and more localized enrichments of water ice near the lunar poles. Localized enrichments are primarily within permanently shadowed regions (PSRs) and craters throughout the South Pole. The spatial extent of these regions is often below the resolution of previous neutron instruments that have flown on lunar missions. The neutron leakage spectrum from planetary surfaces is primarily sensitive to hydrogen abundance in the top meter of regolith, however, for neutron spectrometers with omnidirectional sensitivity, the spatial resolution is limited by the spacecraft orbital altitude above the surface. A low altitude measurement from a distance on the same scale of the PSRs could spatially isolate and constrain the hydrogen enrichments both within and around within those regions. A small spacecraft mission is ideally suited to acquire the low-altitude measurements required to localize hydrogen enrichments using neutron spectroscopy at the lunar South Pole. LunaH-Map will use a solid iodine ion propulsion system, X-Band radio communications through the NASA Deep Space Network, star tracker, Command & Data Handling System, and EPS systems from Blue Canyon Technologies, solar arrays from MMA Designs, LLC, mission design and navigation by KinetX. Spacecraft systems design, integration, qualification, test, and mission operations are performed by Arizona State University, AZ Space Technologies and Qwaltec.

The New Frontiers class OSIRIS-REx (Origins, Spectral Interpretation, Resource Identification, Security Regolith Explorer) mission is the first American endeavor to return a sample from an asteroid. In preparation for retrieving the sample, OSIRIS-REx is conducting a campaign of challenging proximity operations maneuvers and scientific observations, bringing the spacecraft closer and closer to the surface of near-Earth asteroid (101955) Bennu. Ultimately, the spacecraft will enter a 900-meter-radius orbit about Bennu and conduct a series of reconnaissance flybys of candidate sample sites before being guided into contact with the surface for the Touch and Go sample collection event. Between August and December 2018, the OSIRIS-REx team acquired the first optical observations of Bennu and used them for navigation. We conducted a series of maneuvers with the main engine, Trajectory Correction Maneuver, and Attitude Control System thruster sets to slow the OSIRIS-REx approach to Bennu and achieve rendezvous on December 3, 2018. This paper describes the trajectory design, navigation conops, and key navigation results from the Approach phase of the OSIRIS-REx mission.

In January 2017, NASA selected the Lucy mission to explore six Jupiter Trojan asteroids. These six bodies, remnants of the primordial material that formed the outer planets, were captured in the Sun-Jupiter L4 and L5 Lagrangian regions early in the solar system formation. These particular bodies were chosen because of their diverse spectral properties and the chance to observe up close for the first time two orbiting approximately equal mass binaries, Patroclus and Menoetius. KinetX, Inc. is the primary navigation supplier for the Lucy mission. This paper describes preliminary navigation analyses of the approach phase for each Trojan encounter.

During the Apollo era of lunar exploration, mysterious albedo patterns, called swirls, captured the imagination of the scientific community. A key aspect of this interest was due to the discovery that the swirls are associated with localized relatively strong remnant magnetic fields. Analysis of returned soil samples revealed that solar wind, galactic cosmic rays, and micrometeorite impacts change the albedo of surface soil grains, a process known as space weathering that reduces regolith reflectance over time. Thus it was natural to invoke local magnetic structures as shields that retard space weathering resulting in relatively less space weathering of the regolith in regions with the strongest localized magnetic fields. However, the origins of the magnetic anomalies and associated swirls remain enigmatic to this day. We designed the Swirl CubeSat to determine the nature of remnant lunar magnetic fields and investigate their role in moderating space weathering of the regolith and assess their suitability for radiation protection of surface assets. Swirl has one focused observational objective: characterize the magnetic field associated with the Reiner Gamma Swirl (RGS) at sub-kilometer spatial sampling, with 0.5 nTesla accuracy and 100 m spatial precision. In the Swirl mission concept, the Swirl spacecraft, a 6U CubeSat, would deploy as a secondary payload from a vehicle on a deep space trajectory. A series of maneuvers would then place the spacecraft in a low orbit that would then be modified to have a periapse of 5-10 km for thirty orbits passing over RGS. Prime Swirl observations were designed during these low-altitude passes and consist of high-resolution vector magnetic field measurements and monochrome navigation imaging.

The New Horizons spacecraft began its journey to the Pluto-Charon system on January 19, 2006 on-board an Atlas V rocket from Cape Canaveral, Florida. As the first mission in NASA's New Frontiers program, the objective of the New Horizons mission is to perform the first exploration of ice dwarfs in the Kuiper Belt, extending knowledge of the solar system to include the icy “third zone” for the first time. Arriving at the correct time and correct position relative to Pluto on July 14, 2015 depended on the successful execution of a carefully choreographed sequence of events. The Core command sequence, which was developed and optimized over multiple years and included the highest-priority science observations during the closest approach period, was contingent on precise navigation to the Pluto-Charon system and nominal performance of the guidance and control (G&C) subsystem. The flyby and gravity assist of Jupiter on February 28, 2007 was critical in placing New Horizons on the path to Pluto. Once past Jupiter, trajectory correction maneuvers (TCMs) became the sole source of trajectory control since the spacecraft did not encounter any other planetary bodies along its flight path prior to Pluto. During the Pluto approach phase, which formally began on January 15, 2015, optical navigation images were captured primarily with the Long Range Reconnaissance Imager to refine spacecraft and Pluto-Charon system trajectory knowledge, which in turn was used to design TCMs. Orbit determination solutions were also used to update the spacecraft's on-board trajectory knowledge throughout the approach phase. Nominal performance of the G&C subsystem, accurate TCM designs, and high-quality orbit determination solutions resulted in final Pluto-relative B-plane arrival conditions that facilitated a successful first reconnaissance of the Pluto-Charon system.

Navigating the New Horizons spacecraft on approach to Pluto was not only a technical challenge; it was also a race against the clock. With 9 years of cruise behind, all of the navigation critical activity culminated in the last few months when the spacecraft could finally observe and learn from its target. Key functions of the orbit determination process are discussed, which includes the processing of radio metric and optical measurements, the estimation of the Pluto barycenter and satellites ephemerides as well as the characterization of the attitude control small forces acting on spacecraft. Performance and results of the overall navigation functions that enabled the successful flyby of the Pluto system are presented.

The MErcury Surface, Space ENvironment, GEochemistry, and Ranging (MESSENGER) mission is the seventh in NASA's Discovery Program. The spacecraft was launched from Cape Canaveral Air Force Station in August 2004 to begin an interplanetary cruise that culminated in orbit insertion about Mercury in March 2011 for a nominal one-year scientific investigation. An extension to the mission was initiated in March 2012, and in order to optimize the scope and return of the onboard scientific instruments and the stability of the spacecraft orbit about the planet, the orbital period was reduced from 12 to 8 hours in April 2012. This paper describes MESSENGER navigation operations and trajectory estimation performance for the orbital mission phase from Mercury orbit insertion through the end of the primary mission and into the first 9 months of the ongoing extended mission.

The Origins Spectral Interpretation Resource Identification Security Regolith Explorer (OSIRIS-REx) mission is a NASA New Frontiers mission launching in 2016 to rendezvous with the near-Earth asteroid (101955) 1999 RQ(36) in late 2018. After several months in formation with and orbit about the asteroid, OSIRIS-REx will fly a Touch-And-Go (TAG) trajectory to the asteroid's surface to obtain a regolith sample. This paper describes the mission design of the TAG sequence and the propulsive maneuvers required to achieve the trajectory. This paper also shows preliminary results of orbit covariance analysis and Monte-Carlo analysis that demonstrate the ability to arrive at a targeted location on the surface of RQ36 within a 25 meter radius with 98.3% confidence.

The MErcury Surface, Space ENvironment, GEochemistry, and Ranging (MESSENGER) mission is the seventh in NASA's Discovery Program series. The spacecraft was launched in August 2004 and began an interplanetary cruise that culminated in insertion into orbit about Mercury in March 2011 for a nominal one-year scientific investigation. The cruise phase included six planetary gravity-assist flybys and eighteen propulsive events, which included five large deep-space maneuvers, one in two parts, and twelve smaller trajectory-correction burns. From the approach to the first Mercury flyby through orbital insertion about the innermost planet, an interval that spanned over three years, solar sailing was employed successfully for trajectory correction. This paper describes the navigation performance achieved for the three Mercury flybys and how experiences gained during the mission cruise phase have been applied to support Mercury orbit insertion and maintenance operations during the Mercury orbital phase of the MESSENGER mission.

The MErcury Surface, Space ENvironment, GEochemistry, and Ranging (MESSENGER) mission is the seventh mission in NASA's Discovery Program. The spacecraft, launched from Cape Canaveral Air Force Station in August 2004, arrived in orbit about Mercury in March 2011 to begin a one-year scientific investigation. While in orbit, the spacecraft is subject to a variety of forces, including Mercury and solar gravity, solar and planetary radiation effects, and propulsive events associated with orbit correction and momentum desaturation. This paper describes the challenges for navigation in terms of achieving the highest accuracy possible for relevant force models to support orbit determination and reconstruction over the Mercury orbital phase of the MESSENGER mission.

The MErcury Surface, Space ENvironment, GEochemistry, and Ranging (MESSENGER) mission, led by principal investigator Sean C. Solomon of the Carnegie Institution of Washington, is the seventh mission in NASA’s Discovery Program. The spacecraft was launched from Cape Canaveral Air Force Station on 3 August 2004, to begin its six-and-one-half-year interplanetary cruise to arrive in orbit about Mercury beginning in March 2011. The cruise phase includes planetary gravity-assist flybys of Earth (in August 2005), Venus (in October 2006 and June 2007), and Mercury (in January and October 2008 and September 2009). This paper describes the navigation results for the period encompassing Mercury flyby 1 and focuses on orbit determination results, navigation analyses supporting statistical trajectory-correction maneuvers, and maneuver reconstruction results. Also included are discussions of optical navigation performed before the encounter, and the determination of the gravitational potential of Mercury.