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.

Asteroids with diameters less than about 5 km have complex histories because they are small enough for radiative torques (that is, YORP, short for the Yarkovsky-O'Keefe-Radzievskii-Paddack effect)1 to be a notable factor in their evolution2. (152830) Dinkinesh is a small asteroid orbiting the Sun near the inner edge of the main asteroid belt with a heliocentric semimajor axis of 2.19 AU; its S-type spectrum3,4 is typical of bodies in this part of the main belt5. Here we report observations by the Lucy spacecraft6,7 as it passed within 431 km of Dinkinesh. Lucy revealed Dinkinesh, which has an effective diameter of only 720 m, to be unexpectedly complex. Of particular note is the presence of a prominent longitudinal trough overlain by a substantial equatorial ridge and the discovery of the first confirmed contact binary satellite, now named (152830) Dinkinesh I Selam. Selam consists of two near-equal-sized lobes with diameters of 210 m and 230 m. It orbits Dinkinesh at a distance of 3.1 km with an orbital period of about 52.7 h and is tidally locked. The dynamical state, angular momentum and geomorphologic observations of the system lead us to infer that the ridge and trough of Dinkinesh are probably the result of mass failure resulting from spin-up by YORP followed by the partial reaccretion of the shed material. Selam probably accreted from material shed by this event.

NASA's OSIRIS-REx spacecraft successfully collected a sample of asteroid regolith from the surface of near-Earth asteroid Bennu in October of 2020. Subsequent imaging of the sampler head showed material leaking from the collection mechanism, thus stowage of the sample precluded execution of any planned maneuvers in the following days. Optical navigation imaging also ceased in the days following sample collection. The desire to image the sample site to investigate the results of the spacecraft-to-surface interaction led to the Navigation team designing a trajectory to return to Bennu after several months in order to image the surface one final time. After several iterations a trajectory design was created that satisfied the numerous constraints that were levied in order to place utmost importance on the safety of the spacecraft and stowed sample, while also closely emulating previously obtained imaging conditions to provide a close comparison of site pre- and post-contact. Significant analysis was necessary in order to reliably reacquire the asteroid after several months without optical navigation imagery. The final design required five maneuvers to return the spacecraft to Bennu and perform a final flyby of the asteroid at a distance of 3.8 kilometers. Successful execution of the phase provided key insights regarding the performance of the sample collection activities and the subsurface composition of the asteroid.

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.

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.

View Video Presentation: https://doi.org/10.2514/6.2022-2389.vid The OSIRIS-REx (Origins, Spectral Interpretation, Resource Identification and Security–Regolith Explorer) Orbit Determination team performed covariance analyses prior to the commencement of proximity operations (ProxOps) at (101955) Bennu to determine the expected predicted trajectory performance in order to meet trajectory knowledge requirements throughout each phase of the mission. One of the primary requirements placed on the predicted trajectory performance was based on the performance during orbital phases leading up to the maneuver to initiate the Touch-and-Go (TAG) trajectory descent. Throughout ProxOps the nominal force models being used to predict the spacecraft trajectory were updated in an effort to improve the prediction performance. The most significant models that contributed to prediction performance were of solar radiation pressure, thermal reradiation of the spacecraft, predicted attitude errors, and desaturation maneuvers. Efforts were made throughout all of ProxOps to monitor, trend, predict, and update spacecraft modeling to improve the prediction performance. These efforts were vital to reduce the spacecraft knowledge errors necessary to achieve a TAG target smaller than pre-launch analysis allowed due to the rough terrain of Bennu. Increased precision in predicted trajectory errors allowed for refined uncertainties to be used for future phase planning throughout the mission. The navigation team successfully predicted the spacecraft trajectory throughout all of ProxOps achieving predicted trajectories errors less than originally analyzed.

View Video Presentation: https://doi.org/10.2514/6.2022-2521.vid (OSIRIS-REx) mission collected a sample from the surface of the near-Earth asteroid (101955) Bennu in late 2020. Bennu challenged the team with a surface that was much rockier than expected, resulting in modifications to the prelaunch design of the Touch And Go (TAG) sequence. Following enhancements in onboard trajectory correction, ground-based navigation, and maneuver execution error modeling, the spacecraft was delivered to the chosen TAG site within 1 m of the target, and a sample was successfully collected on the first attempt. This paper provides a comprehensive description of all flight dynamics aspects of TAG trajectory planning and execution. It also describes hazard map generation and how that combined with error analysis results to predict the probability of safe contact before TAG and the onboard wave-off determination during TAG.

View Video Presentation: https://doi.org/10.2514/6.2022-2469.vid After jettisoning its Sample Return Capsule (SRC) containing regolith samples from the near-Earth asteroid (101955) Bennu to Earth in September 2023, the Origins, Spectral Interpretation, Resource Identification, and Security–Regolith Explorer (OSIRIS-REx) spacecraft will perform a divert maneuver and safely fly by Earth at an altitude of 250 km. SRC return and the divert maneuver officially mark the completion of the spacecraft's primary mission; however, it will continue on in heliocentric orbit with a nearly fully-functional instrument suite and enough propellant for nearly 600 m/s Delta-V. The post-Earth flyby trajectory fortuitously enables an exciting extended mission opportunity: rendezvous with the near-Earth asteroid (99942) Apophis immediately following its historic Earth close approach in April 2029. In this paper, we detail the discovery, optimization, and analysis of the Apophis rendezvous trajectory for an extended OSIRIS-REx mission. We also present the technical approach for an alternate target search and corresponding results, assessing the alternate trajectories compared to the baseline Apophis rendezvous from a trajectory design standpoint.

View Video Presentation: https://doi.org/10.2514/6.2022-2388.vid With more than a year of asteroid proximity operations, the OSIRIS-REx team was able to identify one primary and one backup site for sample collection. The next step was to finalize on-board, localized image libraries and site-specific terrain information prior to attempting sample acquisition. Collecting this information required additional, low-altitude asteroid flyby reconnaissance activities. These activities, referred to as 'sorties', involved special maneuver and trajectory designs, unique from any other OSIRIS-REx maneuver activity. In order to minimize time between flybys and decrease the total number of maneuvers required, this trajectory design departed from and returned to a frozen Sun-terminator plane orbit within the span of a few hours. This work discusses the trajectory design and performance of the four flybys that were used to collect key topographic science observations of the primary and backup sample sites, which helped lead to a successful sample collection.

View Video Presentation: https://doi.org/10.2514/6.2022-2387.vid On October 20th, 2020, the nearly two-year proximity operations campaign for the Origins, Spectral Interpretation, Resource Identification, and Security–Regolith Explorer (OSIRIS-REx) mission at the near-Earth asteroid (101955) Bennu culminated in a successful Touch-and-Go (TAG) sample collection event. Navigation performance was a significant driver for flight activities at Bennu, which consisted of multiple phases geared towards characterizing the asteroid, selecting a sample site, and safely guiding the spacecraft to and from the surface in order to collect at least 60 g of pristine regolith. The entire operations team gained a tremendous amount of experience operating in the challenging small body environment and overcame many challenges. In this paper, we summarize navigation-focused experiences and lessons learned from OSIRIS-REx proximity operations at Bennu that are applicable to future missions to small asteroids, comets, and planetary moons. Areas of focus include staffing and organization, ground system infrastructure, mission phase planning, navigation operations, and spacecraft and payload considerations.

One of the more challenging aspects of the trajectory design for the OSIRIS-REx (Origins, Spectral Interpretation, Resource Identification, and Security-Regolith Explorer) mission at asteroid Bennu was maneuvering while in orbit. The orbital dynamics were highly perturbed by various sources, most notably solar radiation pressure, which degraded accuracy of long term predictions of the spacecraft’s location in orbit. Generally, the Navigation team had to solve three separate issues: correcting a perturbed orbit, changing to a different orbit, or phasing the orbit to place the spacecraft at a specific location at a specific time. The team composed a common framework using up to two maneuvers that could solve all of these problems using an identical schedule that allowed for consistent planning long before the final trajectory could be designed. This orbit trim strategy was successfully used for the first time in the Orbital B phase of the mission to maximize the duration of usable observing geometry in a time-variable orbit with strict operational limits. It was used an additional 3 times throughout the mission to adjust and/or change the orbit, most notably altering the orbit in the weeks prior to the successful Touch-And-Go (TAG) sample collection attempt. This same strategy was used to phase the orbit a total 10 times in preparation for each of the science sorties over potential sample sites, the TAG Rehearsals, and TAG. The trim strategy was demonstrated to be robust and performed exceptionally well in all aspects, which proved critical to a successful sample collection.

View Video Presentation: https://doi.org/10.2514/6.2022-2468.vid The OSIRIS-REx mission to asteroid (101955) Bennu resulted in the most detailed and accurate model to date of a small, rubble-pile asteroid. This paper provides a detailed dynamical systems analysis of orbital motion in the vicinity of Bennu, leveraging the final physical model estimated by the science and flight dynamics team. First the dynamics subject solely to the gravitational attraction of the body are explored, detailing the equilibrium points, periodic orbit families and bifurcations between these families. Then the analysis will incorporate the main perturbation from solar radiation pressure (SRP) and survey the basic limits of orbital motion due to this perturbation, and assess the stability of frozen orbits when accounting for the higher-order gravitational field perturbations. This will include the exploration of stable orbits that could be of use to future exploration missions to similar asteroids. The paper will conclude by analyzing the surface dynamical environment of Bennu, including the Roche lobe and other results of interest from a dynamics perspective.

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.

The OSIRIS-REx mission Navigation Campaign consists of three sub-phases: Approach, Preliminary Survey, and Orbital A. Approach was designed for initial characterization of Bennu while matching Bennu’s heliocentric velocity. Preliminary Survey provided the first spacecraft-based estimate of Bennu’s mass. This phase consisted of five target flybys with a close approach distance of about 7 km. Orbital A was a two-month phase devoted to the Navigation Team learning the close proximity operations dynamics and environment around Bennu and transitioning from center-finding optical navigation to landmark feature-based navigation. This paper provides a detailed summary of the orbit determination performance throughout the Navigation Campaign.

The NASA New Frontiers-class OSIRIS-REx mission is currently midway on its two-year interplanetary trajectory to rendezvous with the rare B-type near-earth asteroid Bennu (101955) in the fall of 2018. The spacecraft was directed during the first half of its journey to return to Earth for an Earth Gravity Assist (EGA) on September 22, 2017. This paper will summarize the performance of the spacecraft navigation over the first year of operations, which is exceeding expectations from prelaunch analysis. The navigation performance has benefitted from excellent performance of the main engine, trajectory correction maneuvers and attitude control system maneuvers, the well-balanced momentum desaturation maneuvers, and the quantity and quality of Deep Space Network 2-way X-band Doppler, range and delta-Differential One-way Range (ODOR) measurements. The combination of the ODOR with the traditional radio-metric data has allowed the navigation team to finely characterize the small forces influencing the spacecraft motion such as the outgassing, solar pressure and the force due to spacecraft thermal re-radiation. These forces need to be determined to a high level of accuracy to meet position requirements during proximity operations in the vicinity of Bennu. Comparisons of the current AV cost, maneuver magnitudes, expected orbit determination accuracies to the pre-launch analysis are presented.

In this paper, we consider the problem of robustifying a class of closed-loop guidance algorithms for planetary landing. Generally, such algorithms are extremely important during the terminal powered descent phase as they are critically responsible for guiding the spacecraft to the desired location with high degree of accuracy. More specifically, we explicitly describe how sliding control theory can be employed to generate energy-optimal feedback trajectories that are robust against perturbing accelerations with a known upper bound. Indeed, we show that a properly defined sliding surface can yield an acceleration command comprising a) an energy-optimal component and b) a robust component that counteracts the effect of the perturbing accelerations. Since the acceleration command is function of time-to-go, the resulting algorithm has a very peculiar behavior, where the sliding surface moves in time during the descent phase and it is in a continuous reaching mode. Its dynamics critically affect the performance of the algorithm in terms of accuracy and fuel efficient especially in off-nominal conditions. A theoretical analysis via Lyapunov stability theory shows that such class of guidance algorithms are globally finite-time stable. Simulations show that the time-dependent sliding augmentation yields superior performances versus the non-sliding counterpart. Conversely, two alternative possible formulations of the OSG yield identical results.